| #!/bin/bash |
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| set -euo pipefail |
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| PROJECT_ROOT="${PROJECT_ROOT:-/mingli01/project/zihanliu/gpudrive-main}" |
| CONDA_ENV_NAME="${CONDA_ENV_NAME:-gpudrive}" |
| CONFIG_PATH="${CONFIG_PATH:-baselines/ppo/config/ppo_mini_reward_conditioned.yaml}" |
| CHECKPOINT="${CHECKPOINT:-}" |
| SEARCH_DIR="${SEARCH_DIR:-longtail_outputs/reward_conditioned_search}" |
| EVENTS_FILE="${EVENTS_FILE:-}" |
| DATA_DIR="${DATA_DIR:-}" |
| OUTPUT_DIR="${OUTPUT_DIR:-${SEARCH_DIR}/videos}" |
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| REPLAY_MODE="${REPLAY_MODE:-fast}" |
| EVENT_TYPE="${EVENT_TYPE:-any}" |
| MAX_VIDEOS="${MAX_VIDEOS:-4}" |
| NUM_WORLDS="${NUM_WORLDS:-}" |
| DATASET_SIZE="${DATASET_SIZE:-864}" |
| STEPS="${STEPS:-}" |
| SEED="${SEED:-42}" |
| DETERMINISTIC="${DETERMINISTIC:-0}" |
| NORMAL_MODE="${NORMAL_MODE:-}" |
| NORMAL_STYLE="${NORMAL_STYLE:-balanced}" |
| RISK_STYLE="${RISK_STYLE:-risk_taker}" |
| RISK_AGENTS_PER_WORLD="${RISK_AGENTS_PER_WORLD:-}" |
| RISK_COLLISION_WEIGHT="${RISK_COLLISION_WEIGHT:-}" |
| RISK_GOAL_WEIGHT="${RISK_GOAL_WEIGHT:-}" |
| RISK_OFFROAD_WEIGHT="${RISK_OFFROAD_WEIGHT:-}" |
| RENDER_EVERY="${RENDER_EVERY:-1}" |
| FPS="${FPS:-5}" |
| STOP_ON_COLLISION="${STOP_ON_COLLISION:-1}" |
| RENDER_3D="${RENDER_3D:-0}" |
| ZOOM_RADIUS="${ZOOM_RADIUS:-70.0}" |
| OBS_RADIUS="${OBS_RADIUS:-}" |
| POLYLINE_REDUCTION_THRESHOLD="${POLYLINE_REDUCTION_THRESHOLD:-}" |
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| module load conda/3 |
| source "$(conda info --base)/etc/profile.d/conda.sh" |
| conda activate "${CONDA_ENV_NAME}" |
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| export PYTHONNOUSERSITE=1 |
| export PYTHONUNBUFFERED=1 |
| export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}" |
| export MKL_NUM_THREADS="${MKL_NUM_THREADS:-1}" |
| export MADRONA_MWGPU_KERNEL_CACHE="${MADRONA_MWGPU_KERNEL_CACHE:-${PROJECT_ROOT}/gpudrive_cache}" |
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| cd "${PROJECT_ROOT}" |
| export PYTHONPATH="${PROJECT_ROOT}:${PYTHONPATH:-}" |
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| if [[ ! -f "${CONFIG_PATH}" ]]; then |
| echo "ERROR: config not found: ${CONFIG_PATH}" |
| exit 1 |
| fi |
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| if [[ ! -d "${SEARCH_DIR}" ]]; then |
| echo "ERROR: SEARCH_DIR does not exist: ${SEARCH_DIR}" |
| exit 1 |
| fi |
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| mkdir -p "${OUTPUT_DIR}" |
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| CMD=( |
| python -u scripts/visualize_longtail_search.py |
| --config "${CONFIG_PATH}" |
| --search-dir "${SEARCH_DIR}" |
| --output-dir "${OUTPUT_DIR}" |
| --replay-mode "${REPLAY_MODE}" |
| --event-type "${EVENT_TYPE}" |
| --max-videos "${MAX_VIDEOS}" |
| --dataset-size "${DATASET_SIZE}" |
| --seed "${SEED}" |
| --deterministic "${DETERMINISTIC}" |
| --normal-style "${NORMAL_STYLE}" |
| --risk-style "${RISK_STYLE}" |
| --render-every "${RENDER_EVERY}" |
| --fps "${FPS}" |
| --stop-on-collision "${STOP_ON_COLLISION}" |
| --render-3d "${RENDER_3D}" |
| --zoom-radius "${ZOOM_RADIUS}" |
| ) |
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| if [[ -n "${CHECKPOINT}" ]]; then |
| CMD+=(--checkpoint "${CHECKPOINT}") |
| fi |
| if [[ -n "${EVENTS_FILE}" ]]; then |
| CMD+=(--events-file "${EVENTS_FILE}") |
| fi |
| if [[ -n "${DATA_DIR}" ]]; then |
| CMD+=(--data-dir "${DATA_DIR}") |
| fi |
| if [[ -n "${NUM_WORLDS}" ]]; then |
| CMD+=(--num-worlds "${NUM_WORLDS}") |
| fi |
| if [[ -n "${STEPS}" ]]; then |
| CMD+=(--steps "${STEPS}") |
| fi |
| if [[ -n "${NORMAL_MODE}" ]]; then |
| CMD+=(--normal-mode "${NORMAL_MODE}") |
| fi |
| if [[ -n "${RISK_AGENTS_PER_WORLD}" ]]; then |
| CMD+=(--risk-agents-per-world "${RISK_AGENTS_PER_WORLD}") |
| fi |
| if [[ -n "${RISK_COLLISION_WEIGHT}" ]]; then |
| CMD+=(--risk-collision-weight "${RISK_COLLISION_WEIGHT}") |
| fi |
| if [[ -n "${RISK_GOAL_WEIGHT}" ]]; then |
| CMD+=(--risk-goal-weight "${RISK_GOAL_WEIGHT}") |
| fi |
| if [[ -n "${RISK_OFFROAD_WEIGHT}" ]]; then |
| CMD+=(--risk-offroad-weight "${RISK_OFFROAD_WEIGHT}") |
| fi |
| if [[ -n "${OBS_RADIUS}" ]]; then |
| CMD+=(--obs-radius "${OBS_RADIUS}") |
| fi |
| if [[ -n "${POLYLINE_REDUCTION_THRESHOLD}" ]]; then |
| CMD+=(--polyline-reduction-threshold "${POLYLINE_REDUCTION_THRESHOLD}") |
| fi |
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| echo "SLURM_JOB_ID=${SLURM_JOB_ID:-unknown}" |
| echo "PROJECT_ROOT=${PROJECT_ROOT}" |
| echo "SEARCH_DIR=${SEARCH_DIR}" |
| echo "OUTPUT_DIR=${OUTPUT_DIR}" |
| echo "REPLAY_MODE=${REPLAY_MODE}" |
| echo "EVENT_TYPE=${EVENT_TYPE}" |
| echo "MAX_VIDEOS=${MAX_VIDEOS}" |
| echo "STOP_ON_COLLISION=${STOP_ON_COLLISION}" |
| echo "RENDER_3D=${RENDER_3D}" |
| echo "COMMAND: ${CMD[*]}" |
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| if command -v nvidia-smi >/dev/null 2>&1; then |
| nvidia-smi -L || true |
| fi |
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| "${CMD[@]}" |
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