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72 lines
3.0 KiB
Python
72 lines
3.0 KiB
Python
#
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# Copyright (c) 2017 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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import argparse
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import h5py
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import os
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import sys
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import numpy as np
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from rl_coach.utils import ProgressBar
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from rl_coach.core_types import Transition
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from rl_coach.memories.memory import MemoryGranularity
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from rl_coach.memories.non_episodic.experience_replay import ExperienceReplay
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if __name__ == "__main__":
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argparser = argparse.ArgumentParser(description=__doc__)
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argparser.add_argument('-d', '--dataset_root', help='The path to the CARLA dataset root folder')
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argparser.add_argument('-o', '--output_path', help='The path to save the resulting replay buffer',
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default='carla_train_set_replay_buffer.p')
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args = argparser.parse_args()
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train_set_root = os.path.join(args.dataset_root, 'SeqTrain')
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validation_set_root = os.path.join(args.dataset_root, 'SeqVal')
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# training set extraction
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memory = ExperienceReplay(max_size=(MemoryGranularity.Transitions, sys.maxsize))
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train_set_files = sorted(os.listdir(train_set_root))
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print("found {} files".format(len(train_set_files)))
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progress_bar = ProgressBar(len(train_set_files))
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for file_idx, file in enumerate(train_set_files[:3000]):
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progress_bar.update(file_idx, "extracting file {}".format(file))
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train_set = h5py.File(os.path.join(train_set_root, file), 'r')
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observations = train_set['rgb'][:] # forward camera
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measurements = np.expand_dims(train_set['targets'][:, 10], -1) # forward speed
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actions = train_set['targets'][:, :3] # steer, gas, brake
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actions[:, 1] -= actions[:, 2]
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actions = actions[:, :2][:, ::-1]
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high_level_commands = train_set['targets'][:, 24].astype('int') - 2 # follow lane, left, right, straight
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file_length = train_set['rgb'].len()
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assert train_set['rgb'].len() == train_set['targets'].len()
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for transition_idx in range(file_length):
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transition = Transition(
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state={
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'CameraRGB': observations[transition_idx],
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'measurements': measurements[transition_idx],
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'high_level_command': high_level_commands[transition_idx]
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},
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action=actions[transition_idx],
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reward=0
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)
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memory.store(transition)
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progress_bar.close()
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print("Saving pickle file to {}".format(args.output_path))
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memory.save(args.output_path)
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