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Shuijing725 / CrowdNav_Prediction_AttnGraph

[ICRA 2023] Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graph
https://sites.google.com/view/intention-aware-crowdnav/home
MIT License
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training issue about dsrnn #3

Open hoonm1n opened 1 year ago

hoonm1n commented 1 year ago

Hi @Shuijing725 !. I have a issue about your code in training with srnn. I changed robot.policy in config.py from "selfAttn_merge_srnn" to "srnn". Then when i run the train.py, the error occurred like under line.

`<Monitor<CrowdSimPredRealGST>> No ghost version. new gst new st model LOADED MODEL device: cuda:0

Traceback (most recent call last): File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/train.py", line 247, in main() File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/train.py", line 90, in main actor_critic = Policy( File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/rl/networks/model.py", line 28, in init self.base = base(obs_shape, base_kwargs) File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/rl/networks/srnn_model.py", line 378, in init robot_size = 7 if args.env_type == 'crowd_sim' else 2 AttributeError: 'Namespace' object has no attribute 'env_type'. Did you mean: 'env_name'`?

Could you solve this issue? Thank you for reading!

hoonm1n commented 1 year ago

When i modified that line in srnn_model.py, another error occurred like under line. Traceback (most recent call last): File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/train.py", line 247, in main() File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/train.py", line 162, in main value, action, action_log_prob, recurrent_hidden_states = actor_critic.act( File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/rl/networks/model.py", line 60, in act value, actor_features, rnn_hxs = self.base(inputs, rnn_hxs, masks, infer=True) File "/usr/local/lib/python3.10/dist-packages/torch/nn/modules/module.py", line 1130, in _call_impl return forward_call(*input, *kwargs) File "/root/dsrnn_ws/CrowdNav_Prediction_AttnGraph/rl/networks/srnn_model.py", line 441, in forward nodes_current_selected = self.robot_linear(robot_node) File "/usr/local/lib/python3.10/dist-packages/torch/nn/modules/module.py", line 1130, in _call_impl return forward_call(input, **kwargs) File "/usr/local/lib/python3.10/dist-packages/torch/nn/modules/linear.py", line 114, in forward return F.linear(input, self.weight, self.bias) RuntimeError: mat1 and mat2 shapes cannot be multiplied (16x7 and 2x3)

Shuijing725 commented 1 year ago

Do you want to add trajectory prediction? If not, change env_name in arguments.py to CrowdSimVarNum-v0. Otherwise, S-RNN is not compatible with prediction right now, so I'll have to fix it.

hoonm1n commented 1 year ago

Does that mean that the old network's weights can't be trained in the current repository(CrowdNav_Prediction_AttnGraph) yet?

Shuijing725 commented 1 year ago

This repo has several different gym environments (see readme -> training -> ii). S-RNN can be trained with CrowdSimVarNum-v0 environment, which does not have human trajectory prediction. But it cannot be trained with other environments with prediction.