Initial VIN implementation

Author: Nabushika

data/algorithms/vin_pretrained_16x16.pth

@@ -30,9 +30,10 @@
 from algorithms.classic.sample_based.rrt_star import RRT_Star
 from algorithms.classic.sample_based.rrt_connect import RRT_Connect
 from algorithms.classic.graph_based.wavefront import Wavefront
-from algorithms.lstm.LSTM_tile_by_tile import OnlineLSTM
-from algorithms.lstm.a_star_waypoint import WayPointNavigation
-from algorithms.lstm.combined_online_LSTM import CombinedOnlineLSTM
+from algorithms.learning.LSTM_tile_by_tile import OnlineLSTM
+from algorithms.learning.a_star_waypoint import WayPointNavigation
+from algorithms.learning.combined_online_LSTM import CombinedOnlineLSTM
+from algorithms.learning.VIN.VIN import VINAlgorithm
 
 if HAS_OMPL:
     from algorithms.classic.sample_based.ompl_rrt import OMPL_RRT
@@ -103,7 +104,8 @@ def _static_init_(cls):
             "Dijkstra": (Dijkstra, DijkstraTesting, ([], {})),
             "Bug1": (Bug1, BasicTesting, ([], {})),
             "Bug2": (Bug2, BasicTesting, ([], {})),
-            "Potential Field": (PotentialField, BasicTesting, ([], {}))
+            "Potential Field": (PotentialField, BasicTesting, ([], {})),
+            "VIN": (VINAlgorithm, BasicTesting, ([], {"load_name": "vin_pretrained"}))
         }
 
         if HAS_OMPL:

data/algorithms/vin_pretrained_28x28.pth

@@ -3,7 +3,7 @@
 import numpy as np
 
 from algorithms.basic_testing import BasicTesting
-from algorithms.lstm.combined_online_LSTM import CombinedOnlineLSTM
+from algorithms.learning.combined_online_LSTM import CombinedOnlineLSTM
 from simulator.services.debug import DebugLevel
 
 

data/algorithms/vin_pretrained_8x8.pth

@@ -4,8 +4,8 @@
 from algorithms.algorithm import Algorithm
 from algorithms.basic_testing import BasicTesting
 from algorithms.configuration.maps.map import Map
-from algorithms.lstm.LSTM_tile_by_tile import BasicLSTMModule
-from algorithms.lstm.ML_model import MLModel
+from algorithms.learning.LSTM_tile_by_tile import BasicLSTMModule
+from algorithms.learning.ML_model import MLModel
 from simulator.services.debug import DebugLevel
 
 class Configuration:

src/algorithms/algorithm_manager.py

@@ -15,9 +15,9 @@
 
 from algorithms.basic_testing import BasicTesting
 from algorithms.configuration.maps.map import Map
-from algorithms.lstm.LSTM_tile_by_tile import BasicLSTMModule, OnlineLSTM
-from algorithms.lstm.ML_model import MLModel, EvaluationResults
-from algorithms.lstm.map_processing import MapProcessing
+from algorithms.learning.LSTM_tile_by_tile import BasicLSTMModule, OnlineLSTM
+from algorithms.learning.ML_model import MLModel, EvaluationResults
+from algorithms.learning.map_processing import MapProcessing
 from simulator.services.services import Services
 from utility.constants import DATA_PATH
 

src/algorithms/classic/testing/way_point_navigation_testing.py

@@ -10,7 +10,7 @@
 from torch import nn
 
 from algorithms.basic_testing import BasicTesting
-from algorithms.lstm.online_lstm import BasicLSTMModule, OnlineLSTM
+from algorithms.learning.online_lstm import BasicLSTMModule, OnlineLSTM
 from simulator.services.services import Services
 
 

src/algorithms/configuration/configuration.py

@@ -10,8 +10,8 @@
 from algorithms.basic_testing import BasicTesting
 from algorithms.configuration.entities.goal import Goal
 from algorithms.configuration.maps.map import Map
-from algorithms.lstm.ML_model import MLModel, SingleTensorDataset, PackedDataset
-from algorithms.lstm.map_processing import MapProcessing
+from algorithms.learning.ML_model import MLModel, SingleTensorDataset, PackedDataset
+from algorithms.learning.map_processing import MapProcessing
 from simulator.services.services import Services
 from simulator.views.map.display.entities_map_display import EntitiesMapDisplay
 from simulator.views.map.display.online_lstm_map_display import OnlineLSTMMapDisplay

src/algorithms/lstm/LSTM_CAE_tile_by_tile.py renamed to src/algorithms/learning/LSTM_CAE_tile_by_tile.py

@@ -12,7 +12,7 @@
 from torch.nn.utils.rnn import pad_sequence, pack_padded_sequence, pad_packed_sequence, pack_sequence, PackedSequence
 from torch.utils import data
 from torch.utils.data import DataLoader, TensorDataset, Dataset, Subset
-from algorithms.lstm.map_processing import MapProcessing
+from algorithms.learning.map_processing import MapProcessing
 from simulator.services.debug import DebugLevel
 from simulator.services.services import Services
 
@@ -154,7 +154,7 @@ class PackedDataset(Dataset):
     lengths: torch.Tensor
 
     def __init__(self, seq: List[torch.Tensor]) -> None:
-        from algorithms.lstm.LSTM_tile_by_tile import BasicLSTMModule
+        from algorithms.learning.LSTM_tile_by_tile import BasicLSTMModule
 
         ls = list(map(lambda el: el.shape[0], seq))
         self.perm = BasicLSTMModule.get_sort_by_lengths_indices(ls)