WIP: Initial VIN implementation

src/algorithms/algorithm_manager.py

@@ -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:

src/algorithms/classic/testing/way_point_navigation_testing.py

@@ -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
 
 

src/algorithms/configuration/configuration.py

@@ -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
 
 from structures import Point

src/algorithms/lstm/LSTM_CAE_tile_by_tile.py → src/algorithms/learning/LSTM_CAE_tile_by_tile.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/lstm/LSTM_CNN_tile_by_tile_obsolete.py → src/algorithms/learning/LSTM_CNN_tile_by_tile_obsolete.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/lstm/LSTM_tile_by_tile.py → src/algorithms/learning/LSTM_tile_by_tile.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/ML_model.py → src/algorithms/learning/ML_model.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)

src/algorithms/learning/VIN/.gitignore

@@ -0,0 +1,135 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+# npz
+*.npz
+
+# pth
+*.pth
+*.pth.1
+
+vin_my_implementation.code-workspace
+
+
+.vscode/launch.json
+/resources/training_maps/
+/resources/testing_maps/
+
+/resources/logs/
+/resources/test_maps/
+/resources/16_100k/
+/resources/16_60k/
+/resources/16_60k_pt2/
+
+/resources/house_expo/
+/resources/house_expo_old/
+/resources/house_expo_100x100/
+
+
+
+
+
+
+resources/100k_no_block.tar.gz

src/algorithms/learning/VIN/LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2020, Hussein Ali Jaafar
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.