change

rogeriobonatti · Feb 24, 2022 · 4bd60d0 · 4bd60d0
1 parent c926772
commit 4bd60d0
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/mushr_rhc_ros/src/rhcnode_network_shuang.py b/mushr_rhc_ros/src/rhcnode_network_shuang.py
@@ -31,8 +31,8 @@
 import torch
 from mingpt.model_resnetdirect import ResnetDirect, ResnetDirectWithActions
 # from mingpt.model_musher import GPT, GPTConfig
-# from mingpt.model_mushr_rogerio import GPT, GPTConfig
-from mingpt.model_mushr_iros import GPT, GPTConfig
+from mingpt.model_mushr_rogerio import GPT, GPTConfig
+# from mingpt.model_mushr_iros import GPT, GPTConfig
 import preprocessing_utils as pre
 from visualization_msgs.msg import Marker
 
@@ -82,7 +82,7 @@ def __init__(self, dtype, params, logger, name):
         self.clip_len = 16
 
         # fine-tuned in real life
-        saved_model_path = '/home/robot/weight_files/epoch0.pth.tar'
+        # saved_model_path = '/home/robot/weight_files/epoch0.pth.tar'
         # saved_model_path = '/home/rb/downloaded_models/epoch30.pth.tar'
 
         # tests for IROS
@@ -91,7 +91,7 @@ def __init__(self, dtype, params, logger, name):
         # saved_model_path = '/home/rb/downloaded_models/epoch30.pth.tar'
 
         # saved_model_path = '/home/robot/weight_files/epoch15.pth.tar'
-        # saved_model_path = '/home/rb/hackathon_data/aml_outputs/log_output/gpt_resnet18_0/GPTgpt_resnet18_4gpu_2022-01-24_1642987604.6403077_2022-01-24_1642987604.640322/model/epoch15.pth.tar'
+        saved_model_path = '/home/rb/hackathon_data/aml_outputs/log_output/gpt_resnet18_0/GPTgpt_resnet18_4gpu_2022-01-24_1642987604.6403077_2022-01-24_1642987604.640322/model/epoch15.pth.tar'
         # saved_model_path = '/home/rb/hackathon_data/aml_outputs/log_output/gpt_resnet18_8_exp2/GPTgpt_resnet18_8gpu_exp2_2022-01-25_1643076745.003202_2022-01-25_1643076745.0032148/model/epoch12.pth.tar'
         vocab_size = 100
         block_size = self.clip_len * 2
@@ -282,7 +282,7 @@ def apply_network(self):
             action_pred, loss = self.model(states=x_imgs, actions=x_act, targets=x_act, timesteps=t)
             action_pred = action_pred[0,self.clip_len-1,0].cpu().flatten().item()
         finished_network = time.time()
-        rospy.loginfo("network delay: "+str(finished_network-finish_processing))
+        # rospy.loginfo("network delay: "+str(finished_network-finish_processing))
 
         # de-normalize
         action_pred = pre.denorm_angle(action_pred)