added n_layers param

rogeriobonatti · Jun 5, 2022 · c3715e9 · c3715e9
1 parent be1eb0a
commit c3715e9
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Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/mushr_rhc_ros/launch/sim/sim_server_eval.launch b/mushr_rhc_ros/launch/sim/sim_server_eval.launch
@@ -6,8 +6,12 @@
     <!-- logging output paths -->
     <arg name="out_path" default="/home/rb/hackathon_data_premium/e2e_eval/model_test" />
 
+    <!-- number of layers for model -->
+    <arg name="n_layers" default="12" />
+
     <!-- action model -->
-    <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/hvd_test_16/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_1_nla_12_nhe_8_statel_0.01_2022-06-02_1654131996.2524076_2022-06-02_1654131996.2524228/model/epoch30.pth.tar" />
+    <!-- <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/hvd_test_16/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_1_nla_12_nhe_8_statel_0.01_2022-06-02_1654131996.2524076_2022-06-02_1654131996.2524228/model/epoch30.pth.tar" /> -->
+    <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/model_sizes_0/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_0_nla_6_nhe_8_statel_0.01_2022-06-03_1654253046.3212142_2022-06-03_1654253046.3212266/model/epoch30.pth.tar" />
 
     <!-- map model -->
     <arg name="use_map" default="false" />
@@ -35,6 +39,7 @@
             <param name="deployment_map" value="$(arg deployment_map)" />
 
             <param name="out_path" value="$(arg out_path)" />
+            <param name="n_layers" type="int" value="$(arg n_layers) " />
             <param name="model_path_act" value="$(arg model_path_act)" />
             <param name="model_path_map" value="$(arg model_path_map)" />
             <param name="model_path_loc" value="$(arg model_path_loc)" />

diff --git a/mushr_rhc_ros/src/rhcnode_network_pcl_new.py b/mushr_rhc_ros/src/rhcnode_network_pcl_new.py
@@ -108,12 +108,14 @@ def __init__(self, dtype, params, logger, name):
         saved_model_path_action = rospy.get_param("~model_path_act", 'default_value')
         self.out_path = rospy.get_param("~out_path", 'default_value')
 
+        self.n_layers = rospy.get_param("~n_layers", 12)
+
         vocab_size = 100
         block_size = self.clip_len * 2
         max_timestep = self.clip_len
 
         mconf = GPTConfig(block_size, max_timestep,
-                      n_layer=12, n_head=8, n_embd=128, model_type='GPT', use_pred_state=True,
+                      n_layer=self.n_layers, n_head=8, n_embd=128, model_type='GPT', use_pred_state=True,
                       state_tokenizer='pointnet', pretrained_encoder_path='',
                       loss='MSE', train_mode='e2e', pretrained_model_path='',
                       map_decoder='deconv', map_recon_dim=64, freeze_core=False,
@@ -160,7 +162,7 @@ def __init__(self, dtype, params, logger, name):
             saved_map_model_path = rospy.get_param("~model_path_map", '')
 
             mconf_map = GPTConfig(block_size, max_timestep,
-                      n_layer=12, n_head=8, n_embd=128, model_type='GPT', use_pred_state=True,
+                      n_layer=self.n_layers, n_head=8, n_embd=128, model_type='GPT', use_pred_state=True,
                       state_tokenizer='pointnet', pretrained_encoder_path='',
                       loss='MSE', train_mode='map', pretrained_model_path='',
                       map_decoder='deconv', map_recon_dim=64, freeze_core=False,
@@ -191,7 +193,7 @@ def __init__(self, dtype, params, logger, name):
             saved_loc_model_path = rospy.get_param("~model_path_loc", '')
 
             mconf_loc = GPTConfig(block_size, max_timestep,
-                      n_layer=12, n_head=8, n_embd=128, model_type='GPT', use_pred_state=True,
+                      n_layer=self.n_layers, n_head=8, n_embd=128, model_type='GPT', use_pred_state=True,
                       state_tokenizer='pointnet', pretrained_encoder_path='',
                       loss='MSE', train_mode='loc', pretrained_model_path='',
                       map_decoder='deconv', map_recon_dim=64, freeze_core=False,