Merge pull request #51 from larsll/dev

Version 3.1

bin/activate.sh

@@ -38,10 +38,12 @@ function dr-update-env {
 
   if [[ "${DR_DOCKER_STYLE,,}" == "swarm" ]];
   then
-    export DR_ROBOMAKER_PORT=$(expr 8080 + $DR_RUN_ID)
+    export DR_ROBOMAKER_TRAIN_PORT=$(expr 8080 + $DR_RUN_ID)
+    export DR_ROBOMAKER_EVAL_PORT=$(expr 8180 + $DR_RUN_ID)
     export DR_ROBOMAKER_GUI_PORT=$(expr 5900 + $DR_RUN_ID)
   else
-    export DR_ROBOMAKER_PORT="8080-8100"
+    export DR_ROBOMAKER_TRAIN_PORT="8080-8100"
+    export DR_ROBOMAKER_EVAL_PORT="8080-8100"
     export DR_ROBOMAKER_GUI_PORT="5901-5920"
   fi
 
@@ -88,17 +90,27 @@ fi
 if [[ "${DR_CLOUD,,}" == "azure" ]];
 then
     export DR_LOCAL_S3_ENDPOINT_URL="http://localhost:9000"
+    export DR_MINIO_URL="http://minio:9000"
     DR_LOCAL_PROFILE_ENDPOINT_URL="--profile $DR_LOCAL_S3_PROFILE --endpoint-url $DR_LOCAL_S3_ENDPOINT_URL"
     DR_TRAIN_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-training.yml $DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-endpoint.yml"
     DR_EVAL_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-eval.yml $DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-endpoint.yml"
     DR_MINIO_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-azure.yml"
 elif [[ "${DR_CLOUD,,}" == "local" ]];
 then
     export DR_LOCAL_S3_ENDPOINT_URL="http://localhost:9000"
+    export DR_MINIO_URL="http://minio:9000"
     DR_LOCAL_PROFILE_ENDPOINT_URL="--profile $DR_LOCAL_S3_PROFILE --endpoint-url $DR_LOCAL_S3_ENDPOINT_URL"
     DR_TRAIN_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-training.yml $DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-endpoint.yml"
     DR_EVAL_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-eval.yml $DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-endpoint.yml"
     DR_MINIO_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-local.yml"
+elif [[ "${DR_CLOUD,,}" == "remote" ]];
+then
+    export DR_LOCAL_S3_ENDPOINT_URL="$DR_REMOTE_MINIO_URL"
+    export DR_MINIO_URL="$DR_REMOTE_MINIO_URL"
+    DR_LOCAL_PROFILE_ENDPOINT_URL="--profile $DR_LOCAL_S3_PROFILE --endpoint-url $DR_LOCAL_S3_ENDPOINT_URL"
+    DR_TRAIN_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-training.yml $DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-endpoint.yml"
+    DR_EVAL_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-eval.yml $DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-endpoint.yml"
+    DR_MINIO_COMPOSE_FILE=""
 else
     DR_LOCAL_PROFILE_ENDPOINT_URL=""
     DR_TRAIN_COMPOSE_FILE="$DR_DOCKER_FILE_SEP $DIR/docker/docker-compose-training.yml"

bin/init.sh

@@ -93,6 +93,12 @@ elif [[ "${OPT_CLOUD}" == "azure" ]]; then
     sed -i "s/<LOCAL_PROFILE>/azure/g" $INSTALL_DIR/system.env
     sed -i "s/<AWS_DR_BUCKET>/not-defined/g" $INSTALL_DIR/system.env
     echo "Please run 'aws configure --profile azure' to set the credentials"
+elif [[ "${OPT_CLOUD}" == "remote" ]]; then
+    AWS_REGION="us-east-1"
+    sed -i "s/<LOCAL_PROFILE>/minio/g" $INSTALL_DIR/system.env
+    sed -i "s/<AWS_DR_BUCKET>/not-defined/g" $INSTALL_DIR/system.env
+    echo "Please run 'aws configure --profile minio' to set the credentials"
+    echo "Please define DR_REMOTE_MINIO_URL in system.env to point to remote minio instance."
 else
     AWS_REGION="us-east-1"
     sed -i "s/<LOCAL_PROFILE>/minio/g" $INSTALL_DIR/system.env

bin/scripts_wrapper.sh

@@ -1,15 +1,6 @@
 #!/bin/bash
 
 function dr-upload-custom-files {
-  if [[ "${DR_CLOUD,,}" == "azure" || "${DR_CLOUD,,}" == "local" ]];
-  then
-    if [[ "${DR_DOCKER_STYLE,,}" == "swarm" ]];
-    then
-        docker stack deploy $DR_MINIO_COMPOSE_FILE s3
-    else
-        docker-compose $DR_MINIO_COMPOSE_FILE -p s3 --log-level ERROR up -d
-    fi
-  fi
   eval CUSTOM_TARGET=$(echo s3://$DR_LOCAL_S3_BUCKET/$DR_LOCAL_S3_CUSTOM_FILES_PREFIX/)
   echo "Uploading files to $CUSTOM_TARGET"
   aws $DR_LOCAL_PROFILE_ENDPOINT_URL s3 sync $DIR/custom_files/ $CUSTOM_TARGET
@@ -40,15 +31,6 @@ function dr-increment-upload-model {
 }
 
 function dr-download-custom-files {
-  if [[ "${DR_CLOUD,,}" == "azure" || "${DR_CLOUD,,}" == "local" ]];
-  then
-    if [[ "${DR_DOCKER_STYLE,,}" == "swarm" ]];
-    then
-        docker stack deploy $DR_MINIO_COMPOSE_FILE s3
-    else
-        docker-compose $DR_MINIO_COMPOSE_FILE -p s3 --log-level ERROR up -d
-    fi
-  fi
   eval CUSTOM_TARGET=$(echo s3://$DR_LOCAL_S3_BUCKET/$DR_LOCAL_S3_CUSTOM_FILES_PREFIX/)
   echo "Downloading files from $CUSTOM_TARGET"
   aws $DR_LOCAL_PROFILE_ENDPOINT_URL s3 sync $CUSTOM_TARGET $DIR/custom_files/
@@ -78,19 +60,15 @@ function dr-stop-evaluation {
 
 
 function dr-start-tournament {
-  dr-update-env
-  $DIR/scripts/tournament/start.sh "$@"
-}
-
-function dr-stop-tournament {
-  ROBOMAKER_COMMAND="" bash -c "cd $DIR/scripts/tournament && ./stop.sh"
+  echo "Tournaments are no longer supported. Use Head-to-Model evaluation instead."
 }
 
 
 function dr-start-loganalysis {
   ROBOMAKER_COMMAND="" bash -c "cd $DIR/scripts/log-analysis && ./start.sh"
 }
 
+
 function dr-stop-loganalysis {
   eval LOG_ANALYSIS_ID=$(docker ps | awk ' /loganalysis/ { print $1 }')
   if [ -n "$LOG_ANALYSIS_ID" ]; then

defaults/dependencies.json

@@ -1,8 +1,8 @@
 {
-    "master_version": "3.0",
+    "master_version": "3.1",
     "containers": {
-        "rl_coach": "3.0.5",
-        "robomaker": "3.0.6",
-        "sagemaker": "3.0.2"
+        "rl_coach": "3.1.0",
+        "robomaker": "3.1.0",
+        "sagemaker": "3.1.0"
     }
 }

defaults/hyperparameters.json

@@ -11,5 +11,6 @@
     "num_epochs": 10,
     "stack_size": 1,
     "term_cond_avg_score": 350.0,
-    "term_cond_max_episodes": 1000
+    "term_cond_max_episodes": 1000,
+    "sac_alpha": 0.2
   }

defaults/model_metadata.json

@@ -23,5 +23,7 @@
     ],
     "sensor": ["FRONT_FACING_CAMERA"],
     "neural_network": "DEEP_CONVOLUTIONAL_NETWORK_SHALLOW",
+    "training_algorithm": "clipped_ppo", 
+    "action_space_type": "discrete",
     "version": "3"
 }

defaults/template-run.env

@@ -1,37 +1,42 @@
 DR_RUN_ID=0
 DR_WORLD_NAME=reInvent2019_track
 DR_RACE_TYPE=TIME_TRIAL
-DR_CAR_COLOR=Red
 DR_CAR_NAME=FastCar
+DR_CAR_BODY_SHELL_TYPE=deepracer
+DR_CAR_COLOR=Red
 DR_DISPLAY_NAME=$DR_CAR_NAME
-DR_RACER_NAME=racer1
+DR_RACER_NAME=$DR_CAR_NAME
 DR_ENABLE_DOMAIN_RANDOMIZATION=False
-DR_UPLOAD_S3_PREFIX=DeepRacer-SageMaker-RoboMaker-comm-prefix
-DR_EVAL_NUMBER_OF_TRIALS=5
-DR_EVAL_IS_CONTINUOUS=False
+DR_EVAL_NUMBER_OF_TRIALS=3
+DR_EVAL_IS_CONTINUOUS=True
 DR_EVAL_OFF_TRACK_PENALTY=5.0
 DR_EVAL_COLLISION_PENALTY=5.0
 DR_EVAL_SAVE_MP4=False
+DR_EVAL_OPP_S3_MODEL_PREFIX=rl-deepracer-sagemaker
+DR_EVAL_OPP_CAR_BODY_SHELL_TYPE=deepracer
+DR_EVAL_OPP_CAR_NAME=FasterCar
+DR_EVAL_OPP_DISPLAY_NAME=$DR_EVAL_OPP_CAR_NAME
+DR_EVAL_OPP_RACER_NAME=$DR_EVAL_OPP_CAR_NAME
+#DR_EVAL_RTF=1.0
 DR_TRAIN_CHANGE_START_POSITION=True
 DR_TRAIN_ALTERNATE_DRIVING_DIRECTION=False
 DR_TRAIN_START_POSITION_OFFSET=0.0
 DR_TRAIN_ROUND_ROBIN_ADVANCE_DIST=0.05
 DR_TRAIN_MULTI_CONFIG=False
 DR_TRAIN_MIN_EVAL_TRIALS=5
+#DR_TRAIN_RTF=1.0
+DR_LOCAL_S3_MODEL_PREFIX=rl-deepracer-sagemaker
 DR_LOCAL_S3_PRETRAINED=False
 DR_LOCAL_S3_PRETRAINED_PREFIX=rl-sagemaker-pretrained
 DR_LOCAL_S3_PRETRAINED_CHECKPOINT=last
-DR_LOCAL_S3_MODEL_PREFIX=rl-deepracer-sagemaker
-DR_LOCAL_S3_BUCKET=bucket
 DR_LOCAL_S3_CUSTOM_FILES_PREFIX=custom_files
-DR_LOCAL_S3_TRAINING_PARAMS_FILE=training-params.yaml
-DR_LOCAL_S3_EVAL_PARAMS_FILE=eval-params.yaml
-DR_LOCAL_S3_TOURNAMENT_PARAMS_FILE=tournament-params.yaml
-DR_LOCAL_S3_TOURNAMENT_JSON_FILE=tournament.json
+DR_LOCAL_S3_TRAINING_PARAMS_FILE=training_params.yaml
+DR_LOCAL_S3_EVAL_PARAMS_FILE=evaluation_params.yaml
 DR_LOCAL_S3_MODEL_METADATA_KEY=$DR_LOCAL_S3_CUSTOM_FILES_PREFIX/model_metadata.json
 DR_LOCAL_S3_HYPERPARAMETERS_KEY=$DR_LOCAL_S3_CUSTOM_FILES_PREFIX/hyperparameters.json
 DR_LOCAL_S3_REWARD_KEY=$DR_LOCAL_S3_CUSTOM_FILES_PREFIX/reward_function.py
 DR_LOCAL_S3_METRICS_PREFIX=$DR_LOCAL_S3_MODEL_PREFIX/metrics
+DR_UPLOAD_S3_PREFIX=$DR_LOCAL_S3_MODEL_PREFIX
 DR_OA_NUMBER_OF_OBSTACLES=6
 DR_OA_MIN_DISTANCE_BETWEEN_OBSTACLES=2.0
 DR_OA_RANDOMIZE_OBSTACLE_LOCATIONS=False

defaults/template-system.env

@@ -2,6 +2,7 @@ DR_CLOUD=<CLOUD_REPLACE>
 DR_AWS_APP_REGION=<REGION_REPLACE>
 DR_UPLOAD_S3_PROFILE=default
 DR_UPLOAD_S3_BUCKET=<AWS_DR_BUCKET>
+DR_LOCAL_S3_BUCKET=bucket
 DR_LOCAL_S3_PROFILE=<LOCAL_PROFILE>
 DR_GUI_ENABLE=False
 DR_KINESIS_STREAM_NAME=None
@@ -15,4 +16,5 @@ DR_CLOUD_WATCH_ENABLE=False
 DR_DOCKER_STYLE=swarm
 DR_HOST_X=False
 DR_WEBVIEWER_PORT=8100
+# DR_REMOTE_MINIO_URL=http://mynas:9000
 # CUDA_VISIBLE_DEVICES=0

docker/docker-compose-endpoint.yml

@@ -3,7 +3,7 @@ version: '3.7'
 services:
   rl_coach:
     environment:
-      - S3_ENDPOINT_URL=http://minio:9000
+      - S3_ENDPOINT_URL=${DR_MINIO_URL}
   robomaker:
     environment:
-      - S3_ENDPOINT_URL=http://minio:9000
+      - S3_ENDPOINT_URL=${DR_MINIO_URL}

docker/docker-compose-eval.yml

@@ -13,7 +13,7 @@ services:
     image: awsdeepracercommunity/deepracer-robomaker:${DR_ROBOMAKER_IMAGE}
     command: ["${ROBOMAKER_COMMAND}"]
     ports:
-      - "${DR_ROBOMAKER_PORT}:8080"
+      - "${DR_ROBOMAKER_EVAL_PORT}:8080"
     environment:
       - DISPLAY_N=:0
       - CUDA_VISIBLE_DEVICES
@@ -27,3 +27,4 @@ services:
       - ENABLE_KINESIS=${DR_KINESIS_STREAM_ENABLE}
       - ENABLE_GUI=${DR_GUI_ENABLE}
       - ROLLOUT_IDX=0
+      - RTF_OVERRIDE=${DR_EVAL_RTF}

docker/docker-compose-training.yml

@@ -25,7 +25,7 @@ services:
     image: awsdeepracercommunity/deepracer-robomaker:${DR_ROBOMAKER_IMAGE}
     command: ["${ROBOMAKER_COMMAND}"]
     ports:
-      - "${DR_ROBOMAKER_PORT}:8080"
+      - "${DR_ROBOMAKER_TRAIN_PORT}:8080"
       - "${DR_ROBOMAKER_GUI_PORT}:5900"
     environment:
       - DISPLAY_N=:0
@@ -39,3 +39,4 @@ services:
       - ENABLE_GUI=${DR_GUI_ENABLE}
       - CUDA_VISIBLE_DEVICES
       - MULTI_CONFIG
+      - RTF_OVERRIDE=${DR_TRAIN_RTF}      

docs/head-to-head.md

@@ -0,0 +1,26 @@
+# Head-to-Head Race (Beta)
+
+It is possible to run a head-to-head race, similar to the races in the brackets 
+run by AWS in the Virtual Circuits to  determine the winner of the head-to-bot races.
+
+This replaces the "Tournament Mode".
+
+## Introduction
+
+The concept is that you have two models racing each other, one Purple and one Orange Car. One car
+is powered by our primary configured model, and the second car is powered by the model in `DR_EVAL_OPP_S3_MODEL_PREFIX`
+
+## Configuration
+
+### run.env
+
+Configure `run.env` with the following parameters:
+* `DR_RACE_TYPE` should be `HEAD_TO_MODEL`.
+* `DR_EVAL_OPP_S3_MODEL_PREFIX` will be the S3 prefix for the secondary model.
+* `DR_EVAL_OPP_CAR_NAME` is the display name of this model.
+
+Metrics, Traces and Videos will be stored in each models' prefix.
+
+## Run
+
+Run the race with `dr-start-evaluation`; one race will be run. 

docs/index.md

@@ -39,7 +39,7 @@ DRfC supports a wide set of features to ensure that you can focus on creating th
 * [GPU Accelerated OpenGL for Robomaker](opengl.md)
 * [Having multiple GPUs in one Computer](multi_gpu.md)
 * [Installing on Windows](windows.md)
-* [Run a Head-to-Head Tournament](tournament.md)
+* [Run a Head-to-Head Race](head-to-head.md)
 
 # Support