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planning: add learning_based_task for online data training
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20 changes: 13 additions & 7 deletions
20
modules/planning/conf/scenario/learning_model_sample_config.pb.txt
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| scenario_type: LEARNING_MODEL_SAMPLE | ||
| learning_model_sample_config: { | ||
| model_file: "/apollo/modules/planning/tools/planning_demo_model.pt" | ||
| input_feature_num: 301084 | ||
| } | ||
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| stage_type: LEARNING_MODEL_RUN | ||
| stage_type: LEARNING_MODEL_RUN | ||
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| stage_config: { | ||
| stage_type: LEARNING_MODEL_RUN | ||
| enabled: true | ||
| } | ||
| stage_config: { | ||
| stage_type: LEARNING_MODEL_RUN | ||
| enabled: true | ||
| task_type: LEARNING_BASED_TASK | ||
| task_config: { | ||
| task_type: LEARNING_BASED_TASK | ||
| learning_based_task_config { | ||
| model_file: "/apollo/modules/planning/tools/planning_demo_model.pt" | ||
| input_feature_num: 301084 | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,23 @@ | ||
| load("//tools:cpplint.bzl", "cpplint") | ||
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| package(default_visibility = ["//visibility:public"]) | ||
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| cc_library( | ||
| name = "learning_based_task", | ||
| srcs = ["learning_based_task.cc"], | ||
| hdrs = ["learning_based_task.h"], | ||
| copts = ["-DMODULE_NAME=\\\"planning\\\""], | ||
| deps = [ | ||
| "//modules/common/configs:vehicle_config_helper", | ||
| "//modules/common/status", | ||
| "//modules/planning/common:frame", | ||
| "//modules/planning/common:planning_gflags", | ||
| "//modules/planning/common:reference_line_info", | ||
| "//modules/planning/proto:planning_config_proto", | ||
| "//modules/planning/proto:planning_proto", | ||
| "//modules/planning/tasks:task", | ||
| "//third_party:libtorch", | ||
| ], | ||
| ) | ||
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| cpplint() |
117 changes: 117 additions & 0 deletions
117
modules/planning/tasks/learning_model/learning_based_task.cc
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| /****************************************************************************** | ||
| * Copyright 2020 The Apollo Authors. All Rights Reserved. | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| *****************************************************************************/ | ||
|
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| /** | ||
| * @file | ||
| **/ | ||
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| #include "modules/planning/tasks/learning_model/learning_based_task.h" | ||
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| #include "modules/planning/common/planning_gflags.h" | ||
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| namespace apollo { | ||
| namespace planning { | ||
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| using apollo::common::ErrorCode; | ||
| using apollo::common::Status; | ||
| using apollo::common::TrajectoryPoint; | ||
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| Status LearningBasedTask::Execute(Frame *frame, | ||
| ReferenceLineInfo *reference_line_info) { | ||
| Task::Execute(frame, reference_line_info); | ||
| return Process(frame); | ||
| } | ||
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| Status LearningBasedTask::Process(Frame *frame) { | ||
| const auto model_file = config_.model_file(); | ||
| if (apollo::cyber::common::PathExists(model_file)) { | ||
| try { | ||
| model_ = torch::jit::load(model_file, device_); | ||
| } | ||
| catch (const c10::Error& e) { | ||
| AERROR << "error loading the model:" << model_file; | ||
| return Status(ErrorCode::PLANNING_ERROR, | ||
| "learning based task model file not exist"); | ||
| } | ||
| } | ||
| input_feature_num_ = config_.input_feature_num(); | ||
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| std::vector<torch::jit::IValue> input_features; | ||
| ExtractFeatures(frame, &input_features); | ||
| InferenceModel(input_features, frame); | ||
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| return Status::OK(); | ||
| } | ||
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| bool LearningBasedTask::ExtractFeatures( | ||
| Frame* frame, | ||
| std::vector<torch::jit::IValue> *input_features) { | ||
| // TODO(all): generate learning features. | ||
| // TODO(all): adapt to new input feature shapes | ||
| std::vector<torch::jit::IValue> tuple; | ||
| tuple.push_back(torch::zeros({2, 3, 224, 224})); | ||
| tuple.push_back(torch::zeros({2, 14})); | ||
| // assumption: future learning model use one dimension input features. | ||
| input_features->push_back(torch::ivalue::Tuple::create(tuple)); | ||
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| return true; | ||
| } | ||
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| bool LearningBasedTask::InferenceModel( | ||
| const std::vector<torch::jit::IValue> &input_features, | ||
| Frame* frame) { | ||
| auto reference_line_infos = frame->mutable_reference_line_infos(); | ||
| if (reference_line_infos->empty()) { | ||
| AERROR << "no reference is found."; | ||
| return false; | ||
| } | ||
| // FIXME(all): current only pick up the first reference line to use | ||
| // learning model trajectory. | ||
| for (auto& reference_line_info : *reference_line_infos) { | ||
| reference_line_info.SetDrivable(false); | ||
| } | ||
| auto& picked_reference_line_info = reference_line_infos->front(); | ||
| picked_reference_line_info.SetDrivable(true); | ||
| picked_reference_line_info.SetCost(0); | ||
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| auto torch_output = model_.forward(input_features); | ||
| ADEBUG << torch_output; | ||
| auto torch_output_tensor = torch_output.toTensor(); | ||
| auto output_shapes = torch_output_tensor.sizes(); | ||
| if (output_shapes.empty() || output_shapes.size() < 3) { | ||
| AWARN << "invalid response from learning model."; | ||
| return false; | ||
| } | ||
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| // TODO(all): only populate path data from learning model | ||
| // for initial version | ||
| std::vector<TrajectoryPoint> trajectory_points; | ||
| for (int i = 0; i < output_shapes[1]; ++i) { | ||
| TrajectoryPoint p; | ||
| p.mutable_path_point()->set_x( | ||
| torch_output_tensor.accessor<float, 3>()[0][i][0]); | ||
| p.mutable_path_point()->set_y( | ||
| torch_output_tensor.accessor<float, 3>()[0][i][1]); | ||
| trajectory_points.push_back(p); | ||
| } | ||
| picked_reference_line_info.SetTrajectory( | ||
| DiscretizedTrajectory(trajectory_points)); | ||
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| return true; | ||
| } | ||
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| } // namespace planning | ||
| } // namespace apollo |
57 changes: 57 additions & 0 deletions
57
modules/planning/tasks/learning_model/learning_based_task.h
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,57 @@ | ||
| /****************************************************************************** | ||
| * Copyright 2020 The Apollo Authors. All Rights Reserved. | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| *****************************************************************************/ | ||
|
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| /** | ||
| * @file | ||
| **/ | ||
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| #pragma once | ||
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| #include <vector> | ||
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| #include "torch/script.h" | ||
| #include "torch/torch.h" | ||
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| #include "modules/planning/proto/planning_config.pb.h" | ||
| #include "modules/planning/tasks/task.h" | ||
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| namespace apollo { | ||
| namespace planning { | ||
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| class LearningBasedTask : public Task { | ||
| public: | ||
| explicit LearningBasedTask(const TaskConfig &config) | ||
| : Task(config), device_(torch::kCPU) {} | ||
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| apollo::common::Status Execute( | ||
| Frame *frame, ReferenceLineInfo *reference_line_info) override; | ||
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| private: | ||
| apollo::common::Status Process(Frame *frame); | ||
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| bool ExtractFeatures(Frame* frame, | ||
| std::vector<torch::jit::IValue> *input_features); | ||
| bool InferenceModel(const std::vector<torch::jit::IValue> &input_features, | ||
| Frame* frame); | ||
| private: | ||
| LearningBasedTaskConfig config_; | ||
| torch::Device device_; | ||
| torch::jit::script::Module model_; | ||
| int input_feature_num_ = 0; | ||
| }; | ||
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| } // namespace planning | ||
| } // namespace apollo |