syscv / spc2 Goto Github PK

Hello,
I noticed that spc2 is not updated to docker, and I tried to move spc2 files to docker, but some of the files do not have permission, and the administrator in docker is carla. （This question has been solved by exec to the container with a root authority ）

Can you please provide a Docker environment with spc2 pre-installed and ready to run?

It doesn't work at Carla0.9.x. It always show the errors like 'xx' object has no attribute 'xxxx'. It should be modified on my own.

Is the OS Ubuntu 18.04? Or is it 20.04?
Also, what version of pytorch are you using?

Do I have to create the pretrain/ directory in the root directory of spc2 by myself to put the downloaded pretrained weights?

What are the names and versions of the libraries, etc. that you need?
It would also be helpful if you could tell us the version of your runtime environment if possible.
I'm trying to run it on carla0.9.6 or 0.9.8.

I would like to load weights on the provided docker, but it is not working, so I have a question.
Here is a detailed description of how I did it.

First, I started the container and logged in as root.
docker pull deepdrive/spc
docker run -it --gpus all deepdrive/spc
At this time, the nvidia-smi command worked fine.

I then git cloned spc2 and placed the downloaded weights in /home/carla/spc2/pretrain/. (I renamed the file to model_only_fpn50.pth.)

Enter the spc virtual environment.
conda activate spc

Open a separate terminal and start carla.
docker exec -it <container ID> bash
(spc) carla@325657a8b89c:~/carla_0.8.4$ bash run.sh
Confirm that the message "Waiting for the client to connect..." is displayed.

Tried to start training in the previous terminal.
(spc) root@325657a8b89c:~/spc2/scripts# bash train_carla.sh

Here are the steps I followed so far. However, I could not start as follows.
Please let me know if there is something wrong. Thank you very much.

(spc) root@325657a8b89c:~/spc2/scripts# bash train_carla.sh No model to resume! turn to the base pretrain model: pretrain/model_only_fpn50.pth Traceback (most recent call last): File "main.py", line 95, in <module> main() File "main.py", line 91, in main train_policy(args, env) File "/home/carla/spc2/train.py", line 334, in train_policy trainer = Trainer(args, env) File "/home/carla/spc2/train.py", line 124, in __init__ self.model, self.optim, self.epoch, self.exploration, self.num_steps = init_models(self.args) File "/home/carla/spc2/models/model.py", line 238, in init_models train_net, epoch, step = load_model(args, args.save_path, train_net, resume=args.resume) File "/home/carla/spc2/utils/util.py", line 327, in load_model net.load_state_dict(state_dict) File "/home/carla/anaconda3/envs/spc/lib/python3.5/site-packages/torch/nn/modules/module.py", line 845, in load_state_dict self.__class__.__name__, "\n\t".join(error_msgs))) RuntimeError: Error(s) in loading state_dict for ConvLSTMMulti: Missing key(s) in state_dict: "conv_lstm.feature_map_predictor.identify.bias", "conv_lstm.feature_map_predictor.identify.weight", "conv_lstm.feature_map_predictor.stair.bias", "conv_lstm.feature_map_predictor.stair.weight", "conv_lstm.detector.coll_head.0.bias", "conv_lstm.detector.coll_head.0.weight", "conv_lstm.detector.coll_head.2.bias", "conv_lstm.detector.coll_head.2.weight", "conv_lstm.detector.coll_head.4.bias", "conv_lstm.detector.coll_head.4.weight", "conv_lstm.detector.coll_head.6.bias", "conv_lstm.detector.coll_head.6.weight", "conv_lstm.detector.coll_head.8.bias", "conv_lstm.detector.coll_head.8.weight", "conv_lstm.detector.thrd_head.confidence_head.0.bias", "conv_lstm.detector.thrd_head.confidence_head.0.weight", "conv_lstm.detector.thrd_head.confidence_head.2.bias", "conv_lstm.detector.thrd_head.confidence_head.2.weight", "conv_lstm.detector.thrd_head.confidence_head.4.bias", "conv_lstm.detector.thrd_head.confidence_head.4.weight", "conv_lstm.detector.thrd_head.confidence_head.6.bias", "conv_lstm.detector.thrd_head.confidence_head.6.weight", "conv_lstm.detector.thrd_head.confidence_head.8.bias", "conv_lstm.detector.thrd_head.confidence_head.8.weight", "conv_lstm.detector.thrd_head.residual_head.0.bias", "conv_lstm.detector.thrd_head.residual_head.0.weight", "conv_lstm.detector.thrd_head.residual_head.2.bias", "conv_lstm.detector.thrd_head.residual_head.2.weight", "conv_lstm.detector.thrd_head.residual_head.4.bias", "conv_lstm.detector.thrd_head.residual_head.4.weight", "conv_lstm.detector.thrd_head.residual_head.6.bias", "conv_lstm.detector.thrd_head.residual_head.6.weight", "conv_lstm.detector.thrd_head.residual_head.8.bias", "conv_lstm.detector.thrd_head.residual_head.8.weight", "conv_lstm.detector.thrd_head.dimension_head.0.bias", "conv_lstm.detector.thrd_head.dimension_head.0.weight", "conv_lstm.detector.thrd_head.dimension_head.2.bias", "conv_lstm.detector.thrd_head.dimension_head.2.weight", "conv_lstm.detector.thrd_head.dimension_head.4.bias", "conv_lstm.detector.thrd_head.dimension_head.4.weight", "conv_lstm.detector.thrd_head.dimension_head.6.bias", "conv_lstm.detector.thrd_head.dimension_head.6.weight", "conv_lstm.detector.thrd_head.dimension_head.8.bias", "conv_lstm.detector.thrd_head.dimension_head.8.weight", "conv_lstm.detector.thrd_head.center_head.0.bias", "conv_lstm.detector.thrd_head.center_head.0.weight", "conv_lstm.detector.thrd_head.center_head.2.bias", "conv_lstm.detector.thrd_head.center_head.2.weight", "conv_lstm.detector.thrd_head.center_head.4.bias", "conv_lstm.detector.thrd_head.center_head.4.weight", "conv_lstm.detector.thrd_head.center_head.6.bias", "conv_lstm.detector.thrd_head.center_head.6.weight", "conv_lstm.detector.thrd_head.center_head.8.bias", "conv_lstm.detector.thrd_head.center_head.8.weight", "conv_lstm.depth_head.0.bias", "conv_lstm.depth_head.0.weight", "conv_lstm.depth_head.2.bias", "conv_lstm.depth_head.2.weight", "conv_lstm.depth_head.4.bias", "conv_lstm.depth_head.4.weight", "conv_lstm.depth_head.6.bias", "conv_lstm.depth_head.6.weight", "conv_lstm.guide_layer.fc11.bias", "conv_lstm.guide_layer.fc11.weight", "conv_lstm.guide_layer.fc22.bias", "conv_lstm.guide_layer.fc22.weight", "conv_lstm.guide_layer.fc33.bias", "conv_lstm.guide_layer.fc33.weight", "conv_lstm.coll_layer.fc11.bias", "conv_lstm.coll_layer.fc11.weight", "conv_lstm.coll_layer.fc22.bias", "conv_lstm.coll_layer.fc22.weight", "conv_lstm.coll_layer.fc33.bias", "conv_lstm.coll_layer.fc33.weight", "conv_lstm.offroad_layer.fc11.bias", "conv_lstm.offroad_layer.fc11.weight", "conv_lstm.offroad_layer.fc22.bias", "conv_lstm.offroad_layer.fc22.weight", "conv_lstm.offroad_layer.fc33.bias", "conv_lstm.offroad_layer.fc33.weight", "conv_lstm.offlane_layer.fc11.bias", "conv_lstm.offlane_layer.fc11.weight", "conv_lstm.offlane_layer.fc22.bias", "conv_lstm.offlane_layer.fc22.weight", "conv_lstm.offlane_layer.fc33.bias", "conv_lstm.offlane_layer.fc33.weight", "conv_lstm.speed_layer.fc11.bias", "conv_lstm.speed_layer.fc11.weight", "conv_lstm.speed_layer.fc22.bias", "conv_lstm.speed_layer.fc22.weight", "conv_lstm.speed_layer.fc33.bias", "conv_lstm.speed_layer.fc33.weight". Unexpected key(s) in state_dict: "conv_lstm.detector_pred.loc_head.0.weight", "conv_lstm.detector_pred.loc_head.0.bias", "conv_lstm.detector_pred.loc_head.2.weight", "conv_lstm.detector_pred.loc_head.2.bias", "conv_lstm.detector_pred.loc_head.4.weight", "conv_lstm.detector_pred.loc_head.4.bias", "conv_lstm.detector_pred.loc_head.6.weight", "conv_lstm.detector_pred.loc_head.6.bias", "conv_lstm.detector_pred.loc_head.8.weight", "conv_lstm.detector_pred.loc_head.8.bias", "conv_lstm.detector_pred.cls_head.0.weight", "conv_lstm.detector_pred.cls_head.0.bias", "conv_lstm.detector_pred.cls_head.2.weight", "conv_lstm.detector_pred.cls_head.2.bias", "conv_lstm.detector_pred.cls_head.4.weight", "conv_lstm.detector_pred.cls_head.4.bias", "conv_lstm.detector_pred.cls_head.6.weight", "conv_lstm.detector_pred.cls_head.6.bias", "conv_lstm.detector_pred.cls_head.8.weight", "conv_lstm.detector_pred.cls_head.8.bias", "conv_lstm.coll_vehicle_layer.conv1.weight", "conv_lstm.coll_vehicle_layer.conv1.bias", "conv_lstm.coll_vehicle_layer.conv2.weight", "conv_lstm.coll_vehicle_layer.conv2.bias", "conv_lstm.coll_vehicle_layer.conv3.weight", "conv_lstm.coll_vehicle_layer.conv3.bias", "conv_lstm.coll_vehicle_layer.conv4.weight", "conv_lstm.coll_vehicle_layer.conv4.bias", "conv_lstm.coll_vehicle_layer.fc1.weight", "conv_lstm.coll_vehicle_layer.fc1.bias", "conv_lstm.coll_vehicle_layer.fc2.weight", "conv_lstm.coll_vehicle_layer.fc2.bias", "conv_lstm.coll_vehicle_layer.fc3.weight", "conv_lstm.coll_vehicle_layer.fc3.bias", "conv_lstm.coll_other_layer.conv1.weight", "conv_lstm.coll_other_layer.conv1.bias", "conv_lstm.coll_other_layer.conv2.weight", "conv_lstm.coll_other_layer.conv2.bias", "conv_lstm.coll_other_layer.conv3.weight", "conv_lstm.coll_other_layer.conv3.bias", "conv_lstm.coll_other_layer.conv4.weight", "conv_lstm.coll_other_layer.conv4.bias", "conv_lstm.coll_other_layer.fc1.weight", "conv_lstm.coll_other_layer.fc1.bias", "conv_lstm.coll_other_layer.fc2.weight", "conv_lstm.coll_other_layer.fc2.bias", "conv_lstm.coll_other_layer.fc3.weight", "conv_lstm.coll_other_layer.fc3.bias", "conv_lstm.guide_layer.fc1.weight", "conv_lstm.guide_layer.fc1.bias", "conv_lstm.guide_layer.fc2.weight", "conv_lstm.guide_layer.fc2.bias", "conv_lstm.guide_layer.fc3.weight", "conv_lstm.guide_layer.fc3.bias", "conv_lstm.coll_layer.fc1.weight", "conv_lstm.coll_layer.fc1.bias", "conv_lstm.coll_layer.fc2.weight", "conv_lstm.coll_layer.fc2.bias", "conv_lstm.coll_layer.fc3.weight", "conv_lstm.coll_layer.fc3.bias", "conv_lstm.offroad_layer.fc1.weight", "conv_lstm.offroad_layer.fc1.bias", "conv_lstm.offroad_layer.fc2.weight", "conv_lstm.offroad_layer.fc2.bias", "conv_lstm.offroad_layer.fc3.weight", "conv_lstm.offroad_layer.fc3.bias", "conv_lstm.offlane_layer.fc1.weight", "conv_lstm.offlane_layer.fc1.bias", "conv_lstm.offlane_layer.fc2.weight", "conv_lstm.offlane_layer.fc2.bias", "conv_lstm.offlane_layer.fc3.weight", "conv_lstm.offlane_layer.fc3.bias", "conv_lstm.speed_layer.fc1.weight", "conv_lstm.speed_layer.fc1.bias", "conv_lstm.speed_layer.fc2.weight", "conv_lstm.speed_layer.fc2.bias", "conv_lstm.speed_layer.fc3.weight", "conv_lstm.speed_layer.fc3.bias".