Kaggle competition: Lyft Motion Prediction for Autonomous Vehicles
<SOS> metric: PostProcessorKernel Kaggle data source: lyft-motion-prediction-autonomous-vehicles<create_dataframe>
warnings.filterwarnings("ignore" )
print(pd.DataFrame([[val for val in dir() ], [sys.getsizeof(eval(val)) for val in dir() ]],
index=['name','size'] ).T.sort_values('size', ascending=False ).reset_index(drop=True)[:10] )<choose_model_class>
l5kit.__version__
params={'learning_rate': 0.05,
'objective':'mae',
'metric':'mae',
'num_leaves': 31,
'verbose': 0,
'random_state':42,
'bagging_fraction': 0.7,
'feature_fraction': 0.7
}
mts = list()
fis = list()
pred = np.zeros(X_test.shape[0])
 for mt in X_train['matchTypeCat'].unique() :
idx = X_train[X_train['matchTypeCat'] == mt].index
reg = lgb.LGBMRegressor(**params, n_estimators=1000)
 reg.fit(X_train.loc[idx], Y_train.loc[idx])
 idx = X_test[X_test['matchTypeCat'] == mt].index
pred[idx] = reg.predict(X_test.loc[idx], num_iteration=reg.best_iteration_)
 mts.append(mt)
 fis.append(reg.feature_importances_ )<merge>
def set_seed(seed):
random.seed(seed)
 np.random.seed(seed)
 os.environ["PYTHONHASHSEED"] = str(seed)
 torch.manual_seed(seed)
 torch.cuda.manual_seed(seed)
 set_seed(42 )
X_test_grp['winPlacePerc'] = pred
group = X_test_grp.groupby(['matchId'])
 X_test_grp['winPlacePerc'] = pred
X_test_grp['_rank.winPlacePerc'] = group['winPlacePerc'].rank(method='min')
 X_test = pd.concat([X_test, X_test_grp], axis=1)
 sub_match = X_test_grp[['matchId','_rank.winPlacePerc']].groupby(['matchId'])
 sub_group = group.count().reset_index() ['matchId'].to_frame()
X_test = pd.merge(X_test, sub_group )<feature_engineering>
cfg = {
'format_version': 4,
'data_path': "/kaggle/input/lyft-motion-prediction-autonomous-vehicles",
'model_params': {
'model_architecture': 'resnet34',
'history_num_frames': 10,
'history_step_size': 1,
'history_delta_time': 0.1,
'future_num_frames': 50,
'future_step_size': 1,
'future_delta_time': 0.1,
'model_name': "model_resnet34_output",
'lr': 1e-3,
'weight_path': "/kaggle/input/lyft-pretrained-model-hv/model_multi_update_lyft_public.pth",
'train': False,
'predict': True
},
'raster_params': {
'raster_size': [224, 224],
'pixel_size': [0.5, 0.5],
'ego_center': [0.25, 0.5],
'map_type': 'py_semantic',
'satellite_map_key': 'aerial_map/aerial_map.png',
'semantic_map_key': 'semantic_map/semantic_map.pb',
'dataset_meta_key': 'meta.json',
'filter_agents_threshold': 0.5
},
'train_data_loader': {
'key': 'scenes/train.zarr',
'batch_size': 16,
'shuffle': True,
'num_workers': 4
},
'test_data_loader': {
'key': 'scenes/test.zarr',
'batch_size': 32,
'shuffle': False,
'num_workers': 4
},
'train_params': {
'max_num_steps': 101,
'checkpoint_every_n_steps': 20,
}
}
fullgroup =(X_test['numGroups'] == X_test['maxPlace'])
 subset = X_test.loc[fullgroup]
X_test.loc[fullgroup, 'winPlacePerc'] =(subset['_rank.winPlacePerc'].values - 1)/(subset['maxPlace'].values - 1)
 subset = X_test.loc[~fullgroup]
gap = 1.0 /(subset['maxPlace'].values - 1)
 new_perc = np.around(subset['winPlacePerc'].values / gap)* gap
X_test.loc[~fullgroup, 'winPlacePerc'] = new_perc<feature_engineering>
DIR_INPUT = cfg["data_path"]
os.environ["L5KIT_DATA_FOLDER"] = DIR_INPUT
dm = LocalDataManager(None )
X_test.loc[~fullgroup, '_pred.winPlace'] = np.around(X_test.loc[~fullgroup, 'winPlacePerc'].values / gap)+ 1
X_test.loc[~fullgroup &(X_test['matchId'] == '000b598b79aa5e'),
['matchId','groupId','winPlacePerc','maxPlace','numGroups','_pred.winPlace','_rank.winPlacePerc']
].sort_values(['matchId','_pred.winPlace'] )<groupby>
train_cfg = cfg["train_data_loader"]
rasterizer = build_rasterizer(cfg, dm)
 train_zarr = ChunkedDataset(dm.require(train_cfg["key"])).open()
train_dataset = AgentDataset(cfg, train_zarr, rasterizer)
 train_dataloader = DataLoader(train_dataset, shuffle=train_cfg["shuffle"], batch_size=train_cfg["batch_size"],
num_workers=train_cfg["num_workers"])
 print("==================================TRAIN DATA==================================")
 print(train_dataset )
_=<feature_engineering>
test_cfg = cfg["test_data_loader"]
rasterizer = build_rasterizer(cfg, dm)
 test_zarr = ChunkedDataset(dm.require(test_cfg["key"])).open()
test_mask = np.load(f"{DIR_INPUT}/scenes/mask.npz")["arr_0"]
test_dataset = AgentDataset(cfg, test_zarr, rasterizer, agents_mask=test_mask)
 test_dataloader = DataLoader(test_dataset,shuffle=test_cfg["shuffle"],batch_size=test_cfg["batch_size"],
num_workers=test_cfg["num_workers"])
 print("==================================TEST DATA==================================")
 print(test_dataset )
X_test.loc[X_test['maxPlace'] == 0, 'winPlacePerc'] = 0
X_test.loc[X_test['maxPlace'] == 1, 'winPlacePerc'] = 1
X_test.loc[(X_test['maxPlace'] > 1)&(X_test['numGroups'] == 1), 'winPlacePerc'] = 0
X_test['winPlacePerc'].describe()<save_to_csv>
class LyftMultiModel(nn.Module):
def __init__(self, cfg: Dict, num_modes=3):
super().__init__()
architecture = cfg["model_params"]["model_architecture"]
backbone = eval(architecture )(pretrained=True, progress=True)
 self.backbone = backbone
num_history_channels =(cfg["model_params"]["history_num_frames"] + 1)* 2
num_in_channels = 3 + num_history_channels
self.backbone.conv1 = nn.Conv2d(
 num_in_channels,
self.backbone.conv1.out_channels,
kernel_size=self.backbone.conv1.kernel_size,
stride=self.backbone.conv1.stride,
padding=self.backbone.conv1.padding,
bias=False, 
)
 if architecture == "resnet50":
backbone_out_features = 2048
else:
backbone_out_features = 512
self.future_len = cfg["model_params"]["future_num_frames"]
num_targets = 2 * self.future_len
self.head = nn.Sequential(
 nn.Linear(in_features=backbone_out_features, out_features=4096), 
)
 self.num_preds = num_targets * num_modes
self.num_modes = num_modes
self.logit = nn.Linear(4096, out_features=self.num_preds + num_modes)
 def forward(self, x):
x = self.backbone.conv1(x)
 x = self.backbone.bn1(x)
 x = self.backbone.relu(x)
 x = self.backbone.maxpool(x)
 x = self.backbone.layer1(x)
 x = self.backbone.layer2(x)
 x = self.backbone.layer3(x)
 x = self.backbone.layer4(x)
 x = self.backbone.avgpool(x)
 x = torch.flatten(x, 1)
 x = self.head(x)
 x = self.logit(x)
 bs, _ = x.shape
pred, confidences = torch.split(x, self.num_preds, dim=1)
 pred = pred.view(bs, self.num_modes, self.future_len, 2)
 assert confidences.shape ==(bs, self.num_modes)
 confidences = torch.softmax(confidences, dim=1)
 return pred, confidences
test = pd.read_csv('.. /input/test_V2.csv')
 submission = pd.merge(test, X_test[['matchId','groupId','winPlacePerc']])
 submission = submission[['Id','winPlacePerc']]
submission.to_csv("submission.csv", index=False )<concatenate>
def forward(data, model, device, criterion = pytorch_neg_multi_log_likelihood_batch):
inputs = data["image"].to(device)
 target_availabilities = data["target_availabilities"].to(device)
 targets = data["target_positions"].to(device)
 preds, confidences = model(inputs)
 loss = criterion(targets, preds, confidences, target_availabilities)
 return loss, preds, confidences
def toTapleList(list1,list2):
return list(itertools.product(list1,list2))<load_from_csv>
device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
 model = LyftMultiModel(cfg)
 weight_path = cfg["model_params"]["weight_path"]
if weight_path:
model.load_state_dict(torch.load(weight_path))
model.to(device)
 optimizer = optim.Adam(model.parameters() , lr=cfg["model_params"]["lr"])
 print(f'device {device}' )
%%time
train = pd.read_csv('.. /input/train_V2.csv')
 train = reduce_mem_usage(train)
 test = pd.read_csv('.. /input/test_V2.csv')
 test = reduce_mem_usage(test)
 print(train.shape, test.shape )<count_missing_values>
print(model )
null_cnt = train.isnull().sum().sort_values()
print(null_cnt[null_cnt > 0])
 train.dropna(inplace=True )<count_unique_values>
if cfg["model_params"]["train"]:
tr_it = iter(train_dataloader)
 progress_bar = tqdm(range(cfg["train_params"]["max_num_steps"]))
num_iter = cfg["train_params"]["max_num_steps"]
losses_train = []
iterations = []
metrics = []
times = []
model_name = cfg["model_params"]["model_name"]
start = time.time()
for i in progress_bar:
try:
data = next(tr_it)
 except StopIteration:
tr_it = iter(train_dataloader)
 data = next(tr_it)
 model.train()
torch.set_grad_enabled(True)
 loss, _, _ = forward(data, model, device)
 optimizer.zero_grad()
loss.backward()
optimizer.step()
losses_train.append(loss.item())
 progress_bar.set_description(f"loss: {loss.item() } loss(avg): {np.mean(losses_train)}")
 if i % cfg['train_params']['checkpoint_every_n_steps'] == 0:
torch.save(model.state_dict() , f'{model_name}_{i}.pth')
 iterations.append(i)
 metrics.append(np.mean(losses_train))
times.append(( time.time() -start)/60)
 results = pd.DataFrame({'iterations': iterations, 'metrics(avg)': metrics, 'elapsed_time(mins)': times})
 results.to_csv(f"train_metrics_{model_name}_{num_iter}.csv", index = False)
 print(f"Total training time is {(time.time() -start)/60} mins")
 print(results.head() )
<count_values><EOS> 
pred_path = 'submission.csv'
write_pred_csv(pred_path,
timestamps=np.concatenate(timestamps),
track_ids=np.concatenate(agent_ids),
coords=np.concatenate(future_coords_offsets_pd),
confs = np.concatenate(confidences_list)
 )