Kaggle competition: Lyft Motion Prediction for Autonomous Vehicles
<SOS> metric: PostProcessorKernel Kaggle data source: lyft-motion-prediction-autonomous-vehicles<data_type_conversions>
if not os.path.exists('/kaggle/input/lyft-motion-prediction-autonomous-vehicles'):
drive.mount('/content/drive')
 !pip install -q kaggle
if not os.path.exists('kaggle.json'):
files.upload()
!mkdir ~/.kaggle
!cp kaggle.json ~/.kaggle/
!chmod 600 ~/.kaggle/kaggle.json
!kaggle config path -p /content
def kaggle_dataset_download_unzip(lfilename,dir):
with zipfile.ZipFile(lfilename)as file:
file.extractall(dir)
 os.remove(lfilename)
 dir='/content/lyft-motion'
if not os.path.exists(dir):
!kaggle datasets download -d aikhmelnytskyy/liftfirst
lfilename='/content/liftfirst.zip'
kaggle_dataset_download_unzip(lfilename,dir+'/scenes')
 !kaggle datasets download -d aikhmelnytskyy/lyftsecond
lfilename='/content/lyftsecond.zip'
kaggle_dataset_download_unzip(lfilename,dir)
 !kaggle datasets download -d huanvo/lyft-pretrained-model-hv
lfilename='/content/lyft-pretrained-model-hv.zip'
kaggle_dataset_download_unzip(lfilename,'/content/lyft-pretrained-model-hv')
 data_path='/content/lyft-motion/'
weight_path='/content/lyft-pretrained-model-hv/model_multi_update_lyft_public.pth'
model_path='/content/drive/My Drive/Models/'
else:
data_path='/kaggle/input/lyft-motion-prediction-autonomous-vehicles'
weight_path='/kaggle/input/lyft-pretrained-model-hv/model_multi_update_lyft_public.pth'
model_path=''
ts = time.time()
group = train.groupby(['item_id'] ).agg({'item_price': ['mean']})
 group.columns = ['item_avg_item_price']
group.reset_index(inplace=True)
 matrix = pd.merge(matrix, group, on=['item_id'], how='left')
 matrix['item_avg_item_price'] = matrix['item_avg_item_price'].astype(np.float16)
 group = train.groupby(['date_block_num','item_id'] ).agg({'item_price': ['mean']})
 group.columns = ['date_item_avg_item_price']
group.reset_index(inplace=True)
 matrix = pd.merge(matrix, group, on=['date_block_num','item_id'], how='left')
 matrix['date_item_avg_item_price'] = matrix['date_item_avg_item_price'].astype(np.float16)
 lags = [1,2,3,4,5,6]
matrix = lag_feature(matrix, lags, 'date_item_avg_item_price')
 for i in lags:
matrix['delta_price_lag_'+str(i)] = \ 
(matrix['date_item_avg_item_price_lag_'+str(i)] - matrix['item_avg_item_price'])/ matrix['item_avg_item_price']
def select_trend(row):
for i in lags:
if row['delta_price_lag_'+str(i)]:
return row['delta_price_lag_'+str(i)]
return 0
matrix['delta_price_lag'] = matrix.apply(select_trend, axis=1)
 matrix['delta_price_lag'] = matrix['delta_price_lag'].astype(np.float16)
 matrix['delta_price_lag'].fillna(0, inplace=True)
 fetures_to_drop = ['item_avg_item_price', 'date_item_avg_item_price']
for i in lags:
fetures_to_drop += ['date_item_avg_item_price_lag_'+str(i)]
fetures_to_drop += ['delta_price_lag_'+str(i)]
matrix.drop(fetures_to_drop, axis=1, inplace=True)
 time.time() - ts<merge>
!pip install -q l5kit
warnings.filterwarnings("ignore" )
ts = time.time()
group = train.groupby(['date_block_num','shop_id'] ).agg({'revenue': ['sum']})
 group.columns = ['date_shop_revenue']
group.reset_index(inplace=True)
 matrix = pd.merge(matrix, group, on=['date_block_num','shop_id'], how='left')
 matrix['date_shop_revenue'] = matrix['date_shop_revenue'].astype(np.float32)
 group = group.groupby(['shop_id'] ).agg({'date_shop_revenue': ['mean']})
 group.columns = ['shop_avg_revenue']
group.reset_index(inplace=True)
 matrix = pd.merge(matrix, group, on=['shop_id'], how='left')
 matrix['shop_avg_revenue'] = matrix['shop_avg_revenue'].astype(np.float32)
 matrix['delta_revenue'] =(matrix['date_shop_revenue'] - matrix['shop_avg_revenue'])/ matrix['shop_avg_revenue']
matrix['delta_revenue'] = matrix['delta_revenue'].astype(np.float16)
 matrix = lag_feature(matrix, [1], 'delta_revenue')
 matrix.drop(['date_shop_revenue','shop_avg_revenue','delta_revenue'], axis=1, inplace=True)
 time.time() - ts<feature_engineering>
l5kit.__version__
matrix['month'] = matrix['date_block_num'] % 12<categorify>
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 )
days = pd.Series([31,28,31,30,31,30,31,31,30,31,30,31])
 matrix['days'] = matrix['month'].map(days ).astype(np.int8 )<data_type_conversions>
cfg = {
'format_version': 4,
'data_path': data_path,
'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': weight_path,
'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': 32,
'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,
}
}
ts = time.time()
cache = {}
matrix['item_shop_last_sale'] = -1
matrix['item_shop_last_sale'] = matrix['item_shop_last_sale'].astype(np.int8)
 for idx, row in matrix.iterrows() :
key = str(row.item_id)+' '+str(row.shop_id)
 if key not in cache:
if row.item_cnt_month!=0:
cache[key] = row.date_block_num
else:
last_date_block_num = cache[key]
matrix.at[idx, 'item_shop_last_sale'] = row.date_block_num - last_date_block_num
cache[key] = row.date_block_num
time.time() - ts<data_type_conversions>
DIR_INPUT = cfg["data_path"]
os.environ["L5KIT_DATA_FOLDER"] = DIR_INPUT
dm = LocalDataManager(None )
ts = time.time()
cache = {}
matrix['item_last_sale'] = -1
matrix['item_last_sale'] = matrix['item_last_sale'].astype(np.int8)
 for idx, row in matrix.iterrows() :
key = row.item_id
if key not in cache:
if row.item_cnt_month!=0:
cache[key] = row.date_block_num
else:
last_date_block_num = cache[key]
if row.date_block_num>last_date_block_num:
matrix.at[idx, 'item_last_sale'] = row.date_block_num - last_date_block_num
cache[key] = row.date_block_num
time.time() - ts<feature_engineering>
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 )
ts = time.time()
matrix['item_shop_first_sale'] = matrix['date_block_num'] - matrix.groupby(['item_id','shop_id'])['date_block_num'].transform('min')
 matrix['item_first_sale'] = matrix['date_block_num'] - matrix.groupby('item_id')['date_block_num'].transform('min')
 time.time() - ts<filter>
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 )
ts = time.time()
matrix = matrix[matrix.date_block_num > 11]
time.time() - ts<correct_missing_values>
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 == 'resnet101':
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
ts = time.time()
def fill_na(df):
for col in df.columns:
if('_lag_' in col)&(df[col].isnull().any()):
if('item_cnt' in col):
df[col].fillna(0, inplace=True)
 return df
matrix = fill_na(matrix)
 time.time() - ts<load_pretrained>
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
matrix.to_pickle('data.pkl')
 del matrix
del cache
del group
del items
del shops
del cats
del train
gc.collect() ;<load_pretrained>
device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
 model = LyftMultiModel(cfg)
 print(torch.cuda.is_available())
 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}' )
data = pd.read_pickle('data.pkl' )<drop_column>
print(model )
data = data[[
'date_block_num',
'shop_id',
'item_id',
'item_cnt_month',
'city_code',
'item_category_id',
'type_code',
'subtype_code',
'item_cnt_month_lag_1',
'item_cnt_month_lag_2',
'item_cnt_month_lag_3',
'item_cnt_month_lag_6',
'item_cnt_month_lag_12',
'date_avg_item_cnt_lag_1',
'date_item_avg_item_cnt_lag_1',
'date_item_avg_item_cnt_lag_2',
'date_item_avg_item_cnt_lag_3',
'date_item_avg_item_cnt_lag_6',
'date_item_avg_item_cnt_lag_12',
'date_shop_avg_item_cnt_lag_1',
'date_shop_avg_item_cnt_lag_2',
'date_shop_avg_item_cnt_lag_3',
'date_shop_avg_item_cnt_lag_6',
'date_shop_avg_item_cnt_lag_12',
'date_cat_avg_item_cnt_lag_1',
'date_shop_cat_avg_item_cnt_lag_1',
'date_city_avg_item_cnt_lag_1',
'date_item_city_avg_item_cnt_lag_1',
'delta_price_lag',
'month',
'days',
'item_shop_last_sale',
'item_last_sale',
'item_shop_first_sale',
'item_first_sale',
]]<prepare_x_and_y>
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_path}{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() )
<set_options><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)
 )