auto dataset download + misc fixups

.github/workflows/main.yml

@@ -10,7 +10,7 @@ on:
 jobs:
   rollout:
     runs-on: ubuntu-20.04
-    
+
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -25,14 +25,10 @@ jobs:
           python -m pip install --upgrade pip
           pip install -r requirements.txt
 
-      - name: Download dataset
-        run: |
-          bash ./download_dataset.sh
-
       - name: Run Simple controller rollout
         run: |
           python tinyphysics.py --model_path ./models/tinyphysics.onnx --data_path ./data/00000.csv --controller pid
-      
+
       - name: Run batch rollouts
         run: |
           python tinyphysics.py --model_path ./models/tinyphysics.onnx --data_path ./data --num_segs 20 --controller pid

.gitignore

@@ -1,4 +1,5 @@
 __pycache__/
 data/
 report.html
-models/tinyphysics_*.onnx
+models/tinyphysics_*.onnx
+*.swp

README.md

@@ -1,16 +1,12 @@
-# Comma Controls Challenge!
-![Car](./imgs/car.jpg)
+# comma Controls Challenge!
 
 Machine learning models can drive cars, paint beautiful pictures and write passable rap. But they famously suck at doing low level controls. Your goal is to write a good controller. This repo contains a model that simulates the lateral movement of a car, given steering commands. The goal is to drive this "car" well for a given desired trajectory.
 
 
 ## Geting Started
-We'll be using a synthetic dataset based on the [comma-steering-control](https://github.com/commaai/comma-steering-control) dataset for this challenge. These are actual routes with actual car and road states.
+We'll be using a synthetic dataset based on the [comma-steering-control](https://github.com/commaai/comma-steering-control) dataset for this challenge. These are actual car and road states from [openpilot](https://github.com/commaai/openpilot) users.
 
 ```
-# download necessary dataset (~0.6G)
-bash ./download_dataset.sh
-
 # install required packages
 # recommended python==3.11
 pip install -r requirements.txt
@@ -58,5 +54,6 @@ python eval.py --model_path ./models/tinyphysics.onnx --data_path ./data --num_s
 - With [this commit](https://github.com/commaai/controls_challenge/commit/4282a06183c10d2f593fc891b6bc7a0859264e88) we fixed a bug that caused the simulator model to be initialized wrong.
 
 ## Work at comma
+
 Like this sort of stuff? You might want to work at comma!
-https://www.comma.ai/jobs
+[comma.ai/jobs](https://comma.ai/jobs)

requirements.txt

@@ -1,6 +1,6 @@
-numpy==1.25.2
+numpy
 onnxruntime
 pandas==2.1.2
 matplotlib==3.8.1
 seaborn==0.13.2
-tqdm
+tqdm

tinyphysics.py

@@ -2,11 +2,15 @@
 import importlib
 import numpy as np
 import onnxruntime as ort
+import os
 import pandas as pd
 import matplotlib.pyplot as plt
 import seaborn as sns
 import signal
+import urllib.request
+import zipfile
 
+from io import BytesIO
 from collections import namedtuple
 from functools import partial
 from hashlib import md5
@@ -36,6 +40,8 @@
 State = namedtuple('State', ['roll_lataccel', 'v_ego', 'a_ego'])
 FuturePlan = namedtuple('FuturePlan', ['lataccel', 'roll_lataccel', 'v_ego', 'a_ego'])
 
+DATASET_URL = "https://huggingface.co/datasets/commaai/commaSteeringControl/resolve/main/data/SYNTHETIC_V0.zip"
+DATASET_PATH = Path(__file__).resolve().parent / "data"
 
 class LataccelTokenizer:
   def __init__(self):
@@ -215,6 +221,17 @@ def run_rollout(data_path, controller_type, model_path, debug=False):
   return sim.rollout(), sim.target_lataccel_history, sim.current_lataccel_history
 
 
+def download_dataset():
+  print("Downloading dataset (0.6G)...")
+  DATASET_PATH.mkdir(parents=True, exist_ok=True)
+  with urllib.request.urlopen(DATASET_URL) as resp:
+    with zipfile.ZipFile(BytesIO(resp.read())) as z:
+      for member in z.namelist():
+        if not member.endswith('/'):
+          with z.open(member) as src, open(DATASET_PATH / os.path.basename(member), 'wb') as dest:
+            dest.write(src.read())
+
+
 if __name__ == "__main__":
   available_controllers = get_available_controllers()
   parser = argparse.ArgumentParser()
@@ -225,6 +242,9 @@ def run_rollout(data_path, controller_type, model_path, debug=False):
   parser.add_argument("--controller", default='pid', choices=available_controllers)
   args = parser.parse_args()
 
+  if not DATASET_PATH.exists():
+    download_dataset()
+
   data_path = Path(args.data_path)
   if data_path.is_file():
     cost, _, _ = run_rollout(data_path, args.controller, args.model_path, debug=args.debug)