def action_space(self) -> Space:
return ActionSpace(
{
action_name: action_instance.action_space
for action_name, action_instance in self.actions.items()
}
)
def action_space(self):
return ActionSpace({
"linear_velocity":
spaces.Box(
low=np.array([self.min_lin_vel]),
high=np.array([self.max_lin_vel]),
dtype=np.float32,
),
"angular_velocity":
spaces.Box(
low=np.array([self.min_ang_vel]),
high=np.array([self.max_ang_vel]),
dtype=np.float32,
),
})
def _worker_fn(world_rank: int, world_size: int, port: int,
unused_params: bool):
device = (torch.device("cuda")
if torch.cuda.is_available() else torch.device("cpu"))
tcp_store = distrib.TCPStore( # type: ignore
"127.0.0.1", port, world_size, world_rank == 0)
distrib.init_process_group("gloo",
store=tcp_store,
rank=world_rank,
world_size=world_size)
config = get_config("habitat_baselines/config/test/ppo_pointnav_test.yaml")
obs_space = gym.spaces.Dict({
IntegratedPointGoalGPSAndCompassSensor.cls_uuid:
gym.spaces.Box(
low=np.finfo(np.float32).min,
high=np.finfo(np.float32).max,
shape=(2, ),
dtype=np.float32,
)
})
action_space = ActionSpace({"move": EmptySpace()})
actor_critic = PointNavBaselinePolicy.from_config(config, obs_space,
action_space)
# This use adds some arbitrary parameters that aren't part of the computation
# graph, so they will mess up DDP if they aren't correctly ignored by it
if unused_params:
actor_critic.unused = nn.Linear(64, 64)
actor_critic.to(device=device)
ppo_cfg = config.RL.PPO
agent = DDPPO(
actor_critic=actor_critic,
clip_param=ppo_cfg.clip_param,
ppo_epoch=ppo_cfg.ppo_epoch,
num_mini_batch=ppo_cfg.num_mini_batch,
value_loss_coef=ppo_cfg.value_loss_coef,
entropy_coef=ppo_cfg.entropy_coef,
lr=ppo_cfg.lr,
eps=ppo_cfg.eps,
max_grad_norm=ppo_cfg.max_grad_norm,
use_normalized_advantage=ppo_cfg.use_normalized_advantage,
)
agent.init_distributed()
rollouts = RolloutStorage(
ppo_cfg.num_steps,
2,
obs_space,
action_space,
ppo_cfg.hidden_size,
num_recurrent_layers=actor_critic.net.num_recurrent_layers,
is_double_buffered=False,
)
rollouts.to(device)
for k, v in rollouts.buffers["observations"].items():
rollouts.buffers["observations"][k] = torch.randn_like(v)
# Add two steps so batching works
rollouts.advance_rollout()
rollouts.advance_rollout()
# Get a single batch
batch = next(rollouts.recurrent_generator(rollouts.buffers["returns"], 1))
# Call eval actions through the internal wrapper that is used in
# agent.update
value, action_log_probs, dist_entropy, _ = agent._evaluate_actions(
batch["observations"],
batch["recurrent_hidden_states"],
batch["prev_actions"],
batch["masks"],
batch["actions"],
)
# Backprop on things
(value.mean() + action_log_probs.mean() + dist_entropy.mean()).backward()
# Make sure all ranks have very similar parameters
for param in actor_critic.parameters():
if param.grad is not None:
grads = [param.grad.detach().clone() for _ in range(world_size)]
distrib.all_gather(grads, grads[world_rank])
for i in range(world_size):
assert torch.isclose(grads[i], grads[world_rank]).all()
def __init__(self, config: Config, dataset: Optional[Dataset] = None):
self.noise = NOISY
print('[VisTargetNavEnv] NOISY ACTUATION : ', self.noise)
if hasattr(config, 'AGENT_TASK'):
self.agent_task = config.AGENT_TASK
else:
self.agent_task = 'search'
if self.agent_task == 'homing':
self.num_goals = 2
else:
self.num_goals = config.NUM_GOALS
task_config = config.TASK_CONFIG
task_config.defrost()
#task_config.TASK.TOP_DOWN_MAP.MAP_RESOLUTION = 1250
task_config.TASK.TOP_DOWN_MAP.DRAW_SOURCE = True
task_config.TASK.TOP_DOWN_MAP.DRAW_SHORTEST_PATH = True
task_config.TASK.TOP_DOWN_MAP.FOG_OF_WAR.VISIBILITY_DIST = 2.0
task_config.TASK.TOP_DOWN_MAP.FOG_OF_WAR.FOV = 360
task_config.TASK.TOP_DOWN_MAP.FOG_OF_WAR.DRAW = True
task_config.TASK.TOP_DOWN_MAP.DRAW_VIEW_POINTS = False
task_config.TASK.TOP_DOWN_MAP.DRAW_GOAL_POSITIONS = True
task_config.TASK.TOP_DOWN_MAP.DRAW_GOAL_AABBS = False
if ('GMT' in config.POLICY or 'NTS' in config.POLICY) and RENDER:
task_config.TASK.TOP_DOWN_GRAPH_MAP = config.TASK_CONFIG.TASK.TOP_DOWN_MAP.clone(
)
if 'GMT' in config.POLICY:
task_config.TASK.TOP_DOWN_GRAPH_MAP.TYPE = "TopDownGraphMap"
elif 'NTS' in config.POLICY:
task_config.TASK.TOP_DOWN_GRAPH_MAP.TYPE = 'NTSGraphMap'
task_config.TASK.TOP_DOWN_GRAPH_MAP.MAP_RESOLUTION = 4000
task_config.TASK.TOP_DOWN_GRAPH_MAP.NUM_TOPDOWN_MAP_SAMPLE_POINTS = 20000
task_config.TASK.MEASUREMENTS += ['TOP_DOWN_GRAPH_MAP']
if 'TOP_DOWN_MAP' in config.TASK_CONFIG.TASK.MEASUREMENTS:
task_config.TASK.MEASUREMENTS = [
k for k in task_config.TASK.MEASUREMENTS
if 'TOP_DOWN_MAP' != k
]
task_config.SIMULATOR.ACTION_SPACE_CONFIG = "CustomActionSpaceConfiguration"
task_config.TASK.POSSIBLE_ACTIONS = task_config.TASK.POSSIBLE_ACTIONS + [
'NOISY_FORWARD', 'NOISY_RIGHT', 'NOISY_LEFT'
]
task_config.TASK.ACTIONS.NOISY_FORWARD = habitat.config.Config()
task_config.TASK.ACTIONS.NOISY_FORWARD.TYPE = "NOISYFORWARD"
task_config.TASK.ACTIONS.NOISY_RIGHT = habitat.config.Config()
task_config.TASK.ACTIONS.NOISY_RIGHT.TYPE = "NOISYRIGHT"
task_config.TASK.ACTIONS.NOISY_LEFT = habitat.config.Config()
task_config.TASK.ACTIONS.NOISY_LEFT.TYPE = "NOISYLEFT"
task_config.TASK.MEASUREMENTS = [
'GOAL_INDEX'
] + task_config.TASK.MEASUREMENTS + ['SOFT_SPL']
task_config.TASK.DISTANCE_TO_GOAL.TYPE = 'Custom_DistanceToGoal'
if self.agent_task != 'search':
task_config.TASK.SPL.TYPE = 'Custom_SPL'
task_config.TASK.SOFT_SPL.TYPE = 'Custom_SoftSPL'
task_config.TASK.GOAL_INDEX = task_config.TASK.SPL.clone()
task_config.TASK.GOAL_INDEX.TYPE = 'GoalIndex'
task_config.freeze()
self.config = config
self._core_env_config = config.TASK_CONFIG
self._reward_measure_name = config.REWARD_METHOD
self._success_measure_name = config.SUCCESS_MEASURE
self.success_distance = config.SUCCESS_DISTANCE
self._previous_measure = None
self._previous_action = -1
self.time_t = 0
self.stuck = 0
self.follower = None
if 'NOISY_FORWARD' not in HabitatSimActions:
HabitatSimActions.extend_action_space("NOISY_FORWARD")
HabitatSimActions.extend_action_space("NOISY_RIGHT")
HabitatSimActions.extend_action_space("NOISY_LEFT")
if 'STOP' in task_config.TASK.POSSIBLE_ACTIONS:
self.action_dict = {
0: HabitatSimActions.STOP,
1: "NOISY_FORWARD",
2: "NOISY_LEFT",
3: "NOISY_RIGHT"
}
else:
self.action_dict = {
0: "NOISY_FORWARD",
1: "NOISY_LEFT",
2: "NOISY_RIGHT"
}
super().__init__(self._core_env_config, dataset)
act_dict = {
"MOVE_FORWARD": EmptySpace(),
'TURN_LEFT': EmptySpace(),
'TURN_RIGHT': EmptySpace()
}
if 'STOP' in task_config.TASK.POSSIBLE_ACTIONS:
act_dict.update({'STOP': EmptySpace()})
self.action_space = ActionSpace(act_dict)
obs_dict = {
'panoramic_rgb':
self.habitat_env._task.sensor_suite.observation_spaces.
spaces['panoramic_rgb'],
'panoramic_depth':
self.habitat_env._task.sensor_suite.observation_spaces.
spaces['panoramic_depth'],
'target_goal':
self.habitat_env._task.sensor_suite.observation_spaces.
spaces['target_goal'],
'step':
Box(low=np.array(0), high=np.array(500), dtype=np.float32),
'prev_act':
Box(low=np.array(-1),
high=np.array(self.action_space.n),
dtype=np.int32),
'gt_action':
Box(low=np.array(-1),
high=np.array(self.action_space.n),
dtype=np.int32),
'position':
Box(low=-np.Inf, high=np.Inf, shape=(3, ), dtype=np.float32),
'target_pose':
Box(low=-np.Inf, high=np.Inf, shape=(3, ), dtype=np.float32),
'distance':
Box(low=-np.Inf, high=np.Inf, shape=(1, ), dtype=np.float32),
}
if 'GMT' in config.POLICY and RENDER:
self.mapper = self.habitat_env.task.measurements.measures[
'top_down_map']
#obs_dict.update({'unexplored':Box(low=0, high=1, shape=(self.mapper.delta,), dtype=np.int32),
# 'neighbors': Box(low=0, high=1, shape=(self.mapper.delta,), dtype=np.int32),})
else:
self.mapper = None
if 'aux' in self.config.POLICY:
self.return_have_been = True
self.return_target_dist_score = True
obs_dict.update({
'have_been':
Box(low=0, high=1, shape=(1, ), dtype=np.int32),
'target_dist_score':
Box(low=0, high=1, shape=(1, ), dtype=np.float32),
})
else:
self.return_have_been = False
self.return_target_dist_score = False
self.observation_space = SpaceDict(obs_dict)
if config.DIFFICULTY == 'easy':
self.habitat_env.difficulty = 'easy'
self.habitat_env.MIN_DIST, self.habitat_env.MAX_DIST = 1.5, 3.0
elif config.DIFFICULTY == 'medium':
self.habitat_env.difficulty = 'medium'
self.habitat_env.MIN_DIST, self.habitat_env.MAX_DIST = 3.0, 5.0
elif config.DIFFICULTY == 'hard':
self.habitat_env.difficulty = 'hard'
self.habitat_env.MIN_DIST, self.habitat_env.MAX_DIST = 5.0, 10.0
elif config.DIFFICULTY == 'random':
self.habitat_env.difficulty = 'random'
self.habitat_env.MIN_DIST, self.habitat_env.MAX_DIST = 3.0, 10.0
else:
raise NotImplementedError
self.habitat_env._num_goals = self.num_goals
self.habitat_env._agent_task = self.agent_task
print('current task : %s' % (self.agent_task))
print('current difficulty %s, MIN_DIST %f, MAX_DIST %f - # goals %d' %
(config.DIFFICULTY, self.habitat_env.MIN_DIST,
self.habitat_env.MAX_DIST, self.habitat_env._num_goals))
self.min_measure = self.habitat_env.MAX_DIST
self.reward_method = config.REWARD_METHOD
if self.reward_method == 'progress':
self.get_reward = self.get_progress_reward
elif self.reward_method == 'milestone':
self.get_reward = self.get_milestone_reward
elif self.reward_method == 'coverage':
self.get_reward = self.get_coverage_reward
self.run_mode = 'RL'
self.number_of_episodes = 1000
self.need_gt_action = False
self.has_log_info = None
def test_action_space():
space = ActionSpace(
{
"move": gym.spaces.Dict(
{
"position": gym.spaces.Discrete(2),
"velocity": gym.spaces.Discrete(3),
}
),
"move_forward": EmptySpace(),
}
)
assert space.contains(space.sample())
assert space.contains(
{"action": "move", "action_args": {"position": 0, "velocity": 1}}
)
assert space.contains({"action": "move_forward"})
assert not space.contains([0, 1, 2])
assert not space.contains({"zero": None})
assert not space.contains({"action": "bad"})
assert not space.contains({"action": "move"})
assert not space.contains(
{"action": "move", "action_args": {"position": 0}}
)
assert not space.contains(
{"action": "move_forward", "action_args": {"position": 0}}
)