def test(rank):
nav_model_kwargs = {'question_vocab': load_vocab(args.vocab_json)}
nav_model = NavPlannerControllerModel(**nav_model_kwargs)
nav_checkpoint = torch.load(args.nav_weight) #load checkpoint weights
nav_model.load_state_dict(nav_checkpoint['state']) #create model
print('--- nav_model loaded checkpoint ---')
cnn_kwargs = {'num_classes': 191, 'pretrained': True}
cnn = MultitaskCNN(**cnn_kwargs)
cnn.eval()
cnn.cuda() #create cnn model
vqa_model_kwargs = {'vocab': load_vocab(args.vocab_json)}
vqa_model = VqaLstmCnnAttentionModel(**vqa_model_kwargs)
vqa_checkpoint = torch.load(args.vqa_weight) #load checkpoint weights
vqa_model.load_state_dict(vqa_checkpoint['state'])
print('--- vqa_model loaded checkpoint ---')
# need cnn?
scene = "test-10-obj-100.txt"
my_env = enviroment.Environment(is_testing=0, testing_file=scene)
object_exist_list = my_env.ur5.object_type
print("Objetcts that exist: ")
print(object_exist_list) #create simulation enviroment
my_question = Qusetion(object_exist_list) #create testing question
testing_questions = my_question.createQueue()
vocab = my_question.create_vocab()
for question in testing_questions:
planner_hidden = None
max_action = 30
position = [0, 0]
action_in_raw = [0] #start action_in
actions = []
print(question['question']) #question
questionTokens = my_question.tokenize(question['question'],
punctToRemove=['?'],
addStartToken=False)
encoded_question_raw = my_question.encode(questionTokens,
vocab['questionTokenToIdx'])
encoded_question_raw.append(0) #encode question
encoded_question_raw = np.array(encoded_question_raw)
encoded_question_tensor = _dataset_to_tensor(encoded_question_raw)
encoded_question = Variable(encoded_question_tensor)
encoded_question = encoded_question.unsqueeze(0)
print(encoded_question)
action_times = 0
push_signal = 0
push_point = 0
while (action_times < max_action):
#print(planner_img_feats_var.size())
action_in_tensor = _dataset_to_tensor(action_in_raw)
action_in = Variable(action_in_tensor)
action_in = action_in.unsqueeze(0)
action_in = action_in.unsqueeze(0)
_, rgb_image_raw = my_env.camera.get_camera_data() #before
position_in, planner_img_feats_var = data2input(
position, rgb_image_raw, cnn)
output_data, planner_hidden = nav_model.planner_step(
encoded_question, planner_img_feats_var, action_in,
position_in, planner_hidden)
planner_possi = F.log_softmax(output_data, dim=1)
planner_data = planner_possi.data.numpy()
planner_data = planner_data[0]
action_out = np.where(planner_data == np.max(planner_data))
action_out = action_out[0][0]
actions.append(action_out)
action_in_raw = [action_out]
if action_out == 9:
print('stop')
break
elif action_out == 0:
push_signal = 1
push_point = action_times
else:
dx, dy = order2action(action_out)
position[0] += dx
position[1] += dy
action_times += 1
if len(actions) > 2 and push_signal == 0:
action_position = position + position
my_env.UR5_action(action_position, 2) #sucking
elif len(actions) > 2 and push_signal == 1: #pushing
position_start = [0, 0]
position_end = [0, 0]
for i in range(len(actions)):
if i <= push_point: #the first step
dx, dy = order2action(actions[i])
position_start[0] += dx
position_start[1] += dy
position_end[0] += dx
position_end[1] += dy
else: #the second step
dx, dy = order2action(actions[i])
position_end[0] += dx
position_end[1] += dy
action_position = position_start + position_end
my_env.UR5_action(action_position, 1) #pushing
# get image after actions
_, rgb_image_after = my_env.camera.get_camera_data(
) # image after actions
shrink = cv.resize(rgb_image_raw, (224, 224),
interpolation=cv.INTER_AREA)
shrink = np.array(shrink)
shrink = shrink.transpose((2, 0, 1))
shrink = shrink.reshape(1, 3, 224, 224)
shrink = (shrink / 255.0).astype(np.float32)
images = torch.FloatTensor(shrink)
images = Variable(images)
images = images.unsqueeze(0)
# process images
# answer question in vqa now
# encoded_question already done
scores, _ = vqa_model(images, encoded_question)
scores = scores.data.numpy()
scores = scores[0]
answer_predict = np.where(scores == np.max(scores))
answer_predict = answer_predict[0][0]
if answer_predict == 0:
print('--- Predict: Exists not')
elif answer_predict == 1:
print('--- Predict: Exists')
else:
raise Exception('Prediction neither 0 nor 1')
class EqaDataset(Dataset):
def __init__(self,
questions_h5,
vocab,
num_frames=1,
data_json=False,
split='train',
gpu_id=0,
input_type='ques',
max_threads_per_gpu=10,
to_cache=False,
target_obj_conn_map_dir=False,
map_resolution=1000,
overfit=False,
max_controller_actions=5,
max_actions=None):
self.questions_h5 = questions_h5
self.vocab = load_vocab(vocab)
self.num_frames = num_frames
self.max_controller_actions = max_controller_actions
np.random.seed()
self.data_json = data_json
self.split = split
self.gpu_id = gpu_id
self.input_type = input_type
self.max_threads_per_gpu = max_threads_per_gpu
self.target_obj_conn_map_dir = target_obj_conn_map_dir
self.map_resolution = map_resolution
self.overfit = overfit
self.to_cache = to_cache
self.img_data_cache = {}
print('Reading question data into memory from', questions_h5)
self.idx = _dataset_to_tensor(questions_h5['idx'])
self.questions = _dataset_to_tensor(questions_h5['questions'])
self.answers = _dataset_to_tensor(questions_h5['answers'])
self.actions = _dataset_to_tensor(questions_h5['action_labels'])
self.action_lengths = _dataset_to_tensor(
questions_h5['action_lengths'])
print('... finished running dataset_to_tensor operations from',
questions_h5)
if max_actions: #max actions will allow us to create arrays of a certain length. Helpful if you only want to train with 10 actions.
print('... entering max_actions conditions block from',
questions_h5)
assert isinstance(max_actions, int)
num_data_items = self.actions.shape[0]
new_actions = np.zeros((num_data_items, max_actions + 2),
dtype=np.int64)
new_lengths = np.ones(
(num_data_items, ), dtype=np.int64) * max_actions
for i in range(num_data_items):
action_length = int(self.action_lengths[i])
new_actions[i, 0] = 1
new_actions[i, 1:max_actions + 1] = self.actions[
i, action_length - max_actions:action_length].numpy()
self.actions = torch.LongTensor(new_actions)
self.action_lengths = torch.LongTensor(new_lengths)
print('... finished running max_actions conditions block from',
questions_h5)
if self.data_json != False:
print('... entering data_json false condition block from',
questions_h5)
data = json.load(open(self.data_json, 'r'))
self.envs = data['envs']
self.env_idx = data[self.split + '_env_idx']
self.env_list = [self.envs[x] for x in self.env_idx]
self.env_set = list(set(self.env_list))
self.env_set.sort()
if self.overfit:
self.env_idx = self.env_idx[:1]
self.env_set = self.env_list = [
self.envs[x] for x in self.env_idx
]
print('Trying to overfit to [house %s]' % self.env_set[0])
logging.info('Trying to overfit to [house {}]'.format(
self.env_set[0]))
print(questions_h5, 'Total envs: %d' % len(list(set(self.envs))))
print(
questions_h5,
'Envs in %s: %d' % (self.split, len(list(set(self.env_idx)))))
if input_type != 'ques':
''''
If training, randomly sample and load a subset of environments,
train on those, and then cycle through to load the rest.
On the validation and test set, load in order, and cycle through.
For both, add optional caching so that if all environments
have been cycled through once, then no need to re-load and
instead, just the cache can be used.
'''
self.api_threads = []
self._load_envs(start_idx=0, in_order=True)
cnn_kwargs = {'num_classes': 191, 'pretrained': True}
self.cnn = MultitaskCNN(**cnn_kwargs)
self.cnn.eval()
self.cnn.cuda()
self.pos_queue = data[self.split + '_pos_queue']
self.boxes = data[self.split + '_boxes']
if max_actions:
for i in range(len(self.pos_queue)):
self.pos_queue[i] = self.pos_queue[i][-1 * max_actions:]
print('... finished running data_json false condition block from',
questions_h5)
if input_type == 'pacman':
print('... entering input_type pacman condition block from',
questions_h5)
self.planner_actions = self.actions.clone().fill_(0)
self.controller_actions = self.actions.clone().fill_(-1)
self.planner_action_lengths = self.action_lengths.clone().fill_(0)
self.controller_action_lengths = self.action_lengths.clone().fill_(
0)
self.planner_hidden_idx = self.actions.clone().fill_(0)
self.planner_pos_queue_idx, self.controller_pos_queue_idx = [], []
# parsing flat actions to planner-controller hierarchy
for i in tqdm(range(len(self.actions))):
pa, ca, pq_idx, cq_idx, ph_idx = flat_to_hierarchical_actions(
actions=self.actions[i][:self.action_lengths[i] + 1],
controller_action_lim=max_controller_actions)
self.planner_actions[i][:len(pa)] = torch.Tensor(pa)
self.controller_actions[i][:len(ca)] = torch.Tensor(ca)
self.planner_action_lengths[i] = len(pa) - 1
self.controller_action_lengths[i] = len(ca)
self.planner_pos_queue_idx.append(pq_idx)
self.controller_pos_queue_idx.append(cq_idx)
self.planner_hidden_idx[i][:len(ca)] = torch.Tensor(ph_idx)
print(
'... finished running input_type pacman condition block from',
questions_h5)
print('... finished instantiating EqaDataset from', questions_h5)
def _pick_envs_to_load(self,
split='train',
max_envs=10,
start_idx=0,
in_order=False):
if split in ['val', 'test'] or in_order == True:
pruned_env_set = self.env_set[start_idx:start_idx + max_envs]
else:
if max_envs < len(self.env_set):
env_inds = np.random.choice(len(self.env_set),
max_envs,
replace=False)
else:
env_inds = np.random.choice(len(self.env_set),
max_envs,
replace=True)
pruned_env_set = [self.env_set[x] for x in env_inds]
return pruned_env_set
def _load_envs(self, start_idx=-1, in_order=False):
#self._clear_memory()
if start_idx == -1:
start_idx = self.env_set.index(self.pruned_env_set[-1]) + 1
# Pick envs
self.pruned_env_set = self._pick_envs_to_load(
split=self.split,
max_envs=self.max_threads_per_gpu,
start_idx=start_idx,
in_order=in_order)
if len(self.pruned_env_set) == 0:
return
# Load api threads
start = time.time()
if len(self.api_threads) == 0:
for i in range(self.max_threads_per_gpu):
self.api_threads.append(
objrender.RenderAPIThread(w=224, h=224,
device=self.gpu_id))
self.cfg = load_config('../../House3D/tests/config.json')
print('[%.02f] Loaded %d api threads' %
(time.time() - start, len(self.api_threads)))
start = time.time()
# Load houses
from multiprocessing import Pool
_args = ([h, self.cfg, self.map_resolution]
for h in self.pruned_env_set)
with Pool(len(self.pruned_env_set)) as pool:
self.all_houses = pool.starmap(local_create_house, _args)
print('[%.02f] Loaded %d houses' %
(time.time() - start, len(self.all_houses)))
start = time.time()
# Load envs
self.env_loaded = {}
for i in range(len(self.all_houses)):
print('[%02d/%d][split:%s][gpu:%d][house:%s]' %
(i + 1, len(self.all_houses), self.split, self.gpu_id,
self.all_houses[i].house['id']))
environment = Environment(self.api_threads[i], self.all_houses[i],
self.cfg)
self.env_loaded[self.all_houses[i].house['id']] = House3DUtils(
environment,
target_obj_conn_map_dir=self.target_obj_conn_map_dir,
build_graph=False)
# [TODO] Unused till now
self.env_ptr = -1
print('[%.02f] Loaded %d house3d envs' %
(time.time() - start, len(self.env_loaded)))
# Mark available data indices
self.available_idx = [
i for i, v in enumerate(self.env_list) if v in self.env_loaded
]
# [TODO] only keeping legit sequences
# needed for things to play well with old data
temp_available_idx = self.available_idx.copy()
for i in range(len(temp_available_idx)):
if self.action_lengths[temp_available_idx[i]] < 5:
self.available_idx.remove(temp_available_idx[i])
print('Available inds: %d' % len(self.available_idx))
# Flag to check if loaded envs have been cycled through or not
# [TODO] Unused till now
self.all_envs_loaded = False
def _clear_api_threads(self):
for i in range(len(self.api_threads)):
del self.api_threads[0]
self.api_threads = []
def _clear_memory(self):
if hasattr(self, 'episode_house'):
del self.episode_house
if hasattr(self, 'env_loaded'):
del self.env_loaded
if hasattr(self, 'api_threads'):
del self.api_threads
self.api_threads = []
def _check_if_all_envs_loaded(self):
print('[CHECK][Cache:%d][Total:%d]' %
(len(self.img_data_cache), len(self.env_list)))
if len(self.img_data_cache) == len(self.env_list):
self.available_idx = [i for i, v in enumerate(self.env_list)]
return True
else:
return False
def set_camera(self, e, pos, robot_height=1.0):
assert len(pos) == 4
e.env.cam.pos.x = pos[0]
e.env.cam.pos.y = robot_height
e.env.cam.pos.z = pos[2]
e.env.cam.yaw = pos[3]
e.env.cam.updateDirection()
def render(self, e):
return e.env.render()
def get_frames(self, e, pos_queue, preprocess=True):
if isinstance(pos_queue, list) == False:
pos_queue = [pos_queue]
res = []
for i in range(len(pos_queue)):
self.set_camera(e, pos_queue[i])
img = np.array(self.render(e), copy=False, dtype=np.float32)
if preprocess == True:
img = img.transpose(2, 0, 1)
img = img / 255.0
res.append(img)
return np.array(res)
def get_hierarchical_features_till_spawn(self,
actions,
backtrack_steps=0,
max_controller_actions=5):
action_length = len(actions) - 1
pa, ca, pq_idx, cq_idx, ph_idx = flat_to_hierarchical_actions(
actions=actions, controller_action_lim=max_controller_actions)
# count how many actions of same type have been encountered pefore starting navigation
backtrack_controller_steps = actions[1:action_length -
backtrack_steps + 1:][::-1]
counter = 0
# Removed try/except here to try to tease out pdb-related errors in Abhishek's code that are firing in other
# parts of training for me as well.
# try:
if len(backtrack_controller_steps) > 0:
# Edited condition: counter <= len(backtrack_controller_steps to strictly less than to avoid out of bounds
# error on following loop; unsure what cascading problems that might cause since I don't know the downsteam
# logic for how counter is used, but the loop as written was asking for a bug in execution get getting it.
# I also reversed the order of the conditions so that the index check is -after- the verification that
# counter is within bounds, since otherwise it doesn't fire until after the out of bounds error has
# happened (tho, again, maybe this will cause downstream issues if counter is supposed to be allowed to
# float up to value len(backtrack_controller_steps) + 1, which is now higher than it can reach).
while ((counter <= self.max_controller_actions)
and (counter < len(backtrack_controller_steps))
and (backtrack_controller_steps[counter]
== backtrack_controller_steps[0])):
counter += 1
# except:
# import pdb;
# pdb.set_trace() #If you have breakpoint here, you probably found an error in the logit above to figure out the correct counter step. Still working on this and checking.
target_pos_idx = action_length - backtrack_steps
controller_step = True
if target_pos_idx in pq_idx:
controller_step = False
pq_idx_pruned = [v for v in pq_idx if v <= target_pos_idx]
pa_pruned = pa[:len(pq_idx_pruned) + 1]
images = self.get_frames(self.episode_house,
self.episode_pos_queue,
preprocess=True)
raw_img_feats = self.cnn(Variable(
torch.FloatTensor(images).cuda())).data.cpu().numpy().copy()
controller_img_feat = torch.from_numpy(
raw_img_feats[target_pos_idx].copy())
controller_action_in = pa_pruned[-1] - 2
planner_img_feats = torch.from_numpy(
raw_img_feats[pq_idx_pruned].copy())
planner_actions_in = torch.from_numpy(np.array(pa_pruned[:-1]) - 1)
return planner_actions_in, planner_img_feats, controller_step, controller_action_in, \
controller_img_feat, self.episode_pos_queue[target_pos_idx], counter
def __getitem__(self, index):
# [VQA] question-only
if self.input_type == 'ques':
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
return (idx, question, answer)
# [VQA] question+image
elif self.input_type == 'ques,image':
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
actions_in = actions[action_length - self.num_frames:action_length]
actions_out = actions[action_length - self.num_frames +
1:action_length + 1]
if self.to_cache == True and index in self.img_data_cache:
images = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index][
-self.num_frames:] # last 5 frames
images = self.get_frames(self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
if self.to_cache == True:
self.img_data_cache[index] = images.copy()
return (idx, question, answer, images, actions_in, actions_out,
action_length)
# [NAV] question+cnn
elif self.input_type in ['cnn', 'cnn+q']:
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
if self.to_cache == True and index in self.img_data_cache:
img_feats = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index]
images = self.get_frames(self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
img_feats = self.cnn(Variable(
torch.FloatTensor(
images).cuda())).data.cpu().numpy().copy()
if self.to_cache == True:
self.img_data_cache[index] = img_feats
# for val or test (evaluation), or
# when target_obj_conn_map_dir is defined (reinforce),
# load entire shortest path navigation trajectory
# and load connectivity map for intermediate rewards
if self.split in ['val', 'test'
] or self.target_obj_conn_map_dir != False:
target_obj_id, target_room = False, False
bbox_obj = [
x for x in self.boxes[index]
if x['type'] == 'object' and x['target'] == True
][0]['box']
for obj_id in self.env_loaded[self.env_list[index]].objects:
box2 = self.env_loaded[
self.env_list[index]].objects[obj_id]['bbox']
if all([bbox_obj['min'][x] == box2['min'][x] for x in range(3)]) == True and \
all([bbox_obj['max'][x] == box2['max'][x] for x in range(3)]) == True:
target_obj_id = obj_id
break
bbox_room = [
x for x in self.boxes[index]
if x['type'] == 'room' and x['target'] == False
][0]
for room in self.env_loaded[
self.env_list[index]].env.house.all_rooms:
if all([room['bbox']['min'][i] == bbox_room['box']['min'][i] for i in range(3)]) and \
all([room['bbox']['max'][i] == bbox_room['box']['max'][i] for i in range(3)]):
target_room = room
break
assert target_obj_id != False
assert target_room != False
self.env_loaded[self.env_list[index]].set_target_object(
self.env_loaded[
self.env_list[index]].objects[target_obj_id],
target_room)
# [NOTE] only works for batch size = 1
self.episode_pos_queue = self.pos_queue[index]
self.episode_house = self.env_loaded[self.env_list[index]]
self.target_room = target_room
self.target_obj = self.env_loaded[
self.env_list[index]].objects[target_obj_id]
actions_in = actions[:action_length]
actions_out = actions[1:action_length + 1] - 2
return (idx, question, answer, img_feats, actions_in,
actions_out, action_length)
# if action_length is n
# images.shape[0] is also n
# actions[0] is <START>
# actions[n] is <END>
# grab 5 random frames
# [NOTE]: this'll break for longer-than-5 navigation sequences
start_idx = np.random.choice(img_feats.shape[0] + 1 -
self.num_frames)
img_feats = img_feats[start_idx:start_idx + self.num_frames]
actions_in = actions[start_idx:start_idx + self.num_frames]
actions_out = actions[start_idx + self.num_frames] - 2
return (idx, question, answer, img_feats, actions_in, actions_out,
action_length)
# [NAV] question+lstm
elif self.input_type in ['lstm', 'lstm+q']:
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
if self.split == 'train':
if self.to_cache == True and index in self.img_data_cache:
img_feats = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index]
images = self.get_frames(
self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
raw_img_feats = self.cnn(
Variable(torch.FloatTensor(
images).cuda())).data.cpu().numpy().copy()
img_feats = np.zeros(
(self.actions.shape[1], raw_img_feats.shape[1]),
dtype=np.float32)
img_feats[:raw_img_feats.shape[0], :] = raw_img_feats.copy(
)
if self.to_cache == True:
self.img_data_cache[index] = img_feats
actions_in = actions.clone() - 1
actions_out = actions[1:].clone() - 2
actions_in[action_length:].fill_(0)
mask = actions_out.clone().gt(-1)
if len(actions_out) > action_length:
actions_out[action_length:].fill_(0)
# for val or test (evaluation), or
# when target_obj_conn_map_dir is defined (reinforce),
# load entire shortest path navigation trajectory
# and load connectivity map for intermediate rewards
if self.split in ['val', 'test'
] or self.target_obj_conn_map_dir != False:
target_obj_id, target_room = False, False
bbox_obj = [
x for x in self.boxes[index]
if x['type'] == 'object' and x['target'] == True
][0]['box']
for obj_id in self.env_loaded[self.env_list[index]].objects:
box2 = self.env_loaded[
self.env_list[index]].objects[obj_id]['bbox']
if all([bbox_obj['min'][x] == box2['min'][x] for x in range(3)]) == True and \
all([bbox_obj['max'][x] == box2['max'][x] for x in range(3)]) == True:
target_obj_id = obj_id
break
bbox_room = [
x for x in self.boxes[index]
if x['type'] == 'room' and x['target'] == False
][0]
for room in self.env_loaded[
self.env_list[index]].env.house.all_rooms:
if all([room['bbox']['min'][i] == bbox_room['box']['min'][i] for i in range(3)]) and \
all([room['bbox']['max'][i] == bbox_room['box']['max'][i] for i in range(3)]):
target_room = room
break
assert target_obj_id != False
assert target_room != False
self.env_loaded[self.env_list[index]].set_target_object(
self.env_loaded[
self.env_list[index]].objects[target_obj_id],
target_room)
# [NOTE] only works for batch size = 1
self.episode_pos_queue = self.pos_queue[index]
self.episode_house = self.env_loaded[self.env_list[index]]
self.target_room = target_room
self.target_obj = self.env_loaded[
self.env_list[index]].objects[target_obj_id]
return (idx, question, answer, False, actions_in, actions_out,
action_length, mask)
return (idx, question, answer, img_feats, actions_in, actions_out,
action_length, mask)
# [NAV] planner-controller
elif self.input_type in ['pacman']:
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
planner_actions = self.planner_actions[index]
controller_actions = self.controller_actions[index]
planner_action_length = self.planner_action_lengths[index]
controller_action_length = self.controller_action_lengths[index]
planner_hidden_idx = self.planner_hidden_idx[index]
if self.split == 'train':
if self.to_cache == True and index in self.img_data_cache:
img_feats = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index]
images = self.get_frames(
self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
raw_img_feats = self.cnn(
Variable(torch.FloatTensor(
images).cuda())).data.cpu().numpy().copy()
img_feats = np.zeros(
(self.actions.shape[1], raw_img_feats.shape[1]),
dtype=np.float32)
img_feats[:raw_img_feats.shape[0], :] = raw_img_feats.copy(
)
if self.to_cache == True:
self.img_data_cache[index] = img_feats
if self.split in ['val', 'test'
] or self.target_obj_conn_map_dir != False:
target_obj_id, target_room = False, False
bbox_obj = [
x for x in self.boxes[index]
if x['type'] == 'object' and x['target'] == True
][0]['box']
for obj_id in self.env_loaded[self.env_list[index]].objects:
box2 = self.env_loaded[
self.env_list[index]].objects[obj_id]['bbox']
if all([bbox_obj['min'][x] == box2['min'][x] for x in range(3)]) == True and \
all([bbox_obj['max'][x] == box2['max'][x] for x in range(3)]) == True:
target_obj_id = obj_id
break
bbox_room = [
x for x in self.boxes[index]
if x['type'] == 'room' and x['target'] == False
][0]
for room in self.env_loaded[
self.env_list[index]].env.house.all_rooms:
if all([room['bbox']['min'][i] == bbox_room['box']['min'][i] for i in range(3)]) and \
all([room['bbox']['max'][i] == bbox_room['box']['max'][i] for i in range(3)]):
target_room = room
break
if target_obj_id == False or target_room == False:
return None
self.env_loaded[self.env_list[index]].set_target_object(
self.env_loaded[
self.env_list[index]].objects[target_obj_id],
target_room)
# [NOTE] only works for batch size = 1
self.episode_pos_queue = self.pos_queue[index]
self.episode_house = self.env_loaded[self.env_list[index]]
self.target_room = target_room
self.target_obj = self.env_loaded[
self.env_list[index]].objects[target_obj_id]
return (idx, question, answer, actions, action_length)
planner_pos_queue_idx = self.planner_pos_queue_idx[index]
controller_pos_queue_idx = self.controller_pos_queue_idx[index]
planner_img_feats = np.zeros(
(self.actions.shape[1], img_feats.shape[1]), dtype=np.float32)
planner_img_feats[:planner_action_length] = img_feats[
planner_pos_queue_idx]
planner_actions_in = planner_actions.clone() - 1
planner_actions_out = planner_actions[1:].clone() - 2
planner_actions_in[planner_action_length:].fill_(0)
planner_mask = planner_actions_out.clone().gt(-1)
if len(planner_actions_out) > planner_action_length:
planner_actions_out[planner_action_length:].fill_(0)
controller_img_feats = np.zeros(
(self.actions.shape[1], img_feats.shape[1]), dtype=np.float32)
controller_img_feats[:controller_action_length] = img_feats[
controller_pos_queue_idx]
controller_actions_in = actions[1:].clone() - 2
if len(controller_actions_in) > controller_action_length:
controller_actions_in[controller_action_length:].fill_(0)
controller_out = controller_actions
controller_mask = controller_out.clone().gt(-1)
if len(controller_out) > controller_action_length:
controller_out[controller_action_length:].fill_(0)
# zero out forced controller return
for i in range(controller_action_length):
if i >= self.max_controller_actions - 1 and controller_out[i] == 0 and \
(self.max_controller_actions == 1 or
controller_out[i - self.max_controller_actions + 1:i].sum()
== self.max_controller_actions - 1):
controller_mask[i] = 0
return (idx, question, answer, planner_img_feats,
planner_actions_in, planner_actions_out,
planner_action_length, planner_mask, controller_img_feats,
controller_actions_in, planner_hidden_idx, controller_out,
controller_action_length, controller_mask)
def __len__(self):
if self.input_type == 'ques':
return len(self.questions)
else:
return len(self.available_idx)
class EqaDataset(Dataset):
def __init__(self,
questions_h5,
vocab,
num_frames=1,
data_json=False,
split='train',
gpu_id=0,
input_type='ques',
max_threads_per_gpu=10,
to_cache=False,
target_obj_conn_map_dir=False,
map_resolution=1000):
self.questions_h5 = questions_h5
self.vocab = load_vocab(vocab)
self.num_frames = num_frames
np.random.seed()
self.data_json = data_json
self.split = split
self.gpu_id = gpu_id
self.input_type = input_type
self.max_threads_per_gpu = max_threads_per_gpu
self.target_obj_conn_map_dir = target_obj_conn_map_dir
self.map_resolution = map_resolution
self.to_cache = to_cache
self.img_data_cache = {}
if self.data_json != False:
data = json.load(open(self.data_json, 'r'))
self.envs = data['envs']
self.env_idx = data[self.split + '_env_idx']
self.env_list = [self.envs[x] for x in self.env_idx]
self.env_set = list(set(self.env_list))
self.env_set.sort()
print('Total envs: %d' % len(list(set(self.envs))))
print('Envs in %s: %d' % (self.split,
len(list(set(self.env_idx)))))
if input_type != 'ques':
''''
If training, randomly sample and load a subset of environments,
train on those, and then cycle through to load the rest.
On the validation and test set, load in order, and cycle through.
For both, add optional caching so that if all environments
have been cycled through once, then no need to re-load and
instead, just the cache can be used.
'''
self.api_threads = []
self._load_envs(start_idx=0, in_order=True)
cnn_kwargs = {'num_classes': 191, 'pretrained': True}
self.cnn = MultitaskCNN(**cnn_kwargs)
self.cnn.eval()
self.cnn.cuda()
self.pos_queue = data[self.split + '_pos_queue']
self.boxes = data[self.split + '_boxes']
print('Reading question data into memory')
self.idx = _dataset_to_tensor(questions_h5['idx'])
self.questions = _dataset_to_tensor(questions_h5['questions'])
self.answers = _dataset_to_tensor(questions_h5['answers'])
self.actions = _dataset_to_tensor(questions_h5['action_labels'])
self.action_lengths = _dataset_to_tensor(
questions_h5['action_lengths'])
if input_type == 'pacman':
self.planner_actions = self.actions.clone().fill_(0)
self.controller_actions = self.actions.clone().fill_(-1)
self.planner_action_lengths = self.action_lengths.clone().fill_(0)
self.controller_action_lengths = self.action_lengths.clone().fill_(
0)
self.planner_hidden_idx = self.actions.clone().fill_(0)
self.planner_pos_queue_idx, self.controller_pos_queue_idx = [], []
# parsing flat actions to planner-controller hierarchy
for i in tqdm(range(len(self.actions))):
pa, ca, pq_idx, cq_idx, ph_idx = flat_to_hierarchical_actions(self.actions[i][:self.action_lengths[i]+1])
self.planner_actions[i][:len(pa)] = torch.Tensor(pa)
self.controller_actions[i][:len(ca)] = torch.Tensor(ca)
self.planner_action_lengths[i] = len(pa)-1
self.controller_action_lengths[i] = len(ca)
self.planner_pos_queue_idx.append(pq_idx)
self.controller_pos_queue_idx.append(cq_idx)
self.planner_hidden_idx[i][:len(ca)] = torch.Tensor(ph_idx)
def _pick_envs_to_load(self,
split='train',
max_envs=10,
start_idx=0,
in_order=False):
if split in ['val', 'test'] or in_order == True:
pruned_env_set = self.env_set[start_idx:start_idx + max_envs]
else:
if max_envs < len(self.env_set):
env_inds = np.random.choice(
len(self.env_set), max_envs, replace=False)
else:
env_inds = np.random.choice(
len(self.env_set), max_envs, replace=True)
pruned_env_set = [self.env_set[x] for x in env_inds]
return pruned_env_set
def _load_envs(self, start_idx=-1, in_order=False):
if start_idx == -1:
start_idx = self.env_set.index(self.pruned_env_set[-1]) + 1
# Pick envs
self.pruned_env_set = self._pick_envs_to_load(
split=self.split,
max_envs=self.max_threads_per_gpu,
start_idx=start_idx,
in_order=in_order)
if len(self.pruned_env_set) == 0:
return
# Load api threads
start = time.time()
if len(self.api_threads) == 0:
for i in range(len(self.pruned_env_set)):
self.api_threads.append(
objrender.RenderAPIThread(
w=224, h=224, device=self.gpu_id))
self.cfg = load_config('../House3D/tests/config.json')
print('[%.02f] Loaded %d api threads' % (time.time() - start,
len(self.api_threads)))
start = time.time()
# Load houses
from multiprocessing import Pool
_args = ([h, self.cfg, self.map_resolution]
for h in self.pruned_env_set)
with Pool(len(self.pruned_env_set)) as pool:
self.all_houses = pool.starmap(local_create_house, _args)
print('[%.02f] Loaded %d houses' % (time.time() - start,
len(self.all_houses)))
start = time.time()
# Load envs
self.env_loaded = {}
for i in range(len(self.all_houses)):
print('[%02d/%d][split:%s][gpu:%d][house:%s]' %
(i + 1, len(self.all_houses), self.split, self.gpu_id,
self.all_houses[i].house['id']))
self.env_loaded[self.all_houses[i].house['id']] = House3DUtils(
Environment(self.api_threads[i], self.all_houses[i], self.cfg),
target_obj_conn_map_dir=self.target_obj_conn_map_dir,
build_graph=False)
# [TODO] Unused till now
self.env_ptr = -1
print('[%.02f] Loaded %d house3d envs' % (time.time() - start,
len(self.env_loaded)))
# Mark available data indices
self.available_idx = [
i for i, v in enumerate(self.env_list) if v in self.env_loaded
]
print('Available inds: %d' % len(self.available_idx))
# Flag to check if loaded envs have been cycled through or not
# [TODO] Unused till now
self.all_envs_loaded = False
def _clear_api_threads(self):
for i in range(len(self.api_threads)):
del self.api_threads[0]
self.api_threads = []
def _check_if_all_envs_loaded(self):
print('[CHECK][Cache:%d][Total:%d]' % (len(self.img_data_cache),
len(self.env_list)))
if len(self.img_data_cache) == len(self.env_list):
self.available_idx = [i for i, v in enumerate(self.env_list)]
return True
else:
return False
def set_camera(self, e, pos, robot_height=1.0):
assert len(pos) == 4
e.env.cam.pos.x = pos[0]
e.env.cam.pos.y = robot_height
e.env.cam.pos.z = pos[2]
e.env.cam.yaw = pos[3]
e.env.cam.updateDirection()
def render(self, e):
return e.env.render()
def get_frames(self, e, pos_queue, preprocess=True):
if isinstance(pos_queue, list) == False:
pos_queue = [pos_queue]
res = []
for i in range(len(pos_queue)):
self.set_camera(e, pos_queue[i])
img = np.array(self.render(e), copy=False, dtype=np.float32)
if preprocess == True:
img = img.transpose(2, 0, 1)
img = img / 255.0
res.append(img)
return np.array(res)
def get_hierarchical_features_till_spawn(self, actions, backtrack_steps=0):
action_length = len(actions)-1
pa, ca, pq_idx, cq_idx, ph_idx = flat_to_hierarchical_actions(actions)
target_pos_idx = action_length - backtrack_steps
controller_step = True
if target_pos_idx in pq_idx:
controller_step = False
pq_idx_pruned = [v for v in pq_idx if v <= target_pos_idx]
pa_pruned = pa[:len(pq_idx_pruned)+1]
images = self.get_frames(
self.episode_house,
self.episode_pos_queue,
preprocess=True)
raw_img_feats = self.cnn(
Variable(torch.FloatTensor(images)
.cuda())).data.cpu().numpy().copy()
controller_img_feat, controller_action_in = False, False
if controller_step == True:
controller_img_feat = torch.from_numpy(raw_img_feats[target_pos_idx].copy())
controller_action_in = pa_pruned[-1] - 2
planner_img_feats = torch.from_numpy(raw_img_feats[pq_idx_pruned].copy())
planner_actions_in = torch.from_numpy(np.array(pa_pruned[:-1]) - 1)
return planner_actions_in, planner_img_feats, controller_step, controller_action_in, controller_img_feat, self.episode_pos_queue[target_pos_idx]
def __getitem__(self, index):
# [VQA] question-only
if self.input_type == 'ques':
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
return (idx, question, answer)
# [VQA] question+image
elif self.input_type == 'ques,image':
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
actions_in = actions[action_length - self.num_frames:action_length]
actions_out = actions[action_length - self.num_frames + 1:
action_length + 1]
if self.to_cache == True and index in self.img_data_cache:
images = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index][
-self.num_frames:] # last 5 frames
images = self.get_frames(
self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
if self.to_cache == True:
self.img_data_cache[index] = images.copy()
return (idx, question, answer, images, actions_in, actions_out,
action_length)
# [NAV] question+cnn
elif self.input_type in ['cnn', 'cnn+q']:
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
if self.to_cache == True and index in self.img_data_cache:
img_feats = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index]
images = self.get_frames(
self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
img_feats = self.cnn(
Variable(torch.FloatTensor(images)
.cuda())).data.cpu().numpy().copy()
if self.to_cache == True:
self.img_data_cache[index] = img_feats
# for val or test (evaluation), or
# when target_obj_conn_map_dir is defined (reinforce),
# load entire shortest path navigation trajectory
# and load connectivity map for intermediate rewards
if self.split in ['val', 'test'
] or self.target_obj_conn_map_dir != False:
target_obj_id, target_room = False, False
bbox_obj = [
x for x in self.boxes[index]
if x['type'] == 'object' and x['target'] == True
][0]['box']
for obj_id in self.env_loaded[self.env_list[index]].objects:
box2 = self.env_loaded[self.env_list[index]].objects[
obj_id]['bbox']
if all([bbox_obj['min'][x] == box2['min'][x] for x in range(3)]) == True and \
all([bbox_obj['max'][x] == box2['max'][x] for x in range(3)]) == True:
target_obj_id = obj_id
break
bbox_room = [
x for x in self.boxes[index]
if x['type'] == 'room' and x['target'] == False
][0]
for room in self.env_loaded[self.env_list[
index]].env.house.all_rooms:
if all([room['bbox']['min'][i] == bbox_room['box']['min'][i] for i in range(3)]) and \
all([room['bbox']['max'][i] == bbox_room['box']['max'][i] for i in range(3)]):
target_room = room
break
assert target_obj_id != False
assert target_room != False
self.env_loaded[self.env_list[index]].set_target_object(
self.env_loaded[self.env_list[index]].objects[
target_obj_id], target_room)
# [NOTE] only works for batch size = 1
self.episode_pos_queue = self.pos_queue[index]
self.episode_house = self.env_loaded[self.env_list[index]]
self.target_room = target_room
self.target_obj = self.env_loaded[self.env_list[
index]].objects[target_obj_id]
actions_in = actions[:action_length]
actions_out = actions[1:action_length + 1] - 2
return (idx, question, answer, img_feats, actions_in,
actions_out, action_length)
# if action_length is n
# images.shape[0] is also n
# actions[0] is <START>
# actions[n] is <END>
# grab 5 random frames
# [NOTE]: this'll break for longer-than-5 navigation sequences
start_idx = np.random.choice(img_feats.shape[0] + 1 -
self.num_frames)
img_feats = img_feats[start_idx:start_idx + self.num_frames]
actions_in = actions[start_idx:start_idx + self.num_frames]
actions_out = actions[start_idx + self.num_frames] - 2
return (idx, question, answer, img_feats, actions_in, actions_out,
action_length)
# [NAV] question+lstm
elif self.input_type in ['lstm', 'lstm+q']:
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
if self.split == 'train':
if self.to_cache == True and index in self.img_data_cache:
img_feats = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index]
images = self.get_frames(
self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
raw_img_feats = self.cnn(
Variable(torch.FloatTensor(images)
.cuda())).data.cpu().numpy().copy()
img_feats = np.zeros(
(self.actions.shape[1], raw_img_feats.shape[1]),
dtype=np.float32)
img_feats[:raw_img_feats.shape[
0], :] = raw_img_feats.copy()
if self.to_cache == True:
self.img_data_cache[index] = img_feats
actions_in = actions.clone() - 1
actions_out = actions[1:].clone() - 2
actions_in[action_length:].fill_(0)
mask = actions_out.clone().gt(-1)
if len(actions_out) > action_length:
actions_out[action_length:].fill_(0)
# for val or test (evaluation), or
# when target_obj_conn_map_dir is defined (reinforce),
# load entire shortest path navigation trajectory
# and load connectivity map for intermediate rewards
if self.split in ['val', 'test'
] or self.target_obj_conn_map_dir != False:
target_obj_id, target_room = False, False
bbox_obj = [
x for x in self.boxes[index]
if x['type'] == 'object' and x['target'] == True
][0]['box']
for obj_id in self.env_loaded[self.env_list[index]].objects:
box2 = self.env_loaded[self.env_list[index]].objects[
obj_id]['bbox']
if all([bbox_obj['min'][x] == box2['min'][x] for x in range(3)]) == True and \
all([bbox_obj['max'][x] == box2['max'][x] for x in range(3)]) == True:
target_obj_id = obj_id
break
bbox_room = [
x for x in self.boxes[index]
if x['type'] == 'room' and x['target'] == False
][0]
for room in self.env_loaded[self.env_list[
index]].env.house.all_rooms:
if all([room['bbox']['min'][i] == bbox_room['box']['min'][i] for i in range(3)]) and \
all([room['bbox']['max'][i] == bbox_room['box']['max'][i] for i in range(3)]):
target_room = room
break
assert target_obj_id != False
assert target_room != False
self.env_loaded[self.env_list[index]].set_target_object(
self.env_loaded[self.env_list[index]].objects[
target_obj_id], target_room)
# [NOTE] only works for batch size = 1
self.episode_pos_queue = self.pos_queue[index]
self.episode_house = self.env_loaded[self.env_list[index]]
self.target_room = target_room
self.target_obj = self.env_loaded[self.env_list[
index]].objects[target_obj_id]
return (idx, question, answer, False, actions_in, actions_out,
action_length, mask)
return (idx, question, answer, img_feats, actions_in, actions_out,
action_length, mask)
# [NAV] planner-controller
elif self.input_type in ['pacman']:
index = self.available_idx[index]
idx = self.idx[index]
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
planner_actions = self.planner_actions[index]
controller_actions = self.controller_actions[index]
planner_action_length = self.planner_action_lengths[index]
controller_action_length = self.controller_action_lengths[index]
planner_hidden_idx = self.planner_hidden_idx[index]
if self.split == 'train':
if self.to_cache == True and index in self.img_data_cache:
img_feats = self.img_data_cache[index]
else:
pos_queue = self.pos_queue[index]
images = self.get_frames(
self.env_loaded[self.env_list[index]],
pos_queue,
preprocess=True)
raw_img_feats = self.cnn(
Variable(torch.FloatTensor(images)
.cuda())).data.cpu().numpy().copy()
img_feats = np.zeros(
(self.actions.shape[1], raw_img_feats.shape[1]),
dtype=np.float32)
img_feats[:raw_img_feats.shape[
0], :] = raw_img_feats.copy()
if self.to_cache == True:
self.img_data_cache[index] = img_feats
if self.split in ['val', 'test'
] or self.target_obj_conn_map_dir != False:
target_obj_id, target_room = False, False
bbox_obj = [
x for x in self.boxes[index]
if x['type'] == 'object' and x['target'] == True
][0]['box']
for obj_id in self.env_loaded[self.env_list[index]].objects:
box2 = self.env_loaded[self.env_list[index]].objects[
obj_id]['bbox']
if all([bbox_obj['min'][x] == box2['min'][x] for x in range(3)]) == True and \
all([bbox_obj['max'][x] == box2['max'][x] for x in range(3)]) == True:
target_obj_id = obj_id
break
bbox_room = [
x for x in self.boxes[index]
if x['type'] == 'room' and x['target'] == False
][0]
for room in self.env_loaded[self.env_list[
index]].env.house.all_rooms:
if all([room['bbox']['min'][i] == bbox_room['box']['min'][i] for i in range(3)]) and \
all([room['bbox']['max'][i] == bbox_room['box']['max'][i] for i in range(3)]):
target_room = room
break
assert target_obj_id != False
assert target_room != False
self.env_loaded[self.env_list[index]].set_target_object(
self.env_loaded[self.env_list[index]].objects[
target_obj_id], target_room)
# [NOTE] only works for batch size = 1
self.episode_pos_queue = self.pos_queue[index]
self.episode_house = self.env_loaded[self.env_list[index]]
self.target_room = target_room
self.target_obj = self.env_loaded[self.env_list[
index]].objects[target_obj_id]
return (idx, question, answer, actions, action_length)
planner_pos_queue_idx = self.planner_pos_queue_idx[index]
controller_pos_queue_idx = self.controller_pos_queue_idx[index]
planner_img_feats = np.zeros(
(self.actions.shape[1], img_feats.shape[1]), dtype=np.float32)
planner_img_feats[:planner_action_length] = img_feats[
planner_pos_queue_idx]
planner_actions_in = planner_actions.clone() - 1
planner_actions_out = planner_actions[1:].clone() - 2
planner_actions_in[planner_action_length:].fill_(0)
planner_mask = planner_actions_out.clone().gt(-1)
if len(planner_actions_out) > planner_action_length:
planner_actions_out[planner_action_length:].fill_(0)
controller_img_feats = np.zeros(
(self.actions.shape[1], img_feats.shape[1]), dtype=np.float32)
controller_img_feats[:controller_action_length] = img_feats[
controller_pos_queue_idx]
controller_actions_in = actions[1:].clone() - 2
if len(controller_actions_in) > controller_action_length:
controller_actions_in[controller_action_length:].fill_(0)
controller_out = controller_actions
controller_mask = controller_out.clone().gt(-1)
if len(controller_out) > controller_action_length:
controller_out[controller_action_length:].fill_(0)
return (idx, question, answer, planner_img_feats,
planner_actions_in, planner_actions_out,
planner_action_length, planner_mask, controller_img_feats,
controller_actions_in, planner_hidden_idx, controller_out,
controller_action_length, controller_mask)
def __len__(self):
if self.input_type == 'ques':
return len(self.questions)
else:
return len(self.available_idx)
class EqaDataset(Dataset):
def __init__(self,
questions_h5,
vocab,
num_frames=1,
split='train',
gpu_id=0,
input_type='ques',
max_threads_per_gpu=10,
map_resolution=1000):
self.questions_h5 = questions_h5
self.vocab = load_vocab(vocab)
np.random.seed()
self.split = split
self.gpu_id = gpu_id
self.num_frames = num_frames
self.input_type = input_type
self.max_threads_per_gpu = max_threads_per_gpu
self.map_resolution = map_resolution
print('Reading question data into memory')
self.questions = _dataset_to_tensor(questions_h5['questions'])
self.answers = _dataset_to_tensor(questions_h5['answers'])
self.actions = _dataset_to_tensor(questions_h5['actions'])
self.actions = self.actions.unsqueeze(2)
self.robot_positions = _dataset_to_tensor(
questions_h5['robot_positions'], dtype=np.float32)
self.action_images = questions_h5['images']
self.action_lengths = _dataset_to_tensor(
questions_h5['action_lengths'])
self.action_masks = _dataset_to_tensor(questions_h5['mask'])
#if input_type != 'ques':
'''
If training, randomly sample and load a subset of environments,
train on those, and then cycle through to load the rest.
On the validation and test set, load in order, and cycle through.
For both, add optional caching so that if all environments
have been cycled through once, then no need to re-load and
instead, just the cache can be used.
'''
cnn_kwargs = {'num_classes': 191, 'pretrained': True}
self.cnn = MultitaskCNN(**cnn_kwargs)
self.cnn.eval()
self.cnn.cuda()
def __getitem__(self, index):
# [VQA] question-only
if self.input_type in ['pacman']:
idx = index
question = self.questions[index]
#answer = self.answers[index]
answer = self.answers[index]
actions = self.actions[index]
actions_masks = self.action_masks[index]
robot_positions = self.robot_positions[index]
action_lengths = self.action_lengths[index]
if self.split in ['val', 'test']: #return the data directly
return (idx, question, answer, actions, robot_positions,
action_lengths)
if self.split == 'train': #get iamge from data_set
planner_images = self.action_images[index]
planner_img_feats = self.cnn(
Variable(torch.FloatTensor(
planner_images).cuda())).data.cpu().numpy().copy()
actions_in = actions.clone()
actions_out = actions[1:].clone()
actions_masks = actions_masks[:39].clone().gt(0)
robot_positions = robot_positions.clone()
return (idx, question, answer, planner_img_feats, actions_in,
actions_out, robot_positions, actions_masks,
action_lengths)
elif self.input_type == 'ques,image':
idx = index
question = self.questions[index]
answer = self.answers[index]
action_length = self.action_lengths[index]
actions = self.actions[index]
actions_in = actions[action_length - self.num_frames:action_length]
actions_out = actions[action_length - self.num_frames +
1:action_length + 1]
images = self.action_images[index][
action_length - self.num_frames:action_length].astype(
np.float32)
return (idx, question, answer, images, actions_in, actions_out,
action_length)
def __len__(self):
if self.input_type == 'ques':
return len(self.questions)
else:
return len(self.questions)
def test(rank, test_model_dir):
model_kwargs = {'question_vocab': load_vocab(args.vocab_json)}
model = NavPlannerControllerModel(**model_kwargs)
checkpoint = torch.load(test_model_dir) #load check point
model.load_state_dict(checkpoint['state']) #create model
cnn_kwargs = {'num_classes': 191, 'pretrained': True}
cnn = MultitaskCNN(**cnn_kwargs)
cnn.eval()
cnn.cuda() #create cnn model
scene = "test-10-obj-00.txt"
my_env = enviroment.Environment(is_testing=1, testing_file=scene)
object_exist_list = my_env.ur5.object_type
print("the objetct which is exist:")
print(object_exist_list) #create simulation enviroment
my_question = Qusetion(object_exist_list) #create testing question
testing_questions = my_question.createQueue()
vocab = my_question.create_vocab()
for question in testing_questions:
planner_hidden = None
max_action = 30
position = [0, 0]
action_in_raw = [0] #start action_in
actions = []
print(question['question']) #question
questionTokens = my_question.tokenize(question['question'],
punctToRemove=['?'],
addStartToken=False)
encoded_question_raw = my_question.encode(questionTokens,
vocab['questionTokenToIdx'])
encoded_question_raw.append(0) #encode question
encoded_question_raw = np.array(encoded_question_raw)
encoded_question_tensor = _dataset_to_tensor(encoded_question_raw)
encoded_question = Variable(encoded_question_tensor)
encoded_question = encoded_question.unsqueeze(0)
action_times = 0
while (action_times < max_action):
#print(planner_img_feats_var.size())
action_in_tensor = _dataset_to_tensor(action_in_raw)
action_in = Variable(action_in_tensor)
action_in = action_in.unsqueeze(0)
action_in = action_in.unsqueeze(0)
_, rgb_image_raw = my_env.camera.get_camera_data()
position_in, planner_img_feats_var = data2input(
position, rgb_image_raw, cnn)
output_data, planner_hidden = model.planner_step(
encoded_question, planner_img_feats_var, action_in,
position_in, planner_hidden)
planner_possi = F.log_softmax(output_data, dim=1)
planner_data = planner_possi.data.numpy()
planner_data = planner_data[0]
action_out = np.where(planner_data == np.max(planner_data))
action_out = action_out[0][0]
actions.append(action_out)
action_in_raw = [action_out]
if action_out == 9:
print('stop')
break
else:
dx, dy = order2action(action_out)
position[0] += dx
position[1] += dy
action_times += 1
if len(actions) > 2 and len(actions) < 20:
action_position = position + position
my_env.UR5_action(action_position, 2) #sucking
elif len(actions) >= 20: #pushing
position_start = [0, 0]
position_end = [0, 0]
for i in range(len(actions)):
if i < len(actions) / 2: #the first step
dx, dy = order2action(actions[i])
position_start[0] += dx
position_start[1] += dy
position_end[0] += dx
position_end[1] += dy
else: #the second step
dx, dy = order2action(actions[i])
position_end[0] += dx
position_end[1] += dy
action_position = position_start + position_end
my_env.UR5_action(action_position, 1) #pushing
class EqaDataset(Dataset):
def __init__(self,
questions_h5,
vocab,
num_frames=1,
split='train',
gpu_id=0,
input_type='ques',
max_threads_per_gpu=10,
map_resolution=1000):
self.questions_h5 = questions_h5
self.vocab = load_vocab(vocab)
np.random.seed()
self.split = split
self.gpu_id = gpu_id
self.num_frames = num_frames
self.input_type = input_type
self.max_threads_per_gpu = max_threads_per_gpu
self.map_resolution = map_resolution
print('Reading question data into memory')
self.questions = _dataset_to_tensor(questions_h5['questions'])
self.answers = _dataset_to_tensor(questions_h5['answers'])
self.actions = _dataset_to_tensor(questions_h5['actions'])
self.actions = self.actions.unsqueeze(2)
self.robot_positions = _dataset_to_tensor(questions_h5['robot_positions'],dtype = np.float32)
self.action_images = questions_h5['images']
self.action_maps = questions_h5['heatmaps']
self.action_lengths = _dataset_to_tensor(questions_h5['action_lengths'])
self.action_masks = _dataset_to_tensor(questions_h5['mask'])
cnn_kwargs = {'num_classes': 191, 'pretrained': True}
self.cnn = MultitaskCNN(**cnn_kwargs)
self.cnn.eval()
self.cnn.cuda()
def __getitem__(self, index):
# [VQA] question-only
if self.input_type in ['nomap']:
idx = index
question = self.questions[index]
#answer = self.answers[index]
answer = self.answers[index]
if answer > 13:
answer = answer - 1
actions = self.actions[index]
actions_masks = self.action_masks[index]
robot_positions = self.robot_positions[index]
action_lengths = self.action_lengths[index]
if self.split in ['val', 'test']: #return the data directly
return (idx, question, answer, actions, robot_positions,action_lengths)
if self.split == 'train': #get iamge from data_set
planner_images = self.action_images[index][0]
planner_var = Variable(torch.FloatTensor(planner_images)
.cuda())
planner_var = planner_var.unsqueeze(0)
planner_img_feats = self.cnn(planner_var).data.cpu().numpy().copy()
actions_in = actions.clone()
actions_out = actions[1:].clone()
actions_masks = actions_masks[:39].clone().gt(0)
robot_positions = robot_positions.clone()
return (idx, question, answer, planner_img_feats,
actions_in, actions_out,
robot_positions, actions_masks,action_lengths)
elif self.input_type == 'addmap':
idx = index
question = self.questions[index]
#answer = self.answers[index]
answer = self.answers[index]
if answer > 13:
answer = answer - 1
actions = self.actions[index]
actions_masks = self.action_masks[index]
robot_positions = self.robot_positions[index]
action_lengths = self.action_lengths[index]
if self.split in ['val', 'test']: #return the data directly
return (idx, question, answer, actions, robot_positions,action_lengths)
if self.split == 'train': #get iamge from data_set
planner_images = self.action_images[index][0]
planner_var = Variable(torch.FloatTensor(planner_images)
.cuda())
planner_var = planner_var.unsqueeze(0)
planner_img_feats = self.cnn(planner_var).data.cpu().numpy().copy()
planner_maps = self.action_maps[index][0]
planner_maps_feats = Variable(torch.FloatTensor(planner_maps)
.cuda())
#planner_maps_feats = planner_maps_var.view(-1,32*32*20)
actions_in = actions.clone()
actions_out = actions[1:].clone()
actions_masks = actions_masks[:39].clone().gt(0)
robot_positions = robot_positions.clone()
return (idx, question, answer, planner_img_feats,
planner_maps_feats,actions_in, actions_out,
robot_positions, actions_masks,action_lengths)
elif self.input_type == 'ques,image':
idx = index
question = self.questions[index]
answer = self.answers[index]
if answer > 13:
answer = answer - 1
action_length = self.action_lengths[index]
actions = self.actions[index]
actions_in = actions[action_length - self.num_frames:action_length]
actions_out = actions[action_length - self.num_frames + 1:
action_length + 1]
images = self.action_images[index][0:2].astype(np.float32)
return (idx, question, answer, images, actions_in, actions_out,
action_length)
def __len__(self):
if self.input_type == 'ques':
return len(self.questions)
else:
return len(self.questions)