def gen_lm_aux_labels(self, env_id, instruction, affine):
env_conf_json = load_env_config(env_id)
landmark_names, landmark_indices, landmark_positions = get_landmark_locations_airsim(
env_conf_json)
landmark_pos_in_img = pos_m_to_px(
np.asarray(landmark_positions)[:, 0:2],
np.array([self.map_w, self.map_h]))
landmark_pos_in_seg_img = apply_affine_on_pts(landmark_pos_in_img,
affine)
if False:
plot_path_on_img(self.latest_img_dbg, landmark_pos_in_img)
plot_path_on_img(self.latest_rot_img_dbg, landmark_pos_in_seg_img)
cv2.imshow("img", self.latest_img_dbg)
cv2.imshow("rot_img", self.latest_rot_img_dbg)
cv2.waitKey(0)
landmark_pos_t = torch.from_numpy(landmark_pos_in_seg_img).unsqueeze(0)
landmark_indices_t = torch.LongTensor(landmark_indices).unsqueeze(0)
mask1 = torch.gt(landmark_pos_t, 0)
mask2 = torch.lt(landmark_pos_t, self.img_w)
mask = mask1 * mask2
mask = mask[:, :, 0] * mask[:, :, 1]
mask = mask
landmark_pos_t = torch.masked_select(
landmark_pos_t,
mask.unsqueeze(2).expand_as(landmark_pos_t)).view([-1, 2])
landmark_indices_t = torch.masked_select(landmark_indices_t,
mask).view([-1])
mentioned_names, mentioned_indices = get_mentioned_landmarks(
self.thesaurus, instruction)
mentioned_labels_t = empty_float_tensor(list(
landmark_indices_t.size())).long()
for i, landmark_idx_present in enumerate(landmark_indices_t):
if landmark_idx_present in mentioned_indices:
mentioned_labels_t[i] = 1
if len(landmark_indices_t) > 0:
aux_label = {
"lm_pos": landmark_pos_t,
"lm_indices": landmark_indices_t,
"lm_mentioned": mentioned_labels_t,
"lm_visible": mask,
}
else:
aux_label = {
"lm_pos": [],
"lm_indices": [],
"lm_mentioned": [],
"lm_visible": []
}
return aux_label
def forward(self, coverage_masks_w, cam_poses):
pos_px = pos_m_to_px(cam_poses.position[0:1],
img_size_px=self.world_size_px,
world_size_px=self.world_size_px,
world_size_m=self.world_size_m)
batch_size = coverage_masks_w.shape[0]
# TODO: Don't do this at test-time for everything except the first action!
assert cam_poses.position.shape[
0] > 0, "Not implemented test-time behavior"
pos_mask = torch.zeros_like(coverage_masks_w[0, 0])
radius = 6 # 6 pixels is a bit less than a meter
x = pos_px[0][0].item()
y = pos_px[0][1].item()
xi = int(x)
yi = int(y)
min_x = max(xi - radius, 0)
min_y = max(yi - radius, 0)
max_x = min(xi + radius, coverage_masks_w.shape[2])
max_y = min(yi + radius, coverage_masks_w.shape[2])
indices = [[i, j] for i in range(min_x, max_x)
for j in range(min_y, max_y)
if (x - i - 0.5)**2 + (y - j - 0.5)**2 < radius**2]
for i, j in indices:
pos_mask[i, j] = 1.0
coverage_masks_w_init_pos = (
coverage_masks_w + pos_mask[np.newaxis, np.newaxis, :, :]).clamp(
0, 1)
if True:
for i in range(batch_size):
Presenter().show_image(coverage_masks_w[i, 0],
"cov_mask_before",
scale=4,
waitkey=1)
Presenter().show_image(coverage_masks_w_init_pos[i, 0],
"cov_mask_after",
scale=4,
waitkey=True)
return coverage_masks_w_init_pos
def provider_past_trajectory(segment_data, data):
traj_len = len(segment_data)
canvas = np.zeros((64, 64))
canvases_t = []
last_pos = None
for timestep in range(traj_len):
if segment_data[timestep]["state"] is None:
break
pos_as = segment_data.state[timestep].state[9:12]
pos_map = pos_m_to_px(pos_as[np.newaxis, :], img_size_px=32)[0]
if last_pos != None:
coords = [last_pos, pos_map]
last_pos = pos_map
tdd.plot_path_on_img(canvas, coords)
cv2.imshow("past_traje", canvas)
canvas_t = torch.from_numpy(canvas.copy())
canvases_t.append(canvas_t)
canvases_t = torch.stack(canvases_t, dim=0)
return [("past_trajectory_map", canvases_t)]
def stop_success(rollout):
last_sample = rollout[-1]
state = last_sample["state"]
stop_pos = state.get_pos_2d()
# TODO: Grab these from parameter serve
stop_pos_map = pos_m_to_px(stop_pos[np.newaxis, :],
img_size_px=32,
world_size_px=32,
world_size_m=4.7)[0]
goal_distribution = last_sample["v_dist_w"][1, :, :]
_, argmax_best_goal = goal_distribution.view(-1).max(0)
best_stop_pos_x = int(argmax_best_goal / goal_distribution.shape[0])
best_stop_pos_y = int(argmax_best_goal % goal_distribution.shape[0])
best_stop_pos = torch.Tensor([best_stop_pos_x, best_stop_pos_y])
pos = torch.from_numpy(stop_pos_map).float()
dst_to_best_stop = torch.norm(pos - best_stop_pos)
return dst_to_best_stop.detach().item() < 3.2
def get_reward(self, v_dist_w, cam_pos, action, done, first):
# Prepare things
pos_in_map_m = cam_pos[0:1, 0:2] # * self.world_size_px / self.
pos_in_map_px = torch.from_numpy(
transformations.pos_m_to_px(pos_in_map_m.detach().cpu().numpy(),
self.world_size_px, self.world_size_m,
self.world_size_px))[0]
if self.last_pos is None:
self.last_pos = pos_in_map_px
self.visited_dist = tdd.plot_path_on_img(
self.visited_dist, [self.last_pos, pos_in_map_px])
#Presenter().show_image(self.visited_dist, "visited_dist", scale=4, waitkey=1)
visit_dist = v_dist_w.inner_distribution[0, 0, :, :]
visit_dist = visit_dist.detach().cpu().numpy()
goal_unobserved_prob = v_dist_w.outer_prob_mass[0, 1].item()
goal_observed_prob = 1 - goal_unobserved_prob
# -----------------------------------------------------------------------
# Calculate exploration reward, using probability that goal is observed as a potential function
# Don't ever reduce the potential - only increase it
goal_unobserved_potential = -goal_unobserved_prob
if self.prev_exploration_potential is None:
self.prev_exploration_potential = goal_unobserved_potential
goal_unobserved_potential = max(goal_unobserved_potential,
self.prev_exploration_potential)
exploration_reward = (
goal_unobserved_potential -
self.prev_exploration_potential) * self.exploration_alpha
self.prev_exploration_potential = goal_unobserved_potential
# -----------------------------------------------------------------------
# Calculate visitation reward (potential shaped by visitation probability)
# Give reward for visiting the high-probability states at next timestep
visit_potential = -self.wasserstein_distance(self.visited_dist,
visit_dist)
if self.prev_visit_potential is None:
self.prev_visit_potential = visit_potential
visit_reward = (visit_potential -
self.prev_visit_potential) * self.visit_alpha
self.prev_visit_potential = visit_potential
# -----------------------------------------------------------------------
# Calculate stop reward consisting of EMD(stop,goal), P(stop=goal), and -P(stop_oob)
if action[3] > 0.5 or done:
partial_stop_dist = v_dist_w.inner_distribution[
0, 1, :, :].detach().cpu().numpy()
stopped_dist = tdd.plot_path_on_img(self.empty_distribution(),
[pos_in_map_px, pos_in_map_px])
stop_wd = self.wasserstein_distance(partial_stop_dist,
stopped_dist)
stop_reward = -stop_wd * self.stop_alpha
# Calculate reward proportional to P(p_g = p_stop)
pos_in_map_m = cam_pos[0:1, 0:2] # * self.world_size_px / self.
pos_in_map_px = torch.from_numpy(
transformations.pos_m_to_px(
pos_in_map_m.detach().cpu().numpy(), self.world_size_px,
self.world_size_m, self.world_size_px))
pos_x = int(pos_in_map_px[0, 0].item() + 0.5)
pos_y = int(pos_in_map_px[0, 1].item() + 0.5)
pos_x = min(max(pos_x, 0), partial_stop_dist.shape[0] - 1)
pos_y = min(max(pos_y, 0), partial_stop_dist.shape[1] - 1)
stop_prob_at_pos = partial_stop_dist[pos_x, pos_y].item()
stop_prob_prop = stop_prob_at_pos / (partial_stop_dist.max() +
1e-10)
stop_p_reward = stop_prob_prop * self.stop_p_alpha
# Add negative reward for stopping when P(goal oob) is high
stop_oob_reward = -self.stop_oob_alpha * goal_unobserved_prob
else:
stop_reward = 0.0
stop_p_reward = 0.0
stop_oob_reward = 0.0
# -----------------------------------------------------------------------
self.last_pos = pos_in_map_px
return visit_reward, stop_reward, exploration_reward, stop_oob_reward, stop_p_reward
def get_reward(self, v_dist_w, goal_oob_prob_w, cam_pos, action):
# Prepare things
pos_in_map_m = cam_pos[0:1, 0:2] # * self.world_size_px / self.
pos_in_map_px = torch.from_numpy(
transformations.pos_m_to_px(pos_in_map_m.detach().cpu().numpy(),
self.world_size_px, self.world_size_m,
self.world_size_px))
pos_x = int(pos_in_map_px[0, 0].item() + 0.5)
pos_y = int(pos_in_map_px[0, 1].item() + 0.5)
visit_dist = v_dist_w[0, 0, :, :]
partial_stop_dist = v_dist_w[0, 1, :, :]
outside_stop_prob = goal_oob_prob_w.item()
goal_visible_prob = 1 - outside_stop_prob
pos_x = min(max(pos_x, 0), visit_dist.shape[0] - 1)
pos_y = min(max(pos_y, 0), visit_dist.shape[1] - 1)
# -----------------------------------------------------------------------
# Calculate visitation reward (potential shaped by visitation probability)
#TODO: Consider this. This way the total reward that can be collected is 1
visit_dist -= visit_dist.min()
visit_dist /= (visit_dist.max() + 1e-10)
visit_prob = visit_dist[pos_x, pos_y].item()
# Give reward for visiting the high-probability states at next timestep
visit_potential = self.visit_alpha * visit_prob
if self.prev_potential is None:
self.prev_potential = visit_potential
visit_reward = visit_potential - self.prev_potential
self.prev_potential = visit_potential
# -----------------------------------------------------------------------
# Calculate stop reward consisting of 2 terms:
# Term A: Reward proportional to the goal probability
# Term B: Reward proportional to the negative distance to most likely goal location, weighed by the probability that t
# TODO: Consider this re-normalization approach and if it's any good
partial_stop_dist -= partial_stop_dist.min()
partial_stop_dist /= (partial_stop_dist.max() + 0.01)
#partial_stop_dist *= goal_visible_prob
# No batch dimension here:
stop_prob_at_pos = partial_stop_dist[pos_x, pos_y].item()
max_stop_prob, argmax_stop_prob = partial_stop_dist.view(-1).max(0)
best_stop_pos_x = int(argmax_stop_prob / partial_stop_dist.shape[0])
best_stop_pos_y = int(argmax_stop_prob % partial_stop_dist.shape[0])
best_stop_pos = torch.Tensor([best_stop_pos_x, best_stop_pos_y])
pos = torch.Tensor([pos_x, pos_y])
dst_to_best_stop = torch.norm(pos - best_stop_pos)
if self.start_best_stop_dist is None:
self.start_best_stop_dist = min(dst_to_best_stop,
MIN_START_STOP_DIST_PX)
if action[3] > 0.5:
# Term A
stop_reward_a = (stop_prob_at_pos -
self.stop_offset) * self.stop_alpha
# Term B
stop_reward_b_raw = 0.2 - min(
dst_to_best_stop / (self.start_best_stop_dist + 1e-9), 1)
#stop_reward_b = stop_reward_b_raw * goal_visible_prob
stop_reward_b = stop_reward_b_raw
stop_reward = stop_reward_a + stop_reward_b
else:
stop_reward = 0.0
# -----------------------------------------------------------------------
# Calculate exploration reward, using probability that goal is observed as a potential function
if self.prev_goal_visible_prob is None:
self.prev_goal_visible_prob = goal_visible_prob
exploration_reward = (goal_visible_prob - self.prev_goal_visible_prob
) * self.exploration_alpha
self.prev_goal_visible_prob = goal_visible_prob
# -----------------------------------------------------------------------
return visit_reward, stop_reward, exploration_reward
def show_landmark_locations(self, loop=True, states=None):
# Show landmark locations in first-person images
img_all = self.tensor_store.get("images")
img_w_all = self.tensor_store.get("images_w")
import rollout.run_metadata as md
if md.IS_ROLLOUT:
# TODO: Discard this and move this to PomdpInterface or something
# (it's got nothing to do with the model)
# load landmark positions from configs
from data_io.env import load_env_config
from learning.datasets.aux_data_providers import get_landmark_locations_airsim
from learning.models.semantic_map.pinhole_camera_inv import PinholeCameraProjection
projector = PinholeCameraProjection(
map_size_px=self.params["global_map_size"],
world_size_px=self.params["world_size_px"],
world_size_m=self.params["world_size_m"],
img_x=self.params["img_w"],
img_y=self.params["img_h"],
cam_fov=self.params["cam_h_fov"],
#TODO: Handle correctly
domain="sim",
use_depth=False)
conf_json = load_env_config(md.ENV_ID)
landmark_names, landmark_indices, landmark_pos = get_landmark_locations_airsim(
conf_json)
cam_poses = self.cam_poses_from_states(states)
cam_pos = cam_poses.position[0]
cam_rot = cam_poses.orientation[0]
lm_pos_map_all = []
lm_pos_img_all = []
for i, landmark_in_world in enumerate(landmark_pos):
lm_pos_img, landmark_in_cam, status = projector.world_point_to_image(
cam_pos, cam_rot, landmark_in_world)
lm_pos_map = torch.from_numpy(
transformations.pos_m_to_px(
landmark_in_world[np.newaxis, :],
self.params["global_map_size"],
self.params["world_size_m"],
self.params["world_size_px"]))
lm_pos_map_all += [lm_pos_map[0]]
if lm_pos_img is not None:
lm_pos_img_all += [lm_pos_img]
lm_pos_img_all = [lm_pos_img_all]
lm_pos_map_all = [lm_pos_map_all]
else:
lm_pos_img_all = self.tensor_store.get("lm_pos_fpv_img")
lm_pos_map_all = self.tensor_store.get("lm_pos_map")
print("Plotting landmark points")
for i in range(len(img_all)):
p = Presenter()
overlay_fpv = p.overlay_pts_on_image(img_all[i][0],
lm_pos_img_all[i])
overlay_map = p.overlay_pts_on_image(img_w_all[i][0],
lm_pos_map_all[i])
p.show_image(overlay_fpv, "landmarks_on_fpv_img", scale=8)
p.show_image(overlay_map, "landmarks_on_map", scale=20)
if not loop:
break
def unbatch(self, batch):
# TODO: Carefully consider this line. This is necessary to reset state between batches (e.g. delete all tensors in the tensor store)
self.reset()
# Get rid of the batch dimension for everything
images = self.maybe_cuda(batch["images"])[0]
seq_len = images.shape[0]
instructions = self.maybe_cuda(batch["instr"])[0][:seq_len]
instr_lengths = batch["instr_len"][0]
states = self.maybe_cuda(batch["states"])[0]
actions = self.maybe_cuda(batch["actions"])[0]
# Auxiliary labels
lm_pos_fpv = batch["lm_pos_fpv"][0]
lm_pos_map = batch["lm_pos_map"][0]
lm_indices = batch["lm_indices"][0]
goal_pos_map = batch["goal_loc"][0]
# TODO: Get rid of this. We will have lm_mentioned booleans and lm_mentioned_idx integers and that's it.
TEMPLATES = True
if TEMPLATES:
lm_mentioned_tplt = batch["lm_mentioned_tplt"][0]
side_mentioned_tplt = batch["side_mentioned_tplt"][0]
side_mentioned_tplt = self.cuda_var(side_mentioned_tplt)
lm_mentioned_tplt = self.cuda_var(lm_mentioned_tplt)
lang_lm_mentioned = None
else:
lm_mentioned_tplt = None
side_mentioned_tplt = None
lang_lm_mentioned = batch["lang_lm_mentioned"][0]
lm_mentioned = batch["lm_mentioned"][0]
# This is the first-timestep metadata
metadata = batch["md"][0]
lm_pos_map = [
torch.from_numpy(
transformations.pos_m_to_px(
p.numpy(), self.params["global_map_size"],
self.params["world_size_m"], self.params["world_size_px"]))
if p is not None else None for p in lm_pos_map
]
goal_pos_map = torch.from_numpy(
transformations.pos_m_to_px(goal_pos_map.numpy(),
self.params["global_map_size"],
self.params["world_size_m"],
self.params["world_size_px"]))
lm_pos_map = [
self.cuda_var(s.long()) if s is not None else None
for s in lm_pos_map
]
lm_pos_fpv_features = [
self.cuda_var(
(s /
self.img_to_features_w.img_to_features.get_downscale_factor()
).long()) if s is not None else None for s in lm_pos_fpv
]
lm_pos_fpv_img = [
self.cuda_var(s.long()) if s is not None else None
for s in lm_pos_fpv
]
lm_indices = [
self.cuda_var(s) if s is not None else None for s in lm_indices
]
goal_pos_map = self.cuda_var(goal_pos_map)
if not TEMPLATES:
lang_lm_mentioned = self.cuda_var(lang_lm_mentioned)
lm_mentioned = [
self.cuda_var(s) if s is not None else None for s in lm_mentioned
]
obs_mask = [True for _ in range(seq_len)]
plan_mask = [True for _ in range(seq_len)]
pos_enc = None
# TODO: Figure out how to keep these properly. Perhaps as a whole batch is best
self.tensor_store.keep_inputs("lm_pos_fpv_img", lm_pos_fpv_img)
self.tensor_store.keep_inputs("lm_pos_fpv_features",
lm_pos_fpv_features)
self.tensor_store.keep_inputs("lm_pos_map", lm_pos_map)
self.tensor_store.keep_inputs("lm_indices", lm_indices)
self.tensor_store.keep_inputs("goal_pos_map", goal_pos_map)
if not TEMPLATES:
self.tensor_store.keep_inputs("lang_lm_mentioned",
lang_lm_mentioned)
else:
self.tensor_store.keep_inputs("lm_mentioned_tplt",
lm_mentioned_tplt)
self.tensor_store.keep_inputs("side_mentioned_tplt",
side_mentioned_tplt)
self.tensor_store.keep_inputs("lm_mentioned", lm_mentioned)
# ----------------------------------------------------------------------------
# Optional Auxiliary Inputs
# ----------------------------------------------------------------------------
#if self.aux_losses.input_required("lm_pos_map"):
self.tensor_store.keep_inputs("lm_pos_map", lm_pos_map)
#if self.aux_losses.input_required("lm_indices"):
self.tensor_store.keep_inputs("lm_indices", lm_indices)
#if self.aux_losses.input_required("lm_mentioned"):
self.tensor_store.keep_inputs("lm_mentioned", lm_mentioned)
return images, instructions, instr_lengths, states, actions, \
lm_pos_fpv_img, lm_pos_fpv_features, lm_pos_map, lm_indices, goal_pos_map, \
lm_mentioned, lm_mentioned_tplt, side_mentioned_tplt, lang_lm_mentioned, \
metadata, obs_mask, plan_mask, pos_enc
def get_reward(self, v_dist_w, cam_pos, action):
# If stopped:
pos_in_map_m = cam_pos[0:1, 0:2] # * self.world_size_px / self.
pos_in_map_px = torch.from_numpy(
transformations.pos_m_to_px(pos_in_map_m.detach().cpu().numpy(),
self.world_size_px, self.world_size_m,
self.world_size_px))
pos_x = int(pos_in_map_px[0, 0].item() + 0.5)
pos_y = int(pos_in_map_px[0, 1].item() + 0.5)
visit_dist = v_dist_w[0, 0, :, :]
stop_dist = v_dist_w[0, 1, :, :]
#TODO: Consider this. This way the total reward that can be collected is 1
visit_dist -= visit_dist.min()
visit_dist /= (visit_dist.max() + 1e-10)
stop_dist -= stop_dist.min()
stop_dist /= (stop_dist.max() + 1e-10)
pos_x = min(max(pos_x, 0), visit_dist.shape[0] - 1)
pos_y = min(max(pos_y, 0), visit_dist.shape[1] - 1)
visit_prob = visit_dist[pos_x, pos_y].item()
stop_prob = stop_dist[pos_x, pos_y].item()
# No batch dimension here:
max_stop_prob, argmax_stop_prob = stop_dist.view(-1).max(0)
best_stop_pos_x = int(argmax_stop_prob / stop_dist.shape[0])
best_stop_pos_y = int(argmax_stop_prob % stop_dist.shape[0])
best_stop_pos = torch.Tensor([best_stop_pos_x, best_stop_pos_y])
pos = torch.Tensor([pos_x, pos_y])
dst_to_best_stop = torch.norm(pos - best_stop_pos)
if self.start_best_stop_dist is None:
self.start_best_stop_dist = min(dst_to_best_stop,
MIN_START_STOP_DIST_PX)
visit_potential = self.visit_alpha * visit_prob
# THIS IS NOT POTENTIAL NOW
# TODO: Change terminology
if self.prev_potential is None:
self.prev_potential = visit_potential
# Don't give reward for the first step
visit_reward = visit_potential * 0
# Give reward for visiting the high-probability states at next timestep
else:
visit_reward = visit_potential - self.prev_potential
self.prev_potential = visit_potential
if action[3] > 0.5:
stop_reward_a = (stop_prob - self.stop_offset) * self.stop_alpha
stop_reward_b = 0.2 - min(
dst_to_best_stop / (self.start_best_stop_dist + 1e-9), 1)
stop_reward = stop_reward_a + stop_reward_b
else:
stop_reward = 0.0
#total_reward = visit_reward + stop_reward
return visit_reward, stop_reward
def sup_loss_on_batch(self, batch, eval):
self.prof.tick("out")
action_loss_total = Variable(
empty_float_tensor([1], self.is_cuda, self.cuda_device))
if batch is None:
print("Skipping None Batch")
return action_loss_total
images = self.maybe_cuda(batch["images"])
instructions = self.maybe_cuda(batch["instr"])
instr_lengths = batch["instr_len"]
states = self.maybe_cuda(batch["states"])
actions = self.maybe_cuda(batch["actions"])
# Auxiliary labels
lm_pos_fpv = batch["lm_pos_fpv"]
lm_pos_map = batch["lm_pos_map"]
lm_indices = batch["lm_indices"]
goal_pos_map = batch["goal_loc"]
# TODO: Get rid of this. We will have lm_mentioned booleans and lm_mentioned_idx integers and that's it.
TEMPLATES = True
if TEMPLATES:
lm_mentioned_tplt = batch["lm_mentioned_tplt"]
side_mentioned_tplt = batch["side_mentioned_tplt"]
else:
lang_lm_mentioned = batch["lang_lm_mentioned"]
lm_mentioned = batch["lm_mentioned"]
# stops = self.maybe_cuda(batch["stops"])
masks = self.maybe_cuda(batch["masks"])
# This is the first-timestep metadata
metadata = batch["md"]
seq_len = images.size(1)
batch_size = images.size(0)
count = 0
correct_goal_count = 0
goal_count = 0
# Loop thru batch
for b in range(batch_size):
seg_idx = -1
self.reset()
self.prof.tick("out")
b_seq_len = len_until_nones(metadata[b])
# TODO: Generalize this
# Slice the data according to the sequence length
b_metadata = metadata[b][:b_seq_len]
b_images = images[b][:b_seq_len]
b_instructions = instructions[b][:b_seq_len]
b_instr_len = instr_lengths[b][:b_seq_len]
b_states = states[b][:b_seq_len]
b_actions = actions[b][:b_seq_len]
b_lm_pos_fpv = lm_pos_fpv[b][:b_seq_len]
b_lm_pos_map = lm_pos_map[b][:b_seq_len]
b_lm_indices = lm_indices[b][:b_seq_len]
b_goal_pos = goal_pos_map[b][:b_seq_len]
if not TEMPLATES:
b_lang_lm_mentioned = lang_lm_mentioned[b][:b_seq_len]
b_lm_mentioned = lm_mentioned[b][:b_seq_len]
# Convert landmark and goal position from meters_and_metrics to pixels
b_lm_pos_map = [
torch.from_numpy(
transformations.pos_m_to_px(p.numpy(),
self.params["global_map_size"],
self.params["world_size_m"],
self.params["world_size_px"]))
if p is not None else None for p in b_lm_pos_map
]
b_goal_pos = torch.from_numpy(
transformations.pos_m_to_px(b_goal_pos.numpy(),
self.params["global_map_size"],
self.params["world_size_m"],
self.params["world_size_px"]))
b_lm_pos_map = [
self.cuda_var(s.long()) if s is not None else None
for s in b_lm_pos_map
]
b_lm_pos_fpv = [
self.cuda_var(
(s / RESNET_FACTOR).long()) if s is not None else None
for s in b_lm_pos_fpv
]
b_lm_indices = [
self.cuda_var(s) if s is not None else None
for s in b_lm_indices
]
b_goal_pos = self.cuda_var(b_goal_pos)
if not TEMPLATES:
b_lang_lm_mentioned = self.cuda_var(b_lang_lm_mentioned)
b_lm_mentioned = [
self.cuda_var(s) if s is not None else None
for s in b_lm_mentioned
]
# TODO: Figure out how to keep these properly. Perhaps as a whole batch is best
# TODO: Introduce a key-value store (encapsulate instead of inherit)
self.tensor_store.keep_inputs("lm_pos_fpv", b_lm_pos_fpv)
self.tensor_store.keep_inputs("lm_pos_map", b_lm_pos_map)
self.tensor_store.keep_inputs("lm_indices", b_lm_indices)
self.tensor_store.keep_inputs("goal_pos_map", b_goal_pos)
if not TEMPLATES:
self.tensor_store.keep_inputs("lang_lm_mentioned",
b_lang_lm_mentioned)
self.tensor_store.keep_inputs("lm_mentioned", b_lm_mentioned)
# TODO: Abstract all of these if-elses in a modular way once we know which ones are necessary
if TEMPLATES:
b_lm_mentioned_tplt = lm_mentioned_tplt[b][:b_seq_len]
b_side_mentioned_tplt = side_mentioned_tplt[b][:b_seq_len]
b_side_mentioned_tplt = self.cuda_var(b_side_mentioned_tplt)
b_lm_mentioned_tplt = self.cuda_var(b_lm_mentioned_tplt)
self.tensor_store.keep_inputs("lm_mentioned_tplt",
b_lm_mentioned_tplt)
self.tensor_store.keep_inputs("side_mentioned_tplt",
b_side_mentioned_tplt)
#b_lm_mentioned = b_lm_mentioned_tplt
b_obs_mask = [True for _ in range(b_seq_len)]
b_plan_mask = [True for _ in range(b_seq_len)]
b_plan_mask_t_cpu = torch.Tensor(b_plan_mask) == True
b_plan_mask_t = self.maybe_cuda(b_plan_mask_t_cpu)
b_pos_enc = None
# ----------------------------------------------------------------------------
# Optional Auxiliary Inputs
# ----------------------------------------------------------------------------
if self.aux_losses.input_required("lm_pos_map_select"):
b_lm_pos_map_select = [
lm_pos for i, lm_pos in enumerate(b_lm_pos_map)
if b_plan_mask[i]
]
self.tensor_store.keep_inputs("lm_pos_map_select",
b_lm_pos_map_select)
if self.aux_losses.input_required("lm_indices_select"):
b_lm_indices_select = [
lm_idx for i, lm_idx in enumerate(b_lm_indices)
if b_plan_mask[i]
]
self.tensor_store.keep_inputs("lm_indices_select",
b_lm_indices_select)
if self.aux_losses.input_required("lm_mentioned_select"):
b_lm_mentioned_select = [
lm_m for i, lm_m in enumerate(b_lm_mentioned)
if b_plan_mask[i]
]
self.tensor_store.keep_inputs("lm_mentioned_select",
b_lm_mentioned_select)
# ----------------------------------------------------------------------------
self.prof.tick("inputs")
actions = self(b_images,
b_states,
b_instructions,
b_instr_len,
has_obs=b_obs_mask,
plan=b_plan_mask,
pos_enc=b_pos_enc)
action_losses, _ = self.action_loss(b_actions,
actions,
batchreduce=False)
self.prof.tick("call")
action_losses = self.action_loss.batch_reduce_loss(action_losses)
action_loss = self.action_loss.reduce_loss(action_losses)
action_loss_total = action_loss
count += b_seq_len
self.prof.tick("loss")
action_loss_avg = action_loss_total / (count + 1e-9)
self.prof.tick("out")
# Doing this in the end (outside of se
aux_losses = self.aux_losses.calculate_aux_loss(self.tensor_store,
reduce_average=True)
aux_loss = self.aux_losses.combine_losses(aux_losses, self.aux_weights)
prefix = self.model_name + ("/eval" if eval else "/train")
self.writer.add_dict(prefix, get_current_meters(), self.get_iter())
self.writer.add_dict(prefix, aux_losses, self.get_iter())
self.writer.add_scalar(prefix + "/action_loss",
action_loss_avg.data.cpu().item(),
self.get_iter())
# TODO: Log value here
self.writer.add_scalar(prefix + "/goal_accuracy",
self.goal_acc_meter.get(), self.get_iter())
self.prof.tick("auxiliaries")
total_loss = action_loss_avg + aux_loss
self.inc_iter()
self.prof.tick("summaries")
self.prof.loop()
self.prof.print_stats(1)
return total_loss
def unbatch(self, batch, halfway=False):
# Inputs
images = self.maybe_cuda(batch["images"][0])
seq_len = len(images)
instructions = self.maybe_cuda(batch["instr"][0][:seq_len])
instr_lengths = batch["instr_len"][0][:seq_len]
states = self.maybe_cuda(batch["states"][0])
if not halfway:
plan_mask = batch["plan_mask"][
0] # True for every timestep that we do visitation prediction
firstseg_mask = batch["firstseg_mask"][
0] # True for every timestep that is a new instruction segment
# Labels (including for auxiliary losses)
lm_pos_fpv = batch["lm_pos_fpv"][
0] # All object 2D coordinates in the first-person image
lm_pos_map_m = batch["lm_pos_map"][
0] # All object 2D coordinates in the semantic map
lm_indices = batch["lm_indices"][0] # All object class indices
goal_pos_map_m = batch["goal_loc"][
0] # Goal location in the world in meters_and_metrics
lm_mentioned = batch["lm_mentioned"][
0] # 1/0 labels whether object was mentioned/not mentioned in template instruction
# TODO: We're taking the FIRST label here. SINGLE SEGMENT ASSUMPTION
lang_lm_mentioned = batch["lang_lm_mentioned"][0][
0] # integer labes as to which object was mentioned
start_poses = batch["start_poses"][0]
noisy_start_poses = get_noisy_poses_torch(
start_poses.numpy(),
self.params["pos_variance"],
self.params["rot_variance"],
cuda=False,
cuda_device=None)
# Ground truth visitation distributions (in start and global frames)
v_dist_w_ground_truth_select = self.maybe_cuda(
batch["traj_ground_truth"][0])
start_poses_select = self.batch_select.one(
start_poses, plan_mask, v_dist_w_ground_truth_select.device)
v_dist_s_ground_truth_select, poses_s = self.map_transform_w_to_s(
v_dist_w_ground_truth_select, None, start_poses_select)
#self.tensor_store.keep_inputs("v_dist_w_ground_truth_select", v_dist_w_ground_truth_select)
self.tensor_store.keep_inputs("v_dist_s_ground_truth_select",
v_dist_s_ground_truth_select)
#Presenter().show_image(v_dist_s_ground_truth_select.detach().cpu()[0,0], "v_dist_s_ground_truth_select", waitkey=1, scale=4)
#Presenter().show_image(v_dist_w_ground_truth_select.detach().cpu()[0,0], "v_dist_w_ground_truth_select", waitkey=1, scale=4)
lm_pos_map_px = [
torch.from_numpy(
transformations.pos_m_to_px(p.numpy(),
self.params["global_map_size"],
self.params["world_size_m"],
self.params["world_size_px"]))
if p is not None else None for p in lm_pos_map_m
]
goal_pos_map_px = torch.from_numpy(
transformations.pos_m_to_px(goal_pos_map_m.numpy(),
self.params["global_map_size"],
self.params["world_size_m"],
self.params["world_size_px"]))
resnet_factor = self.img_to_features_w.img_to_features.get_downscale_factor(
)
lm_pos_fpv = [
self.cuda_var(
(s / resnet_factor).long()) if s is not None else None
for s in lm_pos_fpv
]
lm_indices = [
self.cuda_var(s) if s is not None else None for s in lm_indices
]
lm_mentioned = [
self.cuda_var(s) if s is not None else None
for s in lm_mentioned
]
lang_lm_mentioned = self.cuda_var(lang_lm_mentioned)
lm_pos_map_px = [
self.cuda_var(s.long()) if s is not None else None
for s in lm_pos_map_px
]
goal_pos_map_px = self.cuda_var(goal_pos_map_px)
self.tensor_store.keep_inputs("lm_pos_fpv", lm_pos_fpv)
self.tensor_store.keep_inputs("lm_pos_map", lm_pos_map_px)
self.tensor_store.keep_inputs("lm_indices", lm_indices)
self.tensor_store.keep_inputs("lm_mentioned", lm_mentioned)
self.tensor_store.keep_inputs("lang_lm_mentioned",
lang_lm_mentioned)
self.tensor_store.keep_inputs("goal_pos_map", goal_pos_map_px)
lm_pos_map_select = [
lm_pos for i, lm_pos in enumerate(lm_pos_map_px)
if plan_mask[i]
]
lm_indices_select = [
lm_idx for i, lm_idx in enumerate(lm_indices) if plan_mask[i]
]
lm_mentioned_select = [
lm_m for i, lm_m in enumerate(lm_mentioned) if plan_mask[i]
]
goal_pos_map_select = [
pos for i, pos in enumerate(goal_pos_map_px) if plan_mask[i]
]
self.tensor_store.keep_inputs("lm_pos_map_select",
lm_pos_map_select)
self.tensor_store.keep_inputs("lm_indices_select",
lm_indices_select)
self.tensor_store.keep_inputs("lm_mentioned_select",
lm_mentioned_select)
self.tensor_store.keep_inputs("goal_pos_map_select",
goal_pos_map_select)
# We won't need this extra information
else:
noisy_poses, start_poses, noisy_start_poses = None, None, None
plan_mask, firstseg_mask = None, None
metadata = batch["md"][0][0]
env_id = metadata["env_id"]
self.tensor_store.set_flag("env_id", env_id)
return images, states, instructions, instr_lengths, plan_mask, firstseg_mask, start_poses, noisy_start_poses, metadata
