def main(params: Parameters):
curriculum_repository_path = params.creatable_directory(
CURRICULUM_REPOSITORY_PATH_PARAMETER
)
language_mode = params.enum(
LANGUAGE_MODE_PARAMETER, LanguageMode, default=LanguageMode.ENGLISH
)
train_curriculum, test_curriculum = curriculum_from_params(
params, language_mode=language_mode
)
strict_curriculum = ExperimentCurriculum(
evaluate_curriculum(train_curriculum), evaluate_curriculum(test_curriculum)
)
write_experiment_curriculum(
curriculum_repository_path,
params,
language_mode,
strict_curriculum,
ignored_parameters=immutableset(
IGNORED_PARAMETERS.union(
{CURRICULUM_REPOSITORY_PATH_PARAMETER, LANGUAGE_MODE_PARAMETER}
)
),
)
def from_parameters(
params: Parameters,
*,
graph_logger: Optional[HypothesisLogger] = None
) -> "ObjectPursuitLearner": # type: ignore
log_word_hypotheses_dir = params.optional_creatable_directory(
"log_word_hypotheses_dir")
if log_word_hypotheses_dir:
logging.info("Hypotheses will be logged to %s",
log_word_hypotheses_dir)
rng = Random()
rng.seed(params.optional_integer("random_seed", default=0))
return ObjectPursuitLearner(
learning_factor=params.floating_point("learning_factor"),
graph_match_confirmation_threshold=params.floating_point(
"graph_match_confirmation_threshold"),
lexicon_entry_threshold=params.floating_point(
"lexicon_entry_threshold"),
smoothing_parameter=params.floating_point("smoothing_parameter"),
hypothesis_logger=graph_logger,
log_learned_item_hypotheses_to=log_word_hypotheses_dir,
rng=rng,
ontology=GAILA_PHASE_1_ONTOLOGY,
language_mode=params.enum("language_mode",
LanguageMode,
default=LanguageMode.ENGLISH),
)
def main(params: Parameters) -> None:
root_output_directory = params.creatable_directory("output_directory")
curriculum_string = params.string("curriculum",
valid_options=STR_TO_CURRICULUM.keys(),
default="phase1")
language_mode = params.enum("language_mode",
LanguageMode,
default=LanguageMode.ENGLISH)
language_string = str(language_mode).split(".")[-1].lower()
num_samples = params.optional_positive_integer("num_samples")
num_noise_objects = params.optional_positive_integer("num_noise_objects")
phase1_curriculum_dir = root_output_directory / language_string / curriculum_string
phase1_curriculum_dir.mkdir(parents=True, exist_ok=True)
# We lazily instantiate the curriculum so we don't need to worry
# about any of them we don't actually use.
curriculum_to_render = STR_TO_CURRICULUM[curriculum_string](
num_samples, num_noise_objects,
phase2_language_generator(language_mode))
sort_by_utterance_length_flag = params.boolean("sort_by_utterance",
default=False)
if sort_by_utterance_length_flag:
random_seed = params.integer("random_seed", default=1)
CurriculumToHtmlDumper().dump_to_html_as_sorted_by_utterance_length(
curriculum_to_render,
output_directory=phase1_curriculum_dir,
title="GAILA Phase 1 Curriculum Sorted by Utterance Length",
curriculum_string=curriculum_string,
random_seed=random_seed,
)
else:
CurriculumToHtmlDumper().dump_to_html(
curriculum_to_render,
output_directory=phase1_curriculum_dir,
title="GAILA Phase 1 Curriculum",
)
def log_experiment_entry_point(params: Parameters) -> None:
experiment_name = params.string("experiment")
debug_log_dir = params.optional_creatable_directory("debug_log_directory")
graph_logger: Optional[HypothesisLogger]
if debug_log_dir:
logging.info("Debug graphs will be written to %s", debug_log_dir)
graph_logger = HypothesisLogger(debug_log_dir,
enable_graph_rendering=True)
else:
graph_logger = None
logger = LearningProgressHtmlLogger.create_logger(params)
language_mode = params.enum("language_mode",
LanguageMode,
default=LanguageMode.ENGLISH)
(training_instance_groups,
test_instance_groups) = curriculum_from_params(params, language_mode)
execute_experiment(
Experiment(
name=experiment_name,
training_stages=training_instance_groups,
learner_factory=learner_factory_from_params(
params, graph_logger, language_mode),
pre_example_training_observers=[
logger.pre_observer(),
CandidateAccuracyObserver("pre-acc-observer"),
],
post_example_training_observers=[logger.post_observer()],
test_instance_groups=test_instance_groups,
test_observers=[logger.test_observer()],
sequence_chooser=RandomChooser.for_seed(0),
),
log_path=params.optional_creatable_directory("hypothesis_log_dir"),
log_hypotheses_every_n_examples=params.integer(
"log_hypothesis_every_n_steps", default=250),
log_learner_state=params.boolean("log_learner_state", default=True),
learner_logging_path=params.optional_creatable_directory(
"experiment_group_dir"),
starting_point=params.integer("starting_point", default=-1),
point_to_log=params.integer("point_to_log", default=0),
load_learner_state=params.optional_existing_file("learner_state_path"),
)
def from_params(
params: Parameters,
*,
ontology: Optional[Ontology] = None,
graph_logger: Optional[GraphLogger] = None,
) -> "ProposeButVerifyObjectLearner":
rng = RandomChooser.for_seed(
params.optional_integer("random_seed", default=0))
return ProposeButVerifyObjectLearner(
graph_match_confirmation_threshold=params.floating_point(
"graph_match_confirmation_threshold", default=0.8),
graph_logger=graph_logger,
rng=rng,
ontology=ontology if ontology else GAILA_PHASE_1_ONTOLOGY,
language_mode=params.enum("language_mode",
LanguageMode,
default=LanguageMode.ENGLISH),
)
def from_params(
params: Parameters,
*,
ontology: Optional[Ontology] = None,
graph_logger: Optional[GraphLogger] = None,
) -> "CrossSituationalObjectLearner":
return CrossSituationalObjectLearner(
graph_match_confirmation_threshold=params.floating_point(
"graph_match_confirmation_threshold"),
lexicon_entry_threshold=params.floating_point(
"lexicon_entry_threshold"),
smoothing_parameter=params.floating_point("smoothing_parameter"),
expected_number_of_meanings=params.floating_point(
"expected_number_of_meanings"),
graph_logger=graph_logger,
ontology=ontology if ontology else GAILA_PHASE_1_ONTOLOGY,
language_mode=params.enum("language_mode",
LanguageMode,
default=LanguageMode.ENGLISH),
)
def main(
params: Parameters,
scenes_iterable_input: Optional[Iterable[Phase1InstanceGroup]] = None,
output_directory: Optional[Path] = None,
visualizer: Optional[SituationVisualizer] = None,
) -> None:
language_mode = params.enum("language_mode",
LanguageMode,
default=LanguageMode.ENGLISH)
if scenes_iterable_input is None:
scenes_iterable: Iterable[Phase1InstanceGroup] = [
make_curriculum(None, None,
phase2_language_generator(language_mode))
]
else:
scenes_iterable = scenes_iterable_input
num_iterations = params.positive_integer("iterations")
steps_before_vis = params.positive_integer("steps_before_vis")
specific_scene = params.optional_positive_integer("scene")
automatically_save_renderings = params.boolean(
"automatically_save_renderings", default=False)
if "experiment_group_dir" in params:
rendering_filename_generator = from_experiment_filename_generator
else:
rendering_filename_generator = default_filename_generator
screenshot_dir = output_directory
random.seed(params.integer("seed"))
np.random.seed(params.integer("seed"))
if params.string("debug_bounding_boxes", default="off") == "on":
debug_bounding_boxes = True
else:
debug_bounding_boxes = False
if params.string("gaze_arrows", default="off") == "on":
gaze_arrows = True
else:
gaze_arrows = False
# go through curriculum scenes and output geometry types
if visualizer is None:
viz = SituationVisualizer()
else:
viz = visualizer
viz.clear_scene()
model_scales = viz.get_model_scales()
for object_type, multiplier in OBJECT_SCALE_MULTIPLIER_MAP.items():
if object_type in model_scales:
v3 = model_scales[object_type]
new_v3 = (v3[0] * multiplier, v3[1] * multiplier,
v3[2] * multiplier)
model_scales[object_type] = new_v3
else:
model_scales[object_type] = (multiplier, multiplier, multiplier)
for model_name, scale in model_scales.items():
logging.info("SCALE: %s -> %s", model_name, scale.__str__())
# used to start a frame from where the previous one left off
previous_model_positions: Optional[PositionsMap] = None
for scene_number, scene_elements in enumerate(
SceneCreator.create_scenes(scenes_iterable)):
# If a scene number is provided in the params file, only render that scene
if specific_scene and scene_number < specific_scene:
continue
if specific_scene and scene_number > specific_scene:
break
scene_filename = rendering_filename_generator(scene_number,
scene_elements)
if scene_filename in _FILENAMES_USED:
continue
_FILENAMES_USED.add(scene_filename)
print(f"SCENE {scene_number}")
viz.set_title(" ".join(token for token in scene_elements.tokens) +
" (" + str(scene_elements.current_frame + 1) + "/" +
str(scene_elements.total_frames) + ")")
# if this is a new scene, forget the positions from the last scene
if scene_elements.current_frame == 0:
previous_model_positions = None
if automatically_save_renderings:
# if in auto mode and scene contains an excluded vocab word, skip it
skip_scene = False
for token in scene_elements.tokens:
if token in EXCLUDED_VOCAB:
skip_scene = True
if skip_scene:
continue
# for debugging purposes:
# SceneCreator.graph_for_each(scene_elements.object_graph, print_obj_names)
# bind visualizer and properties to top level rendering function:
bound_render_obj = partial(render_obj, viz,
scene_elements.property_map,
previous_model_positions)
# bind visualizer and properties to nested obj rendering function
bound_render_nested_obj = partial(render_obj_nested, viz,
scene_elements.property_map,
previous_model_positions)
# render each object in graph
SceneCreator.graph_for_each_top_level(scene_elements.object_graph,
bound_render_obj,
bound_render_nested_obj)
# apply scale to top level nodes in scene
for node in scene_elements.object_graph:
if (node.name not in OBJECT_NAMES_TO_EXCLUDE and
node.name.split("_")[0] in OBJECT_SCALE_MULTIPLIER_MAP):
viz.multiply_scale(
node.name,
OBJECT_SCALE_MULTIPLIER_MAP[node.name.split("_")[0]])
# find the Region relations that refer to separate objects:
# (e.g. the cookie is in the region of the hand (of the person), not the leg-segment in in the region of the torso).
inter_object_in_region_map: DefaultDict[
ObjectPerception,
List[Region[ObjectPerception]]] = defaultdict(list)
for top_level_node in scene_elements.object_graph:
if top_level_node.perceived_obj in scene_elements.in_region_map:
inter_object_in_region_map[
top_level_node.
perceived_obj] = scene_elements.in_region_map[
top_level_node.perceived_obj]
# print(inter_object_in_region_map)
# we want to assemble a lookup of the offsets (position) of each object's subobjects.
sub_object_offsets = {}
for node_name, node in viz.geo_nodes.items():
child_node_to_offset = {}
recurse_list: List[NodePath] = node.children
while recurse_list:
next_batch: List[NodePath] = []
for child in recurse_list:
next_batch += child.children
# make sure this is a sub-object
if child.hasMat() and child.parent.name != node_name:
# child has non-identity transformation matrix applied to it (transform differs from parent)
# TODO: we could re-export all of the models in such a way to eliminate this extra layer
# in the scene graph
child_node_to_offset[
child.parent.name] = child.get_pos()
recurse_list = next_batch
sub_object_offsets[node_name] = child_node_to_offset
# handle skipping scene
if not automatically_save_renderings:
viz.run_for_seconds(1)
skip_command = input("type 's' and hit ENTER to skip this scene")
if skip_command == "s":
viz.clear_scene()
viz.run_for_seconds(0.25)
continue
handle_to_in_region_map = {
object_perception.debug_handle: region_list
for object_perception, region_list in
inter_object_in_region_map.items()
}
frozen_objects = objects_to_freeze(
handle_to_in_region_map,
scene_elements.situation,
scene_elements.situation_object_to_handle,
)
if scene_elements.interpolated_scene_moving_items:
# freeze everything not included in the interpolated scene
frozen_objects = (immutableset([
key.debug_handle
for key in scene_elements.in_region_map.keys()
]) - scene_elements.interpolated_scene_moving_items)
# now that every object has been instantiated into the scene,
# they need to be re-positioned.
repositioned_map = None
for repositioned_map in _solve_top_level_positions(
top_level_objects=immutableset([
node.perceived_obj for node in scene_elements.object_graph
if node.name not in OBJECT_NAMES_TO_EXCLUDE
]),
sub_object_offsets=sub_object_offsets,
in_region_map=inter_object_in_region_map,
model_scales=model_scales,
frozen_objects=frozen_objects,
iterations=num_iterations,
yield_steps=steps_before_vis,
previous_positions=previous_model_positions,
):
viz.clear_debug_nodes()
viz.clear_gaze_arrows()
if not automatically_save_renderings:
viz.run_for_seconds(0.25)
viz.set_positions(repositioned_map)
if debug_bounding_boxes:
for name in repositioned_map.name_to_position:
viz.add_debug_bounding_box(
name,
repositioned_map.name_to_position[name],
repositioned_map.name_to_scale[name],
)
if gaze_arrows:
for handle, props in scene_elements.property_map.items():
for prop in props:
if isinstance(
prop,
OntologyNode) and prop.handle == "gazed-at":
viz.add_gaze_arrow(
handle,
repositioned_map.name_to_position[handle],
repositioned_map.name_to_scale[handle],
)
# the visualizer seems to need about a second to render an update
if not automatically_save_renderings:
viz.run_for_seconds(1)
# viz.print_scene_graph()
previous_model_positions = None
# only store previous positions when continuing to next frame / scene
previous_model_positions = repositioned_map
viz.run_for_seconds(1)
screenshot(
automatically_save_renderings=automatically_save_renderings,
filename=scene_filename,
screenshot_dir=screenshot_dir,
viz=viz,
)
viz.clear_scene()
viz.run_for_seconds(0.25)
def log_experiment_entry_point(params: Parameters) -> None:
experiment_name = params.string("experiment")
debug_log_dir = params.optional_creatable_directory("debug_log_directory")
graph_logger: Optional[HypothesisLogger]
if debug_log_dir:
logging.info("Debug graphs will be written to %s", debug_log_dir)
graph_logger = HypothesisLogger(debug_log_dir,
enable_graph_rendering=True)
else:
graph_logger = None
logger = LearningProgressHtmlLogger.create_logger(params)
language_mode = params.enum("language_mode",
LanguageMode,
default=LanguageMode.ENGLISH)
curriculum_repository_path = params.optional_existing_directory(
"load_from_curriculum_repository")
if curriculum_repository_path:
curriculum = read_experiment_curriculum(curriculum_repository_path,
params, language_mode)
(training_instance_groups, test_instance_groups) = (
curriculum.train_curriculum,
curriculum.test_curriculum,
)
else:
(training_instance_groups,
test_instance_groups) = curriculum_from_params(params, language_mode)
experiment_group_dir = params.optional_creatable_directory(
"experiment_group_dir")
resume_from_last_logged_state = params.boolean(
"resume_from_latest_logged_state", default=False)
# Check if we have explicit observer states to load
observers_state = params.optional_existing_file("observers_state_path")
test_observer = [] # type: ignore
pre_observer = [] # type: ignore
post_observer = [] # type: ignore
if resume_from_last_logged_state and observers_state:
raise RuntimeError(
f"Can not resume from last logged state and provide explicit observer state paths"
)
if resume_from_last_logged_state:
if not experiment_group_dir:
raise RuntimeError(
"experiment_group_dir must be specified when resume_from_last_logged_state is true."
)
# Try to Load Observers
for _, observers_state_path in observer_states_by_most_recent(
cast(Path, experiment_group_dir) / "observer_state",
"observers_state_at_"):
try:
with observers_state_path.open("rb") as f:
observers_holder = pickle.load(f)
pre_observer = observers_holder.pre_observers
post_observer = observers_holder.post_observers
test_observer = observers_holder.test_observers
except OSError:
logging.warning(
"Unable to open observer state at %s; skipping.",
str(observers_state_path),
)
except pickle.UnpicklingError:
logging.warning(
"Couldn't unpickle observer state at %s; skipping.",
str(observers_state_path),
)
if not pre_observer and not post_observer and not test_observer:
logging.warning("Reverting to default observers.")
pre_observer = [
logger.pre_observer( # type: ignore
params=params.namespace_or_empty("pre_observer"),
experiment_group_dir=experiment_group_dir,
)
]
post_observer = [
logger.post_observer( # type: ignore
params=params.namespace_or_empty("post_observer"),
experiment_group_dir=experiment_group_dir,
)
]
test_observer = [
logger.test_observer( # type: ignore
params=params.namespace_or_empty("test_observer"),
experiment_group_dir=experiment_group_dir,
)
]
elif observers_state:
try:
with observers_state.open("rb") as f:
observers_holder = pickle.load(f)
pre_observer = observers_holder.pre_observers
post_observer = observers_holder.post_observers
test_observer = observers_holder.test_observers
except OSError:
logging.warning("Unable to open observer state at %s; skipping.",
str(observers_state))
except pickle.UnpicklingError:
logging.warning(
"Couldn't unpickle observer state at %s; skipping.",
str(observers_state))
else:
pre_observer = [
logger.pre_observer( # type: ignore
params=params.namespace_or_empty("pre_observer"),
experiment_group_dir=experiment_group_dir,
)
]
post_observer = [
logger.post_observer( # type: ignore
params=params.namespace_or_empty("post_observer"),
experiment_group_dir=experiment_group_dir,
)
]
test_observer = [
logger.test_observer( # type: ignore
params=params.namespace_or_empty("test_observer"),
experiment_group_dir=experiment_group_dir,
)
]
execute_experiment(
Experiment(
name=experiment_name,
training_stages=training_instance_groups,
learner_factory=learner_factory_from_params(
params, graph_logger, language_mode),
pre_example_training_observers=pre_observer,
post_example_training_observers=post_observer,
test_instance_groups=test_instance_groups,
test_observers=test_observer,
sequence_chooser=RandomChooser.for_seed(0),
),
log_path=params.optional_creatable_directory("hypothesis_log_dir"),
log_hypotheses_every_n_examples=params.integer(
"log_hypothesis_every_n_steps", default=250),
log_learner_state=params.boolean("log_learner_state", default=True),
learner_logging_path=experiment_group_dir,
starting_point=params.integer("starting_point", default=0),
point_to_log=params.integer("point_to_log", default=0),
load_learner_state=params.optional_existing_file("learner_state_path"),
resume_from_latest_logged_state=resume_from_last_logged_state,
debug_learner_pickling=params.boolean("debug_learner_pickling",
default=False),
)
