def main(args):
# start THOR
env = ThorEnv()
# load traj_data
root = args.problem
json_file = os.path.join(root, 'traj_data.json')
with open(json_file, 'r') as f:
traj_data = json.load(f)
# setup scene
setup_scene(env, traj_data, 0, args)
# choose controller
if args.controller == "oracle":
AgentModule = OracleAgent
agent = AgentModule(env, traj_data, traj_root=root, load_receps=args.load_receps, debug=args.debug)
elif args.controller == "oracle_astar":
AgentModule = OracleAStarAgent
agent = AgentModule(env, traj_data, traj_root=root, load_receps=args.load_receps, debug=args.debug)
elif args.controller == "mrcnn":
AgentModule = MaskRCNNAgent
mask_rcnn = load_pretrained_model('./agents/detector/models/mrcnn.pth')
agent = AgentModule(env, traj_data, traj_root=root,
pretrained_model=mask_rcnn,
load_receps=args.load_receps, debug=args.debug)
elif args.controller == "mrcnn_astar":
AgentModule = MaskRCNNAStarAgent
mask_rcnn = load_pretrained_model('./agents/detector/models/mrcnn.pth')
agent = AgentModule(env, traj_data, traj_root=root,
pretrained_model=mask_rcnn,
load_receps=args.load_receps, debug=args.debug)
else:
raise NotImplementedError()
print(agent.feedback)
while True:
cmd = input()
agent.step(cmd)
if not args.debug:
print(agent.feedback)
done = env.get_goal_satisfied()
if done:
print("You won!")
break
def replay_check(args, thread_num=0):
env = ThorEnv(x_display='0.%d' % (thread_num % args.total_gpu))
# replay certificate filenames
replay_certificate_filenames = [
"replay.certificate.%d" % idx for idx in range(args.num_replays)
]
# Clear existing failures in file recording.
if args.failure_filename is not None:
with open(args.failure_filename, 'w') as f:
f.write('')
continue_check = True
total_checks, total_failures, crash_fails, unsat_fails, json_fails, nondet_fails = 0, 0, 0, 0, 0, 0
errors = {
} # map from error strings to counts, to be shown after every failure.
total_threads = args.total_gpu * args.num_threads
current_threads = args.gpu_id * args.num_threads + thread_num
while continue_check:
# Crawl the directory of trajectories and vet ones with no certificate.
failure_list = []
valid_dirs = []
count = 0
for dir_name, subdir_list, file_list in os.walk(args.data_path):
if "trial_" in dir_name and (not "raw_images" in dir_name) and (
not "pddl_states" in dir_name):
json_file = os.path.join(dir_name, JSON_FILENAME)
if not os.path.isfile(json_file):
continue
# If we're just stripping certificates, do that and continue.
if args.remove_certificates:
for cidx in range(args.num_replays):
certificate_file = os.path.join(
dir_name, replay_certificate_filenames[cidx])
if os.path.isfile(certificate_file):
os.system("rm %s" % certificate_file)
continue
if count % total_threads == current_threads:
valid_dirs.append(dir_name)
count += 1
print(len(valid_dirs))
np.random.shuffle(valid_dirs)
for ii, dir_name in enumerate(valid_dirs):
if not os.path.exists(dir_name):
continue
json_file = os.path.join(dir_name, JSON_FILENAME)
if not os.path.isfile(json_file):
continue
cidx = 0
certificate_file = os.path.join(dir_name,
replay_certificate_filenames[cidx])
already_checked = False
while os.path.isfile(certificate_file):
cidx += 1
if cidx == args.num_replays:
already_checked = True
break
certificate_file = os.path.join(
dir_name, replay_certificate_filenames[cidx])
if already_checked:
continue
print(ii)
if not os.path.isfile(certificate_file):
total_checks += 1. / args.num_replays
failed = False
with open(json_file) as f:
print("check %d/%d for file '%s'" %
(cidx + 1, args.num_replays, json_file))
try:
traj_data = json.load(f)
env.set_task(traj_data, args, reward_type='dense')
except json.decoder.JSONDecodeError:
failed = True
json_fails += 1
if not failed:
steps_taken = None
try:
steps_taken = replay_json(env, json_file)
except Exception as e:
import traceback
traceback.print_exc()
failed = True
crash_fails += 1
if str(e) not in errors:
errors[str(e)] = 0
errors[str(e)] += 1
print("%%%%%%%%%%")
es = sum([errors[er] for er in errors])
print("\terrors (%d):" % es)
for er, v in sorted(errors.items(),
key=lambda kv: kv[1],
reverse=True):
# if v / es < 0.01: # stop showing below 1% of errors.
# break
print("\t(%.2f) (%d)\t%s" % (v / es, v, er))
print("%%%%%%%%%%")
if cidx > 1:
print(
"WARNING: replay that has succeeded before has failed at attempt %d"
% cidx)
nondet_fails += 1
if steps_taken is not None: # executed without crashing, so now we need to verify completion.
goal_satisfied = env.get_goal_satisfied()
if goal_satisfied:
with open(certificate_file, 'w') as f:
f.write('%d' % steps_taken)
else:
failed = True
unsat_fails += 1
print("Goal was not satisfied after execution!")
if failed:
# Mark one failure and count the remainder of checks for this instance into the total.
total_failures += 1
total_checks += args.num_replays - (
(cidx + 1) / float(args.num_replays))
failure_list.append(json_file)
if args.failure_filename is not None:
with open(args.failure_filename, 'a') as f:
f.write("%s\n" % json_file)
# If we're deleting bad trajectories, do that here.
if args.move_failed_trajectories is not None:
print("Relocating failed trajectory '%s' to '%s'" %
(dir_name,
os.path.join(args.move_failed_trajectories)))
try:
shutil.move(dir_name,
args.move_failed_trajectories)
except shutil.Error as e:
print(
"WARNING: failed to perform move; error follows; deleting instead"
)
print(repr(e))
shutil.rmtree(dir_name)
if args.remove_failed_trajectories:
print("Removing failed trajectory '%s'" % dir_name)
shutil.rmtree(dir_name)
print("-------------------------")
print("Success Rate: %.2f/%.2f = %.3f" %
(total_checks - total_failures, total_checks,
float(total_checks - total_failures) /
float(total_checks)))
if total_failures > 0:
print("Non-deterministic failure: %d/%d = %.3f" %
(nondet_fails, total_failures,
float(nondet_fails) / total_failures))
print("Failures by crash: %d/%d = %.3f" %
(crash_fails, total_failures,
float(crash_fails) / total_failures))
print("Failures by unsatisfied: %d/%d = %.3f" %
(unsat_fails, total_failures,
float(unsat_fails) / total_failures))
print("Failures by json decode error: %d/%d = %.3f" %
(json_fails, total_failures,
float(json_fails) / total_failures))
print("-------------------------")
if not args.in_parallel:
continue_check = False
else:
time.sleep(60)
class Thor(threading.Thread):
def __init__(self, queue, train_eval="train"):
Thread.__init__(self)
self.action_queue = queue
self.mask_rcnn = None
self.env = None
self.train_eval = train_eval
self.controller_type = "oracle"
def run(self):
while True:
action, reset, task_file = self.action_queue.get()
try:
if reset:
self.reset(task_file)
else:
self.step(action)
finally:
self.action_queue.task_done()
def init_env(self, config):
self.config = config
screen_height = config['env']['thor']['screen_height']
screen_width = config['env']['thor']['screen_width']
smooth_nav = config['env']['thor']['smooth_nav']
save_frames_to_disk = config['env']['thor']['save_frames_to_disk']
if not self.env:
self.env = ThorEnv(player_screen_height=screen_height,
player_screen_width=screen_width,
smooth_nav=smooth_nav,
save_frames_to_disk=save_frames_to_disk)
self.controller_type = self.config['controller']['type']
self._done = False
self._res = ()
self._feedback = ""
self.expert = HandCodedThorAgent(self.env, max_steps=200)
self.prev_command = ""
self.load_mask_rcnn()
def load_mask_rcnn(self):
# load pretrained MaskRCNN model if required
if 'mrcnn' in self.config['controller'][
'type'] and not self.mask_rcnn:
model_path = os.path.join(
os.environ['ALFRED_ROOT'],
self.config['mask_rcnn']['pretrained_model_path'])
self.mask_rcnn = load_pretrained_model(model_path)
def set_task(self, task_file):
self.task_file = task_file
self.traj_root = os.path.dirname(task_file)
with open(task_file, 'r') as f:
self.traj_data = json.load(f)
def reset(self, task_file):
assert self.env
assert self.controller_type
self.set_task(task_file)
# scene setup
scene_num = self.traj_data['scene']['scene_num']
object_poses = self.traj_data['scene']['object_poses']
dirty_and_empty = self.traj_data['scene']['dirty_and_empty']
object_toggles = self.traj_data['scene']['object_toggles']
scene_name = 'FloorPlan%d' % scene_num
self.env.reset(scene_name)
self.env.restore_scene(object_poses, object_toggles,
dirty_and_empty)
# recording
save_frames_path = self.config['env']['thor']['save_frames_path']
self.env.save_frames_path = os.path.join(
save_frames_path, self.traj_root.replace('../', ''))
# initialize to start position
self.env.step(dict(
self.traj_data['scene']['init_action'])) # print goal instr
task_desc = get_templated_task_desc(self.traj_data)
print("Task: %s" % task_desc)
# print("Task: %s" % (self.traj_data['turk_annotations']['anns'][0]['task_desc']))
# setup task for reward
class args:
pass
args.reward_config = os.path.join(os.environ['ALFRED_ROOT'],
'agents/config/rewards.json')
self.env.set_task(self.traj_data, args, reward_type='dense')
# set controller
self.controller_type = self.config['controller']['type']
self.goal_desc_human_anns_prob = self.config['env'][
'goal_desc_human_anns_prob']
load_receps = self.config['controller']['load_receps']
debug = self.config['controller']['debug']
if self.controller_type == 'oracle':
self.controller = OracleAgent(
self.env,
self.traj_data,
self.traj_root,
load_receps=load_receps,
debug=debug,
goal_desc_human_anns_prob=self.goal_desc_human_anns_prob)
elif self.controller_type == 'oracle_astar':
self.controller = OracleAStarAgent(
self.env,
self.traj_data,
self.traj_root,
load_receps=load_receps,
debug=debug,
goal_desc_human_anns_prob=self.goal_desc_human_anns_prob)
elif self.controller_type == 'mrcnn':
self.controller = MaskRCNNAgent(
self.env,
self.traj_data,
self.traj_root,
pretrained_model=self.mask_rcnn,
load_receps=load_receps,
debug=debug,
goal_desc_human_anns_prob=self.goal_desc_human_anns_prob,
save_detections_to_disk=self.env.save_frames_to_disk,
save_detections_path=self.env.save_frames_path)
elif self.controller_type == 'mrcnn_astar':
self.controller = MaskRCNNAStarAgent(
self.env,
self.traj_data,
self.traj_root,
pretrained_model=self.mask_rcnn,
load_receps=load_receps,
debug=debug,
goal_desc_human_anns_prob=self.goal_desc_human_anns_prob,
save_detections_to_disk=self.env.save_frames_to_disk,
save_detections_path=self.env.save_frames_path)
else:
raise NotImplementedError()
# zero steps
self.steps = 0
# reset expert state
self.expert.reset(task_file)
self.prev_command = ""
# return intro text
self._feedback = self.controller.feedback
self._res = self.get_info()
return self._feedback
def step(self, action):
if not self._done:
# take action
self.prev_command = str(action)
self._feedback = self.controller.step(action)
self._res = self.get_info()
if self.env.save_frames_to_disk:
self.record_action(action)
self.steps += 1
def get_results(self):
return self._res
def record_action(self, action):
txt_file = os.path.join(self.env.save_frames_path, 'action.txt')
with open(txt_file, 'a+') as f:
f.write("%s\r\n" % str(action))
def get_info(self):
won = self.env.get_goal_satisfied()
pcs = self.env.get_goal_conditions_met()
goal_condition_success_rate = pcs[0] / float(pcs[1])
acs = self.controller.get_admissible_commands()
# expert action
if self.train_eval == "train":
game_state = {
'admissible_commands': acs,
'feedback': self._feedback,
'won': won
}
expert_actions = ["look"]
try:
if not self.prev_command:
self.expert.observe(game_state['feedback'])
else:
next_action = self.expert.act(game_state, 0, won,
self.prev_command)
if next_action in acs:
expert_actions = [next_action]
except HandCodedAgentTimeout:
print("Expert Timeout")
except Exception as e:
print(e)
traceback.print_exc()
else:
expert_actions = []
training_method = self.config["general"]["training_method"]
if training_method == "dqn":
max_nb_steps_per_episode = self.config["rl"]["training"][
"max_nb_steps_per_episode"]
elif training_method == "dagger":
max_nb_steps_per_episode = self.config["dagger"]["training"][
"max_nb_steps_per_episode"]
else:
raise NotImplementedError
self._done = won or self.steps > max_nb_steps_per_episode
return (self._feedback, self._done, acs, won,
goal_condition_success_rate, expert_actions)
def get_last_frame(self):
return self.env.last_event.frame[:, :, ::-1]
def get_exploration_frames(self):
return self.controller.get_exploration_frames()
def run_rollouts(cls, model, task_queue, results, args, validation=False):
env = ThorEnv()
while True:
if validation:
task, seen = task_queue.get()
else:
task = task_queue.get()
if task is None:
break
# reset model
model.reset()
# setup scene
traj_data = model.load_task_json(task)
r_idx = task['repeat_idx']
cls.setup_scene(env, traj_data, r_idx, args)
feat = model.featurize([traj_data],
load_frames=False,
load_mask=False)
curr_rollout = []
done = False
fails = 0
total_reward = 0
num_steps = 0
while not done and num_steps < args.max_steps:
# extract visual features
curr_image = Image.fromarray(np.uint8(env.last_event.frame))
feat['frames'] = model.resnet.featurize([curr_image],
batch=1).unsqueeze(0)
# forward model
out = model.step(feat)
pred = model.sample_pred(out, greedy=validation)
# monitor resource usage
monitor = start_monitor(
path=args.dout,
note="validation" if validation else "rollout" +
f" step={num_steps}")
# # check if <<stop>> was predicted
# if pred['action_low'] == "<<stop>>":
# print("\tpredicted STOP")
# break
# get action and mask
action = pred['action_low']
mask = pred['action_low_mask'] if cls.has_interaction(
action) else None
# use predicted action and mask (if available) to interact with the env
t_success, _, _, err, _ = env.va_interact(
action,
interact_mask=mask,
smooth_nav=args.smooth_nav,
debug=args.debug)
if not t_success:
fails += 1
if fails >= args.max_fails:
break
# next time-step
reward, done = env.get_transition_reward()
total_reward += reward
num_steps += 1
if not validation:
curr_rollout.append({
'frames':
feat['frames'].cpu().detach().numpy(),
'lang_goal_instr_data':
feat['lang_goal_instr'].data.cpu().detach().numpy(),
'lang_goal_instr_batch':
feat['lang_goal_instr'].batch_sizes.cpu().detach(
).numpy(),
'lang_goal_instr_sorted':
feat['lang_goal_instr'].sorted_indices.cpu().detach(
).numpy() if feat['lang_goal_instr'].sorted_indices
is not None else None,
'lang_goal_instr_unsorted':
feat['lang_goal_instr'].unsorted_indices.cpu().detach(
).numpy() if feat['lang_goal_instr'].unsorted_indices
is not None else None,
'action_dist':
pred['action_low_dist'].cpu().detach().numpy(),
'action_mask_dist':
pred['action_low_mask_dist'].cpu().detach().numpy(),
'action_idx':
pred['action_low_idx'].cpu().detach().numpy(),
'action_mask_idx':
pred['action_low_mask_idx'].cpu().detach().numpy(),
'reward':
np.array([reward])
})
stop_monitor(monitor)
if validation:
# check if goal was satisfied
goal_satisfied = env.get_goal_satisfied()
# goal_conditions
pcs = env.get_goal_conditions_met()
goal_condition_success_rate = pcs[0] / float(pcs[1])
# SPL
path_len_weight = len(traj_data['plan']['low_actions'])
s_spl = (1 if goal_satisfied else 0) * min(
1., path_len_weight / float(num_steps))
pc_spl = goal_condition_success_rate * min(
1., path_len_weight / float(num_steps))
# path length weighted SPL
plw_s_spl = s_spl * path_len_weight
plw_pc_spl = pc_spl * path_len_weight
# log success/fails
log_entry = {
'trial':
traj_data['task_id'],
'type':
traj_data['task_type'],
'repeat_idx':
int(r_idx),
'seen':
seen,
'goal_instr':
traj_data['turk_annotations']['anns'][r_idx]['task_desc'],
'goal_satisfied':
goal_satisfied,
'completed_goal_conditions':
int(pcs[0]),
'total_goal_conditions':
int(pcs[1]),
'goal_condition_success':
float(goal_condition_success_rate),
'success_spl':
float(s_spl),
'path_len_weighted_success_spl':
float(plw_s_spl),
'goal_condition_spl':
float(pc_spl),
'path_len_weighted_goal_condition_spl':
float(plw_pc_spl),
'path_len_weight':
int(path_len_weight),
'reward':
float(total_reward)
}
results.put(log_entry)
else:
results.put(curr_rollout)
env.stop()