def generate_video(
args, images, episode_id, checkpoint_idx, spl, tb_writer, fps=10
) -> None:
r"""Generate video according to specified information.
Args:
args: contains args.video_option and args.video_dir.
images: list of images to be converted to video.
episode_id: episode id for video naming.
checkpoint_idx: checkpoint index for video naming.
spl: SPL for this episode for video naming.
tb_writer: tensorboard writer object for uploading video
fps: fps for generated video
Returns:
None
"""
if args.video_option and len(images) > 0:
video_name = f"episode{episode_id}_ckpt{checkpoint_idx}_spl{spl:.2f}"
if "disk" in args.video_option:
images_to_video(images, args.video_dir, video_name)
if "tensorboard" in args.video_option:
tb_writer.add_video_from_np_images(
f"episode{episode_id}", checkpoint_idx, images, fps=fps
)
def generate_video(
video_option: List[str],
video_dir: Optional[str],
images: List[np.ndarray],
episode_id: int,
checkpoint_idx: int,
metric_name: str,
metric_value: float,
fps: int = 10,
) -> None:
r"""Generate video according to specified information.
Args:
video_option: string list of "tensorboard" or "disk" or both.
video_dir: path to target video directory.
images: list of images to be converted to video.
episode_id: episode id for video naming.
checkpoint_idx: checkpoint index for video naming.
metric_name: name of the performance metric, e.g. "spl".
metric_value: value of metric.
tb_writer: tensorboard writer object for uploading video.
fps: fps for generated video.
Returns:
None
"""
if len(images) < 1:
return
video_name = f"episode{episode_id}_ckpt{checkpoint_idx}_{metric_name}{metric_value:.2f}"
if "disk" in video_option:
assert video_dir is not None
images_to_video(images, video_dir, video_name)
def shortest_path_example(mode):
config = habitat.get_config(config_paths="configs/tasks/pointnav.yaml")
config.TASK.MEASUREMENTS.append("TOP_DOWN_MAP")
config.TASK.SENSORS.append("HEADING_SENSOR")
env = SimpleRLEnv(config=config)
goal_radius = env.episodes[0].goals[0].radius
if goal_radius is None:
goal_radius = config.SIMULATOR.FORWARD_STEP_SIZE
follower = ShortestPathFollower(env.habitat_env.sim, goal_radius, False)
follower.mode = mode
print("Environment creation successful")
for episode in range(3):
env.reset()
dirname = os.path.join(
IMAGE_DIR, "shortest_path_example", mode, "%02d" % episode
)
if os.path.exists(dirname):
shutil.rmtree(dirname)
os.makedirs(dirname)
print("Agent stepping around inside environment.")
images = []
while not env.habitat_env.episode_over:
best_action = follower.get_next_action(
env.habitat_env.current_episode.goals[0].position
)
observations, reward, done, info = env.step(best_action.value)
im = observations["rgb"]
top_down_map = draw_top_down_map(
info, observations["heading"], im.shape[0]
)
output_im = np.concatenate((im, top_down_map), axis=1)
images.append(output_im)
images_to_video(images, dirname, "trajectory")
print("Episode finished")
def generate_video(
config: Config,
images: List[np.ndarray],
episode_id: int,
checkpoint_idx: int,
spl: float,
tb_writer: Union[DummyWriter, TensorboardWriter],
fps: int = 10,
) -> None:
r"""
Generate video according to specified information.
Args:
config: config object that contains video_option and video_dir.
images: list of images to be converted to video.
episode_id: episode id for video naming.
checkpoint_idx: checkpoint index for video naming.
spl: SPL for this episode for video naming.
tb_writer: tensorboard writer object for uploading video
fps: fps for generated video
Returns:
None
"""
if config.video_option and len(images) > 0:
video_name = f"episode{episode_id}_ckpt{checkpoint_idx}_spl{spl:.2f}"
if "disk" in config.video_option:
images_to_video(images, config.video_dir, video_name)
if "tensorboard" in config.video_option:
tb_writer.add_video_from_np_images(
f"episode{episode_id}", checkpoint_idx, images, fps=fps
)
def reference_path_example(mode):
"""
Saves a video of a shortest path follower agent navigating from a start
position to a goal. Agent follows the ground truth reference path by
navigating to intermediate viewpoints en route to goal.
Args:
mode: 'geodesic_path' or 'greedy'
"""
config = habitat.get_config(
config_paths="configs/test/habitat_r2r_vln_test.yaml")
config.defrost()
config.TASK.MEASUREMENTS.append("TOP_DOWN_MAP")
config.TASK.SENSORS.append("HEADING_SENSOR")
config.freeze()
with SimpleRLEnv(config=config) as env:
follower = ShortestPathFollower(env.habitat_env.sim,
goal_radius=0.5,
return_one_hot=False)
follower.mode = mode
print("Environment creation successful")
for episode in range(3):
env.reset()
print(env.habitat_env.current_episode)
episode_id = env.habitat_env.current_episode.episode_id
print(
f"Agent stepping around inside environment. Episode id: {episode_id}"
)
dirname = os.path.join(IMAGE_DIR, "vln_reference_path_example",
mode, "%02d" % episode)
if os.path.exists(dirname):
shutil.rmtree(dirname)
os.makedirs(dirname)
images = []
steps = 0
reference_path = env.habitat_env.current_episode.reference_path + [
env.habitat_env.current_episode.goals[0].position
]
for point in reference_path:
done = False
while not done:
best_action = follower.get_next_action(point)
print(best_action)
if best_action == None or best_action == 0:
break
observations, reward, done, info = env.step(best_action)
save_map(observations, info, images)
steps += 1
print(f"Navigated to goal in {steps} steps.")
images_to_video(images, dirname, str(episode_id))
images = []
def generate_video(video_option: List[str],
video_dir: Optional[str],
images: List[np.ndarray],
scene_name: str,
sound: str,
sr: int,
episode_id: int,
checkpoint_idx: int,
metric_name: str,
metric_value: float,
tb_writer: TensorboardWriter,
fps: int = 10,
audios: List[str] = None) -> None:
r"""Generate video according to specified information.
Args:
video_option: string list of "tensorboard" or "disk" or both.
video_dir: path to target video directory.
images: list of images to be converted to video.
episode_id: episode id for video naming.
checkpoint_idx: checkpoint index for video naming.
metric_name: name of the performance metric, e.g. "spl".
metric_value: value of metric.
tb_writer: tensorboard writer object for uploading video.
fps: fps for generated video.
audios: raw audio files
Returns:
None
"""
if len(images) < 1:
return
video_name = f"{scene_name}_{episode_id}_{sound}_{metric_name}{metric_value:.2f}"
if "disk" in video_option:
assert video_dir is not None
if audios is None:
images_to_video(images, video_dir, video_name)
else:
images_to_video_with_audio(images,
video_dir,
video_name,
audios,
sr,
fps=fps)
if "tensorboard" in video_option:
tb_writer.add_video_from_np_images(f"episode{episode_id}",
checkpoint_idx,
images,
fps=fps)
def generate_video(
video_option: List[str],
video_dir: Optional[str],
images: List[np.ndarray],
episode_id: Union[int, str],
checkpoint_idx: int,
metrics: Dict[str, float],
tb_writer: TensorboardWriter,
fps: int = 10,
) -> None:
r"""Generate video according to specified information.
Args:
video_option: string list of "tensorboard" or "disk" or both.
video_dir: path to target video directory.
images: list of images to be converted to video.
episode_id: episode id for video naming.
checkpoint_idx: checkpoint index for video naming.
metric_name: name of the performance metric, e.g. "spl".
metric_value: value of metric.
tb_writer: tensorboard writer object for uploading video.
fps: fps for generated video.
Returns:
None
"""
if len(images) < 1:
return
metric_strs = []
for k, v in metrics.items():
if isinstance(v, str):
metric_strs.append(f"{k}={v}")
else:
metric_strs.append(f"{k}={v:.2f}")
video_name = f"episode={episode_id}-ckpt={checkpoint_idx}-" + "-".join(
metric_strs)
if "disk" in video_option:
assert video_dir is not None
images_to_video(images, video_dir, video_name, fps=fps)
if "tensorboard" in video_option:
tb_writer.add_video_from_np_images(f"episode{episode_id}",
checkpoint_idx,
images,
fps=fps)
return video_name
def generate_video(
video_option: List[str],
video_dir: Optional[str],
images: List[np.ndarray],
episode_id: int,
checkpoint_idx: int,
tag: str,
metrics: Dict[str, float],
tb_writer: TensorboardWriter,
fps: int = 10,
) -> None:
r"""Generate video according to specified information.
Args:
video_option: string list of "tensorboard" or "disk" or both.
video_dir: path to target video directory.
images: list of images to be converted to video.
episode_id: episode id for video naming.
checkpoint_idx: checkpoint index for video naming.
info: metric dictionary
tag: Additional tag for naming video
tb_writer: tensorboard writer object for uploading video.
fps: fps for generated video.
Returns:
None
"""
print(len(images))
if len(images) < 1:
return
metric_strs = []
for k, v in metrics.items():
metric_strs.append(f"{k}={v:.2f}")
video_name = f"{tag}_episode={episode_id}-ckpt={checkpoint_idx}-" + "-".join(
metric_strs
)
if "disk" in video_option:
assert video_dir is not None
images_to_video(images, video_dir, video_name)
if "tensorboard" in video_option:
tb_writer.add_video_from_np_images(
f"episode{episode_id}", checkpoint_idx, images, fps=fps
)
def save_video(self, file: Union[str, Path], fps: int = 10) -> None:
assert self._capture_video, 'Not capturing video; nothing to save.'
if len(self._rgb_frames) == 0:
return
first_shape = self._rgb_frames[0].shape
next_shape = self._rgb_frames[1].shape
if first_shape != next_shape:
assert first_shape[0] == next_shape[0]
# First frame is missing the top-down map, so we copy it from the next one
td_map = self._rgb_frames[1][:, first_shape[1]:, :]
self._rgb_frames[0] = np.concatenate((self._rgb_frames[0], td_map),
1)
file = Path(file)
with capture_output('save_video'):
images_to_video(self._rgb_frames,
str(file.parent),
file.name,
fps=fps,
quality=5)
def reset(self):
# reset hidden state and set done
self.test_recurrent_hidden_states = torch.zeros(
1, self.hidden_size
).cuda()
self.not_done_masks = torch.zeros(1, 1).cuda()
# reset observation storage (and verify)
z = torch.zeros(1, 2).cuda()
mask_out_done = { name: z for name in self.current_obs.sensor_names }
if 'global_pos' in self.current_obs.sensor_names:
mask_out_done['global_pos'] = torch.zeros(1,1).cuda()
self.current_obs.clear_done(mask_out_done)
for value in self.current_obs.peek().values():
assert torch.sum(value.peek()).item() < 1e-6, 'did not clear the curent_obs properly'
# log everything
if len(self.episode_pgs) != 0:
# log video (and save to log_dir)
if self.save_eval_videos:
images_to_video(images=self.episode_rgbs, output_dir=self.log_dir, video_name=f'test_{self.episode_num}')
self.mlog.add_meter(f'diagnostics/rollout_{self.episode_num}', tnt.meter.SingletonMeter(), ptype='video')
if self.use_visdom:
vid_path = os.path.join(self.log_dir, f'test_{self.episode_num}.mp4')
self.mlog.update_meter(vid_path, meters={f'diagnostics/rollout_{self.episode_num}'}, phase='val')
else:
print('video support for TB is weak not recommended')
rgb_tensor = torch.Tensor(self.episode_rgbs).unsqueeze(dim=0)
self.mlog.update_meter(rgb_tensor, meters={f'diagnostics/rollout_{self.episode_num}'}, phase='val')
# reset log
self.mlog.reset_meter(self.episode_num, mode='val')
# reset episode logs
self.episode_rgbs = []
self.episode_pgs = []
self.episode_values = []
self.episode_entropy = []
self.episode_lengths.append(self.t)
self.episode_num += 1
self.t = 0
self.last_action = None
def video_from_dir(vidDir, images_type="png"):
"""
Images will be ordered alpha-numeric order for video
vidDir: str directory path that has images
Output video is called 'video.mp4' and placed in same directory
"""
assert os.path.isdir(vidDir), "vidDir must be a valid directory"
images = sorted(os.listdir(vidDir))
images.sort(key=natural_sort_key)
imArray = []
for i in images:
if not i.endswith('.' + images_type): continue
tmp = imread(os.path.join(vidDir, i))
# print(tmp)
# print(type(tmp))
# print(tmp.shape)
imArray.append(tmp)
images_to_video(imArray, vidDir, "video", fps=2)
def generate_video(
video_option: List[str],
video_dir: Optional[str],
images: List[np.ndarray],
episode_id: int,
checkpoint_idx: int,
spl: float,
tb_writer: TensorboardWriter,
fps: int = 10,
) -> None:
r"""Generate video according to specified information.
Args:
video_option: string list of "tensorboard" or "disk" or both.
video_dir: path to target video directory.
images: list of images to be converted to video.
episode_id: episode id for video naming.
checkpoint_idx: checkpoint index for video naming.
spl: SPL for this episode for video naming.
tb_writer: tensorboard writer object for uploading video.
fps: fps for generated video.
Returns:
None
"""
if len(images) < 1:
return
video_name = f"episode{episode_id}_ckpt{checkpoint_idx}_spl{spl:.2f}"
if "disk" in video_option:
assert video_dir is not None
images_to_video(images, video_dir, video_name)
if "tensorboard" in video_option:
tb_writer.add_video_from_np_images(f"episode{episode_id}",
checkpoint_idx,
images,
fps=fps)
def reference_path_example(mode):
"""
Saves a video of a shortest path follower agent navigating from a start
position to a goal. Agent follows the ground truth reference path by
navigating to intermediate viewpoints en route to goal.
Args:
mode: 'geodesic_path' or 'greedy'
"""
config = habitat.get_config(
config_paths="configs/test/habitat_r2r_vln_test.yaml")
config.defrost()
config.TASK.MEASUREMENTS.append("TOP_DOWN_MAP")
config.TASK.SENSORS.append("HEADING_SENSOR")
config.freeze()
with SimpleRLEnv(config=config) as env:
print("Environment creation successful")
sim_time = 30 # @param {type:"integer"}
continuous_nav = True # @param {type:"boolean"}
if continuous_nav:
control_frequency = 10 # @param {type:"slider", min:1, max:30, step:1}
frame_skip = 6 # @param {type:"slider", min:1, max:30, step:1}
fps = control_frequency * frame_skip
print("fps = " + str(fps))
control_sequence = []
for action in range(int(sim_time * control_frequency)):
if continuous_nav:
# allow forward velocity and y rotation to vary
control_sequence.append({
"forward_velocity":
random.random() * 2.0, # [0,2)
"rotation_velocity":
(random.random() - 0.5) * 2.0, # [-1,1)
})
else:
control_sequence.append(random.choice(action_names))
# create and configure a new VelocityControl structure
vel_control = habitat_sim.physics.VelocityControl()
vel_control.controlling_lin_vel = True
vel_control.lin_vel_is_local = True
vel_control.controlling_ang_vel = True
vel_control.ang_vel_is_local = True
for episode in range(6):
env.reset()
print(env.habitat_env.current_episode)
episode_id = env.habitat_env.current_episode.episode_id
print(
f"Agent stepping around inside environment. Episode id: {episode_id}"
)
dirname = os.path.join(IMAGE_DIR, "vln_reference_path_example",
mode, "%02d" % episode)
if os.path.exists(dirname):
shutil.rmtree(dirname)
os.makedirs(dirname)
images = []
steps = 0
reference_path = env.habitat_env.current_episode.reference_path + [
env.habitat_env.current_episode.goals[0].position
]
# manually control the object's kinematic state via velocity integration
time_step = 1.0 / (frame_skip * control_frequency)
print("time_step = " + str(time_step))
for action in control_sequence:
# apply actions
if continuous_nav:
# update the velocity control
# local forward is -z
vel_control.linear_velocity = np.array(
[0, 0, -action["forward_velocity"]])
# local up is y
vel_control.angular_velocity = np.array(
[0, action["rotation_velocity"], 0])
observations, reward, done, info = env.step(vel_control)
save_map(observations, info, images)
steps += 1
print(f"Navigated to goal in {steps} steps.")
images_to_video(images,
dirname,
str(episode_id),
fps=int(1.0 / time_step))
images = []
def test_noise_models_rgbd():
DEMO_MODE = False
N_STEPS = 100
config = get_config()
config.defrost()
config.SIMULATOR.SCENE = (
"data/scene_datasets/habitat-test-scenes/skokloster-castle.glb")
config.SIMULATOR.AGENT_0.SENSORS = ["RGB_SENSOR", "DEPTH_SENSOR"]
config.freeze()
if not os.path.exists(config.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
valid_start_position = [-1.3731, 0.08431, 8.60692]
expected_pointgoal = [0.1, 0.2, 0.3]
goal_position = np.add(valid_start_position, expected_pointgoal)
# starting quaternion is rotated 180 degree along z-axis, which
# corresponds to simulator using z-negative as forward action
start_rotation = [0, 0, 0, 1]
test_episode = NavigationEpisode(
episode_id="0",
scene_id=config.SIMULATOR.SCENE,
start_position=valid_start_position,
start_rotation=start_rotation,
goals=[NavigationGoal(position=goal_position)],
)
print(f"{test_episode}")
with habitat.Env(config=config, dataset=None) as env:
env.episode_iterator = iter([test_episode])
no_noise_obs = [env.reset()]
no_noise_states = [env.sim.get_agent_state()]
actions = [
sample_non_stop_action(env.action_space) for _ in range(N_STEPS)
]
for action in actions:
no_noise_obs.append(env.step(action))
no_noise_states.append(env.sim.get_agent_state())
env.close()
config.defrost()
config.SIMULATOR.RGB_SENSOR.NOISE_MODEL = "GaussianNoiseModel"
config.SIMULATOR.RGB_SENSOR.NOISE_MODEL_KWARGS = habitat.Config()
config.SIMULATOR.RGB_SENSOR.NOISE_MODEL_KWARGS.INTENSITY_CONSTANT = 0.5
config.SIMULATOR.DEPTH_SENSOR.NOISE_MODEL = "RedwoodDepthNoiseModel"
config.SIMULATOR.ACTION_SPACE_CONFIG = "pyrobotnoisy"
config.SIMULATOR.NOISE_MODEL = habitat.Config()
config.SIMULATOR.NOISE_MODEL.ROBOT = "LoCoBot"
config.SIMULATOR.NOISE_MODEL.CONTROLLER = "Proportional"
config.SIMULATOR.NOISE_MODEL.NOISE_MULTIPLIER = 0.5
config.freeze()
env = habitat.Env(config=config, dataset=None)
env.episode_iterator = iter([test_episode])
obs = env.reset()
assert np.linalg.norm(
obs["rgb"].astype(np.float) -
no_noise_obs[0]["rgb"].astype(np.float)) > 1.5e-2 * np.linalg.norm(
no_noise_obs[0]["rgb"].astype(
np.float)), "No RGB noise detected."
assert np.linalg.norm(obs["depth"].astype(np.float) -
no_noise_obs[0]["depth"].astype(np.float)
) > 1.5e-2 * np.linalg.norm(
no_noise_obs[0]["depth"].astype(
np.float)), "No Depth noise detected."
images = []
state = env.sim.get_agent_state()
angle_diffs = []
pos_diffs = []
for action in actions:
prev_state = state
obs = env.step(action)
state = env.sim.get_agent_state()
position_change = np.linalg.norm(np.array(state.position) -
np.array(prev_state.position),
ord=2)
if action["action"][:5] == "TURN_":
angle_diff = abs(
angle_between_quaternions(state.rotation,
prev_state.rotation) -
np.deg2rad(config.SIMULATOR.TURN_ANGLE))
angle_diffs.append(angle_diff)
else:
pos_diffs.append(
abs(position_change - config.SIMULATOR.FORWARD_STEP_SIZE))
if DEMO_MODE:
images.append(observations_to_image(obs, {}))
if DEMO_MODE:
images_to_video(images, "data/video/test_noise", "test_noise")
assert (np.mean(angle_diffs) >
0.025), "No turn action actuation noise detected."
assert (np.mean(pos_diffs) >
0.025), "No forward action actuation noise detected."
for maps_chunk in torch.split(maps, batch_size):
maps_chunk = map_transform(maps_chunk)
maps_lst.append(maps_chunk.to('cpu', non_blocking=True))
maps = torch.cat(maps_lst).numpy()
for (s, _), mapp in zip(traj, maps):
s['map'] = mapp
for task, taskonomy_data in zip(tasks, all_taskonomys):
for (s, _), taskonomy_frame in zip(traj, taskonomy_data):
s[f'taskonomy_{task}'] = taskonomy_frame
if task == 'curvature': # for backwards support
s['taskonomy'] = taskonomy_frame
# write trajectory
cur_scene_name = env._env.current_episode.scene_id.split('/')[-1].split('.')[0]
episode_id = env._env.current_episode.episode_id
single_traj_dir = os.path.join(TRAJ_DIR, cur_scene_name, f'episode_{episode_id}')
os.makedirs(single_traj_dir, exist_ok=True)
for i, (obs, act) in enumerate(traj):
Image.fromarray(obs['rgb_filled']).save(os.path.join(single_traj_dir, f'rgb_filled_{i:03d}.png'))
del obs['rgb_filled']
np.savez_compressed(os.path.join(single_traj_dir, f'action_{i:03d}.npz'), act)
for k, v in obs.items():
np.savez_compressed(os.path.join(single_traj_dir, f'{k}_{i:03d}.npz'), v)
if SAVE_VIDEO:
images_to_video(images, IMAGE_DIR, str(episode))
def reference_path_example(mode):
"""
Saves a video of a shortest path follower agent navigating from a start
position to a goal. Agent follows the ground truth reference path by
navigating to intermediate viewpoints en route to goal.
Args:
mode: 'geodesic_path' or 'greedy'
"""
config = habitat.get_config(
config_paths="configs/test/habitat_r2r_vln_test_continuous.yaml")
config.defrost()
config.TASK.MEASUREMENTS.append("TOP_DOWN_MAP")
config.TASK.SENSORS.append("HEADING_SENSOR")
config.freeze()
with SimpleRLEnv(config=config) as env:
print("Environment creation successful")
sim_time = 30 # @param {type:"integer"}
continuous_nav = True # @param {type:"boolean"}
if continuous_nav:
control_frequency = 10 # @param {type:"slider", min:1, max:30, step:1}
frame_skip = 6 # @param {type:"slider", min:1, max:30, step:1}
fps = control_frequency * frame_skip
print("fps = " + str(fps))
control_sequence = []
# create and configure a new VelocityControl structure
vel_control = habitat_sim.physics.VelocityControl()
vel_control.controlling_lin_vel = True
vel_control.lin_vel_is_local = True
vel_control.controlling_ang_vel = True
vel_control.ang_vel_is_local = True
for episode in range(6):
env.reset()
print(env.habitat_env.current_episode)
episode_id = env.habitat_env.current_episode.episode_id
print(
f"Agent stepping around inside environment. Episode id: {episode_id}"
)
dirname = os.path.join(IMAGE_DIR, "vln_reference_path_example",
mode, "%02d" % episode)
if os.path.exists(dirname):
shutil.rmtree(dirname)
os.makedirs(dirname)
images = []
steps = 0
reference_path = env.habitat_env.current_episode.reference_path
waypoints = np.array(reference_path)
for i in range(waypoints.shape[1] - 1):
if np.abs(np.linalg.norm(waypoints[i + 1, :] -
waypoints[i, :])) < 5:
waypoints = np.delete(waypoints, (i + 1), axis=0)
waypoints = waypoints[0::10]
x_wp = waypoints[:, 0]
y_wp = -waypoints[:, 2]
z_wp = waypoints[:, 1]
ax = x_wp
ay = y_wp
cx, cy, cyaw, ck, s_profile, s = cubic_spline_planner.calc_spline_course(
ax, ay, ds=0.01)
goal = [cx[-1], cy[-1], cyaw[-1]]
agent_forward = quat_to_magnum(
env.habitat_env._sim.get_agent_state(
).rotation).transform_vector(mn.Vector3(0, 0, -1.0))
angle = quaternion.as_euler_angles(
env.habitat_env._sim.get_agent_state().rotation)
init_x = env.habitat_env._sim.get_agent_state().position[0]
init_y = -env.habitat_env._sim.get_agent_state().position[2]
# init_yaw = angle[1]
init_yaw = math.atan2(agent_forward[0], agent_forward[2])
state = State(x=init_x, y=init_y, yaw=init_yaw)
time_step = 1.0 / (30)
T = 500
t, x, y, yaw, vel, omeg, images = closed_loop_prediction(
env, state, cx, cy, cyaw, ck, s_profile, goal, images,
vel_control, time_step)
images_to_video(images,
dirname,
str(episode_id),
fps=int(1.0 / time_step))
images = []
def train_model(self):
episode_rewards = deque(maxlen=10)
current_episode_rewards = np.zeros(self.shell_args.num_processes)
episode_lengths = deque(maxlen=10)
current_episode_lengths = np.zeros(self.shell_args.num_processes)
current_rewards = np.zeros(self.shell_args.num_processes)
total_num_steps = self.start_iter
fps_timer = [time.time(), total_num_steps]
timers = np.zeros(3)
egomotion_loss = 0
video_frames = []
num_episodes = 0
# self.evaluate_model()
obs = self.envs.reset()
if self.compute_surface_normals:
obs["surface_normals"] = pt_util.depth_to_surface_normals(
obs["depth"].to(self.device))
obs["prev_action_one_hot"] = obs[
"prev_action_one_hot"][:, ACTION_SPACE].to(torch.float32)
if self.shell_args.algo == "supervised":
obs["best_next_action"] = pt_util.from_numpy(
obs["best_next_action"][:, ACTION_SPACE])
self.rollouts.copy_obs(obs, 0)
distances = pt_util.to_numpy_array(obs["goal_geodesic_distance"])
self.train_stats["start_geodesic_distance"][:] = distances
previous_visual_features = None
egomotion_pred = None
prev_action = None
prev_action_probs = None
num_updates = (int(self.shell_args.num_env_steps) //
self.shell_args.num_forward_rollout_steps
) // self.shell_args.num_processes
try:
for iter_count in range(num_updates):
if self.shell_args.tensorboard:
if iter_count % 500 == 0:
print("Logging conv summaries")
self.logger.network_conv_summary(
self.agent, total_num_steps)
elif iter_count % 100 == 0:
print("Logging variable summaries")
self.logger.network_variable_summary(
self.agent, total_num_steps)
if self.shell_args.use_linear_lr_decay:
# decrease learning rate linearly
update_linear_schedule(self.optimizer.optimizer,
iter_count, num_updates,
self.shell_args.lr)
if self.shell_args.algo == "ppo" and self.shell_args.use_linear_clip_decay:
self.optimizer.clip_param = self.shell_args.clip_param * (
1 - iter_count / float(num_updates))
if hasattr(self.agent.base, "enable_decoder"):
if self.shell_args.record_video:
self.agent.base.enable_decoder()
else:
self.agent.base.disable_decoder()
for step in range(self.shell_args.num_forward_rollout_steps):
with torch.no_grad():
start_t = time.time()
value, action, action_log_prob, recurrent_hidden_states = self.agent.act(
{
"images":
self.rollouts.obs[step],
"target_vector":
self.rollouts.additional_observations_dict[
"pointgoal"][step],
"prev_action_one_hot":
self.rollouts.additional_observations_dict[
"prev_action_one_hot"][step],
},
self.rollouts.recurrent_hidden_states[step],
self.rollouts.masks[step],
)
action_cpu = pt_util.to_numpy_array(action.squeeze(1))
translated_action_space = ACTION_SPACE[action_cpu]
if not self.shell_args.end_to_end:
self.rollouts.additional_observations_dict[
"visual_encoder_features"][
self.rollouts.step].copy_(
self.agent.base.visual_encoder_features
)
if self.shell_args.use_motion_loss:
if self.shell_args.record_video:
if previous_visual_features is not None:
egomotion_pred = self.agent.base.predict_egomotion(
self.agent.base.visual_features,
previous_visual_features)
previous_visual_features = self.agent.base.visual_features.detach(
)
timers[1] += time.time() - start_t
if self.shell_args.record_video:
# Copy so we don't mess with obs itself
draw_obs = OrderedDict()
for key, val in obs.items():
draw_obs[key] = pt_util.to_numpy_array(
val).copy()
best_next_action = draw_obs.pop(
"best_next_action", None)
if prev_action is not None:
draw_obs[
"action_taken"] = pt_util.to_numpy_array(
self.agent.last_dist.probs).copy()
draw_obs["action_taken"][:] = 0
draw_obs["action_taken"][
np.arange(self.shell_args.num_processes),
prev_action] = 1
draw_obs[
"action_taken_name"] = SIM_ACTION_TO_NAME[
ACTION_SPACE_TO_SIM_ACTION[
ACTION_SPACE[
prev_action.squeeze()]]]
draw_obs[
"action_prob"] = pt_util.to_numpy_array(
prev_action_probs).copy()
else:
draw_obs["action_taken"] = None
draw_obs[
"action_taken_name"] = SIM_ACTION_TO_NAME[
SimulatorActions.STOP]
draw_obs["action_prob"] = None
prev_action = action_cpu
prev_action_probs = self.agent.last_dist.probs.detach(
)
if (hasattr(self.agent.base, "decoder_outputs")
and self.agent.base.decoder_outputs
is not None):
min_channel = 0
for key, num_channels in self.agent.base.decoder_output_info:
outputs = self.agent.base.decoder_outputs[:,
min_channel:
min_channel
+
num_channels,
...]
draw_obs["output_" +
key] = pt_util.to_numpy_array(
outputs).copy()
min_channel += num_channels
draw_obs["rewards"] = current_rewards.copy()
draw_obs["step"] = current_episode_lengths.copy()
draw_obs["method"] = self.shell_args.method_name
if best_next_action is not None:
draw_obs["best_next_action"] = best_next_action
if self.shell_args.use_motion_loss:
if egomotion_pred is not None:
draw_obs[
"egomotion_pred"] = pt_util.to_numpy_array(
F.softmax(egomotion_pred,
dim=1)).copy()
else:
draw_obs["egomotion_pred"] = None
images, titles, normalize = draw_outputs.obs_to_images(
draw_obs)
if self.shell_args.algo == "supervised":
im_inds = [0, 2, 3, 1, 9, 6, 7, 8, 5, 4]
else:
im_inds = [0, 2, 3, 1, 6, 7, 8, 5]
height, width = images[0].shape[:2]
subplot_image = drawing.subplot(
images,
2,
5,
titles=titles,
normalize=normalize,
order=im_inds,
output_width=max(width, 320),
output_height=max(height, 320),
)
video_frames.append(subplot_image)
# save dists from previous step or else on reset they will be overwritten
distances = pt_util.to_numpy_array(
obs["goal_geodesic_distance"])
start_t = time.time()
obs, rewards, dones, infos = self.envs.step(
translated_action_space)
timers[0] += time.time() - start_t
obs["reward"] = rewards
if self.shell_args.algo == "supervised":
obs["best_next_action"] = pt_util.from_numpy(
obs["best_next_action"][:, ACTION_SPACE]).to(
torch.float32)
obs["prev_action_one_hot"] = obs[
"prev_action_one_hot"][:, ACTION_SPACE].to(
torch.float32)
rewards *= REWARD_SCALAR
rewards = np.clip(rewards, -10, 10)
if self.shell_args.record_video and not dones[0]:
obs["top_down_map"] = infos[0]["top_down_map"]
if self.compute_surface_normals:
obs["surface_normals"] = pt_util.depth_to_surface_normals(
obs["depth"].to(self.device))
current_rewards = pt_util.to_numpy_array(rewards)
current_episode_rewards += pt_util.to_numpy_array(
rewards).squeeze()
current_episode_lengths += 1
for ii, done_e in enumerate(dones):
if done_e:
num_episodes += 1
if self.shell_args.record_video:
final_rgb = draw_obs["rgb"].transpose(
0, 2, 3, 1).squeeze(0)
if self.shell_args.task == "pointnav":
if infos[ii]["spl"] > 0:
draw_obs[
"action_taken_name"] = "Stop. Success"
draw_obs["reward"] = [
self.configs[0].TASK.
SUCCESS_REWARD
]
final_rgb[:] = final_rgb * np.float32(
0.5) + np.tile(
np.array([0, 128, 0],
dtype=np.uint8),
(final_rgb.shape[0],
final_rgb.shape[1], 1),
)
else:
draw_obs[
"action_taken_name"] = "Timeout. Failed"
final_rgb[:] = final_rgb * np.float32(
0.5) + np.tile(
np.array([128, 0, 0],
dtype=np.uint8),
(final_rgb.shape[0],
final_rgb.shape[1], 1),
)
elif self.shell_args.task == "exploration" or self.shell_args.task == "flee":
draw_obs[
"action_taken_name"] = "End of episode."
final_rgb = final_rgb[np.newaxis,
...].transpose(
0, 3, 1, 2)
draw_obs["rgb"] = final_rgb
images, titles, normalize = draw_outputs.obs_to_images(
draw_obs)
im_inds = [0, 2, 3, 1, 6, 7, 8, 5]
height, width = images[0].shape[:2]
subplot_image = drawing.subplot(
images,
2,
5,
titles=titles,
normalize=normalize,
order=im_inds,
output_width=max(width, 320),
output_height=max(height, 320),
)
video_frames.extend(
[subplot_image] *
(self.configs[0].ENVIRONMENT.
MAX_EPISODE_STEPS + 30 -
len(video_frames)))
if "top_down_map" in infos[0]:
video_dir = os.path.join(
self.shell_args.log_prefix,
"videos")
if not os.path.exists(video_dir):
os.makedirs(video_dir)
im_path = os.path.join(
self.shell_args.log_prefix,
"videos", "total_steps_%d.png" %
total_num_steps)
from habitat.utils.visualizations import maps
import imageio
top_down_map = maps.colorize_topdown_map(
infos[0]["top_down_map"]["map"])
imageio.imsave(im_path, top_down_map)
images_to_video(
video_frames,
os.path.join(
self.shell_args.log_prefix,
"videos"),
"total_steps_%d" % total_num_steps,
)
video_frames = []
if self.shell_args.task == "pointnav":
print(
"FINISHED EPISODE %d Length %d Reward %.3f SPL %.4f"
% (
num_episodes,
current_episode_lengths[ii],
current_episode_rewards[ii],
infos[ii]["spl"],
))
self.train_stats["spl"][ii] = infos[ii][
"spl"]
self.train_stats["success"][
ii] = self.train_stats["spl"][ii] > 0
self.train_stats["end_geodesic_distance"][
ii] = (distances[ii] - self.configs[0].
SIMULATOR.FORWARD_STEP_SIZE)
self.train_stats[
"delta_geodesic_distance"][ii] = (
self.train_stats[
"start_geodesic_distance"][ii]
- self.train_stats[
"end_geodesic_distance"][ii])
self.train_stats["num_steps"][
ii] = current_episode_lengths[ii]
elif self.shell_args.task == "exploration":
print(
"FINISHED EPISODE %d Reward %.3f States Visited %d"
% (num_episodes,
current_episode_rewards[ii],
infos[ii]["visited_states"]))
self.train_stats["visited_states"][
ii] = infos[ii]["visited_states"]
elif self.shell_args.task == "flee":
print(
"FINISHED EPISODE %d Reward %.3f Distance from start %.4f"
% (num_episodes,
current_episode_rewards[ii],
infos[ii]["distance_from_start"]))
self.train_stats["distance_from_start"][
ii] = infos[ii]["distance_from_start"]
self.train_stats["num_episodes"][ii] += 1
self.train_stats["reward"][
ii] = current_episode_rewards[ii]
if self.shell_args.tensorboard:
log_dict = {
"single_episode/reward":
self.train_stats["reward"][ii]
}
if self.shell_args.task == "pointnav":
log_dict.update({
"single_episode/num_steps":
self.train_stats["num_steps"][ii],
"single_episode/spl":
self.train_stats["spl"][ii],
"single_episode/success":
self.train_stats["success"][ii],
"single_episode/start_geodesic_distance":
self.train_stats[
"start_geodesic_distance"][ii],
"single_episode/end_geodesic_distance":
self.train_stats[
"end_geodesic_distance"][ii],
"single_episode/delta_geodesic_distance":
self.train_stats[
"delta_geodesic_distance"][ii],
})
elif self.shell_args.task == "exploration":
log_dict[
"single_episode/visited_states"] = self.train_stats[
"visited_states"][ii]
elif self.shell_args.task == "flee":
log_dict[
"single_episode/distance_from_start"] = self.train_stats[
"distance_from_start"][ii]
self.logger.dict_log(
log_dict,
step=(total_num_steps +
self.shell_args.num_processes *
step + ii))
episode_rewards.append(
current_episode_rewards[ii])
current_episode_rewards[ii] = 0
episode_lengths.append(
current_episode_lengths[ii])
current_episode_lengths[ii] = 0
self.train_stats["start_geodesic_distance"][
ii] = obs["goal_geodesic_distance"][ii]
# If done then clean the history of observations.
masks = torch.FloatTensor([[0.0] if done_ else [1.0]
for done_ in dones])
bad_masks = torch.FloatTensor(
[[0.0]
if "bad_transition" in info.keys() else [1.0]
for info in infos])
self.rollouts.insert(obs, recurrent_hidden_states,
action, action_log_prob, value,
rewards, masks, bad_masks)
with torch.no_grad():
start_t = time.time()
next_value = self.agent.get_value(
{
"images":
self.rollouts.obs[-1],
"target_vector":
self.rollouts.
additional_observations_dict["pointgoal"][-1],
"prev_action_one_hot":
self.rollouts.additional_observations_dict[
"prev_action_one_hot"][-1],
},
self.rollouts.recurrent_hidden_states[-1],
self.rollouts.masks[-1],
).detach()
timers[1] += time.time() - start_t
self.rollouts.compute_returns(next_value,
self.shell_args.use_gae,
self.shell_args.gamma,
self.shell_args.tau)
if not self.shell_args.no_weight_update:
start_t = time.time()
if self.shell_args.algo == "supervised":
(
total_loss,
action_loss,
visual_loss_total,
visual_loss_dict,
egomotion_loss,
forward_model_loss,
) = self.optimizer.update(self.rollouts,
self.shell_args)
else:
(
total_loss,
value_loss,
action_loss,
dist_entropy,
visual_loss_total,
visual_loss_dict,
egomotion_loss,
forward_model_loss,
) = self.optimizer.update(self.rollouts,
self.shell_args)
timers[2] += time.time() - start_t
self.rollouts.after_update()
# save for every interval-th episode or for the last epoch
if iter_count % self.shell_args.save_interval == 0 or iter_count == num_updates - 1:
self.save_checkpoint(5, total_num_steps)
total_num_steps += self.shell_args.num_processes * self.shell_args.num_forward_rollout_steps
if not self.shell_args.no_weight_update and iter_count % self.shell_args.log_interval == 0:
log_dict = {}
if len(episode_rewards) > 1:
end = time.time()
nsteps = total_num_steps - fps_timer[1]
fps = int((total_num_steps - fps_timer[1]) /
(end - fps_timer[0]))
timers /= nsteps
env_spf = timers[0]
forward_spf = timers[1]
backward_spf = timers[2]
print((
"{} Updates {}, num timesteps {}, FPS {}, Env FPS "
"{}, \n Last {} training episodes: mean/median reward "
"{:.3f}/{:.3f}, min/max reward {:.3f}/{:.3f}\n"
).format(
datetime.datetime.now(),
iter_count,
total_num_steps,
fps,
int(1.0 / env_spf),
len(episode_rewards),
np.mean(episode_rewards),
np.median(episode_rewards),
np.min(episode_rewards),
np.max(episode_rewards),
))
if self.shell_args.tensorboard:
log_dict.update({
"stats/full_spf":
1.0 / (fps + 1e-10),
"stats/env_spf":
env_spf,
"stats/forward_spf":
forward_spf,
"stats/backward_spf":
backward_spf,
"stats/full_fps":
fps,
"stats/env_fps":
1.0 / (env_spf + 1e-10),
"stats/forward_fps":
1.0 / (forward_spf + 1e-10),
"stats/backward_fps":
1.0 / (backward_spf + 1e-10),
"episode/mean_rewards":
np.mean(episode_rewards),
"episode/median_rewards":
np.median(episode_rewards),
"episode/min_rewards":
np.min(episode_rewards),
"episode/max_rewards":
np.max(episode_rewards),
"episode/mean_lengths":
np.mean(episode_lengths),
"episode/median_lengths":
np.median(episode_lengths),
"episode/min_lengths":
np.min(episode_lengths),
"episode/max_lengths":
np.max(episode_lengths),
})
fps_timer[0] = time.time()
fps_timer[1] = total_num_steps
timers[:] = 0
if self.shell_args.tensorboard:
log_dict.update({
"loss/action":
action_loss,
"loss/0_total":
total_loss,
"loss/visual/0_total":
visual_loss_total,
"loss/exploration/egomotion":
egomotion_loss,
"loss/exploration/forward_model":
forward_model_loss,
})
if self.shell_args.algo != "supervised":
log_dict.update({
"loss/entropy": dist_entropy,
"loss/value": value_loss
})
for key, val in visual_loss_dict.items():
log_dict["loss/visual/" + key] = val
self.logger.dict_log(log_dict, step=total_num_steps)
if self.shell_args.eval_interval is not None and total_num_steps % self.shell_args.eval_interval < (
self.shell_args.num_processes *
self.shell_args.num_forward_rollout_steps):
self.save_checkpoint(-1, total_num_steps)
self.set_log_iter(total_num_steps)
self.evaluate_model()
# reset the env datasets
self.envs.unwrapped.call(
["switch_dataset"] * self.shell_args.num_processes,
[("train", )] * self.shell_args.num_processes)
obs = self.envs.reset()
if self.compute_surface_normals:
obs["surface_normals"] = pt_util.depth_to_surface_normals(
obs["depth"].to(self.device))
obs["prev_action_one_hot"] = obs[
"prev_action_one_hot"][:,
ACTION_SPACE].to(torch.float32)
if self.shell_args.algo == "supervised":
obs["best_next_action"] = pt_util.from_numpy(
obs["best_next_action"][:, ACTION_SPACE])
self.rollouts.copy_obs(obs, 0)
distances = pt_util.to_numpy_array(
obs["goal_geodesic_distance"])
self.train_stats["start_geodesic_distance"][:] = distances
previous_visual_features = None
egomotion_pred = None
prev_action = None
prev_action_probs = None
except:
# Catch all exceptions so a final save can be performed
import traceback
traceback.print_exc()
finally:
self.save_checkpoint(-1, total_num_steps)
def evaluate_agent(config: Config):
split = config.EVAL.SPLIT
config.defrost()
config.TASK_CONFIG.DATASET.SPLIT = split
config.TASK_CONFIG.TASK.NDTW.SPLIT = split
config.TASK_CONFIG.TASK.SDTW.SPLIT = split
config.TASK_CONFIG.ENVIRONMENT.ITERATOR_OPTIONS.SHUFFLE = True
config.TASK_CONFIG.ENVIRONMENT.ITERATOR_OPTIONS.MAX_SCENE_REPEAT_STEPS = -1
config.freeze()
logger.info(config)
env = construct_env(config)
gt_path = config.TASK_CONFIG.TASK.NDTW.GT_PATH.format(
split=config.TASK_CONFIG.DATASET.SPLIT)
with gzip.open(gt_path, "rt") as f:
gt_json = json.load(f)
assert config.EVAL.NONLEARNING.AGENT in [
"RandomAgent",
"HandcraftedAgent",
], "EVAL.NONLEARNING.AGENT must be either RandomAgent or HandcraftedAgent."
if config.EVAL.NONLEARNING.AGENT == "RandomAgent":
agent = RandomContinuousAgent()
else:
agent = HandcraftedAgent()
obs = env.reset()
agent.reset()
steps = 0
is_done = False
stats_episodes = {} # dict of dicts that stores stats per episode
ep_count = 0
locations = []
vel_control = habitat_sim.physics.VelocityControl()
vel_control.controlling_lin_vel = True
vel_control.lin_vel_is_local = True
vel_control.controlling_ang_vel = True
vel_control.ang_vel_is_local = True
images = []
IMAGE_DIR = os.path.join("examples", "images")
if not os.path.exists(IMAGE_DIR):
os.makedirs(IMAGE_DIR)
while (len(stats_episodes) < config.EVAL.EPISODE_COUNT):
current_episode = env.habitat_env.current_episode
actions = agent.act()
vel_control.linear_velocity = np.array([0, 0, -actions[0]])
vel_control.angular_velocity = np.array([0, actions[1], 0])
observations, _, done, info = env.step(vel_control)
episode_over, success = done
episode_success = success and (actions[0] < 0.25)
is_done = episode_over or episode_success
steps += 1
locations.append(
env.habitat_env._sim.get_agent_state().position.tolist())
save_map(observations, info, images)
dirname = os.path.join(
IMAGE_DIR, "icra_video",
"%02d" % env.habitat_env.current_episode.episode_id)
if os.path.exists(dirname):
shutil.rmtree(dirname)
os.makedirs(dirname)
if is_done or steps == config.TASK_CONFIG.ENVIRONMENT.MAX_EPISODE_STEPS:
gt_locations = gt_json[str(
current_episode.episode_id)]["locations"]
dtw_distance = fastdtw(locations,
gt_locations,
dist=euclidean_distance)[0]
nDTW = np.exp(-dtw_distance /
(len(gt_locations) *
config.TASK_CONFIG.TASK.NDTW.SUCCESS_DISTANCE))
locations = []
is_done = False
ep_count += 1
steps = 0
print("dones:", done)
stats_episodes[current_episode.episode_id] = info
stats_episodes[current_episode.episode_id]['ndtw'] = nDTW
print("len stats episodes", len(stats_episodes))
print("Current episode ID:", current_episode.episode_id)
print("Episode Completed:", ep_count)
print(" Episode done---------------------------------------------")
obs = env.reset()
print(stats_episodes[current_episode.episode_id])
time_step = 1.0 / 30
images_to_video(images,
dirname,
str(current_episode.episode_id),
fps=int(1.0 / time_step))
images = []
env.close()
aggregated_stats = {}
num_episodes = len(stats_episodes)
for stat_key in next(iter(stats_episodes.values())).keys():
aggregated_stats[stat_key] = (
sum([v[stat_key] for v in stats_episodes.values()]) / num_episodes)
with open(f"stats_complete_{config.EVAL.NONLEARNING.AGENT}_{split}.json",
"w") as f:
json.dump(aggregated_stats, f, indent=4)
def evaluate_model(self):
self.envs.unwrapped.call(["switch_dataset"] *
self.shell_args.num_processes,
[("val", )] * self.shell_args.num_processes)
if not os.path.exists(self.eval_dir):
os.makedirs(self.eval_dir)
try:
eval_net_file_name = sorted(
glob.glob(
os.path.join(self.shell_args.log_prefix,
self.shell_args.checkpoint_dirname, "*") +
"/*.pt"),
key=os.path.getmtime,
)[-1]
eval_net_file_name = (
self.shell_args.log_prefix.replace(os.sep, "_") + "_" +
"_".join(eval_net_file_name.split(os.sep)[-2:])[:-3])
except IndexError:
print("Warning, no weights found")
eval_net_file_name = "random_weights"
eval_output_file = open(
os.path.join(self.eval_dir, eval_net_file_name + ".csv"), "w")
print("Writing results to", eval_output_file.name)
# Save the evaled net for posterity
if self.shell_args.save_checkpoints:
save_model = self.agent
pt_util.save(
save_model,
os.path.join(self.shell_args.log_prefix,
self.shell_args.checkpoint_dirname,
"eval_weights"),
num_to_keep=-1,
iteration=self.log_iter,
)
print("Wrote model to file for safe keeping")
obs = self.envs.reset()
if self.compute_surface_normals:
obs["surface_normals"] = pt_util.depth_to_surface_normals(
obs["depth"].to(self.device))
obs["prev_action_one_hot"] = obs[
"prev_action_one_hot"][:, ACTION_SPACE].to(torch.float32)
recurrent_hidden_states = torch.zeros(
self.shell_args.num_processes,
self.agent.recurrent_hidden_state_size,
dtype=torch.float32,
device=self.device,
)
masks = torch.ones(self.shell_args.num_processes,
1,
dtype=torch.float32,
device=self.device)
episode_rewards = deque(maxlen=10)
current_episode_rewards = np.zeros(self.shell_args.num_processes)
episode_lengths = deque(maxlen=10)
current_episode_lengths = np.zeros(self.shell_args.num_processes)
total_num_steps = self.log_iter
fps_timer = [time.time(), total_num_steps]
timers = np.zeros(3)
num_episodes = 0
print("Config\n", self.configs[0])
# Initialize every time eval is run rather than just at the start
dataset_sizes = np.array(
[len(dataset.episodes) for dataset in self.eval_datasets])
eval_stats = dict(
episode_ids=[None for _ in range(self.shell_args.num_processes)],
num_episodes=np.zeros(self.shell_args.num_processes,
dtype=np.int32),
num_steps=np.zeros(self.shell_args.num_processes, dtype=np.int32),
reward=np.zeros(self.shell_args.num_processes, dtype=np.float32),
spl=np.zeros(self.shell_args.num_processes, dtype=np.float32),
visited_states=np.zeros(self.shell_args.num_processes,
dtype=np.int32),
success=np.zeros(self.shell_args.num_processes, dtype=np.int32),
end_geodesic_distance=np.zeros(self.shell_args.num_processes,
dtype=np.float32),
start_geodesic_distance=np.zeros(self.shell_args.num_processes,
dtype=np.float32),
delta_geodesic_distance=np.zeros(self.shell_args.num_processes,
dtype=np.float32),
distance_from_start=np.zeros(self.shell_args.num_processes,
dtype=np.float32),
)
eval_stats_means = dict(
num_episodes=0,
num_steps=0,
reward=0,
spl=0,
visited_states=0,
success=0,
end_geodesic_distance=0,
start_geodesic_distance=0,
delta_geodesic_distance=0,
distance_from_start=0,
)
eval_output_file.write("name,%s,iter,%d\n\n" %
(eval_net_file_name, self.log_iter))
if self.shell_args.task == "pointnav":
eval_output_file.write((
"episode_id,num_steps,reward,spl,success,start_geodesic_distance,"
"end_geodesic_distance,delta_geodesic_distance\n"))
elif self.shell_args.task == "exploration":
eval_output_file.write("episode_id,reward,visited_states\n")
elif self.shell_args.task == "flee":
eval_output_file.write("episode_id,reward,distance_from_start\n")
distances = pt_util.to_numpy(obs["goal_geodesic_distance"])
eval_stats["start_geodesic_distance"][:] = distances
progress_bar = tqdm.tqdm(total=self.num_eval_episodes_total)
all_done = False
iter_count = 0
video_frames = []
previous_visual_features = None
egomotion_pred = None
prev_action = None
prev_action_probs = None
if hasattr(self.agent.base, "enable_decoder"):
if self.shell_args.record_video:
self.agent.base.enable_decoder()
else:
self.agent.base.disable_decoder()
while not all_done:
with torch.no_grad():
start_t = time.time()
value, action, action_log_prob, recurrent_hidden_states = self.agent.act(
{
"images":
obs["rgb"].to(self.device),
"target_vector":
obs["pointgoal"].to(self.device),
"prev_action_one_hot":
obs["prev_action_one_hot"].to(self.device),
},
recurrent_hidden_states,
masks,
)
action_cpu = pt_util.to_numpy(action.squeeze(1))
translated_action_space = ACTION_SPACE[action_cpu]
timers[1] += time.time() - start_t
if self.shell_args.record_video:
if self.shell_args.use_motion_loss:
if previous_visual_features is not None:
egomotion_pred = self.agent.base.predict_egomotion(
self.agent.base.visual_features,
previous_visual_features)
previous_visual_features = self.agent.base.visual_features.detach(
)
# Copy so we don't mess with obs itself
draw_obs = OrderedDict()
for key, val in obs.items():
draw_obs[key] = pt_util.to_numpy(val).copy()
best_next_action = draw_obs.pop("best_next_action", None)
if prev_action is not None:
draw_obs["action_taken"] = pt_util.to_numpy(
self.agent.last_dist.probs).copy()
draw_obs["action_taken"][:] = 0
draw_obs["action_taken"][
np.arange(self.shell_args.num_processes),
prev_action] = 1
draw_obs["action_taken_name"] = SIM_ACTION_TO_NAME[
draw_obs['prev_action'].item()]
draw_obs["action_prob"] = pt_util.to_numpy(
prev_action_probs).copy()
else:
draw_obs["action_taken"] = None
draw_obs["action_taken_name"] = SIM_ACTION_TO_NAME[
SimulatorActions.STOP]
draw_obs["action_prob"] = None
prev_action = action_cpu
prev_action_probs = self.agent.last_dist.probs.detach()
if hasattr(
self.agent.base, "decoder_outputs"
) and self.agent.base.decoder_outputs is not None:
min_channel = 0
for key, num_channels in self.agent.base.decoder_output_info:
outputs = self.agent.base.decoder_outputs[:,
min_channel:
min_channel
+
num_channels,
...]
draw_obs["output_" +
key] = pt_util.to_numpy(outputs).copy()
min_channel += num_channels
draw_obs["rewards"] = eval_stats["reward"]
draw_obs["step"] = current_episode_lengths.copy()
draw_obs["method"] = self.shell_args.method_name
if best_next_action is not None:
draw_obs["best_next_action"] = best_next_action
if self.shell_args.use_motion_loss:
if egomotion_pred is not None:
draw_obs["egomotion_pred"] = pt_util.to_numpy(
F.softmax(egomotion_pred, dim=1)).copy()
else:
draw_obs["egomotion_pred"] = None
images, titles, normalize = draw_outputs.obs_to_images(
draw_obs)
im_inds = [0, 2, 3, 1, 6, 7, 8, 5]
height, width = images[0].shape[:2]
subplot_image = drawing.subplot(
images,
2,
4,
titles=titles,
normalize=normalize,
output_width=max(width, 320),
output_height=max(height, 320),
order=im_inds,
fancy_text=True,
)
video_frames.append(subplot_image)
# save dists from previous step or else on reset they will be overwritten
distances = pt_util.to_numpy(obs["goal_geodesic_distance"])
start_t = time.time()
obs, rewards, dones, infos = self.envs.step(
translated_action_space)
timers[0] += time.time() - start_t
obs["prev_action_one_hot"] = obs[
"prev_action_one_hot"][:, ACTION_SPACE].to(torch.float32)
rewards *= REWARD_SCALAR
rewards = np.clip(rewards, -10, 10)
if self.shell_args.record_video and not dones[0]:
obs["top_down_map"] = infos[0]["top_down_map"]
if self.compute_surface_normals:
obs["surface_normals"] = pt_util.depth_to_surface_normals(
obs["depth"].to(self.device))
current_episode_rewards += pt_util.to_numpy(rewards).squeeze()
current_episode_lengths += 1
to_pause = []
for ii, done_e in enumerate(dones):
if done_e:
num_episodes += 1
if self.shell_args.record_video:
if "top_down_map" in infos[ii]:
video_dir = os.path.join(
self.shell_args.log_prefix, "videos")
if not os.path.exists(video_dir):
os.makedirs(video_dir)
im_path = os.path.join(
self.shell_args.log_prefix, "videos",
"total_steps_%d.png" % total_num_steps)
top_down_map = maps.colorize_topdown_map(
infos[ii]["top_down_map"]["map"])
imageio.imsave(im_path, top_down_map)
images_to_video(
video_frames,
os.path.join(self.shell_args.log_prefix,
"videos"),
"total_steps_%d" % total_num_steps,
)
video_frames = []
eval_stats["episode_ids"][ii] = infos[ii]["episode_id"]
if self.shell_args.task == "pointnav":
print(
"FINISHED EPISODE %d Length %d Reward %.3f SPL %.4f"
% (
num_episodes,
current_episode_lengths[ii],
current_episode_rewards[ii],
infos[ii]["spl"],
))
eval_stats["spl"][ii] = infos[ii]["spl"]
eval_stats["success"][
ii] = eval_stats["spl"][ii] > 0
eval_stats["num_steps"][
ii] = current_episode_lengths[ii]
eval_stats["end_geodesic_distance"][ii] = (
infos[ii]["final_distance"] if
eval_stats["success"][ii] else distances[ii])
eval_stats["delta_geodesic_distance"][ii] = (
eval_stats["start_geodesic_distance"][ii] -
eval_stats["end_geodesic_distance"][ii])
elif self.shell_args.task == "exploration":
print(
"FINISHED EPISODE %d Reward %.3f States Visited %d"
% (num_episodes, current_episode_rewards[ii],
infos[ii]["visited_states"]))
eval_stats["visited_states"][ii] = infos[ii][
"visited_states"]
elif self.shell_args.task == "flee":
print(
"FINISHED EPISODE %d Reward %.3f Distance from start %.4f"
% (num_episodes, current_episode_rewards[ii],
infos[ii]["distance_from_start"]))
eval_stats["distance_from_start"][ii] = infos[ii][
"distance_from_start"]
eval_stats["num_episodes"][ii] += 1
eval_stats["reward"][ii] = current_episode_rewards[ii]
if eval_stats["num_episodes"][ii] <= dataset_sizes[ii]:
progress_bar.update(1)
eval_stats_means["num_episodes"] += 1
eval_stats_means["reward"] += eval_stats["reward"][
ii]
if self.shell_args.task == "pointnav":
eval_output_file.write(
"%s,%d,%f,%f,%d,%f,%f,%f\n" % (
eval_stats["episode_ids"][ii],
eval_stats["num_steps"][ii],
eval_stats["reward"][ii],
eval_stats["spl"][ii],
eval_stats["success"][ii],
eval_stats["start_geodesic_distance"]
[ii],
eval_stats["end_geodesic_distance"]
[ii],
eval_stats["delta_geodesic_distance"]
[ii],
))
eval_stats_means["num_steps"] += eval_stats[
"num_steps"][ii]
eval_stats_means["spl"] += eval_stats["spl"][
ii]
eval_stats_means["success"] += eval_stats[
"success"][ii]
eval_stats_means[
"start_geodesic_distance"] += eval_stats[
"start_geodesic_distance"][ii]
eval_stats_means[
"end_geodesic_distance"] += eval_stats[
"end_geodesic_distance"][ii]
eval_stats_means[
"delta_geodesic_distance"] += eval_stats[
"delta_geodesic_distance"][ii]
elif self.shell_args.task == "exploration":
eval_output_file.write("%s,%f,%d\n" % (
eval_stats["episode_ids"][ii],
eval_stats["reward"][ii],
eval_stats["visited_states"][ii],
))
eval_stats_means[
"visited_states"] += eval_stats[
"visited_states"][ii]
elif self.shell_args.task == "flee":
eval_output_file.write("%s,%f,%f\n" % (
eval_stats["episode_ids"][ii],
eval_stats["reward"][ii],
eval_stats["distance_from_start"][ii],
))
eval_stats_means[
"distance_from_start"] += eval_stats[
"distance_from_start"][ii]
eval_output_file.flush()
if eval_stats["num_episodes"][ii] == dataset_sizes[
ii]:
to_pause.append(ii)
episode_rewards.append(current_episode_rewards[ii])
current_episode_rewards[ii] = 0
episode_lengths.append(current_episode_lengths[ii])
current_episode_lengths[ii] = 0
eval_stats["start_geodesic_distance"][ii] = obs[
"goal_geodesic_distance"][ii]
# If done then clean the history of observations.
masks = torch.FloatTensor([[0.0] if done_ else [1.0]
for done_ in dones]).to(self.device)
# Reverse in order to maintain order in case of multiple.
to_pause.reverse()
for ii in to_pause:
# Pause the environments that are done from the vectorenv.
print("Pausing env", ii)
self.envs.unwrapped.pause_at(ii)
current_episode_rewards = np.concatenate(
(current_episode_rewards[:ii],
current_episode_rewards[ii + 1:]))
current_episode_lengths = np.concatenate(
(current_episode_lengths[:ii],
current_episode_lengths[ii + 1:]))
for key in eval_stats:
eval_stats[key] = np.concatenate(
(eval_stats[key][:ii], eval_stats[key][ii + 1:]))
dataset_sizes = np.concatenate(
(dataset_sizes[:ii], dataset_sizes[ii + 1:]))
for key in obs:
if type(obs[key]) == torch.Tensor:
obs[key] = torch.cat(
(obs[key][:ii], obs[key][ii + 1:]), dim=0)
else:
obs[key] = np.concatenate(
(obs[key][:ii], obs[key][ii + 1:]), axis=0)
recurrent_hidden_states = torch.cat(
(recurrent_hidden_states[:ii],
recurrent_hidden_states[ii + 1:]),
dim=0)
masks = torch.cat((masks[:ii], masks[ii + 1:]), dim=0)
if len(dataset_sizes) == 0:
progress_bar.close()
all_done = True
total_num_steps += self.shell_args.num_processes
if iter_count % (self.shell_args.log_interval * 100) == 0:
log_dict = {}
if len(episode_rewards) > 1:
end = time.time()
nsteps = total_num_steps - fps_timer[1]
fps = int((total_num_steps - fps_timer[1]) /
(end - fps_timer[0]))
timers /= nsteps
env_spf = timers[0]
forward_spf = timers[1]
print((
"{} Updates {}, num timesteps {}, FPS {}, Env FPS {}, "
"\n Last {} training episodes: mean/median reward {:.3f}/{:.3f}, "
"min/max reward {:.3f}/{:.3f}\n").format(
datetime.datetime.now(),
iter_count,
total_num_steps,
fps,
int(1.0 / env_spf),
len(episode_rewards),
np.mean(episode_rewards),
np.median(episode_rewards),
np.min(episode_rewards),
np.max(episode_rewards),
))
if self.shell_args.tensorboard:
log_dict.update({
"stats/full_spf":
1.0 / (fps + 1e-10),
"stats/env_spf":
env_spf,
"stats/forward_spf":
forward_spf,
"stats/full_fps":
fps,
"stats/env_fps":
1.0 / (env_spf + 1e-10),
"stats/forward_fps":
1.0 / (forward_spf + 1e-10),
"episode/mean_rewards":
np.mean(episode_rewards),
"episode/median_rewards":
np.median(episode_rewards),
"episode/min_rewards":
np.min(episode_rewards),
"episode/max_rewards":
np.max(episode_rewards),
"episode/mean_lengths":
np.mean(episode_lengths),
"episode/median_lengths":
np.median(episode_lengths),
"episode/min_lengths":
np.min(episode_lengths),
"episode/max_lengths":
np.max(episode_lengths),
})
self.eval_logger.dict_log(log_dict, step=self.log_iter)
fps_timer[0] = time.time()
fps_timer[1] = total_num_steps
timers[:] = 0
iter_count += 1
print("Finished testing")
print("Wrote results to", eval_output_file.name)
eval_stats_means = {
key: val / eval_stats_means["num_episodes"]
for key, val in eval_stats_means.items()
}
if self.shell_args.tensorboard:
log_dict = {"single_episode/reward": eval_stats_means["reward"]}
if self.shell_args.task == "pointnav":
log_dict.update({
"single_episode/num_steps":
eval_stats_means["num_steps"],
"single_episode/spl":
eval_stats_means["spl"],
"single_episode/success":
eval_stats_means["success"],
"single_episode/start_geodesic_distance":
eval_stats_means["start_geodesic_distance"],
"single_episode/end_geodesic_distance":
eval_stats_means["end_geodesic_distance"],
"single_episode/delta_geodesic_distance":
eval_stats_means["delta_geodesic_distance"],
})
elif self.shell_args.task == "exploration":
log_dict["single_episode/visited_states"] = eval_stats_means[
"visited_states"]
elif self.shell_args.task == "flee":
log_dict[
"single_episode/distance_from_start"] = eval_stats_means[
"distance_from_start"]
self.eval_logger.dict_log(log_dict, step=self.log_iter)
self.envs.unwrapped.resume_all()
