def evaluate_simple_agent(tasks, tier):
"""Evaluates the random agent on the given tasks/tier.
Args:
tasks: A list of task instances (strings) in the split to evaluate.
tier: A string of the action tier.
Returns:
A Evaluator object updated with the results of all the siulations.
"""
# Create a simulator for the task and tier.
simulator = phyre.initialize_simulator(tasks, tier)
evaluator = phyre.Evaluator(tasks)
assert tuple(tasks) == simulator.task_ids
tasks_solved = 0
for task_index in tqdm(range(len(tasks)), desc='Evaluate tasks'):
domain = [{
'name': 'var1',
'type': 'continuous',
'domain': (0, 1)
}, {
'name': 'var2',
'type': 'continuous',
'domain': (0, 1)
}, {
'name': 'var3',
'type': 'continuous',
'domain': (0, 1)
}]
X_init = np.array([[0.5, .5, .5]])
eval_result = evalAction(X_init, simulator, task_index, evaluator)
Y_init = np.array([[eval_result['score']]])
X_step = X_init
Y_step = Y_init
solved_task = eval_result['solved']
while evaluator.get_attempts_for_task(
task_index) < phyre.MAX_TEST_ATTEMPTS and not solved_task:
bo_step = GPyOpt.methods.BayesianOptimization(
f=None,
domain=domain,
X=X_step,
Y=Y_step,
de_duplication=True,
acquisition_type='MPI',
model_type='sparseGP')
x_next = bo_step.suggest_next_locations()
eval_result = evalAction(x_next, simulator, task_index, evaluator)
X_step = np.vstack((X_step, x_next))
Y_step = np.vstack((Y_step, eval_result['score']))
#if eval_result['valid']:
# print(tasks[task_index],evaluator.get_attempts_for_task(task_index),x_next,eval_result)
if eval_result['solved']:
solved_task = True
print(tasks_solved, "Tasks solved out of ", len(tasks), "Total Tasks")
return evaluator
def compact_simulation_data_to_trainset(action_tier_name: str,
actions: np.ndarray,
simulation_statuses: Sequence[int],
task_ids: TaskIds) -> TrainData:
"""Converts result of SimulationCache.get_data() to pytorch tensors.
The format of the output is the same as in create_balanced_eval_set.
"""
invalid = int(phyre.SimulationStatus.INVALID_INPUT)
solved = int(phyre.SimulationStatus.SOLVED)
task_indices = np.repeat(np.arange(len(task_ids)).reshape((-1, 1)),
actions.shape[0],
axis=1).reshape(-1)
action_indices = np.repeat(np.arange(actions.shape[0]).reshape((1, -1)),
len(task_ids),
axis=0).reshape(-1)
simulation_statuses = simulation_statuses.reshape(-1)
good_statuses = simulation_statuses != invalid
is_solved = torch.LongTensor(
simulation_statuses[good_statuses].astype('uint8')) == solved
action_indices = action_indices[good_statuses]
actions = torch.FloatTensor(actions[action_indices])
task_indices = torch.LongTensor(task_indices[good_statuses])
simulator = phyre.initialize_simulator(task_ids, action_tier_name)
observations = torch.LongTensor(simulator.initial_scenes)
return task_indices, is_solved, actions, simulator, observations
def eval(self, state, task_ids, tier):
model = state['model']
cache = state['cache']
# NOTE: Current agent is only using the actions that are seen in the training set,
# though agent has the ability to rank the actions that are not seen in the training set
actions = state['cache'].action_array[:self.params['rank_size']]
model.cuda()
simulator = phyre.initialize_simulator(task_ids, tier)
observations = simulator.initial_scenes
evaluator = phyre.Evaluator(task_ids)
for task_index in range(len(task_ids)):
task_id = simulator.task_ids[task_index]
observation = observations[task_index]
scores = self.neural_model.eval_actions(
model, actions, self.params['eval_batch_size'], observation)
# Rank of the actions in descending order
action_order = np.argsort(-scores)
# Result of the actions are already stored in cache
statuses = cache.load_simulation_states(task_id)
for action_id in action_order:
if evaluator.get_attempts_for_task(
task_index) >= self.params['max_attempts_per_task']:
break
status = phyre.SimulationStatus(statuses[action_id])
evaluator.maybe_log_attempt(task_index, status)
return evaluator
def _create_balanced_eval_set(self, cache, task_ids, size, tier):
"""
Prepares balanced eval set to run through a network.
Selects (size // 2) positive (task, action) pairs and (size // 2) negative pairs and represents them into pytorch tensors.
The format of the output is the same as in _compact_simulation_data_to_trainset.
"""
task_ids = tuple(task_ids)
data = cache.get_sample(task_ids)
actions = data['actions']
simulation_statuses = data['simulation_statuses']
flat_statuses = simulation_statuses.reshape(-1)
[positive_indices
] = (flat_statuses == int(phyre.SimulationStatus.SOLVED)).nonzero()
[negative_indices] = (flat_statuses == int(
phyre.SimulationStatus.NOT_SOLVED)).nonzero()
half_size = size // 2
rng = np.random.RandomState(42)
# If the number of indices are smaller than the half_size, indices can overlap
positive_indices = rng.choice(positive_indices, half_size)
negative_indices = rng.choice(negative_indices, half_size)
all_indices = np.concatenate([positive_indices, negative_indices])
selected_actions = torch.FloatTensor(actions[all_indices %
len(actions)])
is_solved = torch.LongTensor(
flat_statuses[all_indices].astype('int')) > 0
task_indices = torch.LongTensor(all_indices // len(actions))
simulator = phyre.initialize_simulator(task_ids, tier)
observations = torch.LongTensor(simulator.initial_scenes)
return task_indices, is_solved, selected_actions, simulator, observations
def create_balanced_eval_set(cache, task_ids, size, tier):
"""Select a balanced set of max_size triples(task_id, status, action)."""
task_ids = tuple(task_ids)
data = cache.get_sample(task_ids)
actions = data['actions']
simulation_statuses = data['simulation_statuses']
flat_statuses = simulation_statuses.reshape(-1)
[positive_indices] = (flat_statuses == int(
phyre.SimulationStatus.SOLVED)).nonzero()
[negative_indices] = (flat_statuses == int(
phyre.SimulationStatus.NOT_SOLVED)).nonzero()
half_size = size // 2
rng = np.random.RandomState(42)
positive_indices = rng.choice(positive_indices, half_size)
negative_indices = rng.choice(negative_indices, half_size)
all_indices = np.concatenate([positive_indices, negative_indices])
selected_actions = torch.FloatTensor(actions[all_indices % len(actions)])
is_solved = torch.LongTensor(flat_statuses[all_indices].astype('int')) > 0
task_indices = torch.LongTensor(all_indices // len(actions))
simulator = phyre.initialize_simulator(task_ids, tier)
observations = torch.LongTensor(simulator.initial_scenes)
return task_indices, is_solved, selected_actions, simulator, observations
def __init__(self, config):
self.start_template_id = config.start_template_id
self.end_template_id = config.end_template_id
self.num_mods = config.num_mods
self.action_tier = config.action_tier
self.task_id = config.task_id
self.action_mappers = action_mappers.ACTION_MAPPERS[self.action_tier]()
tasks_map, _ = load_compiled_task_dict()
task_ids = []
if self.task_id is not None:
task_ids.append(self.task_id)
else:
self.template_num = self.end_template_id - self.start_template_id + 1
for i in range(self.start_template_id, self.end_template_id + 1,
1):
task_mods = tasks_map[str(i).zfill(5)]
for j in range(self.num_mods):
task_ids.append(str(i).zfill(5) + ":" + task_mods[j])
# print("tasks: ",)
# print(task_ids)
self.simulator = phyre.initialize_simulator(task_ids, self.action_tier)
self.tasks = []
for task_index in range(len(task_ids)):
id = self.simulator.task_ids[task_index]
initial_scene = self.simulator.initial_scenes[task_index]
initial_featurized_objects = self.simulator.initial_featurized_objects[
task_index]
task = Task(id, initial_scene, initial_featurized_objects)
self.tasks.append(task)
def real_eval(cls, cache, model, actions, task_ids, tier,
max_attempts_per_task, eval_batch_size, finetune_iterations,
refine_iterations, refine_loss, refine_lr):
# TODO: move to a flag.
finetune_lr = 1e-4
model.cuda()
simulator = phyre.initialize_simulator(task_ids, tier)
observations = simulator.initial_scenes
assert tuple(task_ids) == simulator.task_ids
logging.info('Ranking %d actions and simulating top %d', len(actions),
max_attempts_per_task)
if refine_iterations > 0:
logging.info(
'Will do refining for %d iterations with lr=%e and loss=%s',
refine_iterations, refine_lr, refine_loss)
evaluator = phyre.Evaluator(task_ids)
for task_index in tqdm.trange(len(task_ids)):
task_id = simulator.task_ids[task_index]
if refine_iterations > 0:
refined_actions = neural_agent.refine_actions(
model, actions, observations[task_index], refine_lr,
refine_iterations, eval_batch_size, refine_loss)
else:
refined_actions = actions
scores = neural_agent.eval_actions(model, refined_actions,
eval_batch_size,
observations[task_index])
# Order of descendig scores.
action_order = np.argsort(-scores)
if not refine_iterations > 0:
statuses = cache.load_simulation_states(task_id)
finetune_data = []
for action_id in action_order:
if evaluator.get_attempts_for_task(
task_index) >= max_attempts_per_task:
break
action = refined_actions[action_id]
if refine_iterations > 0:
status = simulator.simulate_action(
task_index,
action,
need_images=False,
need_scenes=False).status
else:
status = phyre.SimulationStatus(statuses[action_id])
finetune_data.append((task_index, status, action))
evaluator.maybe_log_attempt(task_index, status)
if evaluator.get_attempts_for_task(task_index) == 0:
logging.warning('Made 0 attempts for task %s', task_id)
if finetune_iterations > 0:
neural_agent.finetune(model, finetune_data, simulator,
finetune_lr, finetune_iterations)
return evaluator
def _worker(action_tier, task_id, num_jobs, num_actions, job_id):
action_path = (
phyre.simulation_cache.get_partial_cache_folder(num_actions) /
action_tier / phyre.simulation_cache.ACTION_FILE_NAME)
actions = joblib.load(action_path)
sim = phyre.initialize_simulator([task_id], action_tier)
actions = np.array_split(actions, num_jobs)[job_id]
statuses = [
int(sim.simulate_action(0, action, need_images=False).status)
for action in actions
]
return statuses
def evaluate_simple_agent(tasks, tier):
"""Evaluates the random agent on the given tasks/tier.
Args:
tasks: A list of task instances (strings) in the split to evaluate.
tier: A string of the action tier.
Returns:
A Evaluator object updated with the results of all the siulations.
"""
# Create a simulator for the task and tier.
simulator = phyre.initialize_simulator(tasks, tier)
evaluator = phyre.Evaluator(tasks)
assert tuple(tasks) == simulator.task_ids
tasks_solved = 0
for task_index in tqdm(range(len(tasks)), desc='Evaluate tasks'):
simFunc = partial(evalAction,
simulator=simulator,
task_index=task_index,
evaluator=evaluator)
space = {
'x': hp.uniform('x', 0, 1),
'y': hp.uniform('y', 0, 1),
'r': hp.uniform('r', 0, 1),
}
trials = Trials()
max_evals = 0
solved_task = False
while evaluator.get_attempts_for_task(
task_index) < phyre.MAX_TEST_ATTEMPTS and not solved_task:
max_evals += phyre.MAX_TEST_ATTEMPTS - evaluator.get_attempts_for_task(
task_index)
best = fmin(simFunc,
space=space,
algo=tpe.suggest,
max_evals=max_evals,
trials=trials,
rstate=random.seed(0),
show_progressbar=False)
counter = Counter(result['solved'] for result in trials.results)
solved_task = counter[True] > 0
if solved_task:
tasks_solved += 1
print(tasks_solved, "Tasks solved out of ", len(tasks), "Total Tasks")
return evaluator
def create_balanced_eval_set(cache: phyre.SimulationCache, task_ids: TaskIds,
size: int, tier: str) -> TrainData:
"""Prepares balanced eval set to run through a network.
Selects (size // 2) positive (task, action) pairs and (size // 2)
negative pairs and represents them in a compact formaer
Returns a tuple
(task_indices, is_solved, selected_actions, simulator, observations).
Tensors task_indices, is_solved, selected_actions, observations, all
have lengths size and correspond to some (task, action) pair.
For any i the following is true:
is_solved[i] is true iff selected_actions[i] solves task
task_ids[task_indices[i]].
"""
task_ids = tuple(task_ids)
data = cache.get_sample(task_ids)
actions = data['actions']
# Array [num_tasks, num_actions].
simulation_statuses = data['simulation_statuses']
flat_statuses = simulation_statuses.reshape(-1)
[positive_indices
] = (flat_statuses == int(phyre.SimulationStatus.SOLVED)).nonzero()
[negative_indices
] = (flat_statuses == int(phyre.SimulationStatus.NOT_SOLVED)).nonzero()
half_size = size // 2
rng = np.random.RandomState(42)
positive_indices = rng.choice(positive_indices, half_size)
negative_indices = rng.choice(negative_indices, half_size)
all_indices = np.concatenate([positive_indices, negative_indices])
selected_actions = torch.FloatTensor(actions[all_indices % len(actions)])
is_solved = torch.LongTensor(flat_statuses[all_indices].astype('int')) > 0
all_task_indices = np.arange(len(task_ids)).repeat(actions.shape[0])
positive_task_indices = all_task_indices[positive_indices]
negative_task_indices = all_task_indices[negative_indices]
task_indices = torch.LongTensor(
np.concatenate([positive_task_indices, negative_task_indices]))
simulator = phyre.initialize_simulator(task_ids, tier)
observations = torch.LongTensor(simulator.initial_scenes)
return task_indices, is_solved, selected_actions, simulator, observations
def __init__(self, data_root, split, image_ext='.jpg'):
self.data_root = data_root
self.split = split
self.image_ext = image_ext
self.input_size = C.RPIN.INPUT_SIZE # number of input images
self.pred_size = eval(
f'C.RPIN.PRED_SIZE_{"TRAIN" if split == "train" else "TEST"}')
self.seq_size = self.input_size + self.pred_size
self.input_height, self.input_width = C.RPIN.INPUT_HEIGHT, C.RPIN.INPUT_WIDTH
protocal = C.PHYRE_PROTOCAL
fold = C.PHYRE_FOLD
num_pos = 400 if split == 'train' else 100
num_neg = 1600 if split == 'train' else 400
eval_setup = f'ball_{protocal}_template'
train_tasks, dev_tasks, test_tasks = phyre.get_fold(eval_setup, fold)
tasks = train_tasks + dev_tasks if split == 'train' else test_tasks
action_tier = phyre.eval_setup_to_action_tier(eval_setup)
# all the actions
cache = phyre.get_default_100k_cache('ball')
training_data = cache.get_sample(tasks, None)
# (100000 x 3)
actions = training_data['actions']
# (num_tasks x 100000)
sim_statuses = training_data['simulation_statuses']
self.simulator = phyre.initialize_simulator(tasks, action_tier)
self.video_info = np.zeros((0, 4))
for t_id, t in enumerate(tqdm(tasks)):
sim_status = sim_statuses[t_id]
pos_acts = actions[sim_status == 1].copy()
neg_acts = actions[sim_status == -1].copy()
np.random.shuffle(pos_acts)
np.random.shuffle(neg_acts)
pos_acts = pos_acts[:num_pos]
neg_acts = neg_acts[:num_neg]
acts = np.concatenate([pos_acts, neg_acts])
video_info = np.zeros((acts.shape[0], 4))
video_info[:, 0] = t_id
video_info[:, 1:] = acts
self.video_info = np.concatenate([self.video_info, video_info])
def _gen_simulator(self):
drop_objs_lst = ()
if not isinstance(self.drop_objs, int) and not self.drop_objs:
# i.e. empty list, or None (and not an integer ID of obj to drop)
pass
elif isinstance(self.drop_objs, int):
drop_objs_lst = (self.drop_objs, )
elif isinstance(self.drop_objs, str):
drop_objs_lst = (int(el) for el in self.drop_objs.split(';'))
else:
logging.warning('Not sure what was passed as drop objs %s',
self.drop_objs)
drop_objs_lst = ()
simulator = phyre.initialize_simulator(self.task_ids,
self.tier,
drop_objs=drop_objs_lst)
phyre_sim = hydra.utils.instantiate(self.simulator_cfg, simulator,
self.obj_fwd_model)
return phyre_sim
def evaluate_random_agent(tasks, tier):
# Create a simulator for the task and tier.
simulator = phyre.initialize_simulator(tasks, tier)
evaluator = phyre.Evaluator(tasks)
assert tuple(tasks) == simulator.task_ids
images = []
actions = []
for task_index in tqdm_notebook(range(len(tasks)), desc='Evaluate tasks'):
while evaluator.get_attempts_for_task(
task_index) < phyre.MAX_TEST_ATTEMPTS:
# Sample a random valid action from the simulator for the given action space.
action = simulator.sample()
# Simulate the given action and add the status from taking the action to the evaluator.
status = simulator.simulate_action(task_index,
action,
need_images=True)
stati = status.status
actions.append(action)
images.append(status.images)
evaluator.maybe_log_attempt(task_index, stati)
return evaluator, images, actions
def count_ball_sizes(task_ids, tier, ball_sizes, num_pos):
cache = phyre.get_default_100k_cache(tier)
simulator = phyre.initialize_simulator(task_ids, tier)
num_solved = 0
positions = np.linspace(0, 1, num_pos)
for task_index, task_id in tqdm(enumerate(task_ids),
desc='Evaluate Tasks',
total=len(task_ids)):
statuses = cache.load_simulation_states(task_id)
solved_actions = cache.action_array[statuses ==
phyre.simulation_cache.SOLVED, :]
solved_actions[:,
2] = ball_sizes[abs(solved_actions[:, 2][None, :] -
ball_sizes[:, None]).argmin(axis=0)]
for solved_action in solved_actions:
sim_result = simulator.simulate_action(task_index,
solved_action,
need_images=False)
if sim_result.status.is_solved():
num_solved += 1
break
return num_solved
def _compact_simulation_data_to_trainset(self, tier, data):
"""
Converts result of SimulationCache.get_data() to pytorch tensors.
Returns a tuple (task_indices, is_solved, selected_actions, simulator, observations).
task_indices, is_solved, selected_actions, observations are all tensors corresponding to (task, action) pair
is_solved[i] is true iff selected_actions[i] solves task(task_ids[task_indices[i]]).
"""
actions = data['actions']
simulation_statuses = data['simulation_statuses']
task_ids = data['task_ids']
invalid = int(phyre.SimulationStatus.INVALID_INPUT)
solved = int(phyre.SimulationStatus.SOLVED)
# Making indices to build the (task, action) pair
task_indices = np.repeat(np.arange(len(task_ids)).reshape((-1, 1)),
actions.shape[0],
axis=1).reshape(-1)
action_indices = np.repeat(np.arange(actions.shape[0]).reshape(
(1, -1)),
len(task_ids),
axis=0).reshape(-1)
# len(simulation_statues) = len(task) * len(action)
simulation_statuses = simulation_statuses.reshape(-1)
# Filter for the valid actions
good_statuses = simulation_statuses != invalid
is_solved = torch.LongTensor(
simulation_statuses[good_statuses].astype('uint8')) == solved
action_indices = action_indices[good_statuses]
actions = torch.FloatTensor(actions[action_indices])
task_indices = torch.LongTensor(task_indices[good_statuses])
simulator = phyre.initialize_simulator(task_ids, tier)
observations = torch.LongTensor(simulator.initial_scenes)
#pdb.set_trace()
return task_indices, is_solved, actions, simulator, observations
def eval(cls, state: State, task_ids: TaskIds, max_attempts_per_task: int,
tier: str, **kwargs):
cache = state['cache']
evaluator = phyre.Evaluator(task_ids)
simulator = phyre.initialize_simulator(task_ids, tier)
assert tuple(task_ids) == simulator.task_ids
for i, task_id in enumerate(task_ids):
statuses = cache.load_simulation_states(task_id)
valid_mask = statuses != phyre.simulation_cache.INVALID
actions, statuses = cache.action_array[valid_mask], statuses[
valid_mask]
for action, status in zip(actions, statuses):
if evaluator.get_attempts_for_task(i) >= max_attempts_per_task:
break
if cls.in_prior(action, simulator._tasks[i].scene.bodies):
evaluator.maybe_log_attempt(i, status)
else:
print("Not enough actions in prior", task_id,
evaluator.get_attempts_for_task(i))
return evaluator
def simulate_result(chosen_action, chosen_score, model_number,
generation_number):
eval_setup = 'ball_cross_template'
fold_id = 0 # For simplicity, we will just use one fold for evaluation.
train_tasks, dev_tasks, test_tasks = phyre.get_fold(eval_setup, 0)
action_tier = phyre.eval_setup_to_action_tier(eval_setup)
tasks = dev_tasks[0:1]
simulator = phyre.initialize_simulator(tasks, action_tier)
evaluator = phyre.Evaluator(tasks)
# Simulate the given action and add the status from taking the action to the evaluator.
simulation_result = simulator.simulate_action(0,
chosen_action,
need_images=True,
need_featurized_objects=True)
simulation_score = sf.ScoreFunctionValue(simulation_result)
pair = np.array([chosen_action, simulation_score])
timestr = time.strftime("%Y%m%d-%H%M%S")
score_pair = [
chosen_score, simulation_score, model_number, generation_number
]
score_string = "ScoreLog" + timestr
path = "/home/kyra/Desktop/phyre/agents/Scores"
np.save(os.path.join(path, score_string), score_pair)
return pair, simulation_result
def compact_simulation_data_to_trainset(action_tier_name, actions,
simulation_statuses, task_ids):
invalid = int(phyre.SimulationStatus.INVALID_INPUT)
solved = int(phyre.SimulationStatus.SOLVED)
task_indices = np.repeat(
np.arange(len(task_ids)).reshape((-1, 1)), actions.shape[0],
axis=1).reshape(-1)
action_indices = np.repeat(
np.arange(actions.shape[0]).reshape((1, -1)), len(task_ids),
axis=0).reshape(-1)
simulation_statuses = simulation_statuses.reshape(-1)
good_statuses = simulation_statuses != invalid
is_solved = torch.LongTensor(
simulation_statuses[good_statuses].astype('uint8')) == solved
action_indices = action_indices[good_statuses]
actions = torch.FloatTensor(actions[action_indices])
task_indices = torch.LongTensor(task_indices[good_statuses])
simulator = phyre.initialize_simulator(task_ids, action_tier_name)
observations = torch.LongTensor(simulator.initial_scenes)
return task_indices, is_solved, actions, simulator, observations
def test(self, start_id=0, end_id=25):
random.seed(0)
np.random.seed(0)
protocal, fold_id = C.PHYRE_PROTOCAL, C.PHYRE_FOLD
self.score_model.eval()
print(f'testing using protocal {protocal} and fold {fold_id}')
# setup the PHYRE evaluation split
eval_setup = f'ball_{protocal}_template'
action_tier = phyre.eval_setup_to_action_tier(eval_setup)
_, _, test_tasks = phyre.get_fold(eval_setup, fold_id) # PHYRE setup
candidate_list = [f'{i:05d}'
for i in range(start_id, end_id)] # filter tasks
test_list = [
task for task in test_tasks if task.split(':')[0] in candidate_list
]
simulator = phyre.initialize_simulator(test_list, action_tier)
# the action candidates are provided by the author of PHYRE benchmark
num_actions = 10000
cache = phyre.get_default_100k_cache('ball')
acts = cache.action_array[:num_actions]
training_data = cache.get_sample(test_list, None)
# some statistics variable when doing the evaluation
auccess = np.zeros((len(test_list), 100))
batched_pred = C.SOLVER.BATCH_SIZE
objs_color = None
all_data, all_acts, all_rois, all_image = [], [], [], []
# cache the initial bounding boxes from the simulator
os.makedirs('cache', exist_ok=True)
t_list = tqdm(test_list, 'Task')
for task_id, task in enumerate(t_list):
sim_statuses = training_data['simulation_statuses'][task_id]
confs, successes = [], []
boxes_cache_name = f'cache/{task.replace(":", "_")}.hkl'
use_cache = os.path.exists(boxes_cache_name)
all_boxes = hickle.load(boxes_cache_name) if use_cache else []
valid_act_id = 0
for act_id, act in enumerate(
tqdm(acts, 'Candidate Action', leave=False)):
sim = simulator.simulate_action(task_id,
act,
stride=60,
need_images=True,
need_featurized_objects=True)
assert sim.status == sim_statuses[
act_id], 'sanity check not passed'
if sim.status == phyre.SimulationStatus.INVALID_INPUT:
if act_id == len(acts) - 1 and len(
all_data) > 0: # final action is invalid
conf_t = self.batch_score(all_data, all_rois,
all_image, objs_color)
confs = confs + conf_t
all_data, all_acts, all_rois, all_image = [], [], [], []
continue
successes.append(sim.status == phyre.SimulationStatus.SOLVED)
# parse object, prepare input for network, the logic is the same as tools/gen_phyre.py
image = cv2.resize(sim.images[0],
(self.input_width, self.input_height),
interpolation=cv2.INTER_NEAREST)
all_image.append(image[::-1])
image = phyre.observations_to_float_rgb(image)
objs_color = sim.featurized_objects.colors
objs_valid = [('BLACK' not in obj_color)
and ('PURPLE' not in obj_color)
for obj_color in objs_color]
objs = sim.featurized_objects.features[:, objs_valid, :]
objs_color = np.array(objs_color)[objs_valid]
num_objs = objs.shape[1]
if use_cache:
boxes = all_boxes[valid_act_id]
valid_act_id += 1
else:
boxes = np.zeros((1, num_objs, 5))
for o_id in range(num_objs):
mask = phyre.objects_util.featurized_objects_vector_to_raster(
objs[0][[o_id]])
mask_im = phyre.observations_to_float_rgb(mask)
mask_im[mask_im == 1] = 0
mask_im = mask_im.sum(-1) > 0
[h, w] = np.where(mask_im)
x1, x2, y1, y2 = w.min(), w.max(), h.min(), h.max()
x1 *= (self.input_width - 1) / (phyre.SCENE_WIDTH - 1)
x2 *= (self.input_width - 1) / (phyre.SCENE_WIDTH - 1)
y1 *= (self.input_height - 1) / (phyre.SCENE_HEIGHT -
1)
y2 *= (self.input_height - 1) / (phyre.SCENE_HEIGHT -
1)
boxes[0, o_id] = [o_id, x1, y1, x2, y2]
all_boxes.append(boxes)
data = image.transpose((2, 0, 1))[None, None, :]
data = torch.from_numpy(data.astype(np.float32))
rois = torch.from_numpy(boxes[...,
1:].astype(np.float32))[None, :]
all_data.append(data)
all_rois.append(rois)
if len(all_data) % batched_pred == 0 or act_id == len(
acts) - 1:
conf_t = self.batch_score(all_data, all_rois, all_image,
objs_color)
confs = confs + conf_t
all_data, all_rois, all_image = [], [], []
if not use_cache:
all_boxes = np.stack(all_boxes)
hickle.dump(all_boxes,
boxes_cache_name,
mode='w',
compression='gzip')
info = f'current AUCESS: '
top_acc = np.array(successes)[np.argsort(confs)[::-1]]
for i in range(100):
auccess[task_id, i] = int(np.sum(top_acc[:i + 1]) > 0)
w = np.array([np.log(k + 1) - np.log(k) for k in range(1, 101)])
s = auccess[:task_id + 1].sum(0) / auccess[:task_id + 1].shape[0]
info += f'{np.sum(w * s) / np.sum(w) * 100:.2f}'
t_list.set_description(info)
def gen_proposal(self, start_id=0, end_id=25):
random.seed(0)
np.random.seed(0)
protocal = C.PHYRE_PROTOCAL
fold_id = C.PHYRE_FOLD
print(f'generate proposal for {protocal} fold {fold_id}')
max_p_acts, max_n_acts, max_acts = 200, 800, 100000
self.proposal_dir = f'{self.output_dir.split("/")[-1]}_' \
f'p{max_p_acts}n{max_n_acts}a{max_acts // 1000}'
eval_setup = f'ball_{protocal}_template'
action_tier = phyre.eval_setup_to_action_tier(eval_setup)
train_tasks, dev_tasks, test_tasks = phyre.get_fold(
eval_setup, fold_id)
# filter task
train_tasks = train_tasks + dev_tasks
candidate_list = [f'{i:05d}' for i in range(start_id, end_id)]
for split in ['train', 'test']:
train_list = [
task for task in train_tasks
if task.split(':')[0] in candidate_list
]
test_list = [
task for task in test_tasks
if task.split(':')[0] in candidate_list
]
if len(eval(f'{split}_list')) == 0:
return
simulator = phyre.initialize_simulator(eval(f'{split}_list'),
action_tier)
cache = phyre.get_default_100k_cache('ball')
training_data = cache.get_sample(eval(f'{split}_list'), None)
actions = cache.action_array[:max_acts]
final_list = eval(f'{split}_list')
t_list = tqdm(final_list, 'Task')
for task_id, task in enumerate(t_list):
box_cache_name = f'data/PHYRE_proposal/cache/{task.replace(":", "_")}_box.hkl'
act_cache_name = f'data/PHYRE_proposal/cache/{task.replace(":", "_")}_act.hkl'
use_cache = os.path.exists(box_cache_name) and os.path.exists(
act_cache_name)
if use_cache:
acts = hickle.load(act_cache_name)
all_boxes = hickle.load(box_cache_name)
else:
sim_statuses = training_data['simulation_statuses'][
task_id]
pos_acts = actions[sim_statuses == 1]
neg_acts = actions[sim_statuses == -1]
np.random.shuffle(pos_acts)
np.random.shuffle(neg_acts)
pos_acts = pos_acts[:max_p_acts]
neg_acts = neg_acts[:max_n_acts]
acts = np.concatenate([pos_acts, neg_acts])
hickle.dump(acts,
act_cache_name,
mode='w',
compression='gzip')
all_boxes = []
valid_act_id = 0
for act_id, act in enumerate(
tqdm(acts, 'Candidate Action', leave=False)):
sim = simulator.simulate_action(
task_id,
act,
stride=60,
need_images=True,
need_featurized_objects=True)
if not use_cache:
if act_id < len(pos_acts):
assert sim.status == phyre.SimulationStatus.SOLVED
else:
assert sim.status == phyre.SimulationStatus.NOT_SOLVED
assert sim.status != phyre.SimulationStatus.INVALID_INPUT
raw_images = sim.images
rst_images = np.stack([
np.ascontiguousarray(
cv2.resize(rst_image,
(self.input_width, self.input_height),
interpolation=cv2.INTER_NEAREST)[::-1])
for rst_image in raw_images
])
# prepare input for network:
image = cv2.resize(raw_images[0],
(self.input_width, self.input_height),
interpolation=cv2.INTER_NEAREST)
image = phyre.observations_to_float_rgb(image)
# parse object
objs_color = sim.featurized_objects.colors
objs_valid = [('BLACK' not in obj_color)
and ('PURPLE' not in obj_color)
for obj_color in objs_color]
objs = sim.featurized_objects.features[:, objs_valid, :]
objs_color = np.array(objs_color)[objs_valid]
num_objs = objs.shape[1]
if use_cache:
boxes = all_boxes[valid_act_id]
valid_act_id += 1
else:
boxes = np.zeros((1, num_objs, 5))
for o_id in range(num_objs):
mask = phyre.objects_util.featurized_objects_vector_to_raster(
objs[0][[o_id]])
mask_im = phyre.observations_to_float_rgb(mask)
mask_im[mask_im == 1] = 0
mask_im = mask_im.sum(-1) > 0
[h, w] = np.where(mask_im)
x1, x2, y1, y2 = w.min(), w.max(), h.min(), h.max()
x1 *= (self.input_width - 1) / (phyre.SCENE_WIDTH -
1)
x2 *= (self.input_width - 1) / (phyre.SCENE_WIDTH -
1)
y1 *= (self.input_height -
1) / (phyre.SCENE_HEIGHT - 1)
y2 *= (self.input_height -
1) / (phyre.SCENE_HEIGHT - 1)
boxes[0, o_id] = [o_id, x1, y1, x2, y2]
all_boxes.append(boxes)
data = image.transpose((2, 0, 1))[None, None, :]
data = torch.from_numpy(data.astype(np.float32))
rois = torch.from_numpy(boxes[..., 1:].astype(
np.float32))[None, :]
bg_image = rst_images[0].copy()
for fg_id in [1, 2, 3, 5]:
bg_image[bg_image == fg_id] = 0
boxes, masks = self.generate_trajs(data, rois)
rst_masks = np.stack([
self.render_mask_to_image(boxes[0, i],
masks[0, i],
images=bg_image.copy(),
color=objs_color).astype(
np.uint8)
for i in range(self.pred_rollout)
])
output_dir = f'data/PHYRE_proposal/{self.proposal_dir}/{split}/'
output_dir = output_dir + 'pos/' if sim.status == phyre.SimulationStatus.SOLVED else output_dir + 'neg/'
output_dir = output_dir + f'{task.replace(":", "_")}/'
os.makedirs(output_dir, exist_ok=True)
rst_dict = {'gt_im': rst_images, 'pred_im': rst_masks}
hickle.dump(rst_dict,
f'{output_dir}/{act_id}.hkl',
mode='w',
compression='gzip')
if not use_cache:
all_boxes = np.stack(all_boxes)
hickle.dump(all_boxes,
box_cache_name,
mode='w',
compression='gzip')
def evaluate_agent(task_ids, tier, solved_actions_pdf):
cache = phyre.get_default_100k_cache(tier)
evaluator = phyre.Evaluator(task_ids)
simulator = phyre.initialize_simulator(task_ids, tier)
task_data_dict = phyre.loader.load_compiled_task_dict()
stride = 100
eval_stride = 2
goal = 3.0 * 60.0 / eval_stride
empty_action = phyre.simulator.scene_if.UserInput()
tasks_solved = 0
alpha = 1.0
N = 5
max_actions = 100
for task_index in tqdm(range(len(task_ids)), desc='Evaluate tasks'):
task_id = task_ids[task_index]
task_type = task_id.split(":")[0]
task_data = task_data_dict[task_id]
statuses = cache.load_simulation_states(task_id)
_, _, images, _ = phyre.simulator.magic_ponies(task_data,
empty_action,
need_images=True,
stride=stride)
evaluator.maybe_log_attempt(task_index,
phyre.simulation_cache.NOT_SOLVED)
seq_data = ImgToObj.getObjectAndGoalSequence(images)
goal_type = ImgToObj.Layer.dynamic_goal.value
if goal_type not in images[0]:
goal_type = ImgToObj.Layer.static_goal.value
tested_actions = np.array([[-1, -1, -1, 1, 0]])
solved_task = False
max_score = 0
while evaluator.get_attempts_for_task(
task_index
) < phyre.MAX_TEST_ATTEMPTS and not solved_task and max_score < 1.0:
random_action = np.random.random_sample((1, 5))
if task_type in solved_actions_pdf and np.random.random_sample(
) >= .25:
random_action[0, 0:3] = np.squeeze(
solved_actions_pdf[task_type].resample(size=1))
test_action_dist = np.linalg.norm(tested_actions[:, 0:3] -
random_action[:, 0:3],
axis=1)
if np.any(test_action_dist <= tested_actions[:, 3]
) and np.random.random_sample() >= .75:
continue
if ImgToObj.check_seq_action_intersect(
images[0], seq_data, stride, goal_type,
np.squeeze(random_action[0:3])):
sim_result = simulator.simulate_action(
task_index,
np.squeeze(random_action[:, 0:3]),
need_images=True,
stride=eval_stride)
evaluator.maybe_log_attempt(task_index, sim_result.status)
if not sim_result.status.is_invalid():
score = ImgToObj.objectTouchGoalSequence(sim_result.images)
eval_dist = .1
random_action[0, 3] = eval_dist
random_action[0, 4] = 1.0 - np.linalg.norm(
seq_data['object'][-1]['centroid'] -
seq_data['goal'][-1]['centroid']) / 256.0
random_action[0, 4] += ImgToObj.objectTouchGoalSequence(
sim_result.images) / goal
if random_action[0, 4] > max_score:
max_score = random_action[0, 4]
tested_actions = np.concatenate(
(tested_actions, random_action), 0)
solved_task = sim_result.status.is_solved()
tasks_solved += solved_task
if not solved_task and evaluator.get_attempts_for_task(
task_index) < phyre.MAX_TEST_ATTEMPTS:
tested_actions = np.delete(tested_actions, 0, 0)
theta = tested_actions[np.argmax(tested_actions[:, 4]), 0:3]
theta_score = tested_actions[np.argmax(tested_actions[:, 4]), 4]
while evaluator.get_attempts_for_task(
task_index
) + 2 * N + 1 < phyre.MAX_TEST_ATTEMPTS and not solved_task:
delta = np.random.normal(0, .2, (N, 3))
test_actions_pos = theta + delta
test_actions_neg = theta - delta
old_theta = np.copy(theta)
for i in range(N):
pos_score = 0
sim_result_pos = simulator.simulate_action(
task_index,
np.squeeze(test_actions_pos[i, :]),
need_images=True,
stride=eval_stride)
evaluator.maybe_log_attempt(task_index,
sim_result_pos.status)
if not sim_result_pos.status.is_invalid():
pos_result_seq_data = ImgToObj.getObjectAndGoalSequence(
sim_result_pos.images)
pos_score = 1.0 - np.linalg.norm(
pos_result_seq_data['object'][-1]['centroid'] -
pos_result_seq_data['goal'][-1]['centroid']) / 256.0
pos_score += ImgToObj.objectTouchGoalSequence(
sim_result_pos.images) / goal
solved_task = sim_result_pos.status.is_solved()
tasks_solved += solved_task
neg_score = 0
sim_result_neg = simulator.simulate_action(
task_index,
np.squeeze(test_actions_neg[i, :]),
need_images=True,
stride=eval_stride)
evaluator.maybe_log_attempt(task_index,
sim_result_neg.status)
if not sim_result_neg.status.is_invalid():
neg_result_seq_data = ImgToObj.getObjectAndGoalSequence(
sim_result_neg.images)
neg_score = 1.0 - np.linalg.norm(
neg_result_seq_data['object'][-1]['centroid'] -
neg_result_seq_data['goal'][-1]['centroid']) / 256.0
neg_score += ImgToObj.objectTouchGoalSequence(
sim_result_neg.images) / goal
solved_task = sim_result_neg.status.is_solved()
tasks_solved += solved_task
theta = theta + alpha / N * (pos_score -
neg_score) * delta[i, :]
sim_result = simulator.simulate_action(task_index,
np.squeeze(theta),
need_images=True,
stride=eval_stride)
evaluator.maybe_log_attempt(task_index, sim_result.status)
if not sim_result.status.is_invalid():
result_seq_data = ImgToObj.getObjectAndGoalSequence(
sim_result.images)
score = 1.0 - np.linalg.norm(
result_seq_data['object'][-1]['centroid'] -
result_seq_data['goal'][-1]['centroid']) / 256.0
score += ImgToObj.objectTouchGoalSequence(
sim_result.images) / goal
solved_task = sim_result.status.is_solved()
tasks_solved += solved_task
print(tasks_solved, "Tasks solved out of ", len(task_ids), "Total Tasks")
return (evaluator.get_aucess(), tasks_solved, len(task_ids))
cache = phyre.get_default_100k_cache(tier)
statuses = cache.load_simulation_states(task_str)
actions = cache.action_array.tolist()
valid_actions = []
print(len(actions))
for action_id, action in enumerate(actions):
if statuses[action_id] != phyre.simulation_cache.INVALID:
valid_actions.append(action)
actions = valid_actions
print(len(actions))
simulator = phyre.initialize_simulator([task_str], tier)
initial_scene = simulator.initial_scenes[0]
frame_data = ImgToObj.getObjectAndGoalSequence([initial_scene])
goal_type = ImgToObj.Layer.dynamic_goal.value
if goal_type not in initial_scene:
goal_type = ImgToObj.Layer.static_goal.value
goal_data = frame_data['goal'][0]
object_data = frame_data['object'][0]
goal_bb = goal_data['bb']
goal_center = goal_data['centroid']
object_bb = object_data['bb']
object_center = object_data['centroid']
def get_auccess(solver, tasks, solve_noise=False, save_tries=False, brute=False):
if save_tries:
font = ImageFont.truetype("/usr/share/fonts/truetype/ubuntu/Ubuntu-R.ttf", 10)
eval_setup = 'ball_within_template'
sim = phyre.initialize_simulator(tasks, 'ball')
init_scenes = T.tensor([[cv2.resize((scene==channel).astype(float), (32,32)) for channel in range(2,7)] for scene in sim.initial_scenes]).float().flip(-2)
eva = phyre.Evaluator(tasks)
# Get Actions from solver:
if brute:
all_actions = solver.get_actions(tasks, init_scenes, brute =True)
else:
all_actions = solver.get_actions(tasks, init_scenes)
#L.info(list(zip(tasks, all_actions)))
#return 0
# Loop through actions
for t_idx, task in enumerate(tasks):
# Get 100 actions from solver
if solve_noise:
# expects one action for task
task_actions = [all_actions[t_idx]]
else:
# expects 100 actions for task
task_actions = all_actions[t_idx]
# Loop through actions
for j, action in enumerate(task_actions):
# Setting up visualization array
vis_wid = 64
vis_stack = T.zeros(6,10,vis_wid,vis_wid,3)
vis_count = 1
# Simulate action
res = sim.simulate_action(t_idx, action, need_featurized_objects=False)
# Refining if invalid Action
t = 0
temp = 1
base_action = action.copy()
L.info(base_action, 'base action')
# Checking for valid action
while res.status.is_invalid():
t += 1
action = base_action + (np.random.rand(3)-0.5)*0.05*temp
L.info(action, f"potential action for task {task}")
res = sim.simulate_action(t_idx, action, need_featurized_objects=False)
temp *= 1.01 if temp <5 else 1
#assert(t>500, "too many invalid tries")
L.info(action, 'valid action')
# Log first Attempt
eva.maybe_log_attempt(t_idx, res.status)
# Visualizing first attempt
if save_tries:
for i in range(min(len(res.images), 10)):
vis_stack[0,i] = T.tensor(cv2.resize(phyre.observations_to_uint8_rgb(res.images[i]), (vis_wid,vis_wid)))
# Collecting 100 Actions if solve noise
warning_flag = False
if solve_noise:
base_action = action
temp = 1
error = False
t = 0
delta_generator = action_delta_generator()
# Looping while less then 100 attempts
while eva.attempts_per_task_index[t_idx]<100:
# Searching for new action while not solved
if not res.status.is_solved():
""" OLD APPROACH
action = base_action + (np.random.rand(3)-0.5)*np.array([0.3,0.05,0.05])*temp
temp *= 1.01 if temp <5 else 1
"""
if t<1000:
action = base_action + delta_generator.__next__()
res = sim.simulate_action(t_idx, action, need_featurized_objects=False)
eva.maybe_log_attempt(t_idx, res.status)
t += 1
else:
if not warning_flag:
L.info(f"WARNING can't find valid action for {task}")
warning_flag = True
error = True
eva.maybe_log_attempt(t_idx, phyre.SimulationStatus.NOT_SOLVED)
# if solved -> repeating action
else:
if not warning_flag:
L.info(f"{task} solved after", eva.attempts_per_task_index[t_idx])
# Visualization
if save_tries and not error:
for i in range(min(len(res.images), 10)):
vis_stack[5,i] = T.tensor(cv2.resize(phyre.observations_to_uint8_rgb(res.images[i]), (vis_wid,vis_wid)))
warning_flag = True
eva.maybe_log_attempt(t_idx, res.status)
# Visualization
if save_tries and not error and not res.status.is_invalid() and t and vis_count<5:
for i in range(min(len(res.images), 10)):
vis_stack[vis_count,i] = T.tensor(cv2.resize(phyre.observations_to_uint8_rgb(res.images[i]), (vis_wid,vis_wid)))
vis_count +=1
if not warning_flag and not res.status.is_solved() and eva.attempts_per_task_index[t_idx]==100:
L.info(f"{task} not solved")
vis_batch(vis_stack, f'result/solver/pyramid', f"{task}_attempts")
# Not Solve Noise Case
else:
# Visualization
if save_tries and not res.status.is_invalid() and vis_count<5:
for i in range(min(len(res.images), 10)):
vis_stack[vis_count,i] = T.tensor(cv2.resize(phyre.observations_to_uint8_rgb(res.images[i]), (vis_wid,vis_wid)))
vis_count +=1
if res.status.is_solved():
L.info(f"{task} solved after", eva.attempts_per_task_index[t_idx])
vis_batch(vis_stack, f'result/solver/pyramid', f"{task}_attempts")
while eva.attempts_per_task_index[t_idx]<100:
eva.maybe_log_attempt(t_idx, res.status)
break
return eva.get_auccess()
#import pymunk #from pymunk import Vec2d import phyre import ImgToObj eval_setup = 'ball_cross_template' action_tier = phyre.eval_setup_to_action_tier(eval_setup) task_str = '00004:243' task_data_dict = phyre.loader.load_compiled_task_dict() simulator = phyre.initialize_simulator([task_str], action_tier) action = [.84,.82,.41] #action = [0.8720595836408028,0.1325951705610915,0.40200105882798676] #action = [0,0,0] t0 = time.time() sim_result = simulator.simulate_action(0, action, need_images=True,stride=2) t1 = time.time() print(t1-t0,"Sim Time") print(sim_result.status.is_solved()) t0 = time.time() seq_data = ImgToObj.getObjectAndGoalSequence(sim_result.images) t1 = time.time() print(t1-t0,"Sequence Contour Finding Time")
import numpy as np
import phyre
from tqdm import tqdm_notebook
import animations
random.seed(0)
# Evaluation Setup
eval_setup = 'ball_cross_template'
fold_id = 0 # For simplicity, we will just use one fold for evaluation.
train_tasks, dev_tasks, test_tasks = phyre.get_fold(eval_setup, 0)
action_tier = phyre.eval_setup_to_action_tier(eval_setup)
tasks = dev_tasks[0:1]
print((tasks))
simulator = phyre.initialize_simulator(tasks, action_tier)
actions = simulator.build_discrete_action_space(max_actions=1000)
def evaluate_random_agent(tasks, tier):
# Create a simulator for the task and tier.
simulator = phyre.initialize_simulator(tasks, tier)
evaluator = phyre.Evaluator(tasks)
assert tuple(tasks) == simulator.task_ids
images = []
actions = []
for task_index in tqdm_notebook(range(len(tasks)), desc='Evaluate tasks'):
while evaluator.get_attempts_for_task(
task_index) < phyre.MAX_TEST_ATTEMPTS:
# Sample a random valid action from the simulator for the given action space.
action = simulator.sample()
return X * local_masks + points.reshape_as(X)
if __name__ == "__main__":
## TESTING HANDCRAFTED ACTION EXTRACTOR WITH GROUNDTRUTH ACTION PATH
# SETUP of phyre simulator
SAVE_IMAGES = False
eval_setup = 'ball_within_template'
fold_id = 0
train_tasks, dev_tasks, test_tasks = phyre.get_fold(eval_setup, fold_id)
cache = phyre.get_default_100k_cache("ball")
actions = cache.action_array
print(cache.task_ids)
tasks = train_tasks #+dev_tasks+test_tasks
print(f"{len(tasks)} tasks")
sim = phyre.initialize_simulator(tasks, 'ball')
init_scenes = sim.initial_scenes
X = T.tensor(scenes_to_channels(init_scenes)).float()
print("Init Scenes Shape:\n", X.shape)
# COLLECT action path
action_paths = []
for i, t in enumerate(tasks):
while True:
action = actions[cache.load_simulation_states(t) == 1]
if len(action) == 0:
action = [sim.sample()]
action = random.choice(action)
res = sim.simulate_action(i, action, stride=20)
print(i, res.status.is_solved(), len(res.images), end='\r')
if type(res.images) != type(None):
def solve(tasks,
generator,
save_images=False,
force_collect=False,
static=256,
show=False):
# Collect Interaction Data
data_path = './data/cgan_solver'
if not os.path.exists(data_path + '/interactions.pickle') or force_collect:
os.makedirs(data_path, exist_ok=True)
wid = generator.width
print("Collecting Data")
collect_interactions(data_path,
tasks,
10,
stride=1,
size=(wid, wid),
static=static)
with open(data_path + '/interactions.pickle', 'rb') as fs:
X = T.tensor(pickle.load(fs), dtype=T.float)
with open(data_path + '/info.pickle', 'rb') as fs:
info = pickle.load(fs)
tasklist = info['tasks']
positions = info['pos']
orig_actions = info['action']
print('loaded dataset with shape:', X.shape)
#data_set = T.utils.data.TensorDataset(X)
#data_loader = T.utils.data.DataLoader(data_set, batch_size=BATCH_SIZE, shuffle=False)
# Sim SETUP
print('Succesfull collection for tasks:\n', tasklist)
eval_setup = 'ball_within_template'
sim = phyre.initialize_simulator(tasklist, 'ball')
eva = phyre.Evaluator(tasklist)
# Solve Loop
error = np.zeros((X.shape[0], 3))
generator.eval()
solved, tried = 0, 0
for i, task in enumerate(tasklist):
# generate 'fake'
noise = T.randn(1, generator.noise_dim)
with T.no_grad():
fake = generator((X[i, :generator.s_chan])[None], noise)[0, 0]
#action = np.array(pic_to_action_vector(fake, r_fac=1.8))
action = np.array(pic_to_action_vector(fake.numpy(), r_fac=1))
raw_action = action.copy()
# PROCESS ACTION
print(action, 'raw')
# shift by half to get relative position
action[:2] -= 0.5
# multiply by half because extracted scope is already half of the scene
action[:2] *= 0.5
# multiply by 4 because action value is always 4*diameter -> 8*radius, but scope is already halfed -> 8*0.5*radius
action[2] *= 4
# finetuning
action[2] *= 1.0
print(action, 'relativ')
pos = positions[i]
print(pos)
action[:2] += pos
print(action, 'added')
res = sim.simulate_action(i, action, need_featurized_objects=True)
# Noisy tries while invalid actions
t = 0
temp = 1
base_action = action
while res.status.is_invalid() and t < 200:
t += 1
action = base_action + (np.random.rand(3) - 0.5) * 0.01 * temp
res = sim.simulate_action(i, action, need_featurized_objects=False)
temp *= 1.01
print(action, 'final action')
# Check for and log Solves
if not res.status.is_invalid():
tried += 1
if res.status.is_solved():
solved += 1
print(orig_actions[i], 'orig action')
print(task, "solved", res.status.is_solved())
error[i] = orig_actions[i] - base_action
# Visualization
if show:
x, y, d = np.round(raw_action * fake.shape[0])
y = fake.shape[0] - y
print(x, y, d)
def generate_crosses(points):
xx = []
yy = []
for x, y in points:
xx.extend([x, x + 1, x - 1, x, x])
yy.extend([y, y, y, y + 1, y - 1])
return xx, yy
xx, yy = [
x, (x + d) if (x + d) < fake.shape[0] - 1 else 62, x - d, x, x
], [
y, y, y, (y + d) if (y + d) < fake.shape[0] - 1 else 62, y - d
]
xx, yy = generate_crosses(zip(xx, yy))
fake[yy, xx] = 0.5
os.makedirs(f'result/cgan_solver/vector_extractions',
exist_ok=True)
plt.imsave(f'result/cgan_solver/vector_extractions/{i}.png', fake)
if not res.status.is_invalid():
os.makedirs(f'result/cgan_solver/scenes', exist_ok=True)
plt.imsave(f'result/cgan_solver/scenes/{i}.png',
res.images[0, ::-1])
else:
print("invalid")
plt.imshow(
phyre.observations_to_float_rgb(sim.initial_scenes[i]))
plt.show()
print("solving percentage:", solved / tried, 'overall:', tried)
print("mean x error:", np.mean(error[:, 0]), 'mean x abs error:',
np.mean(np.abs(error[:, 0])))
print("mean y error:", np.mean(error[:, 1]), 'mean y abs error:',
np.mean(np.abs(error[:, 1])))
print("mean r error:", np.mean(error[:, 2]), 'mean r abs error:',
np.mean(np.abs(error[:, 2])))
def real_eval(cls, cache, model, trainer, actions_per_task, task_ids, tier,
max_attempts_per_task, cfg):
# Parameters
if cfg.eval.batch_size:
eval_batch_size = cfg.eval.batch_size
else:
eval_batch_size = cfg.train.batch_size * cfg.eval.bs_multiplier
# Since scaling the eval batch size by this, should scale down the
# workers for training, since the memory might blow up
cfg.eval.data_loader.num_workers = max(
16,
cfg.train.data_loader.num_workers // cfg.eval.bs_multiplier)
logging.warning('Scaling down eval workers to %d',
cfg.eval.data_loader.num_workers)
assert eval_batch_size % cfg.num_gpus == 0, 'Otherwise will error'
model.cuda()
# Not passing in the drop_objs here, since this simulator is only
# used for evaluation
simulator = phyre.initialize_simulator(task_ids, tier)
assert tuple(task_ids) == simulator.task_ids
# New evaluation code only does 1 prediction no matter length of rollout
evaluator = EvaluatorWrapper(simulator, task_ids, 1,
max_attempts_per_task)
if cfg.eval.store_vis:
# Subselect actions that are diverse (some solve, others don't)
# And keep a small subset of actions, not too many
# eval_batch_size = 4 # What I typically visualize for
# store_vis_nsamples = max(cfg.eval.store_vis_nsamples,
# eval_batch_size)
# Make this consistent, to keep numbers always consistent
store_vis_nsamples = cfg.eval.store_vis_nsamples
actions_override = None
if cfg.eval.store_vis_actions is not None:
actions_override = np.array(
cls.read_actions_override(cfg.eval.store_vis_actions))
eval_batch_size = len(actions_override)
task_indices = []
actions = []
# Running separately to be able to match the set that was used
# in before multi-worker testing
for task_index, task_id in enumerate(
tqdm.tqdm(task_ids, 'gen-ing task IDs for vis')):
if actions_override is not None:
this_actions = actions_override
else:
_, _, this_actions, _, _ = (
neural_agent.create_balanced_eval_set(
cache, [task_id], store_vis_nsamples, cfg.tier))
actions.append(this_actions)
task_indices += [task_index] * len(this_actions)
task_indices = np.array(task_indices)
actions = np.concatenate(actions, axis=0)
else:
task_indices = np.repeat(np.arange(len(task_ids)),
len(actions_per_task))
actions = np.concatenate([actions_per_task] * len(task_ids),
axis=0)
logging.info('Ranking %d actions and simulating top %d',
len(actions) // len(task_ids), max_attempts_per_task)
assert len(task_indices) == len(actions)
if cfg.train.data_loader.fwd_model.use_obj_fwd_model:
obj_fwd_model = obj_fwd_agent.ObjTrainer.gen_model(cfg)
if cfg.train.data_loader.fwd_model.weights is not None:
obj_fwd_model = trainer.load_agent_from_folder(
obj_fwd_model, cfg.train.data_loader.fwd_model.weights)
obj_fwd_model = obj_fwd_model.module.cpu()
else:
obj_fwd_model = None
dataset = PhyreDataset(
tier,
task_ids,
task_indices,
# This info not needed for test case
torch.LongTensor([0] * len(task_indices)),
actions,
cfg.simulator,
mode='test',
balance_classes=False,
hard_negatives=False,
init_clip_ratio_to_sim=cfg.eval.init_clip_ratio_to_sim,
init_frames_to_sim=cfg.eval.init_frames_to_sim,
frames_per_clip=cfg.eval.frames_per_clip,
n_hist_frames=cfg.eval.n_hist_frames,
drop_objs=cfg.eval.drop_objs,
obj_fwd_model=obj_fwd_model,
)
# res_actions may be different from actions since the last batch
# might be smaller than the others, and we might end up dropping it
res_scores, res_actions, res_indices, res_pixel_accs = (
trainer.eval_actions(model, dataset, len(actions), eval_batch_size,
cfg))
for task_index, _ in enumerate(task_ids):
mask = (res_indices == task_index)
# When store_vis, the actions are selected differently, so this
# assertion would not hold
assert (cfg.eval.store_vis
or (np.sum(mask) == (len(actions) // len(task_ids))))
if np.sum(mask) == 0:
logging.warning('Missing task %s from evaluation!',
task_ids[task_index])
continue
# statuses = cache.load_simulation_states(task_id)
evaluator.wrapper_add_scores(task_index, res_scores[:, mask],
res_actions[mask])
# # Order of descending scores.
# action_order = np.argsort(-scores)
cls.print_pixel_accs_summary([res_pixel_accs],
cfg.phyre_movable_channels)
return evaluator
def solve(model, model2, save_images=False):
tasks = [
'00000:001', '00000:002', '00000:003', '00000:004', '00000:005',
'00001:001', '00001:002', '00001:003', '00001:004', '00001:005',
'00002:007', '00002:011', '00002:015', '00002:017', '00002:023',
'00003:000', '00003:001', '00003:002', '00003:003', '00003:004',
'00004:063', '00004:071', '00004:092', '00004:094', '00004:095'
]
tasks = json.load(open("most_tasks.txt", 'r'))
eval_setup = 'ball_within_template'
fold_id = 0 # For simplicity, we will just use one fold for evaluation.
train_tasks, dev_tasks, test_tasks = phyre.get_fold(eval_setup, fold_id)
print('Size of resulting splits:\n train:', len(train_tasks), '\n dev:',
len(dev_tasks), '\n test:', len(test_tasks))
tasks = train_tasks[:]
print("tasks:\n", tasks)
sim = phyre.initialize_simulator(tasks, 'ball')
init_scenes = sim.initial_scenes
X = T.tensor(format(init_scenes)).float()
print("Init Scenes Shape:\n", X.shape)
base_path = []
action_path = []
for i, t in enumerate(tasks):
while True:
action = sim.sample(i)
action[2] = 0.01
res = sim.simulate_action(i, action, stride=20)
if type(res.images) != type(None):
base_path.append(rollouts_to_channel([res.images], 2))
action_path.append(rollouts_to_channel([res.images], 1))
break
base_path = T.tensor(np.concatenate(base_path)).float()
action_path = T.tensor(np.concatenate(base_path)).float()
with T.no_grad():
Z = model(X)
A = model2(T.cat((X[:, 1:], base_path[:, None], Z), dim=1))
#B = model3(T.cat((X[:,1:], Y[:,None,2], Z, A), dim=1))
#B = extract_action(A, inspect=-2 if save_images else -1)
B = extract_action(action_path[:, None], inspect=-2 if save_images else -1)
# Saving Images:
if save_images:
for inspect in range(len(X)):
plt.imsave(
f"result/flownet/{inspect}_init.png",
T.cat(tuple(
T.cat((sub, T.ones(32, 1) * 0.5), dim=1)
for sub in X[inspect]),
dim=1))
plt.imsave(f"result/flownet/{inspect}_base.png",
base_path[inspect])
plt.imsave(f"result/flownet/{inspect}_target.png", Z[inspect, 0])
#plt.imsave(f"result/flownet/{inspect}_init_scene.png", np.flip(batch[inspect][0], axis=0))
plt.imsave(f"result/flownet/{inspect}_action.png", A[inspect, 0])
plt.imsave(f"result/flownet/{inspect}_selection.png", B[inspect,
0])
gen_actions = []
for b in B[:, 0]:
gen_actions.append(pic_to_values(b))
print(gen_actions)
# Feed actions into simulator
eva = phyre.Evaluator(tasks)
solved, valid, comb = dict(), dict(), dict()
for i, t in enumerate(tasks):
if not (t[:5] in comb):
comb[t[:5]] = 0
valid[t[:5]] = 0
solved[t[:5]] = 0
base_action = gen_actions[i]
# Random Agent Intercept:
#action = sim.sample()
res = sim.simulate_action(i, base_action)
tries = 0
alpha = 1
# 100 Tries Max:
while eva.get_attempts_for_task(i) < 100:
if not res.status.is_solved():
action = np.array(base_action) + np.random.randn(3) * np.array(
[0.1, 0.1, 0.1]) * alpha
res = sim.simulate_action(i, action)
subtries = 0
while subtries < 100 and res.status.is_invalid():
subtries += 1
action_var = np.array(action) + np.random.randn(
3) * np.array([0.05, 0.05, 0.05]) * alpha
res = sim.simulate_action(i, action_var)
eva.maybe_log_attempt(i, res.status)
alpha *= 1.01
else:
eva.maybe_log_attempt(i, res.status)
tries += 1
if save_images:
try:
for k, img in enumerate(res.images):
plt.imsave(f"result/flownet/{i}_{k}.png",
np.flip(img, axis=0))
pass
except Exception:
pass
#print(i, t, res.status.is_solved(), not res.status.is_invalid())
comb[t[:5]] = comb[t[:5]] + 1
if not res.status.is_invalid():
valid[t[:5]] = valid[t[:5]] + 1
if res.status.is_solved():
solved[t[:5]] = solved[t[:5]] + 1
# Prepare Plotting
print(eva.compute_all_metrics())
print(eva.get_auccess())
spacing = [1, 2, 3, 4]
fig, ax = plt.subplots(5, 5, sharey=True, sharex=True)
for i, t in enumerate(comb):
ax[i // 5, i % 5].bar(spacing, [
solved[t[:5]] /
(valid[t[:5]] if valid[t[:5]] else 1), solved[t[:5]] / comb[t[:5]],
valid[t[:5]] / comb[t[:5]], comb[t[:5]] / 100
])
ax[i // 5, i % 5].set_xlabel(t[:5])
plt.show()
distance_map = 255 * distance_map / (img.shape[0] * 2)
distance_map[distance_map > 255.] = 255.
distance_map = 255. - distance_map
return distance_map
# improve/debug time-step selection for injection
# implement 5 random positions at the goal object
# take into account grey obstacles
# run the benchmark with stats on compute on GPU cluster
if __name__ == "__main__":
x = 42
y = 42
sim = phyre.initialize_simulator(['00002:017'], "ball")
# img = cv2.imread('maze.png') # read image
init_scene = sim.initial_scenes[0]
img = phyre.observations_to_float_rgb(init_scene) # read image
img = cv2.resize(img, (64, 64))
print(img)
cv2.imwrite('00002_017_scene.png', img * 255)
target = np.flip((init_scene == 4), axis=0).astype(float)
target = cv2.resize(target, (64, 64))
# cv2.imwrite('maze-initial.png', img)
distance_map = find_distance_map_obj(img, target)
#distance_map[y-1, x] = 0.
#distance_map[y, x] = 0.
#distance_map[y+1, x] = 0.
#distance_map[y, x-1] = 0.
#distance_map[y, x+1] = 0.
