def _write_map_files(b_in, b_out, transform):
cats = get_categories()
env = utils.Foo(padding=10, resolution=5, num_point_threshold=2,
valid_min=-10, valid_max=200, n_samples_per_face=200)
robot = utils.Foo(radius=15, base=10, height=140, sensor_height=120,
camera_elevation_degree=-15)
building_loader = factory.get_dataset('sbpd')
for flip in [False, True]:
b = nav_env.Building(b_out, robot, env, flip=flip,
building_loader=building_loader)
logging.info("building_in: %s, building_out: %s, transform: %d", b_in,
b_out, transform)
maps = _get_semantic_maps(b_in, transform, b.map, flip, cats)
maps = np.transpose(np.array(maps), axes=[1,2,0])
# Load file from the cache.
file_name = '{:s}_{:d}_{:d}_{:d}_{:d}_{:d}_{:d}.pkl'
file_name = file_name.format(b.building_name, b.map.size[0], b.map.size[1],
b.map.origin[0], b.map.origin[1],
b.map.resolution, flip)
out_file = os.path.join(DATA_DIR, 'processing', 'class-maps', file_name)
logging.info('Writing semantic maps to %s.', out_file)
save_variables(out_file, [maps, cats], ['maps', 'cats'], overwrite=True)
def get_default_cmp_args():
batch_norm_param = {'center': True, 'scale': True,
'activation_fn':tf.nn.relu}
mapper_arch_args = utils.Foo(
dim_reduce_neurons=64,
fc_neurons=[1024, 1024],
fc_out_size=8,
fc_out_neurons=64,
encoder='resnet_v2_50',
deconv_neurons=[64, 32, 16, 8, 4, 2],
deconv_strides=[2, 2, 2, 2, 2, 2],
deconv_layers_per_block=2,
deconv_kernel_size=4,
fc_dropout=0.5,
combine_type='wt_avg_logits',
batch_norm_param=batch_norm_param)
readout_maps_arch_args = utils.Foo(
num_neurons=[],
strides=[],
kernel_size=None,
layers_per_block=None)
arch_args = utils.Foo(
vin_val_neurons=8, vin_action_neurons=8, vin_ks=3, vin_share_wts=False,
pred_neurons=[64, 64], pred_batch_norm_param=batch_norm_param,
conv_on_value_map=0, fr_neurons=16, fr_ver='v2', fr_inside_neurons=64,
fr_stride=1, crop_remove_each=30, value_crop_size=4,
action_sample_type='sample', action_sample_combine_type='one_or_other',
sample_gt_prob_type='inverse_sigmoid_decay', dagger_sample_bn_false=True,
vin_num_iters=36, isd_k=750., use_agent_loc=False, multi_scale=True,
readout_maps=False, rom_arch=readout_maps_arch_args)
return arch_args, mapper_arch_args
def get_default_args():
summary_args = utils.Foo(display_interval=1, test_iters=26,
arop_full_summary_iters=14)
control_args = utils.Foo(train=False, test=False,
force_batchnorm_is_training_at_test=False,
reset_rng_seed=False, only_eval_when_done=False,
test_mode=None)
return summary_args, control_args
def get_solver_vars(solver_str):
if solver_str == '': vals = [];
else: vals = solver_str.split('_')
ks = ['clip', 'dlw', 'long', 'typ', 'isdk', 'adam_eps', 'init_lr'];
ks = ks[:len(vals)]
# Gradient clipping or not.
if len(vals) == 0: ks.append('clip'); vals.append('noclip');
# data loss weight.
if len(vals) == 1: ks.append('dlw'); vals.append('dlw20')
# how long to train for.
if len(vals) == 2: ks.append('long'); vals.append('nolong')
# Adam
if len(vals) == 3: ks.append('typ'); vals.append('adam2')
# reg loss wt
if len(vals) == 4: ks.append('rlw'); vals.append('rlw1')
# isd_k
if len(vals) == 5: ks.append('isdk'); vals.append('isdk415') # 415, inflexion at 2.5k.
# adam eps
if len(vals) == 6: ks.append('adam_eps'); vals.append('aeps1en8')
# init lr
if len(vals) == 7: ks.append('init_lr'); vals.append('lr1en3')
assert(len(vals) == 8)
vars = utils.Foo()
for k, v in zip(ks, vals):
setattr(vars, k, v)
LOGGING.error('solver_vars: %s', vars)
return vars
def process_arch_projected_map(args, arch_vars):
# Single scale vision based system which does not use a mapper but instead
# uses an analytically estimated map.
ds = int(arch_vars.var3[2])
args.navtask.task_params.input_type = 'analytical_counts'
args.navtask.task_params.outputs.analytical_counts = True
assert(args.navtask.task_params.modalities[0] == 'depth')
args.navtask.camera_param.img_channels = None
analytical_counts = utils.Foo(map_sizes=[512/ds],
xy_resolution=[5.*ds],
z_bins=[[-10, 10, 150, 200]],
non_linearity=[arch_vars.var2])
args.navtask.task_params.analytical_counts = analytical_counts
sc = 1./ds
args.arch.vin_num_iters = 36
args.navtask.task_params.map_scales = [sc]
args.navtask.task_params.map_crop_sizes = [512/ds]
args.arch.fr_stride = [1,2]
args.arch.vin_action_neurons = 8
args.arch.vin_val_neurons = 3
args.arch.fr_inside_neurons = 32
map_channels = len(analytical_counts.z_bins[0]) + 1
args.navtask.task_params.map_channels = map_channels
args.solver.freeze_conv = False
return args
def get_camera_matrix(width, height, fov):
"""Returns a camera matrix from image size and fov."""
xc = (width - 1.) / 2.
zc = (height - 1.) / 2.
f = (width / 2.) / np.tan(np.deg2rad(fov / 2.))
camera_matrix = utils.Foo(xc=xc, zc=zc, f=f)
return camera_matrix
def get_args_for_config(config_name):
args = utils.Foo()
args.summary, args.control = get_default_args()
exp_name, mode_str = config_name.split('+')
arch_str, solver_str, navtask_str = exp_name.split('.')
logging.error('config_name: %s', config_name)
logging.error('arch_str: %s', arch_str)
logging.error('navtask_str: %s', navtask_str)
logging.error('solver_str: %s', solver_str)
logging.error('mode_str: %s', mode_str)
args.solver = cc.process_solver_str(solver_str)
args.navtask = cc.process_navtask_str(navtask_str)
args = process_arch_str(args, arch_str)
args.arch.isd_k = args.solver.isd_k
# Train, test, etc.
mode, imset = mode_str.split('_')
args = cc.adjust_args_for_mode(args, mode)
args.navtask.building_names = args.navtask.dataset.get_split(imset)
args.control.test_name = '{:s}_on_{:s}'.format(mode, imset)
# Log the arguments
logging.error('%s', args)
return args
def get_default_baseline_args():
batch_norm_param = {
'center': True,
'scale': True,
'activation_fn': tf.nn.relu
}
arch_args = utils.Foo(pred_neurons=[],
goal_embed_neurons=[],
img_embed_neurons=[],
batch_norm_param=batch_norm_param,
dim_reduce_neurons=64,
combine_type='',
encoder='resnet_v2_50',
action_sample_type='sample',
action_sample_combine_type='one_or_other',
sample_gt_prob_type='inverse_sigmoid_decay',
dagger_sample_bn_false=True,
isd_k=750.,
use_visit_count=False,
lstm_output=False,
lstm_ego=False,
lstm_img=False,
fc_dropout=0.0,
embed_goal_for_state=False,
lstm_output_init_state_from_goal=False)
return arch_args
def __init__(self, env_name, env_kwargs, trainer_kwargs, other_kwargs,
logdir):
self.env_name = env_name
self.env_kwargs = env_kwargs
self.trainer_kwargs = trainer_kwargs
self.other_kwargs = other_kwargs
self.env_train = gym.make(env_name)
self.env_val = gym.make(env_name)
if type(env_kwargs) == list:
self.env_train.configure(env_kwargs)
self.env_val.configure(env_kwargs)
else:
self.env_train.configure(purpose='training', **env_kwargs)
self.env_val.configure(purpose='test', **env_kwargs)
self.pi = lambda *x, **y: _dqn_policy([512, 512, 512],
cnn_model=self.trainer_kwargs[
'cnn_model'],
env=self.env_train,
*x,
**y)
self.logdir = logdir
utils.mkdir_if_missing(self.logdir)
utils.mkdir_if_missing(os.path.join(logdir, 'val'))
self.logging = utils.Foo()
self.logging.writer_val = \
tf.summary.FileWriter(os.path.join(logdir, 'val'), flush_secs=20)
self.iter = 0
def _setup_args(config_name, logdir):
configs, mode_str = config_name.split('+')
configs = configs.split('.')
arch_str, solver_str, navi_str = configs[0], configs[1], configs[2]
args = utils.Foo()
args.logdir = logdir
args.solver = cfg.setup_args_solver(solver_str)
args.navi = cfg.setup_args_navi(navi_str)
args = cfg.setup_args_arch(args, arch_str)
args.summary, args.control = cfg.setup_args_sum_ctrl()
args.solver.num_workers = FLAGS.num_workers
args.solver.task = FLAGS.task
args.solver.seed = FLAGS.solver_seed
args.solver.sample_gt_prob_type = FLAGS.sample_gt_action_prob_type
if mode_str == "test_bench":
args = cfg.setup_smyctl(args, mode_str)
elif mode_str == "train_train":
args.control.train = True
args.setup_to_run = planner.setup_to_run
args.setup_train_step_kwargs = tf_utils.setup_train_step_kwargs
return args
def get_arch_vars(arch_str):
if arch_str == '':
vals = []
else:
vals = arch_str.split('_')
ks = ['var1', 'var2', 'var3']
ks = ks[:len(vals)]
# Exp Ver.
if len(vals) == 0:
ks.append('var1')
vals.append('v0')
# custom arch.
if len(vals) == 1:
ks.append('var2')
vals.append('')
# map scape for projection baseline.
if len(vals) == 2:
ks.append('var3')
vals.append('fr2')
assert (len(vals) == 3)
vars = utils.Foo()
for k, v in zip(ks, vals):
setattr(vars, k, v)
logging.error('arch_vars: %s', vars)
return vars
def make_map(padding, resolution, vertex=None, sc=1.):
"""Returns a map structure."""
min_, max_ = _get_xy_bounding_box(vertex*sc, padding=padding)
sz = np.ceil((max_ - min_ + 1) / resolution).astype(np.int32)
max_ = min_ + sz * resolution - 1
map = utils.Foo(origin=min_, size=sz, max=max_, resolution=resolution,
padding=padding)
return map
def _train(args):
container_name = ""
R = lambda: nav_env.get_multiplexer_class(args.navtask, args.solver.task)
m = utils.Foo()
m.tf_graph = tf.Graph()
config = tf.ConfigProto()
config.device_count['GPU'] = 1
with m.tf_graph.as_default():
with tf.device(
tf.train.replica_device_setter(args.solver.ps_tasks,
merge_devices=True)):
with tf.container(container_name):
m = args.setup_to_run(m,
args,
is_training=True,
batch_norm_is_training=True,
summary_mode='train')
train_step_kwargs = args.setup_train_step_kwargs(
m,
R(),
os.path.join(args.logdir, 'train'),
rng_seed=args.solver.task,
is_chief=args.solver.task == 0,
num_steps=args.navtask.task_params.num_steps *
args.navtask.task_params.num_goals,
iters=1,
train_display_interval=args.summary.display_interval,
dagger_sample_bn_false=args.arch.dagger_sample_bn_false)
delay_start = (
args.solver.task *
(args.solver.task + 1)) / 2 * FLAGS.delay_start_iters
logging.error('delaying start for task %d by %d steps.',
args.solver.task, delay_start)
additional_args = {}
final_loss = slim.learning.train(
train_op=m.train_op,
logdir=args.logdir,
master=args.solver.master,
is_chief=args.solver.task == 0,
number_of_steps=args.solver.max_steps,
train_step_fn=tf_utils.train_step_custom_online_sampling,
train_step_kwargs=train_step_kwargs,
global_step=m.global_step_op,
init_op=m.init_op,
init_fn=m.init_fn,
sync_optimizer=m.sync_optimizer,
saver=m.saver_op,
startup_delay_steps=delay_start,
summary_op=None,
session_config=config,
**additional_args)
def _train(args):
agent = navi_env.Environment('5cf0e1e9493994e483e985c436b9d3bc', args.navi)
Z = utils.Foo()
Z.tf_graph = tf.Graph()
config = tf.ConfigProto()
config.device_count['GPU'] = 1
with Z.tf_graph.as_default():
with tf.device(
tf.train.replica_device_setter(args.solver.ps_tasks,
merge_devices=True)):
with tf.container("planner"):
Z = args.setup_to_run(Z,
args,
is_training=True,
batch_norm_is_training=True,
summary_mode='train')
train_step_kwargs = args.setup_train_step_kwargs(
Z,
agent,
os.path.join(args.logdir, 'train'),
rng_seed=args.solver.rng_seed,
is_chief=args.solver.rng_seed == 0,
num_steps=args.navi.num_steps * args.navi.num_goals,
iters=1,
train_display_interval=args.summary.display_interval,
dagger_sample_bn_false=args.solver.dagger_sample_bn_false)
delay_start = (args.solver.task *
(args.solver.task + 1)) / 2 * DELAY_START_ITERS
logging.info('delaying start for task %d by %d steps.',
args.solver.task, delay_start)
additional_args = {}
final_loss = slim.learning.train(
train_op=Z.train_op,
logdir=args.logdir,
is_chief=args.solver.task == 0,
number_of_steps=args.solver.max_steps,
train_step_fn=tf_utils.train_step_fn,
train_step_kwargs=train_step_kwargs,
master=args.solver.master,
global_step=Z.global_step_op,
init_op=Z.init_op,
init_fn=Z.init_fn,
sync_optimizer=Z.sync_optimizer,
saver=Z.saver_op,
save_summaries_secs=5000,
save_interval_secs=5000,
startup_delay_steps=delay_start,
summary_op=None,
session_config=config,
**additional_args)
def adjust_args_for_mode(args, mode):
if mode == 'train':
args.control.train = True
elif mode == 'val1':
# Same settings as for training, to make sure nothing wonky is happening
# there.
args.control.test = True
args.control.test_mode = 'val'
args.navtask.task_params.batch_size = 32
elif mode == 'val2':
# No data augmentation, not sampling but taking the argmax action, not
# sampling from the ground truth at all.
args.control.test = True
args.arch.action_sample_type = 'argmax'
args.arch.sample_gt_prob_type = 'zero'
args.navtask.task_params.data_augment = \
utils.Foo(lr_flip=0, delta_angle=0, delta_xy=0, relight=False,
relight_fast=False, structured=False)
args.control.test_mode = 'val'
args.navtask.task_params.batch_size = 32
elif mode == 'bench':
# Actually testing the agent in settings that are kept same between
# different runs.
args.navtask.task_params.batch_size = 16
args.control.test = True
args.arch.action_sample_type = 'argmax'
args.arch.sample_gt_prob_type = 'zero'
args.navtask.task_params.data_augment = \
utils.Foo(lr_flip=0, delta_angle=0, delta_xy=0, relight=False,
relight_fast=False, structured=False)
args.summary.test_iters = 250
args.control.only_eval_when_done = True
args.control.reset_rng_seed = True
args.control.test_mode = 'test'
else:
logging.fatal('Unknown mode: %s.', mode)
assert (False)
return args
def get_navtask_vars(navtask_str):
if navtask_str == '':
vals = []
else:
vals = navtask_str.split('_')
ks_all = ['dataset_name', 'modality', 'task', 'history', 'max_dist',
'num_steps', 'step_size', 'n_ori', 'aux_views', 'data_aug']
ks = ks_all[:len(vals)]
# All data or not.
if len(vals) == 0: ks.append('dataset_name'); vals.append('sbpd')
# modality
if len(vals) == 1: ks.append('modality'); vals.append('rgb')
# semantic task?
if len(vals) == 2: ks.append('task'); vals.append('r2r')
# number of history frames.
if len(vals) == 3: ks.append('history'); vals.append('h0')
# max steps
if len(vals) == 4: ks.append('max_dist'); vals.append('32')
# num steps
if len(vals) == 5: ks.append('num_steps'); vals.append('40')
# step size
if len(vals) == 6: ks.append('step_size'); vals.append('8')
# n_ori
if len(vals) == 7: ks.append('n_ori'); vals.append('4')
# Auxiliary views.
if len(vals) == 8: ks.append('aux_views'); vals.append('nv0')
# Normal data augmentation as opposed to structured data augmentation (if set
# to straug.
if len(vals) == 9: ks.append('data_aug'); vals.append('straug')
assert (len(vals) == 10)
for i in range(len(ks)):
assert (ks[i] == ks_all[i])
vars = utils.Foo()
for k, v in zip(ks, vals):
setattr(vars, k, v)
logging.error('navtask_vars: %s', vals)
return vars
def get_arch_vars(arch_str):
if arch_str == '': vals = []
else: vals = arch_str.split('_')
ks = ['ver', 'lstm_dim', 'dropout']
# Exp Ver
if len(vals) == 0: vals.append('v0')
# LSTM dimentsions
if len(vals) == 1: vals.append('lstm2048')
# Dropout
if len(vals) == 2: vals.append('noDO')
assert (len(vals) == 3)
vars = utils.Foo()
for k, v in zip(ks, vals):
setattr(vars, k, v)
logging.error('arch_vars: %s', vars)
return vars
def configure(self, purpose, method_name, graph_n, edges_n, n_init_a,
threshold_q, num_seeds, reward_version, seed,
graph_obs_version):
self.purpose = purpose
self.T = num_seeds #number of people the agent can seed (max horizon for an episode)
self.seed = seed
self.rng = np.random.RandomState(self.seed)
self.params = utils.Foo(method_name=method_name,
graph_n=graph_n,
edges_n=edges_n,
threshold_q=threshold_q,
reward_version=reward_version,
n_init_a=n_init_a,
graph_obs_version=graph_obs_version)
#setup observation and action spaces
self.obs_sizes = (graph_n**2, graph_n, 2)
self.observation_space = spaces.Box(low=-np.inf,
high=np.inf,
shape=(np.sum(self.obs_sizes), ))
self.action_space = spaces.Discrete(graph_n)
self.num_actions = graph_n
def __init__(self, env_name, env_kwargs, trainer_kwargs, other_kwargs,
logdir):
self.env_name = env_name
self.env_kwargs = env_kwargs
self.trainer_kwargs = trainer_kwargs
self.other_kwargs = other_kwargs
self.env_train = gym.make(env_name)
self.env_val = gym.make(env_name)
if type(env_kwargs) == list:
self.env_train.configure(env_kwargs)
self.env_val.configure(env_kwargs)
else:
self.env_train.configure(purpose='training', **env_kwargs)
self.env_val.configure(purpose='test', **env_kwargs)
self.pi = lambda obs: _greedy_policy(obs, self.env_val)
self.logdir = logdir
utils.mkdir_if_missing(self.logdir)
utils.mkdir_if_missing(os.path.join(logdir, 'val'))
self.logging = utils.Foo()
self.logging.writer_val = \
tf.summary.FileWriter(os.path.join(logdir, 'val'), flush_secs=20)
def get_default_args():
robot = utils.Foo(radius=15,
base=10,
height=140,
sensor_height=120,
camera_elevation_degree=-15)
camera_param = utils.Foo(width=225,
height=225,
z_near=0.05,
z_far=20.0,
fov=60.,
modalities=['rgb', 'depth'])
env = utils.Foo(padding=10,
resolution=5,
num_point_threshold=2,
valid_min=-10,
valid_max=200,
n_samples_per_face=200)
data_augment = utils.Foo(lr_flip=0,
delta_angle=1,
delta_xy=4,
relight=False,
relight_fast=False,
structured=False)
task_params = utils.Foo(num_actions=4,
step_size=4,
num_steps=0,
batch_size=32,
room_seed=0,
base_class='Building',
task='mapping',
n_ori=6,
data_augment=data_augment,
output_transform_to_global_map=False,
output_canonical_map=False,
output_incremental_transform=False,
output_free_space=False,
move_type='shortest_path',
toy_problem=0)
buildinger_args = utils.Foo(
building_names=['area1_gates_wingA_floor1_westpart'],
env_class=None,
robot=robot,
task_params=task_params,
env=env,
camera_param=camera_param)
solver_args = utils.Foo(seed=0,
learning_rate_decay=0.1,
clip_gradient_norm=0,
max_steps=120000,
initial_learning_rate=0.001,
momentum=0.99,
steps_per_decay=40000,
logdir=None,
sync=False,
adjust_lr_sync=True,
wt_decay=0.0001,
data_loss_wt=1.0,
reg_loss_wt=1.0,
num_workers=1,
task=0,
ps_tasks=0,
master='local')
summary_args = utils.Foo(display_interval=1, test_iters=100)
control_args = utils.Foo(train=False,
test=False,
force_batchnorm_is_training_at_test=False)
arch_args = utils.Foo(rgb_encoder='resnet_v2_50', d_encoder='resnet_v2_50')
return utils.Foo(solver=solver_args,
summary=summary_args,
control=control_args,
arch=arch_args,
buildinger=buildinger_args)
def process_solver_str(solver_str):
solver = utils.Foo(seed=0,
learning_rate_decay=None,
clip_gradient_norm=None,
max_steps=None,
initial_learning_rate=None,
momentum=None,
steps_per_decay=None,
logdir=None,
sync=False,
adjust_lr_sync=True,
wt_decay=0.0001,
data_loss_wt=None,
reg_loss_wt=None,
freeze_conv=True,
num_workers=1,
task=0,
ps_tasks=0,
master='local',
typ=None,
momentum2=None,
adam_eps=None)
# Clobber with overrides from solver str.
solver_vars = get_solver_vars(solver_str)
solver.data_loss_wt = float(solver_vars.dlw[3:].replace('x', '.'))
solver.adam_eps = float(solver_vars.adam_eps[4:].replace('x', '.').replace(
'n', '-'))
solver.initial_learning_rate = float(solver_vars.init_lr[2:].replace(
'x', '.').replace('n', '-'))
solver.reg_loss_wt = float(solver_vars.rlw[3:].replace('x', '.'))
solver.isd_k = float(solver_vars.isdk[4:].replace('x', '.'))
long = solver_vars.long
if long == 'long':
solver.steps_per_decay = 40000
solver.max_steps = 120000
elif long == 'long2':
solver.steps_per_decay = 80000
solver.max_steps = 120000
elif long == 'nolong' or long == 'nol':
solver.steps_per_decay = 20000
solver.max_steps = 60000
else:
logging.fatal('solver_vars.long should be long, long2, nolong or nol.')
assert (False)
clip = solver_vars.clip
if clip == 'noclip' or clip == 'nocl':
solver.clip_gradient_norm = 0
elif clip[:4] == 'clip':
solver.clip_gradient_norm = float(clip[4:].replace('x', '.'))
else:
logging.fatal('Unknown solver_vars.clip: %s', clip)
assert (False)
typ = solver_vars.typ
if typ == 'adam':
solver.typ = 'adam'
solver.momentum = 0.9
solver.momentum2 = 0.999
solver.learning_rate_decay = 1.0
elif typ == 'adam2':
solver.typ = 'adam'
solver.momentum = 0.9
solver.momentum2 = 0.999
solver.learning_rate_decay = 0.1
elif typ == 'sgd':
solver.typ = 'sgd'
solver.momentum = 0.99
solver.momentum2 = None
solver.learning_rate_decay = 0.1
else:
logging.fatal('Unknown solver_vars.typ: %s', typ)
assert (False)
logging.error('solver: %s', solver)
return solver
def _train(args):
#pdb.set_trace()
container_name = ""
#tmp setting TRI
args.solver.max_steps = 500000
args.solver.steps_per_decay = 50000
args.solver.initial_learning_rate = 1e-8
args.navtask.task_params.batch_size = 32
#pdb.set_trace()
R = lambda: nav_env.get_multiplexer_class(args.navtask, args.solver.task)
m = utils.Foo()
m_cloned = utils.Foo()
m.tf_graph = tf.Graph()
#Tri
#add a cloned building object for checking the exploration result during training
#m.cloned_obj = R()
m.batch_size = args.navtask.task_params.batch_size
m.train_type = 1
m.suffle = False
m.is_first_step = True
m.save_pic_step = 10000
m.save_pic_count = 0
m.save_reward_step = 500
m.save_reward_count = 0
m.is_main = True
m_cloned.is_main = False
config = tf.ConfigProto()
config.device_count['GPU'] = 1
with m.tf_graph.as_default():
with tf.device(
tf.train.replica_device_setter(args.solver.ps_tasks,
merge_devices=True)):
with tf.container(container_name):
#pdb.set_trace()
m = args.setup_to_run(m,
args,
is_training=True,
batch_norm_is_training=True,
summary_mode='train')
#pdb.set_trace()
#with tf.name_scope('cloned'):
m_cloned.x = m.x
m_cloned.vars_to_restore = m.vars_to_restore
m_cloned.batch_norm_is_training_op = m.batch_norm_is_training_op
m_cloned.input_tensors = m.input_tensors
with tf.variable_scope('cloned'):
m_cloned = args.setup_to_run(m_cloned,
args,
is_training=True,
batch_norm_is_training=True,
summary_mode='train')
#pdb.set_trace()
clonemodel(m, m_cloned)
set_copying_ops(m)
m.init_op = tf.group(tf.global_variables_initializer(),
tf.local_variables_initializer())
m.saver_op = tf.train.Saver(keep_checkpoint_every_n_hours=6,
write_version=tf.train.SaverDef.V2)
#with tf.Session() as sess:
# sess.run(m.init_op)
#pdb.set_trace()
train_step_kwargs = args.setup_train_step_kwargs(
m,
R(),
os.path.join(args.logdir, 'train'),
rng_seed=args.solver.task,
is_chief=args.solver.task == 0,
num_steps=args.navtask.task_params.num_steps *
args.navtask.task_params.num_goals,
iters=1,
train_display_interval=args.summary.display_interval,
dagger_sample_bn_false=args.arch.dagger_sample_bn_false)
#pdb.set_trace()
delay_start = (
args.solver.task *
(args.solver.task + 1)) / 2 * FLAGS.delay_start_iters
logging.error('delaying start for task %d by %d steps.',
args.solver.task, delay_start)
#Tri
#clonemodel(m)
#set_copying_ops(m)
#set_tmp_params(m)
#generating data for testing the learning process during training
#obj = train_step_kwargs['obj']
rng_data = train_step_kwargs['rng_data']
#m.e1 = obj.sample_env(rng_data)
#m.init_env_state1 = m.e1.reset(rng_data)
#m.e2 = obj.sample_env(rng_data)
#m.init_env_state2 = m.e2.reset(rng_data)
m.rng_data = deepcopy(rng_data)
#pdb.set_trace()
additional_args = {}
final_loss = slim.learning.train(
train_op=m.train_op,
logdir=args.logdir,
master=args.solver.master,
is_chief=args.solver.task == 0,
number_of_steps=args.solver.max_steps,
train_step_fn=tf_utils.train_step_custom_online_sampling,
train_step_kwargs=train_step_kwargs,
global_step=m.global_step_op,
init_op=m.init_op,
init_fn=m.init_fn,
sync_optimizer=m.sync_optimizer,
saver=m.saver_op,
startup_delay_steps=delay_start,
summary_op=None,
session_config=config,
**additional_args)
def nav_env_base_config():
"""Returns the base config for stanford navigation environment.
Returns:
Base config for stanford navigation environment.
"""
robot = utils.Foo(radius=15,
base=10,
height=140,
sensor_height=120,
camera_elevation_degree=-15)
env = utils.Foo(padding=10,
resolution=5,
num_point_threshold=2,
valid_min=-10,
valid_max=200,
n_samples_per_face=200)
camera_param = utils.Foo(width=225,
height=225,
z_near=0.05,
z_far=20.0,
fov=60.,
modalities=['rgb'],
img_channels=3)
data_augment = utils.Foo(
lr_flip=0,
delta_angle=0.5,
delta_xy=4,
relight=True,
relight_fast=False,
structured=False
) # if True, uses the same perturb for the whole episode.
outputs = utils.Foo(images=True,
rel_goal_loc=False,
loc_on_map=True,
gt_dist_to_goal=True,
ego_maps=False,
ego_goal_imgs=False,
egomotion=False,
visit_count=False,
analytical_counts=False,
node_ids=True,
readout_maps=False)
# class_map_names=['board', 'chair', 'door', 'sofa', 'table']
class_map_names = ['chair', 'door', 'table']
semantic_task = utils.Foo(class_map_names=class_map_names,
pix_distance=16,
sampling='uniform')
# time per iteration for cmp is 0.82 seconds per episode with 3.4s overhead per batch.
task_params = utils.Foo(max_dist=32,
step_size=8,
num_steps=40,
num_actions=4,
batch_size=4,
building_seed=0,
num_goals=1,
img_height=None,
img_width=None,
img_channels=None,
modalities=None,
outputs=outputs,
map_scales=[1.],
map_crop_sizes=[64],
rel_goal_loc_dim=4,
base_class='Building',
task='map+plan',
n_ori=4,
type='room_to_room_many',
data_augment=data_augment,
room_regex='^((?!hallway).)*$',
toy_problem=False,
map_channels=1,
gt_coverage=False,
input_type='maps',
full_information=False,
aux_delta_thetas=[],
semantic_task=semantic_task,
num_history_frames=0,
node_ids_dim=1,
perturbs_dim=4,
map_resize_method='linear_noantialiasing',
readout_maps_channels=1,
readout_maps_scales=[],
readout_maps_crop_sizes=[],
n_views=1,
reward_time_penalty=0.1,
reward_at_goal=1.,
discount_factor=0.99,
rejection_sampling_M=100,
min_dist=None)
navtask_args = utils.Foo(
building_names=['area1_gates_wingA_floor1_westpart'],
env_class=nav_env.VisualNavigationEnv,
robot=robot,
task_params=task_params,
env=env,
camera_param=camera_param,
cache_rooms=True)
return navtask_args
def get_map_from_images(imgs, mapper_arch, task_params, freeze_conv, wt_decay,
is_training, batch_norm_is_training_op, num_maps,
split_maps=True):
# Hit image with a resnet.
n_views = len(task_params.aux_delta_thetas) + 1
out = utils.Foo()
images_reshaped = tf.reshape(imgs,
shape=[-1, task_params.img_height,
task_params.img_width,
task_params.img_channels], name='re_image')
x, out.vars_to_restore = get_repr_from_image(
images_reshaped, task_params.modalities, task_params.data_augment,
mapper_arch.encoder, freeze_conv, wt_decay, is_training)
# Reshape into nice things so that these can be accumulated over time steps
# for faster backprop.
sh_before = x.get_shape().as_list()
out.encoder_output = tf.reshape(x, shape=[task_params.batch_size, -1, n_views] + sh_before[1:])
x = tf.reshape(out.encoder_output, shape=[-1] + sh_before[1:])
# Add a layer to reduce dimensions for a fc layer.
if mapper_arch.dim_reduce_neurons > 0:
ks = 1; neurons = mapper_arch.dim_reduce_neurons;
init_var = np.sqrt(2.0/(ks**2)/neurons)
batch_norm_param = mapper_arch.batch_norm_param
batch_norm_param['is_training'] = batch_norm_is_training_op
out.conv_feat = slim.conv2d(x, neurons, kernel_size=ks, stride=1,
normalizer_fn=slim.batch_norm, normalizer_params=batch_norm_param,
padding='SAME', scope='dim_reduce',
weights_regularizer=slim.l2_regularizer(wt_decay),
weights_initializer=tf.random_normal_initializer(stddev=init_var))
reshape_conv_feat = slim.flatten(out.conv_feat)
sh = reshape_conv_feat.get_shape().as_list()
out.reshape_conv_feat = tf.reshape(reshape_conv_feat, shape=[-1, sh[1]*n_views])
with tf.variable_scope('fc'):
# Fully connected layers to compute the representation in top-view space.
fc_batch_norm_param = {'center': True, 'scale': True,
'activation_fn':tf.nn.relu,
'is_training': batch_norm_is_training_op}
f = out.reshape_conv_feat
out_neurons = (mapper_arch.fc_out_size**2)*mapper_arch.fc_out_neurons
neurons = mapper_arch.fc_neurons + [out_neurons]
f, _ = tf_utils.fc_network(f, neurons=neurons, wt_decay=wt_decay,
name='fc', offset=0,
batch_norm_param=fc_batch_norm_param,
is_training=is_training,
dropout_ratio=mapper_arch.fc_dropout)
f = tf.reshape(f, shape=[-1, mapper_arch.fc_out_size,
mapper_arch.fc_out_size,
mapper_arch.fc_out_neurons], name='re_fc')
# Use pool5 to predict the free space map via deconv layers.
with tf.variable_scope('deconv'):
x, outs = deconv(f, batch_norm_is_training_op, wt_decay=wt_decay,
neurons=mapper_arch.deconv_neurons,
strides=mapper_arch.deconv_strides,
layers_per_block=mapper_arch.deconv_layers_per_block,
kernel_size=mapper_arch.deconv_kernel_size,
conv_fn=slim.conv2d_transpose, offset=0, name='deconv')
# Reshape x the right way.
sh = x.get_shape().as_list()
x = tf.reshape(x, shape=[task_params.batch_size, -1] + sh[1:])
out.deconv_output = x
# Separate out the map and the confidence predictions, pass the confidence
# through a sigmoid.
if split_maps:
with tf.name_scope('split'):
out_all = tf.split(value=x, axis=4, num_or_size_splits=2*num_maps)
out.fss_logits = out_all[:num_maps]
out.confs_logits = out_all[num_maps:]
with tf.name_scope('sigmoid'):
out.confs_probs = [tf.nn.sigmoid(x) for x in out.confs_logits]
return out
def get_default_summary_ops():
return utils.Foo(summary_ops=None,
print_summary_ops=None,
additional_return_ops=[],
arop_summary_iters=[],
arop_eval_fns=[])
def main(_):
args = config_distill.get_args_for_config(FLAGS.config_name)
args.logdir = FLAGS.logdir
args.solver.num_workers = FLAGS.num_workers
args.solver.task = FLAGS.task
args.solver.ps_tasks = FLAGS.ps_tasks
args.solver.master = FLAGS.master
args.buildinger.env_class = nav_env.MeshMapper
fu.makedirs(args.logdir)
args.buildinger.logdir = args.logdir
R = nav_env.get_multiplexor_class(args.buildinger, args.solver.task)
if False:
pr = cProfile.Profile()
pr.enable()
rng = np.random.RandomState(0)
for i in range(1):
b, instances_perturbs = R.sample_building(rng)
inputs = b.worker(*(instances_perturbs))
for j in range(inputs['imgs'].shape[0]):
p = os.path.join('tmp', '{:d}.png'.format(j))
img = inputs['imgs'][j, 0, :, :, :3] * 1
img = (img).astype(np.uint8)
fu.write_image(p, img)
print(inputs['imgs'].shape)
inputs = R.pre(inputs)
pr.disable()
pr.print_stats(2)
if args.control.train:
if not gfile.Exists(args.logdir):
gfile.MakeDirs(args.logdir)
m = utils.Foo()
m.tf_graph = tf.Graph()
config = tf.ConfigProto()
config.device_count['GPU'] = 1
config.gpu_options.allow_growth = True
config.gpu_options.per_process_gpu_memory_fraction = 0.8
with m.tf_graph.as_default():
with tf.device(tf.train.replica_device_setter(
args.solver.ps_tasks)):
m = distill.setup_to_run(m,
args,
is_training=True,
batch_norm_is_training=True)
train_step_kwargs = distill.setup_train_step_kwargs_mesh(
m,
R,
os.path.join(args.logdir, 'train_bkp'),
rng_seed=args.solver.task,
is_chief=args.solver.task == 0,
iters=1,
train_display_interval=args.summary.display_interval)
final_loss = slim.learning.train(
train_op=m.train_op,
logdir=args.logdir,
master=args.solver.master,
is_chief=args.solver.task == 0,
number_of_steps=args.solver.max_steps,
train_step_fn=tf_utils.train_step_custom,
train_step_kwargs=train_step_kwargs,
global_step=m.global_step_op,
init_op=m.init_op,
init_fn=m.init_fn,
sync_optimizer=m.sync_optimizer,
saver=m.saver_op,
summary_op=None,
session_config=config)
if args.control.test:
m = utils.Foo()
m.tf_graph = tf.Graph()
checkpoint_dir = os.path.join(format(args.logdir))
with m.tf_graph.as_default():
m = distill.setup_to_run(m,
args,
is_training=False,
batch_norm_is_training=args.control.
force_batchnorm_is_training_at_test)
train_step_kwargs = distill.setup_train_step_kwargs_mesh(
m,
R,
os.path.join(args.logdir, args.control.test_name),
rng_seed=args.solver.task + 1,
is_chief=args.solver.task == 0,
iters=args.summary.test_iters,
train_display_interval=None)
sv = slim.learning.supervisor.Supervisor(
graph=ops.get_default_graph(),
logdir=None,
init_op=m.init_op,
summary_op=None,
summary_writer=None,
global_step=None,
saver=m.saver_op)
last_checkpoint = None
while True:
last_checkpoint = slim.evaluation.wait_for_new_checkpoint(
checkpoint_dir, last_checkpoint)
checkpoint_iter = int(
os.path.basename(last_checkpoint).split('-')[1])
start = time.time()
logging.info(
'Starting evaluation at %s using checkpoint %s.',
time.strftime('%Y-%m-%d-%H:%M:%S', time.localtime()),
last_checkpoint)
config = tf.ConfigProto()
config.device_count['GPU'] = 1
config.gpu_options.allow_growth = True
config.gpu_options.per_process_gpu_memory_fraction = 0.8
with sv.managed_session(args.solver.master,
config=config,
start_standard_services=False) as sess:
sess.run(m.init_op)
sv.saver.restore(sess, last_checkpoint)
sv.start_queue_runners(sess)
vals, _ = tf_utils.train_step_custom(sess,
None,
m.global_step_op,
train_step_kwargs,
mode='val')
if checkpoint_iter >= args.solver.max_steps:
break
def _test(args):
args.solver.master = ''
container_name = ""
checkpoint_dir = os.path.join(format(args.logdir))
logging.error('Checkpoint_dir: %s', args.logdir)
config = tf.ConfigProto()
config.device_count['GPU'] = 1
m = utils.Foo()
m.tf_graph = tf.Graph()
rng_data_seed = 0
rng_action_seed = 0
R = lambda: nav_env.get_multiplexer_class(args.navtask, rng_data_seed)
with m.tf_graph.as_default():
with tf.container(container_name):
m = args.setup_to_run(m,
args,
is_training=False,
batch_norm_is_training=args.control.
force_batchnorm_is_training_at_test,
summary_mode=args.control.test_mode)
train_step_kwargs = args.setup_train_step_kwargs(
m,
R(),
os.path.join(args.logdir, args.control.test_name),
rng_seed=rng_data_seed,
is_chief=True,
num_steps=args.navtask.task_params.num_steps *
args.navtask.task_params.num_goals,
iters=args.summary.test_iters,
train_display_interval=None,
dagger_sample_bn_false=args.arch.dagger_sample_bn_false)
saver = slim.learning.tf_saver.Saver(
variables.get_variables_to_restore())
sv = slim.learning.supervisor.Supervisor(
graph=ops.get_default_graph(),
logdir=None,
init_op=m.init_op,
summary_op=None,
summary_writer=None,
global_step=None,
saver=m.saver_op)
last_checkpoint = None
reported = False
while True:
last_checkpoint_ = None
while last_checkpoint_ is None:
last_checkpoint_ = slim.evaluation.wait_for_new_checkpoint(
checkpoint_dir,
last_checkpoint,
seconds_to_sleep=10,
timeout=60)
if last_checkpoint_ is None: break
last_checkpoint = last_checkpoint_
checkpoint_iter = int(
os.path.basename(last_checkpoint).split('-')[1])
logging.info(
'Starting evaluation at %s using checkpoint %s.',
time.strftime('%Y-%m-%d-%H:%M:%S', time.localtime()),
last_checkpoint)
if (args.control.only_eval_when_done == False
or checkpoint_iter >= args.solver.max_steps):
start = time.time()
logging.info(
'Starting evaluation at %s using checkpoint %s.',
time.strftime('%Y-%m-%d-%H:%M:%S', time.localtime()),
last_checkpoint)
with sv.managed_session(
args.solver.master,
config=config,
start_standard_services=False) as sess:
sess.run(m.init_op)
sv.saver.restore(sess, last_checkpoint)
sv.start_queue_runners(sess)
if args.control.reset_rng_seed:
train_step_kwargs['rng_data'] = [
np.random.RandomState(rng_data_seed),
np.random.RandomState(rng_data_seed)
]
train_step_kwargs[
'rng_action'] = np.random.RandomState(
rng_action_seed)
vals, _ = tf_utils.train_step_custom_online_sampling(
sess,
None,
m.global_step_op,
train_step_kwargs,
mode=args.control.test_mode)
should_stop = False
if checkpoint_iter >= args.solver.max_steps:
should_stop = True
if should_stop:
break
def _test(args):
# Give checkpoint directory
container_name = ""
checkpoint_dir = os.path.join(format(args.logdir))
logging.error('Checkpoint_dir: %s', args.logdir)
# Load Agent
agent = navi_env.Environment('5cf0e1e9493994e483e985c436b9d3bc', args.navi)
# Add Configure
config = tf.compat.v1.ConfigProto()
config.device_count['GPU'] = 1
Z = utils.Foo()
Z.tf_graph = tf.Graph()
with Z.tf_graph.as_default():
with tf.compat.v1.container(container_name):
Z = args.setup_to_run(Z,
args,
is_training=False,
batch_norm_is_training=args.control.
force_batchnorm_is_training_at_test,
summary_mode=args.control.test_mode)
train_step_kwargs = args.setup_train_step_kwargs(
Z,
agent,
os.path.join(args.logdir, args.control.test_name),
rng_seed=1008,
is_chief=True,
num_steps=args.navi.num_steps * args.navi.num_goals,
iters=args.summary.test_iters,
train_display_interval=None,
dagger_sample_bn_false=args.solver.dagger_sample_bn_false)
saver = slim.learning.tf_saver.Saver(
variables.get_variables_to_restore())
sv = slim.learning.supervisor.Supervisor(
graph=ops.get_default_graph(),
logdir=None,
init_op=Z.init_op,
summary_op=None,
summary_writer=None,
global_step=None,
saver=Z.saver_op)
last_checkpoint = None
# reported = False
while True:
last_checkpoint_ = None
while last_checkpoint_ is None:
last_checkpoint_ = slim.evaluation.wait_for_new_checkpoint(
checkpoint_dir,
last_checkpoint,
seconds_to_sleep=10,
timeout=60)
if last_checkpoint_ is None:
break
last_checkpoint = last_checkpoint_
checkpoint_iter = int(
os.path.basename(last_checkpoint).split('-')[1])
logging.info(
'Starting evaluation at %s using checkpoint %s.',
time.strftime('%Y-%Z-%d-%H:%Z:%S', time.localtime()),
last_checkpoint)
if (not args.control.only_eval_when_done
or checkpoint_iter >= args.solver.max_steps):
# start = time.time()
logging.info(
'Starting evaluation at %s using checkpoint %s.',
time.strftime('%Y-%Z-%d-%H:%Z:%S', time.localtime()),
last_checkpoint)
with sv.managed_session(
args.solver.master,
config=config,
start_standard_services=False) as sess:
sess.run(Z.init_op)
sv.saver.restore(sess, last_checkpoint)
sv.start_queue_runners(sess)
if args.control.reset_rng_seed:
train_step_kwargs['rng_data'] = [
np.random.RandomState(1008),
np.random.RandomState(1008)
]
train_step_kwargs[
'rng_action'] = np.random.RandomState(1008)
vals, _ = tf_utils.train_step_fn(
sess,
None,
Z.global_step_op,
train_step_kwargs,
mode=args.control.test_mode)
should_stop = False
if checkpoint_iter >= args.solver.max_steps:
should_stop = True
if should_stop:
break