def get_obs(obs):
obs_im = process_image(obs["im"])
if args.encoder_type == "rgb+map":
obs_lm = process_image(obs["coarse_occupancy"])
obs_sm = process_image(obs["fine_occupancy"])
else:
obs_lm = None
obs_sm = None
return obs_im, obs_sm, obs_lm
# Processing environment inputs
obs_im = get_obs(obs) # (num_processes, 3, 84, 84)
obs_odometer = process_odometer(obs["delta"]) # (num_processes, 4)
# Convert mm to m for AVD
if "avd" in args.env_name:
obs_odometer[:, :2] /= 1000.0
# ============== Target poses and corresponding images ================
# NOTE - these are constant throughout the episode.
# (num_processes * num_pose_refs, 3) --- (y, x, t)
tgt_poses = process_odometer(flatten_two(obs["pose_regress"]))[:, :3]
tgt_poses = unflatten_two(tgt_poses, NPROC, NREF) # (N, nRef, 3)
tgt_masks = obs["valid_masks"].unsqueeze(2) # (N, nRef, 1)
# Convert mm to m for AVD
if "avd" in args.env_name:
tgt_poses[:, :, :2] /= 1000.0
tgt_ims = process_image(flatten_two(obs["pose_refs"])) # (N*nRef, C, H, W)
# Initialize the memory of rollouts
rollouts.reset()
with torch.no_grad():
obs_feat = feature_network(obs_im) # (N, 2048)
tgt_feat = feature_network(tgt_ims) # (N*nRef, 2048)
# Compute similarity scores with all other clusters
obs_feat = torch.matmul(obs_feat, cluster_centroids.t()) # (N, nclusters)
tgt_feat = torch.matmul(
tgt_feat, cluster_centroids.t()
) # (N*nRef, nclusters)
tgt_feat = unflatten_two(tgt_feat, NPROC, NREF) # (N, nRef, nclusters)
rollouts.obs_feats[0].copy_(obs_feat)
rollouts.obs_odometer[0].copy_(obs_odometer)
rollouts.tgt_poses.copy_(tgt_poses)
rollouts.tgt_feats.copy_(tgt_feat)
def get_obs(obs):
obs_im = process_image(obs["im"])
return obs_im
def main():
torch.set_num_threads(1)
device = torch.device("cuda:0" if args.cuda else "cpu")
ndevices = torch.cuda.device_count()
# Setup loggers
tbwriter = SummaryWriter(log_dir=args.log_dir)
logging.basicConfig(filename=f"{args.log_dir}/train_log.txt",
level=logging.DEBUG)
logging.getLogger().addHandler(logging.StreamHandler(sys.stdout))
logging.getLogger().setLevel(logging.INFO)
if "habitat" in args.env_name:
devices = [
int(dev) for dev in os.environ["CUDA_VISIBLE_DEVICES"].split(",")
]
# Devices need to be indexed between 0 to N-1
devices = [dev for dev in range(len(devices))]
envs = make_vec_envs_habitat(args.habitat_config_file,
device,
devices,
seed=args.seed)
else:
train_log_dir = os.path.join(args.log_dir, "train_monitor")
try:
os.makedirs(train_log_dir)
except OSError:
pass
envs = make_vec_envs_avd(
args.env_name,
args.seed,
args.num_processes,
train_log_dir,
device,
True,
num_frame_stack=1,
split="train",
nRef=args.num_pose_refs,
)
args.feat_shape_sim = (512, )
args.obs_shape = envs.observation_space.spaces["im"].shape
args.odometer_shape = (4, ) # (delta_y, delta_x, delta_head, delta_elev)
# =================== Load clusters =================
clusters_h5 = h5py.File(args.clusters_path, "r")
cluster_centroids = torch.Tensor(np.array(
clusters_h5["cluster_centroids"])).to(device)
cluster_centroids_t = cluster_centroids.t()
args.nclusters = cluster_centroids.shape[0]
clusters2images = {}
for i in range(args.nclusters):
cluster_images = np.array(
clusters_h5[f"cluster_{i}/images"]) # (K, C, H, W) torch Tensor
cluster_images = rearrange(cluster_images, "k c h w -> k h w c")
cluster_images = (cluster_images * 255.0).astype(np.uint8)
clusters2images[i] = cluster_images # (K, H, W, C)
clusters_h5.close()
# =================== Create models ====================
decoder = FeatureReconstructionModule(
args.nclusters,
args.nclusters,
nlayers=args.n_transformer_layers,
)
feature_network = FeatureNetwork()
pose_encoder = PoseEncoder()
encoder = RGBEncoder() if args.encoder_type == "rgb" else MapRGBEncoder()
action_config = ({
"nactions": envs.action_space.n,
"embedding_size": args.action_embedding_size
} if args.use_action_embedding else None)
collision_config = ({
"collision_dim": 2,
"embedding_size": args.collision_embedding_size
} if args.use_collision_embedding else None)
actor_critic = Policy(
envs.action_space,
base_kwargs={
"feat_dim": args.feat_shape_sim[0],
"recurrent": True,
"hidden_size": args.feat_shape_sim[0],
"action_config": action_config,
"collision_config": collision_config,
},
)
# =================== Load models ====================
decoder_state, pose_encoder_state = torch.load(args.load_path_rec)[:2]
# Remove DataParallel related strings
new_decoder_state, new_pose_encoder_state = {}, {}
for k, v in decoder_state.items():
new_decoder_state[k.replace("module.", "")] = v
for k, v in pose_encoder_state.items():
new_pose_encoder_state[k.replace("module.", "")] = v
decoder.load_state_dict(new_decoder_state)
pose_encoder.load_state_dict(new_pose_encoder_state)
decoder = nn.DataParallel(decoder, dim=1)
pose_encoder = nn.DataParallel(pose_encoder, dim=0)
save_path = os.path.join(args.save_dir, "checkpoints")
checkpoint_path = os.path.join(save_path, "ckpt.latest.pth")
if os.path.isfile(checkpoint_path):
print("Resuming from old model!")
loaded_states = torch.load(checkpoint_path)
encoder_state, actor_critic_state, j_start = loaded_states
encoder.load_state_dict(encoder_state)
actor_critic.load_state_dict(actor_critic_state)
elif args.pretrained_il_model != "":
logging.info("Initializing with pre-trained model!")
encoder_state, actor_critic_state, _ = torch.load(
args.pretrained_il_model)
actor_critic.load_state_dict(actor_critic_state)
encoder.load_state_dict(encoder_state)
j_start = -1
else:
j_start = -1
encoder.to(device)
actor_critic.to(device)
decoder.to(device)
feature_network.to(device)
pose_encoder.to(device)
encoder.train()
actor_critic.train()
# decoder, feature_network, pose_encoder are frozen during policy training
decoder.eval()
feature_network.eval()
pose_encoder.eval()
# =================== Define RL training algorithm ====================
rl_algo_config = {}
rl_algo_config["lr"] = args.lr
rl_algo_config["eps"] = args.eps
rl_algo_config["encoder_type"] = args.encoder_type
rl_algo_config["max_grad_norm"] = args.max_grad_norm
rl_algo_config["clip_param"] = args.clip_param
rl_algo_config["ppo_epoch"] = args.ppo_epoch
rl_algo_config["entropy_coef"] = args.entropy_coef
rl_algo_config["num_mini_batch"] = args.num_mini_batch
rl_algo_config["value_loss_coef"] = args.value_loss_coef
rl_algo_config["use_clipped_value_loss"] = False
rl_algo_config["nactions"] = envs.action_space.n
rl_algo_config["encoder"] = encoder
rl_algo_config["actor_critic"] = actor_critic
rl_algo_config["use_action_embedding"] = args.use_action_embedding
rl_algo_config["use_collision_embedding"] = args.use_collision_embedding
rl_agent = PPO(rl_algo_config)
# =================== Define rollouts ====================
rollouts_recon = RolloutStorageReconstruction(
args.num_steps,
args.num_processes,
(args.nclusters, ),
args.odometer_shape,
args.num_pose_refs,
)
rollouts_policy = RolloutStoragePPO(
args.num_rl_steps,
args.num_processes,
args.obs_shape,
envs.action_space,
args.feat_shape_sim[0],
encoder_type=args.encoder_type,
)
rollouts_recon.to(device)
rollouts_policy.to(device)
def get_obs(obs):
obs_im = process_image(obs["im"])
if args.encoder_type == "rgb+map":
obs_lm = process_image(obs["coarse_occupancy"])
obs_sm = process_image(obs["fine_occupancy"])
else:
obs_lm = None
obs_sm = None
return obs_im, obs_sm, obs_lm
start = time.time()
NPROC = args.num_processes
NREF = args.num_pose_refs
for j in range(j_start + 1, num_updates):
# =================== Start a new episode ====================
obs = envs.reset()
# Processing environment inputs
obs_im, obs_sm, obs_lm = get_obs(obs) # (num_processes, 3, 84, 84)
obs_odometer = process_odometer(obs["delta"]) # (num_processes, 4)
# Convert mm to m for AVD
if "avd" in args.env_name:
obs_odometer[:, :2] /= 1000.0
obs_collns = obs["collisions"].long() # (num_processes, 1)
# ============== Target poses and corresponding images ================
# NOTE - these are constant throughout the episode.
# (num_processes * num_pose_refs, 3) --- (y, x, t)
tgt_poses = process_odometer(flatten_two(obs["pose_regress"]))[:, :3]
tgt_poses = unflatten_two(tgt_poses, NPROC, NREF) # (N, nRef, 3)
tgt_masks = obs["valid_masks"].unsqueeze(2) # (N, nRef, 1)
# Convert mm to m for AVD
if "avd" in args.env_name:
tgt_poses[:, :, :2] /= 1000.0
tgt_ims = process_image(flatten_two(
obs["pose_refs"])) # (N*nRef, C, H, W)
# Initialize the memory of rollouts for reconstruction
rollouts_recon.reset()
with torch.no_grad():
obs_feat = feature_network(obs_im) # (N, 2048)
tgt_feat = feature_network(tgt_ims) # (N*nRef, 2048)
# Compute similarity scores with all other clusters
obs_feat = torch.matmul(obs_feat,
cluster_centroids_t) # (N, nclusters)
tgt_feat = torch.matmul(tgt_feat,
cluster_centroids_t) # (N*nRef, nclusters)
tgt_feat = unflatten_two(tgt_feat, NPROC, NREF) # (N, nRef, nclusters)
rollouts_recon.obs_feats[0].copy_(obs_feat)
rollouts_recon.obs_odometer[0].copy_(obs_odometer)
rollouts_recon.tgt_poses.copy_(tgt_poses)
rollouts_recon.tgt_feats.copy_(tgt_feat)
rollouts_recon.tgt_masks.copy_(tgt_masks)
# Initialize the memory of rollouts for policy
rollouts_policy.reset()
rollouts_policy.obs_im[0].copy_(obs_im)
if args.encoder_type == "rgb+map":
rollouts_policy.obs_sm[0].copy_(obs_sm)
rollouts_policy.obs_lm[0].copy_(obs_lm)
rollouts_policy.collisions[0].copy_(obs_collns)
# Episode statistics
episode_expl_rewards = np.zeros((NPROC, 1))
episode_collisions = np.zeros((NPROC, 1))
episode_rec_rewards = np.zeros((NPROC, 1))
episode_collisions += obs_collns.cpu().numpy()
# Metrics
osr_tracker = [0.0 for _ in range(NPROC)]
objects_tracker = [0.0 for _ in range(NPROC)]
area_tracker = [0.0 for _ in range(NPROC)]
novelty_tracker = [0.0 for _ in range(NPROC)]
smooth_coverage_tracker = [0.0 for _ in range(NPROC)]
per_proc_area = [0.0 for _ in range(NPROC)]
# Other states
prev_action = torch.zeros(NPROC, 1).long().to(device)
prev_collision = rollouts_policy.collisions[0]
rec_reward_interval = args.rec_reward_interval
prev_rec_rewards = torch.zeros(NPROC, 1) # (N, 1)
prev_rec_rewards = prev_rec_rewards.to(device)
rec_rewards_at_t0 = None
# ================= Update over a full batch of episodes =================
# num_steps must be total number of steps in each episode
for step in range(args.num_steps):
pstep = rollouts_policy.step
with torch.no_grad():
encoder_inputs = [rollouts_policy.obs_im[pstep]]
if args.encoder_type == "rgb+map":
encoder_inputs.append(rollouts_policy.obs_sm[pstep])
encoder_inputs.append(rollouts_policy.obs_lm[pstep])
obs_feats = encoder(*encoder_inputs)
policy_inputs = {"features": obs_feats}
if args.use_action_embedding:
policy_inputs["actions"] = prev_action.long()
if args.use_collision_embedding:
policy_inputs["collisions"] = prev_collision.long()
policy_outputs = actor_critic.act(
policy_inputs,
rollouts_policy.recurrent_hidden_states[pstep],
rollouts_policy.masks[pstep],
)
(
value,
action,
action_log_probs,
recurrent_hidden_states,
) = policy_outputs
# Act, get reward and next obs
obs, reward, done, infos = envs.step(action)
# Processing environment inputs
obs_im, obs_sm, obs_lm = get_obs(obs) # (num_processes, 3, 84, 84)
obs_odometer = process_odometer(obs["delta"]) # (num_processes, 4)
if "avd" in args.env_name:
obs_odometer[:, :2] /= 1000.0
obs_collns = obs["collisions"] # (N, 1)
with torch.no_grad():
obs_feat = feature_network(obs_im)
# Compute similarity scores with all other clusters
obs_feat = torch.matmul(obs_feat,
cluster_centroids_t) # (N, nclusters)
# Always set masks to 1 (since this loop happens within one episode)
masks = torch.FloatTensor([[1.0] for _ in range(NPROC)]).to(device)
# Accumulate odometer readings to give relative pose from the starting point
obs_odometer = rollouts_recon.obs_odometer[
step] * masks + obs_odometer
# Update rollouts_recon
rollouts_recon.insert(obs_feat, obs_odometer)
# Compute the exploration rewards
reward_exploration = torch.zeros(NPROC, 1) # (N, 1)
for proc in range(NPROC):
seen_area = float(infos[proc]["seen_area"])
objects_visited = infos[proc].get("num_objects_visited", 0.0)
oracle_success = float(infos[proc]["oracle_pose_success"])
novelty_reward = infos[proc].get("count_based_reward", 0.0)
smooth_coverage_reward = infos[proc].get(
"coverage_novelty_reward", 0.0)
area_reward = seen_area - area_tracker[proc]
objects_reward = objects_visited - objects_tracker[proc]
landmarks_reward = oracle_success - osr_tracker[proc]
collision_reward = -obs_collns[proc, 0].item()
area_tracker[proc] = seen_area
objects_tracker[proc] = objects_visited
osr_tracker[proc] = oracle_success
per_proc_area[proc] = seen_area
novelty_tracker[proc] += novelty_reward
smooth_coverage_tracker[proc] += smooth_coverage_reward
# Compute reconstruction rewards
if (step + 1) % rec_reward_interval == 0 or step == 0:
rec_rewards = compute_reconstruction_rewards(
rollouts_recon.obs_feats[:(step + 1)],
rollouts_recon.obs_odometer[:(step + 1), :, :3],
rollouts_recon.tgt_feats,
rollouts_recon.tgt_poses,
cluster_centroids_t,
decoder,
pose_encoder,
).detach() # (N, nRef)
rec_rewards = rec_rewards * tgt_masks.squeeze(2) # (N, nRef)
rec_rewards = rec_rewards.sum(dim=1).unsqueeze(
1) # / (tgt_masks.sum(dim=1) + 1e-8)
final_rec_rewards = rec_rewards - prev_rec_rewards
# if step == 0:
# print(
# "==============================================================="
# )
# Ignore the exploration reward at T=0 since it will be a huge spike
if (("avd" in args.env_name) and
(step != 0)) or (("habitat" in args.env_name) and
(step > 20)):
# print(
# "Rec rewards[0]: {:.2f}".format(final_rec_rewards[0, 0].item())
# )
reward_exploration += (final_rec_rewards.cpu() *
args.rec_reward_scale)
episode_rec_rewards += final_rec_rewards.cpu().numpy()
prev_rec_rewards = rec_rewards
overall_reward = (reward * (1 - args.reward_scale) +
reward_exploration * args.reward_scale)
# Update statistics
episode_expl_rewards += reward_exploration.numpy(
) * args.reward_scale
# Update rollouts_policy
rollouts_policy.insert(
obs_im,
obs_sm,
obs_lm,
recurrent_hidden_states,
action,
action_log_probs,
value,
overall_reward,
masks,
obs_collns,
)
# Update prev values
prev_collision = obs_collns
prev_action = action
episode_collisions += obs_collns.cpu().numpy()
# Update RL policy
if (step + 1) % args.num_rl_steps == 0:
# Update value function for last step
with torch.no_grad():
encoder_inputs = [rollouts_policy.obs_im[-1]]
if args.encoder_type == "rgb+map":
encoder_inputs.append(rollouts_policy.obs_sm[-1])
encoder_inputs.append(rollouts_policy.obs_lm[-1])
obs_feats = encoder(*encoder_inputs)
policy_inputs = {"features": obs_feats}
if args.use_action_embedding:
policy_inputs["actions"] = prev_action.long()
if args.use_collision_embedding:
policy_inputs["collisions"] = prev_collision.long()
next_value = actor_critic.get_value(
policy_inputs,
rollouts_policy.recurrent_hidden_states[-1],
rollouts_policy.masks[-1],
).detach()
# Compute returns
rollouts_policy.compute_returns(next_value, args.use_gae,
args.gamma, args.tau)
# Update model
rl_losses = rl_agent.update(rollouts_policy)
# Refresh rollouts_policy
rollouts_policy.after_update()
# =================== Save model ====================
if (j + 1) % args.save_interval == 0 and args.save_dir != "":
save_path = f"{args.save_dir}/checkpoints"
try:
os.makedirs(save_path)
except OSError:
pass
encoder_state = encoder.state_dict()
actor_critic_state = actor_critic.state_dict()
torch.save(
[encoder_state, actor_critic_state, j],
f"{save_path}/ckpt.latest.pth",
)
if args.save_unique:
torch.save(
[encoder_state, actor_critic_state, j],
f"{save_path}/ckpt.{(j+1):07d}.pth",
)
# =================== Logging data ====================
total_num_steps = (j + 1 - j_start) * NPROC * args.num_steps
if j % args.log_interval == 0:
end = time.time()
fps = int(total_num_steps / (end - start))
print(f"===> Updates {j}, #steps {total_num_steps}, FPS {fps}")
train_metrics = rl_losses
train_metrics["exploration_rewards"] = (
np.mean(episode_expl_rewards) * rec_reward_interval /
args.num_steps)
train_metrics["rec_rewards"] = (np.mean(episode_rec_rewards) *
rec_reward_interval /
args.num_steps)
train_metrics["area_covered"] = np.mean(per_proc_area)
train_metrics["objects_covered"] = np.mean(objects_tracker)
train_metrics["landmarks_covered"] = np.mean(osr_tracker)
train_metrics["collisions"] = np.mean(episode_collisions)
train_metrics["novelty_rewards"] = np.mean(novelty_tracker)
train_metrics["smooth_coverage_rewards"] = np.mean(
smooth_coverage_tracker)
for k, v in train_metrics.items():
print(f"{k}: {v:.3f}")
tbwriter.add_scalar(f"train_metrics/{k}", v, j)
# =================== Evaluate models ====================
if args.eval_interval is not None and (j +
1) % args.eval_interval == 0:
if "habitat" in args.env_name:
devices = [
int(dev)
for dev in os.environ["CUDA_VISIBLE_DEVICES"].split(",")
]
# Devices need to be indexed between 0 to N-1
devices = [dev for dev in range(len(devices))]
eval_envs = make_vec_envs_habitat(
args.eval_habitat_config_file, device, devices)
else:
eval_envs = make_vec_envs_avd(
args.env_name,
args.seed + 12,
12,
eval_log_dir,
device,
True,
split="val",
nRef=NREF,
set_return_topdown_map=True,
)
num_eval_episodes = 16 if "habitat" in args.env_name else 30
eval_config = {}
eval_config["num_steps"] = args.num_steps
eval_config["feat_shape_sim"] = args.feat_shape_sim
eval_config[
"num_processes"] = 1 if "habitat" in args.env_name else 12
eval_config["odometer_shape"] = args.odometer_shape
eval_config["num_eval_episodes"] = num_eval_episodes
eval_config["num_pose_refs"] = NREF
eval_config["env_name"] = args.env_name
eval_config["actor_type"] = "learned_policy"
eval_config["encoder_type"] = args.encoder_type
eval_config["use_action_embedding"] = args.use_action_embedding
eval_config[
"use_collision_embedding"] = args.use_collision_embedding
eval_config["cluster_centroids"] = cluster_centroids
eval_config["clusters2images"] = clusters2images
eval_config["rec_loss_fn"] = rec_loss_fn_classify
eval_config[
"vis_save_dir"] = f"{args.save_dir}/policy_vis/update_{(j+1):05d}"
models = {}
models["decoder"] = decoder
models["pose_encoder"] = pose_encoder
models["feature_network"] = feature_network
models["encoder"] = encoder
models["actor_critic"] = actor_critic
val_metrics, _ = evaluate_reconstruction(models, eval_envs,
eval_config, device)
decoder.eval()
pose_encoder.eval()
feature_network.eval()
actor_critic.train()
encoder.train()
for k, v in val_metrics.items():
tbwriter.add_scalar(f"val_metrics/{k}", v, j)
tbwriter.close()