def __init__(self):
# Create the window
self.w, self.h = config.WINDOW_WIDTH, config.WINDOW_HEIGHT
PygameMixin.__init__(self, size=(self.w, self.h), fill=((255,255,255)))
self.IMAGE_CACHE = ImageCache()
self._setup()
def __init__(self, scores, builder, page_entry):
self.page_entry = page_entry
self.page_num = 0
self.show_page_number()
self.page_count = len(scores)
self.scores = scores
self.builder = builder
self.cache = ImageCache(num_workers=16, max_cache_size=40)
self.update_page()
class Game(PygameMixin):
def __init__(self):
# Create the window
self.w, self.h = config.WINDOW_WIDTH, config.WINDOW_HEIGHT
PygameMixin.__init__(self, size=(self.w, self.h), fill=((255,255,255)))
self.IMAGE_CACHE = ImageCache()
self._setup()
def _setup(self):
self._load_resources()
level = Level(self.IMAGE_CACHE)
level.load("test", "test.txt")
self.background = level.draw()
self.screen.blit(self.background, (0, 0))
self.sprites = pygame.sprite.RenderUpdates()
self.player = Player(image=self.IMAGE_CACHE['sprites'], pos=level.player_spawn(), frame=(0, 1))
self.sprites.add(self.player)
pygame.display.flip()
def _load_resources(self):
# load all the tilesets and cache them
self.IMAGE_CACHE.add('sprites', os.path.join(config.TILESET_PATH, 'sprites.png'))
def update(self, dt):
self.update_control()
self.player.update()
self.sprites.update()
def draw(self):
self.sprites.clear(self.screen, self.background)
dirty = self.sprites.draw(self.screen)
pygame.display.update(dirty)
def update_control(self):
if self.key_pressed(pg.K_UP):
self.walk(0)
elif self.key_pressed(pg.K_DOWN):
self.walk(2)
elif self.key_pressed(pg.K_LEFT):
self.walk(3)
elif self.key_pressed(pg.K_RIGHT):
self.walk(1)
def walk(self, dir):
x, y = self.player.pos
self.player.dir = dir
self.player.walk_animation()
self.key_pressed(2)
class TestImageCache(unittest.TestCase):
def setUp(self):
self.ic = ImageCache()
def tearDown(self):
pass
def test_ic_construction(self):
self.assertIsInstance(self.ic, ImageCache)
def test_ic_get_table_name(self):
self.assertIsInstance(self.ic.get_table(), str)
def test_cache_size(self):
size_unit = 512
file_size = 2 * size_unit
limit = 7 * size_unit
max_files = 1 + int(limit /file_size)
cache = ImageCache(directory='test_cache', size_limit=limit)
assert(len(cache.cache_files()) == 0), "Cache not empty on creation"
for i in range(1, 2*max_files):
file_name = self.add_to_cache(cache, file_size)
files = cache.cache_files()
assert(len(files) == min(i, max_files)), "Cache not removing files"
assert(files[-1][0] == file_name), "Added file has wrong name"
assert(files[-1][1] == file_size), "Added file has wrong size"
assert(file_name not in [f[0] for f in files[:-1]]), "Added file name is not unique"
def __init__(self):
background_fill = (0, 0, 0)
self.w, self.h = config.WINDOW_WIDTH, config.WINDOW_HEIGHT
size = (self.w, self.h)
self.running = False
self.clock = pygame.time.Clock()
self.screen_size = size
self.slowmo = False
# Create the window
pygame.init()
self.window = pygame.display.set_mode(size)
self.window.fill(background_fill)
pygame.display.flip()
self.image_cache = ImageCache()
self._setup()
async def gen_database(path: str, fast: bool) -> None:
"""
Takes in a target directory and computes information about
the images contained therin
"""
ic = ImageCache(fast=fast)
await ic.gen_cache_from_directory(path)
report = {}
queries = {
#"all_data": "SELECT * FROM {};",
"image_types": "SELECT COUNT(DISTINCT img_type) FROM {};",
"total_images": "SELECT COUNT(*) FROM {};",
"average_size": "SELECT AVG(size) FROM {};",
"total_size": "SELECT SUM(size) FROM {};",
}
for k, v in queries.items():
rows = ic.query(v.format(ic.get_table()))
report[k] = rows[0][0]
# Get duplicate and ambiguous images
report['duplicates'] = ic.get_duplicates()
report['ambiguous'] = ic.get_ambiguous()
report["process_time"] = ic.processing_time
pp = pprint.PrettyPrinter(indent=2, compact=False)
pp.pprint(report)
logger.info("Completed database generation.")
logger.info(
f"Processed {ic.get_count()} images in {ic.processing_time} seconds.")
logger.info(f"Encountered {len(report['duplicates'])} duplicate images.")
tstamp = datetime.datetime.now().strftime("gen_database_%Y-%m-%d.json")
with open(tstamp, 'w') as fout:
fout.write(json.dumps(report))
logger.info(f"Report written to {tstamp}")
def main(arguments):
"""Main loop."""
EPOCHS = arguments.epochs
GPU = arguments.gpu
GPU_NUMBER = arguments.gpu_number
# TO_SAMPLE = arguments.sample
DATA_PATH = 'data/horse2zebra/'
tf.reset_default_graph()
if GPU == 1:
os.environ["CUDA_VISIBLE_DEVICES"]="{}".format(GPU_NUMBER)
os.environ["CUDA_DEVICE_ORDER"]="PCI_BUS_ID"
config = tf.ConfigProto(log_device_placement=True)
config.gpu_options.per_process_gpu_memory_fraction = 0.5 # pylint: disable=no-member
config.gpu_options.allow_growth = True # pylint: disable=no-member
sess = tf.Session(config=config)
else:
sess = tf.Session()
it_a, train_A = Images(DATA_PATH + '_trainA.tfrecords', name='trainA').feed()
it_b, train_B = Images(DATA_PATH + '_trainB.tfrecords', name='trainB').feed()
# it_at, test_A = Images(DATA_PATH + '_testA.tfrecords', name='test_a').feed()
# it_bt, test_B = Images(DATA_PATH + '_testB.tfrecords', name='test_b').feed()
gen_a_sample = tf.placeholder(tf.float32, [None, WIDTH, HEIGHT, CHANNEL], name="fake_a_sample")
gen_b_sample = tf.placeholder(tf.float32, [None, WIDTH, HEIGHT, CHANNEL], name="fake_b_sample")
learning_rate = tf.placeholder(tf.float32, shape=[], name="lr")
d_a_train_op, d_b_train_op, g_a_train_op, g_b_train_op, g1, g2 = \
build_model(train_A, train_B, gen_a_sample, gen_b_sample, learning_rate)
# testG1 = generator(test_A, name='g_a2b')
# testG2 = generator(test_B, name='g_b2a')
# testCycleA = generator(testG1, name='d_a')
# testCycleB = generator(testG2, name='d_b')
merged = tf.summary.merge_all()
init = tf.global_variables_initializer()
saver = tf.train.Saver()
with sess:
sess.run(init)
writer = tf.summary.FileWriter(LOG_DIR, tf.get_default_graph())
cache_a = ImageCache(50)
cache_b = ImageCache(50)
print('Beginning training...')
start = time.perf_counter()
for epoch in range(EPOCHS):
sess.run(it_a)
sess.run(it_b)
if epoch < 100:
lr = 2e-4
else:
lr = 2e-4 - (2e-4 * (epoch - 100) / 100)
try:
for step in tqdm(range(533)): # TODO change number of steps
gen_a, gen_b, = sess.run([g1, g2])
_, _, _, _, summaries = sess.run([d_b_train_op, d_a_train_op,
g_a_train_op, g_b_train_op, merged],
feed_dict={gen_b_sample: cache_b.fetch(gen_b),
gen_a_sample: cache_a.fetch(gen_a),
learning_rate: lr})
if step % 100 == 0:
writer.add_summary(summaries, epoch * 533 + step)
except tf.errors.OutOfRangeError as e:
print(e)
print("Out of range: {}".format(step))
pass
print("Epoch {}/{} done.".format(epoch+1, EPOCHS))
counter = epoch + 1
if np.mod(counter, SAVE_STEP) == 0:
save_path = save_model(saver, sess, counter)
print('Running for {:.2f} seconds, saving to {}'.format(time.perf_counter() - start, save_path))
def setUp(self):
self.ic = ImageCache()
# threads = 3
# results_dir = 'imitation_data_vision_temp_to_delete'
# scenario = 'vision_harder_small'
number_of_samples_per_workspace = 50
samples_per_file = 5
threads = 10
results_dir = "imitation_data_vision_harder"
if not os.path.exists(results_dir):
os.makedirs(results_dir)
params_dir = os.path.abspath(
os.path.expanduser("~/ModelBasedDDPG/scenario_params/{}/".format(scenario))
)
image_cache = ImageCache(params_dir, create_images=False)
collection_queries = []
workspace_ids = []
for cache_item in image_cache.items.values():
collection_queries.extend(
[(cache_item.workspace_id, cache_item.full_filename)]
* number_of_samples_per_workspace
)
workspace_ids.append(cache_item.workspace_id)
data_collector = VisionImitationDataCollector(
config, threads, query_parameters=collection_queries
)
collected = 0
aa = datetime.datetime.now()
def __init__(self):
self._cache = ImageCache()
self._actions = ActionCollection()
self._imposclib = ImposcIF()
self._actions.add_functions(self._imposclib)
initial_learn_rate = config['reward']['initial_learn_rate']
decrease_learn_rate_after = config['reward']['decrease_learn_rate_after']
learn_rate_decrease_rate = config['reward']['learn_rate_decrease_rate']
oversample_goal = config['reward']['oversample_goal']
oversample_collision = config['reward']['oversample_collision']
scenario = config['general']['scenario']
# base_data_dir = os.path.join('supervised_data', scenario)
base_data_dir = os.path.join('supervised_data', scenario + '_by_status')
image_cache = None
if 'vision' in scenario:
params_dir = os.path.abspath(
os.path.expanduser(
'~/ModelBasedDDPG/scenario_params/{}/'.format(scenario)))
image_cache = ImageCache(params_dir)
train_data_dir = os.path.join(base_data_dir, 'train')
test_data_dir = os.path.join(base_data_dir, 'test')
number_of_unzippers = config['general']['number_of_unzippers']
train = Oversampler(train_data_dir,
batch_size,
oversample_goal,
oversample_collision,
number_of_unzippers=number_of_unzippers)
test = Oversampler(test_data_dir,
batch_size,
oversample_goal,
oversample_collision,
number_of_unzippers=number_of_unzippers)
def add_to_cache(self, cache: ImageCache, file_size: int) -> str:
file_name = cache.offer_new_file(extension='dat')
self.fs.create_file(file_name, st_size=file_size)
return file_name
class Handler:
def __init__(self, scores, builder, page_entry):
self.page_entry = page_entry
self.page_num = 0
self.show_page_number()
self.page_count = len(scores)
self.scores = scores
self.builder = builder
self.cache = ImageCache(num_workers=16, max_cache_size=40)
self.update_page()
def cache_nearby(self, pagenum):
filenames = []
for i in range(pagenum, pagenum + 10):
if i > 0 and i < len(self.scores):
leftfile = self.scores[i][1]
rightfile = self.scores[i][2]
filenames.append(leftfile)
filenames.append(rightfile)
for i in range(pagenum - 5, pagenum):
if i > 0 and i < len(self.scores):
leftfile = self.scores[i][1]
rightfile = self.scores[i][2]
filenames.append(leftfile)
filenames.append(rightfile)
self.cache.preload(filenames)
def get_image(self, pagenum):
left_file = self.scores[self.page_num][1]
right_file = self.scores[self.page_num][2]
left_image = self.cache.fetch(left_file)
right_image = self.cache.fetch(right_file)
left_image['pixbuf'] = pil_to_pixbuf(left_image['canvas'])
right_image['pixbuf'] = pil_to_pixbuf(right_image['canvas'])
return left_image, right_image
def update_page(self):
if (len(self.scores) == 0):
description = Gtk.TextBuffer()
description.set_text("No similar pairs of images found")
textview3 = self.builder.get_object("textview3")
textview3.set_buffer(description)
return
score = self.scores[self.page_num][0]
description = Gtk.TextBuffer()
description.set_text("Distance between images: %.2f" % (score))
textview3 = self.builder.get_object("textview3")
textview3.set_property("justification", Gtk.Justification.CENTER)
textview3.set_buffer(description)
left_file = self.scores[self.page_num][1]
right_file = self.scores[self.page_num][2]
image2 = self.builder.get_object("image2")
image1 = self.builder.get_object("image1")
try:
left_image, right_image = self.get_image(self.page_num)
image2.set_from_pixbuf(right_image['pixbuf'])
image1.set_from_pixbuf(left_image['pixbuf'])
except FileNotFoundError as e:
print(e)
return
self.cache_nearby(self.page_num)
# update right
right_description = "%s\nWidth: %d\nHeight: %d\nFilesize: %d\n" % (
right_file, right_image["width"], right_image["height"],
right_image["filesize"])
if (right_image["filesize"] > left_image["filesize"]):
right_description = right_description + "(Larger)\n"
right_buffer = Gtk.TextBuffer()
right_buffer.set_text(right_description)
textview2 = self.builder.get_object("textview2")
textview2.set_buffer(right_buffer)
# update left
left_description = "%s\nWidth: %d\nHeight: %d\nFilesize: %d\n" % (
left_file, left_image["width"], left_image["height"],
left_image["filesize"])
if (left_image["filesize"] > right_image["filesize"]):
left_description = left_description + "(Larger)\n"
left_buffer = Gtk.TextBuffer()
left_buffer.set_text(left_description)
textview1 = self.builder.get_object("textview1")
textview1.set_buffer(left_buffer)
def show_page_number(self):
new_page_str = str(self.page_num + 1)
self.page_entry.get_buffer().set_text(new_page_str, len(new_page_str))
def set_page_number(self, num):
self.page_num = num
if (self.page_num >= self.page_count):
self.page_num = 0
elif (self.page_num < 0):
self.page_num = self.page_count - 1
self.update_page()
def cancel_deletion(self):
window = self.builder.get_object("window1")
dialog = DialogExample(window)
response = dialog.run()
result = None
if response == Gtk.ResponseType.OK:
result = False
elif response == Gtk.ResponseType.CANCEL:
result = True
dialog.destroy()
return result
def onDeleteRight(self, *args):
if (len(self.scores) == 0):
return
#TODO: Disable navigation until this finishes to prevent races
if self.cancel_deletion():
return
right_file = self.scores[self.page_num][2]
temp = []
for res in self.scores:
if res[1] != right_file and res[2] != right_file:
temp.append(res)
self.scores = temp
self.page_count = len(self.scores)
self.set_page_number(self.page_num)
self.show_page_number()
try:
os.remove(right_file)
except FileNotFoundError as e:
print(e)
pass
def onDeleteLeft(self, *args):
if (len(self.scores) == 0):
return
#TODO: Disable navigation until this finishes to prevent races
if self.cancel_deletion():
return
left_file = self.scores[self.page_num][1]
temp = []
for res in self.scores:
if res[1] != left_file and res[2] != left_file:
temp.append(res)
self.scores = temp
self.page_count = len(self.scores)
self.set_page_number(self.page_num)
self.show_page_number()
try:
os.remove(left_file)
except FileNotFoundError as e:
print(e)
pass
def onDeleteWindow(self, *args):
self.cache.quit()
Gtk.main_quit(*args)
def onLeftClicked(self, *args):
self.set_page_number(self.page_num - 1)
self.show_page_number()
def onRightClicked(self, *args):
self.set_page_number(self.page_num + 1)
self.show_page_number()
def onIgnoreClicked(self, *args):
pass
def onDeleteBothClicked(self, *args):
pass
def page_num_edited(self, *args):
page_num_str = self.page_entry.get_text()
try:
self.page_num = int(page_num_str) - 1
if (self.page_num >= self.page_count):
self.page_num = self.page_count - 1
self.page_entry.set_text(str(self.page_count))
elif (self.page_num < 0):
self.page_num = 0
self.page_entry.set_text(str(1))
else:
self.update_page()
except:
pass
def run_for_config(config, print_messages):
# set the name of the model
model_name = config['general']['name']
now = datetime.datetime.fromtimestamp(
time.time()).strftime('%Y_%m_%d_%H_%M_%S')
model_name = now + '_' + model_name if model_name is not None else now
# openrave_interface = OpenraveRLInterface(config, None)
random_seed = config['general']['random_seed']
np.random.seed(random_seed)
random.seed(random_seed)
tf.set_random_seed(random_seed)
# where we save all the outputs (outputs will be saved according to the scenario)
scenario = config['general']['scenario']
working_dir = os.path.join(get_base_directory(), scenario)
if not os.path.exists(working_dir):
os.makedirs(working_dir)
saver_dir = os.path.join(working_dir, 'models', model_name)
if not os.path.exists(saver_dir):
os.makedirs(saver_dir)
best_model_path = None
config_copy_path = os.path.join(working_dir, 'models', model_name,
'config.yml')
summaries_dir = os.path.join(working_dir, 'tensorboard', model_name)
completed_trajectories_dir = os.path.join(working_dir, 'trajectories',
model_name)
# load images if required
image_cache = None
if _is_vision(scenario):
image_cache = ImageCache(config['general']['params_file'],
create_images=True)
# load pretrained model if required
pre_trained_reward = None
if config['model']['use_reward_model']:
reward_model_name = config['model']['reward_model_name']
pre_trained_reward = PreTrainedReward(reward_model_name, config)
# generate graph:
network = Network(config,
is_rollout_agent=False,
pre_trained_reward=pre_trained_reward)
def unpack_state_batch(state_batch):
joints = [state[0] for state in state_batch]
poses = {
p.tuple: [state[1][p.tuple] for state in state_batch]
for p in network.potential_points
}
jacobians = None
return joints, poses, jacobians
def score_for_hindsight(augmented_buffer):
assert _is_vision(scenario)
# unzip
goal_pose_list, goal_joints_list, workspace_image_list, current_state_list, action_used_list, _, is_goal_list,\
__ = zip(*augmented_buffer)
# make one hot status vector:
is_goal_one_hot_list = np.zeros((len(is_goal_list), 3),
dtype=np.float32)
for i in range(len(is_goal_list)):
if is_goal_list[i]:
is_goal_one_hot_list[i, 2] = 1.0 # mark as goal transition
else:
is_goal_one_hot_list[i, 0] = 1.0 # mark as free transition
# unpack current and next state
current_joints, _, __ = unpack_state_batch(current_state_list)
fake_rewards, _ = pre_trained_reward.make_prediction(
sess,
current_joints,
goal_joints_list,
action_used_list,
goal_pose_list,
all_transition_labels=is_goal_one_hot_list)
return list(fake_rewards)
# initialize replay memory
replay_buffer = ReplayBuffer(config)
hindsight_policy = HindsightPolicy(config, replay_buffer,
score_for_hindsight)
# save model
latest_saver = tf.train.Saver(max_to_keep=2, save_relative_paths=saver_dir)
best_saver = tf.train.Saver(max_to_keep=2, save_relative_paths=saver_dir)
yaml.dump(config, open(config_copy_path, 'w'))
summaries_collector = SummariesCollector(summaries_dir, model_name)
rollout_manager = FixedRolloutManager(config, image_cache=image_cache)
trajectory_eval = TrajectoryEval(config, rollout_manager,
completed_trajectories_dir)
test_results = []
def update_model(sess, global_step):
batch_size = config['model']['batch_size']
gamma = config['model']['gamma']
replay_buffer_batch = replay_buffer.sample_batch(batch_size)
goal_pose, goal_joints, workspace_id, current_state, action, reward, terminated, next_state = \
replay_buffer_batch
# get image from image cache
workspace_image = None
if image_cache is not None:
workspace_image = [image_cache.get_image(k) for k in workspace_id]
current_joints, _, __ = unpack_state_batch(current_state)
next_joints, _, __ = unpack_state_batch(next_state)
# get the predicted q value of the next state (action is taken from the target policy)
next_state_action_target_q = network.predict_policy_q(
next_joints,
workspace_image,
goal_pose,
goal_joints,
sess,
use_online_network=False)
# compute critic label
q_label = np.expand_dims(
np.squeeze(np.array(reward)) +
np.multiply(np.multiply(1 - np.array(terminated), gamma),
np.squeeze(next_state_action_target_q)), 1)
max_label = np.max(q_label)
min_label = np.min(q_label)
limit = 1.0 / (1.0 - gamma)
if max_label > limit:
print 'out of range max label: {} limit: {}'.format(
max_label, limit)
if min_label < -limit:
print 'out of range min label: {} limit: {}'.format(
min_label, limit)
# # step to use for debug:
# network.debug_all(current_joints, workspace_image, goal_pose, goal_joints, action, q_label, sess)
# train critic given the targets
critic_optimization_summaries, _ = network.train_critic(
current_joints, workspace_image, goal_pose, goal_joints, action,
q_label, sess)
# train actor
actor_optimization_summaries, _ = network.train_actor(
current_joints, workspace_image, goal_pose, goal_joints, sess)
# update target networks
network.update_target_networks(sess)
result = [
critic_optimization_summaries,
actor_optimization_summaries,
]
return result
def print_state(prefix, episodes, successful_episodes, collision_episodes,
max_len_episodes):
if not print_messages:
return
print '{}: {}: finished: {}, successful: {} ({}), collision: {} ({}), max length: {} ({})'.format(
datetime.datetime.fromtimestamp(
time.time()).strftime('%Y-%m-%d %H:%M:%S'), prefix, episodes,
successful_episodes,
float(successful_episodes) / episodes, collision_episodes,
float(collision_episodes) / episodes, max_len_episodes,
float(max_len_episodes) / episodes)
def process_example_trajectory(episode_example_trajectory,
episode_agent_trajectory):
# creates an episode by computing the actions, and setting the rewards to None (will be calculated later)
_, __, ___, ____, goal_pose, goal_joints, workspace_id = episode_agent_trajectory
example_trajectory, example_trajectory_poses = episode_example_trajectory
example_trajectory = [j[1:] for j in example_trajectory]
# goal reached always
status = 3
# get the states (joints, poses, jacobians), for now, ignore the jacobians.
states = [(example_trajectory[i], example_trajectory_poses[i], None)
for i in range(len(example_trajectory))]
# compute the actions by normalized difference between steps
actions = [
np.array(example_trajectory[i + 1]) -
np.array(example_trajectory[i])
for i in range(len(example_trajectory) - 1)
]
actions = [a / max(np.linalg.norm(a), 0.00001) for a in actions]
rewards = [-config['openrave_rl']['keep_alive_penalty']
] * (len(actions) - 1) + [1.0]
return status, states, actions, rewards, goal_pose, goal_joints, workspace_id
def do_test(sess, best_model_global_step, best_model_test_success_rate):
rollout_manager.set_policy_weights(network.get_actor_weights(
sess, is_online=False),
is_online=False)
eval_result = trajectory_eval.eval(
global_step, config['test']['number_of_episodes'])
test_episodes = eval_result[0]
test_successful_episodes = eval_result[1]
test_collision_episodes = eval_result[2]
test_max_len_episodes = eval_result[3]
test_mean_reward = eval_result[4]
if print_messages:
print_state('test', test_episodes, test_successful_episodes,
test_collision_episodes, test_max_len_episodes)
print('test mean total reward {}'.format(test_mean_reward))
summaries_collector.write_test_episode_summaries(
sess, global_step, test_episodes, test_successful_episodes,
test_collision_episodes, test_max_len_episodes)
test_results.append(
(global_step, episodes, test_successful_episodes,
test_collision_episodes, test_max_len_episodes, test_mean_reward))
# see if best
rate = test_successful_episodes / float(test_episodes)
if best_model_test_success_rate < rate:
if print_messages:
print 'new best model found at step {}'.format(global_step)
print 'old success rate {} new success rate {}'.format(
best_model_test_success_rate, rate)
is_best = True
best_model_global_step = global_step
best_model_test_success_rate = rate
else:
is_best = False
if print_messages:
print 'best model still at step {}'.format(
best_model_global_step)
return is_best, best_model_global_step, best_model_test_success_rate
def do_end_of_run_validation(sess):
# restores the model first
best_saver.restore(sess, best_model_path)
# set the weights
rollout_manager.set_policy_weights(network.get_actor_weights(
sess, is_online=False),
is_online=False)
eval_result = trajectory_eval.eval(
-1, config['validation']['number_of_episodes'])
test_episodes = eval_result[0]
test_successful_episodes = eval_result[1]
test_collision_episodes = eval_result[2]
test_max_len_episodes = eval_result[3]
test_mean_reward = eval_result[4]
if print_messages:
print_state('validation (best model)', test_episodes,
test_successful_episodes, test_collision_episodes,
test_max_len_episodes)
print('validation (best model) mean total reward {}'.format(
test_mean_reward))
test_results.append(
(-1, episodes, test_successful_episodes, test_collision_episodes,
test_max_len_episodes, test_mean_reward))
# see if best
rate = test_successful_episodes / float(test_episodes)
print 'final success rate is {}'.format(rate)
return rate
allowed_batch_episode_editor = config['model']['batch_size'] if _is_vision(
scenario) else None
regular_episode_editor = EpisodeEditor(
config['model']['alter_episode'],
pre_trained_reward,
image_cache=image_cache,
allowed_batch=allowed_batch_episode_editor)
motion_planner_episode_editor = EpisodeEditor(
config['model']['alter_episode_expert'],
pre_trained_reward,
image_cache=image_cache,
allowed_batch=allowed_batch_episode_editor)
with tf.Session(config=tf.ConfigProto(gpu_options=tf.GPUOptions(
per_process_gpu_memory_fraction=config['general']
['gpu_usage']))) as sess:
sess.run(tf.global_variables_initializer())
if pre_trained_reward is not None:
pre_trained_reward.load_weights(sess)
network.update_target_networks(sess)
global_step = 0
episodes = successful_episodes = collision_episodes = max_len_episodes = 0
best_model_global_step, best_model_test_success_rate = -1, -1.0
for update_index in range(config['general']['updates_cycle_count']):
# collect data
a = datetime.datetime.now()
rollout_manager.set_policy_weights(network.get_actor_weights(
sess, is_online=True),
is_online=True)
episodes_per_update = config['general']['episodes_per_update']
episode_results = rollout_manager.generate_episodes(
episodes_per_update, True)
episodes_agent_trajectory, episodes_times, episodes_example_trajectory = zip(
*episode_results)
# alter the episodes based on reward model
altered_episodes = regular_episode_editor.process_episodes(
episodes_agent_trajectory, sess)
# process example episodes for failed interactions
altered_motion_planner_episodes = []
failed_motion_planner_trajectories = config['model'][
'failed_motion_planner_trajectories']
if failed_motion_planner_trajectories > 0:
# take a small number of failed motion plans
failed_episodes_indices = [
i for i in range(len(altered_episodes))
if altered_episodes[i][0] != 3
]
failed_episodes_indices = failed_episodes_indices[:
failed_motion_planner_trajectories]
motion_planner_episodes = [
process_example_trajectory(episodes_example_trajectory[i],
altered_episodes[i])
for i in failed_episodes_indices
]
altered_motion_planner_episodes = motion_planner_episode_editor.process_episodes(
motion_planner_episodes, sess)
# add to replay buffer
hindsight_policy.append_to_replay_buffer(
list(altered_episodes) + list(altered_motion_planner_episodes))
# compute times
total_find_trajectory_time = None
total_rollout_time = None
for episode_times in episodes_times:
# update the times
find_trajectory_time, rollout_time = episode_times
if total_find_trajectory_time is None:
total_find_trajectory_time = find_trajectory_time
else:
total_find_trajectory_time += find_trajectory_time
if total_rollout_time is None:
total_rollout_time = rollout_time
else:
total_rollout_time += rollout_time
# compute counters
for altered_episode in altered_episodes:
status = altered_episode[0]
episodes += 1
if status == 1:
max_len_episodes += 1
elif status == 2:
collision_episodes += 1
elif status == 3:
successful_episodes += 1
b = datetime.datetime.now()
print 'data collection took: {}'.format(b - a)
print 'find trajectory took: {}'.format(total_find_trajectory_time)
print 'rollout time took: {}'.format(total_rollout_time)
print_state('train', episodes, successful_episodes,
collision_episodes, max_len_episodes)
# do updates
if replay_buffer.size() > config['model']['batch_size']:
a = datetime.datetime.now()
for _ in range(config['general']['model_updates_per_cycle']):
summaries = update_model(sess, global_step)
if global_step % config['general'][
'write_train_summaries'] == 0:
summaries_collector.write_train_episode_summaries(
sess, global_step, episodes, successful_episodes,
collision_episodes, max_len_episodes)
summaries_collector.write_train_optimization_summaries(
summaries, global_step)
global_step += 1
b = datetime.datetime.now()
print 'update took: {}'.format(b - a)
# test if needed
if update_index % config['test']['test_every_cycles'] == 0:
is_best, best_model_global_step, best_model_test_success_rate = do_test(
sess, best_model_global_step, best_model_test_success_rate)
if is_best:
best_model_path = best_saver.save(sess,
os.path.join(
saver_dir, 'best'),
global_step=global_step)
if update_index % config['general']['save_model_every_cycles'] == 0:
latest_saver.save(sess,
os.path.join(saver_dir, 'last_iteration'),
global_step=global_step)
# see if max score reached (even if validation is not 100%, there will no longer be any model updates...)
if best_model_test_success_rate > 0.99999:
print 'stoping run: best test success rate reached {}'.format(
best_model_test_success_rate)
break
# final test at the end
is_best, best_model_global_step, best_model_test_success_rate = do_test(
sess, best_model_global_step, best_model_test_success_rate)
if is_best:
best_model_path = best_saver.save(sess,
os.path.join(saver_dir, 'best'),
global_step=global_step)
# get a validation rate for the best recorded model
validation_rate = do_end_of_run_validation(sess)
last_message = 'best model stats at step {} has success rate of {} and validation success rate of {}'.format(
best_model_global_step, best_model_test_success_rate, validation_rate)
print last_message
with open(os.path.join(completed_trajectories_dir, 'final_status.txt'),
'w') as f:
f.write(last_message)
f.flush()
test_results_file = os.path.join(completed_trajectories_dir,
'test_results.test_results_pkl')
with bz2.BZ2File(test_results_file, 'w') as compressed_file:
pickle.dump(test_results, compressed_file)
rollout_manager.end()
return test_results
def get_queries():
with bz2.BZ2File(file_to_use, "r") as compressed_file:
loaded_data = pickle.load(compressed_file)
result = []
for traj, pose_traj, workspace_id in loaded_data:
start_joints = traj[0]
goal_joints = traj[-1]
t = [start_joints, goal_joints, workspace_id, traj]
result.append(t)
return result
queries = get_queries()
queries = queries[:query_limit]
image_cache = ImageCache(config["general"]["params_file"], create_images=True)
def run_network_single(sess, openrave_rl_interface, network, trajectory,
workspace_image):
# start the new query
(
current_joints,
goal_joints,
steps_required_for_motion_plan,
) = openrave_rl_interface.start_specific(trajectory)
current_joints = current_joints[1:]
# compute the maximal number of steps to execute
max_steps = int(steps_required_for_motion_plan *
config["general"]["max_path_slack"])
goal_pose = openrave_rl_interface.openrave_manager.get_target_pose(
def get_queries():
with bz2.BZ2File(file_to_use, 'r') as compressed_file:
loaded_data = pickle.load(compressed_file)
result = []
for traj, pose_traj, workspace_id in loaded_data:
start_joints = traj[0]
goal_joints = traj[-1]
t = [start_joints, goal_joints, workspace_id, traj]
result.append(t)
return result
queries = get_queries()
queries = queries[:query_limit]
image_cache = ImageCache(config['general']['params_file'], create_images=True)
def run_network_single(sess, openrave_rl_interface, network, trajectory,
workspace_image):
# start the new query
current_joints, goal_joints, steps_required_for_motion_plan = openrave_rl_interface.start_specific(
trajectory)
current_joints = current_joints[1:]
# compute the maximal number of steps to execute
max_steps = int(steps_required_for_motion_plan *
config['general']['max_path_slack'])
goal_pose = openrave_rl_interface.openrave_manager.get_target_pose(
goal_joints)
goal_joints = goal_joints[1:]
# set the start state
class ImposcActions:
def __init__(self):
self._cache = ImageCache()
self._actions = ActionCollection()
self._imposclib = ImposcIF()
self._actions.add_functions(self._imposclib)
def info(self) -> dict:
return self._actions.info()
def validate(
self, args: Dict[str, str]
) -> Tuple[Dict[str, Optional[Union[int, float, str]]], List[str]]:
validated = dict(
map(
lambda pair:
(pair[0], self._actions.validate(pair[0], pair[1])),
args.items()))
outcome = list(
map(
lambda elem:
f"Parameter {elem[0]} was supplied with an invalid value {args[elem[0]]}",
filter(lambda pair: pair is None, validated.items())))
return validated, outcome
def impacts(self, **kwargs) -> Path:
errors = LibErrors()
try:
outfile = str(self._cache.offer_new_file())
if self._imposclib.impacts(
outfile=outfile.encode('utf-8'),
errorfile=errors.errorFile.encode('utf-8'),
**kwargs):
return outfile
else:
return errors.errorPath
except TypeError as e:
errors.put(f"{e}")
return errors.errorPath
def singularity_set(self, **kwargs) -> Path:
errors = LibErrors()
try:
outfile = str(self._cache.offer_new_file())
if self._imposclib.singularity_set(
outfile=outfile.encode('utf-8'),
errorfile=errors.errorFile.encode('utf-8'),
**kwargs):
return outfile
else:
return errors.errorPath
except TypeError as e:
errors.put(f"{e}")
return errors.errorPath
def doa(self, **kwargs) -> Path:
errors = LibErrors()
try:
outfile = str(self._cache.offer_new_file())
if self._imposclib.doa(outfile=outfile.encode('utf-8'),
errorfile=errors.errorFile.encode('utf-8'),
**kwargs):
return outfile
else:
return errors.errorPath
except TypeError as e:
errors.put(f"{e}")
return errors.errorPath
def __init__(self):
super(PyRssReaderWindow, self).__init__()
uic.loadUi('PyRssReaderWindow.ui', self)
logging.basicConfig(filename=kLogFile,
level=logging.INFO,
format='%(asctime)s %(message)s',
datefmt='%m/%d/%Y %I:%M:%S %p')
self.db = Database()
self.proxy = Proxy()
self.preferences = Preferences()
self.languageFilter = LanguageFilter(self.db)
self.adFilter = AdFilter(self.db)
self.prefetchStatusbarWidget = PrefetchStatusbarWidget(self)
self.imageCache = ImageCache(kMaxCacheSize)
self.imagePrefetcher = ImagePrefetcher(self.db, self.imageCache,
self.proxy)
self.imagePrefetcher.imagePrefetchStartingSignal.connect(
self.prefetchStatusbarWidget.prefetchOn)
self.imagePrefetcher.imagePrefetchDoneSignal.connect(
self.prefetchStatusbarWidget.prefetchOff)
self.statusBar.addPermanentWidget(self.prefetchStatusbarWidget)
self.feedItemFilterMatcher = FeedItemFilterMatcher(self.db)
self.feedPurger = FeedPurger(self.db, self)
self.feedPurger.feedPurgedSignal.connect(self.onFeedPurged)
self.feedPurger.messageSignal.connect(self.showStatusBarMessage)
self.m_currentFeedId = -1
self.feedIdsToUpdate = []
# This is a persistent object, so it won't go out of scope while fetching feeds
self.feedUpdater = FeedUpdater(self.db)
self.feedUpdater.feedItemUpdateSignal.connect(self.onFeedItemUpdate)
self.feedUpdater.feedUpdateMessageSignal.connect(
self.showStatusBarMessage)
self.keyboardHandler = KeyboardHandler(self)
self.keyboardHandler.minimizeApplicationSignal.connect(
self.onMinimizeApp)
self.feedTreeObj = FeedTree(self.feedTree, self.db,
self.keyboardHandler)
self.feedTreeObj.feedSelectedSignal.connect(self.onFeedSelected)
self.feedTreeObj.feedUpdateRequestedSignal.connect(
self.onFeedUpdateRequested)
self.feedTreeObj.feedReadStateSignal.connect(self.onSetFeedReadState)
self.feedTreeObj.feedPurgeSignal.connect(self.onPurgeSingleFeed)
self.feedTreeObj.feedDeleteSignal.connect(self.onDeleteFeed)
self.titleTreeObj = TitleTree(self.db, self.titleTree,
self.languageFilter,
self.keyboardHandler,
self.imagePrefetcher)
self.titleTreeObj.feedItemSelectedSignal.connect(
self.onFeedItemSelected)
self.titleTreeObj.downloadEnclosureSignal.connect(
self.onDownloadEnclosure)
self.rssContentViewObj = RssContentView(self, self.languageFilter,
self.adFilter, self.imageCache,
self.keyboardHandler,
self.proxy)
self.addRssContentViewToLayout()
self.rssContentViewObj.reselectFeedItemSignal.connect(
self.onReselectFeedItem)
self.rssContentViewObj.urlHovered.connect(self.showStatusBarMessage)
self.feedUpdateTimer = QtCore.QTimer()
self.feedUpdateTimer.timeout.connect(self.onFeedUpdateTimerTimeout)
self.feedUpdateTimer.setInterval(60000) # One-minute interval
self.minutesSinceLastFeedUpdate = 0 # Minutes since last update of feeds
self.enclosureDownloader = None
self.pocketSupport = PocketSupport(self.db, self.proxy)
QtCore.QTimer.singleShot(0, self.initialize)
async def find_dupes(
source: str, target: str, skip: bool, fast: bool
) -> Dict[str, any]:
"""
Use the Image Cache helper class to read in the source directory
to an sqlite3 DB, compute hashes and any necessary pieces for checking
if the two images are the same. Then given the target directory, check
to see if the image already exists, if it does to a pprint report
about all potential dupes
"""
ic = ImageCache(fast=fast)
if not skip:
await ic.gen_cache_from_directory(source)
logger.info(f"Processing took {ic.processing_time} seconds.")
logger.info(
f"Beginning processing of {target} for potential duplicates. "
+ "Report will be displayed with duplicates, ambiguous files, "
+ "and suggested files for copying when finished. This may take a "
+ "long time."
)
report = {
"duplicates": [],
"ambiguous": [],
"migrate": [],
}
for root, _, filenames in os.walk(target):
logger.info(f"Processing {len(filenames)} files in {root}")
for f in filenames:
full: str = os.path.join(root, f)
image: ImageHelper = ImageHelper(full)
image.check_image_type()
if not image.is_image:
continue
image.read_image()
image.compute_md5()
# Check if the file/size exists in the db.
row = ic.lookup(f"WHERE md5 = '{image.md5}'")
if len(row) > 0:
# If file and size are the same, grab the crc32 and md5 to verify dupe
logger.warning(
f"Duplicate image verified: {full} already exists in "
+ f"at {row[2]}"
)
report["duplicates"].append(image.full_path)
continue
else:
row = ic.lookup(
f"WHERE crc32 = '{image.crc32}' and size = '{image.size}'"
)
if len(row) > 0:
logger.warning(
f"Ambiguous files detected. {full} has same size and "
+ f"crc32 as source directory file {row[2]}, but md5 "
+ "does not match."
)
report["ambiguous"].append(image.full_path)
continue
# Add the file to the list of potentials to migrate
report["migrate"].append(image.full_path)
pp = pprint.PrettyPrinter(indent=2, compact=False)
pp.pprint(report)
logger.info("Completed duplicate scan.")
logger.info(f"Processed {ic.get_count()} images in {ic.processing_time} seconds.")
logger.info(
f"Report:\n\tDuplicates:\t{len(report['duplicates'])}"
+ f"\n\tAmbiguous:\t{len(report['ambiguous'])}"
+ f"\n\tUnique:\t{len(report['migrate'])}"
)
tstamp = datetime.datetime.now().strftime("find_dupes_%Y-%m-%d.json")
with open(tstamp, "w") as fout:
fout.write(json.dumps(report))
logger.info(f"Report written to {tstamp}")
class Game(Event):
LEFT_MOUSE = 1
MIDDLE_MOUSE = 2
RIGHT_MOUSE = 3
def __init__(self):
background_fill = (0, 0, 0)
self.w, self.h = config.WINDOW_WIDTH, config.WINDOW_HEIGHT
size = (self.w, self.h)
self.running = False
self.clock = pygame.time.Clock()
self.screen_size = size
self.slowmo = False
# Create the window
pygame.init()
self.window = pygame.display.set_mode(size)
self.window.fill(background_fill)
pygame.display.flip()
self.image_cache = ImageCache()
self._setup()
def _setup(self):
self._load_resources()
# Sprite container
self.sprites = pygame.sprite.RenderUpdates()
self.set_screen(GameScreen(self))
def _load_resources(self):
self.image_cache.add('sprites', os.path.join(config.TILESET_PATH, 'sprites.png'))
def check_inputs(self):
"""Go through the event queue and fire off callbacks based on the inputs"""
for event in pygame.event.get():
self.handle_event(event)
def set_screen(self, screen):
if hasattr(self, 'screen'):
self.screen.hide()
self.screen = screen
self.screen.show()
def update(self, dt):
self.screen.update(dt)
def draw(self, dt):
self.sprites.clear(self.window, self.screen.get_background())
self.screen.draw(dt)
pygame.display.update(self.sprites.draw(self.window))
def main_loop(self):
self.running = True
self.playtime = 0
max_fps = 60
accum_dt = 0
while self.running:
dt = min(self.clock.tick_busy_loop(max_fps) * 0.001, 0.1)
seconds = pygame.time.get_ticks() / 1000.0
self.playtime = seconds
pygame.display.set_caption("FPS: %.2f" % self.clock.get_fps())
self.check_inputs()
if self.slowmo:
dt /= 3
accum_dt += dt
while accum_dt > 0:
dt = 0.01
accum_dt -= dt
self.update(dt)
self.draw(dt)
pygame.display.flip()
# Events
def on_exit(self):
self.running = False
def on_key_up(self, event):
if event.key == K_ESCAPE:
self.on_exit()
def on_key_down(self, event):
key = event.key
if key == K_s:
self.slowmo = True
else:
self.slowmo = False
def on_mouse_lbtn_down(self, event):
pos = event.pos
def on_mouse_rbtn_up(self, event):
pos = event.pos
def on_mouse_motion(self, event):
buttons, pos, rel = event.buttons, event.pos, event.rel