#ctypes.cdll.LoadLibrary('')
lib1 = CDLL("/home/yinglong/Documents/kinodynamic/sparse_rrt/deps/trajopt/build/lib/libsco.so")
lib2 = CDLL("/home/yinglong/Documents/kinodynamic/sparse_rrt/deps/trajopt/build/lib/libutils.so")
#from env.cartpole import CartPole
import sparse_rrt
from sparse_rrt.systems import standard_cpp_systems
from sparse_rrt import _sst_module
import numpy as np
import time
import matplotlib.pyplot as plt
from sparse_rrt.systems.pendulum import Pendulum
import pickle
#obs_list = np.array(obs_list)
#system = standard_cpp_systems.PSOPTCartPole()
_system = sparse_rrt._sst_module.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(_system, 2, 1, 0)
#start = np.array([0., 0.])
#end = np.array([np.pi/2, 0.])
low = []
high = []
state_bounds = _system.get_state_bounds()
for i in range(len(state_bounds)):
low.append(state_bounds[i][0])
high.append(state_bounds[i][1])
for i in range(10):
f = open('data/pendulum/0/path_%d.pkl' % (i), 'rb')
state = pickle.load(f)
f = open('data/pendulum/0/control_%d.pkl' % (i), 'rb')
control = pickle.load(f)
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
if torch.cuda.is_available():
torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
IsInCollision = pendulum.IsInCollision
normalize = pendulum.normalize
unnormalize = pendulum.unnormalize
obs_file = None
obc_file = None
dynamics = pendulum.dynamics
jax_dynamics = pendulum.jax_dynamics
enforce_bounds = pendulum.enforce_bounds
cae = cae_identity
mlp = MLP
obs_f = False
#system = standard_cpp_systems.PSOPTPendulum()
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
elif args.env_type == 'cartpole_obs':
IsInCollision = cartpole.IsInCollision
normalize = cartpole.normalize
unnormalize = cartpole.unnormalize
obs_file = None
obc_file = None
dynamics = cartpole.dynamics
jax_dynamics = cartpole.jax_dynamics
enforce_bounds = cartpole.enforce_bounds
cae = CAE_acrobot_voxel_2d
mlp = mlp_acrobot.MLP
obs_f = True
#system = standard_cpp_systems.RectangleObs(obs_list, args.obs_width, 'cartpole')
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
elif args.env_type == 'acrobot_obs':
IsInCollision = acrobot_obs.IsInCollision
#IsInCollision = lambda x, obs: False
normalize = acrobot_obs.normalize
unnormalize = acrobot_obs.unnormalize
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
xdot = acrobot_obs.dynamics
jax_dynamics = acrobot_obs.jax_dynamics
enforce_bounds = acrobot_obs.enforce_bounds
cae = CAE_acrobot_voxel_2d
mlp = mlp_acrobot.MLP
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 50, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_2':
IsInCollision = acrobot_obs.IsInCollision
normalize = acrobot_obs.normalize
unnormalize = acrobot_obs.unnormalize
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
xdot = acrobot_obs.dynamics
jax_dynamics = acrobot_obs.jax_dynamics
enforce_bounds = acrobot_obs.enforce_bounds
cae = CAE_acrobot_voxel_2d_2
mlp = mlp_acrobot.MLP2
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_3':
IsInCollision = acrobot_obs.IsInCollision
normalize = acrobot_obs.normalize
unnormalize = acrobot_obs.unnormalize
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
xdot = acrobot_obs.dynamics
jax_dynamics = acrobot_obs.jax_dynamics
enforce_bounds = acrobot_obs.enforce_bounds
mlp = mlp_acrobot.MLP3
cae = CAE_acrobot_voxel_2d_2
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_5':
IsInCollision = acrobot_obs.IsInCollision
normalize = acrobot_obs.normalize
unnormalize = acrobot_obs.unnormalize
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
xdot = acrobot_obs.dynamics
jax_dynamics = acrobot_obs.jax_dynamics
enforce_bounds = acrobot_obs.enforce_bounds
cae = CAE_acrobot_voxel_2d_3
mlp = mlp_acrobot.MLP
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_6':
IsInCollision = acrobot_obs.IsInCollision
normalize = acrobot_obs.normalize
unnormalize = acrobot_obs.unnormalize
obs_file = None
obc_file = None
xdot = acrobot_obs.dynamics
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
jax_dynamics = acrobot_obs.jax_dynamics
enforce_bounds = acrobot_obs.enforce_bounds
cae = CAE_acrobot_voxel_2d_3
mlp = mlp_acrobot.MLP4
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_6':
IsInCollision = acrobot_obs.IsInCollision
normalize = acrobot_obs.normalize
unnormalize = acrobot_obs.unnormalize
obs_file = None
obc_file = None
xdot = acrobot_obs.dynamics
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
jax_dynamics = acrobot_obs.jax_dynamics
enforce_bounds = acrobot_obs.enforce_bounds
mlp = mlp_acrobot.MLP5
cae = CAE_acrobot_voxel_2d_3
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_8':
IsInCollision = acrobot_obs.IsInCollision
#IsInCollision = lambda x, obs: False
normalize = acrobot_obs.normalize
unnormalize = acrobot_obs.unnormalize
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
xdot = acrobot_obs.dynamics
jax_dynamics = acrobot_obs.jax_dynamics
enforce_bounds = acrobot_obs.enforce_bounds
cae = CAE_acrobot_voxel_2d_3
mlp = mlp_acrobot.MLP6
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
#num_steps = 21
num_steps = 21 #args.num_steps*2
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
#traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init:
#def cem_trajopt(x0, x1, step_sz, num_steps, x_init, u_init, t_init):
# u, t = acrobot_obs.trajopt(x0, x1, 500, num_steps, step_sz*1, step_sz*(num_steps-1), x_init, u_init, t_init)
# xs, us, dts, valid = propagate(x0, u, t, dynamics=dynamics, enforce_bounds=enforce_bounds, IsInCollision=lambda x: False, system=system, step_sz=step_sz)
# return xs, us, dts
#traj_opt = cem_trajopt
goal_S0 = np.diag([1., 1., 0, 0])
goal_rho0 = 1.0
mpNet0 = KMPNet(args.total_input_size, args.AE_input_size,
args.mlp_input_size, args.output_size, cae, mlp)
mpNet1 = KMPNet(args.total_input_size, args.AE_input_size,
args.mlp_input_size, args.output_size, cae, mlp)
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_0_step_%d.pkl' %(args.start_epoch, args.num_steps)
model_path = 'kmpnet_epoch_%d_direction_0.pkl' % (args.start_epoch)
if args.start_epoch > 0:
load_net_state(mpNet0, os.path.join(args.model_path, model_path))
torch_seed, np_seed, py_seed = load_seed(
os.path.join(args.model_path, model_path))
# set seed after loading
torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
if torch.cuda.is_available():
mpNet0.cuda()
mpNet0.mlp.cuda()
mpNet0.encoder.cuda()
if args.opt == 'Adagrad':
mpNet0.set_opt(torch.optim.Adagrad, lr=args.learning_rate)
elif args.opt == 'Adam':
mpNet0.set_opt(torch.optim.Adam, lr=args.learning_rate)
elif args.opt == 'SGD':
mpNet0.set_opt(torch.optim.SGD,
lr=args.learning_rate,
momentum=0.9)
if args.start_epoch > 0:
load_opt_state(mpNet0, os.path.join(args.model_path, model_path))
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_1_step_%d.pkl' %(args.start_epoch, args.num_steps)
model_path = 'kmpnet_epoch_%d_direction_1.pkl' % (args.start_epoch)
if args.start_epoch > 0:
load_net_state(mpNet1, os.path.join(args.model_path, model_path))
torch_seed, np_seed, py_seed = load_seed(
os.path.join(args.model_path, model_path))
# set seed after loading
torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
if torch.cuda.is_available():
mpNet1.cuda()
mpNet1.mlp.cuda()
mpNet1.encoder.cuda()
if args.opt == 'Adagrad':
mpNet1.set_opt(torch.optim.Adagrad, lr=args.learning_rate)
elif args.opt == 'Adam':
mpNet1.set_opt(torch.optim.Adam, lr=args.learning_rate)
elif args.opt == 'SGD':
mpNet1.set_opt(torch.optim.SGD,
lr=args.learning_rate,
momentum=0.9)
if args.start_epoch > 0:
load_opt_state(mpNet1, os.path.join(args.model_path, model_path))
# define informer
circular = system.is_circular_topology()
def informer(env, x0, xG, direction):
x0_x = torch.from_numpy(x0.x).type(torch.FloatTensor)
xG_x = torch.from_numpy(xG.x).type(torch.FloatTensor)
x0_x = normalize_func(x0_x)
xG_x = normalize_func(xG_x)
if torch.cuda.is_available():
x0_x = x0_x.cuda()
xG_x = xG_x.cuda()
if direction == 0:
x = torch.cat([x0_x, xG_x], dim=0)
mpNet = mpNet0
if torch.cuda.is_available():
x = x.cuda()
next_state = mpNet(x.unsqueeze(0), env.unsqueeze(0)).cpu().data
next_state = unnormalize_func(next_state).numpy()[0]
delta_x = next_state - x0.x
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(
delta_x[i] / (2 * np.pi)) * (2 * np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2 * np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi * 0.5:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2 * np.pi
if delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2 * np.pi
res = Node(x0.x + delta_x)
cov = np.diag([0.02, 0.02, 0.02, 0.02])
#mean = next_state
#next_state = np.random.multivariate_normal(mean=next_state,cov=cov)
mean = np.zeros(next_state.shape)
rand_x_init = np.random.multivariate_normal(mean=mean,
cov=cov,
size=num_steps)
rand_x_init[0] = rand_x_init[0] * 0.
rand_x_init[-1] = rand_x_init[-1] * 0.
x_init = np.linspace(x0.x, x0.x + delta_x, num_steps) + rand_x_init
## TODO: : change this to general case
u_init_i = np.random.uniform(low=[-4.],
high=[4],
size=(num_steps, 1))
u_init = u_init_i
#u_init_i = control[max_d_i]
cost_i = (num_steps - 1) * step_sz #TOEDIT
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
"""
print('init:')
print('x_init:')
print(x_init)
print('u_init:')
print(u_init)
print('t_init:')
print(t_init)
print('xw:')
print(next_state)
"""
else:
x = torch.cat([x0_x, xG_x], dim=0)
mpNet = mpNet1
next_state = mpNet(x.unsqueeze(0), env.unsqueeze(0)).cpu().data
next_state = unnormalize_func(next_state).numpy()[0]
delta_x = next_state - x0.x
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(
delta_x[i] / (2 * np.pi)) * (2 * np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2 * np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi * 0.5:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2 * np.pi
elif delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2 * np.pi
#next_state = state[max_d_i] + delta_x
next_state = x0.x + delta_x
res = Node(next_state)
# initial: from max_d_i to max_d_i+1
x_init = np.linspace(next_state, x0.x, num_steps) + rand_x_init
# action: copy over to number of steps
u_init_i = np.random.uniform(low=[-4.],
high=[4],
size=(num_steps, 1))
u_init = u_init_i
cost_i = (num_steps - 1) * step_sz
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
return res, x_init, u_init, t_init
def init_informer(env, x0, xG, direction):
if direction == 0:
next_state = xG.x
delta_x = next_state - x0.x
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(
delta_x[i] / (2 * np.pi)) * (2 * np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2 * np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
#print('inside init_informer')
#print('delta_x[%d]: %f' % (i, delta_x[i]))
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi * 0.9:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2 * np.pi
if delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2 * np.pi
res = Node(next_state)
cov = np.diag([0.02, 0.02, 0.02, 0.02])
#mean = next_state
#next_state = np.random.multivariate_normal(mean=next_state,cov=cov)
mean = np.zeros(next_state.shape)
rand_x_init = np.random.multivariate_normal(mean=mean,
cov=cov,
size=num_steps)
rand_x_init[0] = rand_x_init[0] * 0.
rand_x_init[-1] = rand_x_init[-1] * 0.
x_init = np.linspace(x0.x, x0.x + delta_x, num_steps) + rand_x_init
## TODO: : change this to general case
u_init_i = np.random.uniform(low=[-4.],
high=[4],
size=(num_steps, 1))
u_init = u_init_i
#u_init_i = control[max_d_i]
#cost_i = 10*step_sz
cost_i = (num_steps - 1) * step_sz
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
else:
next_state = xG.x
delta_x = x0.x - next_state
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(
delta_x[i] / (2 * np.pi)) * (2 * np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2 * np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi * 0.5:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2 * np.pi
elif delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2 * np.pi
#next_state = state[max_d_i] + delta_x
res = Node(next_state)
# initial: from max_d_i to max_d_i+1
x_init = np.linspace(next_state, next_state + delta_x,
num_steps) + rand_x_init
# action: copy over to number of steps
u_init_i = np.random.uniform(low=[-4.],
high=[4],
size=(num_steps, 1))
u_init = u_init_i
cost_i = (num_steps - 1) * step_sz
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
return x_init, u_init, t_init
# load data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(args.seen_N,
args.seen_NP,
args.data_folder, obs_f,
args.seen_s,
args.seen_sp)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(
args.unseen_N, args.unseen_NP, args.data_folder, obs_f,
args.unseen_s, args.unseen_sp)
# test
# testing
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
T = 1
for _ in range(T):
# unnormalize function
normalize_func = lambda x: normalize(x, args.world_size)
unnormalize_func = lambda x: unnormalize(x, args.world_size)
# seen
if args.seen_N > 0:
time_file = os.path.join(
args.model_path,
'time_seen_epoch_%d_mlp.p' % (args.start_epoch))
fes_path_, valid_path_ = eval_tasks(
mpNet0, mpNet1, seen_test_data, args.model_path, time_file,
IsInCollision, normalize_func, unnormalize_func, informer,
init_informer, system, dynamics, xdot, jax_dynamics,
enforce_bounds, traj_opt, step_sz, num_steps)
valid_path = valid_path_.flatten()
fes_path = fes_path_.flatten(
) # notice different environments are involved
seen_test_suc_rate += fes_path.sum() / valid_path.sum()
# unseen
if args.unseen_N > 0:
time_file = os.path.join(
args.model_path,
'time_unseen_epoch_%d_mlp.p' % (args.start_epoch))
fes_path_, valid_path_ = eval_tasks(
mpNet0, mpNet1, unseen_test_data, args.model_path, time_file,
IsInCollision, normalize_func, unnormalize_func, informer,
init_informer, system, dynamics, xdot, jax_dynamics,
enforce_bounds, traj_opt, step_sz, num_steps)
valid_path = valid_path_.flatten()
fes_path = fes_path_.flatten(
) # notice different environments are involved
unseen_test_suc_rate += fes_path.sum() / valid_path.sum()
if args.seen_N > 0:
seen_test_suc_rate = seen_test_suc_rate / T
f = open(
os.path.join(args.model_path,
'seen_accuracy_epoch_%d.txt' % (args.start_epoch)),
'w')
f.write(str(seen_test_suc_rate))
f.close()
if args.unseen_N > 0:
unseen_test_suc_rate = unseen_test_suc_rate / T # Save the models
f = open(
os.path.join(args.model_path,
'unseen_accuracy_epoch_%d.txt' % (args.start_epoch)),
'w')
f.write(str(unseen_test_suc_rate))
f.close()
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
#torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
#if torch.cuda.is_available():
# torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
obs_file = None
obc_file = None
obs_f = False
#system = standard_cpp_systems.PSOPTPendulum()
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
elif args.env_type == 'cartpole_obs':
step_sz = 0.002
num_steps = 21
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
cost_threshold = 1.2
min_time_steps = 10
max_time_steps = 200
integration_step = 0.002
obs_f = True
obs_file = None
obc_file = None
system = _sst_module.PSOPTCartPole()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_width = 4.0
IsInCollision = cartpole_IsInCollision
enforce_bounds = cartpole_enforce_bounds
elif args.env_type == 'acrobot_obs':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
IsInCollision = acrobot_IsInCollision
enforce_bounds = acrobot_enforce_bounds
if args.env_type == 'pendulum':
step_sz = 0.002
num_steps = 20
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4',
'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 0.1
delta_drain = 0.05
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_0_step_%d.pkl' %(args.start_epoch, args.num_steps)
mlp_path = os.path.join(os.getcwd() + '/c++/',
'acrobot_mlp_annotated_test_gpu.pt')
encoder_path = os.path.join(os.getcwd() + '/c++/',
'acrobot_encoder_annotated_test_cpu.pt')
print('mlp_path:')
print(mlp_path)
#####################################################
def plan_one_path(obs_i, obs, obc, detailed_data_path, data_path,
start_state, goal_state, goal_inform_state, cost_i,
max_iteration, out_queue_t, out_queue_cost, random_seed):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
obs_width = 4.0
psopt_system = _sst_module.PSOPTCartPole()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 4., 'cartpole')
#distance_computer = propagate_system.distance_computer()
distance_computer = _sst_module.euclidean_distance(
np.array(propagate_system.is_circular_topology()))
step_sz = 0.002
num_steps = 21
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
#delta_near=.2
#delta_drain=.1
cost_threshold = 1.05
min_time_steps = 10
max_time_steps = 200
#min_time_steps = 5
#max_time_steps = 400
integration_step = 0.002
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 1.0
delta_drain = 0.5
cost_threshold = 1.05
min_time_steps = 5
max_time_steps = 100
integration_step = 0.02
planner = _sst_module.SSTWrapper(
state_bounds=propagate_system.get_state_bounds(),
control_bounds=propagate_system.get_control_bounds(),
distance=distance_computer,
start_state=start_state,
goal_state=goal_state,
goal_radius=goal_radius,
random_seed=random_seed,
sst_delta_near=delta_near,
sst_delta_drain=delta_drain)
#print('creating planner...')
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
for i in range(max_iteration):
planner.step(propagate_system, min_time_steps, max_time_steps,
integration_step)
# early break for initial path
solution = planner.get_solution()
if solution is not None:
#print('solution found already.')
# based on cost break
xs, us, ts = solution
t_sst = np.sum(ts)
#print(t_sst)
#print(cost_i)
if t_sst <= cost_i * cost_threshold:
print('solved in %d iterations' % (i))
break
plan_time = time.time() - time0
solution = planner.get_solution()
xs, us, ts = solution
print(np.linalg.norm(np.array(xs[-1]) - goal_state))
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
#ax.set_xlim(-30, 30)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dx = 1
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
#imax = int(2*30./dx)
imax = int(2*np.pi/dtheta)
jmin = 0
jmax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(jmin, jmax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
draw_update_line(ax)
#state_t = start_state
xs_to_plot = np.array(detailed_data_path)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(detailed_data_path[i], propagate_system)
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='lightgreen', s=0.5)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#plt.waitforbuttonpress()
if solution is not None:
xs, us, ts = solution
# propagate data
p_start = xs[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(us)):
#state_i.append(len(detail_paths)-1)
print(ts[k])
max_steps = int(np.round(ts[k]/step_sz))
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
for step in range(1,max_steps+1):
p_start = dynamics(p_start, us[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
#state[-1] = xs[-1]
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green', s=0.5)
start_state_np = np.array(start_state)
goal_state_np = np.array(goal_state)
ax.scatter([start_state_np[0]], [start_state_np[1]], c='blue', marker='*')
ax.scatter([goal_state_np[0]], [goal_state_np[1]], c='red', marker='*')
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
plt.waitforbuttonpress()
"""
# validate if the path contains collision
if solution is not None:
res_x, res_u, res_t = solution
print('solution_x:')
print(res_x)
print('path_x:')
print(np.array(data_path))
# propagate data
p_start = res_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(res_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(np.round(res_t[k] / step_sz))
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
#p_start = res_x[k]
#state[-1] = res_x[k]
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, res_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
# check collision for the new state
if IsInCollision(p_start, obs_i):
print(
'collision happens at u_index: %d, step: %d' %
(k, step))
assert not IsInCollision(p_start, obs_i)
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
#state[-1] = res_x[-1]
# validation end
print('plan time: %fs' % (plan_time))
if solution is None:
print('failed.')
out_queue_t.put(-1)
out_queue_cost.put(-1)
else:
print('path succeeded.')
out_queue_t.put(plan_time)
out_queue_cost.put(t_sst)
####################################################################################
# load data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(args.seen_N,
args.seen_NP,
args.data_folder, obs_f,
args.seen_s,
args.seen_sp)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(
args.unseen_N, args.unseen_NP, args.data_folder, obs_f,
args.unseen_s, args.unseen_sp)
# test
# testing
queue_t = Queue(1)
queue_cost = Queue(1)
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
obc, obs, paths, sgs, path_lengths, controls, costs = seen_test_data
obc = obc.astype(np.float32)
# for all planning, use a flattened vector to store
plan_times = []
plan_res_all = []
plan_costs = []
data_costs = []
# store in a 2d vector, for env and path
plan_res_env = []
plan_time_env = []
plan_cost_env = []
data_cost_env = []
# directory to save the results
res_path = args.res_path
res_path = res_path + args.env_type + "_sst_compare_with_mpnet/"
if args.env_type == 'acrobot_obs':
res_path = '/media/arclabdl1/HD1/YLmiao/mpc-mpnet-cuda-yinglong/results/cpp_full/acrobot_obs/default_small_model_batch/'
elif args.env_type == 'cartpole_obs':
res_path = '/media/arclabdl1/HD1/YLmiao/mpc-mpnet-cuda-yinglong/results/cpp_full/cartpole_obs/default_small_model_batch/'
mpnet_tree_time = np.load(res_path + 'time_10_100.npy', allow_pickle=True)
mpnet_tree_sr = np.load(res_path + 'sr_10_100.npy', allow_pickle=True)
mpnet_tree_cost = np.load(res_path + 'costs_10_100.npy', allow_pickle=True)
if not os.path.exists(res_path):
os.makedirs(res_path)
for i in range(len(paths)):
new_obs_i = []
obs_i = obs[i]
plan_res_path = []
plan_time_path = []
plan_cost_path = []
data_cost_path = []
for k in range(len(obs_i)):
obs_pt = []
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
new_obs_i.append(obs_pt)
obs_i = new_obs_i
#print(obs_i)
for j in range(len(paths[i])):
start_state = sgs[i][j][0]
#goal_inform_state = paths[i][j][-1]
goal_inform_state = sgs[i][j][1]
goal_state = sgs[i][j][1]
# propagate data
p_start = paths[i][j][0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(controls[i][j])):
#state_i.append(len(detail_paths)-1)
#max_steps = int(costs[i][j][k]/step_sz)
max_steps = 1000000
accum_cost = 0.
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, controls[i][j][k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
# check collision for the new state
if IsInCollision(p_start, obs_i):
print(
'collision happens at u_index: %d, step: %d' %
(k, step))
assert not IsInCollision(p_start, obs_i)
if np.linalg.norm(p_start - paths[i][j][k + 1]) <= 1e-3:
break
# validation end
cost_i = np.sum(cost)
print('data cost:', cost_i)
if mpnet_tree_sr[i][j] != 0:
# use MPNet tree cost
cost_i = mpnet_tree_cost[i][j]
print('using mpnet cost: ', cost_i)
#cost_i = 100000000.
# acrobot: 300000
# cartpole: 500000
print('environment: %d/%d, path: %d/%d' %
(i + 1, len(paths), j + 1, len(paths[i])))
plan_t_trials = []
plan_cost_trials = []
for trial in range(1):
random_seed = random.randint(0, 100)
#random_seed = 0
p = Process(target=plan_one_path,
args=(obs_i, obs[i], obc[i], state, paths[i][j],
start_state, goal_state, goal_inform_state,
cost_i, args.num_iter, queue_t, queue_cost,
random_seed))
#plan_one_path(obs_i, obs[i], obc[i], state, paths[i][j], start_state, goal_state, goal_inform_state, cost_i, args.num_iter, queue_t, queue_cost, random_seed)
p.start()
p.join()
plan_t = queue_t.get()
plan_cost = queue_cost.get()
if plan_t != -1:
plan_t_trials.append(plan_t)
plan_cost_trials.append(plan_cost)
#assert len(plan_ts) == 10
plan_t = np.mean(plan_t_trials)
plan_cost = np.mean(plan_cost_trials)
if plan_t == -1:
# failed, do not record in the flattened list
plan_res_all.append(0)
# record in the 2d list
plan_res_path.append(0)
plan_time_path.append(plan_t)
plan_cost_path.append(plan_cost)
data_cost_path.append(-1.0)
else:
# record in the flattened list
plan_res_all.append(1)
plan_times.append(plan_t)
plan_costs.append(plan_cost)
data_costs.append(cost_i)
# record in the 2d list
plan_res_path.append(1)
plan_time_path.append(plan_t)
plan_cost_path.append(plan_cost)
data_cost_path.append(cost_i)
print('plan costs:')
print(plan_costs)
print('average accuracy up to now: %f' %
(np.array(plan_res_all).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
print('plan average cost: %f' % (np.array(plan_costs).mean()))
print('plan cost std: %f' % (np.array(plan_costs).std()))
print('data average cost: %f' % (np.array(data_costs).mean()))
print('data cost std: %f' % (np.array(data_costs).std()))
# store in the 2d list
plan_res_env.append(plan_res_path)
plan_time_env.append(plan_time_path)
plan_cost_env.append(plan_cost_path)
data_cost_env.append(data_cost_path)
# for every environment planned, save
# save the 2d list
# save as numpy array
#np.save(res_path+"plan_res.npy", np.array(plan_res_env))
#np.save(res_path+"plan_time.npy", np.array(plan_time_env))
#np.save(res_path+"plan_cost.npy", np.array(plan_cost_env))
#np.save(res_path+"data_cost.npy", np.array(data_cost_env))
print('plan accuracy: %f' % (np.array(plan_res_all).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
print('plan average cost: %f' % (np.array(plan_costs).mean()))
print('plan cost std: %f' % (np.array(plan_costs).std()))
print('data average cost: %f' % (np.array(data_costs).mean()))
print('data cost std: %f' % (np.array(data_costs).std()))
# save the 2d list
# save as numpy array
plan_res_env = np.array(plan_res_env)
plan_time_env = np.array(plan_time_env)
plan_cost_env = np.array(plan_cost_env)
data_cost_env = np.array(data_cost_env)
np.save(res_path + "plan_res.npy", plan_res_env)
np.save(res_path + "plan_time.npy", plan_time_env)
np.save(res_path + "plan_cost.npy", plan_cost_env)
np.save(res_path + "data_cost.npy", data_cost_env)
def plan_one_path(obs_i, obs, obc, detailed_data_path, data_path,
start_state, goal_state, goal_inform_state, cost_i,
max_iteration, out_queue_t, out_queue_cost, random_seed):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
obs_width = 4.0
psopt_system = _sst_module.PSOPTCartPole()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 4., 'cartpole')
#distance_computer = propagate_system.distance_computer()
distance_computer = _sst_module.euclidean_distance(
np.array(propagate_system.is_circular_topology()))
step_sz = 0.002
num_steps = 21
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
#delta_near=.2
#delta_drain=.1
cost_threshold = 1.05
min_time_steps = 10
max_time_steps = 200
#min_time_steps = 5
#max_time_steps = 400
integration_step = 0.002
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 1.0
delta_drain = 0.5
cost_threshold = 1.05
min_time_steps = 5
max_time_steps = 100
integration_step = 0.02
planner = _sst_module.SSTWrapper(
state_bounds=propagate_system.get_state_bounds(),
control_bounds=propagate_system.get_control_bounds(),
distance=distance_computer,
start_state=start_state,
goal_state=goal_state,
goal_radius=goal_radius,
random_seed=random_seed,
sst_delta_near=delta_near,
sst_delta_drain=delta_drain)
#print('creating planner...')
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
for i in range(max_iteration):
planner.step(propagate_system, min_time_steps, max_time_steps,
integration_step)
# early break for initial path
solution = planner.get_solution()
if solution is not None:
#print('solution found already.')
# based on cost break
xs, us, ts = solution
t_sst = np.sum(ts)
#print(t_sst)
#print(cost_i)
if t_sst <= cost_i * cost_threshold:
print('solved in %d iterations' % (i))
break
plan_time = time.time() - time0
solution = planner.get_solution()
xs, us, ts = solution
print(np.linalg.norm(np.array(xs[-1]) - goal_state))
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
#ax.set_xlim(-30, 30)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dx = 1
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
#imax = int(2*30./dx)
imax = int(2*np.pi/dtheta)
jmin = 0
jmax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(jmin, jmax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
draw_update_line(ax)
#state_t = start_state
xs_to_plot = np.array(detailed_data_path)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(detailed_data_path[i], propagate_system)
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='lightgreen', s=0.5)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#plt.waitforbuttonpress()
if solution is not None:
xs, us, ts = solution
# propagate data
p_start = xs[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(us)):
#state_i.append(len(detail_paths)-1)
print(ts[k])
max_steps = int(np.round(ts[k]/step_sz))
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
for step in range(1,max_steps+1):
p_start = dynamics(p_start, us[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
#state[-1] = xs[-1]
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green', s=0.5)
start_state_np = np.array(start_state)
goal_state_np = np.array(goal_state)
ax.scatter([start_state_np[0]], [start_state_np[1]], c='blue', marker='*')
ax.scatter([goal_state_np[0]], [goal_state_np[1]], c='red', marker='*')
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
plt.waitforbuttonpress()
"""
# validate if the path contains collision
if solution is not None:
res_x, res_u, res_t = solution
print('solution_x:')
print(res_x)
print('path_x:')
print(np.array(data_path))
# propagate data
p_start = res_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(res_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(np.round(res_t[k] / step_sz))
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
#p_start = res_x[k]
#state[-1] = res_x[k]
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, res_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
# check collision for the new state
if IsInCollision(p_start, obs_i):
print(
'collision happens at u_index: %d, step: %d' %
(k, step))
assert not IsInCollision(p_start, obs_i)
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
#state[-1] = res_x[-1]
# validation end
print('plan time: %fs' % (plan_time))
if solution is None:
print('failed.')
out_queue_t.put(-1)
out_queue_cost.put(-1)
else:
print('path succeeded.')
out_queue_t.put(plan_time)
out_queue_cost.put(t_sst)
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
#torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
#if torch.cuda.is_available():
# torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
obs_file = None
obc_file = None
obs_f = False
#system = standard_cpp_systems.PSOPTPendulum()
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
elif args.env_type == 'cartpole_obs':
normalize = cartpole.normalize
unnormalize = cartpole.unnormalize
obs_file = None
obc_file = None
#dynamics = cartpole.dynamics
#jax_dynamics = cartpole.jax_dynamics
#enforce_bounds = cartpole.enforce_bounds
cae = CAE_acrobot_voxel_2d
mlp = mlp_acrobot.MLP
obs_f = True
#system = standard_cpp_systems.RectangleObs(obs_list, args.obs_width, 'cartpole')
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
elif args.env_type == 'acrobot_obs':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 20
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(x0, x1, 200, num_steps, step_sz*1, step_sz*(num_steps-1), x_init, u_init, t_init)
obs_width = 6.0
step_sz = 0.02
num_steps = 20
goal_radius=2.0
random_seed=0
delta_near=0.1
delta_drain=0.05
elif args.env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
step_sz = 0.02
num_steps = 20
goal_radius=2.0
random_seed=0
delta_near=0.1
delta_drain=0.05
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_0_step_%d.pkl' %(args.start_epoch, args.num_steps)
mlp_path = os.path.join(os.getcwd()+'/c++/','acrobot_obs_MLP_lr0.010000_epoch_2850_step_20.pt')
encoder_path = os.path.join(os.getcwd()+'/c++/','acrobot_obs_encoder_lr0.010000_epoch_2850_step_20.pt')
cost_mlp_path = os.path.join(os.getcwd()+'/c++/','costnet_acrobot_obs_8_MLP_epoch_300_step_20.pt')
cost_encoder_path = os.path.join(os.getcwd()+'/c++/','costnet_acrobot_obs_8_encoder_epoch_300_step_20.pt')
print('mlp_path:')
print(mlp_path)
#####################################################
def plan_one_path(obs_i, obs, obc, start_state, goal_state, goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps, 1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(x0, x1, 200, num_steps, step_sz*1, step_sz*50, x_init, u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
bvp_wrapper = _sst_module.PSOPTBVPWrapper(psopt_system, 4, 1, 0)
step_sz = 0.02
num_steps = 20
psopt_num_steps = 20
psopt_step_sz = 0.02
goal_radius=2
random_seed=0
#delta_near=1.0
#delta_drain=0.5
delta_near=0.1
delta_drain=0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, psopt_num_steps+1, psopt_step_sz, step_sz, propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
circular = psopt_system.is_circular_topology()
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
data = np.array(data)
ax.scatter(data[:,0], data[:,1], c='lightblue', s=10)
ax.scatter(data[-1,0], data[-1,1], c='red', s=10, marker='*')
draw_update_line(ax)
state_t = start_state
state_t = data[0]
for data_i in range(0,len(data),num_steps):
print('iteration: %d' % (data_i))
print('state_t:')
print(state_t)
min_dis_to_goal = 100000.
min_xs_to_plot = []
for trials in range(10):
x_init, u_init, t_init = init_informer(propagate_system, state_t, data[data_i], psopt_num_steps+1, psopt_step_sz)
print('x_init:')
print(x_init)
bvp_x, bvp_u, bvp_t = bvp_wrapper.solve(state_t, x_init[-1], 20, psopt_num_steps+1, 0.8*psopt_step_sz*psopt_num_steps, 2*psopt_step_sz*psopt_num_steps, \
x_init, u_init, t_init)
print('bvp_x:')
print(bvp_x)
print('bvp_u:')
print(bvp_u)
print('bvp_t:')
print(bvp_t)
if len(bvp_u) != 0:# and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
# propagate data
#p_start = bvp_x[0]
p_start = state_t
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_t)):
#state_i.append(len(detail_paths)-1)
max_steps = int(np.round(bvp_t[k]/step_sz))
accum_cost = 0.
for step in range(1,max_steps+1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
delta_x = xs_to_plot[-1] - data[data_i]
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(delta_x[i] / (2*np.pi))*(2*np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2*np.pi
dis = np.linalg.norm(delta_x)
if dis <= min_dis_to_goal:
min_dis_to_goal = dis
min_xs_to_plot = xs_to_plot
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green')
ax.scatter(min_xs_to_plot[:,0], min_xs_to_plot[:,1], c='green', s=10.0)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#state_t = min_xs_to_plot[-1]
# try using mpnet_res as new start
state_t = data[data_i]
#state_t = min_xs_to_plot[-1]
print('data_i:')
print(data[data_i])
#else:
# # in incollision
# state_t = data[data_i]
#if len(res_x) == 0:
# print('failed.')
out_queue.put(0)
#else:
# print('path succeeded.')
# out_queue.put(1)
####################################################################################
# load data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(args.seen_N, args.seen_NP,
args.data_folder, obs_f, args.seen_s, args.seen_sp)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(args.unseen_N, args.unseen_NP,
args.data_folder, obs_f, args.unseen_s, args.unseen_sp)
# test
# testing
queue = Queue(1)
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
obc, obs, paths, sgs, path_lengths, controls, costs = seen_test_data
obc = obc.astype(np.float32)
#obc = torch.from_numpy(obc)
#if torch.cuda.is_available():
# obc = obc.cuda()
for i in range(len(paths)):
new_obs_i = []
obs_i = obs[i]
for k in range(len(obs_i)):
obs_pt = []
obs_pt.append(obs_i[k][0]-obs_width/2)
obs_pt.append(obs_i[k][1]-obs_width/2)
obs_pt.append(obs_i[k][0]-obs_width/2)
obs_pt.append(obs_i[k][1]+obs_width/2)
obs_pt.append(obs_i[k][0]+obs_width/2)
obs_pt.append(obs_i[k][1]+obs_width/2)
obs_pt.append(obs_i[k][0]+obs_width/2)
obs_pt.append(obs_i[k][1]-obs_width/2)
new_obs_i.append(obs_pt)
obs_i = new_obs_i
#print(obs_i)
for j in range(len(paths[i])):
start_state = sgs[i][j][0]
goal_inform_state = paths[i][j][-1]
goal_state = sgs[i][j][1]
#p = Process(target=plan_one_path, args=(obs[i], obc[i], start_state, goal_state, 500, queue))
# propagate data
p_start = paths[i][j][0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(controls[i][j])):
#state_i.append(len(detail_paths)-1)
max_steps = int(costs[i][j][k]/step_sz)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
#p_start = paths[i][j][k]
#state[-1] = paths[i][j][k]
for step in range(1,max_steps+1):
p_start = dynamics(p_start, controls[i][j][k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
detail_controls.append(controls[i][j])
detail_costs.append(step_sz)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
control.append(controls[i][j][k])
cost.append(accum_cost)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
state[-1] = paths[i][j][-1]
data = state
plan_one_path(obs_i, obs[i], obc[i], start_state, goal_state, goal_inform_state, 1000, data, queue)
def plan_one_path(obs_i, obs, obc, start_state, goal_state, goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps, 1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(x0, x1, 200, num_steps, step_sz*1, step_sz*50, x_init, u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
bvp_wrapper = _sst_module.PSOPTBVPWrapper(psopt_system, 4, 1, 0)
step_sz = 0.02
num_steps = 20
psopt_num_steps = 20
psopt_step_sz = 0.02
goal_radius=2
random_seed=0
#delta_near=1.0
#delta_drain=0.5
delta_near=0.1
delta_drain=0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, psopt_num_steps+1, psopt_step_sz, step_sz, propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
circular = psopt_system.is_circular_topology()
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
data = np.array(data)
ax.scatter(data[:,0], data[:,1], c='lightblue', s=10)
ax.scatter(data[-1,0], data[-1,1], c='red', s=10, marker='*')
draw_update_line(ax)
state_t = start_state
state_t = data[0]
for data_i in range(0,len(data),num_steps):
print('iteration: %d' % (data_i))
print('state_t:')
print(state_t)
min_dis_to_goal = 100000.
min_xs_to_plot = []
for trials in range(10):
x_init, u_init, t_init = init_informer(propagate_system, state_t, data[data_i], psopt_num_steps+1, psopt_step_sz)
print('x_init:')
print(x_init)
bvp_x, bvp_u, bvp_t = bvp_wrapper.solve(state_t, x_init[-1], 20, psopt_num_steps+1, 0.8*psopt_step_sz*psopt_num_steps, 2*psopt_step_sz*psopt_num_steps, \
x_init, u_init, t_init)
print('bvp_x:')
print(bvp_x)
print('bvp_u:')
print(bvp_u)
print('bvp_t:')
print(bvp_t)
if len(bvp_u) != 0:# and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
# propagate data
#p_start = bvp_x[0]
p_start = state_t
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_t)):
#state_i.append(len(detail_paths)-1)
max_steps = int(np.round(bvp_t[k]/step_sz))
accum_cost = 0.
for step in range(1,max_steps+1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
delta_x = xs_to_plot[-1] - data[data_i]
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(delta_x[i] / (2*np.pi))*(2*np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2*np.pi
dis = np.linalg.norm(delta_x)
if dis <= min_dis_to_goal:
min_dis_to_goal = dis
min_xs_to_plot = xs_to_plot
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green')
ax.scatter(min_xs_to_plot[:,0], min_xs_to_plot[:,1], c='green', s=10.0)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#state_t = min_xs_to_plot[-1]
# try using mpnet_res as new start
state_t = data[data_i]
#state_t = min_xs_to_plot[-1]
print('data_i:')
print(data[data_i])
#else:
# # in incollision
# state_t = data[data_i]
#if len(res_x) == 0:
# print('failed.')
out_queue.put(0)
def eval_tasks(mpNet0, mpNet1, env_type, test_data, save_dir, data_type, normalize_func = lambda x:x, unnormalize_func=lambda x: x, dynamics=None, jac_A=None, jac_B=None, enforce_bounds=None, IsInCollision=None):
# data_type: seen or unseen
obc, obs, paths, sgs, path_lengths, controls, costs = test_data
if obs is not None:
obc = obc.astype(np.float32)
obc = torch.from_numpy(obc)
if torch.cuda.is_available():
obc = obc.cuda()
if env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 500, num_steps, 1, 20, step_sz)
elif env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(x0, x1, 500, num_steps, step_sz*1, step_sz*50, x_init, u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
system = _sst_module.PSOPTAcrobot()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(x0, x1, 500, num_steps, step_sz*1, step_sz*(num_steps-1), x_init, u_init, t_init)
#step_sz = 0.002
goal_S0 = np.diag([1.,1.,0,0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
circular = system.is_circular_topology()
def informer(env, x0, xG, direction):
x0_x = torch.from_numpy(x0.x).type(torch.FloatTensor)
xG_x = torch.from_numpy(xG.x).type(torch.FloatTensor)
x0_x = normalize_func(x0_x)
xG_x = normalize_func(xG_x)
if torch.cuda.is_available():
x0_x = x0_x.cuda()
xG_x = xG_x.cuda()
if direction == 0:
x = torch.cat([x0_x,xG_x], dim=0)
mpNet = mpNet0
if torch.cuda.is_available():
x = x.cuda()
next_state = mpNet(x.unsqueeze(0), env.unsqueeze(0)).cpu().data
next_state = unnormalize_func(next_state).numpy()[0]
cov = np.diag([0.01,0.01,0.01,0.01])
#mean = next_state
#next_state = np.random.multivariate_normal(mean=next_state,cov=cov)
mean = np.zeros(next_state.shape)
rand_x_init = np.random.multivariate_normal(mean=mean, cov=cov, size=num_steps)
rand_x_init[0] = rand_x_init[0]*0.
rand_x_init[-1] = rand_x_init[-1]*0.
delta_x = next_state - x0.x
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(delta_x[i] / (2*np.pi))*(2*np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2*np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi*0.5:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2*np.pi
if delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2*np.pi
res = Node(next_state)
x_init = np.linspace(x0.x, x0.x+delta_x, num_steps) + rand_x_init
## TODO: : change this to general case
u_init_i = np.random.uniform(low=[-4.], high=[4], size=(num_steps,1))
u_init = u_init_i
#u_init_i = control[max_d_i]
cost_i = (num_steps-1)*step_sz #TOEDIT
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
#t_init = np.append(t_init, 0.)
else:
x = torch.cat([x0_x,xG_x], dim=0)
mpNet = mpNet1
next_state = mpNet(x.unsqueeze(0), env.unsqueeze(0)).cpu().data
next_state = unnormalize_func(next_state).numpy()[0]
cov = np.diag([0.01,0.01,0.01,0.01])
#mean = next_state
#next_state = np.random.multivariate_normal(mean=next_state,cov=cov)
mean = np.zeros(next_state.shape)
rand_x_init = np.random.multivariate_normal(mean=mean, cov=cov, size=num_steps)
rand_x_init[0] = rand_x_init[0]*0.
rand_x_init[-1] = rand_x_init[-1]*0.
delta_x = x0.x - next_state
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(delta_x[i] / (2*np.pi))*(2*np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2*np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi*0.5:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2*np.pi
elif delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2*np.pi
#next_state = state[max_d_i] + delta_x
res = Node(next_state)
# initial: from max_d_i to max_d_i+1
x_init = np.linspace(next_state, next_state + delta_x, num_steps) + rand_x_init
# action: copy over to number of steps
u_init_i = np.random.uniform(low=[-4.], high=[4], size=(num_steps,1))
u_init = u_init_i
cost_i = (num_steps-1)*step_sz
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
return res, x_init, u_init, t_init
def init_informer(env, x0, xG, direction):
if direction == 0:
next_state = xG.x
delta_x = next_state - x0.x
cov = np.diag([0.01,0.01,0.01,0.01])
#mean = next_state
#next_state = np.random.multivariate_normal(mean=next_state,cov=cov)
mean = np.zeros(next_state.shape)
rand_x_init = np.random.multivariate_normal(mean=mean, cov=cov, size=num_steps)
rand_x_init[0] = rand_x_init[0]*0.
rand_x_init[-1] = rand_x_init[-1]*0.
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(delta_x[i] / (2*np.pi))*(2*np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2*np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi*0.5:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2*np.pi
if delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2*np.pi
res = Node(next_state)
x_init = np.linspace(x0.x, x0.x+delta_x, num_steps) + rand_x_init
## TODO: : change this to general case
u_init_i = np.random.uniform(low=[-4.], high=[4], size=(num_steps,1))
u_init = u_init_i
#u_init_i = control[max_d_i]
cost_i = (num_steps-1)*step_sz
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
#t_init = np.append(t_init, 0.)
else:
next_state = xG.x
cov = np.diag([0.01,0.01,0.01,0.01])
#mean = next_state
#next_state = np.random.multivariate_normal(mean=next_state,cov=cov)
mean = np.zeros(next_state.shape)
rand_x_init = np.random.multivariate_normal(mean=mean, cov=cov, size=num_steps)
rand_x_init[0] = rand_x_init[0]*0.
rand_x_init[-1] = rand_x_init[-1]*0.
delta_x = x0.x - next_state
# can be either clockwise or counterclockwise, take shorter one
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(delta_x[i] / (2*np.pi))*(2*np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2*np.pi
# randomly pick either direction
rand_d = np.random.randint(2)
if rand_d < 1 and np.abs(delta_x[i]) >= np.pi*0.5:
if delta_x[i] > 0.:
delta_x[i] = delta_x[i] - 2*np.pi
elif delta_x[i] <= 0.:
delta_x[i] = delta_x[i] + 2*np.pi
#next_state = state[max_d_i] + delta_x
res = Node(next_state)
# initial: from max_d_i to max_d_i+1
x_init = np.linspace(next_state, next_state + delta_x, num_steps) + rand_x_init
# action: copy over to number of steps
u_init_i = np.random.uniform(low=[-4.], high=[4], size=(num_steps,1))
u_init = u_init_i
cost_i = (num_steps-1)*step_sz
#u_init = np.repeat(u_init_i, num_steps, axis=0).reshape(-1,len(u_init_i))
#u_init = u_init + np.random.normal(scale=1., size=u_init.shape)
t_init = np.linspace(0, cost_i, num_steps)
return x_init, u_init, t_init
fes_env = [] # list of list
valid_env = []
time_env = []
time_total = []
for i in range(len(paths)):
time_path = []
fes_path = [] # 1 for feasible, 0 for not feasible
valid_path = [] # if the feasibility is valid or not
# save paths to different files, indicated by i
#print(obs, flush=True)
# feasible paths for each env
for j in range(len(paths[0])):
state_i = []
state = paths[i][j]
# obtain the sequence
p_start = paths[i][j][0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(controls[i][j])):
#state_i.append(len(detail_paths)-1)
max_steps = int(costs[i][j][k]/step_sz)
accum_cost = 0.
# modify it because of small difference between data and actual propagation
p_start = paths[i][j][k]
state[-1] = paths[i][j][k]
for step in range(1,max_steps+1):
p_start = dynamics(p_start, controls[i][j][k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
detail_controls.append(controls[i][j])
detail_costs.append(step_sz)
accum_cost += step_sz
if (step % 20 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
control.append(controls[i][j][k])
cost.append(accum_cost)
accum_cost = 0.
state[-1] = paths[i][j][-1]
#############################
time0 = time.time()
time_norm = 0.
fp = 0 # indicator for feasibility
print ("step: i="+str(i)+" j="+str(j))
p1_ind=0
p2_ind=0
p_ind=0
if path_lengths[i][j]==0:
# invalid, feasible = 0, and path count = 0
fp = 0
valid_path.append(0)
if path_lengths[i][j]>0:
fp = 0
valid_path.append(1)
#paths[i][j][0][1] = 0.
#paths[i][j][path_lengths[i][j]-1][1] = 0.
path = [paths[i][j][0], paths[i][j][path_lengths[i][j]-1]]
# plot the entire path
#plt.plot(paths[i][j][:,0], paths[i][j][:,1])
start = Node(path[0])
goal = Node(path[-1])
#goal = Node(sgs[i][j][1])
goal.S0 = goal_S0
goal.rho0 = goal_rho0 # change this later
control = []
time_step = []
step_sz = step_sz
MAX_NEURAL_REPLAN = 1
if obs is None:
obs_i = None
obc_i = None
else:
obs_i = obs[i]
obc_i = obc[i]
# convert obs_i center to points
new_obs_i = []
for k in range(len(obs_i)):
obs_pt = []
obs_pt.append(obs_i[k][0]-obs_width/2)
obs_pt.append(obs_i[k][1]-obs_width/2)
obs_pt.append(obs_i[k][0]-obs_width/2)
obs_pt.append(obs_i[k][1]+obs_width/2)
obs_pt.append(obs_i[k][0]+obs_width/2)
obs_pt.append(obs_i[k][1]+obs_width/2)
obs_pt.append(obs_i[k][0]+obs_width/2)
obs_pt.append(obs_i[k][1]-obs_width/2)
new_obs_i.append(obs_pt)
#obs_i = new_obs_i
collision_check = lambda x: IsInCollision(x, new_obs_i)
for t in range(MAX_NEURAL_REPLAN):
# adaptive step size on replanning attempts
res, path_list = plan(obs_i, obc_i, start, goal, detail_paths, informer, init_informer, system, dynamics, \
enforce_bounds, collision_check, traj_opt, jac_A, jac_B, step_sz=step_sz, MAX_LENGTH=300)
#print('after neural replan:')
#print(path)
#path = lvc(path, obc[i], IsInCollision, step_sz=step_sz)
#print('after lvc:')
#print(path)
if res:
fp = 1
print('feasible ok!')
break
#if feasibility_check(bvp_solver, path, obc_i, IsInCollision, step_sz=0.01):
# fp = 1
# print('feasible, ok!')
# break
if fp:
# only for successful paths
time1 = time.time() - time0
time1 -= time_norm
time_path.append(time1)
print('test time: %f' % (time1))
# write the path
#print('planned path:')
#print(path)
#path = np.array(path)
#np.savetxt('results/path_%d.txt' % (j), path)
#np.savetxt('results/control_%d.txt' % (j), np.array(control))
#np.savetxt('results/timestep_%d.txt' % (j), np.array(time_step))
fes_path.append(fp)
time_env.append(time_path)
time_total += time_path
print('average test time up to now: %f' % (np.mean(time_total)))
fes_env.append(fes_path)
valid_env.append(valid_path)
print('accuracy up to now: %f' % (float(np.sum(fes_env)) / np.sum(valid_env)))
time_path = save_dir + 'mpnet_%s_time.pkl' % (data_type)
pickle.dump(time_env, open(time_path, "wb" ))
#print(fp/tp)
return np.array(fes_env), np.array(valid_env)
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
if torch.cuda.is_available():
torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
IsInCollision = pendulum.IsInCollision
normalize = pendulum.normalize
unnormalize = pendulum.unnormalize
obs_file = None
obc_file = None
cae = cae_identity
mlp = MLP
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
max_iter = 200
min_time_steps = 20
max_time_steps = 200
integration_step = 0.002
goal_radius = 0.1
random_seed = 0
sst_delta_near = 0.05
sst_delta_drain = 0.02
vel_idx = [1]
mpNet = KMPNet(args.total_input_size, args.AE_input_size,
args.mlp_input_size, args.output_size, cae, mlp)
# load previously trained model if start epoch > 0
model_path = 'kmpnet_epoch_%d.pkl' % (args.start_epoch)
if args.start_epoch > 0:
load_net_state(mpNet, os.path.join(args.model_path, model_path))
torch_seed, np_seed, py_seed = load_seed(
os.path.join(args.model_path, model_path))
# set seed after loading
torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
if torch.cuda.is_available():
mpNet.cuda()
mpNet.mlp.cuda()
mpNet.encoder.cuda()
if args.opt == 'Adagrad':
mpNet.set_opt(torch.optim.Adagrad, lr=args.learning_rate)
elif args.opt == 'Adam':
mpNet.set_opt(torch.optim.Adam, lr=args.learning_rate)
elif args.opt == 'SGD':
mpNet.set_opt(torch.optim.SGD, lr=args.learning_rate, momentum=0.9)
if args.start_epoch > 0:
load_opt_state(mpNet, os.path.join(args.model_path, model_path))
# load train and test data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(
N=args.seen_N,
NP=args.seen_NP,
s=args.seen_s,
sp=args.seen_sp,
p_folder=args.path_folder,
obs_f=obs_file,
obc_f=obc_file)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(
N=args.unseen_N,
NP=args.unseen_NP,
s=args.unseen_s,
sp=args.unseen_sp,
p_folder=args.path_folder,
obs_f=obs_file,
obc_f=obc_file)
# test
# testing
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
T = 1
obc, obs, paths, path_lengths = seen_test_data
if obs is not None:
obs = obs.astype(np.float32)
obs = torch.from_numpy(obs)
fes_env = [] # list of list
valid_env = []
time_env = []
time_total = []
normalize_func = lambda x: normalize(x, args.world_size)
unnormalize_func = lambda x: unnormalize(x, args.world_size)
low = []
high = []
state_bounds = system.get_state_bounds()
for i in range(len(state_bounds)):
low.append(state_bounds[i][0])
high.append(state_bounds[i][1])
for i in range(len(paths)):
time_path = []
fes_path = [] # 1 for feasible, 0 for not feasible
valid_path = [] # if the feasibility is valid or not
# save paths to different files, indicated by i
# feasible paths for each env
suc_n = 0
sst_suc_n = 0
for j in range(len(paths[0])):
time0 = time.time()
time_norm = 0.
fp = 0 # indicator for feasibility
print("step: i=" + str(i) + " j=" + str(j))
p1_ind = 0
p2_ind = 0
p_ind = 0
if path_lengths[i][j] == 0:
# invalid, feasible = 0, and path count = 0
fp = 0
valid_path.append(0)
if path_lengths[i][j] > 0:
fp = 0
valid_path.append(1)
path = [paths[i][j][0], paths[i][j][path_lengths[i][j] - 1]]
start = paths[i][j][0]
end = paths[i][j][path_lengths[i][j] - 1]
start[1] = 0.
end[1] = 0.
# plot the entire path
#plt.plot(paths[i][j][:,0], paths[i][j][:,1])
"""
planner = SST(
state_bounds=system.get_state_bounds(),
control_bounds=system.get_control_bounds(),
distance=system.distance_computer(),
start_state=start,
goal_state=end,
goal_radius=goal_radius,
random_seed=0,
sst_delta_near=sst_delta_near,
sst_delta_drain=sst_delta_drain
)
"""
planner = RRT(state_bounds=system.get_state_bounds(),
control_bounds=system.get_control_bounds(),
distance=system.distance_computer(),
start_state=start,
goal_state=end,
goal_radius=goal_radius,
random_seed=0)
control = []
time_step = []
MAX_NEURAL_REPLAN = 11
if obs is None:
obs_i = None
obc_i = None
else:
obs_i = obs[i]
obc_i = obc[i]
print('created RRT')
# Run planning and print out solution is some statistics every few iterations.
time0 = time.time()
start = paths[i][j][0]
#end = paths[i][j][path_lengths[i][j]-1]
new_sample = start
sample = start
N_sample = 10
for iteration in range(max_iter // N_sample):
#if iteration % 50 == 0:
# # from time to time use the goal
# sample = end
# #planner.step_with_sample(system, sample, 20, 200, 0.002)
#else:
#planner.step(system, min_time_steps, max_time_steps, integration_step)
#sample = np.random.uniform(low=low, high=high)
for num_sample in range(N_sample):
ip1 = np.concatenate([new_sample, end])
np.expand_dims(ip1, 0)
#ip1=torch.cat((obs,start,goal)).unsqueeze(0)
time0 = time.time()
ip1 = normalize_func(ip1)
ip1 = torch.FloatTensor(ip1)
time_norm += time.time() - time0
ip1 = to_var(ip1)
if obs is not None:
obs = torch.FloatTensor(obs).unsqueeze(0)
obs = to_var(obs)
sample = mpNet(ip1, obs).squeeze(0)
# unnormalize to world size
sample = sample.data.cpu().numpy()
time0 = time.time()
sample = unnormalize_func(sample)
print('sample:')
print(sample)
print('start:')
print(start)
print('goal:')
print(end)
print('accuracy: %f' % (float(suc_n) / (j + 1)))
print('sst accuracy: %f' % (float(sst_suc_n) / (j + 1)))
sample = planner.step_with_sample(system, sample,
min_time_steps,
max_time_steps, 0.002)
#planner.step_bvp(system, 10, 200, 0.002)
im = planner.visualize_nodes(system)
show_image(im, 'nodes', wait=False)
new_sample = planner.step_with_sample(system, end,
min_time_steps,
max_time_steps, 0.002)
solution = planner.get_solution()
if solution is not None:
print('solved.')
suc_n += 1
break
planner = SST(state_bounds=system.get_state_bounds(),
control_bounds=system.get_control_bounds(),
distance=system.distance_computer(),
start_state=start,
goal_state=end,
goal_radius=goal_radius,
random_seed=0,
sst_delta_near=sst_delta_near,
sst_delta_drain=sst_delta_drain)
# Run planning and print out solution is some statistics every few iterations.
time0 = time.time()
start = paths[i][j][0]
#end = paths[i][j][path_lengths[i][j]-1]
new_sample = start
sample = start
N_sample = 10
for iteration in range(max_iter // N_sample):
for k in range(N_sample):
sample = np.random.uniform(low=low, high=high)
planner.step_with_sample(system, sample, min_time_steps,
max_time_steps, integration_step)
im = planner.visualize_tree(system)
show_image(im, 'tree', wait=False)
print('accuracy: %f' % (float(suc_n) / (j + 1)))
print('sst accuracy: %f' % (float(sst_suc_n) / (j + 1)))
planner.step_with_sample(system, end, min_time_steps,
max_time_steps, integration_step)
solution = planner.get_solution()
if solution is not None:
print('solved.')
sst_suc_n += 1
break
print('accuracy: %f' % (float(suc_n) / (j + 1)))
print('sst accuracy: %f' % (float(sst_suc_n) / (j + 1)))
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, cost_i, max_iteration, data,
out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
obs_width = 4.0
psopt_system = _sst_module.PSOPTCartPole()
propagate_system = standard_cpp_systems.RectangleObs(
obs, obs_width, 'cartpole')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.002
num_steps = 101
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
device = 3
num_sample = 10
min_time_steps = 10
max_time_steps = 200
mpnet_goal_threshold = 2.0
mpnet_length_threshold = 40
pick_goal_init_threshold = 0.1
pick_goal_end_threshold = 0.8
pick_goal_start_percent = 0.4
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 1.0
delta_drain = 0.5
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path, cost_mlp_path, cost_encoder_path, \
200, num_steps, step_sz, propagate_system, 3)
#cost_threshold = cost_i * 1.1
cost_threshold = 100000000.
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
for i in range(len(data)):
update_line(hl, ax, data[i])
draw_update_line(ax)
# visualization end
"""
# visualize for cartpole
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
ax.set_autoscale_on(True)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
def update_line(h, ax, new_data):
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def draw_update_line(ax):
ax.relim()
ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
# randomly pick up a point in the data, and find similar data in the dataset
# plot the next point
#ax.set_autoscale_on(True)
ax.set_xlim(-30, 30)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2 * np.pi)) * (2 * np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2 * np.pi
return res
dx = 1
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2 * 30. / dx)
jmin = 0
jmax = int(2 * np.pi / dtheta)
for i in range(imin, imax):
for j in range(jmin, jmax):
x = np.array([dx * i - 30, 0., dtheta * j - np.pi, 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:, 0], feasible_points[:, 2], c='yellow')
ax.scatter(infeasible_points[:, 0], infeasible_points[:, 2], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
draw_update_line(ax)
#state_t = start_state
# visualization end
# generate a path by using SST to plan for some maximal iterations
state_t = start_state
pick_goal_threshold = .0
ax.scatter(goal_inform_state[0],
goal_inform_state[2],
marker='*',
c='red') # cartpole
for i in range(max_iteration):
time0 = time.time()
# determine if picking goal based on iteration number
goal_prob = random.random()
#flag=1: using MPNet
#flag=0: not using MPNet
if goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_tree_SMP_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain, cost_threshold)
if len(
bvp_u
) != 0: # and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
xw_scat = ax.scatter(mpnet_res[0],
mpnet_res[2],
c='lightgreen')
draw_update_line(ax)
# propagate data
p_start = bvp_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(bvp_t[k] / step_sz)
accum_cost = 0.
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for j in range(len(xs_to_plot)):
xs_to_plot[j] = wrap_angle(xs_to_plot[j], propagate_system)
xs_to_plot = xs_to_plot[::5]
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green') # acrobot
ax.scatter(xs_to_plot[:, 0], xs_to_plot[:, 2],
c='green') # cartpole
#ax.scatter(bvp_x[:,0], bvp_x[:,1], c='green')
print('solution: x')
print(bvp_x)
print('solution: u')
print(bvp_u)
print('solution: t')
print(bvp_t)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#state_t = state[-1]
print('state_t:')
print(state_t)
print('mpnet_res')
print(mpnet_res)
# based on flag, determine how to change state_t
if flag:
# only change state_t if in MPNet inform mode
#if len(bvp_u) != 0:
if True:
# try using steered result as next start
#if not IsInCollision(state_t, obs_i):
state_t = mpnet_res
print('after copying to state_t:')
print('state_t')
print(state_t)
# if in collision, then not using it
else:
print('failure')
state_t = start_state # failed BVP, back to origin
plan_time = time.time() - time0
print('plan time: %fs' % (plan_time))
if len(res_u) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
print('cost: %f' % (np.sum(res_t)))
print('cost_threshold: %f' % (cost_threshold))
print('data cost: %f' % (cost_i))
out_queue.put(plan_time)
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
#torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
#if torch.cuda.is_available():
# torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'acrobot_obs':
obs_file = None
obc_file = None
#cpp_propagator = _sst_module.SystemPropagator()
#dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
goal_S0 = np.diag([1.,1.,0,0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(x0, x1, 200, num_steps, step_sz*1, step_sz*(num_steps-1), x_init, u_init, t_init)
goal_S0 = np.diag([1.,1.,0,0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
if args.env_type == 'pendulum':
step_sz = 0.002
num_steps = 20
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
step_sz = 0.002
num_steps = 20
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
step_sz = 0.02
num_steps = 21
goal_radius=10.0
random_seed=0
delta_near=1.0
delta_drain=0.5
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_0_step_%d.pkl' %(args.start_epoch, args.num_steps)
mlp_path = os.path.join(os.getcwd()+'/c++/','acrobot_obs_MLP_epoch_5000.pt')
encoder_path = os.path.join(os.getcwd()+'/c++/','acrobot_obs_encoder_epoch_5000.pt')
cost_mlp_path = os.path.join(os.getcwd()+'/c++/','costnet_acrobot_obs_MLP_epoch_800_step_10.pt')
cost_encoder_path = os.path.join(os.getcwd()+'/c++/','costnet_acrobot_obs_encoder_epoch_800_step_10.pt')
print('mlp_path:')
print(mlp_path)
#####################################################
def plan_one_path(obs_i, obs, obc, start_state, goal_state, goal_inform_state, cost_i, max_iteration, out_queue):
if args.env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius=2.0
random_seed=0
delta_near=1.0
delta_drain=0.5
device = 3
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path, cost_mlp_path, cost_encoder_path, \
200, num_steps, step_sz, propagate_system, device)
#cost_threshold = cost_i * 1.1
cost_threshold = 100000000.
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
res_x, res_u, res_t = planner.plan_tree_SMP_cost_gradient("sst", propagate_system, psopt_system, obc.flatten(), start_state, goal_inform_state, goal_inform_state, \
goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain, cost_threshold, 15)
plan_time = time.time() - time0
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
draw_update_line(ax)
#state_t = start_state
if len(res_u):
# propagate data
p_start = res_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(res_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(res_t[k]/step_sz)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
p_start = res_x[k]
state[-1] = res_x[k]
for step in range(1,max_steps+1):
p_start = dynamics(p_start, res_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
state[-1] = res_x[-1]
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
if IsInCollision(xs_to_plot[i], obs_i):
print('in collision')
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green')
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
plt.waitforbuttonpress()
"""
#im = planner.visualize_nodes(propagate_system)
#sec = input('Let us wait for user input')
#show_image_opencv(im, "planning_tree", wait=True)
# validate if the path contains collision
"""
if len(res_u):
# propagate data
p_start = res_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(res_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(res_t[k]/step_sz)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
p_start = res_x[k]
state[-1] = res_x[k]
for step in range(1,max_steps+1):
p_start = dynamics(p_start, res_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
# check collision for the new state
assert not IsInCollision(p_start, obs_i)
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
state[-1] = res_x[-1]
# validation end
"""
print('plan time: %fs' % (plan_time))
if len(res_x) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
print('cost: %f' % (np.sum(res_t)))
print('cost_threshold: %f' % (cost_threshold))
print('data cost: %f' % (cost_i))
out_queue.put(plan_time)
####################################################################################
# load data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(args.seen_N, args.seen_NP,
args.data_folder, obs_f, args.seen_s, args.seen_sp)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(args.unseen_N, args.unseen_NP,
args.data_folder, obs_f, args.unseen_s, args.unseen_sp)
# test
# testing
queue = Queue(1)
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
obc, obs, paths, sgs, path_lengths, controls, costs = seen_test_data
obc = obc.astype(np.float32)
#obc = torch.from_numpy(obc)
#if torch.cuda.is_available():
# obc = obc.cuda()
plan_res = []
plan_times = []
plan_res_all = []
for i in range(len(paths)):
new_obs_i = []
obs_i = obs[i]
plan_res_env = []
plan_time_env = []
for k in range(len(obs_i)):
obs_pt = []
obs_pt.append(obs_i[k][0]-obs_width/2)
obs_pt.append(obs_i[k][1]-obs_width/2)
obs_pt.append(obs_i[k][0]-obs_width/2)
obs_pt.append(obs_i[k][1]+obs_width/2)
obs_pt.append(obs_i[k][0]+obs_width/2)
obs_pt.append(obs_i[k][1]+obs_width/2)
obs_pt.append(obs_i[k][0]+obs_width/2)
obs_pt.append(obs_i[k][1]-obs_width/2)
new_obs_i.append(obs_pt)
obs_i = new_obs_i
#print(obs_i)
for j in range(len(paths[i])):
start_state = sgs[i][j][0]
goal_inform_state = paths[i][j][-1]
goal_state = sgs[i][j][1]
cost_i = costs[i][j].sum()
#cost_i = 100000000.
print('environment: %d/%d, path: %d/%d' % (i+1, len(paths), j+1, len(paths[i])))
p = Process(target=plan_one_path, args=(obs_i, obs[i], obc[i], start_state, goal_state, goal_inform_state, cost_i, 300000, queue))
#plan_one_path(obs_i, obs[i], obc[i], start_state, goal_state, goal_inform_state, cost_i, 300000, queue)
p.start()
p.join()
res = queue.get()
if res == -1:
plan_res_env.append(0)
plan_res_all.append(0)
else:
plan_res_env.append(1)
plan_times.append(res)
plan_res_all.append(1)
print('average accuracy up to now: %f' % (np.array(plan_res_all).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
plan_res.append(plan_res_env)
print('plan accuracy: %f' % (np.array(plan_res).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
#torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
#if torch.cuda.is_available():
# torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
obs_file = None
obc_file = None
obs_f = False
#system = standard_cpp_systems.PSOPTPendulum()
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
elif args.env_type == 'cartpole_obs':
step_sz = 0.002
num_steps = 21
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
cost_threshold = 1.2
min_time_steps = 10
max_time_steps = 200
integration_step = 0.002
obs_width = 4.0
obs_f = True
system = _sst_module.PSOPTCartPole()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
#system = standard_cpp_systems.RectangleObs(obs_list, args.obs_width, 'cartpole')
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
elif args.env_type == 'acrobot_obs':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
if args.env_type == 'pendulum':
step_sz = 0.002
num_steps = 20
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
step_sz = 0.002
num_steps = 21
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
cost_threshold = 1.2
min_time_steps = 10
max_time_steps = 200
integration_step = 0.002
obs_width = 4.0
obs_f = True
IsInCollision = cartpole_IsInCollision
enforce_bounds = cartpole_enforce_bounds
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4',
'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 0.1
delta_drain = 0.05
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_0_step_%d.pkl' %(args.start_epoch, args.num_steps)
mlp_path = os.path.join(
os.getcwd() + '/c++/', '%s_MLP_lr%f_epoch_%d_step_%d.pt' %
(args.env_type, args.learning_rate, args.start_epoch, args.num_steps))
encoder_path = os.path.join(
os.getcwd() + '/c++/', '%s_encoder_lr%f_epoch_%d_step_%d.pt' %
(args.env_type, args.learning_rate, args.start_epoch, args.num_steps))
#mlp_path = os.path.join(os.getcwd()+'/c++/','acrobot_obs_MLP_epoch_5000.pt')
#encoder_path = os.path.join(os.getcwd()+'/c++/','acrobot_obs_encoder_epoch_5000.pt')
#cost_mlp_path = os.path.join(os.getcwd()+'/c++/','costnet_%s_MLP_lr%f_epoch_%d_step_%d.pt' % (args.env_type, args.learning_rate, args.start_epoch, args.num_steps))
#cost_encoder_path = os.path.join(os.getcwd()+'/c++/','costnet_%s_encoder_lr%f_epoch_%d_step_%d.pt' % (args.env_type, args.learning_rate, args.start_epoch, args.num_steps))
cost_mlp_path = os.path.join(
os.getcwd() + '/c++/', 'costnet_acrobot_obs_MLP_epoch_800_step_10.pt')
cost_encoder_path = os.path.join(
os.getcwd() + '/c++/',
'costnet_acrobot_obs_encoder_epoch_800_step_10.pt')
print('mlp_path:')
print(mlp_path)
#####################################################
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, cost_i, max_iteration, data,
out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
obs_width = 4.0
psopt_system = _sst_module.PSOPTCartPole()
propagate_system = standard_cpp_systems.RectangleObs(
obs, obs_width, 'cartpole')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.002
num_steps = 101
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
device = 3
num_sample = 10
min_time_steps = 10
max_time_steps = 200
mpnet_goal_threshold = 2.0
mpnet_length_threshold = 40
pick_goal_init_threshold = 0.1
pick_goal_end_threshold = 0.8
pick_goal_start_percent = 0.4
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 1.0
delta_drain = 0.5
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path, cost_mlp_path, cost_encoder_path, \
200, num_steps, step_sz, propagate_system, 3)
#cost_threshold = cost_i * 1.1
cost_threshold = 100000000.
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
for i in range(len(data)):
update_line(hl, ax, data[i])
draw_update_line(ax)
# visualization end
"""
# visualize for cartpole
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
ax.set_autoscale_on(True)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
def update_line(h, ax, new_data):
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def draw_update_line(ax):
ax.relim()
ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
# randomly pick up a point in the data, and find similar data in the dataset
# plot the next point
#ax.set_autoscale_on(True)
ax.set_xlim(-30, 30)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2 * np.pi)) * (2 * np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2 * np.pi
return res
dx = 1
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2 * 30. / dx)
jmin = 0
jmax = int(2 * np.pi / dtheta)
for i in range(imin, imax):
for j in range(jmin, jmax):
x = np.array([dx * i - 30, 0., dtheta * j - np.pi, 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:, 0], feasible_points[:, 2], c='yellow')
ax.scatter(infeasible_points[:, 0], infeasible_points[:, 2], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
draw_update_line(ax)
#state_t = start_state
# visualization end
# generate a path by using SST to plan for some maximal iterations
state_t = start_state
pick_goal_threshold = .0
ax.scatter(goal_inform_state[0],
goal_inform_state[2],
marker='*',
c='red') # cartpole
for i in range(max_iteration):
time0 = time.time()
# determine if picking goal based on iteration number
goal_prob = random.random()
#flag=1: using MPNet
#flag=0: not using MPNet
if goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_tree_SMP_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain, cost_threshold)
if len(
bvp_u
) != 0: # and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
xw_scat = ax.scatter(mpnet_res[0],
mpnet_res[2],
c='lightgreen')
draw_update_line(ax)
# propagate data
p_start = bvp_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(bvp_t[k] / step_sz)
accum_cost = 0.
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for j in range(len(xs_to_plot)):
xs_to_plot[j] = wrap_angle(xs_to_plot[j], propagate_system)
xs_to_plot = xs_to_plot[::5]
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green') # acrobot
ax.scatter(xs_to_plot[:, 0], xs_to_plot[:, 2],
c='green') # cartpole
#ax.scatter(bvp_x[:,0], bvp_x[:,1], c='green')
print('solution: x')
print(bvp_x)
print('solution: u')
print(bvp_u)
print('solution: t')
print(bvp_t)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#state_t = state[-1]
print('state_t:')
print(state_t)
print('mpnet_res')
print(mpnet_res)
# based on flag, determine how to change state_t
if flag:
# only change state_t if in MPNet inform mode
#if len(bvp_u) != 0:
if True:
# try using steered result as next start
#if not IsInCollision(state_t, obs_i):
state_t = mpnet_res
print('after copying to state_t:')
print('state_t')
print(state_t)
# if in collision, then not using it
else:
print('failure')
state_t = start_state # failed BVP, back to origin
plan_time = time.time() - time0
print('plan time: %fs' % (plan_time))
if len(res_u) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
print('cost: %f' % (np.sum(res_t)))
print('cost_threshold: %f' % (cost_threshold))
print('data cost: %f' % (cost_i))
out_queue.put(plan_time)
####################################################################################
# load data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(args.seen_N,
args.seen_NP,
args.data_folder, obs_f,
args.seen_s,
args.seen_sp)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(
args.unseen_N, args.unseen_NP, args.data_folder, obs_f,
args.unseen_s, args.unseen_sp)
# test
# testing
queue = Queue(1)
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
obc, obs, paths, sgs, path_lengths, controls, costs = seen_test_data
obc = obc.astype(np.float32)
#obc = torch.from_numpy(obc)
#if torch.cuda.is_available():
# obc = obc.cuda()
plan_res = []
plan_times = []
plan_res_all = []
for i in range(len(paths)):
new_obs_i = []
obs_i = obs[i]
plan_res_env = []
plan_time_env = []
for k in range(len(obs_i)):
obs_pt = []
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
new_obs_i.append(obs_pt)
obs_i = new_obs_i
#print(obs_i)
for j in range(len(paths[i])):
start_state = sgs[i][j][0]
goal_inform_state = paths[i][j][-1]
goal_state = sgs[i][j][1]
cost_i = costs[i][j].sum()
#cost_i = 100000000.
# propagate data
p_start = paths[i][j][0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(controls[i][j])):
#state_i.append(len(detail_paths)-1)
max_steps = int(costs[i][j][k] / step_sz)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
p_start = paths[i][j][k]
state[-1] = paths[i][j][k]
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, controls[i][j][k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
detail_controls.append(controls[i][j])
detail_costs.append(step_sz)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
control.append(controls[i][j][k])
cost.append(accum_cost)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
state[-1] = paths[i][j][-1]
data = state
# end of propagation
print('environment: %d/%d, path: %d/%d' %
(i + 1, len(paths), j + 1, len(paths[i])))
#p = Process(target=plan_one_path, args=(obs_i, obs[i], obc[i], start_state, goal_state, goal_inform_state, cost_i, 300000, data, queue))
plan_one_path(obs_i, obs[i], obc[i], start_state, goal_state,
goal_inform_state, cost_i, 300000, data, queue)
#p.start()
#p.join()
res = queue.get()
if res == -1:
plan_res_env.append(0)
plan_res_all.append(0)
else:
plan_res_env.append(1)
plan_times.append(res)
plan_res_all.append(1)
print('average accuracy up to now: %f' %
(np.array(plan_res_all).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
plan_res.append(plan_res_env)
print('plan accuracy: %f' % (np.array(plan_res).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2
random_seed = 0
#delta_near=1.0
#delta_drain=0.5
delta_near = 0.1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, num_steps, step_sz,
propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
state_t = start_state
pick_goal_threshold = 0.10
goal_linear_inc_start_iter = int(0.6 * max_iteration)
goal_linear_inc_end_iter = max_iteration
goal_linear_inc_end_threshold = 0.95
goal_linear_inc = (goal_linear_inc_end_threshold -
pick_goal_threshold) / (goal_linear_inc_end_iter -
goal_linear_inc_start_iter)
start_time = time.time()
plan_time = -1
for i in tqdm(range(max_iteration)):
print('iteration: %d' % (i))
print('state_t:')
print(state_t)
# calculate if using goal or not
use_goal_prob = random.random()
if i > goal_linear_inc_start_iter:
pick_goal_threshold += goal_linear_inc
if use_goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain)
solution = planner.get_solution()
if solution is not None:
plan_time = time.time() - start_time
if plan_time == -1:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
out_queue.put(plan_time) #if len(res_x) == 0:
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
#torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
#if torch.cuda.is_available():
# torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
obs_file = None
obc_file = None
obs_f = False
#system = standard_cpp_systems.PSOPTPendulum()
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
elif args.env_type == 'cartpole_obs':
normalize = cartpole.normalize
unnormalize = cartpole.unnormalize
obs_file = None
obc_file = None
#dynamics = cartpole.dynamics
#jax_dynamics = cartpole.jax_dynamics
#enforce_bounds = cartpole.enforce_bounds
cae = CAE_acrobot_voxel_2d
mlp = mlp_acrobot.MLP
obs_f = True
#system = standard_cpp_systems.RectangleObs(obs_list, args.obs_width, 'cartpole')
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
elif args.env_type == 'acrobot_obs':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
obs_width = 6.0
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 0.1
delta_drain = 0.05
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4',
'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 0.1
delta_drain = 0.05
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_0_step_%d.pkl' %(args.start_epoch, args.num_steps)
mlp_path = os.path.join(
os.getcwd() + '/c++/',
'acrobot_obs_MLP_lr0.010000_epoch_2850_step_20.pt')
encoder_path = os.path.join(
os.getcwd() + '/c++/',
'acrobot_obs_encoder_lr0.010000_epoch_2850_step_20.pt')
cost_mlp_path = os.path.join(
os.getcwd() + '/c++/',
'costnet_acrobot_obs_8_MLP_epoch_300_step_20.pt')
cost_encoder_path = os.path.join(
os.getcwd() + '/c++/',
'costnet_acrobot_obs_8_encoder_epoch_300_step_20.pt')
print('mlp_path:')
print(mlp_path)
#####################################################
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2
random_seed = 0
#delta_near=1.0
#delta_drain=0.5
delta_near = 0.1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, num_steps, step_sz,
propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
state_t = start_state
pick_goal_threshold = 0.10
goal_linear_inc_start_iter = int(0.6 * max_iteration)
goal_linear_inc_end_iter = max_iteration
goal_linear_inc_end_threshold = 0.95
goal_linear_inc = (goal_linear_inc_end_threshold -
pick_goal_threshold) / (goal_linear_inc_end_iter -
goal_linear_inc_start_iter)
start_time = time.time()
plan_time = -1
for i in tqdm(range(max_iteration)):
print('iteration: %d' % (i))
print('state_t:')
print(state_t)
# calculate if using goal or not
use_goal_prob = random.random()
if i > goal_linear_inc_start_iter:
pick_goal_threshold += goal_linear_inc
if use_goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain)
solution = planner.get_solution()
if solution is not None:
plan_time = time.time() - start_time
if plan_time == -1:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
out_queue.put(plan_time) #if len(res_x) == 0:
####################################################################################
# load data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(args.seen_N,
args.seen_NP,
args.data_folder, obs_f,
args.seen_s,
args.seen_sp)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(
args.unseen_N, args.unseen_NP, args.data_folder, obs_f,
args.unseen_s, args.unseen_sp)
# test
# testing
queue = Queue(1)
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
obc, obs, paths, sgs, path_lengths, controls, costs = seen_test_data
obc = obc.astype(np.float32)
#obc = torch.from_numpy(obc)
#if torch.cuda.is_available():
# obc = obc.cuda()
for i in range(len(paths)):
new_obs_i = []
obs_i = obs[i]
for k in range(len(obs_i)):
obs_pt = []
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
new_obs_i.append(obs_pt)
obs_i = new_obs_i
#print(obs_i)
for j in range(len(paths[i])):
start_state = sgs[i][j][0]
goal_inform_state = paths[i][j][-1]
goal_state = sgs[i][j][1]
#p = Process(target=plan_one_path, args=(obs[i], obc[i], start_state, goal_state, 500, queue))
# propagate data
p_start = paths[i][j][0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(controls[i][j])):
#state_i.append(len(detail_paths)-1)
max_steps = int(costs[i][j][k] / step_sz)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
p_start = paths[i][j][k]
state[-1] = paths[i][j][k]
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, controls[i][j][k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
detail_controls.append(controls[i][j])
detail_costs.append(step_sz)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
control.append(controls[i][j][k])
cost.append(accum_cost)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
state[-1] = paths[i][j][-1]
data = state
p = Process(target=plan_one_path,
args=(obs_i, obs[i], obc[i], start_state, goal_state,
goal_inform_state, 1000, data, queue))
p.start()
p.join()
res = queue.get()
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
#torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
#if torch.cuda.is_available():
# torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
obs_file = None
obc_file = None
obs_f = False
#system = standard_cpp_systems.PSOPTPendulum()
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
elif args.env_type == 'cartpole_obs':
normalize = cartpole.normalize
unnormalize = cartpole.unnormalize
obs_file = None
obc_file = None
dynamics = cartpole.dynamics
jax_dynamics = cartpole.jax_dynamics
enforce_bounds = cartpole.enforce_bounds
cae = CAE_acrobot_voxel_2d
mlp = mlp_acrobot.MLP
obs_f = True
#system = standard_cpp_systems.RectangleObs(obs_list, args.obs_width, 'cartpole')
#bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
elif args.env_type == 'acrobot_obs':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_2':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_3':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_5':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type == 'acrobot_obs_6':
obs_file = None
obc_file = None
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
obs_width = 6.0
elif args.env_type == 'acrobot_obs_6':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
num_steps = 21
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
goal_S0 = np.diag([1., 1., 0, 0])
#goal_S0 = np.identity(4)
goal_rho0 = 1.0
obs_width = 6.0
elif args.env_type == 'acrobot_obs_8':
obs_file = None
obc_file = None
system = _sst_module.PSOPTAcrobot()
cpp_propagator = _sst_module.SystemPropagator()
dynamics = lambda x, u, t: cpp_propagator.propagate(system, x, u, t)
obs_f = True
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.02
#num_steps = 21
num_steps = 21 #args.num_steps*2
traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 400, num_steps, step_sz * 1, step_sz *
(num_steps - 1), x_init, u_init, t_init)
#traj_opt = lambda x0, x1, step_sz, num_steps, x_init, u_init, t_init:
#def cem_trajopt(x0, x1, step_sz, num_steps, x_init, u_init, t_init):
# u, t = acrobot_obs.trajopt(x0, x1, 500, num_steps, step_sz*1, step_sz*(num_steps-1), x_init, u_init, t_init)
# xs, us, dts, valid = propagate(x0, u, t, dynamics=dynamics, enforce_bounds=enforce_bounds, IsInCollision=lambda x: False, system=system, step_sz=step_sz)
# return xs, us, dts
#traj_opt = cem_trajopt
obs_width = 6.0
goal_S0 = np.diag([1., 1., 0, 0])
goal_rho0 = 1.0
if args.env_type == 'pendulum':
step_sz = 0.002
num_steps = 20
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
step_sz = 0.002
num_steps = 20
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4',
'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 0.1
delta_drain = 0.05
# load previously trained model if start epoch > 0
#model_path='kmpnet_epoch_%d_direction_0_step_%d.pkl' %(args.start_epoch, args.num_steps)
mlp_path = os.path.join(
os.getcwd() + '/c++/',
'acrobot_obs_MLP_lr0.010000_epoch_2850_step_20.pt')
encoder_path = os.path.join(
os.getcwd() + '/c++/',
'acrobot_obs_encoder_lr0.010000_epoch_2850_step_20.pt')
cost_mlp_path = os.path.join(
os.getcwd() + '/c++/',
'costnet_acrobot_obs_8_MLP_epoch_300_step_20.pt')
cost_encoder_path = os.path.join(
os.getcwd() + '/c++/',
'costnet_acrobot_obs_8_encoder_epoch_300_step_20.pt')
print('mlp_path:')
print(mlp_path)
#####################################################
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = .1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
args.bvp_iter, num_steps,
step_sz, propagate_system, 3)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
res_x, res_u, res_t = planner.plan("sst", args.plan_type, propagate_system, psopt_system, obc.flatten(), start_state, goal_inform_state, goal_inform_state, \
goal_radius, max_iteration, distance_computer, \
args.delta_near, args.delta_drain)
#res_x, res_u, res_t = planner.plan("sst", propagate_system, psopt_system, obc.flatten(), start_state, goal_state, goal_inform_state, \
# goal_radius, max_iteration, propagate_system.distance_computer(), \
# delta_near, delta_drain)
plan_time = time.time() - time0
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
if len(res_x) != 0:
xs_to_plot = np.array(res_x)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='orange')
print('solution: x')
print(res_x)
print('solution: u')
print(res_u)
print('solution: t')
print(res_t)
# draw start and goal
ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
plt.waitforbuttonpress()
#im = planner.visualize_nodes(propagate_system)
#sec = input('Let us wait for user input')
#show_image_opencv(im, "planning_tree", wait=True)
"""
print('plan time: %fs' % (plan_time))
if len(res_x) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
out_queue.put(plan_time)
####################################################################################
# load data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(args.seen_N,
args.seen_NP,
args.data_folder, obs_f,
args.seen_s,
args.seen_sp)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(
args.unseen_N, args.unseen_NP, args.data_folder, obs_f,
args.unseen_s, args.unseen_sp)
# test
# testing
queue = Queue(1)
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
obc, obs, paths, sgs, path_lengths, controls, costs = seen_test_data
obc = obc.astype(np.float32)
#obc = torch.from_numpy(obc)
#if torch.cuda.is_available():
# obc = obc.cuda()
plan_res = []
plan_times = []
plan_res_all = []
for i in range(len(paths)):
new_obs_i = []
obs_i = obs[i]
plan_res_env = []
plan_time_env = []
for k in range(len(obs_i)):
obs_pt = []
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
obs_pt.append(obs_i[k][0] - obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] + obs_width / 2)
obs_pt.append(obs_i[k][0] + obs_width / 2)
obs_pt.append(obs_i[k][1] - obs_width / 2)
new_obs_i.append(obs_pt)
obs_i = new_obs_i
#print(obs_i)
for j in range(len(paths[i])):
start_state = sgs[i][j][0]
goal_inform_state = paths[i][j][-1]
goal_state = sgs[i][j][1]
print('environment: %d/%d, path: %d/%d' %
(i + 1, len(paths), j + 1, len(paths[i])))
p = Process(target=plan_one_path,
args=(obs_i, obs[i], obc[i], start_state, goal_state,
goal_inform_state, 1000, queue))
#plan_one_path(obs_i, obs[i], obc[i], start_state, goal_state, goal_inform_state, 500, queue)
p.start()
p.join()
res = queue.get()
if res == -1:
plan_res_env.append(0)
plan_res_all.append(0)
else:
plan_res_env.append(1)
plan_times.append(res)
plan_res_all.append(1)
print('average accuracy up to now: %f' %
(np.array(plan_res_all).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
plan_res.append(plan_res_env)
print('plan accuracy: %f' % (np.array(plan_res).flatten().mean()))
print('plan average time: %f' % (np.array(plan_times).mean()))
print('plan time std: %f' % (np.array(plan_times).std()))
def main(args):
# set seed
print(args.model_path)
torch_seed = np.random.randint(low=0, high=1000)
np_seed = np.random.randint(low=0, high=1000)
py_seed = np.random.randint(low=0, high=1000)
torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
# Build the models
if torch.cuda.is_available():
torch.cuda.set_device(args.device)
# setup evaluation function and load function
if args.env_type == 'pendulum':
IsInCollision = pendulum.IsInCollision
normalize = pendulum.normalize
unnormalize = pendulum.unnormalize
obs_file = None
obc_file = None
cae = cae_identity
mlp = MLP
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
max_iter = 100
min_time_steps = 10
max_time_steps = 200
integration_step = 0.002
goal_radius = 0.1
random_seed = 0
sst_delta_near = 0.05
sst_delta_drain = 0.02
vel_idx = [1]
mpNet = KMPNet(args.total_input_size, args.AE_input_size,
args.mlp_input_size, args.output_size, cae, mlp)
# load previously trained model if start epoch > 0
model_path = 'kmpnet_epoch_%d.pkl' % (args.start_epoch)
if args.start_epoch > 0:
load_net_state(mpNet, os.path.join(args.model_path, model_path))
torch_seed, np_seed, py_seed = load_seed(
os.path.join(args.model_path, model_path))
# set seed after loading
torch.manual_seed(torch_seed)
np.random.seed(np_seed)
random.seed(py_seed)
if torch.cuda.is_available():
mpNet.cuda()
mpNet.mlp.cuda()
mpNet.encoder.cuda()
if args.opt == 'Adagrad':
mpNet.set_opt(torch.optim.Adagrad, lr=args.learning_rate)
elif args.opt == 'Adam':
mpNet.set_opt(torch.optim.Adam, lr=args.learning_rate)
elif args.opt == 'SGD':
mpNet.set_opt(torch.optim.SGD, lr=args.learning_rate, momentum=0.9)
if args.start_epoch > 0:
load_opt_state(mpNet, os.path.join(args.model_path, model_path))
# load train and test data
print('loading...')
if args.seen_N > 0:
seen_test_data = data_loader.load_test_dataset(
N=args.seen_N,
NP=args.seen_NP,
s=args.seen_s,
sp=args.seen_sp,
p_folder=args.path_folder,
obs_f=obs_file,
obc_f=obc_file)
if args.unseen_N > 0:
unseen_test_data = data_loader.load_test_dataset(
N=args.unseen_N,
NP=args.unseen_NP,
s=args.unseen_s,
sp=args.unseen_sp,
p_folder=args.path_folder,
obs_f=obs_file,
obc_f=obc_file)
# test
# testing
print('testing...')
seen_test_suc_rate = 0.
unseen_test_suc_rate = 0.
T = 1
obc, obs, paths, path_lengths = seen_test_data
if obs is not None:
obs = obs.astype(np.float32)
obs = torch.from_numpy(obs)
fes_env = [] # list of list
valid_env = []
time_env = []
time_total = []
normalize_func = lambda x: normalize(x, args.world_size)
unnormalize_func = lambda x: unnormalize(x, args.world_size)
for i in range(len(paths)):
time_path = []
fes_path = [] # 1 for feasible, 0 for not feasible
valid_path = [] # if the feasibility is valid or not
# save paths to different files, indicated by i
# feasible paths for each env
suc_n = 0
for j in range(len(paths[0])):
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
ax.set_autoscale_on(True)
hl, = ax.plot([], [], 'black')
hl_real, = ax.plot([], [], 'yellow')
time0 = time.time()
time_norm = 0.
fp = 0 # indicator for feasibility
print("step: i=" + str(i) + " j=" + str(j))
p1_ind = 0
p2_ind = 0
p_ind = 0
if path_lengths[i][j] == 0:
# invalid, feasible = 0, and path count = 0
fp = 0
valid_path.append(0)
if path_lengths[i][j] > 0:
fp = 0
valid_path.append(1)
path = [paths[i][j][0], paths[i][j][path_lengths[i][j] - 1]]
start = paths[i][j][0]
end = paths[i][j][path_lengths[i][j] - 1]
#start[1] = 0.
#end[1] = 0.
# plot the entire path
#plt.plot(paths[i][j][:,0], paths[i][j][:,1])
control = []
time_step = []
MAX_NEURAL_REPLAN = 11
if obs is None:
obs_i = None
obc_i = None
else:
obs_i = obs[i]
obc_i = obc[i]
for k in range(path_lengths[i][j]):
update_line(hl, ax, fig, paths[i][j][k])
print('created RRT')
# Run planning and print out solution is some statistics every few iterations.
time0 = time.time()
start = paths[i][j][0]
#end = paths[i][j][path_lengths[i][j]-1]
new_sample = start
print(new_sample)
ax.scatter(new_sample[0], new_sample[1], c='r')
ax.scatter(end[0], end[1], c='g')
for iteration in range(max_iter):
clear_line(hl_real, ax, fig)
#hl_real, = ax.plot([], [], 'yellow')
ip1 = np.concatenate([new_sample, end])
np.expand_dims(ip1, 0)
#ip1=torch.cat((obs,start,goal)).unsqueeze(0)
time0 = time.time()
ip1 = normalize_func(ip1)
ip1 = torch.FloatTensor(ip1)
time_norm += time.time() - time0
ip1 = to_var(ip1)
if obs is not None:
obs = torch.FloatTensor(obs).unsqueeze(0)
obs = to_var(obs)
sample = mpNet(ip1, obs).squeeze(0)
# unnormalize to world size
sample = sample.data.cpu().numpy()
time0 = time.time()
sample = unnormalize_func(sample)
ax.scatter(sample[0], sample[1], c='b')
plt.pause(0.01)
steer, steer_state, steer_control, steer_time_step = plan_general.steerTo(
bvp_solver, start, sample, None, None, step_sz=0.02)
for k in range(len(steer_state)):
update_line(hl_real, ax, fig, steer_state[k])
plt.waitforbuttonpress()
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = .1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
args.bvp_iter, num_steps,
step_sz, propagate_system, 3)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
res_x, res_u, res_t = planner.plan("sst", args.plan_type, propagate_system, psopt_system, obc.flatten(), start_state, goal_inform_state, goal_inform_state, \
goal_radius, max_iteration, distance_computer, \
args.delta_near, args.delta_drain)
#res_x, res_u, res_t = planner.plan("sst", propagate_system, psopt_system, obc.flatten(), start_state, goal_state, goal_inform_state, \
# goal_radius, max_iteration, propagate_system.distance_computer(), \
# delta_near, delta_drain)
plan_time = time.time() - time0
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
if len(res_x) != 0:
xs_to_plot = np.array(res_x)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='orange')
print('solution: x')
print(res_x)
print('solution: u')
print(res_u)
print('solution: t')
print(res_t)
# draw start and goal
ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
plt.waitforbuttonpress()
#im = planner.visualize_nodes(propagate_system)
#sec = input('Let us wait for user input')
#show_image_opencv(im, "planning_tree", wait=True)
"""
print('plan time: %fs' % (plan_time))
if len(res_x) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
out_queue.put(plan_time)
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
psopt_step_sz = 0.02
psopt_num_steps = 21
step_sz = 0.02
num_steps = 21
goal_radius = 2
random_seed = 0
#delta_near=1.0
#delta_drain=0.5
delta_near = 0.1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, psopt_num_steps,
psopt_step_sz, step_sz,
propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2 * np.pi)) * (2 * np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2 * np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2 * np.pi / dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta * i - np.pi, dtheta * j - np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:, 0], feasible_points[:, 1], c='yellow')
ax.scatter(infeasible_points[:, 0], infeasible_points[:, 1], c='pink')
for i in range(len(data)):
update_line(hl, ax, data[i])
draw_update_line(ax)
state_t = start_state
pick_goal_threshold = 0.10
goal_linear_inc_start_iter = int(0.6 * max_iteration)
goal_linear_inc_end_iter = max_iteration
goal_linear_inc_end_threshold = 0.95
goal_linear_inc = (goal_linear_inc_end_threshold -
pick_goal_threshold) / (goal_linear_inc_end_iter -
goal_linear_inc_start_iter)
for i in range(max_iteration):
print('iteration: %d' % (i))
print('state_t:')
print(state_t)
# calculate if using goal or not
use_goal_prob = random.random()
if i > goal_linear_inc_start_iter:
pick_goal_threshold += goal_linear_inc
if use_goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain)
plan_time = time.time() - time0
if len(
bvp_u
) != 0: # and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
# propagate data
p_start = bvp_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(bvp_t[k] / step_sz)
accum_cost = 0.
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green')
ax.scatter(bvp_x[:, 0], bvp_x[:, 1], c='green', s=10.0)
print('solution: x')
print(bvp_x)
print('solution: u')
print(bvp_u)
print('solution: t')
print(bvp_t)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
xw_scat = ax.scatter(mpnet_res[0],
mpnet_res[1],
c='brown',
s=10.)
draw_update_line(ax)
#state_t = state[-1]
# try using mpnet_res as new start
state_t = mpnet_res
else:
# in incollision
state_t = start_state
#if len(res_x) == 0:
# print('failed.')
out_queue.put(0)
