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--git a/configs/figure6/hexapod/connectome/seed_20852/final.json b/configs/figure6/hexapod/connectome/seed_20852/final.json new file mode 100644 index 0000000000000000000000000000000000000000..e76be18d7538bad771bd7191a5ec92297293cf72 --- /dev/null +++ b/configs/figure6/hexapod/connectome/seed_20852/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "connectome", + "readout": "normalized", + "seed": 20852, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 20852, 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a/configs/figure6/hexapod/connectome/seed_851/final.json b/configs/figure6/hexapod/connectome/seed_851/final.json new file mode 100644 index 0000000000000000000000000000000000000000..bc5dda492fcfebf2bd393e19604663266f17db17 --- /dev/null +++ b/configs/figure6/hexapod/connectome/seed_851/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "connectome", + "readout": "normalized", + "seed": 851, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 851, + 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a/configs/figure6/hexapod/connectome/seed_852/final.json b/configs/figure6/hexapod/connectome/seed_852/final.json new file mode 100644 index 0000000000000000000000000000000000000000..04147a1431d0a3c02b8aa4d69c425d90a470292d --- /dev/null +++ b/configs/figure6/hexapod/connectome/seed_852/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "connectome", + "readout": "normalized", + "seed": 852, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 852, + 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a/configs/figure6/hexapod/connectome/seed_853/final.json b/configs/figure6/hexapod/connectome/seed_853/final.json new file mode 100644 index 0000000000000000000000000000000000000000..dfed6d49660e5b0bceae88654ab30d83977f7622 --- /dev/null +++ b/configs/figure6/hexapod/connectome/seed_853/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "connectome", + "readout": "normalized", + "seed": 853, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 853, + 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a/configs/figure6/hexapod/connectome/seed_854/final.json b/configs/figure6/hexapod/connectome/seed_854/final.json new file mode 100644 index 0000000000000000000000000000000000000000..988acbbf4fe7431c80e6b085feb0d4c3ddb019d4 --- /dev/null +++ b/configs/figure6/hexapod/connectome/seed_854/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "connectome", + "readout": "normalized", + "seed": 854, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 854, + 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a/configs/figure6/hexapod/mlp/seed_10854/final.json b/configs/figure6/hexapod/mlp/seed_10854/final.json new file mode 100644 index 0000000000000000000000000000000000000000..38b9d7eafb6e22cf9a2c768bc3c9d312ae92a739 --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_10854/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 10854, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 10854, + "separate_rng_streams": true, + 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a/configs/figure6/hexapod/mlp/seed_10855/final.json b/configs/figure6/hexapod/mlp/seed_10855/final.json new file mode 100644 index 0000000000000000000000000000000000000000..31cc19941e3d1800ce5d42cfc1b0ecdcf1de8b6e --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_10855/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 10855, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 10855, + "separate_rng_streams": true, + 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a/configs/figure6/hexapod/mlp/seed_10856/final.json b/configs/figure6/hexapod/mlp/seed_10856/final.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4cfffefa81408273a51948faa7802093ce2459 --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_10856/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 10856, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 10856, + "separate_rng_streams": true, + 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a/configs/figure6/hexapod/mlp/seed_10857/final.json b/configs/figure6/hexapod/mlp/seed_10857/final.json new file mode 100644 index 0000000000000000000000000000000000000000..c335604518e014aa081fdd5113edd934b62e35bc --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_10857/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 10857, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 10857, + "separate_rng_streams": true, + 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a/configs/figure6/hexapod/mlp/seed_20854/final.json b/configs/figure6/hexapod/mlp/seed_20854/final.json new file mode 100644 index 0000000000000000000000000000000000000000..83dcdf493c8f0cbc8621d64bcff17d62901c8294 --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_20854/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 20854, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 20854, + "separate_rng_streams": true, + 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a/configs/figure6/hexapod/mlp/seed_20855/final.json b/configs/figure6/hexapod/mlp/seed_20855/final.json new file mode 100644 index 0000000000000000000000000000000000000000..5bcf7b69fb850df4317ea11816ae619d82cada8c --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_20855/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 20855, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 20855, + "separate_rng_streams": true, + 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a/configs/figure6/hexapod/mlp/seed_851/final.json b/configs/figure6/hexapod/mlp/seed_851/final.json new file mode 100644 index 0000000000000000000000000000000000000000..e292b11d383ce110e346e2185e15f2004b4d8409 --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_851/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 851, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 851, + "separate_rng_streams": true, + 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a/configs/figure6/hexapod/mlp/seed_852/final.json b/configs/figure6/hexapod/mlp/seed_852/final.json new file mode 100644 index 0000000000000000000000000000000000000000..7877d47d3070e1b61ffe632a44d8303f17467f45 --- /dev/null +++ b/configs/figure6/hexapod/mlp/seed_852/final.json @@ -0,0 +1,60 @@ +{ + "body": "hexapod", + "method": "mlp", + "readout": "normalized", + "seed": 852, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 852, + "separate_rng_streams": true, + 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a/configs/figure6/tripod/connectome/seed_10861/final.json b/configs/figure6/tripod/connectome/seed_10861/final.json new file mode 100644 index 0000000000000000000000000000000000000000..4bff26c55ddb07fa1bef8433cf2cb2532970f084 --- /dev/null +++ b/configs/figure6/tripod/connectome/seed_10861/final.json @@ -0,0 +1,61 @@ +{ + "body": "tripod", + "method": "connectome", + "readout": "reflex", + "seed": 10861, + "config": { + "total_timesteps": 131072, + "n_envs": 4, + "n_steps": 256, + "seq_len": 32, + "n_epochs": 4, + "n_minibatches": 8, + "gamma": 0.9920319148370607, + "lam": 0.951229424500714, + "clip_range": 0.2, + "vf_clip_range": 0.2, + "lr": 0.0001, + "actor_lr": 0.0001, + "critic_lr": 0.0001, + "log_std_lr": 0.0001, + "vf_coef": 0.5, + "ent_coef": 0.0, + "max_grad_norm": 0.5, + "separate_actor_critic_grad_clipping": true, + "target_kl": 0.03, + "normalize_reward": true, + "normalize_observation": false, + "observation_clip": 10.0, + "log_interval": 1, + "seed": 10861, + 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+S10,archives/figure6.tar.gz,figure6/hexapod/,40,data/figure6/twenty_seed/comprehensive diff --git a/load_embodiment_policy.py b/load_embodiment_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..5e20d32dac6da5169585cd35479b82905a8e6014 --- /dev/null +++ b/load_embodiment_policy.py @@ -0,0 +1,54 @@ +"""Load a Figure 6 Cassie, Tripod, Go1 or Hexapod policy.""" +import argparse, hashlib, importlib.util, json, sys +from pathlib import Path + +def checksum(path): + h=hashlib.sha256() + with path.open('rb') as f: + for b in iter(lambda:f.read(8*1024*1024),b''): h.update(b) + return h.hexdigest() + +def load_embodiment_policy(model_id, model_dir, code_dir, device='cpu'): + import torch + root=Path(model_dir).resolve(); code=Path(code_dir).resolve() + entry=next(x for x in json.loads((root/'figure6/model_index.json').read_text())['models'] if x['id']==model_id) + checkpoint=root/entry['path']; graph=root/entry['graph']; config=root/entry['config'] + for p, digest in [(checkpoint,entry['sha256']),(graph,entry['graph_sha256']),(config,entry['config_sha256'])]: + if checksum(p)!=digest: raise ValueError('File checksum: '+str(p)) + cfg=json.loads(config.read_text()) + for folder in [code/'src',code/'src/flycontrol/engines/common']: + sys.path.insert(0,str(folder)) + from fly_control.policy import build_policy + if entry['body']=='tripod': + spec=importlib.util.spec_from_file_location('flycontrol_figure6_tripod_policy',code/'src/flycontrol/engines/tripod/body_control/policy.py') + module=importlib.util.module_from_spec(spec); spec.loader.exec_module(module) + build_policy=module.build_policy + saved=torch.load(checkpoint,map_location='cpu',weights_only=False) + state=saved['policy_state'] + policy=build_policy(graph,entry['observation_dim'],entry['action_dim'],entry['method'],entry['seed'], + 'cpu',readout=entry['readout'],log_std=cfg['body_config']['log_std']) + if entry['method']=='connectome': + for key in ['edge_pre','edge_post','edge_weight']: + if not torch.equal(getattr(policy.actor.core,key),state['actor.core.'+key]): + raise ValueError('Graph edges: '+key) + policy.load_state_dict(state,strict=True) + for k,v in policy.state_dict().items(): + if not torch.equal(v,state[k]): raise ValueError('Loaded state: '+k) + policy.to(device).eval() + return policy,dict(entry=entry,obs_dim=entry['observation_dim'],action_dim=entry['action_dim'], + obs_rms_state=None,body_interface=cfg['body_interface'],body_config=cfg['body_config']) + +if __name__=='__main__': + p=argparse.ArgumentParser(description=__doc__) + p.add_argument('--model-id',required=True);p.add_argument('--model-dir',default=str(Path(__file__).parent)) + p.add_argument('--code-dir',required=True);a=p.parse_args() + import torch + torch.set_num_threads(1);torch.manual_seed(0) + policy,meta=load_embodiment_policy(a.model_id,a.model_dir,a.code_dir) + hidden=policy.init_state(1,torch.device('cpu')) + with torch.no_grad(): + for i in range(3): + action,hidden,value=policy(torch.randn(1,meta['obs_dim'])*.1,hidden) + assert all(torch.isfinite(x).all() for x in [action,hidden,value]) + print(json.dumps(dict(model_id=a.model_id,strict_load=True,finite_forward=True, + observation_dim=meta['obs_dim'],action_dim=meta['action_dim']))) diff --git a/load_policy.py b/load_policy.py index 87e1790f1d057d2addbb567eadcccb990379375f..9bf341d351a136d99576feab6a29bd1372d221af 100644 --- a/load_policy.py +++ b/load_policy.py @@ -8,6 +8,9 @@ import sys def load_policy(model_id, model_dir, code_dir, data_dir=None, device='cpu'): + if model_id.startswith('figure6/'): + from load_embodiment_policy import load_embodiment_policy + return load_embodiment_policy(model_id, model_dir, code_dir, device) if model_id.startswith('figure5/'): from load_ant_policy import load_ant_policy policy, meta = load_ant_policy(model_id, model_dir, code_dir, device) diff --git a/model_index.json b/model_index.json index 63aa95342c35bf3bf42d77c5fb228e55bd2cf07b..84de3f75d97951a952b6a4255bcf10dcfd2005bf 100644 --- a/model_index.json +++ b/model_index.json @@ -9,7 +9,10 @@ "S6", "figure5", "S7", - "S8" + "S8", + "figure6", + "S9", + "S10" ], "models": [ { @@ -24143,6 +24146,12326 @@ "waypoint_planner": "official_grid_waypoints", "continuing_task": false } + }, + { + "id": "figure6/cassie/connectome/seed_871/final", + "paper_item": "figure6", + "experiment": "Cassie biped balance", + "paper_panels": [ + "Figure 6a-e", + "Figure 6f" + ], + "body": "cassie", + "method": "connectome", + "seed": 871, + "stage": "final", + "path": "checkpoints/figure6/cassie/connectome/seed_871/final.pt", + "config": "configs/figure6/cassie/connectome/seed_871/final.json", + "source": "/data2/ysy/github/flygym/outputs/nmi_unified/experiments/EXP47_threebody_alignment_20261001/studies/cassie/runs/cassie_connectome_reflex_seed871/policy_0524288.pt", + "archived_source": 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