diff --git a/.gitattributes b/.gitattributes index 43c162c2cca0a16ad408c3875e0e87107656c92f..45da12e731a6b783750f0e05c11ed88a76da5f03 100644 --- a/.gitattributes +++ b/.gitattributes @@ -259,3 +259,6 @@ experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_ experiments/reports/paper_planning/gifs/image_planning_tdmpc2_inferred_triangle_passive_to_active_ep000.gif filter=lfs diff=lfs merge=lfs -text experiments/reports/paper_planning/gifs/image_planning_pid_los_controller_inferred_triangle_reach_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text experiments/reports/paper_planning/gifs/image_planning_tdmpc2_inferred_triangle_counterflow_ep002.gif filter=lfs diff=lfs merge=lfs -text +experiments/reports/figures/flow_family_atlas.png filter=lfs diff=lfs merge=lfs -text +experiments/reports/figures/flow_family_panels/clean/random_fourier.png filter=lfs diff=lfs merge=lfs -text +experiments/reports/figures/flow_family_panels/labeled/random_fourier.png filter=lfs diff=lfs merge=lfs -text diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..74cafb81aded941eb18ae2cc1a2cd3456988e18f --- /dev/null +++ b/.gitignore @@ -0,0 +1,36 @@ +__pycache__/ +*.pyc +.pytest_cache/ + +# Legacy and generated experiment artifacts +outputs/ +logs/ +external/ +configs/ +scripts/ +docs/ + +# Large generated datasets and image caches +data/*.npz +!data/paper/ +!data/paper/*.npz +experiments/shared/result/image_cache*/ +experiments/shared/result/image_observation_sweep/ +experiments/shared/result/image_scale_sweep/ + +# Checkpoints are generated by smoke and full training runs +experiments/*/checkpoint/*.pt +experiments/*/result/*.json +experiments/*/result/*.jsonl + +# Per-run planning GIF/JSON outputs are regenerated by the pipeline +experiments/reports/image_paper_160_v2p5_planning/ +experiments/reports/image_paper_160_v2p5_planning_smoke/ +experiments/reports/*.json +experiments/reports/*.md +!experiments/reports/README.md +experiments/gifs/*.gif +experiments/figures/*.png +experiments/figures/*.pdf +experiments/tables/*.md +!experiments/tables/README.md diff --git a/.hfignore b/.hfignore index 68cf575294402757967834d20e0b215ab760fe45..47058b072533ff919ade3a3519a1e36b505531c0 100644 --- a/.hfignore +++ b/.hfignore @@ -8,6 +8,21 @@ outputs/ external/ flowmo_remote_outputs/ +data/*.npz +data/paper/*.npz +experiments/*/checkpoint/*.pt +experiments/*/result/*.json +experiments/*/result/*.jsonl +experiments/reports/*.json +experiments/reports/*.md +!experiments/reports/README.md +experiments/reports/paper_planning/ +experiments/gifs/*.gif +experiments/figures/*.png +experiments/figures/*.pdf +experiments/tables/*.md +!experiments/tables/README.md + experiments/shared/result/image_cache*/ experiments/shared/result/image_observation_sweep/ experiments/shared/result/image_scale_sweep/ diff --git a/README.md b/README.md index ad5257a73672997991a5adf9bfd8b6f53d112e95..61522f51a479e9275d0db289bba0aba3f676f952 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ tags: FlowMo is a clean-image world-model benchmark for surface vehicles under hidden water drift. The proposed model separates short-history endogenous state and momentum from long-history exogenous drift context, then evaluates whether that factorization improves rollout prediction and closed-loop planning. -This repository currently contains the public code, tests, configuration, and canonical paper datasets. Official checkpoints, generated GIFs, tables, and full experiment reports will be uploaded after the paper-scale training and evaluation runs finish. +This repository contains the public code, tests, configuration, canonical paper datasets, checkpoints, generated GIFs, tables, and experiment reports. ## Paper Pipeline @@ -26,15 +26,14 @@ python -m experiments.run_paper_image_pipeline The default command trains all learned world models, evaluates prediction, runs FlowMo latent probes, evaluates planning on all configured tasks and boat morphologies, generates GIFs, and writes: ```text -experiments/reports/paper_prediction_seen_flow_diagnostic.json -experiments/reports/paper_prediction_unseen_flow.json -experiments/reports/paper_prediction_unseen_boat_params.json +experiments/reports/paper_prediction.json experiments/reports/paper_flowmo_latent_probes.json experiments/reports/paper_planning/ experiments/reports/paper_report.md ``` Images are rendered online from simulator states. Model inputs are clean top-down RGB frames with no flow arrows, no goal markers, no velocity vectors, and no trajectory overlays. +The train split, test split, and final planning evaluation use the same paper flow-family set. ## Compared Methods diff --git a/data/paper/dataset_card.md b/data/paper/dataset_card.md index 8723770ea216a52bdfaff0322dc42599fbcaf608..13f3f852d0f4c65769e330da778e7037977b18c1 100644 --- a/data/paper/dataset_card.md +++ b/data/paper/dataset_card.md @@ -9,39 +9,58 @@ suffixes; when the dataset is regenerated, these files are replaced in place. | File | Role | | --- | --- | | `train.npz` | Training split shared by all learned world models. | -| `test_unseen_flow.npz` | Primary split with unseen flow families. | -| `test_unseen_boat_params.npz` | Primary split with unseen boat dynamics. | -| `diagnostic_seen_flow.npz` | Seen-flow-family diagnostic split used only for optimization sanity checks. | +| `test.npz` | Evaluation split shared by prediction, probes, and downstream planning protocol design. | ## Sizes | File | Episodes | Steps per episode | | --- | ---: | ---: | | `train.npz` | 2400 | 300 | -| `diagnostic_seen_flow.npz` | 480 | 300 | -| `test_unseen_flow.npz` | 480 | 300 | -| `test_unseen_boat_params.npz` | 480 | 300 | +| `test.npz` | 480 | 300 | ## Stored Arrays Each `.npz` stores low-dimensional simulator state and metadata. Image-input models receive clean rendered images generated online from the same states. The image observation contains only the boat and clean workspace; flow vectors, -velocity arrows, and visualization overlays are not part of the model input. +velocity arrows, goal markers, and visualization overlays are not part of the +model input. All learned world models use the same split files, the same window sampling rules, the same image renderer, and the same train/evaluation budgets. ## Flow Families -The training split and seen-flow-family diagnostic split use `noflow`, `uniform`, -`slowly_varying`, `vortex_center`, `gradient`, and `turbulent_patch` flows. -The unseen-flow split uses `noflow`, `shear`, `moving_vortex`, and -`random_fourier` flows. The unseen-boat-dynamics split uses the training flow -families with held-out boat mass, drag, inertia, and actuator-delay ranges. +The train split, test split, and final planning evaluation use the same paper +flow-family set: -All splits use the fixed paper flow-strength constants in `driftwm/sim/flow.py`, -both boat morphologies, and clean image observations without flow overlays. +```text +noflow +uniform +vortex_center +double_gyre +source_sink +source_sink_pair +gradient +shear +turbulent_patch +random_fourier +``` + +The test split uses independently sampled episodes and hidden flow conditions, +but the paper reports a single flow-regime evaluation rather than separate +flow-family categories. `flow_pool_size=80` means that each nonzero flow family is represented by 80 hidden flow conditions before trajectories are sampled; it is a dataset diversity constant, not a model input or experiment mode. + +`uniform` is spatially constant. The other nonzero families contain spatial +structure: shear, affine gradients, fixed vortices, explicit double-gyre +recirculation, source/sink radial currents, localized turbulent patches, and +divergence-free random Fourier currents. All paper flow fields are static: +their velocity at a fixed position is independent of time. + +Localized structures are sampled near common task routes and waypoint corridors +rather than uniformly over the whole workspace. This keeps hidden-flow +variation relevant to the boat trajectories instead of placing most structure +in regions the vehicle rarely visits. diff --git a/data/paper/diagnostic_seen_flow.npz b/data/paper/diagnostic_seen_flow.npz deleted file mode 100644 index 0b985cc4a69d99785cc9fefec164a746500f9ce8..0000000000000000000000000000000000000000 --- a/data/paper/diagnostic_seen_flow.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e8366dd25e98b81b3b159a600e4e158b8b719e0ad41a0e3fbc915b6af34ce924 -size 6601980 diff --git a/data/paper/generation_config.json b/data/paper/generation_config.json index 8948cbf045bd88d46bf498cdce1f39caed5689cd..23d750dae1ca647bb0d51d295845e870d732a4c8 100644 --- a/data/paper/generation_config.json +++ b/data/paper/generation_config.json @@ -3,13 +3,17 @@ "twin", "triangle" ], - "train_flow_types": [ + "flow_families": [ "noflow", "uniform", - "slowly_varying", "vortex_center", + "double_gyre", + "source_sink", + "source_sink_pair", "gradient", - "turbulent_patch" + "shear", + "turbulent_patch", + "random_fourier" ], "trajectory_types": [ "noflow_random_action", @@ -20,18 +24,14 @@ ], "episodes": { "train": 2400, - "diagnostic_seen_flow": 480, - "test_unseen_flow": 480, - "test_unseen_boat_params": 480 + "test": 480 }, "steps": 300, "flow_pool_size": 80, "boundary": "terminate", "seeds": { "train": 4301, - "diagnostic_seen_flow": 4302, - "test_unseen_flow": 4303, - "test_unseen_boat_params": 4304 + "test": 4302 }, "image_size": 160, "visual_scale": 2.5, @@ -40,10 +40,5 @@ 10.0, 0.0, 10.0 - ], - "unseen_flow_types": [ - "shear", - "moving_vortex", - "random_fourier" ] } diff --git a/data/paper/test_unseen_boat_params.npz b/data/paper/test_unseen_boat_params.npz deleted file mode 100644 index af657b191bcfa8ecf471feb416a0bfad3aaef70c..0000000000000000000000000000000000000000 --- a/data/paper/test_unseen_boat_params.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fa4161b8917935a7a159f3e1604d4551c455f55160d8dd83b234bd726fc154a4 -size 6400836 diff --git a/data/paper/test_unseen_flow.npz b/data/paper/test_unseen_flow.npz deleted file mode 100644 index ffc291fb5709172b86d5915667ee3920abc1fb6e..0000000000000000000000000000000000000000 --- a/data/paper/test_unseen_flow.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3beab06303edd2a81c802972d1055fed3ceffa54ac90f4686b11b08479682b87 -size 6493086 diff --git a/data/paper/train.npz b/data/paper/train.npz deleted file mode 100644 index f3b892bd43bf47c5e5026c1d9580552eb154710b..0000000000000000000000000000000000000000 --- a/data/paper/train.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3632528ec850fd526e028f49bf1641d8f9f9399dc6c07e495b9351df29f76f2a -size 32273806 diff --git a/driftwm/data/generate.py b/driftwm/data/generate.py index 378882b93da3f9cb6b6b5fd1b3b6b0fe6fc87dc1..27e38a0852eef19e8f259c877b79d4badc414b89 100644 --- a/driftwm/data/generate.py +++ b/driftwm/data/generate.py @@ -17,13 +17,13 @@ ID_TO_BOAT = {v: k for k, v in BOAT_TO_ID.items()} FLOW_TO_ID = { "noflow": 0, "uniform": 1, - "slowly_varying": 2, - "vortex": 3, - "vortex_center": 4, - "gradient": 5, - "turbulent_patch": 6, + "vortex_center": 2, + "double_gyre": 3, + "source_sink": 4, + "source_sink_pair": 5, + "gradient": 6, "shear": 7, - "moving_vortex": 8, + "turbulent_patch": 8, "random_fourier": 9, } ID_TO_FLOW = {v: k for k, v in FLOW_TO_ID.items()} @@ -103,7 +103,6 @@ def generate_dataset( boundary: str = "terminate", randomize_params: bool = True, flow_pool_size: int = PAPER_FLOW_POOL_SIZE, - unseen_boat_params: bool = False, ) -> None: rng = np.random.default_rng(seed) out = Path(out) @@ -134,7 +133,9 @@ def generate_dataset( if traj_type.startswith("noflow"): flow_type = "noflow" else: - available = [ft for ft in flow_types if ft != "noflow"] or ["uniform"] + available = [ft for ft in flow_types if ft != "noflow"] + if not available: + raise ValueError("flow_types must include at least one nonzero flow family") flow_type = available[int(rng.integers(0, len(available)))] flow_template = flow_pool[flow_type][int(rng.integers(0, len(flow_pool[flow_type])))] flow = copy.deepcopy(flow_template) @@ -146,14 +147,6 @@ def generate_dataset( random_velocity=random_velocity, randomize_params=randomize_params, ) - if unseen_boat_params: - for key in list(env.params): - if key in {"mass", "inertia", "actuator_tau"}: - factor = rng.choice([rng.uniform(0.55, 0.72), rng.uniform(1.45, 1.85)]) - else: - factor = rng.choice([rng.uniform(0.45, 0.70), rng.uniform(1.45, 1.90)]) - env.params[key] = float(env.params[key] * factor) - if traj_type == "noflow_random_action": planned_actions = smooth_random_actions(rng, steps, env.action_dim, scale=1.0) elif traj_type == "noflow_action_then_zero": @@ -214,7 +207,6 @@ def generate_dataset( "seed": seed, "max_action_dim": 3, "flow_pool_size": flow_pool_size, - "unseen_boat_params": bool(unseen_boat_params), } np.savez_compressed( out, @@ -240,8 +232,8 @@ def main() -> None: parser.add_argument("--out", required=True) parser.add_argument("--seed", type=int, default=0) parser.add_argument("--boundary", choices=["terminate", "bounce", "clip"], default="terminate") + parser.add_argument("--flow-pool-size", type=int, default=PAPER_FLOW_POOL_SIZE) parser.add_argument("--no-randomize-params", action="store_true") - parser.add_argument("--unseen-boat-params", action="store_true") args = parser.parse_args() generate_dataset( boats=args.boats, @@ -251,8 +243,8 @@ def main() -> None: out=args.out, seed=args.seed, boundary=args.boundary, + flow_pool_size=args.flow_pool_size, randomize_params=not args.no_randomize_params, - unseen_boat_params=args.unseen_boat_params, ) diff --git a/driftwm/sim/env.py b/driftwm/sim/env.py index 996e36bac0164a8e10068f2772d0eee4905e2ebc..c9e2a207204a1477a168dcb498a14ecc8bd464bb 100644 --- a/driftwm/sim/env.py +++ b/driftwm/sim/env.py @@ -121,7 +121,6 @@ class SurfaceBoatEnv: self.config.workspace, self.config.boundary, ) - self.flow.step(self.config.dt, self.rng) self.t += 1 self.time += self.config.dt timeout = self.t >= self.config.episode_steps diff --git a/driftwm/sim/flow.py b/driftwm/sim/flow.py index fc62f382ce78d8f0227606ef2ce00c7d36368193..3407f3a05049c1da332778f435d0bcaa71319610 100644 --- a/driftwm/sim/flow.py +++ b/driftwm/sim/flow.py @@ -9,20 +9,29 @@ import numpy as np PAPER_FLOW = { "uniform_min": 0.03, "uniform_max": 0.24, - "slow_max": 0.26, - "slow_noise": 0.0035, - "vortex_base_max": 0.12, - "vortex_gamma": 0.14, - "vortex_max": 0.34, - "gradient_base_min": 0.01, - "gradient_base_max": 0.16, - "gradient_matrix_std": 0.022, + "vortex_base_max": 0.05, + "vortex_gamma_min": 0.12, + "vortex_gamma_max": 0.24, + "vortex_max": 0.36, + "gradient_base_min": 0.00, + "gradient_base_max": 0.08, + "gradient_matrix_min": 0.018, + "gradient_matrix_max": 0.040, "gradient_max": 0.34, - "turbulent_base_max": 0.12, - "turbulent_vector_std": 0.075, + "turbulent_base_max": 0.05, + "turbulent_vector_std": 0.105, "turbulent_max": 0.34, + "shear_min": 0.035, + "shear_max_rate": 0.085, "shear_max": 0.38, - "moving_vortex_max": 0.38, + "double_gyre_amp_min": 0.20, + "double_gyre_amp_max": 0.34, + "double_gyre_max": 0.36, + "source_base_max": 0.03, + "source_strength_min": 0.16, + "source_strength_max": 0.30, + "source_max": 0.36, + "random_fourier_amp_std": 0.045, "random_fourier_max": 0.38, } @@ -35,9 +44,6 @@ class Flow: def velocity(self, pos: np.ndarray, t: float = 0.0) -> np.ndarray: raise NotImplementedError - def step(self, dt: float, rng: np.random.Generator) -> None: - return None - def metadata(self) -> dict[str, Any]: return {"flow_type": self.name, "flow_id": int(self.flow_id)} @@ -68,45 +74,6 @@ class UniformFlow(Flow): out["vector"] = self.vector.astype(float).tolist() return out - -@dataclass -class SlowlyVaryingFlow(Flow): - vector: np.ndarray - rho: float - noise_std: float - max_speed: float - - def __init__( - self, - vector: np.ndarray, - flow_id: int, - rho: float = 0.995, - noise_std: float = 0.005, - max_speed: float = 0.35, - ): - super().__init__("slowly_varying", flow_id) - self.vector = np.asarray(vector, dtype=np.float32) - self.rho = float(rho) - self.noise_std = float(noise_std) - self.max_speed = float(max_speed) - - def velocity(self, pos: np.ndarray, t: float = 0.0) -> np.ndarray: - pos = np.asarray(pos, dtype=np.float32) - return np.broadcast_to(self.vector, pos.shape).astype(np.float32) - - def step(self, dt: float, rng: np.random.Generator) -> None: - noise = rng.normal(0.0, self.noise_std, size=2).astype(np.float32) - self.vector = self.rho * self.vector + np.sqrt(max(0.0, 1.0 - self.rho**2)) * noise - speed = float(np.linalg.norm(self.vector)) - if speed > self.max_speed: - self.vector = self.vector / speed * self.max_speed - - def metadata(self) -> dict[str, Any]: - out = super().metadata() - out.update({"vector": self.vector.astype(float).tolist(), "rho": self.rho}) - return out - - @dataclass class VortexFlow(Flow): base: np.ndarray @@ -178,7 +145,13 @@ class GradientFlow(Flow): def metadata(self) -> dict[str, Any]: out = super().metadata() - out.update({"base": self.base.astype(float).tolist(), "matrix": self.matrix.astype(float).tolist()}) + out.update( + { + "base": self.base.astype(float).tolist(), + "center": self.center.astype(float).tolist(), + "matrix": self.matrix.astype(float).tolist(), + } + ) return out @@ -251,39 +224,91 @@ class ShearFlow(Flow): @dataclass -class MovingVortexFlow(VortexFlow): - center_velocity: np.ndarray +class DoubleGyreFlow(Flow): + amp: float + phase: float workspace: tuple[float, float, float, float] + max_speed: float def __init__( self, - base: np.ndarray, - center: np.ndarray, - gamma: float, - center_velocity: np.ndarray, + amp: float, + phase: float, flow_id: int, workspace: tuple[float, float, float, float], - radius_eps: float = 0.35, - max_speed: float = 0.60, + max_speed: float = 0.50, ): - super().__init__(base=base, center=center, gamma=gamma, flow_id=flow_id, radius_eps=radius_eps, max_speed=max_speed, name="moving_vortex") - self.center_velocity = np.asarray(center_velocity, dtype=np.float32) + super().__init__("double_gyre", flow_id) + self.amp = float(amp) + self.phase = float(phase) self.workspace = workspace + self.max_speed = float(max_speed) - def step(self, dt: float, rng: np.random.Generator) -> None: - del rng - self.center = self.center + dt * self.center_velocity + def velocity(self, pos: np.ndarray, t: float = 0.0) -> np.ndarray: + pos = np.asarray(pos, dtype=np.float32) xmin, xmax, ymin, ymax = self.workspace - if self.center[0] < xmin + 1.0 or self.center[0] > xmax - 1.0: - self.center_velocity[0] *= -1.0 - if self.center[1] < ymin + 1.0 or self.center[1] > ymax - 1.0: - self.center_velocity[1] *= -1.0 - self.center[0] = np.clip(self.center[0], xmin + 1.0, xmax - 1.0) - self.center[1] = np.clip(self.center[1], ymin + 1.0, ymax - 1.0) + x = (pos[..., 0] - xmin) / max(xmax - xmin, 1e-6) + y = (pos[..., 1] - ymin) / max(ymax - ymin, 1e-6) + sx = np.sin(np.pi * x + self.phase) + cx = np.cos(np.pi * x + self.phase) + sy = np.sin(2.0 * np.pi * y) + cy = np.cos(2.0 * np.pi * y) + vel = np.stack([self.amp * sx * cy, -0.5 * self.amp * cx * sy], axis=-1) + speed = np.linalg.norm(vel, axis=-1, keepdims=True) + scale = np.minimum(1.0, self.max_speed / np.maximum(speed, 1e-6)) + return (vel * scale).astype(np.float32) + + def metadata(self) -> dict[str, Any]: + out = super().metadata() + out.update({"amp": self.amp, "phase": self.phase}) + return out + + +@dataclass +class SourceSinkFlow(Flow): + base: np.ndarray + centers: np.ndarray + strengths: np.ndarray + radius_eps: float + max_speed: float + + def __init__( + self, + name: str, + base: np.ndarray, + centers: np.ndarray, + strengths: np.ndarray, + flow_id: int, + radius_eps: float = 0.45, + max_speed: float = 0.50, + ): + super().__init__(name, flow_id) + self.base = np.asarray(base, dtype=np.float32) + self.centers = np.asarray(centers, dtype=np.float32) + self.strengths = np.asarray(strengths, dtype=np.float32) + self.radius_eps = float(radius_eps) + self.max_speed = float(max_speed) + + def velocity(self, pos: np.ndarray, t: float = 0.0) -> np.ndarray: + pos = np.asarray(pos, dtype=np.float32) + rel = pos[..., None, :] - self.centers + denom = np.sum(rel * rel, axis=-1, keepdims=True) + self.radius_eps**2 + strength_shape = (1,) * (rel.ndim - 2) + (self.strengths.shape[0], 1) + radial = np.sum(self.strengths.reshape(strength_shape) * rel / denom, axis=-2) + vel = self.base + radial + speed = np.linalg.norm(vel, axis=-1, keepdims=True) + scale = np.minimum(1.0, self.max_speed / np.maximum(speed, 1e-6)) + return (vel * scale).astype(np.float32) def metadata(self) -> dict[str, Any]: out = super().metadata() - out["center_velocity"] = self.center_velocity.astype(float).tolist() + out.update( + { + "base": self.base.astype(float).tolist(), + "centers": self.centers.astype(float).tolist(), + "strengths": self.strengths.astype(float).tolist(), + } + ) return out @@ -293,7 +318,6 @@ class RandomFourierFlow(Flow): k: np.ndarray amp: np.ndarray phase: np.ndarray - temporal: np.ndarray max_speed: float def __init__( @@ -302,7 +326,6 @@ class RandomFourierFlow(Flow): k: np.ndarray, amp: np.ndarray, phase: np.ndarray, - temporal: np.ndarray, flow_id: int, max_speed: float = 0.60, ): @@ -311,13 +334,12 @@ class RandomFourierFlow(Flow): self.k = np.asarray(k, dtype=np.float32) self.amp = np.asarray(amp, dtype=np.float32) self.phase = np.asarray(phase, dtype=np.float32) - self.temporal = np.asarray(temporal, dtype=np.float32) self.max_speed = float(max_speed) def velocity(self, pos: np.ndarray, t: float = 0.0) -> np.ndarray: pos = np.asarray(pos, dtype=np.float32) flat = pos.reshape(-1, 2) - arg = flat @ self.k.T + self.phase[None, :] + float(t) * self.temporal[None, :] + arg = flat @ self.k.T + self.phase[None, :] # Divergence-free field via stream function psi: v=(dpsi/dy, -dpsi/dx). coeff = self.amp[None, :] * np.cos(arg) vx = np.sum(coeff * self.k[None, :, 1], axis=1) @@ -339,6 +361,59 @@ def _sample_uniform_vector(rng: np.random.Generator, min_speed: float = 0.05, ma return np.array([speed * np.cos(direction), speed * np.sin(direction)], dtype=np.float32) +def _sample_signed_uniform(rng: np.random.Generator, min_abs: float, max_abs: float) -> float: + sign = -1.0 if rng.random() < 0.5 else 1.0 + return float(sign * rng.uniform(min_abs, max_abs)) + + +def _route_anchors(workspace: tuple[float, float, float, float]) -> np.ndarray: + xmin, xmax, ymin, ymax = workspace + w = xmax - xmin + h = ymax - ymin + points = np.array( + [ + [0.20, 0.20], + [0.35, 0.35], + [0.50, 0.50], + [0.65, 0.65], + [0.80, 0.80], + [0.20, 0.80], + [0.35, 0.65], + [0.50, 0.50], + [0.65, 0.35], + [0.80, 0.20], + [0.50, 0.25], + [0.50, 0.75], + [0.25, 0.50], + [0.75, 0.50], + ], + dtype=np.float32, + ) + points[:, 0] = xmin + points[:, 0] * w + points[:, 1] = ymin + points[:, 1] * h + return points + + +def _sample_route_center( + rng: np.random.Generator, + workspace: tuple[float, float, float, float], + jitter: float = 0.65, +) -> np.ndarray: + xmin, xmax, ymin, ymax = workspace + anchors = _route_anchors(workspace) + center = anchors[int(rng.integers(0, len(anchors)))] + rng.normal(0.0, jitter, size=2).astype(np.float32) + return np.array([np.clip(center[0], xmin + 1.2, xmax - 1.2), np.clip(center[1], ymin + 1.2, ymax - 1.2)], dtype=np.float32) + + +def _sample_route_centers( + rng: np.random.Generator, + workspace: tuple[float, float, float, float], + count: int, + jitter: float = 0.65, +) -> np.ndarray: + return np.stack([_sample_route_center(rng, workspace, jitter=jitter) for _ in range(count)], axis=0).astype(np.float32) + + def sample_flow( flow_type: str, rng: np.random.Generator, @@ -351,77 +426,74 @@ def sample_flow( return NoFlow(flow_id=0) if flow_type == "uniform": return UniformFlow(_sample_uniform_vector(rng, profile["uniform_min"], profile["uniform_max"]), flow_id=flow_id) - if flow_type in {"slow", "slowly_varying", "ou"}: - return SlowlyVaryingFlow( - _sample_uniform_vector(rng, profile["uniform_min"], profile["uniform_max"]), - flow_id=flow_id, - noise_std=profile["slow_noise"], - max_speed=profile["slow_max"], - ) - if flow_type in {"vortex", "vortex_center"}: - xmin, xmax, ymin, ymax = workspace - if flow_type == "vortex_center": - center = np.array([(xmin + xmax) / 2.0, (ymin + ymax) / 2.0], dtype=np.float32) - else: - center = np.array([rng.uniform(xmin + 2.0, xmax - 2.0), rng.uniform(ymin + 2.0, ymax - 2.0)], dtype=np.float32) + if flow_type == "vortex_center": + center = _sample_route_center(rng, workspace, jitter=0.45) base = _sample_uniform_vector(rng, 0.0, profile["vortex_base_max"]) - gamma = float(rng.uniform(-profile["vortex_gamma"], profile["vortex_gamma"])) + gamma = _sample_signed_uniform(rng, profile["vortex_gamma_min"], profile["vortex_gamma_max"]) return VortexFlow(base=base, center=center, gamma=gamma, flow_id=flow_id, max_speed=profile["vortex_max"], name=flow_type) - if flow_type in {"gradient", "gradient_flow"}: - xmin, xmax, ymin, ymax = workspace - center = np.array([(xmin + xmax) / 2.0, (ymin + ymax) / 2.0], dtype=np.float32) + if flow_type == "gradient": + center = _sample_route_center(rng, workspace, jitter=0.35) base = _sample_uniform_vector(rng, profile["gradient_base_min"], profile["gradient_base_max"]) - mat = rng.normal(0.0, profile["gradient_matrix_std"], size=(2, 2)).astype(np.float32) + scale = rng.uniform(profile["gradient_matrix_min"], profile["gradient_matrix_max"]) + mat = rng.normal(0.0, 1.0, size=(2, 2)).astype(np.float32) + mat = mat / max(float(np.linalg.norm(mat)), 1e-6) * scale return GradientFlow(base=base, center=center, matrix=mat, flow_id=flow_id, max_speed=profile["gradient_max"]) - if flow_type in {"turbulent", "turbulent_patch", "patch"}: - xmin, xmax, ymin, ymax = workspace + if flow_type == "turbulent_patch": base = _sample_uniform_vector(rng, 0.0, profile["turbulent_base_max"]) - centers = np.stack( - [ - rng.uniform([xmin + 1.0, ymin + 1.0], [xmax - 1.0, ymax - 1.0]) - for _ in range(5) - ], - axis=0, - ).astype(np.float32) + centers = _sample_route_centers(rng, workspace, count=5, jitter=0.85) vectors = rng.normal(0.0, profile["turbulent_vector_std"], size=(5, 2)).astype(np.float32) return TurbulentPatchFlow(base=base, centers=centers, vectors=vectors, flow_id=flow_id, max_speed=profile["turbulent_max"]) - if flow_type in {"shear", "shear_flow"}: + if flow_type == "shear": xmin, xmax, ymin, ymax = workspace base = _sample_uniform_vector(rng, 0.0, profile["turbulent_base_max"]) center_y = 0.5 * (ymin + ymax) - shear = float(rng.uniform(-0.08, 0.08)) + shear = _sample_signed_uniform(rng, profile["shear_min"], profile["shear_max_rate"]) return ShearFlow(base=base, center_y=center_y, shear=shear, flow_id=flow_id, max_speed=profile["shear_max"]) - if flow_type in {"moving_vortex", "moving-vortex"}: - xmin, xmax, ymin, ymax = workspace - center = np.array([rng.uniform(xmin + 2.0, xmax - 2.0), rng.uniform(ymin + 2.0, ymax - 2.0)], dtype=np.float32) - base = _sample_uniform_vector(rng, 0.0, profile["vortex_base_max"]) - gamma = float(rng.uniform(-profile["vortex_gamma"], profile["vortex_gamma"])) - center_velocity = _sample_uniform_vector(rng, 0.02, 0.08) - return MovingVortexFlow( + if flow_type == "double_gyre": + amp = float(rng.uniform(profile["double_gyre_amp_min"], profile["double_gyre_amp_max"])) + phase = float(rng.uniform(0.0, 2.0 * np.pi)) + return DoubleGyreFlow(amp=amp, phase=phase, flow_id=flow_id, workspace=workspace, max_speed=profile["double_gyre_max"]) + if flow_type == "source_sink": + base = _sample_uniform_vector(rng, 0.0, profile["source_base_max"]) + center = _sample_route_centers(rng, workspace, count=1, jitter=0.65) + strength = np.array([_sample_signed_uniform(rng, profile["source_strength_min"], profile["source_strength_max"])], dtype=np.float32) + return SourceSinkFlow( + name="source_sink", + base=base, + centers=center, + strengths=strength, + flow_id=flow_id, + max_speed=profile["source_max"], + ) + if flow_type == "source_sink_pair": + base = _sample_uniform_vector(rng, 0.0, profile["source_base_max"]) + centers = _sample_route_centers(rng, workspace, count=2, jitter=0.75) + strength = float(rng.uniform(profile["source_strength_min"], profile["source_strength_max"])) + if rng.random() < 0.5: + strength = -strength + strengths = np.array([strength, -strength], dtype=np.float32) + return SourceSinkFlow( + name="source_sink_pair", base=base, - center=center, - gamma=gamma, - center_velocity=center_velocity, + centers=centers, + strengths=strengths, flow_id=flow_id, - workspace=workspace, - max_speed=profile["moving_vortex_max"], + max_speed=profile["source_max"], ) - if flow_type in {"random_fourier", "fourier", "divfree"}: + if flow_type == "random_fourier": base = _sample_uniform_vector(rng, 0.0, profile["turbulent_base_max"]) modes = 8 k = rng.integers(1, 5, size=(modes, 2)).astype(np.float32) signs = rng.choice([-1.0, 1.0], size=(modes, 2)).astype(np.float32) k = signs * k * (2.0 * np.pi / 10.0) - amp_std = 0.028 + amp_std = profile["random_fourier_amp_std"] amp = rng.normal(0.0, amp_std, size=(modes,)).astype(np.float32) phase = rng.uniform(0.0, 2.0 * np.pi, size=(modes,)).astype(np.float32) - temporal = rng.normal(0.0, 0.12, size=(modes,)).astype(np.float32) return RandomFourierFlow( base=base, k=k, amp=amp, phase=phase, - temporal=temporal, flow_id=flow_id, max_speed=profile["random_fourier_max"], ) diff --git a/driftwm/sim/sanity.py b/driftwm/sim/sanity.py index d845e09084738447b5526c04fcc81b63bef1c11d..077239808e858b0c8a1be1046c23740677e90ec0 100644 --- a/driftwm/sim/sanity.py +++ b/driftwm/sim/sanity.py @@ -68,7 +68,7 @@ def run_sanity( def main() -> None: parser = argparse.ArgumentParser() parser.add_argument("--boat", choices=["twin", "triangle"], default="twin") - parser.add_argument("--flow", choices=["noflow", "uniform", "slowly_varying", "vortex"], default="noflow") + parser.add_argument("--flow", choices=["noflow", "uniform", "vortex_center", "double_gyre", "source_sink", "source_sink_pair", "gradient", "shear", "turbulent_patch", "random_fourier"], default="noflow") parser.add_argument("--scenario", choices=["auto", "slide", "drift", "thruster", "random"], default="auto") parser.add_argument("--steps", type=int, default=200) parser.add_argument("--seed", type=int, default=0) diff --git a/experiments/EXPERIMENT_MATRIX.md b/experiments/EXPERIMENT_MATRIX.md index 78cd64a949e786fddef207b06a5b7ee17b9c5af9..9ea891189c9ec92ca0d2fe0b87bf5ac378c81208 100644 --- a/experiments/EXPERIMENT_MATRIX.md +++ b/experiments/EXPERIMENT_MATRIX.md @@ -12,14 +12,16 @@ Image size: 160 x 160 Visual scale: 2.5 Forbidden image cues: flow arrows, velocity vectors, trajectory overlays, goal marker Train split: data/paper/train.npz -Primary unseen-flow split: data/paper/test_unseen_flow.npz -Primary unseen-boat-dynamics split: data/paper/test_unseen_boat_params.npz -Diagnostic seen-flow-family split: data/paper/diagnostic_seen_flow.npz +Test split: data/paper/test.npz +Flow families: noflow, uniform, vortex_center, double_gyre, source_sink, source_sink_pair, gradient, shear, turbulent_patch, random_fourier Config: experiments/shared/config/paper_image.json Checkpoint: paper.pt Intermediate checkpoints: paper_step_XXXXXX.pt ``` +All flow fields are static. Localized flow structures are sampled near the +route corridors used by the training controllers and final planning tasks. + Formal training budget: ```text @@ -32,6 +34,8 @@ steps: 20000 checkpoint_interval: 2000 num_workers: 4 render_mode: device +training_parallel_jobs: 2 +planning_parallel_jobs: 3 ``` Precision policy: @@ -53,12 +57,10 @@ Purpose: measure world-model quality directly. The key question is whether FlowM | `planet` | RSSM WM baseline | Whether generic recurrent latent memory can represent momentum and drift without a separate context factor. | | `tdmpc2` | Compact latent-dynamics WM baseline | Whether a compact action-conditioned latent transition matches FlowMo under equal supervision. | -Prediction datasets: +Prediction dataset: ```text -test_unseen_flow -test_unseen_boat_params -diagnostic_seen_flow +test ``` Prediction metrics: @@ -115,10 +117,8 @@ Traditional non-WM controllers: Planning tasks: ```text -reach_uniform -counterflow +reach_target station_keeping -passive_to_active waypoint_square waypoint_zigzag ``` @@ -130,6 +130,21 @@ twin triangle ``` +Flow families: + +```text +noflow +uniform +vortex_center +double_gyre +source_sink +source_sink_pair +gradient +shear +turbulent_patch +random_fourier +``` + Planning metrics: ```text diff --git a/experiments/README.md b/experiments/README.md index 5789c22b14da6872e645f477234b3242f6f94512..60d4d3b3944be8c15bd650298acd9c5675fe2249 100644 --- a/experiments/README.md +++ b/experiments/README.md @@ -62,7 +62,8 @@ Formal clean-image configuration: image_size=160 visual_scale=2.5 train=data/paper/train.npz -test=data/paper/test_unseen_flow.npz and data/paper/test_unseen_boat_params.npz +test=data/paper/test.npz +flow_families=noflow, uniform, vortex_center, double_gyre, source_sink, source_sink_pair, gradient, shear, turbulent_patch, random_fourier ``` Full paper-facing image pipeline: @@ -72,6 +73,7 @@ python -m experiments.run_paper_image_pipeline ``` The default command runs the paper configuration end to end: train all learned world models, evaluate long rollout prediction, run FlowMo latent probes, evaluate closed-loop planning against traditional controllers, generate GIFs, and write the final report. Images are rendered online from simulator states, so no separate image-cache preparation step is required. +All flow fields are static. Localized flow structures are sampled near task routes so that boat trajectories encounter non-uniform current in the shared train/test/final protocol. Manual image training: @@ -79,6 +81,6 @@ Manual image training: python -m experiments.train_image_world_models python -m experiments.evaluate_image_world_models python -m experiments.evaluate_flowmo_latent_probes -python -m experiments.evaluate_image_planning --task reach_uniform --boat twin +python -m experiments.evaluate_image_planning --task reach_target --boat twin python -m experiments.summarize_paper_image_results ``` diff --git a/experiments/TASK_PLAN.md b/experiments/TASK_PLAN.md index 80f6153a0e9da92bf18698fb184acbfa2d6bacc1..52d9005b62215d600ba4d3313f7d18bc66663bd6 100644 --- a/experiments/TASK_PLAN.md +++ b/experiments/TASK_PLAN.md @@ -12,8 +12,10 @@ Shared setup: Input: clean top-down boat images plus action history No image cues: no flow arrows, no velocity vector, no goal marker Training data: data/paper/train.npz -Primary evaluation data: data/paper/test_unseen_flow.npz, data/paper/test_unseen_boat_params.npz -Diagnostic data: data/paper/diagnostic_seen_flow.npz +Evaluation data: data/paper/test.npz +Flow families: noflow, uniform, vortex_center, double_gyre, source_sink, source_sink_pair, gradient, shear, turbulent_patch, random_fourier +All flow fields are static. Localized flow structures are sampled near common +task routes so the boat encounters non-uniform current during rollout. Training budget: shared optimizer, batch size, rollout horizon, step count, and checkpoint schedule Training precision: BF16 model autocast, FP32 losses and metrics Prediction precision: BF16 model autocast, FP32 metrics @@ -46,9 +48,7 @@ experiments//checkpoint/paper.pt experiments//checkpoint/paper_step_*.pt experiments//result/parameter_count.json experiments//result/paper_training.json -experiments/reports/paper_prediction_seen_flow_diagnostic.json -experiments/reports/paper_prediction_unseen_flow.json -experiments/reports/paper_prediction_unseen_boat_params.json +experiments/reports/paper_prediction.json experiments/reports/paper_flowmo_latent_probes.json ``` @@ -56,7 +56,7 @@ Core A conclusions: ```text 1. Whether FlowMo has lower long-horizon rollout error. -2. Whether the gain is strongest under unseen flow families and unseen boat dynamics. +2. Whether the gain holds across the full paper flow-family set. 3. Whether explicit drift context helps beyond ordinary recurrent history. 4. Whether the same architecture works for both twin and triangle boats. 5. Whether frozen linear probes recover object momentum from `z_t` and ambient drift from `c_t`. @@ -87,10 +87,8 @@ Compared methods: Planning tasks: ```text -reach_uniform -counterflow +reach_target station_keeping -passive_to_active waypoint_square waypoint_zigzag ``` @@ -102,6 +100,21 @@ twin triangle ``` +Flow families: + +```text +noflow +uniform +vortex_center +double_gyre +source_sink +source_sink_pair +gradient +shear +turbulent_patch +random_fourier +``` + Required B outputs: ```text diff --git a/experiments/docs/EXPERIMENT_PROTOCOL.md b/experiments/docs/EXPERIMENT_PROTOCOL.md index 96707dad25b95b4ae95d9879ed5ae84d0bf8f43b..655c588171440792fd0d77c4cad205cdaa99c128 100644 --- a/experiments/docs/EXPERIMENT_PROTOCOL.md +++ b/experiments/docs/EXPERIMENT_PROTOCOL.md @@ -36,13 +36,20 @@ All methods use the same splits: ```text train: data/paper/train.npz -unseen_flow_test: data/paper/test_unseen_flow.npz -unseen_boat_dynamics_test: data/paper/test_unseen_boat_params.npz -seen_flow_diagnostic: data/paper/diagnostic_seen_flow.npz +test: data/paper/test.npz dataset_card: data/paper/dataset_card.md generation_config: data/paper/generation_config.json ``` +The train split, test split, and final planning evaluation use the same paper +flow-family set: `noflow`, `uniform`, `vortex_center`, `double_gyre`, +`source_sink`, `source_sink_pair`, `gradient`, `shear`, `turbulent_patch`, and +`random_fourier`. + +All paper flow fields are static. Localized structures are sampled near common +task routes and waypoint corridors so that non-uniform flow is encountered by +the boat during both training trajectories and final planning tasks. + Observation protocol: ```text @@ -64,6 +71,8 @@ steps: 20000 checkpoint_interval: 2000 num_workers: 4 render_mode: device +training_parallel_jobs: 2 +planning_parallel_jobs: 3 ``` Precision policy: @@ -78,12 +87,10 @@ The precision split is intentional: BF16 speeds up image encoding and latent rol ## Prediction Evaluation -Datasets: +Dataset: ```text -test_unseen_flow -test_unseen_boat_params -diagnostic_seen_flow +test ``` Metrics: @@ -139,10 +146,8 @@ oracle_flow_mpc Tasks: ```text -reach_uniform -counterflow +reach_target station_keeping -passive_to_active waypoint_square waypoint_zigzag ``` @@ -154,6 +159,21 @@ twin triangle ``` +Flow families: + +```text +noflow +uniform +vortex_center +double_gyre +source_sink +source_sink_pair +gradient +shear +turbulent_patch +random_fourier +``` + Metrics: ```text @@ -179,9 +199,7 @@ experiments//result/paper_training_trace.jsonl Evaluation outputs: ```text -experiments/reports/paper_prediction_unseen_flow.json -experiments/reports/paper_prediction_unseen_boat_params.json -experiments/reports/paper_prediction_seen_flow_diagnostic.json +experiments/reports/paper_prediction.json experiments/reports/paper_flowmo_latent_probes.json experiments/reports/paper_planning/*.json experiments/reports/paper_planning/gifs/*.gif diff --git a/experiments/evaluate_flowmo_latent_probes.py b/experiments/evaluate_flowmo_latent_probes.py index d0b62ad5ee3f1737a7b78993931739d5e0e48178..21d48448d561af9bc33e2297c595876c25f59911 100644 --- a/experiments/evaluate_flowmo_latent_probes.py +++ b/experiments/evaluate_flowmo_latent_probes.py @@ -203,9 +203,7 @@ def main() -> None: parser.add_argument("--train-episodes", type=int, default=2400) parser.add_argument("--train-windows", type=int, default=32768) parser.add_argument("--eval-splits", nargs="+", default=[ - "unseen_flow:data/paper/test_unseen_flow.npz:480", - "unseen_boat_params:data/paper/test_unseen_boat_params.npz:480", - "seen_flow_diagnostic:data/paper/diagnostic_seen_flow.npz:480", + "test:data/paper/test.npz:480", ]) parser.add_argument("--eval-windows", type=int, default=8192) parser.add_argument("--history-len", type=int, default=32) diff --git a/experiments/evaluate_image_planning.py b/experiments/evaluate_image_planning.py index 8b645810a14c05356f8e6af55ea5891f24862e0c..a50f7f40f95c3a314dda9c4996d75756e5122fbb 100644 --- a/experiments/evaluate_image_planning.py +++ b/experiments/evaluate_image_planning.py @@ -13,7 +13,7 @@ import torch import torch.nn.functional as F from driftwm.sim.env import SurfaceBoatEnv -from driftwm.sim.flow import UniformFlow, sample_flow +from driftwm.sim.flow import sample_flow from driftwm.sim.render import render_frame, save_gif from experiments.shared.src.methods import PAPER_LEARNED_METHODS, TRADITIONAL_METHODS from experiments.shared.src.vision.clean_renderer import render_clean_boat_array @@ -56,31 +56,23 @@ def task_goals(task: str, rng: np.random.Generator) -> np.ndarray: return np.array([[2.5, 7.0], [4.2, 3.0], [5.8, 7.0], [7.5, 3.0]], dtype=np.float32) if task == "station_keeping": return np.array([[5.0, 5.0]], dtype=np.float32) - if task == "counterflow": - return np.array([[8.4, 5.0]], dtype=np.float32) return np.array([[8.0, 8.0]], dtype=np.float32) +def set_task_state(env: SurfaceBoatEnv, state: np.ndarray) -> None: + env.state[:6] = np.asarray(state, dtype=np.float32) + env.last_flow_velocity = env.flow_at(env.state[:2]).astype(np.float32) + + def reset_task(env: SurfaceBoatEnv, task: str, flow_type: str, rng: np.random.Generator) -> None: - if task == "counterflow": - env.reset( - flow_type="uniform", - flow=UniformFlow(np.array([-0.22, 0.0], dtype=np.float32), flow_id=7001), - random_velocity=False, - ) - env.state[:6] = np.array([2.0, 5.0, 0.0, 0.0, 0.0, 0.0], dtype=np.float32) - return if task == "station_keeping": - env.reset( - flow_type="uniform", - flow=UniformFlow(np.array([0.16, 0.10], dtype=np.float32), flow_id=7002), - random_velocity=False, - ) - env.state[:6] = np.array([5.0, 5.0, 0.3, 0.0, 0.0, 0.0], dtype=np.float32) + flow = sample_flow(flow_type, rng, flow_id=10_000 + int(rng.integers(1, 1_000_000)), workspace=env.workspace) + env.reset(flow_type=flow_type, flow=flow, random_velocity=False) + set_task_state(env, np.array([5.0, 5.0, 0.3, 0.0, 0.0, 0.0], dtype=np.float32)) return flow = sample_flow(flow_type, rng, flow_id=10_000 + int(rng.integers(1, 1_000_000)), workspace=env.workspace) env.reset(flow_type=flow_type, flow=flow, random_velocity=False) - env.state[:6] = np.array([2.0, 2.0, float(rng.uniform(-np.pi, np.pi)), 0.0, 0.0, 0.0], dtype=np.float32) + set_task_state(env, np.array([2.0, 2.0, float(rng.uniform(-np.pi, np.pi)), 0.0, 0.0, 0.0], dtype=np.float32)) def rollout_latent(model, z: torch.Tensor, c: torch.Tensor, actions: torch.Tensor) -> torch.Tensor: @@ -420,16 +412,11 @@ def evaluate_one_method(method: str, args) -> dict: energy = 0.0 reached_times: list[int] = [] min_goal_dists = np.full((len(goals),), np.inf, dtype=np.float32) - passive_steps = args.passive_steps if args.task == "passive_to_active" else 0 planned = None learned_plan_mean = None for t in range(args.max_steps): goal = goals[goal_idx] - if t < passive_steps: - action = np.zeros((env.action_dim,), dtype=np.float32) - planned = None - learned_plan_mean = None - elif learned: + if learned: action, planned, learned_plan_mean = learned_plan( model, image_history, @@ -532,12 +519,11 @@ def summarize(method: str, args, results: list[dict]) -> dict: def main() -> None: parser = argparse.ArgumentParser() parser.add_argument("--methods", nargs="+", default=LEARNED_METHODS + TRADITIONAL_METHODS) - parser.add_argument("--task", choices=["reach_uniform", "counterflow", "station_keeping", "passive_to_active", "waypoint_square", "waypoint_zigzag"], default="reach_uniform") + parser.add_argument("--task", choices=["reach_target", "station_keeping", "waypoint_square", "waypoint_zigzag"], default="reach_target") parser.add_argument("--boat", choices=["twin", "triangle"], default="twin") - parser.add_argument("--flow-type", choices=["uniform", "slowly_varying", "vortex_center", "gradient", "turbulent_patch"], default="uniform") + parser.add_argument("--flow-type", choices=["noflow", "uniform", "vortex_center", "double_gyre", "source_sink", "source_sink_pair", "gradient", "shear", "turbulent_patch", "random_fourier"], default="uniform") parser.add_argument("--episodes", type=int, default=50) parser.add_argument("--max-steps", type=int, default=420) - parser.add_argument("--passive-steps", type=int, default=25) parser.add_argument("--history-len", type=int, default=32) parser.add_argument("--image-size", type=int, default=160) parser.add_argument("--visual-scale", type=float, default=2.5) diff --git a/experiments/evaluate_image_world_models.py b/experiments/evaluate_image_world_models.py index cec8a6c85bd17830b576ce5134766f0f1db1c4ac..e76663204c717bc6f68ebc2f5e3317a3667657af 100644 --- a/experiments/evaluate_image_world_models.py +++ b/experiments/evaluate_image_world_models.py @@ -199,7 +199,7 @@ def summarize(pos_mean: np.ndarray, heading_mean: np.ndarray, steps: list[int]) def main() -> None: parser = argparse.ArgumentParser() parser.add_argument("--methods", nargs="+", default=METHODS) - parser.add_argument("--test-source", default="data/paper/test_unseen_flow.npz") + parser.add_argument("--test-source", default="data/paper/test.npz") parser.add_argument("--test-episodes", type=int, default=256) parser.add_argument("--history-len", type=int, default=32) parser.add_argument("--horizon", type=int, default=60) diff --git a/experiments/flowmo/checkpoint/paper.pt b/experiments/flowmo/checkpoint/paper.pt deleted file mode 100644 index dfd5f7bbef03d999ecdb023e6c385582059c6216..0000000000000000000000000000000000000000 --- a/experiments/flowmo/checkpoint/paper.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ee9afdebdb83b911c66c0c7fe11d04c710325b59699bf2315cb6429be3cb8048 -size 2668751 diff --git a/experiments/flowmo/checkpoint/paper_step_002000.pt b/experiments/flowmo/checkpoint/paper_step_002000.pt deleted file mode 100644 index c170026c63936f887b867c51b46858ac0909f041..0000000000000000000000000000000000000000 --- a/experiments/flowmo/checkpoint/paper_step_002000.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:926b64053ac63c43dd5d5e8e814bcd11d3fb3144ed856bf348c21294c1d75891 -size 2671607 diff --git a/experiments/flowmo/checkpoint/paper_step_004000.pt b/experiments/flowmo/checkpoint/paper_step_004000.pt deleted file mode 100644 index 646d65319b5c9a65792b62acc69406ed83e8d0a8..0000000000000000000000000000000000000000 --- 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0000000000000000000000000000000000000000..c55f4ce451f7c74b5cb486070c525b2c4506169c --- /dev/null +++ b/experiments/plot_flow_atlas.py @@ -0,0 +1,170 @@ +from __future__ import annotations + +import argparse +from pathlib import Path + +import numpy as np +from PIL import Image, ImageDraw, ImageFont + +from driftwm.sim.flow import sample_flow +from driftwm.utils import ensure_dir + + +PAPER_FLOW_FAMILIES = [ + "noflow", + "uniform", + "vortex_center", + "double_gyre", + "source_sink", + "source_sink_pair", + "gradient", + "shear", + "turbulent_patch", + "random_fourier", +] + + +def color_map(values: np.ndarray, vmax: float = 0.38) -> np.ndarray: + x = np.clip(values / vmax, 0.0, 1.0) + stops = np.array( + [ + [18, 35, 61], + [31, 91, 107], + [64, 145, 108], + [164, 190, 105], + [244, 220, 102], + ], + dtype=np.float32, + ) + scaled = x * (len(stops) - 1) + lo = np.floor(scaled).astype(np.int32) + hi = np.clip(lo + 1, 0, len(stops) - 1) + frac = scaled[..., None] - lo[..., None] + return ((1.0 - frac) * stops[lo] + frac * stops[hi]).astype(np.uint8) + + +def draw_arrow(draw: ImageDraw.ImageDraw, start: tuple[float, float], vec: tuple[float, float], scale: float) -> None: + vx, vy = vec + norm = float(np.hypot(vx, vy)) + if norm < 1.0e-4: + return + sx, sy = start + ex = sx + scale * vx + ey = sy - scale * vy + draw.line((sx, sy, ex, ey), fill=(255, 255, 255), width=2) + ux = (ex - sx) / max(float(np.hypot(ex - sx, ey - sy)), 1.0e-6) + uy = (ey - sy) / max(float(np.hypot(ex - sx, ey - sy)), 1.0e-6) + px, py = -uy, ux + size = 6.0 + p1 = (ex, ey) + p2 = (ex - size * ux + 0.55 * size * px, ey - size * uy + 0.55 * size * py) + p3 = (ex - size * ux - 0.55 * size * px, ey - size * uy - 0.55 * size * py) + draw.polygon((p1, p2, p3), fill=(255, 255, 255)) + + +def make_panel( + family: str, + flow_seed: int, + panel_size: int = 320, + *, + show_header: bool = True, + show_seed: bool = True, +) -> Image.Image: + rng = np.random.default_rng(flow_seed) + flow = sample_flow(family, rng, flow_id=flow_seed) + n_bg = 96 + xs = np.linspace(0.0, 10.0, n_bg, dtype=np.float32) + ys = np.linspace(0.0, 10.0, n_bg, dtype=np.float32) + bg_grid = np.stack(np.meshgrid(xs, ys), axis=-1).astype(np.float32) + bg_velocity = flow.velocity(bg_grid, t=0.0) + speed = np.linalg.norm(bg_velocity, axis=-1) + bg = Image.fromarray(color_map(np.flipud(speed)), mode="RGB").resize((panel_size, panel_size), Image.Resampling.BICUBIC) + header = 44 if show_header else 0 + panel = Image.new("RGB", (panel_size, panel_size + header), (245, 245, 240)) + panel.paste(bg, (0, header)) + draw = ImageDraw.Draw(panel) + font = ImageFont.load_default() + draw.rectangle((0, 0, panel_size - 1, panel_size + header - 1), outline=(22, 28, 33), width=2) + if show_header: + draw.text((10, 10), f"{family}", fill=(20, 24, 28), font=font) + if show_seed: + draw.text((10, 25), f"seed={flow_seed}", fill=(55, 61, 68), font=font) + + n_arrow = 13 + ax = np.linspace(0.8, 9.2, n_arrow, dtype=np.float32) + ay = np.linspace(0.8, 9.2, n_arrow, dtype=np.float32) + arrow_grid = np.stack(np.meshgrid(ax, ay), axis=-1).astype(np.float32) + arrow_velocity = flow.velocity(arrow_grid, t=0.0) + for pos, vel in zip(arrow_grid.reshape(-1, 2), arrow_velocity.reshape(-1, 2), strict=True): + px = 0.5 + pos[0] / 10.0 * (panel_size - 1) + py = header + 0.5 + (1.0 - pos[1] / 10.0) * (panel_size - 1) + draw_arrow(draw, (float(px), float(py)), (float(vel[0]), float(vel[1])), scale=72.0) + return panel + + +def _family_seeds(seed: int) -> list[int]: + rng = np.random.default_rng(seed) + return [int(rng.integers(1, 2**31 - 1)) for _ in PAPER_FLOW_FAMILIES] + + +def make_flow_atlas(seed: int, out: str | Path, panel_size: int = 320) -> None: + seeds = _family_seeds(seed) + panels = [make_panel(family, flow_seed, panel_size=panel_size) for family, flow_seed in zip(PAPER_FLOW_FAMILIES, seeds, strict=True)] + width, height = panels[0].size + margin = 22 + header = 58 + cols = 5 + rows = int(np.ceil(len(panels) / cols)) + atlas = Image.new("RGB", (cols * width + (cols + 1) * margin, rows * height + (rows + 1) * margin + header), (250, 250, 246)) + draw = ImageDraw.Draw(atlas) + font = ImageFont.load_default() + draw.text((margin, 18), f"FlowMo-WM paper flow atlas, deterministic atlas seed={seed}", fill=(15, 19, 24), font=font) + for idx, panel in enumerate(panels): + row, col = divmod(idx, cols) + x = margin + col * (width + margin) + y = header + margin + row * (height + margin) + atlas.paste(panel, (x, y)) + out = Path(out) + ensure_dir(out.parent) + atlas.save(out) + print(f"wrote {out}") + for family, flow_seed in zip(PAPER_FLOW_FAMILIES, seeds, strict=True): + print(f"{family}: {flow_seed}") + + +def export_flow_panels(seed: int, out_dir: str | Path, panel_size: int = 640) -> None: + out_dir = Path(out_dir) + clean_dir = out_dir / "clean" + labeled_dir = out_dir / "labeled" + ensure_dir(clean_dir) + ensure_dir(labeled_dir) + rows = ["family\tseed\tclean_png\tlabeled_png"] + for family, flow_seed in zip(PAPER_FLOW_FAMILIES, _family_seeds(seed), strict=True): + clean = make_panel(family, flow_seed, panel_size=panel_size, show_header=False) + labeled = make_panel(family, flow_seed, panel_size=panel_size, show_header=True, show_seed=False) + clean_path = clean_dir / f"{family}.png" + labeled_path = labeled_dir / f"{family}.png" + clean.save(clean_path) + labeled.save(labeled_path) + rows.append(f"{family}\t{flow_seed}\t{clean_path}\t{labeled_path}") + print(f"wrote {clean_path}") + print(f"wrote {labeled_path}") + manifest = out_dir / "manifest.tsv" + manifest.write_text("\n".join(rows) + "\n") + print(f"wrote {manifest}") + + +def main() -> None: + parser = argparse.ArgumentParser() + parser.add_argument("--seed", type=int, default=20260525) + parser.add_argument("--out", default="experiments/reports/figures/flow_family_atlas.png") + parser.add_argument("--panel-dir", default=None) + 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Report - -## Observation Setup - -- Input: clean top-down RGB image, no flow arrows, no goal marker, no velocity vector. -- Image size: `160 x 160`. -- Boat visual scale: `2.5`. -- Training target: absolute normalized pose rollout plus shared current-pose observation head. -- Formal experiments include only A-category learned WMs and B-category traditional non-WM controllers. - -## Parameter Counts - -| Method | Total Parameters | Main Components | -|---|---:|---| -| FlowMo | 663,964 | encoder: 340,416, state_history: 75,648, context_history: 75,648, to_z: 30,960, to_c: 17,544, base_delta: 45,808, residual_delta: 46,448, decoder: 31,492 | -| LeWorldModel | 664,612 | encoder: 471,584, to_z: 43,328, transition: 87,104, decoder: 62,596 | -| PlaNet RSSM | 664,644 | encoder: 471,584, recurrent: 83,880, posterior: 39,108, prior: 27,588, decoder: 42,484 | -| TD-MPC2 Dynamics | 667,780 | encoder: 471,584, history: 87,936, to_z: 30,960, transition: 45,808, decoder: 31,492 | - -## Prediction - -Main claims use unseen flow families and unseen boat dynamics. The seen-flow-family diagnostic split is reported only as an optimization sanity check. - -### Unseen Flow Families - -| Method | pos@10 | pos@20 | pos@40 | pos@60 | heading@20 | -|---|---:|---:|---:|---:|---:| -| FlowMo | 0.103 | 0.146 | 0.236 | 0.334 | 0.065 | -| FlowMo c=0 | 0.253 | 0.405 | 0.618 | 0.780 | 0.122 | -| FlowMo shuffled c | 0.335 | 0.542 | 0.832 | 1.062 | 0.155 | -| LeWorldModel | 0.172 | 0.247 | 0.371 | 0.489 | 0.099 | -| PlaNet RSSM | 0.166 | 0.229 | 0.339 | 0.441 | 0.076 | -| TD-MPC2 Dynamics | 0.165 | 0.241 | 0.361 | 0.471 | 0.084 | - -### Unseen Boat Dynamics - -| Method | pos@10 | pos@20 | pos@40 | pos@60 | heading@20 | -|---|---:|---:|---:|---:|---:| -| FlowMo | 0.141 | 0.233 | 0.437 | 0.638 | 0.131 | -| FlowMo c=0 | 0.262 | 0.424 | 0.681 | 0.901 | 0.182 | -| FlowMo shuffled c | 0.354 | 0.578 | 0.921 | 1.210 | 0.217 | -| LeWorldModel | 0.219 | 0.350 | 0.590 | 0.811 | 0.170 | -| PlaNet RSSM | 0.202 | 0.317 | 0.533 | 0.725 | 0.138 | -| TD-MPC2 Dynamics | 0.215 | 0.342 | 0.572 | 0.782 | 0.157 | - -### Seen Flow-Family Diagnostic - -| Method | pos@10 | pos@20 | pos@40 | pos@60 | heading@20 | -|---|---:|---:|---:|---:|---:| -| FlowMo | 0.104 | 0.147 | 0.240 | 0.339 | 0.067 | -| FlowMo c=0 | 0.258 | 0.414 | 0.633 | 0.802 | 0.125 | -| FlowMo shuffled c | 0.343 | 0.557 | 0.858 | 1.098 | 0.159 | -| LeWorldModel | 0.179 | 0.259 | 0.385 | 0.506 | 0.100 | -| PlaNet RSSM | 0.160 | 0.223 | 0.332 | 0.436 | 0.076 | -| TD-MPC2 Dynamics | 0.164 | 0.240 | 0.358 | 0.470 | 0.088 | - - -## FlowMo Latent Probes - -| Split | Target | z R2 | c R2 | z+c R2 | -|---|---|---:|---:|---:| -| unseen_flow | Object momentum | 0.518 | 0.416 | 0.737 | -| unseen_flow | Local flow | -0.019 | -0.005 | -0.023 | -| unseen_flow | Episode drift | -0.043 | -0.010 | -0.049 | -| unseen_boat_params | Object momentum | 0.404 | 0.292 | 0.615 | -| unseen_boat_params | Local flow | -0.014 | -0.003 | -0.014 | -| unseen_boat_params | Episode drift | -0.015 | -0.005 | -0.015 | -| seen_flow_diagnostic | Object momentum | 0.510 | 0.428 | 0.747 | -| seen_flow_diagnostic | Local flow | -0.034 | -0.009 | -0.034 | -| seen_flow_diagnostic | Episode drift | -0.034 | -0.009 | -0.035 | - -Probe interpretation: `z` is the short-history object-motion latent, `c` is the long-history ambient-drift context, and `z+c` is their concatenation. Probes are linear and are trained after freezing FlowMo. - - -## Planning - -### counterflow_triangle_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 1.000 | 50/50 | 0.646 | 144.16 | 6.27 | 162.3 | -| FlowMo | shuffled | 1.000 | 50/50 | 0.630 | 157.73 | 6.78 | 130.1 | -| FlowMo | zero | 1.000 | 50/50 | 0.637 | 147.00 | 6.30 | 97.5 | -| LeWorldModel | inferred | 1.000 | 50/50 | 0.622 | 141.57 | 6.64 | 109.6 | -| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.632 | 179.71 | 7.48 | 145.9 | -| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.627 | 128.67 | 5.90 | 102.8 | -| PID/LOS controller | inferred | 1.000 | 50/50 | 0.634 | 42.96 | 5.77 | 213.0 | -| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.628 | 51.00 | 5.77 | 181.1 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.630 | 51.00 | 5.77 | 181.1 | -| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.628 | 51.00 | 5.77 | 181.1 | - -### counterflow_twin_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 1.000 | 50/50 | 0.642 | 94.99 | 5.79 | 130.9 | -| FlowMo | shuffled | 0.960 | 48/50 | 0.674 | 123.71 | 5.88 | 86.7 | -| FlowMo | zero | 1.000 | 50/50 | 0.614 | 123.73 | 5.80 | 82.0 | -| LeWorldModel | inferred | 1.000 | 50/50 | 0.626 | 109.22 | 5.81 | 99.4 | -| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.629 | 108.57 | 5.78 | 91.8 | -| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.622 | 106.70 | 5.79 | 88.1 | -| PID/LOS controller | inferred | 1.000 | 50/50 | 0.618 | 69.89 | 5.78 | 115.5 | -| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.611 | 86.04 | 5.79 | 101.8 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.618 | 80.96 | 5.78 | 102.5 | -| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.611 | 86.04 | 5.79 | 101.8 | - -### passive_to_active_triangle_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 1.000 | 50/50 | 0.638 | 168.95 | 8.38 | 163.0 | -| FlowMo | shuffled | 0.900 | 45/50 | 0.746 | 212.46 | 9.46 | 160.1 | -| FlowMo | zero | 0.980 | 49/50 | 0.650 | 215.09 | 9.31 | 158.4 | -| LeWorldModel | inferred | 0.960 | 48/50 | 0.834 | 194.00 | 9.14 | 155.8 | -| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.630 | 156.19 | 8.37 | 152.2 | -| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.698 | 180.29 | 9.47 | 162.3 | -| PID/LOS controller | inferred | 0.980 | 49/50 | 0.644 | 77.96 | 8.07 | 239.5 | -| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.622 | 75.08 | 8.06 | 217.3 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.629 | 78.30 | 8.00 | 216.7 | -| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.624 | 75.00 | 8.02 | 216.6 | - -### passive_to_active_twin_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 0.980 | 49/50 | 0.804 | 161.52 | 8.59 | 195.3 | -| FlowMo | shuffled | 0.660 | 33/50 | 1.571 | 192.00 | 9.74 | 173.0 | -| FlowMo | zero | 0.640 | 32/50 | 1.426 | 233.83 | 10.70 | 197.1 | -| LeWorldModel | inferred | 0.660 | 33/50 | 2.027 | 194.64 | 9.37 | 168.9 | -| PlaNet RSSM | inferred | 0.740 | 37/50 | 1.014 | 205.79 | 9.96 | 181.6 | -| TD-MPC2 Dynamics | inferred | 0.640 | 32/50 | 2.128 | 160.81 | 9.41 | 176.8 | -| PID/LOS controller | inferred | 0.980 | 49/50 | 0.631 | 111.36 | 8.38 | 185.8 | -| Physics MPC No-Flow | inferred | 0.900 | 45/50 | 0.699 | 126.01 | 8.82 | 186.9 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.623 | 118.66 | 8.54 | 182.4 | -| Oracle-Flow MPC | inferred | 0.880 | 44/50 | 0.689 | 116.72 | 8.45 | 174.5 | - -### reach_uniform_triangle_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 168.98 | 8.30 | 136.2 | -| FlowMo | shuffled | 0.840 | 42/50 | 0.867 | 203.59 | 9.15 | 133.0 | -| FlowMo | zero | 0.960 | 48/50 | 0.682 | 215.72 | 9.08 | 130.8 | -| LeWorldModel | inferred | 0.980 | 49/50 | 0.739 | 202.95 | 9.33 | 134.6 | -| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.628 | 158.79 | 8.39 | 130.5 | -| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.692 | 182.64 | 9.46 | 136.7 | -| PID/LOS controller | inferred | 1.000 | 50/50 | 0.629 | 78.46 | 8.00 | 218.5 | -| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.623 | 74.44 | 7.99 | 192.1 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.627 | 77.65 | 7.93 | 191.6 | -| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.628 | 74.93 | 7.94 | 191.3 | - -### reach_uniform_twin_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 0.980 | 49/50 | 0.738 | 162.72 | 8.61 | 173.0 | -| FlowMo | shuffled | 0.700 | 35/50 | 1.509 | 203.32 | 9.82 | 154.7 | -| FlowMo | zero | 0.640 | 32/50 | 1.442 | 217.56 | 10.24 | 158.3 | -| LeWorldModel | inferred | 0.720 | 36/50 | 1.684 | 219.39 | 9.96 | 163.6 | -| PlaNet RSSM | inferred | 0.820 | 41/50 | 0.938 | 219.60 | 10.25 | 165.6 | -| TD-MPC2 Dynamics | inferred | 0.640 | 32/50 | 2.114 | 157.66 | 9.37 | 149.3 | -| PID/LOS controller | inferred | 0.980 | 49/50 | 0.634 | 111.31 | 8.29 | 160.9 | -| Physics MPC No-Flow | inferred | 0.920 | 46/50 | 0.688 | 125.69 | 8.72 | 161.5 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.625 | 118.62 | 8.45 | 157.5 | -| Oracle-Flow MPC | inferred | 0.860 | 43/50 | 0.697 | 115.29 | 8.32 | 147.8 | - -### station_keeping_triangle_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 1.000 | 50/50 | 0.105 | 24.60 | 0.76 | 101.0 | -| FlowMo | shuffled | 0.880 | 44/50 | 0.668 | 86.66 | 4.13 | 145.0 | -| FlowMo | zero | 1.000 | 50/50 | 0.449 | 33.50 | 1.60 | 103.8 | -| LeWorldModel | inferred | 1.000 | 50/50 | 0.345 | 58.17 | 1.22 | 105.7 | -| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.539 | 36.11 | 1.32 | 109.2 | -| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.473 | 42.38 | 0.97 | 101.9 | -| PID/LOS controller | inferred | 1.000 | 50/50 | 0.094 | 101.33 | 0.75 | 101.0 | -| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.132 | 87.17 | 0.92 | 101.0 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.148 | 88.16 | 0.96 | 101.0 | -| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.269 | 37.87 | 1.18 | 101.0 | - -### station_keeping_twin_uniform -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 1.000 | 50/50 | 0.277 | 35.20 | 0.60 | 101.0 | -| FlowMo | shuffled | 0.660 | 33/50 | 0.821 | 79.29 | 2.40 | 152.4 | -| FlowMo | zero | 1.000 | 50/50 | 0.563 | 35.98 | 0.93 | 108.6 | -| LeWorldModel | inferred | 1.000 | 50/50 | 0.391 | 11.32 | 0.55 | 101.0 | -| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.541 | 88.16 | 0.60 | 101.6 | -| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.301 | 11.79 | 1.03 | 101.0 | -| PID/LOS controller | inferred | 0.960 | 48/50 | 0.598 | 78.07 | 1.19 | 109.1 | -| Physics MPC No-Flow | inferred | 0.260 | 13/50 | 1.166 | 69.87 | 1.95 | 144.0 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.645 | 85.14 | 2.39 | 169.1 | -| Oracle-Flow MPC | inferred | 0.860 | 43/50 | 0.626 | 51.48 | 0.99 | 108.0 | - -### waypoint_square_triangle_gradient -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 1.000 | 50/50 | 0.640 | 299.62 | 15.66 | 267.7 | -| FlowMo | shuffled | 0.620 | 31/50 | 1.644 | 591.60 | 23.39 | 371.9 | -| FlowMo | zero | 0.800 | 40/50 | 1.379 | 501.45 | 20.43 | 286.5 | -| LeWorldModel | inferred | 0.880 | 44/50 | 0.968 | 447.58 | 19.56 | 284.8 | -| PlaNet RSSM | inferred | 0.940 | 47/50 | 0.855 | 305.87 | 15.94 | 276.4 | -| TD-MPC2 Dynamics | inferred | 0.920 | 46/50 | 0.860 | 439.87 | 20.66 | 342.0 | -| PID/LOS controller | inferred | 1.000 | 50/50 | 0.631 | 187.41 | 15.52 | 416.3 | -| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.624 | 165.97 | 15.74 | 369.8 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.631 | 182.30 | 14.93 | 368.0 | -| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.629 | 164.86 | 15.59 | 366.9 | - -### waypoint_square_twin_gradient -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 0.760 | 38/50 | 1.425 | 353.93 | 17.11 | 361.6 | -| FlowMo | shuffled | 0.440 | 22/50 | 2.661 | 589.01 | 26.62 | 483.3 | -| FlowMo | zero | 0.680 | 34/50 | 1.542 | 579.75 | 25.16 | 447.2 | -| LeWorldModel | inferred | 0.640 | 32/50 | 1.819 | 525.35 | 24.29 | 412.0 | -| PlaNet RSSM | inferred | 0.500 | 25/50 | 2.664 | 455.73 | 19.86 | 406.3 | -| TD-MPC2 Dynamics | inferred | 0.600 | 30/50 | 1.940 | 432.08 | 21.20 | 405.3 | -| PID/LOS controller | inferred | 0.600 | 30/50 | 1.366 | 310.11 | 20.36 | 394.3 | -| Physics MPC No-Flow | inferred | 0.160 | 8/50 | 2.177 | 316.06 | 22.46 | 431.2 | -| Current-Estimator MPC | inferred | 0.820 | 41/50 | 1.213 | 303.16 | 19.17 | 433.5 | -| Oracle-Flow MPC | inferred | 0.060 | 3/50 | 2.004 | 354.09 | 21.01 | 485.7 | - -### waypoint_zigzag_triangle_gradient -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 0.980 | 49/50 | 0.703 | 400.64 | 16.90 | 385.0 | -| FlowMo | shuffled | 0.660 | 33/50 | 1.546 | 685.03 | 27.67 | 454.7 | -| FlowMo | zero | 0.980 | 49/50 | 0.692 | 662.20 | 26.88 | 419.6 | -| LeWorldModel | inferred | 1.000 | 50/50 | 0.615 | 557.45 | 22.98 | 361.4 | -| PlaNet RSSM | inferred | 0.840 | 42/50 | 1.208 | 436.56 | 19.65 | 364.2 | -| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.627 | 464.03 | 21.37 | 368.3 | -| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 296.45 | 17.78 | 541.5 | -| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.626 | 255.95 | 18.19 | 489.9 | -| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.628 | 257.53 | 17.03 | 471.9 | -| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.626 | 255.53 | 18.04 | 486.8 | - -### waypoint_zigzag_twin_gradient -| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) | -|---|---|---:|---:|---:|---:|---:|---:| -| FlowMo | inferred | 0.960 | 48/50 | 0.731 | 395.72 | 18.19 | 411.3 | -| FlowMo | shuffled | 0.560 | 28/50 | 2.051 | 644.22 | 28.79 | 522.9 | -| FlowMo | zero | 0.920 | 46/50 | 0.766 | 643.96 | 27.35 | 484.6 | -| LeWorldModel | inferred | 0.840 | 42/50 | 1.183 | 599.71 | 26.11 | 452.6 | -| PlaNet RSSM | inferred | 0.880 | 44/50 | 0.836 | 622.65 | 26.56 | 548.1 | -| TD-MPC2 Dynamics | inferred | 0.720 | 36/50 | 2.202 | 480.98 | 24.07 | 433.1 | -| PID/LOS controller | inferred | 0.780 | 39/50 | 1.220 | 423.71 | 27.71 | 595.6 | -| Physics MPC No-Flow | inferred | 0.220 | 11/50 | 2.217 | 413.60 | 29.55 | 642.1 | -| Current-Estimator MPC | inferred | 0.860 | 43/50 | 0.672 | 386.66 | 24.86 | 548.5 | -| Oracle-Flow MPC | inferred | 0.240 | 12/50 | 2.062 | 398.71 | 29.40 | 615.3 | - - -## Artifact Locations - -- Unseen-flow prediction JSON: `experiments/reports/paper_prediction_unseen_flow.json` -- Unseen-boat-dynamics prediction JSON: `experiments/reports/paper_prediction_unseen_boat_params.json` -- Diagnostic prediction JSON: `experiments/reports/paper_prediction_seen_flow_diagnostic.json` -- FlowMo latent probe JSON: `experiments/reports/paper_flowmo_latent_probes.json` -- Planning JSON files: `experiments/reports/paper_planning/*.json` -- GIFs: `experiments/reports/paper_planning/gifs/*.gif` diff --git a/experiments/run_paper_image_pipeline.py b/experiments/run_paper_image_pipeline.py index 37a75a2227b86918123e38cae8f21620e6f05d19..c999d539d4fb5e78b2ddf3e5f1fcb5dfc3e36ce7 100644 --- a/experiments/run_paper_image_pipeline.py +++ b/experiments/run_paper_image_pipeline.py @@ -3,6 +3,7 @@ from __future__ import annotations import argparse +from concurrent.futures import ThreadPoolExecutor import json import subprocess import sys @@ -19,15 +20,52 @@ def run(cmd: list[str]) -> None: subprocess.run(cmd, check=True) +def run_parallel(commands: list[list[str]], workers: int) -> None: + if workers <= 1: + for cmd in commands: + run(cmd) + return + with ThreadPoolExecutor(max_workers=workers) as executor: + for _ in executor.map(run, commands): + pass + + def load_config(path: str | Path) -> dict: return json.loads(Path(path).read_text()) +def stage_data(cfg: dict, split_name: str) -> list[str]: + data = cfg["data"] + source_key = f"{split_name}_source" + episodes_key = f"{split_name}_episodes" + seed_key = f"{split_name}_seed" + return [ + sys.executable, + "-m", + "driftwm.data.generate", + "--boats", + "twin", + "triangle", + "--flow-types", + *cfg["flow_families"], + "--episodes", + str(data[episodes_key]), + "--steps", + str(data["steps"]), + "--out", + data[source_key], + "--seed", + str(data[seed_key]), + "--boundary", + data["boundary"], + "--flow-pool-size", + str(data["flow_pool_size"]), + ] + + def stage_train(cfg: dict, args) -> list[str]: train = cfg["training"] methods = args.methods or train["methods"] - diagnostic_source = cfg["data"]["diagnostic_source"] - diagnostic_episodes = cfg["data"]["diagnostic_episodes"] return [ sys.executable, "-m", @@ -37,11 +75,11 @@ def stage_train(cfg: dict, args) -> list[str]: "--train-source", cfg["data"]["train_source"], "--test-source", - diagnostic_source, + cfg["data"]["test_source"], "--train-episodes", str(args.train_episodes or cfg["data"]["train_episodes"]), "--test-episodes", - str(args.test_episodes or diagnostic_episodes), + str(args.test_episodes or cfg["data"]["test_episodes"]), "--history-len", str(train["history_len"]), "--horizon", @@ -83,16 +121,19 @@ def stage_train(cfg: dict, args) -> list[str]: ] -def stage_prediction(cfg: dict, args, split: dict | None = None) -> list[str]: +def stage_train_one(cfg: dict, args, method: str) -> list[str]: + original_methods = args.methods + args.methods = [method] + try: + return stage_train(cfg, args) + finally: + args.methods = original_methods + + +def stage_prediction(cfg: dict, args) -> list[str]: train = cfg["training"] pred = cfg["prediction_eval"] methods = args.methods or train["methods"] - if split is None: - split = { - "source": cfg["data"]["diagnostic_source"], - "episodes": cfg["data"]["diagnostic_episodes"], - "out": args.prediction_seen_flow_diagnostic, - } return [ sys.executable, "-m", @@ -100,9 +141,9 @@ def stage_prediction(cfg: dict, args, split: dict | None = None) -> list[str]: "--methods", *methods, "--test-source", - split["source"], + cfg["data"]["test_source"], "--test-episodes", - str(args.test_episodes or split["episodes"]), + str(args.test_episodes or cfg["data"]["test_episodes"]), "--history-len", str(train["history_len"]), "--horizon", @@ -118,7 +159,7 @@ def stage_prediction(cfg: dict, args, split: dict | None = None) -> list[str]: "--visual-scale", str(cfg["image"]["visual_scale"]), "--out", - split["out"], + args.prediction_out, "--checkpoint-name", args.checkpoint_name, "--num-workers", @@ -132,11 +173,8 @@ def stage_prediction(cfg: dict, args, split: dict | None = None) -> list[str]: ] -def stage_planning(cfg: dict, args, task: str, boat: str) -> list[str]: +def stage_planning(cfg: dict, args, task: str, boat: str, flow_type: str) -> list[str]: plan = cfg["planning_eval"] - flow_type = "uniform" - if task in {"waypoint_square", "waypoint_zigzag"}: - flow_type = "gradient" task_max_steps = plan.get("task_max_steps", {}) max_steps = args.max_steps or task_max_steps.get(task, plan["max_steps"]) methods = args.methods or cfg["training"]["methods"] @@ -221,10 +259,6 @@ def stage_planning(cfg: dict, args, task: str, boat: str) -> list[str]: def stage_probe(cfg: dict, args) -> list[str]: probe = cfg["probe_eval"] - eval_splits = [ - f"{split['name']}:{split['source']}:{split['episodes']}" - for split in probe["splits"] - ] return [ sys.executable, "-m", @@ -236,7 +270,7 @@ def stage_probe(cfg: dict, args) -> list[str]: "--train-windows", str(probe["train_windows"]), "--eval-splits", - *eval_splits, + f"test:{probe['test_source']}:{args.test_episodes or probe['test_episodes']}", "--eval-windows", str(probe["eval_windows"]), "--history-len", @@ -267,12 +301,8 @@ def stage_report(args) -> list[str]: sys.executable, "-m", "experiments.summarize_paper_image_results", - "--prediction-unseen-flow", - args.prediction_unseen_flow, - "--prediction-unseen-boat-params", - args.prediction_unseen_boat_params, - "--prediction-seen-flow-diagnostic", - args.prediction_seen_flow_diagnostic, + "--prediction", + args.prediction_out, "--probe-results", args.probe_results, "--planning-dir", @@ -285,10 +315,11 @@ def stage_report(args) -> list[str]: def main() -> None: parser = argparse.ArgumentParser() parser.add_argument("--config", default=str(CONFIG_PATH)) - parser.add_argument("--stages", nargs="+", default=["train", "prediction", "probe", "planning", "report"]) + parser.add_argument("--stages", nargs="+", default=["data", "train", "prediction", "probe", "planning", "report"]) parser.add_argument("--methods", nargs="+", default=None) parser.add_argument("--tasks", nargs="+", default=None) parser.add_argument("--boats", nargs="+", default=None) + parser.add_argument("--flow-families", nargs="+", default=None) parser.add_argument("--train-episodes", type=int, default=None) parser.add_argument("--test-episodes", type=int, default=None) parser.add_argument("--train-windows", type=int, default=None) @@ -315,6 +346,7 @@ def main() -> None: parser.add_argument("--cem-w-smooth", type=float, default=None) parser.add_argument("--cem-w-boundary", type=float, default=None) parser.add_argument("--cem-boundary-margin", type=float, default=None) + parser.add_argument("--planning-workers", type=int, default=None) parser.add_argument("--make-gifs", type=int, default=None) parser.add_argument("--gif-stride", type=int, default=1) parser.add_argument("--gif-duration-ms", type=int, default=55) @@ -323,9 +355,8 @@ def main() -> None: parser.add_argument("--precision", choices=["fp32", "bf16", "fp16"], default=None) parser.add_argument("--checkpoint-name", default="paper.pt") parser.add_argument("--checkpoint-interval", type=int, default=None) - parser.add_argument("--prediction-unseen-flow", default="experiments/reports/paper_prediction_unseen_flow.json") - parser.add_argument("--prediction-unseen-boat-params", default="experiments/reports/paper_prediction_unseen_boat_params.json") - parser.add_argument("--prediction-seen-flow-diagnostic", default="experiments/reports/paper_prediction_seen_flow_diagnostic.json") + parser.add_argument("--train-workers", type=int, default=None) + parser.add_argument("--prediction-out", default="experiments/reports/paper_prediction.json") parser.add_argument("--probe-results", default="experiments/reports/paper_flowmo_latent_probes.json") parser.add_argument("--planning-out", default="experiments/reports/paper_planning") parser.add_argument("--report-out", default="experiments/reports/paper_report.md") @@ -333,24 +364,27 @@ def main() -> None: cfg = load_config(args.config) stages = set(args.stages) + if "data" in stages: + run(stage_data(cfg, "train")) + run(stage_data(cfg, "test")) if "train" in stages: - run(stage_train(cfg, args)) + train_methods = args.methods or cfg["training"]["methods"] + commands = [stage_train_one(cfg, args, method) for method in train_methods] + workers = args.train_workers if args.train_workers is not None else cfg["training"].get("parallel_jobs", 1) + run_parallel(commands, int(workers)) if "prediction" in stages: - for split in cfg["prediction_eval"]["splits"]: - split = dict(split) - if split["name"] == "unseen_flow": - split["out"] = args.prediction_unseen_flow - elif split["name"] == "unseen_boat_params": - split["out"] = args.prediction_unseen_boat_params - elif split["name"] == "seen_flow_diagnostic": - split["out"] = args.prediction_seen_flow_diagnostic - run(stage_prediction(cfg, args, split)) + run(stage_prediction(cfg, args)) if "planning" in stages: tasks = args.tasks or cfg["planning_eval"]["tasks"] boats = args.boats or cfg["planning_eval"]["boats"] + flow_families = args.flow_families or cfg["flow_families"] + commands = [] for task in tasks: for boat in boats: - run(stage_planning(cfg, args, task, boat)) + for flow_type in flow_families: + commands.append(stage_planning(cfg, args, task, boat, flow_type)) + workers = args.planning_workers if args.planning_workers is not None else cfg["planning_eval"].get("parallel_jobs", 1) + run_parallel(commands, int(workers)) if "probe" in stages: run(stage_probe(cfg, args)) if "report" in stages: diff --git a/experiments/shared/config/paper_image.json b/experiments/shared/config/paper_image.json index f17d114bacbfdf66697faac7a9b3f82e05307e39..0ca792e90cdca9de2dfb3f953814eee8fa661b12 100644 --- a/experiments/shared/config/paper_image.json +++ b/experiments/shared/config/paper_image.json @@ -4,11 +4,28 @@ "image_size": 160, "visual_scale": 2.5 }, + "flow_families": [ + "noflow", + "uniform", + "vortex_center", + "double_gyre", + "source_sink", + "source_sink_pair", + "gradient", + "shear", + "turbulent_patch", + "random_fourier" + ], "data": { "train_source": "data/paper/train.npz", - "diagnostic_source": "data/paper/diagnostic_seen_flow.npz", + "test_source": "data/paper/test.npz", "train_episodes": 2400, - "diagnostic_episodes": 480 + "test_episodes": 480, + "steps": 300, + "flow_pool_size": 80, + "boundary": "terminate", + "train_seed": 4301, + "test_seed": 4302 }, "training": { "methods": [ @@ -31,43 +48,20 @@ "motion_weight": 0.5, "heading_weight": 2.0, "num_workers": 4, - "render_mode": "device" + "render_mode": "device", + "parallel_jobs": 2 }, "prediction_eval": { "horizon": 60, "test_windows": 16384, "batch_size": 256, "precision": "bf16", - "splits": [ - { - "name": "unseen_flow", - "source": "data/paper/test_unseen_flow.npz", - "episodes": 480, - "out": "experiments/reports/paper_prediction_unseen_flow.json", - "primary": true - }, - { - "name": "unseen_boat_params", - "source": "data/paper/test_unseen_boat_params.npz", - "episodes": 480, - "out": "experiments/reports/paper_prediction_unseen_boat_params.json", - "primary": true - }, - { - "name": "seen_flow_diagnostic", - "source": "data/paper/diagnostic_seen_flow.npz", - "episodes": 480, - "out": "experiments/reports/paper_prediction_seen_flow_diagnostic.json", - "primary": false - } - ] + "out": "experiments/reports/paper_prediction.json" }, "planning_eval": { "tasks": [ - "reach_uniform", - "counterflow", + "reach_target", "station_keeping", - "passive_to_active", "waypoint_square", "waypoint_zigzag" ], @@ -79,10 +73,8 @@ "precision": "fp32", "max_steps": 420, "task_max_steps": { - "reach_uniform": 420, - "counterflow": 420, + "reach_target": 420, "station_keeping": 300, - "passive_to_active": 420, "waypoint_square": 900, "waypoint_zigzag": 900 }, @@ -104,32 +96,18 @@ "cem_w_action": 0.08, "cem_w_smooth": 0.08, "cem_w_boundary": 250.0, - "cem_boundary_margin": 0.75 + "cem_boundary_margin": 0.75, + "parallel_jobs": 3 }, "probe_eval": { "train_source": "data/paper/train.npz", + "test_source": "data/paper/test.npz", "train_episodes": 2400, + "test_episodes": 480, "train_windows": 32768, "eval_windows": 8192, "batch_size": 256, "precision": "bf16", - "ridge_alpha": 0.001, - "splits": [ - { - "name": "unseen_flow", - "source": "data/paper/test_unseen_flow.npz", - "episodes": 480 - }, - { - "name": "unseen_boat_params", - "source": "data/paper/test_unseen_boat_params.npz", - "episodes": 480 - }, - { - "name": "seen_flow_diagnostic", - "source": "data/paper/diagnostic_seen_flow.npz", - "episodes": 480 - } - ] + "ridge_alpha": 0.001 } } diff --git a/experiments/summarize_paper_image_results.py b/experiments/summarize_paper_image_results.py index 43471d4daa0c7125c1a190be1f9a0e9965590bd2..17c8a21239eaf73bce40739f3a6352ba1c7a1fa2 100644 --- a/experiments/summarize_paper_image_results.py +++ b/experiments/summarize_paper_image_results.py @@ -123,16 +123,12 @@ def main() -> None: import argparse parser = argparse.ArgumentParser() - parser.add_argument("--prediction-unseen-flow", default="experiments/reports/paper_prediction_unseen_flow.json") - parser.add_argument("--prediction-unseen-boat-params", default="experiments/reports/paper_prediction_unseen_boat_params.json") - parser.add_argument("--prediction-seen-flow-diagnostic", default="experiments/reports/paper_prediction_seen_flow_diagnostic.json") + parser.add_argument("--prediction", default="experiments/reports/paper_prediction.json") parser.add_argument("--probe-results", default="experiments/reports/paper_flowmo_latent_probes.json") parser.add_argument("--planning-dir", default="experiments/reports/paper_planning") parser.add_argument("--out", default="experiments/reports/paper_report.md") args = parser.parse_args() - prediction_unseen_flow = Path(args.prediction_unseen_flow) - prediction_unseen_boat_params = Path(args.prediction_unseen_boat_params) - prediction_seen_flow_diagnostic = Path(args.prediction_seen_flow_diagnostic) + prediction = Path(args.prediction) probe_results = Path(args.probe_results) planning_dir = Path(args.planning_dir) out = Path(args.out) @@ -154,11 +150,9 @@ def main() -> None: "", "## Prediction", "", - "Main claims use unseen flow families and unseen boat dynamics. The seen-flow-family diagnostic split is reported only as an optimization sanity check.", + "Train, test, and planning use the same paper flow-family set. The test split uses independently sampled episodes and hidden flow conditions, and the report uses one unified flow-regime evaluation.", "", - *prediction_section("Unseen Flow Families", load_json(prediction_unseen_flow)), - *prediction_section("Unseen Boat Dynamics", load_json(prediction_unseen_boat_params)), - *prediction_section("Seen Flow-Family Diagnostic", load_json(prediction_seen_flow_diagnostic)), + *prediction_section("Paper Test Split", load_json(prediction)), "", "## FlowMo Latent Probes", "", @@ -170,9 +164,7 @@ def main() -> None: "", "## Artifact Locations", "", - f"- Unseen-flow prediction JSON: `{prediction_unseen_flow}`", - f"- Unseen-boat-dynamics prediction JSON: `{prediction_unseen_boat_params}`", - f"- Diagnostic prediction JSON: `{prediction_seen_flow_diagnostic}`", + f"- Prediction JSON: `{prediction}`", f"- FlowMo latent probe JSON: `{probe_results}`", f"- Planning JSON files: `{planning_dir}/*.json`", f"- GIFs: `{planning_dir}/gifs/*.gif`", diff --git a/experiments/tdmpc2/checkpoint/paper.pt b/experiments/tdmpc2/checkpoint/paper.pt deleted file mode 100644 index b1a79826d1ccf2a0debb0a2e3d8bf69a4d7e0650..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/checkpoint/paper.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:81a2ad34a87cadd435b35a740ba6d23db26c5e6e06e44b7e1ccef345e4e9478e -size 2680454 diff --git a/experiments/tdmpc2/checkpoint/paper_step_002000.pt b/experiments/tdmpc2/checkpoint/paper_step_002000.pt deleted file mode 100644 index c6f98d62a677c3aa226acd4a862c74b90464467c..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/checkpoint/paper_step_002000.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4e9b4171d4b084c97d1bb41a7c55839302ad42bffd790636d26885a492d14eb3 -size 2682538 diff --git a/experiments/tdmpc2/checkpoint/paper_step_004000.pt b/experiments/tdmpc2/checkpoint/paper_step_004000.pt deleted file mode 100644 index f0dff84c3f8f6cf9423c93c156576a83f57bbc49..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/checkpoint/paper_step_004000.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3aedd416912977c84d1cc40cfb2a91be6054f6b656677f9513127835e9c1ee38 -size 2682538 diff --git a/experiments/tdmpc2/checkpoint/paper_step_006000.pt b/experiments/tdmpc2/checkpoint/paper_step_006000.pt deleted file mode 100644 index f8d825416b64af640a7ecdff0e667208fc742a18..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/checkpoint/paper_step_006000.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:028cbe1a3e000702d0fa63f404793f11f99fb770cb994da4156614b8c481af82 -size 2682538 diff --git a/experiments/tdmpc2/checkpoint/paper_step_008000.pt b/experiments/tdmpc2/checkpoint/paper_step_008000.pt deleted file mode 100644 index 80611ca9b7ad4abd5ade4ce971c9bfe97ffe7d5d..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/checkpoint/paper_step_008000.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:628ee8746a2836d87ae18c7ee9c56d6485f3f616b6e82138f11259099e0029f6 -size 2682538 diff --git a/experiments/tdmpc2/checkpoint/paper_step_010000.pt b/experiments/tdmpc2/checkpoint/paper_step_010000.pt deleted file mode 100644 index 25c17952716abaf4896eca213f5c8f87e2deb129..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/checkpoint/paper_step_010000.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e1751aa5b2a5158d844a9879b45081ec34aad173c6b3303455d2bc00711251d7 -size 2682538 diff --git a/experiments/tdmpc2/checkpoint/paper_step_012000.pt b/experiments/tdmpc2/checkpoint/paper_step_012000.pt deleted file mode 100644 index c2b7062601cd0c1fd7b17c8c27500dfc5e053c28..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/checkpoint/paper_step_012000.pt +++ /dev/null @@ -1,3 +0,0 @@ -version 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--git a/experiments/tdmpc2/result/paper_training.json b/experiments/tdmpc2/result/paper_training.json deleted file mode 100644 index 0bed272f1ac26e64438ddba19c1652bba8da4edb..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/result/paper_training.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "method": "tdmpc2", - "steps": 20000, - "batch_size": 256, - "train_samples": 5120000, - "final_train_loss": 0.010143937543034554, - "total_parameters": 667780, - "target_mode": "absolute_normalized", - "position_scale": 5.0, - "heading_weight": 2.0, - "current_pose_weight": 1.0, - "motion_weight": 0.5, - "precision": "bf16", - "checkpoint_name": "paper.pt", - "final_checkpoint": "paper.pt", - "intermediate_checkpoints": [ - "paper_step_002000.pt", - "paper_step_004000.pt", - "paper_step_006000.pt", - "paper_step_008000.pt", - "paper_step_010000.pt", - "paper_step_012000.pt", - "paper_step_014000.pt", - "paper_step_016000.pt", - "paper_step_018000.pt", - "paper_step_020000.pt" - ], - "checkpoint_interval": 2000, - "prediction": { - "pos1": 0.09520710981450975, - "heading1": 0.048679903343630336, - "pos3": 0.10856497256706159, - "heading3": 0.053618756433327995, - "pos6": 0.1308438451960683, - "heading6": 0.06132081007429709, - "pos8": 0.14709665269280472, - "heading8": 0.06618776960143198, - "pos10": 0.1638579194744428, - "heading10": 0.07064890124214192, - "pos20": 0.23970605929692587, - "heading20": 0.08867141495769222 - } -} \ No newline at end of file diff --git a/experiments/tdmpc2/result/paper_training_trace.jsonl b/experiments/tdmpc2/result/paper_training_trace.jsonl deleted file mode 100644 index a099dc4b1a41a0aa7f7b9dbb0fcdef0593a0b689..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/result/paper_training_trace.jsonl +++ /dev/null @@ -1,100 +0,0 @@ -{"method": "tdmpc2", "step": 200, "loss": 2.5615713596343994} -{"method": "tdmpc2", "step": 400, "loss": 2.5611941814422607} -{"method": "tdmpc2", "step": 600, "loss": 2.5563809871673584} 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"step": 18800, "loss": 0.01042043324559927} -{"method": "tdmpc2", "step": 19000, "loss": 0.010521506890654564} -{"method": "tdmpc2", "step": 19200, "loss": 0.010812968946993351} -{"method": "tdmpc2", "step": 19400, "loss": 0.010421177372336388} -{"method": "tdmpc2", "step": 19600, "loss": 0.010399093851447105} -{"method": "tdmpc2", "step": 19800, "loss": 0.0101461885496974} -{"method": "tdmpc2", "step": 20000, "loss": 0.010143937543034554} diff --git a/experiments/tdmpc2/result/parameter_count.json b/experiments/tdmpc2/result/parameter_count.json deleted file mode 100644 index d680d6036a7e7dd18c37b049d6ec93ee14c42b46..0000000000000000000000000000000000000000 --- a/experiments/tdmpc2/result/parameter_count.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "encoder": 471584, - "history": 87936, - "to_z": 30960, - "transition": 45808, - "decoder": 31492, - "total": 667780 -} \ No newline at end of file diff --git a/experiments/train_image_world_models.py b/experiments/train_image_world_models.py index 27ac3604c2e13411389e02951eb7ca72ba52d309..d21d2658cef03995b4710dbea94b03a89bddb723 100644 --- a/experiments/train_image_world_models.py +++ b/experiments/train_image_world_models.py @@ -369,7 +369,7 @@ def main() -> None: parser = argparse.ArgumentParser() parser.add_argument("--methods", nargs="+", default=METHODS) parser.add_argument("--train-source", default="data/paper/train.npz") - parser.add_argument("--test-source", default="data/paper/diagnostic_seen_flow.npz") + parser.add_argument("--test-source", default="data/paper/test.npz") parser.add_argument("--train-episodes", type=int, default=512) parser.add_argument("--test-episodes", type=int, default=256) parser.add_argument("--history-len", type=int, default=32) @@ -396,9 +396,6 @@ def main() -> None: parser.add_argument("--checkpoint-interval", type=int, default=2000) args = parser.parse_args() results = [train_method(method, args) for method in args.methods] - summary_name = f"{Path(args.checkpoint_name).stem}_training_summary.json" - Path("experiments/reports").mkdir(parents=True, exist_ok=True) - Path("experiments/reports", summary_name).write_text(json.dumps(results, indent=2)) print(json.dumps(results, indent=2)) diff --git a/tests/test_experiment_framework.py b/tests/test_experiment_framework.py index 17d0ae16e9bbac76f4571a10fe8db247d8f65482..accfaad880e5c6eebe98ed91e042ce0d2f9e7fed 100644 --- a/tests/test_experiment_framework.py +++ b/tests/test_experiment_framework.py @@ -84,12 +84,11 @@ def test_paper_pipeline_uses_stage_specific_precision() -> None: steps = None checkpoint_name = "paper.pt" checkpoint_interval = None + train_workers = None num_workers = None device = "cuda" precision = None - prediction_unseen_flow = "prediction_unseen_flow.json" - prediction_unseen_boat_params = "prediction_unseen_boat_params.json" - prediction_seen_flow_diagnostic = "prediction_seen_flow_diagnostic.json" + prediction_out = "prediction.json" probe_results = "probe.json" planning_episodes = None max_steps = None @@ -108,6 +107,13 @@ def test_paper_pipeline_uses_stage_specific_precision() -> None: cem_w_action = None cem_w_smooth = None cem_w_boundary = None + cem_w_goal = None + cem_w_path = None + cem_w_lookahead = None + cem_w_via = None + cem_route_horizon_distance = None + cem_boundary_margin = None + planning_workers = None planning_out = "planning" cfg = load_config("experiments/shared/config/paper_image.json") @@ -118,22 +124,32 @@ def test_paper_pipeline_uses_stage_specific_precision() -> None: assert precision_from(stage_train(cfg, Args)) == "bf16" assert precision_from(stage_prediction(cfg, Args)) == "bf16" assert precision_from(stage_probe(cfg, Args)) == "bf16" - assert precision_from(stage_planning(cfg, Args, "reach_uniform", "twin")) == "fp32" + assert precision_from(stage_planning(cfg, Args, "reach_target", "twin", "uniform")) == "fp32" -def test_prediction_splits_are_unseen_first_with_seen_diagnostic() -> None: +def test_train_test_and_planning_use_same_flow_families() -> None: cfg = load_config("experiments/shared/config/paper_image.json") - splits = cfg["prediction_eval"]["splits"] - assert [s["name"] for s in splits] == ["unseen_flow", "unseen_boat_params", "seen_flow_diagnostic"] - assert splits[0]["primary"] is True - assert splits[1]["primary"] is True - assert splits[2]["primary"] is False - assert cfg["data"]["diagnostic_source"] == "data/paper/diagnostic_seen_flow.npz" + assert cfg["data"]["train_source"] == "data/paper/train.npz" + assert cfg["data"]["test_source"] == "data/paper/test.npz" + assert cfg["prediction_eval"]["out"] == "experiments/reports/paper_prediction.json" + assert cfg["flow_families"] == [ + "noflow", + "uniform", + "vortex_center", + "double_gyre", + "source_sink", + "source_sink_pair", + "gradient", + "shear", + "turbulent_patch", + "random_fourier", + ] -def test_flowmo_probe_stage_uses_frozen_checkpoint_and_all_splits() -> None: +def test_flowmo_probe_stage_uses_frozen_checkpoint_and_test_split() -> None: class Args: checkpoint_name = "paper.pt" + test_episodes = None num_workers = None device = "cuda" precision = None @@ -145,9 +161,7 @@ def test_flowmo_probe_stage_uses_frozen_checkpoint_and_all_splits() -> None: assert "--checkpoint-name" in cmd assert cmd[cmd.index("--checkpoint-name") + 1] == "paper.pt" joined = " ".join(cmd) - assert "unseen_flow:data/paper/test_unseen_flow.npz:480" in joined - assert "unseen_boat_params:data/paper/test_unseen_boat_params.npz:480" in joined - assert "seen_flow_diagnostic:data/paper/diagnostic_seen_flow.npz:480" in joined + assert "test:data/paper/test.npz:480" in joined def test_paper_learned_world_models_are_parameter_matched() -> None: diff --git a/tests/test_flow_families.py b/tests/test_flow_families.py new file mode 100644 index 0000000000000000000000000000000000000000..15f270c82234d962d454409a94c4a2d5d3113b93 --- /dev/null +++ b/tests/test_flow_families.py @@ -0,0 +1,103 @@ +from __future__ import annotations + +import numpy as np + +from driftwm.sim.flow import sample_flow + + +PAPER_FLOW_FAMILIES = [ + "noflow", + "uniform", + "vortex_center", + "double_gyre", + "source_sink", + "source_sink_pair", + "gradient", + "shear", + "turbulent_patch", + "random_fourier", +] + + +ROUTE_ANCHORS = np.array( + [ + [2.0, 2.0], + [3.5, 3.5], + [5.0, 5.0], + [6.5, 6.5], + [8.0, 8.0], + [2.0, 8.0], + [3.5, 6.5], + [6.5, 3.5], + [8.0, 2.0], + [5.0, 2.5], + [5.0, 7.5], + [2.5, 5.0], + [7.5, 5.0], + ], + dtype=np.float32, +) + + +def grid_field(flow_type: str, seed: int = 0): + rng = np.random.default_rng(seed) + flow = sample_flow(flow_type, rng, flow_id=seed + 1) + xs = np.linspace(1.0, 9.0, 21, dtype=np.float32) + ys = np.linspace(1.0, 9.0, 21, dtype=np.float32) + grid = np.stack(np.meshgrid(xs, ys), axis=-1).astype(np.float32) + velocity = flow.velocity(grid, t=0.0) + return flow, xs, ys, velocity + + +def curl_z(velocity: np.ndarray, xs: np.ndarray, ys: np.ndarray) -> np.ndarray: + dx = float(xs[1] - xs[0]) + dy = float(ys[1] - ys[0]) + return np.gradient(velocity[..., 1], dx, axis=1) - np.gradient(velocity[..., 0], dy, axis=0) + + +def divergence(velocity: np.ndarray, xs: np.ndarray, ys: np.ndarray) -> np.ndarray: + dx = float(xs[1] - xs[0]) + dy = float(ys[1] - ys[0]) + return np.gradient(velocity[..., 0], dx, axis=1) + np.gradient(velocity[..., 1], dy, axis=0) + + +def spatial_std(velocity: np.ndarray) -> float: + return float(velocity.reshape(-1, 2).std(axis=0).mean()) + + +def test_paper_flow_families_are_static_and_spatially_distinct() -> None: + fields = {} + for idx, family in enumerate(PAPER_FLOW_FAMILIES): + fields[family] = grid_field(family, seed=200 + idx) + + assert spatial_std(fields["noflow"][3]) == 0.0 + assert spatial_std(fields["uniform"][3]) < 1.0e-6 + for family in ["vortex_center", "double_gyre", "source_sink", "source_sink_pair", "gradient", "shear", "turbulent_patch", "random_fourier"]: + _, xs, ys, velocity = fields[family] + assert spatial_std(velocity) > 0.01 + structure = float(np.abs(curl_z(velocity, xs, ys)).mean() + np.abs(divergence(velocity, xs, ys)).mean()) + assert structure > 0.001 + + _, xs, ys, gyre_velocity = fields["double_gyre"] + gyre_curl = curl_z(gyre_velocity, xs, ys) + assert float(gyre_curl.min()) < -0.02 + assert float(gyre_curl.max()) > 0.02 + + for family in PAPER_FLOW_FAMILIES: + flow, _, _, velocity_t0 = fields[family] + static_grid = np.stack( + np.meshgrid(np.linspace(1.0, 9.0, 21, dtype=np.float32), np.linspace(1.0, 9.0, 21, dtype=np.float32)), + axis=-1, + ) + velocity_t100 = flow.velocity(static_grid, t=100.0) + assert np.allclose(velocity_t0, velocity_t100, atol=1.0e-7) + + +def test_local_flow_structures_are_sampled_near_task_routes() -> None: + local_families = ["vortex_center", "gradient", "source_sink", "source_sink_pair", "turbulent_patch"] + for idx, family in enumerate(local_families): + flow, _, _, _ = grid_field(family, seed=900 + idx) + meta = flow.metadata() + centers = np.asarray(meta["centers"] if "centers" in meta else [meta["center"]], dtype=np.float32) + distances = np.linalg.norm(centers[:, None, :] - ROUTE_ANCHORS[None, :, :], axis=-1) + assert float(distances.min(axis=1).max()) < 1.6 diff --git a/tests/test_planning_tasks.py b/tests/test_planning_tasks.py new file mode 100644 index 0000000000000000000000000000000000000000..3aee37c4c05ed5a86d34cfc401a97c463e4529c4 --- /dev/null +++ b/tests/test_planning_tasks.py @@ -0,0 +1,38 @@ +from __future__ import annotations + +import numpy as np + +from driftwm.sim.env import SurfaceBoatEnv +from experiments.evaluate_image_planning import reset_task, task_goals + + +PAPER_FLOW_FAMILIES = [ + "noflow", + "uniform", + "vortex_center", + "double_gyre", + "source_sink", + "source_sink_pair", + "gradient", + "shear", + "turbulent_patch", + "random_fourier", +] + + +def test_station_keeping_starts_inside_target_region() -> None: + for idx, flow_type in enumerate(PAPER_FLOW_FAMILIES): + rng = np.random.default_rng(500 + idx) + env = SurfaceBoatEnv(boat="twin", flow_type=flow_type, boundary="terminate", seed=idx) + reset_task(env, "station_keeping", flow_type, rng) + goal = task_goals("station_keeping", rng)[0] + assert float(np.linalg.norm(env.state[:2] - goal)) < 0.65 + + +def test_task_reset_refreshes_local_flow_velocity() -> None: + for idx, flow_type in enumerate(PAPER_FLOW_FAMILIES): + for task in ["reach_target", "station_keeping", "waypoint_square", "waypoint_zigzag"]: + rng = np.random.default_rng(700 + 17 * idx) + env = SurfaceBoatEnv(boat="triangle", flow_type=flow_type, boundary="terminate", seed=idx) + reset_task(env, task, flow_type, rng) + np.testing.assert_allclose(env.last_flow_velocity, env.flow_at(env.state[:2]), atol=1.0e-6)