import os import wandb import numpy as np import torch import collections import pathlib import tqdm import h5py import dill import math import wandb.sdk.data_types.video as wv from diffusion_policy.gym_util.async_vector_env import AsyncVectorEnv # from diffusion_policy.gym_util.sync_vector_env import SyncVectorEnv from diffusion_policy.gym_util.multistep_wrapper import MultiStepWrapper from diffusion_policy.gym_util.video_recording_wrapper import VideoRecordingWrapper, VideoRecorder from diffusion_policy.model.common.rotation_transformer import RotationTransformer from diffusion_policy.policy.base_lowdim_policy import BaseLowdimPolicy from diffusion_policy.common.pytorch_util import dict_apply from diffusion_policy.env_runner.base_lowdim_runner import BaseLowdimRunner from diffusion_policy.env.robomimic.robomimic_lowdim_wrapper import RobomimicLowdimWrapper import robomimic.utils.file_utils as FileUtils import robomimic.utils.env_utils as EnvUtils import robomimic.utils.obs_utils as ObsUtils from termcolor import colored from diffusion_policy.sampler.single import coherence_sampler, ema_sampler, ac_sampler, sgac_sampler from diffusion_policy.sampler.multi import contrastive_sampler, bidirectional_sampler from diffusion_policy.sampler.condition import NoiseGenerator def create_env(env_meta, obs_keys): ObsUtils.initialize_obs_modality_mapping_from_dict( {'low_dim': obs_keys}) env = EnvUtils.create_env_from_metadata( env_meta=env_meta, render=False, # only way to not show collision geometry # is to enable render_offscreen # which uses a lot of RAM. render_offscreen=False, use_image_obs=False, ) return env class RobomimicLowdimRunner(BaseLowdimRunner): """ Robomimic envs already enforces number of steps. """ def __init__( self, output_dir, dataset_path, obs_keys, n_train=10, n_train_vis=3, train_start_idx=0, n_test=22, n_test_vis=6, test_start_seed=10000, max_steps=400, n_obs_steps=2, n_action_steps=8, n_latency_steps=0, render_hw=(256,256), render_camera_name='agentview', fps=10, crf=22, past_action=False, abs_action=False, tqdm_interval_sec=5.0, n_envs=None, perturb_level=0.0, return_intermediate_state=False, use_oracle_ac=False, oracle_ac_config=None, collect_data=False, ): """ Assuming: n_obs_steps=2 n_latency_steps=3 n_action_steps=4 o: obs i: inference a: action Batch t: |o|o| | | | | | | | |i|i|i| | | | | | | | | |a|a|a|a| Batch t+1 | | | | |o|o| | | | | | | | | | | | |i|i|i| | | | | | | | | | | | | |a|a|a|a| """ super().__init__(output_dir) self.return_intermediate_state = return_intermediate_state self.use_oracle_ac = use_oracle_ac self.oracle_ac_config = oracle_ac_config self.collect_data = collect_data # # reset render size # factor = 3 # render_hw[0] *= factor # render_hw[1] *= factor if n_envs is None: n_envs = n_train + n_test # handle latency step # to mimic latency, we request n_latency_steps additional steps # of past observations, and the discard the last n_latency_steps env_n_obs_steps = n_obs_steps + n_latency_steps self.env_n_action_steps = n_action_steps _env_n_action_steps = 1 if self.return_intermediate_state else self.env_n_action_steps # assert n_obs_steps <= n_action_steps dataset_path = os.path.expanduser(dataset_path) robosuite_fps = 20 steps_per_render = max(robosuite_fps // fps, 1) # read from dataset env_meta = FileUtils.get_env_metadata_from_dataset( dataset_path) rotation_transformer = None if abs_action: env_meta['env_kwargs']['controller_configs']['control_delta'] = False rotation_transformer = RotationTransformer('axis_angle', 'rotation_6d') if self.collect_data: env_meta['env_kwargs']['reward_shaping'] = True def env_fn(): robomimic_env = create_env( env_meta=env_meta, obs_keys=obs_keys ) # hard reset doesn't influence lowdim env # robomimic_env.env.hard_reset = False return MultiStepWrapper( VideoRecordingWrapper( RobomimicLowdimWrapper( env=robomimic_env, obs_keys=obs_keys, init_state=None, render_hw=render_hw, render_camera_name=render_camera_name ), video_recoder=VideoRecorder.create_h264( fps=fps, codec='h264', input_pix_fmt='rgb24', crf=crf, thread_type='FRAME', thread_count=1 ), file_path=None, steps_per_render=steps_per_render if not self.collect_data else 1 ), n_obs_steps=env_n_obs_steps, n_action_steps=_env_n_action_steps, max_episode_steps=max_steps ) env_fns = [env_fn] * n_envs env_seeds = list() env_prefixs = list() env_init_fn_dills = list() # train with h5py.File(dataset_path, 'r') as f: for i in range(n_train): train_idx = train_start_idx + i enable_render = i < n_train_vis init_state = f[f'data/demo_{train_idx}/states'][0] def init_fn(env, init_state=init_state, enable_render=enable_render): # setup rendering # video_wrapper assert isinstance(env.env, VideoRecordingWrapper) env.env.video_recoder.stop() env.env.file_path = None if enable_render: filename = pathlib.Path(output_dir).joinpath( 'media', wv.util.generate_id() + ".mp4") filename.parent.mkdir(parents=False, exist_ok=True) filename = str(filename) env.env.file_path = filename # switch to init_state reset assert isinstance(env.env.env, RobomimicLowdimWrapper) env.env.env.init_state = init_state env_seeds.append(train_idx) env_prefixs.append('train/') env_init_fn_dills.append(dill.dumps(init_fn)) # test for i in range(n_test): seed = test_start_seed + i enable_render = i < n_test_vis def init_fn(env, seed=seed, enable_render=enable_render): # setup rendering # video_wrapper assert isinstance(env.env, VideoRecordingWrapper) env.env.video_recoder.stop() env.env.file_path = None if enable_render: if self.collect_data: filename = pathlib.Path(output_dir).joinpath('media', f"episode_{seed - test_start_seed}.mp4") else: filename = pathlib.Path(output_dir).joinpath('media', f"{seed}_" + wv.util.generate_id() + ".mp4") filename.parent.mkdir(parents=False, exist_ok=True) filename = str(filename) env.env.file_path = filename # switch to seed reset assert isinstance(env.env.env, RobomimicLowdimWrapper) env.env.env.init_state = None env.seed(seed) env_seeds.append(seed) env_prefixs.append('test/') env_init_fn_dills.append(dill.dumps(init_fn)) env = AsyncVectorEnv(env_fns) # env = SyncVectorEnv(env_fns) self.env_meta = env_meta self.env = env self.env_fns = env_fns self.env_seeds = env_seeds self.env_prefixs = env_prefixs self.env_init_fn_dills = env_init_fn_dills self.fps = fps self.crf = crf self.n_obs_steps = n_obs_steps self.n_action_steps = n_action_steps self.n_latency_steps = n_latency_steps self.env_n_obs_steps = env_n_obs_steps self.past_action = past_action self.max_steps = max_steps self.rotation_transformer = rotation_transformer self.abs_action = abs_action self.tqdm_interval_sec = tqdm_interval_sec self.sampler = None self.n_samples = 0 self.nmode = 0 self.weak = None self.noise = 0.0 self.decay = 1.0 self.disruptor = None def set_sampler(self, sampler, nsample=1, nmode=1, noise=0.0, decay=1.0, tau=0.99): self.sampler = sampler self.n_samples = nsample self.nmode = nmode self.noise = noise self.decay = decay self.tau = tau if noise > 0: self.disruptor = NoiseGenerator(self.noise) print(colored(f'Set sampler: {sampler} {nsample}/{nmode}', 'yellow')) def set_reference(self, weak): self.weak = weak def run(self, policy: BaseLowdimPolicy): device = policy.device dtype = policy.dtype env = self.env # plan for rollout n_envs = len(self.env_fns) n_inits = len(self.env_init_fn_dills) n_chunks = math.ceil(n_inits / n_envs) # allocate data all_video_paths = [None] * n_inits all_rewards = [None] * n_inits all_steps_until_done = [None] * n_inits all_calls_until_done = np.ones((n_inits,), dtype=int) # default for querying at least one all_infos = [None] * n_inits if self.collect_data: collect_observations = [[] for _ in range(n_inits)] collect_actions = [[] for _ in range(n_inits)] collect_rewards = [[] for _ in range(n_inits)] collect_terminals = [[] for _ in range(n_inits)] collect_infos = [[] for _ in range(n_inits)] else: collect_observations = collect_actions = collect_rewards = collect_terminals = collect_infos = None for chunk_idx in range(n_chunks): start = chunk_idx * n_envs end = min(n_inits, start + n_envs) this_global_slice = slice(start, end) this_n_active_envs = end - start this_local_slice = slice(0,this_n_active_envs) if self.use_oracle_ac: raise NotImplementedError else: oracle_ac = None this_init_fns = self.env_init_fn_dills[this_global_slice] n_diff = n_envs - len(this_init_fns) if n_diff > 0: this_init_fns.extend([self.env_init_fn_dills[0]]*n_diff) assert len(this_init_fns) == n_envs # init envs env.call_each('run_dill_function', args_list=[(x,) for x in this_init_fns]) # start rollout obs = env.reset() past_action = None policy.reset() env_name = self.env_meta['env_name'] pbar = tqdm.tqdm(total=self.max_steps, desc=f"Eval {env_name}Lowdim {chunk_idx+1}/{n_chunks}", leave=False) done = False while not done: # create obs dict np_obs_dict = { # handle n_latency_steps by discarding the last n_latency_steps 'obs': obs[:,-policy.n_obs_steps:].astype(np.float32) } if self.sampler in ['sg', 'sgac']: prev_obs_dict = { # handle n_latency_steps by discarding the last n_latency_steps 'obs': obs[:, -policy.n_obs_steps-1:-1].astype(np.float32) } if self.past_action and (past_action is not None): # TODO: not tested np_obs_dict['past_action'] = past_action[:,-(self.n_obs_steps-1):].astype(np.float32) # device transfer obs_dict = dict_apply(np_obs_dict, lambda x: torch.from_numpy(x).to(device=device)) # run policy with torch.no_grad(): if self.sampler == 'random': action_dict = policy.predict_action(obs_dict) elif self.sampler == 'ema': if 'action_prior' not in locals(): action_prior = None action_dict = ema_sampler(policy, action_prior, obs_dict, self.decay) action_prior = action_dict['action_pred'][:, self.n_action_steps:] elif self.sampler == 'contrast': action_dict = contrastive_sampler(policy, self.weak, obs_dict, self.n_samples, self.nmode, self.sampler) elif self.sampler == 'coherence': if 'action_prior' not in locals(): action_prior = None action_dict = coherence_sampler(policy, action_prior, obs_dict, self.n_samples, self.decay) action_prior = action_dict['action_pred'][:, self.n_action_steps:] elif self.sampler == 'bid': if 'action_prior' not in locals(): action_prior = None action_dict = bidirectional_sampler(policy, self.weak, obs_dict, action_prior, self.n_samples, self.decay, self.nmode) action_prior = action_dict['action_pred'][:, self.n_action_steps:] elif self.sampler == 'sg': action_dict = policy.predict_action(obs_dict, prev_obs_dict) elif self.sampler == 'ac': if 'action_prior' not in locals(): action_prior = None action_dict = ac_sampler(policy, action_prior, obs_dict, self.tau) action_prior = action_dict['action_pred'][:, self.n_action_steps:] elif self.sampler == 'sgac': if 'action_prior' not in locals(): action_prior = None action_dict = sgac_sampler(policy, action_prior, obs_dict, obs_dict, self.tau) else: action_dict = sgac_sampler(policy, action_prior, obs_dict, prev_obs_dict, self.tau) action_prior = action_dict['action_pred'][:, self.n_action_steps:] else: action_dict = policy.predict_action(obs_dict) # device_transfer np_action_dict = dict_apply(action_dict, lambda x: x.detach().to('cpu').numpy()) # handle latency_steps, we discard the first n_latency_steps actions to simulate latency action = np_action_dict['action'][:,self.n_latency_steps:] if not np.all(np.isfinite(action)): print(action) raise RuntimeError("Nan or Inf action") # noise if self.noise > 0.0: noise_cum = self.disruptor.step(np_action_dict['action_pred']) action += noise_cum[:, :action.shape[1]] * 0.1 # step env env_action = action if self.abs_action: env_action = self.undo_transform_action(action) if self.return_intermediate_state: # Expose intermediate states during executing sequence of actions if self.use_oracle_ac: # At this point, always need to update action queue if oracle_ac.first_time: oracle_ac.update_action_chunk(env_action, replanning_mask=None) # fill action for all envs at reset else: oracle_ac.update_action_chunk(env_action, replanning_mask=replanning_mask) total_executed_steps = 0 while True: single_step_action = oracle_ac.get_action() obs, reward, done, info = env.step(single_step_action) total_executed_steps += 1 replanning_mask = oracle_ac.compute_mask_to_replan(obs, reward, info, done, config=self.oracle_ac_config) if replanning_mask.any(): break query_mask = 1 - done # 1 means query, 0 means no query all_calls_until_done[start:end] = all_calls_until_done[start:end] + replanning_mask.astype(int)[0:end - start] * query_mask[0:end - start] done = np.all(done) past_action = action # update pbar pbar.update(total_executed_steps) else: for a_idx in range(self.n_action_steps): single_step_action = env_action[:, a_idx:a_idx + 1, :] obs, reward, done, info = env.step(single_step_action) # Record data if in collect_data mode if self.collect_data: single_step_action_raw = action[:, a_idx:a_idx + 1, :] for i in range(n_envs): collect_observations[chunk_idx * n_envs + i].append(obs[i, 0, ...]) collect_actions[chunk_idx * n_envs + i].append(single_step_action_raw[i, 0, ...]) collect_terminals[chunk_idx * n_envs + i].append(done[i]) query_mask = 1 - done # 1 means query, 0 means no query all_calls_until_done[start:end] = all_calls_until_done[start:end] + query_mask[0:end - start] done = np.all(done) past_action = action # update pbar pbar.update(action.shape[1]) else: obs, reward, done, info = env.step(env_action) query_mask = 1 - done # 1 means query, 0 means no query all_calls_until_done[start:end] = all_calls_until_done[start:end] + query_mask[0:end - start] done = np.all(done) past_action = action # update pbar pbar.update(action.shape[1]) pbar.close() # collect data for this round all_video_paths[this_global_slice] = env.render()[this_local_slice] all_rewards[this_global_slice] = env.call('get_attr', 'reward')[this_local_slice] all_steps_until_done[this_global_slice] = env.call('get_attr', 'step_elapsed')[this_local_slice] all_infos[this_global_slice] = env.call('get_attr', 'all_infos')[this_local_slice] if self.collect_data: for i in range(n_envs): episode_reward = np.array(all_rewards[chunk_idx * n_envs + i]) collect_rewards[chunk_idx * n_envs + i].extend(episode_reward) collect_infos[chunk_idx * n_envs + i].extend(all_infos[chunk_idx * n_envs + i]) # log max_rewards = collections.defaultdict(list) successes = collections.defaultdict(list) env_step_till_max_reward = collections.defaultdict(list) env_step_till_done = collections.defaultdict(list) policy_step_till_done = collections.defaultdict(list) log_data = dict() # results reported in the paper are generated using the commented out line below # which will only report and average metrics from first n_envs initial condition and seeds # fortunately this won't invalidate our conclusion since # 1. This bug only affects the variance of metrics, not their mean # 2. All baseline methods are evaluated using the same code # to completely reproduce reported numbers, uncomment this line: # for i in range(len(self.env_fns)): # and comment out this line for i in range(n_inits): seed = self.env_seeds[i] prefix = self.env_prefixs[i] max_reward = np.max(all_rewards[i]) success = float(max_reward == 1.0) max_rewards[prefix].append(max_reward) successes[prefix].append(success) env_step_till_max_reward[prefix].append(np.argmax(all_rewards[i])) env_step_till_done[prefix].append(all_steps_until_done[i]) policy_step_till_done[prefix].append(all_calls_until_done[i]) log_data[prefix+f'sim_max_reward_{seed}'] = max_reward log_data[prefix + f'sim_success_{seed}'] = success log_data[prefix + f'sim_step_to_max_reward_{seed}'] = float(np.argmax(all_rewards[i])) log_data[prefix + f'sim_step_to_success_{seed}'] = float(all_steps_until_done[i]) log_data[prefix + f'sim_policy_call_to_success_{seed}'] = float(all_calls_until_done[i]) # visualize sim video_path = all_video_paths[i] if video_path is not None: sim_video = wandb.Video(video_path) log_data[prefix+f'sim_video_{seed}'] = sim_video # log aggregate metrics for prefix, value in max_rewards.items(): name = prefix+'mean_score' value = np.mean(value) log_data[name] = value for prefix, value in successes.items(): name = prefix + 'mean_success' value = np.mean(value) log_data[name] = value for prefix, value in env_step_till_max_reward.items(): name = prefix + 'mean_env_step_till_max_reward' value = np.mean(value) log_data[name] = value for prefix, value in env_step_till_done.items(): name = prefix + 'mean_env_step_till_done' value = np.mean(value) log_data[name] = value for prefix, value in policy_step_till_done.items(): name = prefix + 'mean_policy_step_till_done' value = np.mean(value) log_data[name] = value if self.collect_data: final_observations, final_actions, final_rewards, final_terminals, final_infos = [], [], [], [], [] for i in range(n_inits): idx = np.argmax(collect_terminals[i]) + 1 # Find that first done final_observations.append(collect_observations[i][:idx + 1]) # include final obs of last action, thus +1 final_actions.append(collect_actions[i][:idx]) final_rewards.append(collect_rewards[i][:idx]) final_terminals.append(collect_terminals[i][:idx]) final_infos.append(collect_infos[i][:idx + 1]) # include final obs of last action, thus +1 episode_data = { 'observations': final_observations, 'actions': final_actions, 'rewards': final_rewards, 'terminals': final_terminals, 'infos': final_infos, } return log_data, episode_data else: return log_data def undo_transform_action(self, action): raw_shape = action.shape if raw_shape[-1] == 20: # dual arm action = action.reshape(-1,2,10) d_rot = action.shape[-1] - 4 pos = action[...,:3] rot = action[...,3:3+d_rot] gripper = action[...,[-1]] rot = self.rotation_transformer.inverse(rot) uaction = np.concatenate([ pos, rot, gripper ], axis=-1) if raw_shape[-1] == 20: # dual arm uaction = uaction.reshape(*raw_shape[:-1], 14) return uaction