more debugging, new checkpoints

r-pad · May 29, 2024 · b57daba · b57daba
1 parent d702053
commit b57daba
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Showing 4 changed files with 59 additions and 11 deletions.
diff --git a/pyproject.toml b/pyproject.toml
@@ -60,7 +60,7 @@ rlbench = [
   # These should be installed manually...
   # "pyrep",
   # "rlbench @ git+https://github.com/stepjam/RLBench.git",
-  "rpad-rlbench-utils @ git+https://github.com/r-pad/rlbench_utils.git@5d6167cbb07c25242e3a87a5d5a896c05a7370a7",
+  "rpad-rlbench-utils @ git+https://github.com/r-pad/rlbench_utils.git@66f854735991f724f88777cd0c0de3e457a24739",
 ]
 
 

diff --git a/scripts/eval_metrics.py b/scripts/eval_metrics.py
@@ -223,6 +223,52 @@ def main(cfg):
                 }
             )
 
+            fig = segmentation_fig(
+                torch.cat(
+                    [
+                        points_action[0].cpu(),
+                        points_anchor[0].cpu(),
+                    ],
+                    dim=0,
+                ).numpy(),
+                torch.cat(
+                    [
+                        torch.ones(points_action.shape[1]),
+                        2 * torch.ones(points_anchor.shape[1]),
+                    ],
+                    dim=0,
+                )
+                .int()
+                .numpy(),
+                labelmap={1: "demo_action", 2: "demo_anchor"},
+            )
+            fig.show()
+
+            # Prediction.
+            fig = segmentation_fig(
+                torch.cat(
+                    [
+                        points_action_trans[0].cpu(),
+                        points_anchor_trans[0].cpu(),
+                        res["pred_points_action"][0].cpu(),
+                    ],
+                    dim=0,
+                ).numpy(),
+                torch.cat(
+                    [
+                        torch.ones(points_action_trans.shape[1]),
+                        2 * torch.ones(points_anchor_trans.shape[1]),
+                        3 * torch.ones(res["pred_points_action"].shape[1]),
+                    ],
+                    dim=0,
+                )
+                .int()
+                .numpy(),
+                labelmap={1: "action", 2: "anchor", 3: "pred"},
+            )
+            fig.show()
+            breakpoint()
+
         metrics = {
             k: np.concatenate([m[k] for m in metrics]) for k in metrics[0].keys()
         }

diff --git a/scripts/eval_rlbench.py b/scripts/eval_rlbench.py
@@ -404,6 +404,7 @@ def predict(self, obs, phase: str) -> Tuple[np.ndarray, Dict[str, Any]]:
             phase_onehot = np.zeros(len(TASK_DICT[self.task_name]["phase_order"]))
             phase_onehot[phase_ix] = 1
             phase_onehot = torch.from_numpy(phase_onehot).to(device)[None]
+            logging.info(f"Phase Onehot: {phase_onehot}")
         else:
             phase_onehot = None
 
@@ -783,6 +784,7 @@ def pr():
         # Loop through the phases, and predict.
         phase_plots: List[go.Figure] = []
         for phase in phase_order:
+            logging.info(f"Executing Phase: {phase}")
             N_MOTION_PLANNING_SAMPLING_TRIES = 20
             motion_succeeded = False  # whether any of the predicted motions succeeded.
 

diff --git a/scripts/run_rlbench10_rollouts.sh b/scripts/run_rlbench10_rollouts.sh
@@ -46,40 +46,40 @@
 
 ########################### No gripper, wrist cam #############################
 
-# pick_and_lift: hbdcvydg
-# pick_up_cup: gwfjqpfk
+# pick_and_lift: 8pyp8zaw
+# pick_up_cup: 9m4fflcx
 # push_button: mmc5fhzu
 # put_knife_on_chopping_board: rjscih24
-# put_money_in_safe: gj3h3o3c
-# reach_target: v8vv53tx
+# put_money_in_safe: tpuvxzyg
+# reach_target: ffp30alr
 # slide_block_to_target: sejd7pz0
 # stack_wine: 3hyo3r7q
-# take_money_out_safe: 69gka1ew
+# take_money_out_safe: u4bpi2bf
 # take_umbrella_out_of_umbrella_stand: b48mz8e1
 
 # pick_and_lift
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-hbdcvydg:v0 wandb.group=rlbench_pick_and_lift
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-8pyp8zaw:v0 wandb.group=rlbench_pick_and_lift
 
 # pick_up_cup
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-gwfjqpfk:v0 wandb.group=rlbench_pick_up_cup
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-9m4fflcx:v0 wandb.group=rlbench_pick_up_cup
 
 # put_knife_on_chopping_board
 
 ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-rjscih24:v0 wandb.group=rlbench_put_knife_on_chopping_board
 
 # put_money_in_safe
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-gj3h3o3c:v0 wandb.group=rlbench_put_money_in_safe
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-tpuvxzyg:v0 wandb.group=rlbench_put_money_in_safe
 
 # push_button
 
 ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/push_button/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-mmc5fhzu:v0 wandb.group=rlbench_push_button
 
 # reach_target
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-v8vv53tx:v0 wandb.group=rlbench_reach_target
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-ffp30alr:v0 wandb.group=rlbench_reach_target
 
 # slide_block_to_target
 
@@ -91,7 +91,7 @@
 
 # take_money_out_safe
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-69gka1ew:v0 wandb.group=rlbench_take_money_out_safe
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-u4bpi2bf:v0 wandb.group=rlbench_take_money_out_safe
 
 # take_umbrella_out_of_umbrella_stand