diff --git a/notebooks/00_align_simulators_vbd.ipynb b/notebooks/00_align_simulators_vbd.ipynb index 3068c36a..bc79a57e 100644 --- a/notebooks/00_align_simulators_vbd.ipynb +++ b/notebooks/00_align_simulators_vbd.ipynb @@ -45,13 +45,13 @@ "name": "stderr", "output_type": "stream", "text": [ - "2024-11-04 14:47:08.762921: I tensorflow/core/util/port.cc:153] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.\n", - "2024-11-04 14:47:08.769846: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:485] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", - "2024-11-04 14:47:08.776862: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:8454] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", - "2024-11-04 14:47:08.778953: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1452] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", - "2024-11-04 14:47:08.785416: I tensorflow/core/platform/cpu_feature_guard.cc:210] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.\n", + "2024-11-04 16:31:02.114407: I tensorflow/core/util/port.cc:153] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.\n", + "2024-11-04 16:31:02.121474: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:485] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", + "2024-11-04 16:31:02.128507: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:8454] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", + "2024-11-04 16:31:02.130633: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1452] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", + "2024-11-04 16:31:02.136910: I tensorflow/core/platform/cpu_feature_guard.cc:210] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.\n", "To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.\n", - "2024-11-04 14:47:09.216740: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT\n" + "2024-11-04 16:31:02.579468: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT\n" ] } ], @@ -114,7 +114,7 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -138,7 +138,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -173,7 +173,7 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 4, "metadata": {}, "outputs": [ { @@ -267,7 +267,7 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": 30, "metadata": {}, "outputs": [ { @@ -283,7 +283,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "Diffusion: 100%|██████████| 50/50 [00:01<00:00, 31.60it/s]\n" + "Diffusion: 100%|██████████| 50/50 [00:01<00:00, 31.02it/s]\n" ] } ], @@ -334,6 +334,26 @@ "vbd_waymax_imgs = [plot_state(state) for state in state_logs]" ] }, + { + "cell_type": "code", + "execution_count": 33, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "torch.Tensor" + ] + }, + "execution_count": 33, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "type(pred['denoised_trajs'])" + ] + }, { "cell_type": "markdown", "metadata": {}, @@ -389,9 +409,28 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Steps remaining: 79\n" + ] + }, + { + "ename": "NameError", + "evalue": "name 'pred' is not defined", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[6], line 12\u001b[0m\n\u001b[1;32m 5\u001b[0m waymax_vbd_sample \u001b[38;5;241m=\u001b[39m dataset\u001b[38;5;241m.\u001b[39mprocess_scenario(\n\u001b[1;32m 6\u001b[0m init_state,\n\u001b[1;32m 7\u001b[0m current_index\u001b[38;5;241m=\u001b[39minit_state\u001b[38;5;241m.\u001b[39mtimestep,\n\u001b[1;32m 8\u001b[0m use_log\u001b[38;5;241m=\u001b[39m\u001b[38;5;28;01mFalse\u001b[39;00m\n\u001b[1;32m 9\u001b[0m )\n\u001b[1;32m 11\u001b[0m \u001b[38;5;66;03m# Save predicted trajectories\u001b[39;00m\n\u001b[0;32m---> 12\u001b[0m waymax_vbd_sample[\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mpred_denoised_trajs\u001b[39m\u001b[38;5;124m'\u001b[39m] \u001b[38;5;241m=\u001b[39m \u001b[43mpred\u001b[49m[\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mdenoised_trajs\u001b[39m\u001b[38;5;124m'\u001b[39m]\n\u001b[1;32m 14\u001b[0m \u001b[38;5;66;03m# Save dictionary for further inspection\u001b[39;00m\n\u001b[1;32m 15\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m \u001b[38;5;28mopen\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mwaymax_vbd_sample_\u001b[39m\u001b[38;5;132;01m{\u001b[39;00mSCENARIO_ID\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m.pkl\u001b[39m\u001b[38;5;124m'\u001b[39m, \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mwb\u001b[39m\u001b[38;5;124m'\u001b[39m) \u001b[38;5;28;01mas\u001b[39;00m f:\n", + "\u001b[0;31mNameError\u001b[0m: name 'pred' is not defined" + ] + } + ], "source": [ "init_state = waymax_env.reset(scenario)\n", "\n", @@ -403,6 +442,9 @@ " use_log=False\n", ")\n", "\n", + "# Save predicted trajectories\n", + "waymax_vbd_sample['pred_denoised_trajs'] = pred['denoised_trajs']\n", + "\n", "# Save dictionary for further inspection\n", "with open(f'waymax_vbd_sample_{SCENARIO_ID}.pkl', 'wb') as f:\n", " pickle.dump(waymax_vbd_sample, f)\n", @@ -426,7 +468,7 @@ }, { "cell_type": "code", - "execution_count": 17, + "execution_count": 8, "metadata": {}, "outputs": [ { @@ -446,7 +488,7 @@ " return_vbd_data=True, # Use VBD\n", " dynamics_model=\"state\", # Use state-based dynamics model\n", " dist_to_goal_threshold=1e-5, # Trick to make sure the agents don't disappear when they reach the goal\n", - " collision_behavior=\"ignore\", # Ignore collisions\n", + " collision_behavior=\"ignore\", # Ignore collisions|\n", ")\n", "\n", "# Make env\n", @@ -471,7 +513,7 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": 9, "metadata": {}, "outputs": [], "source": [ @@ -534,7 +576,7 @@ }, { "cell_type": "code", - "execution_count": 22, + "execution_count": 17, "metadata": {}, "outputs": [ { @@ -548,7 +590,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "Diffusion: 100%|██████████| 50/50 [00:01<00:00, 30.26it/s]\n" + "Diffusion: 100%|██████████| 50/50 [00:01<00:00, 30.09it/s]\n" ] } ], @@ -572,7 +614,7 @@ }, { "cell_type": "code", - "execution_count": 23, + "execution_count": 18, "metadata": {}, "outputs": [ { @@ -620,7 +662,7 @@ }, { "cell_type": "code", - "execution_count": 24, + "execution_count": 19, "metadata": {}, "outputs": [ { @@ -628,7 +670,7 @@ "text/html": [ "
\n", "
\n", - "
GPUDrive with VBD-trajs
" + "
GPUDrive with VBD-trajs
" ], "text/plain": [ "" @@ -644,7 +686,7 @@ }, { "cell_type": "code", - "execution_count": 38, + "execution_count": 20, "metadata": {}, "outputs": [], "source": [ @@ -660,7 +702,7 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 21, "metadata": {}, "outputs": [], "source": [ @@ -668,6 +710,9 @@ "\n", "gpudrive_sample_batch_np = to_numpy(gpudrive_sample_batch)\n", "\n", + "# Save VBD predicted trajectories\n", + "gpudrive_sample_batch_np['pred_denoised_trajs'] = pred['denoised_trajs']\n", + "\n", "# Save as pickle \n", "with open(f'gpudrive_vbd_sample_{SCENARIO_ID}.pkl', 'wb') as f:\n", " pickle.dump(gpudrive_sample_batch_np, f)" @@ -675,7 +720,7 @@ }, { "cell_type": "code", - "execution_count": 41, + "execution_count": 45, "metadata": {}, "outputs": [], "source": [ diff --git a/notebooks/01_features_deepdive.ipynb b/notebooks/01_features_deepdive.ipynb index 96038a4a..915c712f 100644 --- a/notebooks/01_features_deepdive.ipynb +++ b/notebooks/01_features_deepdive.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 24, + "execution_count": 133, "metadata": {}, "outputs": [], "source": [ @@ -39,7 +39,7 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 134, "metadata": {}, "outputs": [], "source": [ @@ -60,7 +60,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 135, "metadata": {}, "outputs": [], "source": [ @@ -80,7 +80,7 @@ }, { "cell_type": "code", - "execution_count": 26, + "execution_count": 102, "metadata": {}, "outputs": [], "source": [ @@ -185,16 +185,16 @@ }, { "cell_type": "code", - "execution_count": 27, + "execution_count": 92, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "dict_keys(['agents_history', 'agents_interested', 'agents_type', 'agents_future', 'traffic_light_points', 'polylines', 'polylines_valid', 'relations', 'agents_id', 'anchors'])" + "dict_keys(['agents_history', 'agents_interested', 'agents_type', 'agents_future', 'traffic_light_points', 'polylines', 'polylines_valid', 'relations', 'agents_id', 'anchors', 'pred_denoised_trajs'])" ] }, - "execution_count": 27, + "execution_count": 92, "metadata": {}, "output_type": "execute_result" } @@ -205,16 +205,16 @@ }, { "cell_type": "code", - "execution_count": 28, + "execution_count": 93, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "dict_keys(['agents_history', 'agents_interested', 'agents_type', 'agents_future', 'traffic_light_points', 'polylines', 'polylines_valid', 'relations', 'agents_id', 'anchors'])" + "dict_keys(['agents_history', 'agents_interested', 'agents_type', 'agents_future', 'traffic_light_points', 'polylines', 'polylines_valid', 'relations', 'agents_id', 'anchors', 'pred_denoised_trajs'])" ] }, - "execution_count": 28, + "execution_count": 93, "metadata": {}, "output_type": "execute_result" } @@ -260,7 +260,7 @@ }, { "cell_type": "code", - "execution_count": 29, + "execution_count": 74, "metadata": {}, "outputs": [ { @@ -269,7 +269,7 @@ "((32, 12, 8), (32, 12, 8))" ] }, - "execution_count": 29, + "execution_count": 74, "metadata": {}, "output_type": "execute_result" } @@ -280,7 +280,7 @@ }, { "cell_type": "code", - "execution_count": 30, + "execution_count": 75, "metadata": {}, "outputs": [], "source": [ @@ -289,7 +289,7 @@ }, { "cell_type": "code", - "execution_count": 31, + "execution_count": 76, "metadata": {}, "outputs": [], "source": [ @@ -1219,26 +1219,190 @@ "waymax_vbd_data['polylines'][:, :, 0], gpudrive_vbd_data['polylines'].squeeze(0)[:, :, 0]" ] }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## **Outputs** (predicted trajectories)\n", + "\n", + "- What: The predicted actions for the future 80 time steps\n", + " - Features:\n", + " - `x`: x positions\n", + " - How can `x` be in a local coordinate frame?\n", + " - `y`: y positions\n", + " - How can `y` be in a local coordinate frame?\n", + " - `theta`: What is theta? Is this the yaw?\n", + " - `v_x`: Velocity x (is this used by the dynamics model?)\n", + " - `v_y`: Velocity y (is this used?)\n", + "- Notes:\n", + " - Tried setting `global_frame=False`, but that doesn't help\n", + " - ..." + ] + }, { "cell_type": "code", - "execution_count": null, + "execution_count": 136, "metadata": {}, "outputs": [], - "source": [] + "source": [ + "waymax_vbd_data['pred_denoised_trajs'] = waymax_vbd_data['pred_denoised_trajs'].squeeze(0).cpu().numpy()\n", + "gpudrive_vbd_data['pred_denoised_trajs'] = gpudrive_vbd_data['pred_denoised_trajs'].cpu().numpy()" + ] + }, + { + "cell_type": "code", + "execution_count": 137, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(32, 80, 5)" + ] + }, + "execution_count": 137, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "waymax_vbd_data['pred_denoised_trajs'].shape" + ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "## **Outputs** (predicted trajectories)" + "#### $x$" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 128, "metadata": {}, - "outputs": [], - "source": [] + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "make_heatmaps(\n", + " waymax_vbd_data, \n", + " gpudrive_vbd_data, \n", + " array_name='pred_denoised_trajs',\n", + " index=0, \n", + " feature_name='x',\n", + " x_label='Time index',\n", + " y_label='Agent index',\n", + " share_axes=False,\n", + " share_color_scale=False \n", + ")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "#### $y$" + ] + }, + { + "cell_type": "code", + "execution_count": 116, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "make_heatmaps(\n", + " waymax_vbd_data, \n", + " gpudrive_vbd_data, \n", + " array_name='pred_denoised_trajs',\n", + " index=1, \n", + " feature_name='y',\n", + " x_label='Time index',\n", + " y_label='Agent index',\n", + " share_axes=False,\n", + " share_color_scale=False \n", + ")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "#### $\\theta$" + ] + }, + { + "cell_type": "code", + "execution_count": 129, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "make_heatmaps(\n", + " waymax_vbd_data, \n", + " gpudrive_vbd_data, \n", + " array_name='pred_denoised_trajs',\n", + " index=2, \n", + " feature_name='theta',\n", + " x_label='Time index',\n", + " y_label='Agent index',\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 130, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "((32, 80, 5), (1, 32, 80, 5))" + ] + }, + "execution_count": 130, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "waymax_vbd_data['pred_denoised_trajs'].shape, gpudrive_vbd_data['pred_denoised_trajs'].shape" + ] }, { "cell_type": "markdown", diff --git a/notebooks/gpudrive_vbd_sample_11671609ebfa3185.pkl b/notebooks/gpudrive_vbd_sample_11671609ebfa3185.pkl index 92f07809..5e6070b1 100644 Binary files a/notebooks/gpudrive_vbd_sample_11671609ebfa3185.pkl and b/notebooks/gpudrive_vbd_sample_11671609ebfa3185.pkl differ diff --git a/notebooks/waymax_vbd_sample_11671609ebfa3185.pkl b/notebooks/waymax_vbd_sample_11671609ebfa3185.pkl index 7cf5e250..ca6a574d 100644 Binary files a/notebooks/waymax_vbd_sample_11671609ebfa3185.pkl and b/notebooks/waymax_vbd_sample_11671609ebfa3185.pkl differ diff --git a/vbd/model/VBD.py b/vbd/model/VBD.py index 4ce01df4..5e2fc3da 100644 --- a/vbd/model/VBD.py +++ b/vbd/model/VBD.py @@ -1,5 +1,6 @@ import torch -#import lightning.pytorch as pl + +# import lightning.pytorch as pl import pytorch_lightning as pl from .modules import Encoder, Denoiser, GoalPredictor @@ -155,7 +156,11 @@ def forward(self, inputs, noised_actions_normalized, diffusion_step): return output_dict def forward_denoiser( - self, encoder_outputs, noised_actions_normalized, diffusion_step + self, + encoder_outputs, + noised_actions_normalized, + diffusion_step, + global_frame=True, ): """ Forward pass of the denoiser module. @@ -185,7 +190,7 @@ def forward_denoiser( current_states, denoised_actions, action_len=self.denoiser._action_len, - global_frame=True, + global_frame=global_frame, ) return { diff --git a/vbd/sim_agent/sim_actor.py b/vbd/sim_agent/sim_actor.py index acd8c9dc..4c0bd542 100644 --- a/vbd/sim_agent/sim_actor.py +++ b/vbd/sim_agent/sim_actor.py @@ -519,7 +519,9 @@ def ibr_guidance( return denoiser_output, x_t_prev, guide_history ################### Denoising ################### - def step_denoiser(self, x_t: torch.Tensor, c: dict, t: int): + def step_denoiser( + self, x_t: torch.Tensor, c: dict, t: int, global_frame: bool = True + ): """ Perform a denoising step to sample x_{t-1} ~ P[x_{t-1} | x_t, D(x_t, c, t)]. @@ -538,7 +540,10 @@ def step_denoiser(self, x_t: torch.Tensor, c: dict, t: int): # Denoise to reconstruct x_0 ~ D(x_t, c, t) denoiser_output = self.forward_denoiser( - encoder_outputs=c, noised_actions_normalized=x_t, diffusion_step=t + encoder_outputs=c, + noised_actions_normalized=x_t, + diffusion_step=t, + global_frame=global_frame, ) x_0 = denoiser_output["denoised_actions_normalized"] @@ -554,7 +559,13 @@ def step_denoiser(self, x_t: torch.Tensor, c: dict, t: int): @torch.no_grad() def sample_denoiser( - self, batch, num_samples=1, x_t=None, use_tqdm=True, **kwargs + self, + batch, + num_samples=1, + x_t=None, + use_tqdm=True, + global_frame=True, + **kwargs ): """ Perform denoising inference on the given batch of data. @@ -626,6 +637,7 @@ def sample_denoiser( x_t=x_t, c=encoder_outputs, t=t, + global_frame=global_frame, ) guide = None