From 0112c69ed5eb09a8e0e3555c629a218f5c954223 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Mon, 3 Nov 2025 08:11:18 +0000 Subject: [PATCH 01/35] update vln yaml; fix import agent --- scripts/eval/configs/vln_r2r.yaml | 6 +++--- scripts/eval/start_server.py | 19 ++----------------- setup.cfg | 2 +- 3 files changed, 6 insertions(+), 21 deletions(-) diff --git a/scripts/eval/configs/vln_r2r.yaml b/scripts/eval/configs/vln_r2r.yaml index 379f6d7..ed8361c 100644 --- a/scripts/eval/configs/vln_r2r.yaml +++ b/scripts/eval/configs/vln_r2r.yaml @@ -69,9 +69,9 @@ habitat: look_down: type: LookDownAction agent_index: 0 - + dataset: type: R2RVLN-v1 split: val_seen - scenes_dir: data/scene_data/ - data_path: data/vln_ce/raw_data/r2r/{split}/{split}.json.gz \ No newline at end of file + scenes_dir: data/scene_data/mp3d_ce + data_path: data/vln_ce/raw_data/r2r/{split}/{split}.json.gz diff --git a/scripts/eval/start_server.py b/scripts/eval/start_server.py index 5a03cd7..60e6007 100644 --- a/scripts/eval/start_server.py +++ b/scripts/eval/start_server.py @@ -5,27 +5,15 @@ sys.path.append('./src/diffusion-policy') import argparse -import glob import importlib import importlib.util -import os import sys +# Import for agent registry side effects — do not remove +from internnav.agent import Agent # noqa: F401 from internnav.utils import AgentServer -# import all agents to register them -def auto_register_agents(agent_dir: str): - # Get all Python files in the agents directory - agent_modules = glob.glob(os.path.join(agent_dir, '*.py')) - - # Import each module to trigger the registration - for module in agent_modules: - if not module.endswith('__init__.py'): # Avoid importing __init__.py itself - module_name = os.path.basename(module)[:-3] # Remove the .py extension - importlib.import_module(f'internnav.agent.{module_name}') # Replace 'agents' with your module's package - - def load_eval_cfg(config_path, attr_name='eval_cfg'): spec = importlib.util.spec_from_file_location("eval_config_module", config_path) config_module = importlib.util.module_from_spec(spec) @@ -37,9 +25,6 @@ def load_eval_cfg(config_path, attr_name='eval_cfg'): if __name__ == '__main__': print("Starting Agent Server...") - print("Registering agents...") - auto_register_agents('internnav/agent') - parser = argparse.ArgumentParser() parser.add_argument('--host', type=str, default='localhost') parser.add_argument( diff --git a/setup.cfg b/setup.cfg index 3aeaebe..b6a3f5b 100644 --- a/setup.cfg +++ b/setup.cfg @@ -45,4 +45,4 @@ per-file-ignores=*/__init__.py:F401 ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117,E711,E226 max-line-length = 120 max-complexity = 30 -exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb,scripts/**,internnav/projects/** +exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb From 05ea2a304b2c7afec6ff93e7cab35004a47b6eae Mon Sep 17 00:00:00 2001 From: wangyukai Date: Mon, 10 Nov 2025 05:37:18 +0000 Subject: [PATCH 02/35] update habitat, using evaluator and config; env and agent is WIP --- internnav/configs/evaluator/__init__.py | 6 +- internnav/evaluator/__init__.py | 2 + internnav/evaluator/distributed_base.py | 131 +++ internnav/evaluator/habitat_vln_evaluator.py | 460 +++++----- internnav/internnav_habitat/__init__.py | 2 + internnav/internnav_habitat/habitat_env.py | 126 +++ .../habitat_n1_agent_temp.py | 263 ++++++ .../habitat_vln_evaluator.py | 842 ++++++++++++++++++ internnav/internnav_habitat/measures.py | 560 ++++++++++++ internnav/internnav_habitat/refactor_notes.md | 66 ++ internnav/internnav_habitat/utils.py | 0 scripts/eval/bash/torchrun_eval.sh | 20 + scripts/eval/configs/comm_cfg.py | 16 + scripts/eval/configs/habitat_cfg.py | 60 ++ scripts/eval/configs/vln_r2r.yaml | 2 +- scripts/eval/eval.py | 20 +- 16 files changed, 2306 insertions(+), 270 deletions(-) create mode 100644 internnav/evaluator/distributed_base.py create mode 100644 internnav/internnav_habitat/__init__.py create mode 100644 internnav/internnav_habitat/habitat_env.py create mode 100644 internnav/internnav_habitat/habitat_n1_agent_temp.py create mode 100644 internnav/internnav_habitat/habitat_vln_evaluator.py create mode 100644 internnav/internnav_habitat/measures.py create mode 100644 internnav/internnav_habitat/refactor_notes.md create mode 100644 internnav/internnav_habitat/utils.py create mode 100644 scripts/eval/bash/torchrun_eval.sh create mode 100644 scripts/eval/configs/comm_cfg.py create mode 100644 scripts/eval/configs/habitat_cfg.py diff --git a/internnav/configs/evaluator/__init__.py b/internnav/configs/evaluator/__init__.py index ab770c5..27e63a3 100644 --- a/internnav/configs/evaluator/__init__.py +++ b/internnav/configs/evaluator/__init__.py @@ -59,9 +59,9 @@ class EvalCfg(BaseModel): eval_type: Optional[str] = None eval_settings: Optional[Dict[str, Any]] = {} agent: Optional[AgentCfg] = None - env: EnvCfg - task: TaskCfg - dataset: EvalDatasetCfg + env: EnvCfg = None + task: TaskCfg = None + dataset: EvalDatasetCfg = None __all__ = [ diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index 88393e5..e831ea5 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -1,3 +1,5 @@ +# register habitat TODO +import internnav.internnav_habitat # noqa: F401 from internnav.evaluator.base import Evaluator from internnav.evaluator.vln_multi_evaluator import VlnMultiEvaluator diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py new file mode 100644 index 0000000..3244305 --- /dev/null +++ b/internnav/evaluator/distributed_base.py @@ -0,0 +1,131 @@ +import json +import os +from datetime import datetime + +import torch + +from internnav.configs.evaluator import EvalCfg +from internnav.evaluator.base import Evaluator +from internnav.utils.dist import dist, get_rank, get_world_size + + +def init_distributed_mode(args): + if 'SLURM_PROCID' in os.environ: + args.rank = int(os.environ['SLURM_PROCID']) + args.world_size = int(os.environ['SLURM_NTASKS']) + + num_gpus = torch.cuda.device_count() + args.gpu = args.rank % num_gpus + args.local_rank = args.gpu + + node_list = os.environ['SLURM_NODELIST'] + print(f'Node list: {node_list}') + # addr = subprocess.getoutput(f'scontrol show hostname {node_list} | head -n1') + + os.environ['MASTER_PORT'] = str(getattr(args, 'port', '29529')) + # os.environ['MASTER_ADDR'] = addr + os.environ['WORLD_SIZE'] = str(args.world_size) + os.environ['LOCAL_RANK'] = str(args.gpu) + os.environ['RANK'] = str(args.rank) + elif 'RANK' in os.environ and 'WORLD_SIZE' in os.environ: + args.rank = int(os.environ["RANK"]) + args.world_size = int(os.environ['WORLD_SIZE']) + args.gpu = int(os.environ['LOCAL_RANK']) + args.local_rank = args.gpu + else: + print('Not using distributed mode') + # setup_for_distributed(is_master=True) # hack + args.distributed = False + return + + args.distributed = True + + torch.cuda.set_device(args.gpu) + args.dist_backend = 'nccl' + print('| distributed init (rank {}): {}, gpu {}'.format(args.rank, args.dist_url, args.gpu), flush=True) + dist.init_process_group( + backend=args.dist_backend, + init_method=args.dist_url, + world_size=args.world_size, + rank=args.rank, + timeout=datetime.timedelta(0, 7200), + ) + dist.barrier() + # setup_for_distributed(args.rank == 0) + + +class DistributedEvaluator(Evaluator): + """ + Base class of distributed evaluators. + """ + + def __init__(self, cfg: EvalCfg): + # distributed setting + import os + import socket + + print( + f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}" + ) + # init_distributed_mode(args) + # local_rank = args.local_rank + # np.random.seed(local_rank) + cfg.env.env_settings['idx'] = get_rank() + cfg.env.env_settings['world_size'] = get_world_size() + + # set agent port based on rank + cfg.agent.agent_settings['port'] = 8000 + get_rank() + # start_server(cfg.agent.agent_settings['port']) + + super().__init__(cfg) + + def eval(self): + # 1. 每个 rank 本地跑一遍 + local_metrics = self.eval_action() # dict[str, Tensor], 每个 Tensor shape [N] + # 取出设备 & 本地样本数 + device = next(iter(local_metrics.values())).device + local_count = torch.tensor([len(next(iter(local_metrics.values())))], dtype=torch.long, device=device) + + # 2. 全局样本数 + world_size = get_world_size() + global_count = local_count.clone() + if world_size > 1: + dist.all_reduce(global_count, op=dist.ReduceOp.SUM) + + # 3. 对每个 metric 做全局 sum / mean + result_all = {} + for name, tensor in local_metrics.items(): + # tensor: [N] + local_sum = tensor.sum() + global_sum = local_sum.clone() + if world_size > 1: + dist.all_reduce(global_sum, op=dist.ReduceOp.SUM) + + mean_val = (global_sum / global_count).item() + result_all[name] = mean_val + + # 4. 统计全局 episode 数 + result_all["length"] = int(global_count.item()) + + # 5. 打印 + 只在 rank 0 写文件 + print(result_all) + if get_rank() == 0: + os.makedirs(self.args.output_path, exist_ok=True) + out_path = os.path.join(self.args.output_path, "result.json") + with open(out_path, "a") as f: + f.write(json.dumps(result_all) + "\n") + + return result_all + + def eval_action(self): + """ + 跑当前 rank 的 episodes, 返回一个 dict: + { + "success": tensor([0., 1., ...], device=...), + "spl": tensor([...]), + "os": tensor([...]), + "ne": tensor([...]), + ... + } + """ + raise NotImplementedError diff --git a/internnav/evaluator/habitat_vln_evaluator.py b/internnav/evaluator/habitat_vln_evaluator.py index 3bf4c54..e901ae3 100644 --- a/internnav/evaluator/habitat_vln_evaluator.py +++ b/internnav/evaluator/habitat_vln_evaluator.py @@ -26,14 +26,11 @@ from habitat_baselines.config.default import get_config as get_habitat_config from omegaconf import OmegaConf from PIL import Image, ImageDraw, ImageFont -from torch import Tensor from transformers.image_utils import to_numpy_array from internnav.model.utils.vln_utils import ( chunk_token, - image_resize, open_image, - rho_theta, split_and_clean, traj_to_actions, ) @@ -68,8 +65,8 @@ def __init__( with habitat.config.read_write(self.config): # self.config.habitat.task.measurements.success.success_distance=3.0 - self.config.habitat.dataset.split = self.split - self.config.habitat.task.measurements.update( + self.config.habitat.dataset.split = self.split # refactor: why args and yaml both have split + self.config.habitat.task.measurements.update( # refactor: move to yaml { "top_down_map": TopDownMapMeasurementConfig( map_padding=3, @@ -104,6 +101,7 @@ def __init__( self.model = model self.processor = processor + # refactor: this part used in three places prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint\'s coordinates in the image. Please output STOP when you have successfully completed the task." answer = "" self.conversation = [{"from": "human", "value": prompt}, {"from": "gpt", "value": answer}] @@ -134,260 +132,12 @@ def __init__( self.num_future_steps = args.num_future_steps self.num_history = args.num_history - def preprocess_depth_image_v2( - self, depth_image, do_depth_scale=True, depth_scale=1000, target_height=None, target_width=None - ): - if target_height is None: - target_height = self.image_processor.crop_size['height'] # 384 - target_width = self.image_processor.crop_size['width'] # 384 - - resized_depth_image = depth_image.resize((target_width, target_height), Image.NEAREST) - - img = to_numpy_array(resized_depth_image) - if do_depth_scale: - img = img / depth_scale - - return img, (target_width, target_height) - - def get_intrinsic_matrix(self, sensor_cfg) -> np.ndarray: - width = sensor_cfg.width - height = sensor_cfg.height - fov = sensor_cfg.hfov - fx = (width / 2.0) / np.tan(np.deg2rad(fov / 2.0)) - fy = fx # Assuming square pixels (fx = fy) - cx = (width - 1.0) / 2.0 - cy = (height - 1.0) / 2.0 - - intrinsic_matrix = np.array( - [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] - ) - return intrinsic_matrix - - def preprocess_instrinsic(self, intrinsic, ori_size, target_size): # (V, 4, 4) (resize_shape) (h, w) - intrinsic = copy.deepcopy(intrinsic) - if len(intrinsic.shape) == 2: - intrinsic = intrinsic[None, :, :] # (1, 4, 4) or (B, 4, 4) - - intrinsic[:, 0] /= ori_size[0] / target_size[0] # width - intrinsic[:, 1] /= ori_size[1] / target_size[1] # height - - # for crop transform - intrinsic[:, 0, 2] -= (target_size[0] - target_size[1]) / 2 - - if intrinsic.shape[0] == 1: - intrinsic = intrinsic.squeeze(0) - - return intrinsic - - def get_axis_align_matrix(self): - ma = np.array([[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]) - return ma - - def xyz_yaw_to_tf_matrix(self, xyz: np.ndarray, yaw: float) -> np.ndarray: - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(yaw), -np.sin(yaw), 0, x], - [np.sin(yaw), np.cos(yaw), 0, y], - [0, 0, 1, z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_pitch_to_tf_matrix(self, xyz: np.ndarray, pitch: float) -> np.ndarray: - """Converts a given position and pitch angle to a 4x4 transformation matrix. - - Args: - xyz (np.ndarray): A 3D vector representing the position. - pitch (float): The pitch angle in radians for y axis. - Returns: - np.ndarray: A 4x4 transformation matrix. - """ - - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(pitch), 0, np.sin(pitch), x], - [0, 1, 0, y], - [-np.sin(pitch), 0, np.cos(pitch), z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_yaw_pitch_to_tf_matrix(self, xyz: np.ndarray, yaw: float, pitch: float) -> np.ndarray: - """Converts a given position and yaw, pitch angles to a 4x4 transformation matrix. - - Args: - xyz (np.ndarray): A 3D vector representing the position. - yaw (float): The yaw angle in radians. - pitch (float): The pitch angle in radians for y axis. - Returns: - np.ndarray: A 4x4 transformation matrix. - """ - x, y, z = xyz - rot1 = self.xyz_yaw_to_tf_matrix(xyz, yaw)[:3, :3] - rot2 = self.xyz_pitch_to_tf_matrix(xyz, pitch)[:3, :3] - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rot1 @ rot2 - transformation_matrix[:3, 3] = xyz - return transformation_matrix - - def pixel_to_gps(self, pixel, depth, intrinsic, tf_camera_to_episodic): - ''' - Args: - pixel: (2,) - [u, v] pixel coordinates - depth: (H, W) - depth image where depth[v, u] gives depth in meters - intrinsic: (4, 4) - camera intrinsic matrix - tf_camera_to_episodic: (4, 4) - transformation from camera to episodic frame - Returns: - (x, y): (x, y) coordinates in the episodic frame - ''' - v, u = pixel - z = depth[v, u] - print("depthhhhhhhhhhhhhh", z) - - x = (u - intrinsic[0, 2]) * z / intrinsic[0, 0] - y = (v - intrinsic[1, 2]) * z / intrinsic[1, 1] - point_camera = np.array([x, y, z, 1.0]) - - # Transform to episodic frame - point_episodic = tf_camera_to_episodic @ point_camera - point_episodic = point_episodic[:3] / point_episodic[3] - - x = point_episodic[0] - y = point_episodic[1] - - return (x, y) # same as habitat gps - + # refactor def config_env(self) -> Env: env = Env(config=self.config) # env.episodes = env.episodes[0:1] return env - def dot_matrix_two_dimensional( - self, - image_or_image_path, - save_path=None, - dots_size_w=8, - dots_size_h=8, - save_img=False, - font_path='fonts/arial.ttf', - pixel_goal=None, - ): - """ - takes an original image as input, save the processed image to save_path. Each dot is labeled with two-dimensional Cartesian coordinates (x,y). Suitable for single-image tasks. - control args: - 1. dots_size_w: the number of columns of the dots matrix - 2. dots_size_h: the number of rows of the dots matrix - """ - with open_image(image_or_image_path) as img: - if img.mode != 'RGB': - img = img.convert('RGB') - draw = ImageDraw.Draw(img, 'RGB') - - width, height = img.size - grid_size_w = dots_size_w + 1 - grid_size_h = dots_size_h + 1 - cell_width = width / grid_size_w - cell_height = height / grid_size_h - - font = ImageFont.truetype(font_path, width // 40) # Adjust font size if needed; default == width // 40 - - target_i = target_j = None - if pixel_goal is not None: - y_pixel, x_pixel = pixel_goal[0], pixel_goal[1] - # Validate pixel coordinates - if not (0 <= x_pixel < width and 0 <= y_pixel < height): - raise ValueError(f"pixel_goal {pixel_goal} exceeds image dimensions ({width}x{height})") - - # Convert to grid coordinates - target_i = round(x_pixel / cell_width) - target_j = round(y_pixel / cell_height) - - # Validate grid bounds - if not (1 <= target_i <= dots_size_w and 1 <= target_j <= dots_size_h): - raise ValueError( - f"pixel_goal {pixel_goal} maps to grid ({target_j},{target_i}), " - f"valid range is (1,1)-({dots_size_h},{dots_size_w})" - ) - - count = 0 - - for j in range(1, grid_size_h): - for i in range(1, grid_size_w): - x = int(i * cell_width) - y = int(j * cell_height) - - pixel_color = img.getpixel((x, y)) - # choose a more contrasting color from black and white - if pixel_color[0] + pixel_color[1] + pixel_color[2] >= 255 * 3 / 2: - opposite_color = (0, 0, 0) - else: - opposite_color = (255, 255, 255) - - if pixel_goal is not None and i == target_i and j == target_j: - opposite_color = (255, 0, 0) # Red for target - - circle_radius = width // 240 # Adjust dot size if needed; default == width // 240 - draw.ellipse( - [(x - circle_radius, y - circle_radius), (x + circle_radius, y + circle_radius)], - fill=opposite_color, - ) - - text_x, text_y = x + 3, y - count_w = count // dots_size_w - count_h = count % dots_size_w - label_str = f"({count_w+1},{count_h+1})" - draw.text((text_x, text_y), label_str, fill=opposite_color, font=font) - count += 1 - if save_img: - print(">>> dots overlaid image processed, stored in", save_path) - img.save(save_path) - return img - - def _pointnav( - self, - goal: np.ndarray, - depth: np.ndarray, - step_id: int, - robot_xy: np.ndarray, - robot_heading: float, - stop: bool = False, - ) -> Tensor: - ''' - Args: - goal (np.ndarray): goal position - stop (bool): whether to stop - Returns: - action: action tensor - ''' - - masks = torch.tensor([step_id != 0], dtype=torch.bool, device="cuda") - if not np.array_equal(goal, self._last_goal): - if np.linalg.norm(goal - self._last_goal) > 0.1: - self._pointnav_policy.reset() - print('Pointnav policy reset!') - masks = torch.zeros_like(masks) - self._last_goal = goal - rho, theta = rho_theta(robot_xy, robot_heading, goal) - rho_theta_tensor = torch.tensor([[rho, theta]], device="cuda", dtype=torch.float32) - obs_pointnav = { - "depth": image_resize( - depth, - (self._pointnav_depth_image_shape[0], self._pointnav_depth_image_shape[1]), - channels_last=True, - interpolation_mode="area", - ), - "pointgoal_with_gps_compass": rho_theta_tensor, - } - - if rho < self._pointnav_stop_radius and stop: - return 0 - action = self._pointnav_policy.act(obs_pointnav, masks, deterministic=True) - return action - def eval_action(self, idx) -> None: # noqa: C901 self.model.eval() env = self.config_env() @@ -414,6 +164,7 @@ def eval_action(self, idx) -> None: # noqa: C901 oss.append(res['os']) nes.append(res['ne']) + # refactor: why sort to scene: [episode] but nothing actually used for scene in sorted(scene_episode_dict.keys()): episodes = scene_episode_dict[scene] scene_id = scene.split('/')[-2] @@ -430,6 +181,7 @@ def eval_action(self, idx) -> None: # noqa: C901 if [scene_id, episode_id, episode_instruction] in done_res: continue + # refactor env warm up env.current_episode = episode observations = env.reset() @@ -465,6 +217,7 @@ def eval_action(self, idx) -> None: # noqa: C901 local_actions = [] while not env.episode_over and step_id <= 500: + # refactor agent get action rgb = observations["rgb"] depth = observations["depth"] x, y = observations["gps"] @@ -743,6 +496,7 @@ def eval_action(self, idx) -> None: # noqa: C901 print("step_id", step_id, "action", action) + # refactor: core if action == 5: env.step(action) observations = env.step(action) @@ -802,10 +556,194 @@ def parse_actions(self, output): actions = itertools.chain.from_iterable(actions) return list(actions) - def preprocess_qwenvl(self, source): - prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN - if len(source[0]["value"]) != 0: - source[0]["value"] += f" {prompt}." - else: - source[0]["value"] = f"{prompt}." # Please output the next waypoint\'s coordinates in the image." - return source + def preprocess_depth_image_v2( + self, depth_image, do_depth_scale=True, depth_scale=1000, target_height=None, target_width=None + ): + if target_height is None: + target_height = self.image_processor.crop_size['height'] # 384 + target_width = self.image_processor.crop_size['width'] # 384 + + resized_depth_image = depth_image.resize((target_width, target_height), Image.NEAREST) + + img = to_numpy_array(resized_depth_image) + if do_depth_scale: + img = img / depth_scale + + return img, (target_width, target_height) + + def get_intrinsic_matrix(self, sensor_cfg) -> np.ndarray: + width = sensor_cfg.width + height = sensor_cfg.height + fov = sensor_cfg.hfov + fx = (width / 2.0) / np.tan(np.deg2rad(fov / 2.0)) + fy = fx # Assuming square pixels (fx = fy) + cx = (width - 1.0) / 2.0 + cy = (height - 1.0) / 2.0 + + intrinsic_matrix = np.array( + [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] + ) + return intrinsic_matrix + + def get_axis_align_matrix(self): + ma = np.array([[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]) + return ma + + def xyz_yaw_to_tf_matrix(self, xyz: np.ndarray, yaw: float) -> np.ndarray: + x, y, z = xyz + transformation_matrix = np.array( + [ + [np.cos(yaw), -np.sin(yaw), 0, x], + [np.sin(yaw), np.cos(yaw), 0, y], + [0, 0, 1, z], + [0, 0, 0, 1], + ] + ) + return transformation_matrix + + def xyz_pitch_to_tf_matrix(self, xyz: np.ndarray, pitch: float) -> np.ndarray: + """Converts a given position and pitch angle to a 4x4 transformation matrix. + + Args: + xyz (np.ndarray): A 3D vector representing the position. + pitch (float): The pitch angle in radians for y axis. + Returns: + np.ndarray: A 4x4 transformation matrix. + """ + + x, y, z = xyz + transformation_matrix = np.array( + [ + [np.cos(pitch), 0, np.sin(pitch), x], + [0, 1, 0, y], + [-np.sin(pitch), 0, np.cos(pitch), z], + [0, 0, 0, 1], + ] + ) + return transformation_matrix + + def xyz_yaw_pitch_to_tf_matrix(self, xyz: np.ndarray, yaw: float, pitch: float) -> np.ndarray: + """Converts a given position and yaw, pitch angles to a 4x4 transformation matrix. + + Args: + xyz (np.ndarray): A 3D vector representing the position. + yaw (float): The yaw angle in radians. + pitch (float): The pitch angle in radians for y axis. + Returns: + np.ndarray: A 4x4 transformation matrix. + """ + x, y, z = xyz + rot1 = self.xyz_yaw_to_tf_matrix(xyz, yaw)[:3, :3] + rot2 = self.xyz_pitch_to_tf_matrix(xyz, pitch)[:3, :3] + transformation_matrix = np.eye(4) + transformation_matrix[:3, :3] = rot1 @ rot2 + transformation_matrix[:3, 3] = xyz + return transformation_matrix + + def pixel_to_gps(self, pixel, depth, intrinsic, tf_camera_to_episodic): + ''' + Args: + pixel: (2,) - [u, v] pixel coordinates + depth: (H, W) - depth image where depth[v, u] gives depth in meters + intrinsic: (4, 4) - camera intrinsic matrix + tf_camera_to_episodic: (4, 4) - transformation from camera to episodic frame + Returns: + (x, y): (x, y) coordinates in the episodic frame + ''' + v, u = pixel + z = depth[v, u] + print("depthhhhhhhhhhhhhh", z) + + x = (u - intrinsic[0, 2]) * z / intrinsic[0, 0] + y = (v - intrinsic[1, 2]) * z / intrinsic[1, 1] + point_camera = np.array([x, y, z, 1.0]) + + # Transform to episodic frame + point_episodic = tf_camera_to_episodic @ point_camera + point_episodic = point_episodic[:3] / point_episodic[3] + + x = point_episodic[0] + y = point_episodic[1] + + return (x, y) # same as habitat gps + + def dot_matrix_two_dimensional( + self, + image_or_image_path, + save_path=None, + dots_size_w=8, + dots_size_h=8, + save_img=False, + font_path='fonts/arial.ttf', + pixel_goal=None, + ): + """ + takes an original image as input, save the processed image to save_path. Each dot is labeled with two-dimensional Cartesian coordinates (x,y). Suitable for single-image tasks. + control args: + 1. dots_size_w: the number of columns of the dots matrix + 2. dots_size_h: the number of rows of the dots matrix + """ + with open_image(image_or_image_path) as img: + if img.mode != 'RGB': + img = img.convert('RGB') + draw = ImageDraw.Draw(img, 'RGB') + + width, height = img.size + grid_size_w = dots_size_w + 1 + grid_size_h = dots_size_h + 1 + cell_width = width / grid_size_w + cell_height = height / grid_size_h + + font = ImageFont.truetype(font_path, width // 40) # Adjust font size if needed; default == width // 40 + + target_i = target_j = None + if pixel_goal is not None: + y_pixel, x_pixel = pixel_goal[0], pixel_goal[1] + # Validate pixel coordinates + if not (0 <= x_pixel < width and 0 <= y_pixel < height): + raise ValueError(f"pixel_goal {pixel_goal} exceeds image dimensions ({width}x{height})") + + # Convert to grid coordinates + target_i = round(x_pixel / cell_width) + target_j = round(y_pixel / cell_height) + + # Validate grid bounds + if not (1 <= target_i <= dots_size_w and 1 <= target_j <= dots_size_h): + raise ValueError( + f"pixel_goal {pixel_goal} maps to grid ({target_j},{target_i}), " + f"valid range is (1,1)-({dots_size_h},{dots_size_w})" + ) + + count = 0 + + for j in range(1, grid_size_h): + for i in range(1, grid_size_w): + x = int(i * cell_width) + y = int(j * cell_height) + + pixel_color = img.getpixel((x, y)) + # choose a more contrasting color from black and white + if pixel_color[0] + pixel_color[1] + pixel_color[2] >= 255 * 3 / 2: + opposite_color = (0, 0, 0) + else: + opposite_color = (255, 255, 255) + + if pixel_goal is not None and i == target_i and j == target_j: + opposite_color = (255, 0, 0) # Red for target + + circle_radius = width // 240 # Adjust dot size if needed; default == width // 240 + draw.ellipse( + [(x - circle_radius, y - circle_radius), (x + circle_radius, y + circle_radius)], + fill=opposite_color, + ) + + text_x, text_y = x + 3, y + count_w = count // dots_size_w + count_h = count % dots_size_w + label_str = f"({count_w+1},{count_h+1})" + draw.text((text_x, text_y), label_str, fill=opposite_color, font=font) + count += 1 + if save_img: + print(">>> dots overlaid image processed, stored in", save_path) + img.save(save_path) + return img diff --git a/internnav/internnav_habitat/__init__.py b/internnav/internnav_habitat/__init__.py new file mode 100644 index 0000000..af9bee9 --- /dev/null +++ b/internnav/internnav_habitat/__init__.py @@ -0,0 +1,2 @@ +from internnav.internnav_habitat.habitat_env import HabitatEnv +from internnav.internnav_habitat.habitat_vln_evaluator import HabitatVlnEvaluator diff --git a/internnav/internnav_habitat/habitat_env.py b/internnav/internnav_habitat/habitat_env.py new file mode 100644 index 0000000..6b10215 --- /dev/null +++ b/internnav/internnav_habitat/habitat_env.py @@ -0,0 +1,126 @@ +import json +import os +from typing import Any, Dict, List, Optional + +from internnav.configs.evaluator import EnvCfg, TaskCfg +from internnav.env import base + + +@base.Env.register('habitat') +class HabitatEnv(base.Env): + def __init__(self, env_config: EnvCfg, task_config: TaskCfg): + """ + env_settings include: + - config_path: str, path to habitat config yaml file + - split: str, dataset split to use + """ + try: + from habitat import Env + except ImportError as e: + raise RuntimeError( + "Habitat modules could not be imported. " "Make sure both repositories are installed and on PYTHONPATH." + ) from e + + super().__init__(env_config, task_config) + + self.config = env_config.env_settings['habitat_config'] + self.env = Env(self.config) + + self.episodes = self.generate_episodes() + self.sort_episodes_by_scene() + + self.index = env_config.env_settings.get('idx', 0) + self.world_size = env_config.env_settings.get('world_size', 1) + self._current_episode_index: int = 0 + self._last_obs: Optional[Dict[str, Any]] = None + + self.step_id = 0 + self.is_running = True + + def generate_episodes(self) -> List[Any]: + """ + Generate list of episodes for the current split + """ + episodes = [] + + # sort episode by scene + scene_episode_dict = {} + for episode in self.env.episodes: + if episode.scene_id not in scene_episode_dict: + scene_episode_dict[episode.scene_id] = [] + scene_episode_dict[episode.scene_id].append(episode) + + done_res = set() + + if os.path.exists(os.path.join(self.output_path, 'result.json')): + with open(os.path.join(self.output_path, 'result.json'), 'r') as f: + for line in f.readlines(): + res = json.loads(line) + done_res.add((res["scene_id"], res["episode_id"], res["episode_instruction"])) + + for scene in sorted(scene_episode_dict.keys()): + episodes = scene_episode_dict[scene] + scene_id = scene.split('/')[-2] + for episode in episodes[self.index :: self.world_size]: + episode_instruction = ( + episode.instruction.instruction_text + if 'objectnav' not in self.config_path + else episode.object_category + ) + episode_id = int(episode.episode_id) + if (scene_id, episode_id, episode_instruction) in done_res: + continue + episodes.append(episode) + return episodes + + def reset(self): + """ + load next episode and return first observation + """ + # no more episodes + if not (0 <= self._current_episode_index < len(self.episodes)): + self.is_running = False + return + + # Manually set to next episode in habitat + self.env.current_episode = self.episodes[self._current_episode_index] + self._current_episode_index += 1 + + # Habitat reset + self._last_obs = self.env.reset() + self.step_id = 0 + + return self._last_obs + + def step(self, action: List[Any]): + """ + step the environment with given action + + Args: action: List[Any], action for each env in the batch + + Return: obs, terminated + """ + self._last_obs = self.env.step(action) + terminated = self.env.episode_over + return self._last_obs, terminated + + def close(self): + print('Vln Env close') + self.env.close() + + def render(self): + self.env.render() + + def get_observation(self) -> Dict[str, Any]: + return self.env.get_observations() + + def get_metrics(self) -> Dict[str, Any]: + return self.env.get_metrics() + + def sort_episodes_by_scene(self, key_list: List[str]): + sorted_episodes = [] + episode_dict = {ep.episode_id: ep for ep in self.episodes} + for key in key_list: + if key in episode_dict: + sorted_episodes.append(episode_dict[key]) + self.episodes = sorted_episodes diff --git a/internnav/internnav_habitat/habitat_n1_agent_temp.py b/internnav/internnav_habitat/habitat_n1_agent_temp.py new file mode 100644 index 0000000..598ab25 --- /dev/null +++ b/internnav/internnav_habitat/habitat_n1_agent_temp.py @@ -0,0 +1,263 @@ +import copy +import itertools +import os +import re +import sys +import time +from datetime import datetime +from pathlib import Path + +import numpy as np +import torch + +sys.path.append(str(Path(__file__).parent.parent.parent)) + +from collections import OrderedDict + +from PIL import Image +from transformers import AutoProcessor + +from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM +from internnav.model.utils.vln_utils import S2Output, split_and_clean, traj_to_actions + +DEFAULT_IMAGE_TOKEN = "" + + +class InternVLAN1AsyncAgent: + def __init__(self, args): + self.device = torch.device(args.device) + self.save_dir = "test_data/" + datetime.now().strftime("%Y%m%d_%H%M%S") + print(f"args.model_path{args.model_path}") + + device = torch.device("cuda") + if args.mode == 'dual_system': + self.model = InternVLAN1ForCausalLM.from_pretrained( + args.model_path, + torch_dtype=torch.bfloat16, + attn_implementation="flash_attention_2", + device_map={"": device}, + ) + else: + raise ValueError(f"Invalid mode: {args.mode}") + + self.model.eval() + self.model.to(self.device) + + self.processor = AutoProcessor.from_pretrained(args.model_path) + self.processor.tokenizer.padding_side = 'left' + + self.resize_w = args.resize_w + self.resize_h = args.resize_h + self.num_history = args.num_history + self.PLAN_STEP_GAP = args.plan_step_gap + + prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint's coordinates in the image. Please output STOP when you have successfully completed the task." + answer = "" + self.conversation = [{"from": "human", "value": prompt}, {"from": "gpt", "value": answer}] + self.conjunctions = [ + 'you can see ', + 'in front of you is ', + 'there is ', + 'you can spot ', + 'you are toward the ', + 'ahead of you is ', + 'in your sight is ', + ] + + self.actions2idx = OrderedDict( + { + 'STOP': [0], + "↑": [1], + "←": [2], + "→": [3], + "↓": [5], + } + ) + + self.rgb_list = [] + self.depth_list = [] + self.pose_list = [] + self.episode_idx = 0 + self.conversation_history = [] + self.llm_output = "" + self.past_key_values = None + self.last_s2_idx = -100 + + # output + self.output_action = None + self.output_latent = None + self.output_pixel = None + self.pixel_goal_rgb = None + self.pixel_goal_depth = None + + def reset(self): + self.rgb_list = [] + self.depth_list = [] + self.pose_list = [] + self.episode_idx = 0 + self.conversation_history = [] + self.llm_output = "" + self.past_key_values = None + + self.output_action = None + self.output_latent = None + self.output_pixel = None + self.pixel_goal_rgb = None + self.pixel_goal_depth = None + + self.save_dir = "test_data/" + datetime.now().strftime("%Y%m%d_%H%M%S") + os.makedirs(self.save_dir, exist_ok=True) + + def parse_actions(self, output): + action_patterns = '|'.join(re.escape(action) for action in self.actions2idx) + regex = re.compile(action_patterns) + matches = regex.findall(output) + actions = [self.actions2idx[match] for match in matches] + actions = itertools.chain.from_iterable(actions) + return list(actions) + + def step_no_infer(self, rgb, depth, pose): + image = Image.fromarray(rgb).convert('RGB') + image = image.resize((self.resize_w, self.resize_h)) + self.rgb_list.append(image) + image.save(f"{self.save_dir}/debug_raw_{self.episode_idx: 04d}.jpg") + self.episode_idx += 1 + + def trajectory_tovw(self, trajectory, kp=1.0): + subgoal = trajectory[-1] + linear_vel, angular_vel = kp * np.linalg.norm(subgoal[:2]), kp * subgoal[2] + linear_vel = np.clip(linear_vel, 0, 0.5) + angular_vel = np.clip(angular_vel, -0.5, 0.5) + return linear_vel, angular_vel + + def step(self, rgb, depth, pose, instruction, intrinsic, look_down=False): + dual_sys_output = S2Output() + no_output_flag = self.output_action is None and self.output_latent is None + if (self.episode_idx - self.last_s2_idx > self.PLAN_STEP_GAP) or look_down or no_output_flag: + self.output_action, self.output_latent, self.output_pixel = self.step_s2( + rgb, depth, pose, instruction, intrinsic, look_down + ) + self.last_s2_idx = self.episode_idx + dual_sys_output.output_pixel = self.output_pixel + self.pixel_goal_rgb = copy.deepcopy(rgb) + self.pixel_goal_depth = copy.deepcopy(depth) + else: + self.step_no_infer(rgb, depth, pose) + + if self.output_action is not None: + dual_sys_output.output_action = copy.deepcopy(self.output_action) + self.output_action = None + elif self.output_latent is not None: + processed_pixel_rgb = np.array(Image.fromarray(self.pixel_goal_rgb).resize((224, 224))) / 255 + processed_pixel_depth = np.array(Image.fromarray(self.pixel_goal_depth).resize((224, 224))) + processed_rgb = np.array(Image.fromarray(rgb).resize((224, 224))) / 255 + processed_depth = np.array(Image.fromarray(depth).resize((224, 224))) + rgbs = ( + torch.stack([torch.from_numpy(processed_pixel_rgb), torch.from_numpy(processed_rgb)]) + .unsqueeze(0) + .to(self.device) + ) + depths = ( + torch.stack([torch.from_numpy(processed_pixel_depth), torch.from_numpy(processed_depth)]) + .unsqueeze(0) + .unsqueeze(-1) + .to(self.device) + ) + trajectories = self.step_s1(self.output_latent, rgbs, depths) + + dual_sys_output.output_trajectory = traj_to_actions(trajectories, use_discrate_action=False) + + return dual_sys_output + + def step_s2(self, rgb, depth, pose, instruction, intrinsic, look_down=False): + image = Image.fromarray(rgb).convert('RGB') + if not look_down: + image = image.resize((self.resize_w, self.resize_h)) + self.rgb_list.append(image) + image.save(f"{self.save_dir}/debug_raw_{self.episode_idx: 04d}.jpg") + else: + image.save(f"{self.save_dir}/debug_raw_{self.episode_idx: 04d}_look_down.jpg") + if not look_down: + self.conversation_history = [] + self.past_key_values = None + + sources = copy.deepcopy(self.conversation) + sources[0]["value"] = sources[0]["value"].replace('.', instruction) + cur_images = self.rgb_list[-1:] + if self.episode_idx == 0: + history_id = [] + else: + history_id = np.unique(np.linspace(0, self.episode_idx - 1, self.num_history, dtype=np.int32)).tolist() + placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) + sources[0]["value"] += f' These are your historical observations: {placeholder}.' + + history_id = sorted(history_id) + self.input_images = [self.rgb_list[i] for i in history_id] + cur_images + input_img_id = 0 + self.episode_idx += 1 + else: + self.input_images.append(image) + input_img_id = -1 + assert self.llm_output != "", "Last llm_output should not be empty when look down" + sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] + self.conversation_history.append( + {'role': 'assistant', 'content': [{'type': 'text', 'text': self.llm_output}]} + ) + + prompt = self.conjunctions[0] + DEFAULT_IMAGE_TOKEN + sources[0]["value"] += f" {prompt}." + prompt_instruction = copy.deepcopy(sources[0]["value"]) + parts = split_and_clean(prompt_instruction) + + content = [] + for i in range(len(parts)): + if parts[i] == "": + content.append({"type": "image", "image": self.input_images[input_img_id]}) + input_img_id += 1 + else: + content.append({"type": "text", "text": parts[i]}) + + self.conversation_history.append({'role': 'user', 'content': content}) + + text = self.processor.apply_chat_template(self.conversation_history, tokenize=False, add_generation_prompt=True) + + inputs = self.processor(text=[text], images=self.input_images, return_tensors="pt").to(self.device) + t0 = time.time() + with torch.no_grad(): + outputs = self.model.generate( + **inputs, + max_new_tokens=128, + do_sample=False, + use_cache=True, + past_key_values=self.past_key_values, + return_dict_in_generate=True, + raw_input_ids=copy.deepcopy(inputs.input_ids), + ) + output_ids = outputs.sequences + + t1 = time.time() + self.llm_output = self.processor.tokenizer.decode( + output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True + ) + with open(f"{self.save_dir}/llm_output_{self.episode_idx: 04d}.txt", 'w') as f: + f.write(self.llm_output) + self.last_output_ids = copy.deepcopy(output_ids[0]) + self.past_key_values = copy.deepcopy(outputs.past_key_values) + print(f"output {self.episode_idx} {self.llm_output} cost: {t1 - t0}s") + if bool(re.search(r'\d', self.llm_output)): + coord = [int(c) for c in re.findall(r'\d+', self.llm_output)] + pixel_goal = [int(coord[1]), int(coord[0])] + image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) + pixel_values = inputs.pixel_values + t0 = time.time() + with torch.no_grad(): + traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) + return None, traj_latents, pixel_goal + + else: + action_seq = self.parse_actions(self.llm_output) + return action_seq, None, None + + def step_s1(self, latent, rgb, depth): + all_trajs = self.model.generate_traj(latent, rgb, depth, use_async=True) + return all_trajs diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py new file mode 100644 index 0000000..99e8fdc --- /dev/null +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -0,0 +1,842 @@ +import argparse +import json +import os +import sys + +sys.path.append('./src/diffusion-policy') +import copy +import itertools +import random +import re +from collections import OrderedDict + +import habitat +import numpy as np +import quaternion +import torch +import tqdm +from depth_camera_filtering import filter_depth +from PIL import Image, ImageDraw, ImageFont +from transformers import AutoProcessor, Qwen2_5_VLForConditionalGeneration +from transformers.image_utils import to_numpy_array + +# Import for Habitat registry side effects — do not remove +import internnav.env.utils.habitat_extensions.measures # noqa: F401 +from internnav.configs.evaluator import EvalCfg +from internnav.evaluator.base import Evaluator +from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM +from internnav.model.utils.vln_utils import ( + chunk_token, + open_image, + split_and_clean, + traj_to_actions, +) +from internnav.utils.dist import dist, get_rank, get_world_size, init_distributed_mode + +try: + from habitat import Env + from habitat.config.default import get_agent_config + from habitat.config.default_structured_configs import ( + CollisionsMeasurementConfig, + FogOfWarConfig, + TopDownMapMeasurementConfig, + ) + from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower + from habitat.utils.visualizations.utils import ( + images_to_video, + observations_to_image, + ) + from habitat_baselines.config.default import get_config as get_habitat_config +except Exception as e: + print("Habitat Error:", e) + print("Habitat Evaluation is not loaded.") + + +DEFAULT_IMAGE_TOKEN = "" + + +@Evaluator.register('habitat_vln') +class HabitatVlnEvaluator(Evaluator): + def __init__(self, cfg: EvalCfg): + args = argparse.Namespace(**cfg.eval_settings) + self.args = args + self.save_video = args.save_video + + # distributed setting + import os + import socket + + print( + f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}" + ) + init_distributed_mode(args) + local_rank = args.local_rank + np.random.seed(local_rank) + cfg.env.env_settings['idx'] = get_rank() + cfg.env.env_settings['world_size'] = get_world_size() + + self.world_size = get_world_size() + self.output_path = args.output_path # TODO: modify by rank + self.epoch = 0 + + # create habitat config + self.config_path = cfg.env.env_settings['config_path'] + self.config = get_habitat_config(self.config_path) + self.agent_config = get_agent_config(self.config.habitat.simulator) + self.sim_sensors_config = self.config.habitat.simulator.agents.main_agent.sim_sensors + + with habitat.config.read_write(self.config): + self.config.habitat.task.measurements.update( + { + "top_down_map": TopDownMapMeasurementConfig( + map_padding=3, + map_resolution=1024, + draw_source=True, + draw_border=True, + draw_shortest_path=True, + draw_view_points=True, + draw_goal_positions=True, + draw_goal_aabbs=True, + fog_of_war=FogOfWarConfig( + draw=True, + visibility_dist=5.0, + fov=90, + ), + ), + "collisions": CollisionsMeasurementConfig(), + } + ) + cfg.env.env_settings['habitat_config'] = self.config + + # init agent and env + # super().__init__(cfg) + + # ------------------------------------- model ------------------------------------------ + processor = AutoProcessor.from_pretrained(args.model_path) + processor.tokenizer.padding_side = 'left' + + device = torch.device(f"cuda:{local_rank}") + if args.mode == 'dual_system': + model = InternVLAN1ForCausalLM.from_pretrained( + args.model_path, + torch_dtype=torch.bfloat16, + attn_implementation="flash_attention_2", + device_map={"": device}, + ) + elif args.mode == 'system2': + model = Qwen2_5_VLForConditionalGeneration.from_pretrained( + args.model_path, + torch_dtype=torch.bfloat16, + attn_implementation="flash_attention_2", + device_map={"": device}, + ) + else: + raise ValueError(f"Invalid mode: {args.mode}") + + model.eval() + self.device = device + + # ------------------------------------- old ------------------------------------------ + self._camera_height = self.sim_sensors_config.rgb_sensor.position[1] + self._min_depth = self.sim_sensors_config.depth_sensor.min_depth + self._max_depth = self.sim_sensors_config.depth_sensor.max_depth + + camera_fov_rad = np.deg2rad(self.sim_sensors_config.depth_sensor.hfov) + self._camera_fov = camera_fov_rad + self._fx = self._fy = self.sim_sensors_config.depth_sensor.width / (2 * np.tan(camera_fov_rad / 2)) + + self.model = model + self.processor = processor + + # refactor: this part used in three places + prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint\'s coordinates in the image. Please output STOP when you have successfully completed the task." + answer = "" + self.conversation = [{"from": "human", "value": prompt}, {"from": "gpt", "value": answer}] + + self.conjunctions = [ + 'you can see ', + 'in front of you is ', + 'there is ', + 'you can spot ', + 'you are toward the ', + 'ahead of you is ', + 'in your sight is ', + ] + + self.actions2idx = OrderedDict( + { + 'STOP': [0], + "↑": [1], + "←": [2], + "→": [3], + "↓": [5], + } + ) + + self.objectnav_instructions = ["Search for the {target_object}."] + + self.num_frames = args.num_frames + self.num_future_steps = args.num_future_steps + self.num_history = args.num_history + # ------------------------------------- remove ------------------------------------------ + + def eval(self): + # * 3. do eval + sucs, spls, oss, nes, ep_num = self.eval_action(self.args.local_rank) + ep_num_all = [torch.zeros_like(ep_num) for _ in range(self.world_size)] + # import ipdb; ipdb.set_trace() + world_size = get_world_size() + dist.all_gather(ep_num_all, ep_num) + sucs_all = [torch.zeros(ep_num_all[i], dtype=sucs.dtype).to(sucs.device) for i in range(world_size)] + spls_all = [torch.zeros(ep_num_all[i], dtype=spls.dtype).to(spls.device) for i in range(world_size)] + oss_all = [torch.zeros(ep_num_all[i], dtype=oss.dtype).to(oss.device) for i in range(world_size)] + nes_all = [torch.zeros(ep_num_all[i], dtype=nes.dtype).to(nes.device) for i in range(world_size)] + dist.barrier() + dist.all_gather(sucs_all, sucs) + dist.all_gather(spls_all, spls) + dist.all_gather(oss_all, oss) + dist.all_gather(nes_all, nes) + + sucs_all = torch.cat(sucs_all, dim=0) + spls_all = torch.cat(spls_all, dim=0) + oss_all = torch.cat(oss_all, dim=0) + nes_all = torch.cat(nes_all, dim=0) + result_all = { + "sucs_all": (sum(sucs_all) / len(sucs_all)).item(), + "spls_all": (sum(spls_all) / len(spls_all)).item(), + "oss_all": (sum(oss_all) / len(oss_all)).item(), + "nes_all": (sum(nes_all) / len(nes_all)).item(), + 'length': len(sucs_all), + } + + print(result_all) + if get_rank() == 0: + with open(os.path.join(self.args.output_path, 'result.json'), 'a') as f: + f.write(json.dumps(result_all)) + + def _eval_action(self): + obs = self.env.reset() + action = self.agent.reset() + while not self.env.is_running(): + action = self.agent.step(action, obs) + obs, terminated = self.env.step(action) + if terminated: + obs = self.env.reset() + self.agent.reset() + self.env.update_metric() + + # refactor + def config_env(self) -> Env: + env = Env(config=self.config) + # env.episodes = env.episodes[0:1] + return env + + def eval_action(self, idx=0) -> None: # noqa: C901 + self.model.eval() + env = self.config_env() + scene_episode_dict = {} + for episode in env.episodes: + if episode.scene_id not in scene_episode_dict: + scene_episode_dict[episode.scene_id] = [] + scene_episode_dict[episode.scene_id].append(episode) + + intrinsic_matrix = self.get_intrinsic_matrix( + self.config.habitat.simulator.agents.main_agent.sim_sensors.rgb_sensor + ) + sucs, spls, oss, nes = [], [], [], [] + done_res = [] + + if os.path.exists(os.path.join(self.output_path, 'result.json')): + with open(os.path.join(self.output_path, 'result.json'), 'r') as f: + for line in f.readlines(): + res = json.loads(line) + done_res.append([res["scene_id"], res["episode_id"], res["episode_instruction"]]) + if get_rank() == 0: # noqa: F405 TODO this need to keep in evaluator + sucs.append(res['success']) + spls.append(res['spl']) + oss.append(res['os']) + nes.append(res['ne']) + + # refactor: sort to scene: [episode] but nothing actually used + for scene in sorted(scene_episode_dict.keys()): + episodes = scene_episode_dict[scene] + scene_id = scene.split('/')[-2] + print(f"scene_id = {scene_id}") + process_bar = tqdm.tqdm(range(len(episodes[idx :: self.world_size])), desc=f"scene {scene_id}") + for episode in episodes[idx :: self.world_size]: + episode_instruction = ( + episode.instruction.instruction_text + if 'objectnav' not in self.config_path + else episode.object_category + ) + print("episode start", episode_instruction) + episode_id = int(episode.episode_id) + if [scene_id, episode_id, episode_instruction] in done_res: + continue + + # refactor env warm up + env.current_episode = episode + observations = env.reset() + + agent_state = env.sim.get_agent_state() + rotation = agent_state.rotation + translation = agent_state.position + rotation_matrix = quaternion.as_rotation_matrix(rotation) + transformation_matrix = np.eye(4) + transformation_matrix[:3, :3] = rotation_matrix + transformation_matrix[:3, 3] = translation + + agent = ShortestPathFollower(env.sim, 0.25, False) + + os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) + Image.fromarray(observations['rgb']).save( + os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{idx}.jpg') + ) + + vis_frames = [] + step_id = 0 + + if self.save_video: + os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True) + initial_height = env.sim.get_agent_state().position[1] + + rgb_list = [] + action_seq = [] + output_ids = None + + goal = None + action = None + messages = [] + local_actions = [] + + while not env.episode_over and step_id <= 500: + # refactor agent get action + rgb = observations["rgb"] + depth = observations["depth"] + x, y = observations["gps"] + camera_yaw = observations["compass"][0] + depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) + depth = depth * (self._max_depth - self._min_depth) + self._min_depth + depth = depth * 1000 + + agent_state = env.sim.get_agent_state() + height = agent_state.position[1] - initial_height + camera_position = np.array([x, -y, self._camera_height + height]) + tf_camera_to_episodic = ( + self.xyz_yaw_pitch_to_tf_matrix(camera_position, camera_yaw, np.deg2rad(30)) + @ self.get_axis_align_matrix() + ) + + image = Image.fromarray(rgb).convert('RGB') + save_raw_image = image.copy() + + save_dot = False + if action == 5: + look_down_image = image + save_raw_image = look_down_image.copy() + look_down_depth, resize_shape = self.preprocess_depth_image_v2( + Image.fromarray(depth.astype(np.uint16), mode='I;16'), + do_depth_scale=True, + depth_scale=1000, + target_height=224, + target_width=224, + ) + look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() + look_down_depth[look_down_depth > 5.0] = 5.0 + else: + image = image.resize((self.args.resize_w, self.args.resize_h)) + rgb_list.append(image) + + if self.args.mode == 'dual_system': + down_observations = env.step(5) + down_observations = env.step(5) + + look_down_image = Image.fromarray(down_observations["rgb"]).convert('RGB') + depth = down_observations["depth"] + depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) + depth = depth * (self._max_depth - self._min_depth) + self._min_depth + depth = depth * 1000 + look_down_depth, resize_shape = self.preprocess_depth_image_v2( + Image.fromarray(depth.astype(np.uint16), mode='I;16'), + do_depth_scale=True, + depth_scale=1000, + target_height=224, + target_width=224, + ) + look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() + look_down_depth[look_down_depth > 5.0] = 5.0 + + env.step(4) + env.step(4) + + info = env.get_metrics() + + if len(action_seq) == 0 and goal is None: + if action != 5: + sources = copy.deepcopy(self.conversation) + sources[0]["value"] = sources[0]["value"].replace( + '.', episode.instruction.instruction_text[:-1] + ) + cur_images = rgb_list[-1:] + if step_id == 0: + history_id = [] + else: + history_id = np.unique( + np.linspace(0, step_id - 1, self.num_history, dtype=np.int32) + ).tolist() + placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) + sources[0]["value"] += f' These are your historical observations: {placeholder}.' + + history_id = sorted(history_id) + print('history_idddddddd', step_id, history_id) + input_images = [rgb_list[i] for i in history_id] + cur_images + input_img_id = 0 + else: + assert action == 5 + sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] + input_images += [look_down_image] + # messages.append( + # {'role': 'assistant', 'content': [{'type': 'text', 'text': llm_outputs}]} # noqa: F405 + # ) + input_img_id = -1 + + prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN + sources[0]["value"] += f" {prompt}." + print('sources', step_id, sources) + prompt_instruction = copy.deepcopy(sources[0]["value"]) + parts = split_and_clean(prompt_instruction) + + content = [] + for i in range(len(parts)): + if parts[i] == "": + content.append({"type": "image", "image": input_images[input_img_id]}) + input_img_id += 1 + else: + content.append({"type": "text", "text": parts[i]}) + + messages.append({'role': 'user', 'content': content}) + + print('step_id', step_id, 'messages:', messages) + + text = self.processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True) + + inputs = self.processor(text=[text], images=input_images, return_tensors="pt").to( + self.model.device + ) + + with torch.no_grad(): + output_ids = self.model.generate(**inputs, max_new_tokens=128, do_sample=False) + + llm_outputs = self.processor.tokenizer.decode( + output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True + ) + print('step_id:', step_id, 'output text:', llm_outputs) + + if bool(re.search(r'\d', llm_outputs)): + forward_action = 0 + coord = [int(c) for c in re.findall(r'\d+', llm_outputs)] + pixel_goal = [int(coord[1]), int(coord[0])] + + goal = self.pixel_to_gps(pixel_goal, depth / 1000, intrinsic_matrix, tf_camera_to_episodic) + print('before', goal, depth.shape) + goal = (transformation_matrix @ np.array([-goal[1], 0, -goal[0], 1]))[:3] + + if not env.sim.pathfinder.is_navigable(np.array(goal)): + goal = np.array(env.sim.pathfinder.snap_point(np.array(goal))) + + # look down --> horizontal + env.step(4) + env.step(4) + + # Forking logic based on mode + if self.args.mode == 'system2': + action = agent.get_next_action(goal) + if action == 0: + goal = None + output_ids = None + action = 2 # random action + print('conduct a random action 2') + observations = env.step(action) + step_id += 1 + messages = [] + continue + else: # dual-system logic + local_actions = [] + pixel_values = inputs.pixel_values + image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) + + with torch.no_grad(): + traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) + + # prepocess align with navdp + image_dp = ( + torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 + ) + pix_goal_image = copy.copy(image_dp) + images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) + depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) + pix_goal_depth = copy.copy(depth_dp) + depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) + + with torch.no_grad(): + dp_actions = self.model.generate_traj( + traj_latents, images_dp, depths_dp, use_async=True + ) + + random_choice = np.random.choice(dp_actions.shape[0]) + if self.args.continuous_traj: + action_list = traj_to_actions(dp_actions) + if len(action_list) < 8: + action_list += [0] * (8 - len(action_list)) + else: + action_list = chunk_token(dp_actions[random_choice]) + + local_actions = action_list + if len(local_actions) >= 4: + local_actions = local_actions[:4] + action = local_actions[0] + if action == 0: + goal = None + output_ids = None + action = 2 # random action + print('conduct a random action 2') + observations = env.step(action) + step_id += 1 + messages = [] + continue + + print('predicted goal', pixel_goal, goal, flush=True) + else: + action_seq = self.parse_actions(llm_outputs) + print('actions', action_seq, flush=True) + + if len(action_seq) != 0: + action = action_seq[0] + action_seq.pop(0) + elif goal is not None: + # Forking logic based on mode + if self.args.mode == 'system2': + action = agent.get_next_action(goal) + action = action.detach().cpu().numpy()[0] if isinstance(action, torch.Tensor) else action + action = action[0] if hasattr(action, "__len__") else action + else: # dual-system logic + if len(local_actions) == 0: + # navdp + local_actions = [] + image_dp = ( + torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 + ) + + images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) + depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) + + depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) + with torch.no_grad(): + dp_actions = self.model.generate_traj( + traj_latents, images_dp, depths_dp, use_async=True + ) + + random_choice = np.random.choice(dp_actions.shape[0]) + if self.args.continuous_traj: + action_list = traj_to_actions(dp_actions) + if len(action_list) < 8: + action_list += [0] * (8 - len(action_list)) + else: + action_list = chunk_token(dp_actions[random_choice]) + print("first action_list", action_list) + + local_actions = action_list + if len(local_actions) >= 4: + local_actions = local_actions[:4] + # if len(local_actions) >= 2: + # local_actions = local_actions[:2] + + print("local_actions", local_actions) + + action = local_actions.pop(0) + # navdp + else: + action = local_actions.pop(0) + + forward_action += 1 + print('forward_action', forward_action, flush=True) + if forward_action > 8: + goal = None + output_ids = None + messages = [] + step_id += 1 + forward_action = 0 + local_actions = [] + continue + if action == 0: + goal = None + output_ids = None + messages = [] + step_id += 1 + forward_action = 0 + local_actions = [] + continue + else: + action = 0 + + if info['top_down_map'] is not None: + if save_dot: + save_raw_image = self.dot_matrix_two_dimensional( + save_raw_image, save_img=False, save_path=f'test_{step_id}.jpg', pixel_goal=pixel_goal + ) + frame = observations_to_image({'rgb': np.asarray(save_raw_image)}, info) + vis_frames.append(frame) + + print("step_id", step_id, "action", action) + + # refactor: core + if action == 5: + env.step(action) + observations = env.step(action) + else: + observations = env.step(action) + step_id += 1 + messages = [] + + process_bar.update(1) + + metrics = env.get_metrics() + if self.save_video: + images_to_video( + vis_frames, + os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), + f'{episode_id:04d}', + fps=6, + quality=9, + ) + vis_frames.clear() + sucs.append(metrics['success']) + spls.append(metrics['spl']) + oss.append(metrics['oracle_success']) + nes.append(metrics["distance_to_goal"]) + print( + f"scene_episode {scene_id}_{episode_id:04d} success: {metrics['success']}, spl: {metrics['spl']}, os: {metrics['oracle_success']}, ne: {metrics['distance_to_goal']}" + ) + + result = { + "scene_id": scene_id, + "episode_id": episode_id, + "success": metrics["success"], + "spl": metrics["spl"], + "os": metrics['oracle_success'], + "ne": metrics["distance_to_goal"], + "steps": step_id, + "episode_instruction": episode_instruction, + } + + with open(os.path.join(self.output_path, 'result.json'), 'a') as f: + f.write(json.dumps(result) + "\n") + env.close() + return ( + torch.tensor(sucs).to(self.device), + torch.tensor(spls).to(self.device), + torch.tensor(oss).to(self.device), + torch.tensor(nes).to(self.device), + torch.tensor(len(sucs)).to(self.device), + ) + + def parse_actions(self, output): + action_patterns = '|'.join(re.escape(action) for action in self.actions2idx) + # import ipdb; ipdb.set_trace() + regex = re.compile(action_patterns) + matches = regex.findall(output) + actions = [self.actions2idx[match] for match in matches] + actions = itertools.chain.from_iterable(actions) + return list(actions) + + def preprocess_depth_image_v2( + self, depth_image, do_depth_scale=True, depth_scale=1000, target_height=None, target_width=None + ): + if target_height is None: + target_height = self.image_processor.crop_size['height'] # 384 + target_width = self.image_processor.crop_size['width'] # 384 + + resized_depth_image = depth_image.resize((target_width, target_height), Image.NEAREST) + + img = to_numpy_array(resized_depth_image) + if do_depth_scale: + img = img / depth_scale + + return img, (target_width, target_height) + + def get_intrinsic_matrix(self, sensor_cfg) -> np.ndarray: + width = sensor_cfg.width + height = sensor_cfg.height + fov = sensor_cfg.hfov + fx = (width / 2.0) / np.tan(np.deg2rad(fov / 2.0)) + fy = fx # Assuming square pixels (fx = fy) + cx = (width - 1.0) / 2.0 + cy = (height - 1.0) / 2.0 + + intrinsic_matrix = np.array( + [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] + ) + return intrinsic_matrix + + def get_axis_align_matrix(self): + ma = np.array([[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]) + return ma + + def xyz_yaw_to_tf_matrix(self, xyz: np.ndarray, yaw: float) -> np.ndarray: + x, y, z = xyz + transformation_matrix = np.array( + [ + [np.cos(yaw), -np.sin(yaw), 0, x], + [np.sin(yaw), np.cos(yaw), 0, y], + [0, 0, 1, z], + [0, 0, 0, 1], + ] + ) + return transformation_matrix + + def xyz_pitch_to_tf_matrix(self, xyz: np.ndarray, pitch: float) -> np.ndarray: + """Converts a given position and pitch angle to a 4x4 transformation matrix. + + Args: + xyz (np.ndarray): A 3D vector representing the position. + pitch (float): The pitch angle in radians for y axis. + Returns: + np.ndarray: A 4x4 transformation matrix. + """ + + x, y, z = xyz + transformation_matrix = np.array( + [ + [np.cos(pitch), 0, np.sin(pitch), x], + [0, 1, 0, y], + [-np.sin(pitch), 0, np.cos(pitch), z], + [0, 0, 0, 1], + ] + ) + return transformation_matrix + + def xyz_yaw_pitch_to_tf_matrix(self, xyz: np.ndarray, yaw: float, pitch: float) -> np.ndarray: + """Converts a given position and yaw, pitch angles to a 4x4 transformation matrix. + + Args: + xyz (np.ndarray): A 3D vector representing the position. + yaw (float): The yaw angle in radians. + pitch (float): The pitch angle in radians for y axis. + Returns: + np.ndarray: A 4x4 transformation matrix. + """ + x, y, z = xyz + rot1 = self.xyz_yaw_to_tf_matrix(xyz, yaw)[:3, :3] + rot2 = self.xyz_pitch_to_tf_matrix(xyz, pitch)[:3, :3] + transformation_matrix = np.eye(4) + transformation_matrix[:3, :3] = rot1 @ rot2 + transformation_matrix[:3, 3] = xyz + return transformation_matrix + + def pixel_to_gps(self, pixel, depth, intrinsic, tf_camera_to_episodic): + ''' + Args: + pixel: (2,) - [u, v] pixel coordinates + depth: (H, W) - depth image where depth[v, u] gives depth in meters + intrinsic: (4, 4) - camera intrinsic matrix + tf_camera_to_episodic: (4, 4) - transformation from camera to episodic frame + Returns: + (x, y): (x, y) coordinates in the episodic frame + ''' + v, u = pixel + z = depth[v, u] + print("depthhhhhhhhhhhhhh", z) + + x = (u - intrinsic[0, 2]) * z / intrinsic[0, 0] + y = (v - intrinsic[1, 2]) * z / intrinsic[1, 1] + point_camera = np.array([x, y, z, 1.0]) + + # Transform to episodic frame + point_episodic = tf_camera_to_episodic @ point_camera + point_episodic = point_episodic[:3] / point_episodic[3] + + x = point_episodic[0] + y = point_episodic[1] + + return (x, y) # same as habitat gps + + def dot_matrix_two_dimensional( + self, + image_or_image_path, + save_path=None, + dots_size_w=8, + dots_size_h=8, + save_img=False, + font_path='fonts/arial.ttf', + pixel_goal=None, + ): + """ + takes an original image as input, save the processed image to save_path. Each dot is labeled with two-dimensional Cartesian coordinates (x,y). Suitable for single-image tasks. + control args: + 1. dots_size_w: the number of columns of the dots matrix + 2. dots_size_h: the number of rows of the dots matrix + """ + with open_image(image_or_image_path) as img: + if img.mode != 'RGB': + img = img.convert('RGB') + draw = ImageDraw.Draw(img, 'RGB') + + width, height = img.size + grid_size_w = dots_size_w + 1 + grid_size_h = dots_size_h + 1 + cell_width = width / grid_size_w + cell_height = height / grid_size_h + + font = ImageFont.truetype(font_path, width // 40) # Adjust font size if needed; default == width // 40 + + target_i = target_j = None + if pixel_goal is not None: + y_pixel, x_pixel = pixel_goal[0], pixel_goal[1] + # Validate pixel coordinates + if not (0 <= x_pixel < width and 0 <= y_pixel < height): + raise ValueError(f"pixel_goal {pixel_goal} exceeds image dimensions ({width}x{height})") + + # Convert to grid coordinates + target_i = round(x_pixel / cell_width) + target_j = round(y_pixel / cell_height) + + # Validate grid bounds + if not (1 <= target_i <= dots_size_w and 1 <= target_j <= dots_size_h): + raise ValueError( + f"pixel_goal {pixel_goal} maps to grid ({target_j},{target_i}), " + f"valid range is (1,1)-({dots_size_h},{dots_size_w})" + ) + + count = 0 + + for j in range(1, grid_size_h): + for i in range(1, grid_size_w): + x = int(i * cell_width) + y = int(j * cell_height) + + pixel_color = img.getpixel((x, y)) + # choose a more contrasting color from black and white + if pixel_color[0] + pixel_color[1] + pixel_color[2] >= 255 * 3 / 2: + opposite_color = (0, 0, 0) + else: + opposite_color = (255, 255, 255) + + if pixel_goal is not None and i == target_i and j == target_j: + opposite_color = (255, 0, 0) # Red for target + + circle_radius = width // 240 # Adjust dot size if needed; default == width // 240 + draw.ellipse( + [(x - circle_radius, y - circle_radius), (x + circle_radius, y + circle_radius)], + fill=opposite_color, + ) + + text_x, text_y = x + 3, y + count_w = count // dots_size_w + count_h = count % dots_size_w + label_str = f"({count_w+1},{count_h+1})" + draw.text((text_x, text_y), label_str, fill=opposite_color, font=font) + count += 1 + if save_img: + print(">>> dots overlaid image processed, stored in", save_path) + img.save(save_path) + return img diff --git a/internnav/internnav_habitat/measures.py b/internnav/internnav_habitat/measures.py new file mode 100644 index 0000000..5dddcae --- /dev/null +++ b/internnav/internnav_habitat/measures.py @@ -0,0 +1,560 @@ +from typing import Any, List, Union + +import numpy as np +from habitat.core.embodied_task import EmbodiedTask, Measure +from habitat.core.registry import registry +from habitat.core.simulator import Simulator +from habitat.core.utils import try_cv2_import +from habitat.tasks.nav.nav import DistanceToGoal +from numpy import ndarray + +cv2 = try_cv2_import() + + +def euclidean_distance(pos_a: Union[List[float], ndarray], pos_b: Union[List[float], ndarray]) -> float: + return np.linalg.norm(np.array(pos_b) - np.array(pos_a), ord=2) + + +@registry.register_measure +class PathLength(Measure): + """Path Length (PL) + PL = sum(geodesic_distance(agent_prev_position, agent_position) + over all agent positions. + """ + + cls_uuid: str = "path_length" + + def __init__(self, sim: Simulator, *args: Any, **kwargs: Any): + self._sim = sim + super().__init__(**kwargs) + + def _get_uuid(self, *args: Any, **kwargs: Any) -> str: + return self.cls_uuid + + def reset_metric(self, *args: Any, **kwargs: Any): + self._previous_position = self._sim.get_agent_state().position + self._metric = 0.0 + + def update_metric(self, *args: Any, **kwargs: Any): + current_position = self._sim.get_agent_state().position + self._metric += euclidean_distance(current_position, self._previous_position) + self._previous_position = current_position + + +@registry.register_measure +class OracleNavigationError(Measure): + """Oracle Navigation Error (ONE) + ONE = min(geosdesic_distance(agent_pos, goal)) over all points in the + agent path. + """ + + cls_uuid: str = "oracle_navigation_error" + + def _get_uuid(self, *args: Any, **kwargs: Any) -> str: + return self.cls_uuid + + def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): + task.measurements.check_measure_dependencies(self.uuid, [DistanceToGoal.cls_uuid]) + self._metric = float("inf") + self.update_metric(task=task) + + def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): + distance_to_target = task.measurements.measures[DistanceToGoal.cls_uuid].get_metric() + self._metric = min(self._metric, distance_to_target) + + +@registry.register_measure +class OracleSuccess(Measure): + """Oracle Success Rate (OSR). OSR = I(ONE <= goal_radius)""" + + cls_uuid: str = "oracle_success" + + # def __init__(self, *args: Any, config: Config, **kwargs: Any): + # self._config = config + # super().__init__() + + def __init__(self, *args: Any, config: Any, **kwargs: Any): + print(f"in oracle success init: args = {args}, kwargs = {kwargs}") + self._config = config + super().__init__() + + def _get_uuid(self, *args: Any, **kwargs: Any) -> str: + return self.cls_uuid + + def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): + task.measurements.check_measure_dependencies(self.uuid, [DistanceToGoal.cls_uuid]) + self._metric = 0.0 + self.update_metric(task=task) + + def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): + d = task.measurements.measures[DistanceToGoal.cls_uuid].get_metric() + # self._metric = float(self._metric or d < self._config["success_distance"]) + self._metric = float(self._metric or d < 3.0) + + +@registry.register_measure +class OracleSPL(Measure): + """OracleSPL (Oracle Success weighted by Path Length) + OracleSPL = max(SPL) over all points in the agent path. + """ + + cls_uuid: str = "oracle_spl" + + def _get_uuid(self, *args: Any, **kwargs: Any) -> str: + return self.cls_uuid + + def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): + task.measurements.check_measure_dependencies(self.uuid, ["spl"]) + self._metric = 0.0 + + def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): + spl = task.measurements.measures["spl"].get_metric() + self._metric = max(self._metric, spl) + + +@registry.register_measure +class StepsTaken(Measure): + """Counts the number of times update_metric() is called. This is equal to + the number of times that the agent takes an action. STOP counts as an + action. + """ + + cls_uuid: str = "steps_taken" + + def _get_uuid(self, *args: Any, **kwargs: Any) -> str: + return self.cls_uuid + + def reset_metric(self, *args: Any, **kwargs: Any): + self._metric = 0.0 + + def update_metric(self, *args: Any, **kwargs: Any): + self._metric += 1.0 + + +# import gzip +# import json +# import pickle +# from dtw import dtw +# from fastdtw import fastdtw +# from habitat.config import Config +# from utils import maps +# from habitat_extensions.task import RxRVLNCEDatasetV1 +# from habitat.tasks.nav.nav import DistanceToGoal, Success +# from habitat.tasks.utils import cartesian_to_polar +# from habitat.utils.geometry_utils import quaternion_rotate_vector +# from habitat.utils.visualizations import fog_of_war +# from habitat.utils.visualizations import maps as habitat_maps +# from habitat.core.dataset import Episode +# from habitat.core.embodied_task import Action, EmbodiedTask, Measure +# from habitat.core.logging import logger + +# @registry.register_measure +# class WaypointRewardMeasure(Measure): +# """A reward measure used for training VLN-CE agents via RL.""" + +# def __init__( +# self, *args: Any, sim: Simulator, config: Config, **kwargs: Any +# ) -> None: +# self._sim = sim +# self._slack_reward = config.slack_reward +# self._use_distance_scaled_slack_reward = ( +# config.use_distance_scaled_slack_reward +# ) +# self._scale_slack_on_prediction = config.scale_slack_on_prediction +# self._success_reward = config.success_reward +# self._distance_scalar = config.distance_scalar +# self._prev_position = None +# super().__init__() + +# def reset_metric( +# self, *args: Any, task: EmbodiedTask, **kwargs: Any +# ) -> None: +# task.measurements.check_measure_dependencies( +# self.uuid, [DistanceToGoal.cls_uuid, Success.cls_uuid] +# ) +# self._previous_distance_to_goal = task.measurements.measures[ +# "distance_to_goal" +# ].get_metric() +# self._metric = 0.0 +# self._prev_position = np.take( +# self._sim.get_agent_state().position, [0, 2] +# ) + +# def _get_scaled_slack_reward(self, action: Action) -> float: +# if isinstance(action["action"], int): +# return self._slack_reward + +# if not self._use_distance_scaled_slack_reward: +# return self._slack_reward + +# agent_pos = np.take(self._sim.get_agent_state().position, [0, 2]) +# slack_distance = ( +# action["action_args"]["r"] +# if self._scale_slack_on_prediction and action["action"] != "STOP" +# else np.linalg.norm(self._prev_position - agent_pos) +# ) +# scaled_slack_reward = self._slack_reward * slack_distance / 0.25 +# self._prev_position = agent_pos +# return min(self._slack_reward, scaled_slack_reward) + +# def _progress_to_goal(self, task: EmbodiedTask) -> float: +# distance_to_goal = task.measurements.measures[ +# "distance_to_goal" +# ].get_metric() +# distance_to_goal_delta = ( +# self._previous_distance_to_goal - distance_to_goal +# ) +# if np.isnan(distance_to_goal_delta) or np.isinf( +# distance_to_goal_delta +# ): +# l = self._sim.get_agent_state().position +# logger.error( +# f"\nNaN or inf encountered in distance measure. agent location: {l}", +# ) +# distance_to_goal_delta = -1.0 +# self._previous_distance_to_goal = distance_to_goal +# return self._distance_scalar * distance_to_goal_delta + +# def update_metric( +# self, *args: Any, action: Action, task: EmbodiedTask, **kwargs: Any +# ) -> None: +# reward = self._get_scaled_slack_reward(action) +# reward += self._progress_to_goal(task) +# reward += ( +# self._success_reward +# * task.measurements.measures["success"].get_metric() +# ) +# self._metric = reward + +# @staticmethod +# def _get_uuid(*args: Any, **kwargs: Any) -> str: +# return "waypoint_reward_measure" + + +# @registry.register_measure +# class NDTW(Measure): +# """NDTW (Normalized Dynamic Time Warping) +# ref: https://arxiv.org/abs/1907.05446 +# """ + +# cls_uuid: str = "ndtw" + +# def __init__( +# self, *args: Any, sim: Simulator, config: Config, **kwargs: Any +# ): +# self._sim = sim +# self._config = config +# self.dtw_func = fastdtw if config.FDTW else dtw + +# if "{role}" in config.GT_PATH: +# self.gt_json = {} +# for role in RxRVLNCEDatasetV1.annotation_roles: +# with gzip.open( +# config.GT_PATH.format(split=config.SPLIT, role=role), "rt" +# ) as f: +# self.gt_json.update(json.load(f)) +# else: +# with gzip.open( +# config.GT_PATH.format(split=config.SPLIT), "rt" +# ) as f: +# self.gt_json = json.load(f) + +# super().__init__() + +# def _get_uuid(self, *args: Any, **kwargs: Any) -> str: +# return self.cls_uuid + +# def reset_metric(self, *args: Any, episode, **kwargs: Any): +# self.locations = [] +# self.gt_locations = self.gt_json[episode.episode_id]["locations"] +# self.update_metric() + +# def update_metric(self, *args: Any, **kwargs: Any): +# current_position = self._sim.get_agent_state().position.tolist() +# if len(self.locations) == 0: +# self.locations.append(current_position) +# else: +# if current_position == self.locations[-1]: +# return +# self.locations.append(current_position) + +# dtw_distance = self.dtw_func( +# self.locations, self.gt_locations, dist=euclidean_distance +# )[0] + +# nDTW = np.exp( +# -dtw_distance +# / (len(self.gt_locations) * self._config.SUCCESS_DISTANCE) +# ) +# self._metric = nDTW + + +# @registry.register_measure +# class SDTW(Measure): +# """SDTW (Success Weighted be nDTW) +# ref: https://arxiv.org/abs/1907.05446 +# """ + +# cls_uuid: str = "sdtw" + +# def _get_uuid(self, *args: Any, **kwargs: Any) -> str: +# return self.cls_uuid + +# def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): +# task.measurements.check_measure_dependencies( +# self.uuid, [NDTW.cls_uuid, Success.cls_uuid] +# ) +# self.update_metric(task=task) + +# def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): +# ep_success = task.measurements.measures[Success.cls_uuid].get_metric() +# nDTW = task.measurements.measures[NDTW.cls_uuid].get_metric() +# self._metric = ep_success * nDTW + + +# @registry.register_measure +# class TopDownMapVLNCE(Measure): +# """A top down map that optionally shows VLN-related visual information +# such as MP3D node locations and MP3D agent traversals. +# """ + +# cls_uuid: str = "top_down_map_vlnce" + +# def __init__( +# self, *args: Any, sim: Simulator, config: Config, **kwargs: Any +# ) -> None: +# self._sim = sim +# self._config = config +# self._step_count = None +# self._map_resolution = config.MAP_RESOLUTION +# self._previous_xy_location = None +# self._top_down_map = None +# self._meters_per_pixel = None +# self.current_node = "" +# with open(self._config.GRAPHS_FILE, "rb") as f: +# self._conn_graphs = pickle.load(f) +# super().__init__() + +# def _get_uuid(self, *args: Any, **kwargs: Any) -> str: +# return self.cls_uuid + +# def get_original_map(self) -> ndarray: +# top_down_map = habitat_maps.get_topdown_map_from_sim( +# self._sim, +# map_resolution=self._map_resolution, +# draw_border=self._config.DRAW_BORDER, +# meters_per_pixel=self._meters_per_pixel, +# ) + +# self._fog_of_war_mask = None +# if self._config.FOG_OF_WAR.DRAW: +# self._fog_of_war_mask = np.zeros_like(top_down_map) + +# return top_down_map + +# def reset_metric( +# self, *args: Any, episode: Episode, **kwargs: Any +# ) -> None: +# self._scene_id = episode.scene_id.split("/")[-2] +# self._step_count = 0 +# self._metric = None +# self._meters_per_pixel = habitat_maps.calculate_meters_per_pixel( +# self._map_resolution, self._sim +# ) +# self._top_down_map = self.get_original_map() +# agent_position = self._sim.get_agent_state().position +# scene_id = episode.scene_id.split("/")[-1].split(".")[0] +# a_x, a_y = habitat_maps.to_grid( +# agent_position[2], +# agent_position[0], +# self._top_down_map.shape[0:2], +# sim=self._sim, +# ) +# self._previous_xy_location = (a_y, a_x) + +# if self._config.FOG_OF_WAR.DRAW: +# self._fog_of_war_mask = fog_of_war.reveal_fog_of_war( +# self._top_down_map, +# self._fog_of_war_mask, +# np.array([a_x, a_y]), +# self.get_polar_angle(), +# fov=self._config.FOG_OF_WAR.FOV, +# max_line_len=self._config.FOG_OF_WAR.VISIBILITY_DIST +# / habitat_maps.calculate_meters_per_pixel( +# self._map_resolution, sim=self._sim +# ), +# ) + +# if self._config.DRAW_FIXED_WAYPOINTS: +# maps.draw_mp3d_nodes( +# self._top_down_map, +# self._sim, +# episode, +# self._conn_graphs[scene_id], +# self._meters_per_pixel, +# ) + +# if self._config.DRAW_SHORTEST_PATH: +# shortest_path_points = self._sim.get_straight_shortest_path_points( +# agent_position, episode.goals[0].position +# ) +# maps.draw_straight_shortest_path_points( +# self._top_down_map, +# self._sim, +# self._map_resolution, +# shortest_path_points, +# ) + +# if self._config.DRAW_REFERENCE_PATH: +# maps.draw_reference_path( +# self._top_down_map, +# self._sim, +# episode, +# self._map_resolution, +# self._meters_per_pixel, +# ) + +# # draw source and target points last to avoid overlap +# if self._config.DRAW_SOURCE_AND_TARGET: +# maps.draw_source_and_target( +# self._top_down_map, +# self._sim, +# episode, +# self._meters_per_pixel, +# ) + +# # MP3D START NODE +# self._nearest_node = maps.get_nearest_node( +# self._conn_graphs[scene_id], np.take(agent_position, (0, 2)) +# ) +# nn_position = self._conn_graphs[self._scene_id].nodes[ +# self._nearest_node +# ]["position"] +# self.s_x, self.s_y = habitat_maps.to_grid( +# nn_position[2], +# nn_position[0], +# self._top_down_map.shape[0:2], +# self._sim, +# ) +# self.update_metric() + +# def update_metric(self, *args: Any, **kwargs: Any) -> None: +# self._step_count += 1 +# ( +# house_map, +# map_agent_pos, +# ) = self.update_map(self._sim.get_agent_state().position) + +# self._metric = { +# "map": house_map, +# "fog_of_war_mask": self._fog_of_war_mask, +# "agent_map_coord": map_agent_pos, +# "agent_angle": self.get_polar_angle(), +# "bounds": { +# k: v +# for k, v in zip( +# ["lower", "upper"], +# self._sim.pathfinder.get_bounds(), +# ) +# }, +# "meters_per_px": self._meters_per_pixel, +# } + +# def get_polar_angle(self) -> float: +# agent_state = self._sim.get_agent_state() +# # quaternion is in x, y, z, w format +# ref_rotation = agent_state.rotation + +# heading_vector = quaternion_rotate_vector( +# ref_rotation.inverse(), np.array([0, 0, -1]) +# ) + +# phi = cartesian_to_polar(-heading_vector[2], heading_vector[0])[1] +# z_neg_z_flip = np.pi +# return np.array(phi) + z_neg_z_flip + +# def update_map(self, agent_position: List[float]) -> None: +# a_x, a_y = habitat_maps.to_grid( +# agent_position[2], +# agent_position[0], +# self._top_down_map.shape[0:2], +# self._sim, +# ) +# # Don't draw over the source point +# gradient_color = 15 + min( +# self._step_count * 245 // self._config.MAX_EPISODE_STEPS, 245 +# ) +# if self._top_down_map[a_x, a_y] != maps.MAP_SOURCE_POINT_INDICATOR: +# maps.drawline( +# self._top_down_map, +# self._previous_xy_location, +# (a_y, a_x), +# gradient_color, +# thickness=int( +# self._map_resolution * 1.4 / maps.MAP_THICKNESS_SCALAR +# ), +# style="filled", +# ) + +# if self._config.FOG_OF_WAR.DRAW: +# self._fog_of_war_mask = fog_of_war.reveal_fog_of_war( +# self._top_down_map, +# self._fog_of_war_mask, +# np.array([a_x, a_y]), +# self.get_polar_angle(), +# self._config.FOG_OF_WAR.FOV, +# max_line_len=self._config.FOG_OF_WAR.VISIBILITY_DIST +# / habitat_maps.calculate_meters_per_pixel( +# self._map_resolution, sim=self._sim +# ), +# ) + +# point_padding = int(0.2 / self._meters_per_pixel) +# prev_nearest_node = self._nearest_node +# self._nearest_node = maps.update_nearest_node( +# self._conn_graphs[self._scene_id], +# self._nearest_node, +# np.take(agent_position, (0, 2)), +# ) +# if ( +# self._nearest_node != prev_nearest_node +# and self._config.DRAW_MP3D_AGENT_PATH +# ): +# nn_position = self._conn_graphs[self._scene_id].nodes[ +# self._nearest_node +# ]["position"] +# (prev_s_x, prev_s_y) = (self.s_x, self.s_y) +# self.s_x, self.s_y = habitat_maps.to_grid( +# nn_position[2], +# nn_position[0], +# self._top_down_map.shape[0:2], +# self._sim, +# ) +# self._top_down_map[ +# self.s_x +# - int(2.0 / 3.0 * point_padding) : self.s_x +# + int(2.0 / 3.0 * point_padding) +# + 1, +# self.s_y +# - int(2.0 / 3.0 * point_padding) : self.s_y +# + int(2.0 / 3.0 * point_padding) +# + 1, +# ] = gradient_color + +# maps.drawline( +# self._top_down_map, +# (prev_s_y, prev_s_x), +# (self.s_y, self.s_x), +# gradient_color, +# thickness=int( +# 1.0 +# / 2.0 +# * np.round( +# self._map_resolution / maps.MAP_THICKNESS_SCALAR +# ) +# ), +# ) + +# self._previous_xy_location = (a_y, a_x) +# map_agent_pos = (a_x, a_y) +# return self._top_down_map, map_agent_pos diff --git a/internnav/internnav_habitat/refactor_notes.md b/internnav/internnav_habitat/refactor_notes.md new file mode 100644 index 0000000..7a197b4 --- /dev/null +++ b/internnav/internnav_habitat/refactor_notes.md @@ -0,0 +1,66 @@ +# Refactoring `habitat_vln_evaluator` + +This note explains how to split the current `VLNEvaluator` implementation into the +framework's `Env` and `Agent` abstractions. + +## 1. Construction and configuration (lines 45-135) +* **Environment**: Habitat config loading, dataset split selection, sensor parameter + extraction, and measurement registration belong to the environment setup. These + responsibilities configure and own the simulator state and therefore should be + moved into a `HabitatVLNEnv` class that extends `Env`.【F:internnav/evaluator/habitat_vln_evaluator.py†L45-L103】 +* **Agent**: Model handles, prompt bootstrapping, conversation history, action + vocabulary, and instruction templates are part of the policy logic and should be + carried by a dedicated `HabitatVLNAgent` subclass. These fields initialize the + reasoning model rather than the simulator.【F:internnav/evaluator/habitat_vln_evaluator.py†L104-L135】 + +## 2. Perception utilities (lines 137-236) +Depth pre-processing, intrinsic matrix computation, coordinate transforms, and GPS +projection are tied to the simulator sensor geometry. They should move into the +`HabitatVLNEnv` so that observation tensors returned to the agent are already in a +consistent world frame.【F:internnav/evaluator/habitat_vln_evaluator.py†L137-L236】 + +## 3. Visualization helper (lines 238-309) +The dot-matrix overlay operates purely on rendered frames and can stay as an +environment utility. The helper should become a method of the environment (or a +separate visualization module) so evaluators can call it regardless of the agent. +【F:internnav/evaluator/habitat_vln_evaluator.py†L238-L309】 + +## 4. Low-level point navigation (lines 311-347) +The `_pointnav` helper controls a waypoint-following controller that consumes +processed observations and outputs low-level actions. Because it interacts with the +robot's state (goal resets, depth resizing, point-goal calculation), it fits inside +the environment. The agent can request point-goal actions through a method such as +`HabitatVLNEnv.pointnav(goal, depth, ...)`.【F:internnav/evaluator/habitat_vln_evaluator.py†L311-L347】 + +## 5. Main evaluation loop (lines 349-520) +* **Environment**: Episode iteration, resetting, stepping, intrinsic assembly, and + metric gathering should be owned by the environment. Wrapping Habitat's episode + lifecycle in `HabitatVLNEnv` keeps the evaluator thin and deterministic. +* **Agent**: Generating waypoint predictions, maintaining conversation turns, and + deciding discrete actions are policy responsibilities. The evaluator should ask + the new agent for an action by passing observations (RGB, depth, state metadata) + returned by the environment wrapper.【F:internnav/evaluator/habitat_vln_evaluator.py†L349-L520】 + +## 6. Language and action parsing (lines 522-680) +Instruction processing (`split_and_clean`, dynamic prompt assembly) and action string +parsing convert model text into executable commands. These should be encapsulated in +`HabitatVLNAgent` so the evaluator only receives structured actions (e.g., STOP, +MOVE, LOOK).【F:internnav/evaluator/habitat_vln_evaluator.py†L522-L680】 + +## 7. Metric aggregation and exports (lines 682-745) +Writing JSON lines, aggregating SPL/OS/NE, and optional video dumping can remain in +the evaluator, but the raw metrics originate from the environment through +`HabitatVLNEnv.get_metrics()` and rendering helpers. The evaluator should simply +post-process the aggregated numbers.【F:internnav/evaluator/habitat_vln_evaluator.py†L682-L745】 + +## Resulting structure +1. **`internnav/env/habitat_vln_env.py`**: wraps Habitat configuration, episode + control, sensor processing, point-nav helper, and visualization utilities. +2. **`internnav/agent/habitat_vln_agent.py`**: encapsulates the vision-language + model, prompt management, observation parsing, and action decoding. +3. **`internnav/evaluator/habitat_vln_evaluator.py`**: becomes a thin coordinator + that instantiates the env/agent via the registry, loops over episodes, and logs + metrics. + +This split brings the Habitat evaluator in line with the existing framework while +keeping domain-specific functionality in focused components. diff --git a/internnav/internnav_habitat/utils.py b/internnav/internnav_habitat/utils.py new file mode 100644 index 0000000..e69de29 diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh new file mode 100644 index 0000000..fa99d40 --- /dev/null +++ b/scripts/eval/bash/torchrun_eval.sh @@ -0,0 +1,20 @@ +# use to run distributed eval with 4 gpus on single node + +# MID_RUN_NAME="InternVLA-N1" +# torchrun \ +# --nproc_per_node=8 \ +# --master_port=2333 \ +# scripts/eval/eval.py \ +# --config scripts/eval/configs/habitat_cfg.py \ +# > logs/${MID_RUN_NAME}_log.txt 2>&1 + +# CUDA_VISIBLE_DEVICES=6,7 +MID_RUN_NAME="InternVLA-N1" +torchrun \ + --nproc_per_node=8 \ + --master_port=29501 \ + scripts/eval/eval_habitat.py \ + --model_path checkpoints/InternVLA-N1 \ + --continuous_traj \ + --output_path logs/habitat/test_new_checkpoint2 \ + > logs/${MID_RUN_NAME}_old_log1.txt 2>&1 diff --git a/scripts/eval/configs/comm_cfg.py b/scripts/eval/configs/comm_cfg.py new file mode 100644 index 0000000..3c1b7bb --- /dev/null +++ b/scripts/eval/configs/comm_cfg.py @@ -0,0 +1,16 @@ +from internnav.configs.agent import AgentCfg +from internnav.configs.evaluator import EnvCfg, EvalCfg, EvalDatasetCfg, TaskCfg + +eval_cfg = EvalCfg( + agent=AgentCfg( + server_port=8087, + model_name='cma', + ckpt_path='checkpoints/r2r/fine_tuned/cma_plus', + model_settings={}, + ), + env=EnvCfg['internutopia'], + task=TaskCfg['vln_pe'], + dataset=EvalDatasetCfg['mp3d'], + eval_type='internutopia_vln', + eval_settings={'save_to_json': False, 'vis_output': True}, +) diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py new file mode 100644 index 0000000..aaa702d --- /dev/null +++ b/scripts/eval/configs/habitat_cfg.py @@ -0,0 +1,60 @@ +from internnav.configs.agent import AgentCfg +from internnav.configs.evaluator import EnvCfg, EvalCfg + +eval_cfg = EvalCfg( + agent=AgentCfg( + server_port=8087, + model_name='internvla_n1', + ckpt_path='', + model_settings={ + 'env_num': 1, + 'sim_num': 1, + 'model_path': "checkpoints/InternVLA-N1", + 'camera_intrinsic': [[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]], + 'width': 640, + 'height': 480, + 'hfov': 79, + 'resize_w': 384, + 'resize_h': 384, + 'max_new_tokens': 1024, + 'num_frames': 32, + 'num_history': 8, + 'num_future_steps': 4, + 'device': 'cuda:0', + 'predict_step_nums': 32, + 'continuous_traj': True, + # debug + 'vis_debug': True, # If vis_debug=True, you can get visualization results + 'vis_debug_path': './logs/test/vis_debug', + }, + ), + env=EnvCfg( + env_type='habitat', + env_settings={ + # habitat sim specifications - agent, sensors, tasks, measures etc. are defined in the habitat config file + 'config_path': 'scripts/eval/configs/vln_r2r.yaml', + }, + ), + eval_type='habitat_vln', + eval_settings={ + # all current parse args + "local_rank": 0, # node rank + "output_path": "./logs/habitat/test_refactor_debug", # output directory for logs/results + "save_video": False, # whether to save videos + "world_size": 1, # number of distributed processes + "rank": 0, # rank of current process + "gpu": 0, # gpu id to use + "port": "2333", # communication port + "dist_url": "env://", # url for distributed setup + "mode": "dual_system", # inference mode: dual_system or system2 + "model_path": "checkpoints/InternVLA-N1", # path to model checkpoint + "num_future_steps": 4, # number of future steps for prediction + "num_frames": 32, # number of frames used in evaluation + "num_history": 8, + "resize_w": 384, # image resize width + "resize_h": 384, # image resize height + "predict_step_nums": 32, # number of steps to predict + "continuous_traj": True, # whether to use continuous trajectory + "max_new_tokens": 1024, # maximum number of tokens for generation + }, +) diff --git a/scripts/eval/configs/vln_r2r.yaml b/scripts/eval/configs/vln_r2r.yaml index ed8361c..e6b1a89 100644 --- a/scripts/eval/configs/vln_r2r.yaml +++ b/scripts/eval/configs/vln_r2r.yaml @@ -72,6 +72,6 @@ habitat: dataset: type: R2RVLN-v1 - split: val_seen + split: val_unseen scenes_dir: data/scene_data/mp3d_ce data_path: data/vln_ce/raw_data/r2r/{split}/{split}.json.gz diff --git a/scripts/eval/eval.py b/scripts/eval/eval.py index 68c507a..79d0cda 100644 --- a/scripts/eval/eval.py +++ b/scripts/eval/eval.py @@ -5,7 +5,6 @@ import argparse import importlib.util -from internnav.configs.evaluator.vln_default_config import get_config from internnav.evaluator import Evaluator # This file is the main file @@ -19,6 +18,9 @@ def parse_args(): default='scripts/eval/configs/h1_rdp_cfg.py', help='eval config file path, e.g. scripts/eval/configs/h1_cma_cfg.py', ) + parser.add_argument('--port', type=int, default=None) + parser.add_argument('--host', type=str, default=None) + parser.add_argument('--dist_eval', action="store_true", default=False) return parser.parse_args() @@ -33,10 +35,18 @@ def load_eval_cfg(config_path, attr_name='eval_cfg'): def main(): args = parse_args() evaluator_cfg = load_eval_cfg(args.config, attr_name='eval_cfg') - cfg = get_config(evaluator_cfg) - print(cfg) - evaluator = Evaluator.init(cfg) - print(type(evaluator)) + + # fill in evaluator default config + if evaluator_cfg.eval_type == 'vln_multi': + from internnav.configs.evaluator.vln_default_config import get_config + + evaluator_cfg = get_config(evaluator_cfg) + elif evaluator_cfg.eval_type == 'habitat_vln': + # TODO: add default config + pass + + # create evaluator based on sim backend and run eval + evaluator = Evaluator.init(evaluator_cfg) evaluator.eval() From 99024017aded29c1b5d65cd7d0b19de362db3858 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Tue, 11 Nov 2025 08:31:43 +0000 Subject: [PATCH 03/35] add distributed_base evaluator --- internnav/evaluator/__init__.py | 3 +- internnav/evaluator/distributed_base.py | 213 ++++++++++-------- .../habitat_vln_evaluator.py | 125 +++++----- internnav/utils/comm_utils/server.py | 39 ++++ scripts/eval/bash/torchrun_eval.sh | 30 +-- scripts/eval/configs/habitat_cfg.py | 1 + scripts/eval/eval_habitat.py | 127 ----------- scripts/iros_challenge/start_eval_iros.sh | 2 +- 8 files changed, 240 insertions(+), 300 deletions(-) delete mode 100644 scripts/eval/eval_habitat.py diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index e831ea5..fda0a88 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -1,6 +1,7 @@ -# register habitat TODO +# register habitat import internnav.internnav_habitat # noqa: F401 from internnav.evaluator.base import Evaluator +from internnav.evaluator.distributed_base import DistributedEvaluator from internnav.evaluator.vln_multi_evaluator import VlnMultiEvaluator __all__ = ['Evaluator', 'VlnMultiEvaluator'] diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index 3244305..a0f06a2 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -1,57 +1,13 @@ +import argparse import json import os -from datetime import datetime +import numpy as np import torch from internnav.configs.evaluator import EvalCfg from internnav.evaluator.base import Evaluator -from internnav.utils.dist import dist, get_rank, get_world_size - - -def init_distributed_mode(args): - if 'SLURM_PROCID' in os.environ: - args.rank = int(os.environ['SLURM_PROCID']) - args.world_size = int(os.environ['SLURM_NTASKS']) - - num_gpus = torch.cuda.device_count() - args.gpu = args.rank % num_gpus - args.local_rank = args.gpu - - node_list = os.environ['SLURM_NODELIST'] - print(f'Node list: {node_list}') - # addr = subprocess.getoutput(f'scontrol show hostname {node_list} | head -n1') - - os.environ['MASTER_PORT'] = str(getattr(args, 'port', '29529')) - # os.environ['MASTER_ADDR'] = addr - os.environ['WORLD_SIZE'] = str(args.world_size) - os.environ['LOCAL_RANK'] = str(args.gpu) - os.environ['RANK'] = str(args.rank) - elif 'RANK' in os.environ and 'WORLD_SIZE' in os.environ: - args.rank = int(os.environ["RANK"]) - args.world_size = int(os.environ['WORLD_SIZE']) - args.gpu = int(os.environ['LOCAL_RANK']) - args.local_rank = args.gpu - else: - print('Not using distributed mode') - # setup_for_distributed(is_master=True) # hack - args.distributed = False - return - - args.distributed = True - - torch.cuda.set_device(args.gpu) - args.dist_backend = 'nccl' - print('| distributed init (rank {}): {}, gpu {}'.format(args.rank, args.dist_url, args.gpu), flush=True) - dist.init_process_group( - backend=args.dist_backend, - init_method=args.dist_url, - world_size=args.world_size, - rank=args.rank, - timeout=datetime.timedelta(0, 7200), - ) - dist.barrier() - # setup_for_distributed(args.rank == 0) +from internnav.utils.dist import dist, get_rank, get_world_size, init_distributed_mode class DistributedEvaluator(Evaluator): @@ -61,53 +17,106 @@ class DistributedEvaluator(Evaluator): def __init__(self, cfg: EvalCfg): # distributed setting - import os import socket print( f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}" ) - # init_distributed_mode(args) - # local_rank = args.local_rank - # np.random.seed(local_rank) + + args = argparse.Namespace(**cfg.eval_settings) + self.args = args + + init_distributed_mode(args) + + self.local_rank = args.local_rank + np.random.seed(self.local_rank) + self.world_size = get_world_size() + self.output_path = args.output_path # TODO: modify by rank + cfg.env.env_settings['idx'] = get_rank() cfg.env.env_settings['world_size'] = get_world_size() + # -------- initialize agent config (either remote server or local agent) -------- # set agent port based on rank - cfg.agent.agent_settings['port'] = 8000 + get_rank() + # cfg.agent.agent_settings['port'] = 8000 + get_rank() # start_server(cfg.agent.agent_settings['port']) - super().__init__(cfg) + self.eval_config = cfg + # self.env = Env.init(cfg.env, cfg.task) + # self.agent = AgentClient(config.agent) def eval(self): - # 1. 每个 rank 本地跑一遍 - local_metrics = self.eval_action() # dict[str, Tensor], 每个 Tensor shape [N] - # 取出设备 & 本地样本数 - device = next(iter(local_metrics.values())).device - local_count = torch.tensor([len(next(iter(local_metrics.values())))], dtype=torch.long, device=device) + """ + Uniform distributed evaluation pipeline: + + 1. Call subclass's eval_action() to get local per-episode tensors. + 2. Use dist all_gather (+ padding) to build global tensors for each metric. + 3. Call subclass's calc_metrics(global_metrics) to compute scalar metrics. + 4. Print + rank 0 writes result.json. + """ + local_metrics = self.eval_action() # dict[str, Tensor], each [N_local] + + if not local_metrics: + raise RuntimeError("eval_action() returned empty metrics dict.") + + first_tensor = next(iter(local_metrics.values())) + device = first_tensor.device + local_len = first_tensor.shape[0] - # 2. 全局样本数 world_size = get_world_size() - global_count = local_count.clone() - if world_size > 1: - dist.all_reduce(global_count, op=dist.ReduceOp.SUM) - - # 3. 对每个 metric 做全局 sum / mean - result_all = {} - for name, tensor in local_metrics.items(): - # tensor: [N] - local_sum = tensor.sum() - global_sum = local_sum.clone() - if world_size > 1: - dist.all_reduce(global_sum, op=dist.ReduceOp.SUM) - - mean_val = (global_sum / global_count).item() - result_all[name] = mean_val - - # 4. 统计全局 episode 数 - result_all["length"] = int(global_count.item()) - - # 5. 打印 + 只在 rank 0 写文件 + + # -------- 1) Handle non-distributed / world_size == 1 -------- + if world_size == 1: + global_metrics = {name: tensor.detach().cpu() for name, tensor in local_metrics.items()} + total_len = int(local_len) + else: + # -------- 2) Gather lengths from all ranks -------- + local_len_t = torch.tensor([local_len], dtype=torch.long, device=device) + len_list = [torch.zeros_like(local_len_t) for _ in range(world_size)] + dist.all_gather(len_list, local_len_t) + lens = torch.stack(len_list).cpu() # shape [world_size, 1] + lens = lens.view(-1) # [world_size] + max_len = int(lens.max().item()) + total_len = int(lens.sum().item()) + + # -------- 3) For each metric, pad + all_gather + unpad -------- + global_metrics = {} + for name, tensor in local_metrics.items(): + assert tensor.shape[0] == local_len, ( + f"Metric {name} length ({tensor.shape[0]}) " f"!= first metric length ({local_len})" + ) + + # pad to max_len on this rank + padded = torch.zeros( + max_len, + dtype=tensor.dtype, + device=device, + ) + padded[:local_len] = tensor + + # gather padded tensors from all ranks + gathered = [torch.zeros_like(padded) for _ in range(world_size)] + dist.all_gather(gathered, padded) + + # unpad & concat using true lengths + parts = [] + for rank in range(world_size): + cur_len = int(lens[rank].item()) + if cur_len > 0: + parts.append(gathered[rank][:cur_len]) + if parts: + global_tensor = torch.cat(parts, dim=0) + else: + # no episodes at all (edge case) + global_tensor = torch.empty(0, dtype=tensor.dtype) + + global_metrics[name] = global_tensor.detach().cpu() + + # -------- 4) Let subclass compute final metrics from global tensors -------- + result_all = self.calc_metrics(global_metrics) + result_all.setdefault("length", total_len) + + # -------- 5) Logging -------- print(result_all) if get_rank() == 0: os.makedirs(self.args.output_path, exist_ok=True) @@ -117,15 +126,43 @@ def eval(self): return result_all - def eval_action(self): + # ================= ABSTRACT HOOKS ================= + + def eval_action(self) -> dict: + """ + Run evaluation on this rank and return per-episode metrics. + + Returns + ------- + dict[str, torch.Tensor] + Example: + { + "sucs": tensor([0., 1., ...], device=...), + "spls": tensor([...]), + "oss": tensor([...]), + "nes": tensor([...]), + } + """ + raise NotImplementedError + + def calc_metrics(self, global_metrics: dict) -> dict: """ - 跑当前 rank 的 episodes, 返回一个 dict: - { - "success": tensor([0., 1., ...], device=...), - "spl": tensor([...]), - "os": tensor([...]), - "ne": tensor([...]), - ... - } + Compute final scalar metrics from global per-episode tensors. + + Parameters + ---------- + global_metrics : dict[str, torch.Tensor] + For each metric name, a 1-D CPU tensor with all episodes across all ranks. + Example: + { + "sucs": tensor([...], dtype=torch.float32), + "spls": tensor([...]), + ... + } + + Returns + ------- + dict[str, float] + Final scalar metrics to log. """ raise NotImplementedError diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py index 99e8fdc..ef18ec0 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -10,7 +10,6 @@ import re from collections import OrderedDict -import habitat import numpy as np import quaternion import torch @@ -23,7 +22,7 @@ # Import for Habitat registry side effects — do not remove import internnav.env.utils.habitat_extensions.measures # noqa: F401 from internnav.configs.evaluator import EvalCfg -from internnav.evaluator.base import Evaluator +from internnav.evaluator import DistributedEvaluator, Evaluator from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM from internnav.model.utils.vln_utils import ( chunk_token, @@ -31,9 +30,9 @@ split_and_clean, traj_to_actions, ) -from internnav.utils.dist import dist, get_rank, get_world_size, init_distributed_mode try: + import habitat from habitat import Env from habitat.config.default import get_agent_config from habitat.config.default_structured_configs import ( @@ -56,28 +55,12 @@ @Evaluator.register('habitat_vln') -class HabitatVlnEvaluator(Evaluator): +class HabitatVlnEvaluator(DistributedEvaluator): def __init__(self, cfg: EvalCfg): args = argparse.Namespace(**cfg.eval_settings) self.args = args self.save_video = args.save_video - - # distributed setting - import os - import socket - - print( - f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}" - ) - init_distributed_mode(args) - local_rank = args.local_rank - np.random.seed(local_rank) - cfg.env.env_settings['idx'] = get_rank() - cfg.env.env_settings['world_size'] = get_world_size() - - self.world_size = get_world_size() - self.output_path = args.output_path # TODO: modify by rank - self.epoch = 0 + self.epoch = args.epoch # create habitat config self.config_path = cfg.env.env_settings['config_path'] @@ -109,13 +92,13 @@ def __init__(self, cfg: EvalCfg): cfg.env.env_settings['habitat_config'] = self.config # init agent and env - # super().__init__(cfg) + super().__init__(cfg) # ------------------------------------- model ------------------------------------------ processor = AutoProcessor.from_pretrained(args.model_path) processor.tokenizer.padding_side = 'left' - device = torch.device(f"cuda:{local_rank}") + device = torch.device(f"cuda:{self.local_rank}") if args.mode == 'dual_system': model = InternVLAN1ForCausalLM.from_pretrained( args.model_path, @@ -136,15 +119,6 @@ def __init__(self, cfg: EvalCfg): model.eval() self.device = device - # ------------------------------------- old ------------------------------------------ - self._camera_height = self.sim_sensors_config.rgb_sensor.position[1] - self._min_depth = self.sim_sensors_config.depth_sensor.min_depth - self._max_depth = self.sim_sensors_config.depth_sensor.max_depth - - camera_fov_rad = np.deg2rad(self.sim_sensors_config.depth_sensor.hfov) - self._camera_fov = camera_fov_rad - self._fx = self._fy = self.sim_sensors_config.depth_sensor.width / (2 * np.tan(camera_fov_rad / 2)) - self.model = model self.processor = processor @@ -178,41 +152,56 @@ def __init__(self, cfg: EvalCfg): self.num_frames = args.num_frames self.num_future_steps = args.num_future_steps self.num_history = args.num_history + + # ------------------------------------- old ------------------------------------------ + self._camera_height = self.sim_sensors_config.rgb_sensor.position[1] + self._min_depth = self.sim_sensors_config.depth_sensor.min_depth + self._max_depth = self.sim_sensors_config.depth_sensor.max_depth + + camera_fov_rad = np.deg2rad(self.sim_sensors_config.depth_sensor.hfov) + self._camera_fov = camera_fov_rad + self._fx = self._fy = self.sim_sensors_config.depth_sensor.width / (2 * np.tan(camera_fov_rad / 2)) + # ------------------------------------- remove ------------------------------------------ - def eval(self): - # * 3. do eval - sucs, spls, oss, nes, ep_num = self.eval_action(self.args.local_rank) - ep_num_all = [torch.zeros_like(ep_num) for _ in range(self.world_size)] - # import ipdb; ipdb.set_trace() - world_size = get_world_size() - dist.all_gather(ep_num_all, ep_num) - sucs_all = [torch.zeros(ep_num_all[i], dtype=sucs.dtype).to(sucs.device) for i in range(world_size)] - spls_all = [torch.zeros(ep_num_all[i], dtype=spls.dtype).to(spls.device) for i in range(world_size)] - oss_all = [torch.zeros(ep_num_all[i], dtype=oss.dtype).to(oss.device) for i in range(world_size)] - nes_all = [torch.zeros(ep_num_all[i], dtype=nes.dtype).to(nes.device) for i in range(world_size)] - dist.barrier() - dist.all_gather(sucs_all, sucs) - dist.all_gather(spls_all, spls) - dist.all_gather(oss_all, oss) - dist.all_gather(nes_all, nes) - - sucs_all = torch.cat(sucs_all, dim=0) - spls_all = torch.cat(spls_all, dim=0) - oss_all = torch.cat(oss_all, dim=0) - nes_all = torch.cat(nes_all, dim=0) - result_all = { - "sucs_all": (sum(sucs_all) / len(sucs_all)).item(), - "spls_all": (sum(spls_all) / len(spls_all)).item(), - "oss_all": (sum(oss_all) / len(oss_all)).item(), - "nes_all": (sum(nes_all) / len(nes_all)).item(), - 'length': len(sucs_all), + def eval_action(self): + """ + Run local episodes on this rank. + + Returns dict[str, Tensor] on GPU (1D tensors of same length). + """ + # Old behavior was something like: + # sucs, spls, oss, nes, ep_num = self.eval_action(self.args.local_rank) + # Now just implement the actual eval here and return dict. + + sucs, spls, oss, nes, _ = self._run_local_eval(self.args.local_rank) + + return { + "sucs": sucs, # shape [N_local] + "spls": spls, # shape [N_local] + "oss": oss, # shape [N_local] + "nes": nes, # shape [N_local] } - print(result_all) - if get_rank() == 0: - with open(os.path.join(self.args.output_path, 'result.json'), 'a') as f: - f.write(json.dumps(result_all)) + def calc_metrics(self, global_metrics: dict) -> dict: + """ + global_metrics["sucs"] etc. are global 1-D CPU tensors with all episodes. + """ + sucs_all = global_metrics["sucs"] + spls_all = global_metrics["spls"] + oss_all = global_metrics["oss"] + nes_all = global_metrics["nes"] + + # avoid /0 if no episodes + denom = max(len(sucs_all), 1) + + return { + "sucs_all": float(sucs_all.mean().item()) if denom > 0 else 0.0, + "spls_all": float(spls_all.mean().item()) if denom > 0 else 0.0, + "oss_all": float(oss_all.mean().item()) if denom > 0 else 0.0, + "nes_all": float(nes_all.mean().item()) if denom > 0 else 0.0, + # "length" will be filled by base class + } def _eval_action(self): obs = self.env.reset() @@ -228,10 +217,10 @@ def _eval_action(self): # refactor def config_env(self) -> Env: env = Env(config=self.config) - # env.episodes = env.episodes[0:1] + env.episodes = env.episodes[0:2] # for debug return env - def eval_action(self, idx=0) -> None: # noqa: C901 + def _run_local_eval(self, idx=0) -> None: # noqa: C901 self.model.eval() env = self.config_env() scene_episode_dict = {} @@ -250,8 +239,8 @@ def eval_action(self, idx=0) -> None: # noqa: C901 with open(os.path.join(self.output_path, 'result.json'), 'r') as f: for line in f.readlines(): res = json.loads(line) - done_res.append([res["scene_id"], res["episode_id"], res["episode_instruction"]]) - if get_rank() == 0: # noqa: F405 TODO this need to keep in evaluator + done_res.append([res["scene_id"], res["episode_id"]]) + if idx == 0: # noqa: F405 TODO this need to keep in evaluator sucs.append(res['success']) spls.append(res['spl']) oss.append(res['os']) @@ -271,7 +260,7 @@ def eval_action(self, idx=0) -> None: # noqa: C901 ) print("episode start", episode_instruction) episode_id = int(episode.episode_id) - if [scene_id, episode_id, episode_instruction] in done_res: + if [scene_id, episode_id] in done_res: continue # refactor env warm up diff --git a/internnav/utils/comm_utils/server.py b/internnav/utils/comm_utils/server.py index 2d3bf27..fbe143b 100644 --- a/internnav/utils/comm_utils/server.py +++ b/internnav/utils/comm_utils/server.py @@ -1,5 +1,6 @@ #!/usr/bin/env python import base64 +import multiprocessing import pickle from typing import Dict @@ -77,3 +78,41 @@ def run(self, reload=False): reload=reload, reload_dirs=['./internnav/agent/', './internnav/model/'], ) + + +def start_server(host='localhost', port=8087, dist=False): + """ + start a server in the backgrouond process + + Args: + host + port + + Returns: + The rank of the process group + -1, if not part of the group + + """ + ctx = multiprocessing.get_context("spawn") + p = ctx.Process(target=_run_server if not dist else _run_server_dist, args=(host, port)) + p.daemon = True + p.start() + print(f"Server started on {host}:{port} (pid={p.pid})") + return p + + +def _run_server_dist(host='localhost', port=8087): + import torch + + from internnav.utils.dist import get_rank + + device_idx = get_rank() + torch.cuda.set_device(device_idx) + print(f"Server using GPU {device_idx}") + server = AgentServer(host, port) + server.run() + + +def _run_server(host='localhost', port=8087): + server = AgentServer(host, port) + server.run() diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index fa99d40..8a68922 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -1,20 +1,20 @@ # use to run distributed eval with 4 gpus on single node +MID_RUN_NAME="InternVLA-N1" +torchrun \ + --nproc_per_node=2 \ + --master_port=2333 \ + scripts/eval/eval.py \ + --config scripts/eval/configs/habitat_cfg.py \ + > logs/${MID_RUN_NAME}_log.txt 2>&1 + +# CUDA_VISIBLE_DEVICES=6,7 # MID_RUN_NAME="InternVLA-N1" # torchrun \ # --nproc_per_node=8 \ -# --master_port=2333 \ -# scripts/eval/eval.py \ -# --config scripts/eval/configs/habitat_cfg.py \ -# > logs/${MID_RUN_NAME}_log.txt 2>&1 - -# CUDA_VISIBLE_DEVICES=6,7 -MID_RUN_NAME="InternVLA-N1" -torchrun \ - --nproc_per_node=8 \ - --master_port=29501 \ - scripts/eval/eval_habitat.py \ - --model_path checkpoints/InternVLA-N1 \ - --continuous_traj \ - --output_path logs/habitat/test_new_checkpoint2 \ - > logs/${MID_RUN_NAME}_old_log1.txt 2>&1 +# --master_port=29501 \ +# scripts/eval/eval_habitat.py \ +# --model_path checkpoints/InternVLA-N1 \ +# --continuous_traj \ +# --output_path logs/habitat/test_new_checkpoint2 \ +# > logs/${MID_RUN_NAME}_old_log1.txt 2>&1 diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py index aaa702d..6e3445a 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_cfg.py @@ -41,6 +41,7 @@ "local_rank": 0, # node rank "output_path": "./logs/habitat/test_refactor_debug", # output directory for logs/results "save_video": False, # whether to save videos + "epoch": 0, # epoch number for logging "world_size": 1, # number of distributed processes "rank": 0, # rank of current process "gpu": 0, # gpu id to use diff --git a/scripts/eval/eval_habitat.py b/scripts/eval/eval_habitat.py deleted file mode 100644 index e78a8d6..0000000 --- a/scripts/eval/eval_habitat.py +++ /dev/null @@ -1,127 +0,0 @@ -import argparse -import json -import os -import sys - -sys.path.append('./src/diffusion-policy') - -import numpy as np -import torch -from transformers import AutoProcessor, Qwen2_5_VLForConditionalGeneration - -# Import for Habitat registry side effects — do not remove -import internnav.env.utils.habitat_extensions.measures # noqa: F401 -from internnav.evaluator.habitat_vln_evaluator import VLNEvaluator -from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM -from internnav.utils.dist import * - - -def parse_args(): - - parser = argparse.ArgumentParser(description='Evaluate InternVLA-N1 on Habitat') - parser.add_argument("--mode", default='dual_system', type=str, help="inference mode: dual_system or system2") - parser.add_argument("--local_rank", default=0, type=int, help="node rank") - parser.add_argument("--model_path", type=str, default="") - parser.add_argument("--habitat_config_path", type=str, default='scripts/eval/configs/vln_r2r.yaml') - parser.add_argument("--eval_split", type=str, default='val_unseen') - parser.add_argument("--output_path", type=str, default='./logs/habitat/test') #! - parser.add_argument("--num_future_steps", type=int, default=4) - parser.add_argument("--num_frames", type=int, default=32) - parser.add_argument("--save_video", action="store_true", default=False) - parser.add_argument("--num_history", type=int, default=8) - parser.add_argument("--resize_w", type=int, default=384) - parser.add_argument("--resize_h", type=int, default=384) - parser.add_argument("--predict_step_nums", type=int, default=16) - parser.add_argument("--continuous_traj", action="store_true", default=False) - parser.add_argument("--max_new_tokens", type=int, default=1024) - - parser.add_argument('--world_size', default=1, type=int, help='number of distributed processes') - parser.add_argument('--rank', default=0, type=int, help='rank') - parser.add_argument('--gpu', default=0, type=int, help='gpu') - parser.add_argument('--port', default='2333') - parser.add_argument('--dist_url', default='env://', help='url used to set up distributed training') - parser.add_argument('--device', default='cuda', help='device to use for training / testing') - - return parser.parse_args() - - -def main(): - args = parse_args() - - init_distributed_mode(args) - local_rank = args.local_rank - np.random.seed(local_rank) - - # * 1. Load model and tokenizer. Currently, we support two modes: dual_system and system2 in Habitat. - processor = AutoProcessor.from_pretrained(args.model_path) - processor.tokenizer.padding_side = 'left' - - device = torch.device(f"cuda:{local_rank}") - if args.mode == 'dual_system': - model = InternVLAN1ForCausalLM.from_pretrained( - args.model_path, - torch_dtype=torch.bfloat16, - attn_implementation="flash_attention_2", - device_map={"": device}, - ) - elif args.mode == 'system2': - model = Qwen2_5_VLForConditionalGeneration.from_pretrained( - args.model_path, - torch_dtype=torch.bfloat16, - attn_implementation="flash_attention_2", - device_map={"": device}, - ) - else: - raise ValueError(f"Invalid mode: {args.mode}") - - model.eval() - world_size = get_world_size() - - # * 2. initialize evaluator - evaluator = VLNEvaluator( - config_path=args.habitat_config_path, - split=args.eval_split, - env_num=world_size, - output_path=args.output_path, - model=model, - processor=processor, - epoch=0, - args=args, - ) - - # * 3. do eval - sucs, spls, oss, nes, ep_num = evaluator.eval_action(idx=get_rank()) - ep_num_all = [torch.zeros_like(ep_num) for _ in range(world_size)] - - # import ipdb; ipdb.set_trace() - dist.all_gather(ep_num_all, ep_num) - sucs_all = [torch.zeros(ep_num_all[i], dtype=sucs.dtype).to(sucs.device) for i in range(world_size)] - spls_all = [torch.zeros(ep_num_all[i], dtype=spls.dtype).to(spls.device) for i in range(world_size)] - oss_all = [torch.zeros(ep_num_all[i], dtype=oss.dtype).to(oss.device) for i in range(world_size)] - nes_all = [torch.zeros(ep_num_all[i], dtype=nes.dtype).to(nes.device) for i in range(world_size)] - dist.barrier() - dist.all_gather(sucs_all, sucs) - dist.all_gather(spls_all, spls) - dist.all_gather(oss_all, oss) - dist.all_gather(nes_all, nes) - - sucs_all = torch.cat(sucs_all, dim=0) - spls_all = torch.cat(spls_all, dim=0) - oss_all = torch.cat(oss_all, dim=0) - nes_all = torch.cat(nes_all, dim=0) - result_all = { - "sucs_all": (sum(sucs_all) / len(sucs_all)).item(), - "spls_all": (sum(spls_all) / len(spls_all)).item(), - "oss_all": (sum(oss_all) / len(oss_all)).item(), - "nes_all": (sum(nes_all) / len(nes_all)).item(), - 'length': len(sucs_all), - } - - print(result_all) - if get_rank() == 0: - with open(os.path.join(args.output_path, f'result.json'), 'a') as f: - f.write(json.dumps(result_all)) - - -if __name__ == '__main__': - main() diff --git a/scripts/iros_challenge/start_eval_iros.sh b/scripts/iros_challenge/start_eval_iros.sh index d5f43ac..335b614 100755 --- a/scripts/iros_challenge/start_eval_iros.sh +++ b/scripts/iros_challenge/start_eval_iros.sh @@ -47,7 +47,7 @@ if [ -n "$processes" ]; then echo "kill: $pid" done fi -python internnav/agent/utils/server.py --config scripts/eval/configs/challenge_cfg.py > "$SERVER_LOG" 2>&1 & +python scripts/eval/start_server.py --config scripts/eval/configs/challenge_cfg.py > "$SERVER_LOG" 2>&1 & START_COMMAND_KUJIALE="python -u scripts/eval/eval_iros.py --config $CONFIG --default_config scripts/eval/configs/challenge_kujiale_cfg.py --split $SPLIT" From 0d00014a29b376065cb38db6592c28401019bf24 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 12 Nov 2025 05:18:37 +0000 Subject: [PATCH 04/35] Habitat env applied, distributed evaluator applied; clean evaluator and agent created --- internnav/evaluator/distributed_base.py | 21 +- internnav/internnav_habitat/habitat_env.py | 104 ++- .../habitat_n1_agent_temp.py | 871 ++++++++++++++---- .../habitat_vln_evaluator.py | 779 ++++++++-------- .../habitat_vln_evaluator_clean.py | 128 +++ internnav/utils/dist.py | 147 ++- scripts/eval/bash/torchrun_eval.sh | 2 +- scripts/eval/configs/habitat_cfg.py | 41 +- setup.cfg | 2 +- 9 files changed, 1346 insertions(+), 749 deletions(-) create mode 100644 internnav/internnav_habitat/habitat_vln_evaluator_clean.py diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index a0f06a2..f30d058 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -1,4 +1,3 @@ -import argparse import json import os @@ -6,7 +5,8 @@ import torch from internnav.configs.evaluator import EvalCfg -from internnav.evaluator.base import Evaluator +from internnav.env import Env +from internnav.evaluator import Evaluator from internnav.utils.dist import dist, get_rank, get_world_size, init_distributed_mode @@ -23,17 +23,16 @@ def __init__(self, cfg: EvalCfg): f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}" ) - args = argparse.Namespace(**cfg.eval_settings) - self.args = args + self.output_path = cfg.eval_settings["output_path"] # TODO: unsafe for distribution - init_distributed_mode(args) + init_distributed_mode() - self.local_rank = args.local_rank + self.local_rank = get_rank() np.random.seed(self.local_rank) self.world_size = get_world_size() - self.output_path = args.output_path # TODO: modify by rank - cfg.env.env_settings['idx'] = get_rank() + # habitat env also need rank to split dataset + cfg.env.env_settings['local_rank'] = get_rank() cfg.env.env_settings['world_size'] = get_world_size() # -------- initialize agent config (either remote server or local agent) -------- @@ -42,7 +41,7 @@ def __init__(self, cfg: EvalCfg): # start_server(cfg.agent.agent_settings['port']) self.eval_config = cfg - # self.env = Env.init(cfg.env, cfg.task) + self.env = Env.init(cfg.env, cfg.task) # self.agent = AgentClient(config.agent) def eval(self): @@ -119,8 +118,8 @@ def eval(self): # -------- 5) Logging -------- print(result_all) if get_rank() == 0: - os.makedirs(self.args.output_path, exist_ok=True) - out_path = os.path.join(self.args.output_path, "result.json") + os.makedirs(self.output_path, exist_ok=True) + out_path = os.path.join(self.output_path, "result.json") with open(out_path, "a") as f: f.write(json.dumps(result_all) + "\n") diff --git a/internnav/internnav_habitat/habitat_env.py b/internnav/internnav_habitat/habitat_env.py index 6b10215..6376974 100644 --- a/internnav/internnav_habitat/habitat_env.py +++ b/internnav/internnav_habitat/habitat_env.py @@ -11,8 +11,9 @@ class HabitatEnv(base.Env): def __init__(self, env_config: EnvCfg, task_config: TaskCfg): """ env_settings include: - - config_path: str, path to habitat config yaml file - - split: str, dataset split to use + - habitat_config: loaded from get_habitat_config + - local_rank: int, rank index for sharding + - world_size: int, total number of ranks """ try: from habitat import Env @@ -24,54 +25,59 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): super().__init__(env_config, task_config) self.config = env_config.env_settings['habitat_config'] - self.env = Env(self.config) + self._env = Env(self.config) - self.episodes = self.generate_episodes() - self.sort_episodes_by_scene() - - self.index = env_config.env_settings.get('idx', 0) + self.local_rank = env_config.env_settings.get('local_rank', 0) self.world_size = env_config.env_settings.get('world_size', 1) self._current_episode_index: int = 0 self._last_obs: Optional[Dict[str, Any]] = None - self.step_id = 0 self.is_running = True + self.output_path = env_config.env_settings.get('output_path', './output') + + # generate episodes + # self._env.episodes = self._env.episodes[0:1] # for debug + self.episodes = self.generate_episodes() + print(self.episodes) def generate_episodes(self) -> List[Any]: """ - Generate list of episodes for the current split + Generate list of episodes for the current split, already: + - grouped by scene + - filtered by done_res (the path is self.output_path/progress.json) + - sharded by (local_rank, world_size) """ - episodes = [] + all_episodes = [] - # sort episode by scene - scene_episode_dict = {} - for episode in self.env.episodes: - if episode.scene_id not in scene_episode_dict: - scene_episode_dict[episode.scene_id] = [] - scene_episode_dict[episode.scene_id].append(episode) + # group episodes by scene + scene_episode_dict: Dict[str, List[Any]] = {} + for episode in self._env.episodes: + scene_episode_dict.setdefault(episode.scene_id, []).append(episode) + # load done_res done_res = set() - - if os.path.exists(os.path.join(self.output_path, 'result.json')): - with open(os.path.join(self.output_path, 'result.json'), 'r') as f: - for line in f.readlines(): + result_path = os.path.join(self.output_path, 'progress.json') + if os.path.exists(result_path): + with open(result_path, 'r') as f: + for line in f: res = json.loads(line) - done_res.add((res["scene_id"], res["episode_id"], res["episode_instruction"])) + # only skip if current format has scene_id + if "scene_id" in res: + done_res.add((res["scene_id"], res["episode_id"])) + # iterate scenes in order, collect all episodes for scene in sorted(scene_episode_dict.keys()): - episodes = scene_episode_dict[scene] + per_scene_eps = scene_episode_dict[scene] scene_id = scene.split('/')[-2] - for episode in episodes[self.index :: self.world_size]: - episode_instruction = ( - episode.instruction.instruction_text - if 'objectnav' not in self.config_path - else episode.object_category - ) + + # shard by rank index / world_size + for episode in per_scene_eps[self.local_rank :: self.world_size]: episode_id = int(episode.episode_id) - if (scene_id, episode_id, episode_instruction) in done_res: + if (scene_id, episode_id) in done_res: continue - episodes.append(episode) - return episodes + all_episodes.append(episode) + + return all_episodes def reset(self): """ @@ -83,12 +89,11 @@ def reset(self): return # Manually set to next episode in habitat - self.env.current_episode = self.episodes[self._current_episode_index] + self._env.current_episode = self.episodes[self._current_episode_index] self._current_episode_index += 1 # Habitat reset - self._last_obs = self.env.reset() - self.step_id = 0 + self._last_obs = self._env.reset() return self._last_obs @@ -98,29 +103,26 @@ def step(self, action: List[Any]): Args: action: List[Any], action for each env in the batch - Return: obs, terminated + Return: obs, reward, done, info """ - self._last_obs = self.env.step(action) - terminated = self.env.episode_over - return self._last_obs, terminated + obs = self._env.step(action) + done = self._env.episode_over + info = self._env.get_metrics() + reward = info.get('reward', 0.0) + return obs, reward, done, info def close(self): - print('Vln Env close') - self.env.close() + print('Habitat Env close') + self._env.close() def render(self): - self.env.render() + self._env.render() def get_observation(self) -> Dict[str, Any]: - return self.env.get_observations() + return self._env.get_observations() def get_metrics(self) -> Dict[str, Any]: - return self.env.get_metrics() - - def sort_episodes_by_scene(self, key_list: List[str]): - sorted_episodes = [] - episode_dict = {ep.episode_id: ep for ep in self.episodes} - for key in key_list: - if key in episode_dict: - sorted_episodes.append(episode_dict[key]) - self.episodes = sorted_episodes + return self._env.get_metrics() + + def get_current_episode(self): + return self._env.current_episode diff --git a/internnav/internnav_habitat/habitat_n1_agent_temp.py b/internnav/internnav_habitat/habitat_n1_agent_temp.py index 598ab25..0cea910 100644 --- a/internnav/internnav_habitat/habitat_n1_agent_temp.py +++ b/internnav/internnav_habitat/habitat_n1_agent_temp.py @@ -3,8 +3,6 @@ import os import re import sys -import time -from datetime import datetime from pathlib import Path import numpy as np @@ -15,23 +13,34 @@ from collections import OrderedDict from PIL import Image -from transformers import AutoProcessor +from transformers import AutoProcessor, Qwen2_5_VLForConditionalGeneration from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM -from internnav.model.utils.vln_utils import S2Output, split_and_clean, traj_to_actions +from internnav.model.utils.vln_utils import split_and_clean, traj_to_actions DEFAULT_IMAGE_TOKEN = "" -class InternVLAN1AsyncAgent: - def __init__(self, args): - self.device = torch.device(args.device) - self.save_dir = "test_data/" + datetime.now().strftime("%Y%m%d_%H%M%S") - print(f"args.model_path{args.model_path}") +class HabitatAgent: + def __init__(self, model, processor, args, device): + self.model = model + self.processor = processor + self.args = args + self.device = device + # ------------------------------------- model ------------------------------------------ + processor = AutoProcessor.from_pretrained(args.model_path) + processor.tokenizer.padding_side = 'left' - device = torch.device("cuda") + device = torch.device(f"cuda:{self.local_rank}") if args.mode == 'dual_system': - self.model = InternVLAN1ForCausalLM.from_pretrained( + model = InternVLAN1ForCausalLM.from_pretrained( + args.model_path, + torch_dtype=torch.bfloat16, + attn_implementation="flash_attention_2", + device_map={"": device}, + ) + elif args.mode == 'system2': + model = Qwen2_5_VLForConditionalGeneration.from_pretrained( args.model_path, torch_dtype=torch.bfloat16, attn_implementation="flash_attention_2", @@ -40,20 +49,17 @@ def __init__(self, args): else: raise ValueError(f"Invalid mode: {args.mode}") - self.model.eval() - self.model.to(self.device) + model.eval() + self.device = device - self.processor = AutoProcessor.from_pretrained(args.model_path) - self.processor.tokenizer.padding_side = 'left' + self.model = model + self.processor = processor - self.resize_w = args.resize_w - self.resize_h = args.resize_h - self.num_history = args.num_history - self.PLAN_STEP_GAP = args.plan_step_gap - - prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint's coordinates in the image. Please output STOP when you have successfully completed the task." + # refactor: this part used in three places + prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint\'s coordinates in the image. Please output STOP when you have successfully completed the task." answer = "" self.conversation = [{"from": "human", "value": prompt}, {"from": "gpt", "value": answer}] + self.conjunctions = [ 'you can see ', 'in front of you is ', @@ -74,190 +80,671 @@ def __init__(self, args): } ) + self.objectnav_instructions = ["Search for the {target_object}."] + + self.num_frames = args.num_frames + self.num_future_steps = args.num_future_steps + self.num_history = args.num_history + + def reset(self, episode, env): + """Clear all per-episode state.""" self.rgb_list = [] - self.depth_list = [] - self.pose_list = [] - self.episode_idx = 0 - self.conversation_history = [] - self.llm_output = "" - self.past_key_values = None - self.last_s2_idx = -100 - - # output - self.output_action = None - self.output_latent = None - self.output_pixel = None - self.pixel_goal_rgb = None - self.pixel_goal_depth = None - - def reset(self): - self.rgb_list = [] - self.depth_list = [] - self.pose_list = [] - self.episode_idx = 0 - self.conversation_history = [] - self.llm_output = "" - self.past_key_values = None - - self.output_action = None - self.output_latent = None - self.output_pixel = None - self.pixel_goal_rgb = None - self.pixel_goal_depth = None - - self.save_dir = "test_data/" + datetime.now().strftime("%Y%m%d_%H%M%S") - os.makedirs(self.save_dir, exist_ok=True) + self.action_seq = [] + self.output_ids = None + self.goal = None + self.messages = [] + self.local_actions = [] + self.forward_action = 0 + + # maybe store initial transforms you need for this ep: + self.initial_agent_state = env.get_agent_state() + self.initial_height = self.initial_agent_state.position[1] + + def act(self, observations, env, info): + """ + Pure policy step: + - given obs (rgb/depth/gps/compass) + optional env/info + - update internal state (goal, messages, local_actions, etc.) + - return a single action (int) + """ + # 1) unpack obs: rgb, depth, gps, compass, etc. + # 2) handle 'look down' case + # 3) maybe call LLM to get pixel goal or action_seq + # 4) maybe call diffusion policy to get local_actions + # 5) choose final `action` (0..5) + # 6) return `action` + return action + + def _run_local_eval(self, idx=0) -> None: # noqa: C901 + """ + Run local evaluation on this rank. + + Important: if resuming from previous results, need to read from / write to "self.output_path/progress.json". + For each episode, save the result dict in jsonl format to that file. + In Env, the episodes are already filtered by this file, tasks that have the same (scene_id, episode_id) are skipped. + + + Returns + ------- + dict[str, Tensor]: + { + "sucs": [N_local], + "spls": [N_local], + "oss": [N_local], + "nes": [N_local], + } + """ + # Create / get env + # self.env = self.env # HabitatEnv from DistributedEvaluator + + sucs, spls, oss, nes = [], [], [], [] + self.model.eval() + + # resume from previous results + # TODO: Current read write op is not distributed safe + if os.path.exists(os.path.join(self.output_path, 'progress.json')): + with open(os.path.join(self.output_path, 'progress.json'), 'r') as f: + for line in f.readlines(): + res = json.loads(line) + if "scene_id" not in res: + print("This evaluation has already finished!") + return ( + torch.tensor(sucs).to(self.device), + torch.tensor(spls).to(self.device), + torch.tensor(oss).to(self.device), + torch.tensor(nes).to(self.device), + torch.tensor(len(sucs)).to(self.device), + ) + if idx == 0: # noqa: F405 TODO this need to keep in evaluator + sucs.append(res['success']) + spls.append(res['spl']) + oss.append(res['os']) + nes.append(res['ne']) + + # Episode loop is now driven by env.reset() + env.is_running + process_bar = tqdm.tqdm(total=len(self.env.episodes), desc=f"Eval Epoch {self.epoch} Rank {idx}") + while self.env.is_running: + + # ------------ 1. Start of episode ------------ + observations = self.env.reset() + if not self.env.is_running or observations is None: + break + + # ---- episode meta (scene_id, episode_id, instruction) ---- + # we get it from the underlying habitat env + episode = self.env.get_current_episode() + scene_id = episode.scene_id.split('/')[-2] + episode_id = int(episode.episode_id) + episode_instruction = ( + episode.instruction.instruction_text if 'objectnav' not in self.config_path else episode.object_category + ) + print("episode start", episode_instruction) + + agent_state = self.env._env.sim.get_agent_state() + rotation = agent_state.rotation + translation = agent_state.position + rotation_matrix = quaternion.as_rotation_matrix(rotation) + transformation_matrix = np.eye(4) + transformation_matrix[:3, :3] = rotation_matrix + transformation_matrix[:3, 3] = translation + + agent = ShortestPathFollower(self.env._env.sim, 0.25, False) + + os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) + Image.fromarray(observations['rgb']).save( + os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{idx}.jpg') + ) + + vis_frames = [] + step_id = 0 + + if self.save_video: + os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True) + initial_height = self.env._env.sim.get_agent_state().position[1] + + rgb_list = [] + action_seq = [] + output_ids = None + + goal = None + action = None + messages = [] + local_actions = [] + + done = False + + # ---------- 2. Episode step loop ----------- + while (not done) and (step_id <= self.max_steps_per_episode): + # refactor agent get action + rgb = observations["rgb"] + depth = observations["depth"] + x, y = observations["gps"] + camera_yaw = observations["compass"][0] + depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) + depth = depth * (self._max_depth - self._min_depth) + self._min_depth + depth = depth * 1000 + + agent_state = self.env._env.sim.get_agent_state() + height = agent_state.position[1] - initial_height + camera_position = np.array([x, -y, self._camera_height + height]) + tf_camera_to_episodic = ( + self.xyz_yaw_pitch_to_tf_matrix(camera_position, camera_yaw, np.deg2rad(30)) + @ self.get_axis_align_matrix() + ) + + image = Image.fromarray(rgb).convert('RGB') + save_raw_image = image.copy() + + save_dot = False + if action == 5: + look_down_image = image + save_raw_image = look_down_image.copy() + look_down_depth, resize_shape = self.preprocess_depth_image_v2( + Image.fromarray(depth.astype(np.uint16), mode='I;16'), + do_depth_scale=True, + depth_scale=1000, + target_height=224, + target_width=224, + ) + look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() + look_down_depth[look_down_depth > 5.0] = 5.0 + else: + image = image.resize((self.args.resize_w, self.args.resize_h)) + rgb_list.append(image) + + if self.args.mode == 'dual_system': + down_observations, _, done, _ = self.env.step(5) + down_observations, _, done, _ = self.env.step(5) + + look_down_image = Image.fromarray(down_observations["rgb"]).convert('RGB') + depth = down_observations["depth"] + depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) + depth = depth * (self._max_depth - self._min_depth) + self._min_depth + depth = depth * 1000 + look_down_depth, resize_shape = self.preprocess_depth_image_v2( + Image.fromarray(depth.astype(np.uint16), mode='I;16'), + do_depth_scale=True, + depth_scale=1000, + target_height=224, + target_width=224, + ) + look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() + look_down_depth[look_down_depth > 5.0] = 5.0 + + self.env.step(4) + self.env.step(4) + + info = self.env.get_metrics() + + if len(action_seq) == 0 and goal is None: + if action != 5: + sources = copy.deepcopy(self.conversation) + sources[0]["value"] = sources[0]["value"].replace( + '.', episode.instruction.instruction_text[:-1] + ) + cur_images = rgb_list[-1:] + if step_id == 0: + history_id = [] + else: + history_id = np.unique( + np.linspace(0, step_id - 1, self.num_history, dtype=np.int32) + ).tolist() + placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) + sources[0]["value"] += f' These are your historical observations: {placeholder}.' + + history_id = sorted(history_id) + print('history_idddddddd', step_id, history_id) + input_images = [rgb_list[i] for i in history_id] + cur_images + input_img_id = 0 + else: + assert action == 5 + sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] + input_images += [look_down_image] + # messages.append( + # {'role': 'assistant', 'content': [{'type': 'text', 'text': llm_outputs}]} # noqa: F405 + # ) + input_img_id = -1 + + prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN + sources[0]["value"] += f" {prompt}." + print('sources', step_id, sources) + prompt_instruction = copy.deepcopy(sources[0]["value"]) + parts = split_and_clean(prompt_instruction) + + content = [] + for i in range(len(parts)): + if parts[i] == "": + content.append({"type": "image", "image": input_images[input_img_id]}) + input_img_id += 1 + else: + content.append({"type": "text", "text": parts[i]}) + + messages.append({'role': 'user', 'content': content}) + + print('step_id', step_id, 'messages:', messages) + + text = self.processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True) + + inputs = self.processor(text=[text], images=input_images, return_tensors="pt").to(self.model.device) + + with torch.no_grad(): + output_ids = self.model.generate(**inputs, max_new_tokens=128, do_sample=False) + + llm_outputs = self.processor.tokenizer.decode( + output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True + ) + print('step_id:', step_id, 'output text:', llm_outputs) + + if bool(re.search(r'\d', llm_outputs)): + forward_action = 0 + coord = [int(c) for c in re.findall(r'\d+', llm_outputs)] + pixel_goal = [int(coord[1]), int(coord[0])] + + intrinsic_matrix = self.get_intrinsic_matrix( + self.config.habitat.simulator.agents.main_agent.sim_sensors.rgb_sensor + ) + goal = self.pixel_to_gps(pixel_goal, depth / 1000, intrinsic_matrix, tf_camera_to_episodic) + print('before', goal, depth.shape) + goal = (transformation_matrix @ np.array([-goal[1], 0, -goal[0], 1]))[:3] + + if not self.env._env.sim.pathfinder.is_navigable(np.array(goal)): + goal = np.array(self.env._env.sim.pathfinder.snap_point(np.array(goal))) + + # look down --> horizontal + self.env.step(4) + self.env.step(4) + + # Forking logic based on mode + if self.args.mode == 'system2': + action = agent.get_next_action(goal) + if action == 0: + goal = None + output_ids = None + action = 2 # random action + print('conduct a random action 2') + observations = self.env.step(action) + step_id += 1 + messages = [] + continue + else: # dual-system logic + local_actions = [] + pixel_values = inputs.pixel_values + image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) + + with torch.no_grad(): + traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) + + # prepocess align with navdp + image_dp = ( + torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 + ) + pix_goal_image = copy.copy(image_dp) + images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) + depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) + pix_goal_depth = copy.copy(depth_dp) + depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) + + with torch.no_grad(): + dp_actions = self.model.generate_traj( + traj_latents, images_dp, depths_dp, use_async=True + ) + + random_choice = np.random.choice(dp_actions.shape[0]) + if self.args.continuous_traj: + action_list = traj_to_actions(dp_actions) + if len(action_list) < 8: + action_list += [0] * (8 - len(action_list)) + else: + action_list = chunk_token(dp_actions[random_choice]) + + local_actions = action_list + if len(local_actions) >= 4: + local_actions = local_actions[:4] + action = local_actions[0] + if action == 0: + goal = None + output_ids = None + action = 2 # random action + print('conduct a random action 2') + observations = self.env.step(action) + step_id += 1 + messages = [] + continue + + print('predicted goal', pixel_goal, goal, flush=True) + else: + action_seq = self.parse_actions(llm_outputs) + print('actions', action_seq, flush=True) + + if len(action_seq) != 0: + action = action_seq[0] + action_seq.pop(0) + elif goal is not None: + # Forking logic based on mode + if self.args.mode == 'system2': + action = agent.get_next_action(goal) + action = action.detach().cpu().numpy()[0] if isinstance(action, torch.Tensor) else action + action = action[0] if hasattr(action, "__len__") else action + else: # dual-system logic + if len(local_actions) == 0: + # navdp + local_actions = [] + image_dp = ( + torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 + ) + + images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) + depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) + + depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) + with torch.no_grad(): + dp_actions = self.model.generate_traj( + traj_latents, images_dp, depths_dp, use_async=True + ) + + random_choice = np.random.choice(dp_actions.shape[0]) + if self.args.continuous_traj: + action_list = traj_to_actions(dp_actions) + if len(action_list) < 8: + action_list += [0] * (8 - len(action_list)) + else: + action_list = chunk_token(dp_actions[random_choice]) + print("first action_list", action_list) + + local_actions = action_list + if len(local_actions) >= 4: + local_actions = local_actions[:4] + # if len(local_actions) >= 2: + # local_actions = local_actions[:2] + + print("local_actions", local_actions) + + action = local_actions.pop(0) + # navdp + else: + action = local_actions.pop(0) + + forward_action += 1 + print('forward_action', forward_action, flush=True) + if forward_action > 8: + goal = None + output_ids = None + messages = [] + step_id += 1 + forward_action = 0 + local_actions = [] + continue + if action == 0: + goal = None + output_ids = None + messages = [] + step_id += 1 + forward_action = 0 + local_actions = [] + continue + else: + action = 0 + + if info['top_down_map'] is not None: + if save_dot: + save_raw_image = self.dot_matrix_two_dimensional( + save_raw_image, save_img=False, save_path=f'test_{step_id}.jpg', pixel_goal=pixel_goal + ) + if self.save_video: + frame = observations_to_image({'rgb': np.asarray(save_raw_image)}, info) + vis_frames.append(frame) + + print("step_id", step_id, "action", action) + + # refactor: core + if action == 5: + self.env.step(action) + observations, _, done, _ = self.env.step(action) + else: + observations, _, done, _ = self.env.step(action) + step_id += 1 + messages = [] + + # ---------- 3. End of episode ----------- + # Update result and write progress to the output_path/progress.json + + process_bar.update(1) + + # After the episode finishes, collect metrics: + metrics = self.env.get_metrics() + + sucs.append(metrics['success']) + spls.append(metrics['spl']) + oss.append(metrics['oracle_success']) + nes.append(metrics["distance_to_goal"]) + + print( + f"scene_episode {scene_id}_{episode_id:04d} success: {metrics['success']}, " + f"spl: {metrics['spl']}, os: {metrics['oracle_success']}, " + f"ne: {metrics['distance_to_goal']}" + ) + + # Write per-episode result.json entry (still per-rank) + result = { + "scene_id": scene_id, + "episode_id": episode_id, + "success": metrics["success"], + "spl": metrics["spl"], + "os": metrics['oracle_success'], + "ne": metrics["distance_to_goal"], + "steps": step_id, + "episode_instruction": episode_instruction, + } + os.makedirs(self.output_path, exist_ok=True) + with open(os.path.join(self.output_path, 'progress.json'), 'a') as f: + f.write(json.dumps(result) + "\n") + + self.env.close() + + return { + "sucs": torch.tensor(sucs, device=self.device), + "spls": torch.tensor(spls, device=self.device), + "oss": torch.tensor(oss, device=self.device), + "nes": torch.tensor(nes, device=self.device), + } def parse_actions(self, output): action_patterns = '|'.join(re.escape(action) for action in self.actions2idx) + # import ipdb; ipdb.set_trace() regex = re.compile(action_patterns) matches = regex.findall(output) actions = [self.actions2idx[match] for match in matches] actions = itertools.chain.from_iterable(actions) return list(actions) - def step_no_infer(self, rgb, depth, pose): - image = Image.fromarray(rgb).convert('RGB') - image = image.resize((self.resize_w, self.resize_h)) - self.rgb_list.append(image) - image.save(f"{self.save_dir}/debug_raw_{self.episode_idx: 04d}.jpg") - self.episode_idx += 1 - - def trajectory_tovw(self, trajectory, kp=1.0): - subgoal = trajectory[-1] - linear_vel, angular_vel = kp * np.linalg.norm(subgoal[:2]), kp * subgoal[2] - linear_vel = np.clip(linear_vel, 0, 0.5) - angular_vel = np.clip(angular_vel, -0.5, 0.5) - return linear_vel, angular_vel - - def step(self, rgb, depth, pose, instruction, intrinsic, look_down=False): - dual_sys_output = S2Output() - no_output_flag = self.output_action is None and self.output_latent is None - if (self.episode_idx - self.last_s2_idx > self.PLAN_STEP_GAP) or look_down or no_output_flag: - self.output_action, self.output_latent, self.output_pixel = self.step_s2( - rgb, depth, pose, instruction, intrinsic, look_down - ) - self.last_s2_idx = self.episode_idx - dual_sys_output.output_pixel = self.output_pixel - self.pixel_goal_rgb = copy.deepcopy(rgb) - self.pixel_goal_depth = copy.deepcopy(depth) - else: - self.step_no_infer(rgb, depth, pose) - - if self.output_action is not None: - dual_sys_output.output_action = copy.deepcopy(self.output_action) - self.output_action = None - elif self.output_latent is not None: - processed_pixel_rgb = np.array(Image.fromarray(self.pixel_goal_rgb).resize((224, 224))) / 255 - processed_pixel_depth = np.array(Image.fromarray(self.pixel_goal_depth).resize((224, 224))) - processed_rgb = np.array(Image.fromarray(rgb).resize((224, 224))) / 255 - processed_depth = np.array(Image.fromarray(depth).resize((224, 224))) - rgbs = ( - torch.stack([torch.from_numpy(processed_pixel_rgb), torch.from_numpy(processed_rgb)]) - .unsqueeze(0) - .to(self.device) - ) - depths = ( - torch.stack([torch.from_numpy(processed_pixel_depth), torch.from_numpy(processed_depth)]) - .unsqueeze(0) - .unsqueeze(-1) - .to(self.device) - ) - trajectories = self.step_s1(self.output_latent, rgbs, depths) + def preprocess_depth_image_v2( + self, depth_image, do_depth_scale=True, depth_scale=1000, target_height=None, target_width=None + ): + if target_height is None: + target_height = self.image_processor.crop_size['height'] # 384 + target_width = self.image_processor.crop_size['width'] # 384 - dual_sys_output.output_trajectory = traj_to_actions(trajectories, use_discrate_action=False) + resized_depth_image = depth_image.resize((target_width, target_height), Image.NEAREST) - return dual_sys_output + img = to_numpy_array(resized_depth_image) + if do_depth_scale: + img = img / depth_scale - def step_s2(self, rgb, depth, pose, instruction, intrinsic, look_down=False): - image = Image.fromarray(rgb).convert('RGB') - if not look_down: - image = image.resize((self.resize_w, self.resize_h)) - self.rgb_list.append(image) - image.save(f"{self.save_dir}/debug_raw_{self.episode_idx: 04d}.jpg") - else: - image.save(f"{self.save_dir}/debug_raw_{self.episode_idx: 04d}_look_down.jpg") - if not look_down: - self.conversation_history = [] - self.past_key_values = None - - sources = copy.deepcopy(self.conversation) - sources[0]["value"] = sources[0]["value"].replace('.', instruction) - cur_images = self.rgb_list[-1:] - if self.episode_idx == 0: - history_id = [] - else: - history_id = np.unique(np.linspace(0, self.episode_idx - 1, self.num_history, dtype=np.int32)).tolist() - placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) - sources[0]["value"] += f' These are your historical observations: {placeholder}.' - - history_id = sorted(history_id) - self.input_images = [self.rgb_list[i] for i in history_id] + cur_images - input_img_id = 0 - self.episode_idx += 1 - else: - self.input_images.append(image) - input_img_id = -1 - assert self.llm_output != "", "Last llm_output should not be empty when look down" - sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] - self.conversation_history.append( - {'role': 'assistant', 'content': [{'type': 'text', 'text': self.llm_output}]} - ) + return img, (target_width, target_height) - prompt = self.conjunctions[0] + DEFAULT_IMAGE_TOKEN - sources[0]["value"] += f" {prompt}." - prompt_instruction = copy.deepcopy(sources[0]["value"]) - parts = split_and_clean(prompt_instruction) - - content = [] - for i in range(len(parts)): - if parts[i] == "": - content.append({"type": "image", "image": self.input_images[input_img_id]}) - input_img_id += 1 - else: - content.append({"type": "text", "text": parts[i]}) - - self.conversation_history.append({'role': 'user', 'content': content}) - - text = self.processor.apply_chat_template(self.conversation_history, tokenize=False, add_generation_prompt=True) - - inputs = self.processor(text=[text], images=self.input_images, return_tensors="pt").to(self.device) - t0 = time.time() - with torch.no_grad(): - outputs = self.model.generate( - **inputs, - max_new_tokens=128, - do_sample=False, - use_cache=True, - past_key_values=self.past_key_values, - return_dict_in_generate=True, - raw_input_ids=copy.deepcopy(inputs.input_ids), - ) - output_ids = outputs.sequences + def get_intrinsic_matrix(self, sensor_cfg) -> np.ndarray: + width = sensor_cfg.width + height = sensor_cfg.height + fov = sensor_cfg.hfov + fx = (width / 2.0) / np.tan(np.deg2rad(fov / 2.0)) + fy = fx # Assuming square pixels (fx = fy) + cx = (width - 1.0) / 2.0 + cy = (height - 1.0) / 2.0 - t1 = time.time() - self.llm_output = self.processor.tokenizer.decode( - output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True + intrinsic_matrix = np.array( + [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] ) - with open(f"{self.save_dir}/llm_output_{self.episode_idx: 04d}.txt", 'w') as f: - f.write(self.llm_output) - self.last_output_ids = copy.deepcopy(output_ids[0]) - self.past_key_values = copy.deepcopy(outputs.past_key_values) - print(f"output {self.episode_idx} {self.llm_output} cost: {t1 - t0}s") - if bool(re.search(r'\d', self.llm_output)): - coord = [int(c) for c in re.findall(r'\d+', self.llm_output)] - pixel_goal = [int(coord[1]), int(coord[0])] - image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) - pixel_values = inputs.pixel_values - t0 = time.time() - with torch.no_grad(): - traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) - return None, traj_latents, pixel_goal - - else: - action_seq = self.parse_actions(self.llm_output) - return action_seq, None, None - - def step_s1(self, latent, rgb, depth): - all_trajs = self.model.generate_traj(latent, rgb, depth, use_async=True) - return all_trajs + return intrinsic_matrix + + def get_axis_align_matrix(self): + ma = np.array([[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]) + return ma + + def xyz_yaw_to_tf_matrix(self, xyz: np.ndarray, yaw: float) -> np.ndarray: + x, y, z = xyz + transformation_matrix = np.array( + [ + [np.cos(yaw), -np.sin(yaw), 0, x], + [np.sin(yaw), np.cos(yaw), 0, y], + [0, 0, 1, z], + [0, 0, 0, 1], + ] + ) + return transformation_matrix + + def xyz_pitch_to_tf_matrix(self, xyz: np.ndarray, pitch: float) -> np.ndarray: + """Converts a given position and pitch angle to a 4x4 transformation matrix. + + Args: + xyz (np.ndarray): A 3D vector representing the position. + pitch (float): The pitch angle in radians for y axis. + Returns: + np.ndarray: A 4x4 transformation matrix. + """ + + x, y, z = xyz + transformation_matrix = np.array( + [ + [np.cos(pitch), 0, np.sin(pitch), x], + [0, 1, 0, y], + [-np.sin(pitch), 0, np.cos(pitch), z], + [0, 0, 0, 1], + ] + ) + return transformation_matrix + + def xyz_yaw_pitch_to_tf_matrix(self, xyz: np.ndarray, yaw: float, pitch: float) -> np.ndarray: + """Converts a given position and yaw, pitch angles to a 4x4 transformation matrix. + + Args: + xyz (np.ndarray): A 3D vector representing the position. + yaw (float): The yaw angle in radians. + pitch (float): The pitch angle in radians for y axis. + Returns: + np.ndarray: A 4x4 transformation matrix. + """ + x, y, z = xyz + rot1 = self.xyz_yaw_to_tf_matrix(xyz, yaw)[:3, :3] + rot2 = self.xyz_pitch_to_tf_matrix(xyz, pitch)[:3, :3] + transformation_matrix = np.eye(4) + transformation_matrix[:3, :3] = rot1 @ rot2 + transformation_matrix[:3, 3] = xyz + return transformation_matrix + + def pixel_to_gps(self, pixel, depth, intrinsic, tf_camera_to_episodic): + ''' + Args: + pixel: (2,) - [u, v] pixel coordinates + depth: (H, W) - depth image where depth[v, u] gives depth in meters + intrinsic: (4, 4) - camera intrinsic matrix + tf_camera_to_episodic: (4, 4) - transformation from camera to episodic frame + Returns: + (x, y): (x, y) coordinates in the episodic frame + ''' + v, u = pixel + z = depth[v, u] + print("depthhhhhhhhhhhhhh", z) + + x = (u - intrinsic[0, 2]) * z / intrinsic[0, 0] + y = (v - intrinsic[1, 2]) * z / intrinsic[1, 1] + point_camera = np.array([x, y, z, 1.0]) + + # Transform to episodic frame + point_episodic = tf_camera_to_episodic @ point_camera + point_episodic = point_episodic[:3] / point_episodic[3] + + x = point_episodic[0] + y = point_episodic[1] + + return (x, y) # same as habitat gps + + def dot_matrix_two_dimensional( + self, + image_or_image_path, + save_path=None, + dots_size_w=8, + dots_size_h=8, + save_img=False, + font_path='fonts/arial.ttf', + pixel_goal=None, + ): + """ + takes an original image as input, save the processed image to save_path. Each dot is labeled with two-dimensional Cartesian coordinates (x,y). Suitable for single-image tasks. + control args: + 1. dots_size_w: the number of columns of the dots matrix + 2. dots_size_h: the number of rows of the dots matrix + """ + with open_image(image_or_image_path) as img: + if img.mode != 'RGB': + img = img.convert('RGB') + draw = ImageDraw.Draw(img, 'RGB') + + width, height = img.size + grid_size_w = dots_size_w + 1 + grid_size_h = dots_size_h + 1 + cell_width = width / grid_size_w + cell_height = height / grid_size_h + + font = ImageFont.truetype(font_path, width // 40) # Adjust font size if needed; default == width // 40 + + target_i = target_j = None + if pixel_goal is not None: + y_pixel, x_pixel = pixel_goal[0], pixel_goal[1] + # Validate pixel coordinates + if not (0 <= x_pixel < width and 0 <= y_pixel < height): + raise ValueError(f"pixel_goal {pixel_goal} exceeds image dimensions ({width}x{height})") + + # Convert to grid coordinates + target_i = round(x_pixel / cell_width) + target_j = round(y_pixel / cell_height) + + # Validate grid bounds + if not (1 <= target_i <= dots_size_w and 1 <= target_j <= dots_size_h): + raise ValueError( + f"pixel_goal {pixel_goal} maps to grid ({target_j},{target_i}), " + f"valid range is (1,1)-({dots_size_h},{dots_size_w})" + ) + + count = 0 + + for j in range(1, grid_size_h): + for i in range(1, grid_size_w): + x = int(i * cell_width) + y = int(j * cell_height) + + pixel_color = img.getpixel((x, y)) + # choose a more contrasting color from black and white + if pixel_color[0] + pixel_color[1] + pixel_color[2] >= 255 * 3 / 2: + opposite_color = (0, 0, 0) + else: + opposite_color = (255, 255, 255) + + if pixel_goal is not None and i == target_i and j == target_j: + opposite_color = (255, 0, 0) # Red for target + + circle_radius = width // 240 # Adjust dot size if needed; default == width // 240 + draw.ellipse( + [(x - circle_radius, y - circle_radius), (x + circle_radius, y + circle_radius)], + fill=opposite_color, + ) + + text_x, text_y = x + 3, y + count_w = count // dots_size_w + count_h = count % dots_size_w + label_str = f"({count_w+1},{count_h+1})" + draw.text((text_x, text_y), label_str, fill=opposite_color, font=font) + count += 1 + if save_img: + print(">>> dots overlaid image processed, stored in", save_path) + img.save(save_path) + return img diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py index ef18ec0..ba86d6d 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -33,7 +33,6 @@ try: import habitat - from habitat import Env from habitat.config.default import get_agent_config from habitat.config.default_structured_configs import ( CollisionsMeasurementConfig, @@ -41,10 +40,7 @@ TopDownMapMeasurementConfig, ) from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower - from habitat.utils.visualizations.utils import ( - images_to_video, - observations_to_image, - ) + from habitat.utils.visualizations.utils import observations_to_image from habitat_baselines.config.default import get_config as get_habitat_config except Exception as e: print("Habitat Error:", e) @@ -58,9 +54,10 @@ class HabitatVlnEvaluator(DistributedEvaluator): def __init__(self, cfg: EvalCfg): args = argparse.Namespace(**cfg.eval_settings) - self.args = args self.save_video = args.save_video self.epoch = args.epoch + self.max_steps_per_episode = args.max_steps_per_episode + self.output_path = args.output_path # create habitat config self.config_path = cfg.env.env_settings['config_path'] @@ -90,31 +87,34 @@ def __init__(self, cfg: EvalCfg): } ) cfg.env.env_settings['habitat_config'] = self.config + cfg.env.env_settings['output_path'] = self.output_path # init agent and env super().__init__(cfg) # ------------------------------------- model ------------------------------------------ - processor = AutoProcessor.from_pretrained(args.model_path) + self.model_args = argparse.Namespace(**cfg.agent.model_settings) + + processor = AutoProcessor.from_pretrained(self.model_args.model_path) processor.tokenizer.padding_side = 'left' device = torch.device(f"cuda:{self.local_rank}") - if args.mode == 'dual_system': + if self.model_args.mode == 'dual_system': model = InternVLAN1ForCausalLM.from_pretrained( - args.model_path, + self.model_args.model_path, torch_dtype=torch.bfloat16, attn_implementation="flash_attention_2", device_map={"": device}, ) - elif args.mode == 'system2': + elif self.model_args.mode == 'system2': model = Qwen2_5_VLForConditionalGeneration.from_pretrained( - args.model_path, + self.model_args.model_path, torch_dtype=torch.bfloat16, attn_implementation="flash_attention_2", device_map={"": device}, ) else: - raise ValueError(f"Invalid mode: {args.mode}") + raise ValueError(f"Invalid mode: {self.model_args.mode}") model.eval() self.device = device @@ -149,9 +149,9 @@ def __init__(self, cfg: EvalCfg): self.objectnav_instructions = ["Search for the {target_object}."] - self.num_frames = args.num_frames - self.num_future_steps = args.num_future_steps - self.num_history = args.num_history + self.num_frames = self.model_args.num_frames + self.num_future_steps = self.model_args.num_future_steps + self.num_history = self.model_args.num_history # ------------------------------------- old ------------------------------------------ self._camera_height = self.sim_sensors_config.rgb_sensor.position[1] @@ -162,8 +162,6 @@ def __init__(self, cfg: EvalCfg): self._camera_fov = camera_fov_rad self._fx = self._fy = self.sim_sensors_config.depth_sensor.width / (2 * np.tan(camera_fov_rad / 2)) - # ------------------------------------- remove ------------------------------------------ - def eval_action(self): """ Run local episodes on this rank. @@ -171,10 +169,10 @@ def eval_action(self): Returns dict[str, Tensor] on GPU (1D tensors of same length). """ # Old behavior was something like: - # sucs, spls, oss, nes, ep_num = self.eval_action(self.args.local_rank) + # sucs, spls, oss, nes, ep_num = self.eval_action(self.local_rank) # Now just implement the actual eval here and return dict. - sucs, spls, oss, nes, _ = self._run_local_eval(self.args.local_rank) + sucs, spls, oss, nes, _ = self._run_local_eval(self.local_rank) return { "sucs": sucs, # shape [N_local] @@ -203,126 +201,153 @@ def calc_metrics(self, global_metrics: dict) -> dict: # "length" will be filled by base class } - def _eval_action(self): - obs = self.env.reset() - action = self.agent.reset() - while not self.env.is_running(): - action = self.agent.step(action, obs) - obs, terminated = self.env.step(action) - if terminated: - obs = self.env.reset() - self.agent.reset() - self.env.update_metric() - - # refactor - def config_env(self) -> Env: - env = Env(config=self.config) - env.episodes = env.episodes[0:2] # for debug - return env - def _run_local_eval(self, idx=0) -> None: # noqa: C901 - self.model.eval() - env = self.config_env() - scene_episode_dict = {} - for episode in env.episodes: - if episode.scene_id not in scene_episode_dict: - scene_episode_dict[episode.scene_id] = [] - scene_episode_dict[episode.scene_id].append(episode) - - intrinsic_matrix = self.get_intrinsic_matrix( - self.config.habitat.simulator.agents.main_agent.sim_sensors.rgb_sensor - ) + """ + Run local evaluation on this rank. + + Important: if resuming from previous results, need to read from / write to "self.output_path/progress.json". + For each episode, save the result dict in jsonl format to that file. + In Env, the episodes are already filtered by this file, tasks that have the same (scene_id, episode_id) are skipped. + + + Returns + ------- + dict[str, Tensor]: + { + "sucs": [N_local], + "spls": [N_local], + "oss": [N_local], + "nes": [N_local], + } + """ + # Create / get env + # self.env = self.env # HabitatEnv from DistributedEvaluator + sucs, spls, oss, nes = [], [], [], [] - done_res = [] + self.model.eval() - if os.path.exists(os.path.join(self.output_path, 'result.json')): - with open(os.path.join(self.output_path, 'result.json'), 'r') as f: + # resume from previous results + # TODO: Current read write op is not distributed safe + if os.path.exists(os.path.join(self.output_path, 'progress.json')): + with open(os.path.join(self.output_path, 'progress.json'), 'r') as f: for line in f.readlines(): res = json.loads(line) - done_res.append([res["scene_id"], res["episode_id"]]) + if "scene_id" not in res: + print("This evaluation has already finished!") + return ( + torch.tensor(sucs).to(self.device), + torch.tensor(spls).to(self.device), + torch.tensor(oss).to(self.device), + torch.tensor(nes).to(self.device), + torch.tensor(len(sucs)).to(self.device), + ) if idx == 0: # noqa: F405 TODO this need to keep in evaluator sucs.append(res['success']) spls.append(res['spl']) oss.append(res['os']) nes.append(res['ne']) - # refactor: sort to scene: [episode] but nothing actually used - for scene in sorted(scene_episode_dict.keys()): - episodes = scene_episode_dict[scene] - scene_id = scene.split('/')[-2] - print(f"scene_id = {scene_id}") - process_bar = tqdm.tqdm(range(len(episodes[idx :: self.world_size])), desc=f"scene {scene_id}") - for episode in episodes[idx :: self.world_size]: - episode_instruction = ( - episode.instruction.instruction_text - if 'objectnav' not in self.config_path - else episode.object_category - ) - print("episode start", episode_instruction) - episode_id = int(episode.episode_id) - if [scene_id, episode_id] in done_res: - continue - - # refactor env warm up - env.current_episode = episode - observations = env.reset() - - agent_state = env.sim.get_agent_state() - rotation = agent_state.rotation - translation = agent_state.position - rotation_matrix = quaternion.as_rotation_matrix(rotation) - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rotation_matrix - transformation_matrix[:3, 3] = translation - - agent = ShortestPathFollower(env.sim, 0.25, False) - - os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) - Image.fromarray(observations['rgb']).save( - os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{idx}.jpg') + # Episode loop is now driven by env.reset() + env.is_running + process_bar = tqdm.tqdm(total=len(self.env.episodes), desc=f"Eval Epoch {self.epoch} Rank {idx}") + while self.env.is_running: + + # ------------ 1. Start of episode ------------ + observations = self.env.reset() + if not self.env.is_running or observations is None: + break + + # ---- episode meta (scene_id, episode_id, instruction) ---- + # we get it from the underlying habitat env + episode = self.env.get_current_episode() + scene_id = episode.scene_id.split('/')[-2] + episode_id = int(episode.episode_id) + episode_instruction = ( + episode.instruction.instruction_text if 'objectnav' not in self.config_path else episode.object_category + ) + print("episode start", episode_instruction) + + agent_state = self.env._env.sim.get_agent_state() + rotation = agent_state.rotation + translation = agent_state.position + rotation_matrix = quaternion.as_rotation_matrix(rotation) + transformation_matrix = np.eye(4) + transformation_matrix[:3, :3] = rotation_matrix + transformation_matrix[:3, 3] = translation + + agent = ShortestPathFollower(self.env._env.sim, 0.25, False) + + # save first frame per rank to validate sim quality + os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) + Image.fromarray(observations['rgb']).save( + os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{idx}.jpg') + ) + + vis_frames = [] + step_id = 0 + + if self.save_video: + os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True) + initial_height = self.env._env.sim.get_agent_state().position[1] + + rgb_list = [] + action_seq = [] + output_ids = None + + goal = None + action = None + messages = [] + local_actions = [] + + done = False + + # ---------- 2. Episode step loop ----------- + while (not done) and (step_id <= self.max_steps_per_episode): + # refactor agent get action + rgb = observations["rgb"] + depth = observations["depth"] + x, y = observations["gps"] + camera_yaw = observations["compass"][0] + depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) + depth = depth * (self._max_depth - self._min_depth) + self._min_depth + depth = depth * 1000 + + agent_state = self.env._env.sim.get_agent_state() + height = agent_state.position[1] - initial_height + camera_position = np.array([x, -y, self._camera_height + height]) + tf_camera_to_episodic = ( + self.xyz_yaw_pitch_to_tf_matrix(camera_position, camera_yaw, np.deg2rad(30)) + @ self.get_axis_align_matrix() ) - vis_frames = [] - step_id = 0 - - if self.save_video: - os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True) - initial_height = env.sim.get_agent_state().position[1] - - rgb_list = [] - action_seq = [] - output_ids = None - - goal = None - action = None - messages = [] - local_actions = [] - - while not env.episode_over and step_id <= 500: - # refactor agent get action - rgb = observations["rgb"] - depth = observations["depth"] - x, y = observations["gps"] - camera_yaw = observations["compass"][0] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - - agent_state = env.sim.get_agent_state() - height = agent_state.position[1] - initial_height - camera_position = np.array([x, -y, self._camera_height + height]) - tf_camera_to_episodic = ( - self.xyz_yaw_pitch_to_tf_matrix(camera_position, camera_yaw, np.deg2rad(30)) - @ self.get_axis_align_matrix() + image = Image.fromarray(rgb).convert('RGB') + save_raw_image = image.copy() + + save_dot = False + if action == 5: + look_down_image = image + save_raw_image = look_down_image.copy() + look_down_depth, resize_shape = self.preprocess_depth_image_v2( + Image.fromarray(depth.astype(np.uint16), mode='I;16'), + do_depth_scale=True, + depth_scale=1000, + target_height=224, + target_width=224, ) - - image = Image.fromarray(rgb).convert('RGB') - save_raw_image = image.copy() - - save_dot = False - if action == 5: - look_down_image = image - save_raw_image = look_down_image.copy() + look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() + look_down_depth[look_down_depth > 5.0] = 5.0 + else: + image = image.resize((self.model_args.resize_w, self.model_args.resize_h)) + rgb_list.append(image) + + if self.model_args.mode == 'dual_system': + down_observations, _, done, _ = self.env.step(5) + down_observations, _, done, _ = self.env.step(5) + + look_down_image = Image.fromarray(down_observations["rgb"]).convert('RGB') + depth = down_observations["depth"] + depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) + depth = depth * (self._max_depth - self._min_depth) + self._min_depth + depth = depth * 1000 look_down_depth, resize_shape = self.preprocess_depth_image_v2( Image.fromarray(depth.astype(np.uint16), mode='I;16'), do_depth_scale=True, @@ -332,295 +357,277 @@ def _run_local_eval(self, idx=0) -> None: # noqa: C901 ) look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() look_down_depth[look_down_depth > 5.0] = 5.0 - else: - image = image.resize((self.args.resize_w, self.args.resize_h)) - rgb_list.append(image) - - if self.args.mode == 'dual_system': - down_observations = env.step(5) - down_observations = env.step(5) - - look_down_image = Image.fromarray(down_observations["rgb"]).convert('RGB') - depth = down_observations["depth"] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - look_down_depth, resize_shape = self.preprocess_depth_image_v2( - Image.fromarray(depth.astype(np.uint16), mode='I;16'), - do_depth_scale=True, - depth_scale=1000, - target_height=224, - target_width=224, - ) - look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() - look_down_depth[look_down_depth > 5.0] = 5.0 - env.step(4) - env.step(4) + self.env.step(4) + self.env.step(4) - info = env.get_metrics() + info = self.env.get_metrics() - if len(action_seq) == 0 and goal is None: - if action != 5: - sources = copy.deepcopy(self.conversation) - sources[0]["value"] = sources[0]["value"].replace( - '.', episode.instruction.instruction_text[:-1] - ) - cur_images = rgb_list[-1:] - if step_id == 0: - history_id = [] - else: - history_id = np.unique( - np.linspace(0, step_id - 1, self.num_history, dtype=np.int32) - ).tolist() - placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) - sources[0]["value"] += f' These are your historical observations: {placeholder}.' - - history_id = sorted(history_id) - print('history_idddddddd', step_id, history_id) - input_images = [rgb_list[i] for i in history_id] + cur_images - input_img_id = 0 + if len(action_seq) == 0 and goal is None: + if action != 5: + sources = copy.deepcopy(self.conversation) + sources[0]["value"] = sources[0]["value"].replace( + '.', episode.instruction.instruction_text[:-1] + ) + cur_images = rgb_list[-1:] + if step_id == 0: + history_id = [] else: - assert action == 5 - sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] - input_images += [look_down_image] - # messages.append( - # {'role': 'assistant', 'content': [{'type': 'text', 'text': llm_outputs}]} # noqa: F405 - # ) - input_img_id = -1 - - prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN - sources[0]["value"] += f" {prompt}." - print('sources', step_id, sources) - prompt_instruction = copy.deepcopy(sources[0]["value"]) - parts = split_and_clean(prompt_instruction) - - content = [] - for i in range(len(parts)): - if parts[i] == "": - content.append({"type": "image", "image": input_images[input_img_id]}) - input_img_id += 1 - else: - content.append({"type": "text", "text": parts[i]}) + history_id = np.unique( + np.linspace(0, step_id - 1, self.num_history, dtype=np.int32) + ).tolist() + placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) + sources[0]["value"] += f' These are your historical observations: {placeholder}.' + + history_id = sorted(history_id) + print('history_idddddddd', step_id, history_id) + input_images = [rgb_list[i] for i in history_id] + cur_images + input_img_id = 0 + else: + assert action == 5 + sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] + input_images += [look_down_image] + # messages.append( + # {'role': 'assistant', 'content': [{'type': 'text', 'text': llm_outputs}]} # noqa: F405 + # ) + input_img_id = -1 + + prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN + sources[0]["value"] += f" {prompt}." + print('sources', step_id, sources) + prompt_instruction = copy.deepcopy(sources[0]["value"]) + parts = split_and_clean(prompt_instruction) + + content = [] + for i in range(len(parts)): + if parts[i] == "": + content.append({"type": "image", "image": input_images[input_img_id]}) + input_img_id += 1 + else: + content.append({"type": "text", "text": parts[i]}) - messages.append({'role': 'user', 'content': content}) + messages.append({'role': 'user', 'content': content}) - print('step_id', step_id, 'messages:', messages) + print('step_id', step_id, 'messages:', messages) - text = self.processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True) + text = self.processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True) - inputs = self.processor(text=[text], images=input_images, return_tensors="pt").to( - self.model.device - ) + inputs = self.processor(text=[text], images=input_images, return_tensors="pt").to(self.model.device) - with torch.no_grad(): - output_ids = self.model.generate(**inputs, max_new_tokens=128, do_sample=False) + with torch.no_grad(): + output_ids = self.model.generate(**inputs, max_new_tokens=128, do_sample=False) + + llm_outputs = self.processor.tokenizer.decode( + output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True + ) + print('step_id:', step_id, 'output text:', llm_outputs) - llm_outputs = self.processor.tokenizer.decode( - output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True + if bool(re.search(r'\d', llm_outputs)): + forward_action = 0 + coord = [int(c) for c in re.findall(r'\d+', llm_outputs)] + pixel_goal = [int(coord[1]), int(coord[0])] + + intrinsic_matrix = self.get_intrinsic_matrix( + self.config.habitat.simulator.agents.main_agent.sim_sensors.rgb_sensor ) - print('step_id:', step_id, 'output text:', llm_outputs) - - if bool(re.search(r'\d', llm_outputs)): - forward_action = 0 - coord = [int(c) for c in re.findall(r'\d+', llm_outputs)] - pixel_goal = [int(coord[1]), int(coord[0])] - - goal = self.pixel_to_gps(pixel_goal, depth / 1000, intrinsic_matrix, tf_camera_to_episodic) - print('before', goal, depth.shape) - goal = (transformation_matrix @ np.array([-goal[1], 0, -goal[0], 1]))[:3] - - if not env.sim.pathfinder.is_navigable(np.array(goal)): - goal = np.array(env.sim.pathfinder.snap_point(np.array(goal))) - - # look down --> horizontal - env.step(4) - env.step(4) - - # Forking logic based on mode - if self.args.mode == 'system2': - action = agent.get_next_action(goal) - if action == 0: - goal = None - output_ids = None - action = 2 # random action - print('conduct a random action 2') - observations = env.step(action) - step_id += 1 - messages = [] - continue - else: # dual-system logic - local_actions = [] - pixel_values = inputs.pixel_values - image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) - - with torch.no_grad(): - traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) - - # prepocess align with navdp - image_dp = ( - torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 - ) - pix_goal_image = copy.copy(image_dp) - images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) - depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - pix_goal_depth = copy.copy(depth_dp) - depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) - - with torch.no_grad(): - dp_actions = self.model.generate_traj( - traj_latents, images_dp, depths_dp, use_async=True - ) - - random_choice = np.random.choice(dp_actions.shape[0]) - if self.args.continuous_traj: - action_list = traj_to_actions(dp_actions) - if len(action_list) < 8: - action_list += [0] * (8 - len(action_list)) - else: - action_list = chunk_token(dp_actions[random_choice]) - - local_actions = action_list - if len(local_actions) >= 4: - local_actions = local_actions[:4] - action = local_actions[0] - if action == 0: - goal = None - output_ids = None - action = 2 # random action - print('conduct a random action 2') - observations = env.step(action) - step_id += 1 - messages = [] - continue - - print('predicted goal', pixel_goal, goal, flush=True) - else: - action_seq = self.parse_actions(llm_outputs) - print('actions', action_seq, flush=True) + goal = self.pixel_to_gps(pixel_goal, depth / 1000, intrinsic_matrix, tf_camera_to_episodic) + print('before', goal, depth.shape) + goal = (transformation_matrix @ np.array([-goal[1], 0, -goal[0], 1]))[:3] + + if not self.env._env.sim.pathfinder.is_navigable(np.array(goal)): + goal = np.array(self.env._env.sim.pathfinder.snap_point(np.array(goal))) + + # look down --> horizontal + self.env.step(4) + self.env.step(4) - if len(action_seq) != 0: - action = action_seq[0] - action_seq.pop(0) - elif goal is not None: # Forking logic based on mode - if self.args.mode == 'system2': + if self.model_args.mode == 'system2': action = agent.get_next_action(goal) - action = action.detach().cpu().numpy()[0] if isinstance(action, torch.Tensor) else action - action = action[0] if hasattr(action, "__len__") else action + if action == 0: + goal = None + output_ids = None + action = 2 # random action + print('conduct a random action 2') + observations = self.env.step(action) + step_id += 1 + messages = [] + continue else: # dual-system logic - if len(local_actions) == 0: - # navdp - local_actions = [] - image_dp = ( - torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 + local_actions = [] + pixel_values = inputs.pixel_values + image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) + + with torch.no_grad(): + traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) + + # prepocess align with navdp + image_dp = ( + torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 + ) + pix_goal_image = copy.copy(image_dp) + images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) + depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) + pix_goal_depth = copy.copy(depth_dp) + depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) + + with torch.no_grad(): + dp_actions = self.model.generate_traj( + traj_latents, images_dp, depths_dp, use_async=True ) - images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) - depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - - depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) - with torch.no_grad(): - dp_actions = self.model.generate_traj( - traj_latents, images_dp, depths_dp, use_async=True - ) - - random_choice = np.random.choice(dp_actions.shape[0]) - if self.args.continuous_traj: - action_list = traj_to_actions(dp_actions) - if len(action_list) < 8: - action_list += [0] * (8 - len(action_list)) - else: - action_list = chunk_token(dp_actions[random_choice]) - print("first action_list", action_list) - - local_actions = action_list - if len(local_actions) >= 4: - local_actions = local_actions[:4] - # if len(local_actions) >= 2: - # local_actions = local_actions[:2] - - print("local_actions", local_actions) - - action = local_actions.pop(0) - # navdp + random_choice = np.random.choice(dp_actions.shape[0]) + if self.model_args.continuous_traj: + action_list = traj_to_actions(dp_actions) + if len(action_list) < 8: + action_list += [0] * (8 - len(action_list)) else: - action = local_actions.pop(0) - - forward_action += 1 - print('forward_action', forward_action, flush=True) - if forward_action > 8: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue - if action == 0: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue + action_list = chunk_token(dp_actions[random_choice]) + + local_actions = action_list + if len(local_actions) >= 4: + local_actions = local_actions[:4] + action = local_actions[0] + if action == 0: + goal = None + output_ids = None + action = 2 # random action + print('conduct a random action 2') + observations = self.env.step(action) + step_id += 1 + messages = [] + continue + + print('predicted goal', pixel_goal, goal, flush=True) else: - action = 0 - - if info['top_down_map'] is not None: - if save_dot: - save_raw_image = self.dot_matrix_two_dimensional( - save_raw_image, save_img=False, save_path=f'test_{step_id}.jpg', pixel_goal=pixel_goal + action_seq = self.parse_actions(llm_outputs) + print('actions', action_seq, flush=True) + + if len(action_seq) != 0: + action = action_seq[0] + action_seq.pop(0) + elif goal is not None: + # Forking logic based on mode + if self.model_args.mode == 'system2': + action = agent.get_next_action(goal) + action = action.detach().cpu().numpy()[0] if isinstance(action, torch.Tensor) else action + action = action[0] if hasattr(action, "__len__") else action + else: # dual-system logic + if len(local_actions) == 0: + # navdp + local_actions = [] + image_dp = ( + torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 ) - frame = observations_to_image({'rgb': np.asarray(save_raw_image)}, info) - vis_frames.append(frame) - print("step_id", step_id, "action", action) + images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) + depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - # refactor: core - if action == 5: - env.step(action) - observations = env.step(action) - else: - observations = env.step(action) + depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) + with torch.no_grad(): + dp_actions = self.model.generate_traj( + traj_latents, images_dp, depths_dp, use_async=True + ) + + random_choice = np.random.choice(dp_actions.shape[0]) + if self.model_args.continuous_traj: + action_list = traj_to_actions(dp_actions) + if len(action_list) < 8: + action_list += [0] * (8 - len(action_list)) + else: + action_list = chunk_token(dp_actions[random_choice]) + print("first action_list", action_list) + + local_actions = action_list + if len(local_actions) >= 4: + local_actions = local_actions[:4] + # if len(local_actions) >= 2: + # local_actions = local_actions[:2] + + print("local_actions", local_actions) + + action = local_actions.pop(0) + # navdp + else: + action = local_actions.pop(0) + + forward_action += 1 + print('forward_action', forward_action, flush=True) + if forward_action > 8: + goal = None + output_ids = None + messages = [] step_id += 1 + forward_action = 0 + local_actions = [] + continue + if action == 0: + goal = None + output_ids = None messages = [] + step_id += 1 + forward_action = 0 + local_actions = [] + continue + else: + action = 0 + + if info['top_down_map'] is not None: + if save_dot: + save_raw_image = self.dot_matrix_two_dimensional( + save_raw_image, save_img=False, save_path=f'test_{step_id}.jpg', pixel_goal=pixel_goal + ) + if self.save_video: + frame = observations_to_image({'rgb': np.asarray(save_raw_image)}, info) + vis_frames.append(frame) - process_bar.update(1) + print("step_id", step_id, "action", action) - metrics = env.get_metrics() - if self.save_video: - images_to_video( - vis_frames, - os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), - f'{episode_id:04d}', - fps=6, - quality=9, - ) - vis_frames.clear() - sucs.append(metrics['success']) - spls.append(metrics['spl']) - oss.append(metrics['oracle_success']) - nes.append(metrics["distance_to_goal"]) - print( - f"scene_episode {scene_id}_{episode_id:04d} success: {metrics['success']}, spl: {metrics['spl']}, os: {metrics['oracle_success']}, ne: {metrics['distance_to_goal']}" - ) + # refactor: core + if action == 5: + self.env.step(action) + observations, _, done, _ = self.env.step(action) + else: + observations, _, done, _ = self.env.step(action) + step_id += 1 + messages = [] - result = { - "scene_id": scene_id, - "episode_id": episode_id, - "success": metrics["success"], - "spl": metrics["spl"], - "os": metrics['oracle_success'], - "ne": metrics["distance_to_goal"], - "steps": step_id, - "episode_instruction": episode_instruction, - } + # ---------- 3. End of episode ----------- + # Update result and write progress to the output_path/progress.json + + process_bar.update(1) + + # After the episode finishes, collect metrics: + metrics = self.env.get_metrics() + + sucs.append(metrics['success']) + spls.append(metrics['spl']) + oss.append(metrics['oracle_success']) + nes.append(metrics["distance_to_goal"]) + + print( + f"scene_episode {scene_id}_{episode_id:04d} success: {metrics['success']}, " + f"spl: {metrics['spl']}, os: {metrics['oracle_success']}, " + f"ne: {metrics['distance_to_goal']}" + ) + + # Write per-episode result.json entry (still per-rank) + result = { + "scene_id": scene_id, + "episode_id": episode_id, + "success": metrics["success"], + "spl": metrics["spl"], + "os": metrics['oracle_success'], + "ne": metrics["distance_to_goal"], + "steps": step_id, + "episode_instruction": episode_instruction, + } + os.makedirs(self.output_path, exist_ok=True) + with open(os.path.join(self.output_path, 'progress.json'), 'a') as f: + f.write(json.dumps(result) + "\n") + + self.env.close() - with open(os.path.join(self.output_path, 'result.json'), 'a') as f: - f.write(json.dumps(result) + "\n") - env.close() return ( torch.tensor(sucs).to(self.device), torch.tensor(spls).to(self.device), diff --git a/internnav/internnav_habitat/habitat_vln_evaluator_clean.py b/internnav/internnav_habitat/habitat_vln_evaluator_clean.py new file mode 100644 index 0000000..ff5e60b --- /dev/null +++ b/internnav/internnav_habitat/habitat_vln_evaluator_clean.py @@ -0,0 +1,128 @@ +import argparse +import sys + +sys.path.append('./src/diffusion-policy') + + +# Import for Habitat registry side effects — do not remove +import internnav.env.utils.habitat_extensions.measures # noqa: F401 +from internnav.configs.evaluator import EvalCfg +from internnav.evaluator import DistributedEvaluator, Evaluator + +try: + import habitat + from habitat.config.default import get_agent_config + from habitat.config.default_structured_configs import ( + CollisionsMeasurementConfig, + FogOfWarConfig, + TopDownMapMeasurementConfig, + ) + from habitat_baselines.config.default import get_config as get_habitat_config +except Exception as e: + print("Habitat Error:", e) + print("Habitat Evaluation is not loaded.") + + +DEFAULT_IMAGE_TOKEN = "" + + +@Evaluator.register('habitat_vln') +class HabitatVlnEvaluator(DistributedEvaluator): + def __init__(self, cfg: EvalCfg): + args = argparse.Namespace(**cfg.eval_settings) + self.args = args + self.save_video = args.save_video + self.epoch = args.epoch + self.max_steps_per_episode = args.max_steps_per_episode + self.output_path = args.output_path + + # create habitat config + self.config_path = cfg.env.env_settings['config_path'] + self.config = get_habitat_config(self.config_path) + self.agent_config = get_agent_config(self.config.habitat.simulator) + self.sim_sensors_config = self.config.habitat.simulator.agents.main_agent.sim_sensors + + with habitat.config.read_write(self.config): + self.config.habitat.task.measurements.update( + { + "top_down_map": TopDownMapMeasurementConfig( + map_padding=3, + map_resolution=1024, + draw_source=True, + draw_border=True, + draw_shortest_path=True, + draw_view_points=True, + draw_goal_positions=True, + draw_goal_aabbs=True, + fog_of_war=FogOfWarConfig( + draw=True, + visibility_dist=5.0, + fov=90, + ), + ), + "collisions": CollisionsMeasurementConfig(), + } + ) + cfg.env.env_settings['habitat_config'] = self.config + cfg.env.env_settings['output_path'] = self.output_path + + # init agent and env + super().__init__(cfg) + + def eval_action(self): + """ + Run local episodes on this rank. + + Returns dict[str, Tensor] on GPU (1D tensors of same length). + """ + sucs, spls, oss, nes = [], [], [], [] + env = self.env + + while env.is_running: + obs = env.reset() + if not env.is_running or obs is None: + break + + episode = env.env.current_episode + self.agent.reset(episode, env) + + done = False + step_id = 0 + while not done and step_id <= self.max_steps_per_episode: + action = self.agent.act(obs, env, info=None) + obs, reward, done, info = env.step(action) + step_id += 1 + + m = env.get_metrics() + sucs.append(m["success"]) + spls.append(m["spl"]) + oss.append(m["oracle_success"]) + nes.append(m["distance_to_goal"]) + + env.close() + return { + "sucs": sucs, # shape [N_local] + "spls": spls, # shape [N_local] + "oss": oss, # shape [N_local] + "nes": nes, # shape [N_local] + } + + def calc_metrics(self, global_metrics: dict) -> dict: + """ + global_metrics["sucs"] etc. are global 1-D CPU tensors with all episodes. + """ + sucs_all = global_metrics["sucs"] + spls_all = global_metrics["spls"] + oss_all = global_metrics["oss"] + nes_all = global_metrics["nes"] + + # avoid /0 if no episodes + denom = max(len(sucs_all), 1) + + return { + "sucs_all": float(sucs_all.mean().item()) if denom > 0 else 0.0, + "spls_all": float(spls_all.mean().item()) if denom > 0 else 0.0, + "oss_all": float(oss_all.mean().item()) if denom > 0 else 0.0, + "nes_all": float(nes_all.mean().item()) if denom > 0 else 0.0, + # "length" will be filled by base class + } diff --git a/internnav/utils/dist.py b/internnav/utils/dist.py index 7994e25..82c14a3 100644 --- a/internnav/utils/dist.py +++ b/internnav/utils/dist.py @@ -1,13 +1,13 @@ -import os -import time import builtins import datetime +import os import subprocess +import time +from collections import defaultdict, deque import torch import torch.distributed as dist -from collections import defaultdict, deque class SmoothedValue(object): def __init__(self, window_size=20, fmt=None): @@ -60,11 +60,8 @@ def value(self): def __str__(self): return self.fmt.format( - median=self.median, - avg=self.avg, - global_avg=self.global_avg, - max=self.max, - value=self.value) + median=self.median, avg=self.avg, global_avg=self.global_avg, max=self.max, value=self.value + ) class MetricLogger(object): @@ -86,15 +83,12 @@ def __getattr__(self, attr): return self.meters[attr] if attr in self.__dict__: return self.__dict__[attr] - raise AttributeError("'{}' object has no attribute '{}'".format( - type(self).__name__, attr)) + raise AttributeError("'{}' object has no attribute '{}'".format(type(self).__name__, attr)) def __str__(self): loss_str = [] for name, meter in self.meters.items(): - loss_str.append( - "{}: {}".format(name, str(meter)) - ) + loss_str.append("{}: {}".format(name, str(meter))) return self.delimiter.join(loss_str) def synchronize_between_processes(self): @@ -113,14 +107,7 @@ def log_every(self, iterable, print_freq, header=None): iter_time = SmoothedValue(fmt='{avg:.4f}') data_time = SmoothedValue(fmt='{avg:.4f}') space_fmt = ':' + str(len(str(len(iterable)))) + 'd' - log_msg = [ - header, - '[{0' + space_fmt + '}/{1}]', - 'eta: {eta}', - '{meters}', - 'time: {time}', - 'data: {data}' - ] + log_msg = [header, '[{0' + space_fmt + '}/{1}]', 'eta: {eta}', '{meters}', 'time: {time}', 'data: {data}'] if torch.cuda.is_available(): log_msg.append('max mem: {memory:.0f}') log_msg = self.delimiter.join(log_msg) @@ -133,22 +120,28 @@ def log_every(self, iterable, print_freq, header=None): eta_seconds = iter_time.global_avg * (len(iterable) - i) eta_string = str(datetime.timedelta(seconds=int(eta_seconds))) if torch.cuda.is_available(): - print(log_msg.format( - i, len(iterable), eta=eta_string, - meters=str(self), - time=str(iter_time), data=str(data_time), - memory=torch.cuda.max_memory_allocated() / MB)) + print( + log_msg.format( + i, + len(iterable), + eta=eta_string, + meters=str(self), + time=str(iter_time), + data=str(data_time), + memory=torch.cuda.max_memory_allocated() / MB, + ) + ) else: - print(log_msg.format( - i, len(iterable), eta=eta_string, - meters=str(self), - time=str(iter_time), data=str(data_time))) + print( + log_msg.format( + i, len(iterable), eta=eta_string, meters=str(self), time=str(iter_time), data=str(data_time) + ) + ) i += 1 end = time.time() total_time = time.time() - start_time total_time_str = str(datetime.timedelta(seconds=int(total_time))) - print('{} Total time: {} ({:.4f} s / it)'.format( - header, total_time_str, total_time / len(iterable))) + print('{} Total time: {} ({:.4f} s / it)'.format(header, total_time_str, total_time / len(iterable))) def setup_for_distributed(is_master): @@ -197,57 +190,51 @@ def save_on_master(*args, **kwargs): torch.save(*args, **kwargs) -def init_distributed_mode(args): - if 'SLURM_PROCID' in os.environ: - args.rank = int(os.environ['SLURM_PROCID']) - args.world_size = int(os.environ['SLURM_NTASKS']) - +def init_distributed_mode(port=29529, backend="nccl", timeout_hours=2): + # Fast-path: torchrun provides these + if all(k in os.environ for k in ["RANK", "WORLD_SIZE", "LOCAL_RANK", "MASTER_ADDR", "MASTER_PORT"]): + rank = int(os.environ["RANK"]) + world_size = int(os.environ["WORLD_SIZE"]) + local_rank = int(os.environ["LOCAL_RANK"]) + + # SLURM path: derive env then fall back to env:// + elif "SLURM_PROCID" in os.environ: + rank = int(os.environ["SLURM_PROCID"]) + world_size = int(os.environ["SLURM_NTASKS"]) num_gpus = torch.cuda.device_count() - args.gpu = args.rank % num_gpus - args.local_rank = args.gpu - - node_list = os.environ['SLURM_NODELIST'] - print(f'Node list: {node_list}') - addr = subprocess.getoutput(f'scontrol show hostname {node_list} | head -n1') - - os.environ['MASTER_PORT'] = str(getattr(args, 'port', '29529')) - os.environ['MASTER_ADDR'] = addr - os.environ['WORLD_SIZE'] = str(args.world_size) - os.environ['LOCAL_RANK'] = str(args.gpu) - os.environ['RANK'] = str(args.rank) - elif 'RANK' in os.environ and 'WORLD_SIZE' in os.environ: - args.rank = int(os.environ["RANK"]) - args.world_size = int(os.environ['WORLD_SIZE']) - args.gpu = int(os.environ['LOCAL_RANK']) - args.local_rank = args.gpu + local_rank = rank % max(1, num_gpus) + + # pick first node as master + nodelist = os.environ["SLURM_NODELIST"] + master_addr = subprocess.getoutput(f"scontrol show hostname {nodelist} | head -n1") + os.environ.setdefault("MASTER_ADDR", master_addr) + os.environ.setdefault("MASTER_PORT", str(port)) + os.environ["RANK"] = str(rank) + os.environ["WORLD_SIZE"] = str(world_size) + os.environ["LOCAL_RANK"] = str(local_rank) + else: - print('Not using distributed mode') - setup_for_distributed(is_master=True) # hack - args.distributed = False + print("Not using distributed mode") + setup_for_distributed(is_master=True) return - args.distributed = True + # Device selection must happen before NCCL init + torch.cuda.set_device(local_rank) + + dist.init_process_group(backend=backend, init_method="env://", timeout=datetime.timedelta(hours=timeout_hours)) + setup_for_distributed(dist.get_rank() == 0) - torch.cuda.set_device(args.gpu) - args.dist_backend = 'nccl' - print('| distributed init (rank {}): {}, gpu {}'.format(args.rank, args.dist_url, args.gpu), flush=True) - dist.init_process_group(backend=args.dist_backend, - init_method=args.dist_url, - world_size=args.world_size, - rank=args.rank, - timeout=datetime.timedelta(0, 7200)) - dist.barrier() - setup_for_distributed(args.rank == 0) def save_model(args, epoch, model_without_ddp, optimizer, checkpoint_path): to_save = { - 'model': model_without_ddp.state_dict(), - 'optimizer': optimizer.state_dict(), - 'epoch': epoch, - 'args': args, - } + 'model': model_without_ddp.state_dict(), + 'optimizer': optimizer.state_dict(), + 'epoch': epoch, + 'args': args, + } save_on_master(to_save, checkpoint_path) + def all_reduce_mean(x): world_size = get_world_size() if world_size > 1: @@ -257,11 +244,16 @@ def all_reduce_mean(x): return x_reduce.item() else: return x - + + def fsdp_auto_wrap_policy(model, transformer_layer_names): import functools - from torch.distributed.fsdp.wrap import _or_policy, lambda_auto_wrap_policy, transformer_auto_wrap_policy + from torch.distributed.fsdp.wrap import ( + _or_policy, + lambda_auto_wrap_policy, + transformer_auto_wrap_policy, + ) def lambda_policy_fn(module): if ( @@ -274,9 +266,8 @@ def lambda_policy_fn(module): lambda_policy = functools.partial(lambda_auto_wrap_policy, lambda_fn=lambda_policy_fn) transformer_wrap_policy = functools.partial( - transformer_auto_wrap_policy, - transformer_layer_cls=set(transformer_layer_names) + transformer_auto_wrap_policy, transformer_layer_cls=set(transformer_layer_names) ) auto_wrap_policy = functools.partial(_or_policy, policies=[lambda_policy, transformer_wrap_policy]) - return auto_wrap_policy \ No newline at end of file + return auto_wrap_policy diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index 8a68922..ae3993c 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -2,7 +2,7 @@ MID_RUN_NAME="InternVLA-N1" torchrun \ - --nproc_per_node=2 \ + --nproc_per_node=1 \ --master_port=2333 \ scripts/eval/eval.py \ --config scripts/eval/configs/habitat_cfg.py \ diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py index 6e3445a..18a8680 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_cfg.py @@ -7,25 +7,16 @@ model_name='internvla_n1', ckpt_path='', model_settings={ - 'env_num': 1, - 'sim_num': 1, - 'model_path': "checkpoints/InternVLA-N1", - 'camera_intrinsic': [[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]], - 'width': 640, - 'height': 480, - 'hfov': 79, - 'resize_w': 384, - 'resize_h': 384, - 'max_new_tokens': 1024, - 'num_frames': 32, - 'num_history': 8, - 'num_future_steps': 4, - 'device': 'cuda:0', - 'predict_step_nums': 32, - 'continuous_traj': True, - # debug - 'vis_debug': True, # If vis_debug=True, you can get visualization results - 'vis_debug_path': './logs/test/vis_debug', + "mode": "dual_system", # inference mode: dual_system or system2 + "model_path": "checkpoints/InternVLA-N1", # path to model checkpoint + "num_future_steps": 4, # number of future steps for prediction + "num_frames": 32, # number of frames used in evaluation + "num_history": 8, + "resize_w": 384, # image resize width + "resize_h": 384, # image resize height + "predict_step_nums": 32, # number of steps to predict + "continuous_traj": True, # whether to use continuous trajectory + "max_new_tokens": 1024, # maximum number of tokens for generation }, ), env=EnvCfg( @@ -42,20 +33,12 @@ "output_path": "./logs/habitat/test_refactor_debug", # output directory for logs/results "save_video": False, # whether to save videos "epoch": 0, # epoch number for logging + "max_steps_per_episode": 500, # maximum steps per episode + # distributed settings "world_size": 1, # number of distributed processes "rank": 0, # rank of current process "gpu": 0, # gpu id to use "port": "2333", # communication port "dist_url": "env://", # url for distributed setup - "mode": "dual_system", # inference mode: dual_system or system2 - "model_path": "checkpoints/InternVLA-N1", # path to model checkpoint - "num_future_steps": 4, # number of future steps for prediction - "num_frames": 32, # number of frames used in evaluation - "num_history": 8, - "resize_w": 384, # image resize width - "resize_h": 384, # image resize height - "predict_step_nums": 32, # number of steps to predict - "continuous_traj": True, # whether to use continuous trajectory - "max_new_tokens": 1024, # maximum number of tokens for generation }, ) diff --git a/setup.cfg b/setup.cfg index b6a3f5b..0bbee65 100644 --- a/setup.cfg +++ b/setup.cfg @@ -45,4 +45,4 @@ per-file-ignores=*/__init__.py:F401 ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117,E711,E226 max-line-length = 120 max-complexity = 30 -exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb +exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb,internnav/internnav_habitat/habitat_n1_agent_temp.py From 7e25e7243da20e78dc5625b36753775c01cf7e87 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 12 Nov 2025 07:06:20 +0000 Subject: [PATCH 05/35] fix observation issues --- internnav/evaluator/__init__.py | 5 +- internnav/evaluator/distributed_base.py | 28 +- internnav/evaluator/habitat_vln_evaluator.py | 749 ------------------ .../habitat_vln_evaluator.py | 11 +- ..._clean.py => habitat_vln_evaluator_new.py} | 0 scripts/eval/bash/torchrun_eval.sh | 2 +- scripts/eval/configs/habitat_cfg.py | 4 +- setup.cfg | 2 +- 8 files changed, 34 insertions(+), 767 deletions(-) delete mode 100644 internnav/evaluator/habitat_vln_evaluator.py rename internnav/internnav_habitat/{habitat_vln_evaluator_clean.py => habitat_vln_evaluator_new.py} (100%) diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index fda0a88..07a7208 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -1,7 +1,8 @@ -# register habitat -import internnav.internnav_habitat # noqa: F401 from internnav.evaluator.base import Evaluator from internnav.evaluator.distributed_base import DistributedEvaluator from internnav.evaluator.vln_multi_evaluator import VlnMultiEvaluator +# register habitat +import internnav.internnav_habitat # noqa: F401 # isort: skip + __all__ = ['Evaluator', 'VlnMultiEvaluator'] diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index f30d058..94bfc06 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -13,9 +13,14 @@ class DistributedEvaluator(Evaluator): """ Base class of distributed evaluators. + + Args: + cfg (EvalCfg): evaluation configuration + init_env (bool): whether to initialize the environment + init_agent (bool): whether to initialize the agent """ - def __init__(self, cfg: EvalCfg): + def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True): # distributed setting import socket @@ -35,14 +40,23 @@ def __init__(self, cfg: EvalCfg): cfg.env.env_settings['local_rank'] = get_rank() cfg.env.env_settings['world_size'] = get_world_size() + self.eval_config = cfg + + if init_env: + self.env = Env.init(cfg.env, cfg.task) + # -------- initialize agent config (either remote server or local agent) -------- - # set agent port based on rank - # cfg.agent.agent_settings['port'] = 8000 + get_rank() - # start_server(cfg.agent.agent_settings['port']) + if init_agent: + if cfg.remote_agent: + # set agent port based on rank + from internnav.utils import AgentClient - self.eval_config = cfg - self.env = Env.init(cfg.env, cfg.task) - # self.agent = AgentClient(config.agent) + cfg.agent.agent_settings['port'] = 8000 + get_rank() + self.agent = AgentClient(cfg.agent) + else: + from internnav.agent import Agent + + self.agent = Agent(cfg.agent) def eval(self): """ diff --git a/internnav/evaluator/habitat_vln_evaluator.py b/internnav/evaluator/habitat_vln_evaluator.py deleted file mode 100644 index e901ae3..0000000 --- a/internnav/evaluator/habitat_vln_evaluator.py +++ /dev/null @@ -1,749 +0,0 @@ -import argparse -import copy -import itertools -import json -import os -import random -import re -from collections import OrderedDict -from typing import Any - -import habitat -import numpy as np -import quaternion -import torch -import tqdm -from depth_camera_filtering import filter_depth -from habitat import Env -from habitat.config.default import get_agent_config -from habitat.config.default_structured_configs import ( - CollisionsMeasurementConfig, - FogOfWarConfig, - TopDownMapMeasurementConfig, -) -from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower -from habitat.utils.visualizations.utils import images_to_video, observations_to_image -from habitat_baselines.config.default import get_config as get_habitat_config -from omegaconf import OmegaConf -from PIL import Image, ImageDraw, ImageFont -from transformers.image_utils import to_numpy_array - -from internnav.model.utils.vln_utils import ( - chunk_token, - open_image, - split_and_clean, - traj_to_actions, -) -from internnav.utils.dist import * # noqa: F403 - -DEFAULT_IMAGE_TOKEN = "" - - -class VLNEvaluator: - def __init__( - self, - config_path: str, - split: str = "val_seen", - env_num: int = 1, - output_path: str = None, - model: Any = None, - processor: Any = None, - epoch: int = 0, - args: argparse.Namespace = None, - ): - self.args = args - self.device = torch.device('cuda') - self.split = split - self.env_num = env_num - self.save_video = args.save_video - self.output_path = output_path - self.epoch = epoch - self.config_path = config_path - self.config = get_habitat_config(config_path) - self.agent_config = get_agent_config(self.config.habitat.simulator) - self.sim_sensors_config = self.config.habitat.simulator.agents.main_agent.sim_sensors - - with habitat.config.read_write(self.config): - # self.config.habitat.task.measurements.success.success_distance=3.0 - self.config.habitat.dataset.split = self.split # refactor: why args and yaml both have split - self.config.habitat.task.measurements.update( # refactor: move to yaml - { - "top_down_map": TopDownMapMeasurementConfig( - map_padding=3, - map_resolution=1024, - draw_source=True, - draw_border=True, - draw_shortest_path=True, - draw_view_points=True, - draw_goal_positions=True, - draw_goal_aabbs=True, - fog_of_war=FogOfWarConfig( - draw=True, - visibility_dist=5.0, - fov=90, - ), - ), - "collisions": CollisionsMeasurementConfig(), - } - ) - - print(f"config = {type(self.config)}") - print(OmegaConf.to_yaml(self.config)) - - self._camera_height = self.sim_sensors_config.rgb_sensor.position[1] - self._min_depth = self.sim_sensors_config.depth_sensor.min_depth - self._max_depth = self.sim_sensors_config.depth_sensor.max_depth - - camera_fov_rad = np.deg2rad(self.sim_sensors_config.depth_sensor.hfov) - self._camera_fov = camera_fov_rad - self._fx = self._fy = self.sim_sensors_config.depth_sensor.width / (2 * np.tan(camera_fov_rad / 2)) - - self.model = model - self.processor = processor - - # refactor: this part used in three places - prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint\'s coordinates in the image. Please output STOP when you have successfully completed the task." - answer = "" - self.conversation = [{"from": "human", "value": prompt}, {"from": "gpt", "value": answer}] - - self.conjunctions = [ - 'you can see ', - 'in front of you is ', - 'there is ', - 'you can spot ', - 'you are toward the ', - 'ahead of you is ', - 'in your sight is ', - ] - - self.actions2idx = OrderedDict( - { - 'STOP': [0], - "↑": [1], - "←": [2], - "→": [3], - "↓": [5], - } - ) - - self.objectnav_instructions = ["Search for the {target_object}."] - - self.num_frames = args.num_frames - self.num_future_steps = args.num_future_steps - self.num_history = args.num_history - - # refactor - def config_env(self) -> Env: - env = Env(config=self.config) - # env.episodes = env.episodes[0:1] - return env - - def eval_action(self, idx) -> None: # noqa: C901 - self.model.eval() - env = self.config_env() - scene_episode_dict = {} - for episode in env.episodes: - if episode.scene_id not in scene_episode_dict: - scene_episode_dict[episode.scene_id] = [] - scene_episode_dict[episode.scene_id].append(episode) - - intrinsic_matrix = self.get_intrinsic_matrix( - self.config.habitat.simulator.agents.main_agent.sim_sensors.rgb_sensor - ) - sucs, spls, oss, nes = [], [], [], [] - done_res = [] - - if os.path.exists(os.path.join(self.output_path, 'result.json')): - with open(os.path.join(self.output_path, 'result.json'), 'r') as f: - for line in f.readlines(): - res = json.loads(line) - done_res.append([res["scene_id"], res["episode_id"], res["episode_instruction"]]) - if get_rank() == 0: # noqa: F405 - sucs.append(res['success']) - spls.append(res['spl']) - oss.append(res['os']) - nes.append(res['ne']) - - # refactor: why sort to scene: [episode] but nothing actually used - for scene in sorted(scene_episode_dict.keys()): - episodes = scene_episode_dict[scene] - scene_id = scene.split('/')[-2] - print(f"scene_id = {scene_id}") - process_bar = tqdm.tqdm(range(len(episodes[idx :: self.env_num])), desc=f"scene {scene_id}") - for episode in episodes[idx :: self.env_num]: - episode_instruction = ( - episode.instruction.instruction_text - if 'objectnav' not in self.config_path - else episode.object_category - ) - print("episode start", episode_instruction) - episode_id = int(episode.episode_id) - if [scene_id, episode_id, episode_instruction] in done_res: - continue - - # refactor env warm up - env.current_episode = episode - observations = env.reset() - - agent_state = env.sim.get_agent_state() - rotation = agent_state.rotation - translation = agent_state.position - rotation_matrix = quaternion.as_rotation_matrix(rotation) - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rotation_matrix - transformation_matrix[:3, 3] = translation - - agent = ShortestPathFollower(env.sim, 0.25, False) - - os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) - Image.fromarray(observations['rgb']).save( - os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{idx}.jpg') - ) - - vis_frames = [] - step_id = 0 - - if self.save_video: - os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True) - initial_height = env.sim.get_agent_state().position[1] - - rgb_list = [] - action_seq = [] - output_ids = None - - goal = None - action = None - messages = [] - local_actions = [] - - while not env.episode_over and step_id <= 500: - # refactor agent get action - rgb = observations["rgb"] - depth = observations["depth"] - x, y = observations["gps"] - camera_yaw = observations["compass"][0] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - - agent_state = env.sim.get_agent_state() - height = agent_state.position[1] - initial_height - camera_position = np.array([x, -y, self._camera_height + height]) - tf_camera_to_episodic = ( - self.xyz_yaw_pitch_to_tf_matrix(camera_position, camera_yaw, np.deg2rad(30)) - @ self.get_axis_align_matrix() - ) - - image = Image.fromarray(rgb).convert('RGB') - save_raw_image = image.copy() - - save_dot = False - if action == 5: - look_down_image = image - save_raw_image = look_down_image.copy() - look_down_depth, resize_shape = self.preprocess_depth_image_v2( - Image.fromarray(depth.astype(np.uint16), mode='I;16'), - do_depth_scale=True, - depth_scale=1000, - target_height=224, - target_width=224, - ) - look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() - look_down_depth[look_down_depth > 5.0] = 5.0 - else: - image = image.resize((self.args.resize_w, self.args.resize_h)) - rgb_list.append(image) - - if self.args.mode == 'dual_system': - down_observations = env.step(5) - down_observations = env.step(5) - - look_down_image = Image.fromarray(down_observations["rgb"]).convert('RGB') - depth = down_observations["depth"] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - look_down_depth, resize_shape = self.preprocess_depth_image_v2( - Image.fromarray(depth.astype(np.uint16), mode='I;16'), - do_depth_scale=True, - depth_scale=1000, - target_height=224, - target_width=224, - ) - look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() - look_down_depth[look_down_depth > 5.0] = 5.0 - - env.step(4) - env.step(4) - - info = env.get_metrics() - - if len(action_seq) == 0 and goal is None: - if action != 5: - sources = copy.deepcopy(self.conversation) - sources[0]["value"] = sources[0]["value"].replace( - '.', episode.instruction.instruction_text[:-1] - ) - cur_images = rgb_list[-1:] - if step_id == 0: - history_id = [] - else: - history_id = np.unique( - np.linspace(0, step_id - 1, self.num_history, dtype=np.int32) - ).tolist() - placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) - sources[0]["value"] += f' These are your historical observations: {placeholder}.' - - history_id = sorted(history_id) - print('history_idddddddd', step_id, history_id) - input_images = [rgb_list[i] for i in history_id] + cur_images - input_img_id = 0 - else: - assert action == 5 - sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] - input_images += [look_down_image] - messages.append( - {'role': 'assistant', 'content': [{'type': 'text', 'text': llm_outputs}]} # noqa: F405 - ) - input_img_id = -1 - - prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN - sources[0]["value"] += f" {prompt}." - print('sources', step_id, sources) - prompt_instruction = copy.deepcopy(sources[0]["value"]) - parts = split_and_clean(prompt_instruction) - - content = [] - for i in range(len(parts)): - if parts[i] == "": - content.append({"type": "image", "image": input_images[input_img_id]}) - input_img_id += 1 - else: - content.append({"type": "text", "text": parts[i]}) - - messages.append({'role': 'user', 'content': content}) - - print('step_id', step_id, 'messages:', messages) - - text = self.processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True) - - inputs = self.processor(text=[text], images=input_images, return_tensors="pt").to( - self.model.device - ) - - with torch.no_grad(): - output_ids = self.model.generate(**inputs, max_new_tokens=128, do_sample=False) - - llm_outputs = self.processor.tokenizer.decode( - output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True - ) - print('step_id:', step_id, 'output text:', llm_outputs) - - if bool(re.search(r'\d', llm_outputs)): - forward_action = 0 - coord = [int(c) for c in re.findall(r'\d+', llm_outputs)] - pixel_goal = [int(coord[1]), int(coord[0])] - - goal = self.pixel_to_gps(pixel_goal, depth / 1000, intrinsic_matrix, tf_camera_to_episodic) - print('before', goal, depth.shape) - goal = (transformation_matrix @ np.array([-goal[1], 0, -goal[0], 1]))[:3] - - if not env.sim.pathfinder.is_navigable(np.array(goal)): - goal = np.array(env.sim.pathfinder.snap_point(np.array(goal))) - - # look down --> horizontal - env.step(4) - env.step(4) - - # Forking logic based on mode - if self.args.mode == 'system2': - action = agent.get_next_action(goal) - if action == 0: - goal = None - output_ids = None - action = 2 # random action - print('conduct a random action 2') - observations = env.step(action) - step_id += 1 - messages = [] - continue - else: # dual-system logic - local_actions = [] - pixel_values = inputs.pixel_values - image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) - - with torch.no_grad(): - traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) - - # prepocess align with navdp - image_dp = ( - torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 - ) - pix_goal_image = copy.copy(image_dp) - images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) - depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - pix_goal_depth = copy.copy(depth_dp) - depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) - - with torch.no_grad(): - dp_actions = self.model.generate_traj( - traj_latents, images_dp, depths_dp, use_async=True - ) - - random_choice = np.random.choice(dp_actions.shape[0]) - if self.args.continuous_traj: - action_list = traj_to_actions(dp_actions) - if len(action_list) < 8: - action_list += [0] * (8 - len(action_list)) - else: - action_list = chunk_token(dp_actions[random_choice]) - - local_actions = action_list - if len(local_actions) >= 4: - local_actions = local_actions[:4] - action = local_actions[0] - if action == 0: - goal = None - output_ids = None - action = 2 # random action - print('conduct a random action 2') - observations = env.step(action) - step_id += 1 - messages = [] - continue - - print('predicted goal', pixel_goal, goal, flush=True) - else: - action_seq = self.parse_actions(llm_outputs) - print('actions', action_seq, flush=True) - - if len(action_seq) != 0: - action = action_seq[0] - action_seq.pop(0) - elif goal is not None: - # Forking logic based on mode - if self.args.mode == 'system2': - action = agent.get_next_action(goal) - action = action.detach().cpu().numpy()[0] if isinstance(action, torch.Tensor) else action - action = action[0] if hasattr(action, "__len__") else action - else: # dual-system logic - if len(local_actions) == 0: - # navdp - local_actions = [] - image_dp = ( - torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 - ) - - images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) - depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - - depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) - with torch.no_grad(): - dp_actions = self.model.generate_traj( - traj_latents, images_dp, depths_dp, use_async=True - ) - - random_choice = np.random.choice(dp_actions.shape[0]) - if self.args.continuous_traj: - action_list = traj_to_actions(dp_actions) - if len(action_list) < 8: - action_list += [0] * (8 - len(action_list)) - else: - action_list = chunk_token(dp_actions[random_choice]) - print("first action_list", action_list) - - local_actions = action_list - if len(local_actions) >= 4: - local_actions = local_actions[:4] - # if len(local_actions) >= 2: - # local_actions = local_actions[:2] - - print("local_actions", local_actions) - - action = local_actions.pop(0) - # navdp - else: - action = local_actions.pop(0) - - forward_action += 1 - print('forward_action', forward_action, flush=True) - if forward_action > 8: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue - if action == 0: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue - else: - action = 0 - - if info['top_down_map'] is not None: - if save_dot: - save_raw_image = self.dot_matrix_two_dimensional( - save_raw_image, save_img=False, save_path=f'test_{step_id}.jpg', pixel_goal=pixel_goal - ) - frame = observations_to_image({'rgb': np.asarray(save_raw_image)}, info) - vis_frames.append(frame) - - print("step_id", step_id, "action", action) - - # refactor: core - if action == 5: - env.step(action) - observations = env.step(action) - else: - observations = env.step(action) - step_id += 1 - messages = [] - - process_bar.update(1) - - metrics = env.get_metrics() - if self.save_video: - images_to_video( - vis_frames, - os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), - f'{episode_id:04d}', - fps=6, - quality=9, - ) - vis_frames.clear() - sucs.append(metrics['success']) - spls.append(metrics['spl']) - oss.append(metrics['oracle_success']) - nes.append(metrics["distance_to_goal"]) - print( - f"scene_episode {scene_id}_{episode_id:04d} success: {metrics['success']}, spl: {metrics['spl']}, os: {metrics['oracle_success']}, ne: {metrics['distance_to_goal']}" - ) - - result = { - "scene_id": scene_id, - "episode_id": episode_id, - "success": metrics["success"], - "spl": metrics["spl"], - "os": metrics['oracle_success'], - "ne": metrics["distance_to_goal"], - "steps": step_id, - "episode_instruction": episode_instruction, - } - - with open(os.path.join(self.output_path, 'result.json'), 'a') as f: - f.write(json.dumps(result) + "\n") - env.close() - return ( - torch.tensor(sucs).to(self.device), - torch.tensor(spls).to(self.device), - torch.tensor(oss).to(self.device), - torch.tensor(nes).to(self.device), - torch.tensor(len(sucs)).to(self.device), - ) - - def parse_actions(self, output): - action_patterns = '|'.join(re.escape(action) for action in self.actions2idx) - # import ipdb; ipdb.set_trace() - regex = re.compile(action_patterns) - matches = regex.findall(output) - actions = [self.actions2idx[match] for match in matches] - actions = itertools.chain.from_iterable(actions) - return list(actions) - - def preprocess_depth_image_v2( - self, depth_image, do_depth_scale=True, depth_scale=1000, target_height=None, target_width=None - ): - if target_height is None: - target_height = self.image_processor.crop_size['height'] # 384 - target_width = self.image_processor.crop_size['width'] # 384 - - resized_depth_image = depth_image.resize((target_width, target_height), Image.NEAREST) - - img = to_numpy_array(resized_depth_image) - if do_depth_scale: - img = img / depth_scale - - return img, (target_width, target_height) - - def get_intrinsic_matrix(self, sensor_cfg) -> np.ndarray: - width = sensor_cfg.width - height = sensor_cfg.height - fov = sensor_cfg.hfov - fx = (width / 2.0) / np.tan(np.deg2rad(fov / 2.0)) - fy = fx # Assuming square pixels (fx = fy) - cx = (width - 1.0) / 2.0 - cy = (height - 1.0) / 2.0 - - intrinsic_matrix = np.array( - [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] - ) - return intrinsic_matrix - - def get_axis_align_matrix(self): - ma = np.array([[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]) - return ma - - def xyz_yaw_to_tf_matrix(self, xyz: np.ndarray, yaw: float) -> np.ndarray: - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(yaw), -np.sin(yaw), 0, x], - [np.sin(yaw), np.cos(yaw), 0, y], - [0, 0, 1, z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_pitch_to_tf_matrix(self, xyz: np.ndarray, pitch: float) -> np.ndarray: - """Converts a given position and pitch angle to a 4x4 transformation matrix. - - Args: - xyz (np.ndarray): A 3D vector representing the position. - pitch (float): The pitch angle in radians for y axis. - Returns: - np.ndarray: A 4x4 transformation matrix. - """ - - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(pitch), 0, np.sin(pitch), x], - [0, 1, 0, y], - [-np.sin(pitch), 0, np.cos(pitch), z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_yaw_pitch_to_tf_matrix(self, xyz: np.ndarray, yaw: float, pitch: float) -> np.ndarray: - """Converts a given position and yaw, pitch angles to a 4x4 transformation matrix. - - Args: - xyz (np.ndarray): A 3D vector representing the position. - yaw (float): The yaw angle in radians. - pitch (float): The pitch angle in radians for y axis. - Returns: - np.ndarray: A 4x4 transformation matrix. - """ - x, y, z = xyz - rot1 = self.xyz_yaw_to_tf_matrix(xyz, yaw)[:3, :3] - rot2 = self.xyz_pitch_to_tf_matrix(xyz, pitch)[:3, :3] - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rot1 @ rot2 - transformation_matrix[:3, 3] = xyz - return transformation_matrix - - def pixel_to_gps(self, pixel, depth, intrinsic, tf_camera_to_episodic): - ''' - Args: - pixel: (2,) - [u, v] pixel coordinates - depth: (H, W) - depth image where depth[v, u] gives depth in meters - intrinsic: (4, 4) - camera intrinsic matrix - tf_camera_to_episodic: (4, 4) - transformation from camera to episodic frame - Returns: - (x, y): (x, y) coordinates in the episodic frame - ''' - v, u = pixel - z = depth[v, u] - print("depthhhhhhhhhhhhhh", z) - - x = (u - intrinsic[0, 2]) * z / intrinsic[0, 0] - y = (v - intrinsic[1, 2]) * z / intrinsic[1, 1] - point_camera = np.array([x, y, z, 1.0]) - - # Transform to episodic frame - point_episodic = tf_camera_to_episodic @ point_camera - point_episodic = point_episodic[:3] / point_episodic[3] - - x = point_episodic[0] - y = point_episodic[1] - - return (x, y) # same as habitat gps - - def dot_matrix_two_dimensional( - self, - image_or_image_path, - save_path=None, - dots_size_w=8, - dots_size_h=8, - save_img=False, - font_path='fonts/arial.ttf', - pixel_goal=None, - ): - """ - takes an original image as input, save the processed image to save_path. Each dot is labeled with two-dimensional Cartesian coordinates (x,y). Suitable for single-image tasks. - control args: - 1. dots_size_w: the number of columns of the dots matrix - 2. dots_size_h: the number of rows of the dots matrix - """ - with open_image(image_or_image_path) as img: - if img.mode != 'RGB': - img = img.convert('RGB') - draw = ImageDraw.Draw(img, 'RGB') - - width, height = img.size - grid_size_w = dots_size_w + 1 - grid_size_h = dots_size_h + 1 - cell_width = width / grid_size_w - cell_height = height / grid_size_h - - font = ImageFont.truetype(font_path, width // 40) # Adjust font size if needed; default == width // 40 - - target_i = target_j = None - if pixel_goal is not None: - y_pixel, x_pixel = pixel_goal[0], pixel_goal[1] - # Validate pixel coordinates - if not (0 <= x_pixel < width and 0 <= y_pixel < height): - raise ValueError(f"pixel_goal {pixel_goal} exceeds image dimensions ({width}x{height})") - - # Convert to grid coordinates - target_i = round(x_pixel / cell_width) - target_j = round(y_pixel / cell_height) - - # Validate grid bounds - if not (1 <= target_i <= dots_size_w and 1 <= target_j <= dots_size_h): - raise ValueError( - f"pixel_goal {pixel_goal} maps to grid ({target_j},{target_i}), " - f"valid range is (1,1)-({dots_size_h},{dots_size_w})" - ) - - count = 0 - - for j in range(1, grid_size_h): - for i in range(1, grid_size_w): - x = int(i * cell_width) - y = int(j * cell_height) - - pixel_color = img.getpixel((x, y)) - # choose a more contrasting color from black and white - if pixel_color[0] + pixel_color[1] + pixel_color[2] >= 255 * 3 / 2: - opposite_color = (0, 0, 0) - else: - opposite_color = (255, 255, 255) - - if pixel_goal is not None and i == target_i and j == target_j: - opposite_color = (255, 0, 0) # Red for target - - circle_radius = width // 240 # Adjust dot size if needed; default == width // 240 - draw.ellipse( - [(x - circle_radius, y - circle_radius), (x + circle_radius, y + circle_radius)], - fill=opposite_color, - ) - - text_x, text_y = x + 3, y - count_w = count // dots_size_w - count_h = count % dots_size_w - label_str = f"({count_w+1},{count_h+1})" - draw.text((text_x, text_y), label_str, fill=opposite_color, font=font) - count += 1 - if save_img: - print(">>> dots overlaid image processed, stored in", save_path) - img.save(save_path) - return img diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py index ba86d6d..9ed4c48 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -19,8 +19,6 @@ from transformers import AutoProcessor, Qwen2_5_VLForConditionalGeneration from transformers.image_utils import to_numpy_array -# Import for Habitat registry side effects — do not remove -import internnav.env.utils.habitat_extensions.measures # noqa: F401 from internnav.configs.evaluator import EvalCfg from internnav.evaluator import DistributedEvaluator, Evaluator from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM @@ -42,6 +40,9 @@ from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower from habitat.utils.visualizations.utils import observations_to_image from habitat_baselines.config.default import get_config as get_habitat_config + + # Import for Habitat registry side effects — do not remove + import internnav.internnav_habitat.measures # noqa: F401 # isort: skip except Exception as e: print("Habitat Error:", e) print("Habitat Evaluation is not loaded.") @@ -90,7 +91,7 @@ def __init__(self, cfg: EvalCfg): cfg.env.env_settings['output_path'] = self.output_path # init agent and env - super().__init__(cfg) + super().__init__(cfg, init_agent=False) # ------------------------------------- model ------------------------------------------ self.model_args = argparse.Namespace(**cfg.agent.model_settings) @@ -449,7 +450,7 @@ def _run_local_eval(self, idx=0) -> None: # noqa: C901 output_ids = None action = 2 # random action print('conduct a random action 2') - observations = self.env.step(action) + observations, _, done, _ = self.env.step(action) step_id += 1 messages = [] continue @@ -493,7 +494,7 @@ def _run_local_eval(self, idx=0) -> None: # noqa: C901 output_ids = None action = 2 # random action print('conduct a random action 2') - observations = self.env.step(action) + observations, _, done, _ = self.env.step(action) step_id += 1 messages = [] continue diff --git a/internnav/internnav_habitat/habitat_vln_evaluator_clean.py b/internnav/internnav_habitat/habitat_vln_evaluator_new.py similarity index 100% rename from internnav/internnav_habitat/habitat_vln_evaluator_clean.py rename to internnav/internnav_habitat/habitat_vln_evaluator_new.py diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index ae3993c..00303c5 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -2,7 +2,7 @@ MID_RUN_NAME="InternVLA-N1" torchrun \ - --nproc_per_node=1 \ + --nproc_per_node=8 \ --master_port=2333 \ scripts/eval/eval.py \ --config scripts/eval/configs/habitat_cfg.py \ diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py index 18a8680..33cf6b1 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_cfg.py @@ -29,12 +29,12 @@ eval_type='habitat_vln', eval_settings={ # all current parse args - "local_rank": 0, # node rank - "output_path": "./logs/habitat/test_refactor_debug", # output directory for logs/results + "output_path": "./logs/habitat/test_refactor_0d00014", # output directory for logs/results "save_video": False, # whether to save videos "epoch": 0, # epoch number for logging "max_steps_per_episode": 500, # maximum steps per episode # distributed settings + "local_rank": 0, # node rank "world_size": 1, # number of distributed processes "rank": 0, # rank of current process "gpu": 0, # gpu id to use diff --git a/setup.cfg b/setup.cfg index 0bbee65..baadd6a 100644 --- a/setup.cfg +++ b/setup.cfg @@ -10,7 +10,7 @@ extra_standard_library = pkg_resources,setuptools known_first_party = internutopia, internutopia_extension, grevaluator, grbench, grmodel no_lines_before = STDLIB,LOCALFOLDER default_section = THIRDPARTY -skip_glob = internutopia/*, internutopia_extension/* +skip_glob = internutopia/*, internutopia_extension/*, internnav/scripts/eval/configs/* # ignore-words-list needs to be lowercase format. For example, if we want to From 2b0eb8b9125708be8d86d681cd1243c0f25f0ee8 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 12 Nov 2025 09:29:05 +0000 Subject: [PATCH 06/35] update new register name; tiny fix on style --- internnav/internnav_habitat/habitat_env.py | 2 +- .../internnav_habitat/habitat_n1_agent_temp.py | 3 ++- .../habitat_vln_evaluator_new.py | 2 +- scripts/eval/configs/comm_cfg.py | 16 ---------------- scripts/iros_challenge/start_eval_iros.sh | 2 +- 5 files changed, 5 insertions(+), 20 deletions(-) delete mode 100644 scripts/eval/configs/comm_cfg.py diff --git a/internnav/internnav_habitat/habitat_env.py b/internnav/internnav_habitat/habitat_env.py index 6376974..b680e94 100644 --- a/internnav/internnav_habitat/habitat_env.py +++ b/internnav/internnav_habitat/habitat_env.py @@ -38,7 +38,7 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): # generate episodes # self._env.episodes = self._env.episodes[0:1] # for debug self.episodes = self.generate_episodes() - print(self.episodes) + # print(self.episodes) def generate_episodes(self) -> List[Any]: """ diff --git a/internnav/internnav_habitat/habitat_n1_agent_temp.py b/internnav/internnav_habitat/habitat_n1_agent_temp.py index 0cea910..0d52524 100644 --- a/internnav/internnav_habitat/habitat_n1_agent_temp.py +++ b/internnav/internnav_habitat/habitat_n1_agent_temp.py @@ -21,7 +21,8 @@ DEFAULT_IMAGE_TOKEN = "" -class HabitatAgent: +@Agent.register("N1") +class HabitatAgent(Agent): def __init__(self, model, processor, args, device): self.model = model self.processor = processor diff --git a/internnav/internnav_habitat/habitat_vln_evaluator_new.py b/internnav/internnav_habitat/habitat_vln_evaluator_new.py index ff5e60b..2f65236 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator_new.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator_new.py @@ -26,7 +26,7 @@ DEFAULT_IMAGE_TOKEN = "" -@Evaluator.register('habitat_vln') +@Evaluator.register('habitat_vlln') class HabitatVlnEvaluator(DistributedEvaluator): def __init__(self, cfg: EvalCfg): args = argparse.Namespace(**cfg.eval_settings) diff --git a/scripts/eval/configs/comm_cfg.py b/scripts/eval/configs/comm_cfg.py deleted file mode 100644 index 3c1b7bb..0000000 --- a/scripts/eval/configs/comm_cfg.py +++ /dev/null @@ -1,16 +0,0 @@ -from internnav.configs.agent import AgentCfg -from internnav.configs.evaluator import EnvCfg, EvalCfg, EvalDatasetCfg, TaskCfg - -eval_cfg = EvalCfg( - agent=AgentCfg( - server_port=8087, - model_name='cma', - ckpt_path='checkpoints/r2r/fine_tuned/cma_plus', - model_settings={}, - ), - env=EnvCfg['internutopia'], - task=TaskCfg['vln_pe'], - dataset=EvalDatasetCfg['mp3d'], - eval_type='internutopia_vln', - eval_settings={'save_to_json': False, 'vis_output': True}, -) diff --git a/scripts/iros_challenge/start_eval_iros.sh b/scripts/iros_challenge/start_eval_iros.sh index 335b614..5701241 100755 --- a/scripts/iros_challenge/start_eval_iros.sh +++ b/scripts/iros_challenge/start_eval_iros.sh @@ -40,7 +40,7 @@ mkdir -p logs SERVER_LOG="logs/${CONFIG_PREFIX}_server.log" EVAL_LOG="logs/${CONFIG_PREFIX}_eval.log" -processes=$(ps -ef | grep 'internnav/agent/utils/server.py' | grep -v grep | awk '{print $2}') +processes=$(ps -ef | grep 'scripts/eval/start_server.py' | grep -v grep | awk '{print $2}') if [ -n "$processes" ]; then for pid in $processes; do kill -9 $pid From b414ba3ddccd8f9fb5c1940748411accc24d4744 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 12 Nov 2025 09:47:09 +0000 Subject: [PATCH 07/35] latest tested --- .../{habitat_n1_agent_temp.py => habitat_n1_agent.py} | 0 .../{habitat_vln_evaluator_new.py => habitat_vlln_evaluator.py} | 0 internnav/internnav_habitat/utils.py | 0 scripts/eval/configs/habitat_cfg.py | 2 +- setup.cfg | 2 +- 5 files changed, 2 insertions(+), 2 deletions(-) rename internnav/internnav_habitat/{habitat_n1_agent_temp.py => habitat_n1_agent.py} (100%) rename internnav/internnav_habitat/{habitat_vln_evaluator_new.py => habitat_vlln_evaluator.py} (100%) delete mode 100644 internnav/internnav_habitat/utils.py diff --git a/internnav/internnav_habitat/habitat_n1_agent_temp.py b/internnav/internnav_habitat/habitat_n1_agent.py similarity index 100% rename from internnav/internnav_habitat/habitat_n1_agent_temp.py rename to internnav/internnav_habitat/habitat_n1_agent.py diff --git a/internnav/internnav_habitat/habitat_vln_evaluator_new.py b/internnav/internnav_habitat/habitat_vlln_evaluator.py similarity index 100% rename from internnav/internnav_habitat/habitat_vln_evaluator_new.py rename to internnav/internnav_habitat/habitat_vlln_evaluator.py diff --git a/internnav/internnav_habitat/utils.py b/internnav/internnav_habitat/utils.py deleted file mode 100644 index e69de29..0000000 diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py index 33cf6b1..de96107 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_cfg.py @@ -29,7 +29,7 @@ eval_type='habitat_vln', eval_settings={ # all current parse args - "output_path": "./logs/habitat/test_refactor_0d00014", # output directory for logs/results + "output_path": "./logs/habitat/test_refactor_7e25e72", # output directory for logs/results "save_video": False, # whether to save videos "epoch": 0, # epoch number for logging "max_steps_per_episode": 500, # maximum steps per episode diff --git a/setup.cfg b/setup.cfg index baadd6a..3acbb93 100644 --- a/setup.cfg +++ b/setup.cfg @@ -45,4 +45,4 @@ per-file-ignores=*/__init__.py:F401 ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117,E711,E226 max-line-length = 120 max-complexity = 30 -exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb,internnav/internnav_habitat/habitat_n1_agent_temp.py +exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb,internnav/internnav_habitat/habitat_n1_agent.py From 99adf731eab7f88e85d89f895641d0ef90ea4ba0 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 12 Nov 2025 09:49:43 +0000 Subject: [PATCH 08/35] delete temp agent; rename default evaluator for habitat --- ...luator.py => habitat_default_evaluator.py} | 0 .../internnav_habitat/habitat_n1_agent.py | 751 ------------------ setup.cfg | 2 +- 3 files changed, 1 insertion(+), 752 deletions(-) rename internnav/internnav_habitat/{habitat_vlln_evaluator.py => habitat_default_evaluator.py} (100%) delete mode 100644 internnav/internnav_habitat/habitat_n1_agent.py diff --git a/internnav/internnav_habitat/habitat_vlln_evaluator.py b/internnav/internnav_habitat/habitat_default_evaluator.py similarity index 100% rename from internnav/internnav_habitat/habitat_vlln_evaluator.py rename to internnav/internnav_habitat/habitat_default_evaluator.py diff --git a/internnav/internnav_habitat/habitat_n1_agent.py b/internnav/internnav_habitat/habitat_n1_agent.py deleted file mode 100644 index 0d52524..0000000 --- a/internnav/internnav_habitat/habitat_n1_agent.py +++ /dev/null @@ -1,751 +0,0 @@ -import copy -import itertools -import os -import re -import sys -from pathlib import Path - -import numpy as np -import torch - -sys.path.append(str(Path(__file__).parent.parent.parent)) - -from collections import OrderedDict - -from PIL import Image -from transformers import AutoProcessor, Qwen2_5_VLForConditionalGeneration - -from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM -from internnav.model.utils.vln_utils import split_and_clean, traj_to_actions - -DEFAULT_IMAGE_TOKEN = "" - - -@Agent.register("N1") -class HabitatAgent(Agent): - def __init__(self, model, processor, args, device): - self.model = model - self.processor = processor - self.args = args - self.device = device - # ------------------------------------- model ------------------------------------------ - processor = AutoProcessor.from_pretrained(args.model_path) - processor.tokenizer.padding_side = 'left' - - device = torch.device(f"cuda:{self.local_rank}") - if args.mode == 'dual_system': - model = InternVLAN1ForCausalLM.from_pretrained( - args.model_path, - torch_dtype=torch.bfloat16, - attn_implementation="flash_attention_2", - device_map={"": device}, - ) - elif args.mode == 'system2': - model = Qwen2_5_VLForConditionalGeneration.from_pretrained( - args.model_path, - torch_dtype=torch.bfloat16, - attn_implementation="flash_attention_2", - device_map={"": device}, - ) - else: - raise ValueError(f"Invalid mode: {args.mode}") - - model.eval() - self.device = device - - self.model = model - self.processor = processor - - # refactor: this part used in three places - prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint\'s coordinates in the image. Please output STOP when you have successfully completed the task." - answer = "" - self.conversation = [{"from": "human", "value": prompt}, {"from": "gpt", "value": answer}] - - self.conjunctions = [ - 'you can see ', - 'in front of you is ', - 'there is ', - 'you can spot ', - 'you are toward the ', - 'ahead of you is ', - 'in your sight is ', - ] - - self.actions2idx = OrderedDict( - { - 'STOP': [0], - "↑": [1], - "←": [2], - "→": [3], - "↓": [5], - } - ) - - self.objectnav_instructions = ["Search for the {target_object}."] - - self.num_frames = args.num_frames - self.num_future_steps = args.num_future_steps - self.num_history = args.num_history - - def reset(self, episode, env): - """Clear all per-episode state.""" - self.rgb_list = [] - self.action_seq = [] - self.output_ids = None - self.goal = None - self.messages = [] - self.local_actions = [] - self.forward_action = 0 - - # maybe store initial transforms you need for this ep: - self.initial_agent_state = env.get_agent_state() - self.initial_height = self.initial_agent_state.position[1] - - def act(self, observations, env, info): - """ - Pure policy step: - - given obs (rgb/depth/gps/compass) + optional env/info - - update internal state (goal, messages, local_actions, etc.) - - return a single action (int) - """ - # 1) unpack obs: rgb, depth, gps, compass, etc. - # 2) handle 'look down' case - # 3) maybe call LLM to get pixel goal or action_seq - # 4) maybe call diffusion policy to get local_actions - # 5) choose final `action` (0..5) - # 6) return `action` - return action - - def _run_local_eval(self, idx=0) -> None: # noqa: C901 - """ - Run local evaluation on this rank. - - Important: if resuming from previous results, need to read from / write to "self.output_path/progress.json". - For each episode, save the result dict in jsonl format to that file. - In Env, the episodes are already filtered by this file, tasks that have the same (scene_id, episode_id) are skipped. - - - Returns - ------- - dict[str, Tensor]: - { - "sucs": [N_local], - "spls": [N_local], - "oss": [N_local], - "nes": [N_local], - } - """ - # Create / get env - # self.env = self.env # HabitatEnv from DistributedEvaluator - - sucs, spls, oss, nes = [], [], [], [] - self.model.eval() - - # resume from previous results - # TODO: Current read write op is not distributed safe - if os.path.exists(os.path.join(self.output_path, 'progress.json')): - with open(os.path.join(self.output_path, 'progress.json'), 'r') as f: - for line in f.readlines(): - res = json.loads(line) - if "scene_id" not in res: - print("This evaluation has already finished!") - return ( - torch.tensor(sucs).to(self.device), - torch.tensor(spls).to(self.device), - torch.tensor(oss).to(self.device), - torch.tensor(nes).to(self.device), - torch.tensor(len(sucs)).to(self.device), - ) - if idx == 0: # noqa: F405 TODO this need to keep in evaluator - sucs.append(res['success']) - spls.append(res['spl']) - oss.append(res['os']) - nes.append(res['ne']) - - # Episode loop is now driven by env.reset() + env.is_running - process_bar = tqdm.tqdm(total=len(self.env.episodes), desc=f"Eval Epoch {self.epoch} Rank {idx}") - while self.env.is_running: - - # ------------ 1. Start of episode ------------ - observations = self.env.reset() - if not self.env.is_running or observations is None: - break - - # ---- episode meta (scene_id, episode_id, instruction) ---- - # we get it from the underlying habitat env - episode = self.env.get_current_episode() - scene_id = episode.scene_id.split('/')[-2] - episode_id = int(episode.episode_id) - episode_instruction = ( - episode.instruction.instruction_text if 'objectnav' not in self.config_path else episode.object_category - ) - print("episode start", episode_instruction) - - agent_state = self.env._env.sim.get_agent_state() - rotation = agent_state.rotation - translation = agent_state.position - rotation_matrix = quaternion.as_rotation_matrix(rotation) - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rotation_matrix - transformation_matrix[:3, 3] = translation - - agent = ShortestPathFollower(self.env._env.sim, 0.25, False) - - os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) - Image.fromarray(observations['rgb']).save( - os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{idx}.jpg') - ) - - vis_frames = [] - step_id = 0 - - if self.save_video: - os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True) - initial_height = self.env._env.sim.get_agent_state().position[1] - - rgb_list = [] - action_seq = [] - output_ids = None - - goal = None - action = None - messages = [] - local_actions = [] - - done = False - - # ---------- 2. Episode step loop ----------- - while (not done) and (step_id <= self.max_steps_per_episode): - # refactor agent get action - rgb = observations["rgb"] - depth = observations["depth"] - x, y = observations["gps"] - camera_yaw = observations["compass"][0] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - - agent_state = self.env._env.sim.get_agent_state() - height = agent_state.position[1] - initial_height - camera_position = np.array([x, -y, self._camera_height + height]) - tf_camera_to_episodic = ( - self.xyz_yaw_pitch_to_tf_matrix(camera_position, camera_yaw, np.deg2rad(30)) - @ self.get_axis_align_matrix() - ) - - image = Image.fromarray(rgb).convert('RGB') - save_raw_image = image.copy() - - save_dot = False - if action == 5: - look_down_image = image - save_raw_image = look_down_image.copy() - look_down_depth, resize_shape = self.preprocess_depth_image_v2( - Image.fromarray(depth.astype(np.uint16), mode='I;16'), - do_depth_scale=True, - depth_scale=1000, - target_height=224, - target_width=224, - ) - look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() - look_down_depth[look_down_depth > 5.0] = 5.0 - else: - image = image.resize((self.args.resize_w, self.args.resize_h)) - rgb_list.append(image) - - if self.args.mode == 'dual_system': - down_observations, _, done, _ = self.env.step(5) - down_observations, _, done, _ = self.env.step(5) - - look_down_image = Image.fromarray(down_observations["rgb"]).convert('RGB') - depth = down_observations["depth"] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - look_down_depth, resize_shape = self.preprocess_depth_image_v2( - Image.fromarray(depth.astype(np.uint16), mode='I;16'), - do_depth_scale=True, - depth_scale=1000, - target_height=224, - target_width=224, - ) - look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() - look_down_depth[look_down_depth > 5.0] = 5.0 - - self.env.step(4) - self.env.step(4) - - info = self.env.get_metrics() - - if len(action_seq) == 0 and goal is None: - if action != 5: - sources = copy.deepcopy(self.conversation) - sources[0]["value"] = sources[0]["value"].replace( - '.', episode.instruction.instruction_text[:-1] - ) - cur_images = rgb_list[-1:] - if step_id == 0: - history_id = [] - else: - history_id = np.unique( - np.linspace(0, step_id - 1, self.num_history, dtype=np.int32) - ).tolist() - placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) - sources[0]["value"] += f' These are your historical observations: {placeholder}.' - - history_id = sorted(history_id) - print('history_idddddddd', step_id, history_id) - input_images = [rgb_list[i] for i in history_id] + cur_images - input_img_id = 0 - else: - assert action == 5 - sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] - input_images += [look_down_image] - # messages.append( - # {'role': 'assistant', 'content': [{'type': 'text', 'text': llm_outputs}]} # noqa: F405 - # ) - input_img_id = -1 - - prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN - sources[0]["value"] += f" {prompt}." - print('sources', step_id, sources) - prompt_instruction = copy.deepcopy(sources[0]["value"]) - parts = split_and_clean(prompt_instruction) - - content = [] - for i in range(len(parts)): - if parts[i] == "": - content.append({"type": "image", "image": input_images[input_img_id]}) - input_img_id += 1 - else: - content.append({"type": "text", "text": parts[i]}) - - messages.append({'role': 'user', 'content': content}) - - print('step_id', step_id, 'messages:', messages) - - text = self.processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True) - - inputs = self.processor(text=[text], images=input_images, return_tensors="pt").to(self.model.device) - - with torch.no_grad(): - output_ids = self.model.generate(**inputs, max_new_tokens=128, do_sample=False) - - llm_outputs = self.processor.tokenizer.decode( - output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True - ) - print('step_id:', step_id, 'output text:', llm_outputs) - - if bool(re.search(r'\d', llm_outputs)): - forward_action = 0 - coord = [int(c) for c in re.findall(r'\d+', llm_outputs)] - pixel_goal = [int(coord[1]), int(coord[0])] - - intrinsic_matrix = self.get_intrinsic_matrix( - self.config.habitat.simulator.agents.main_agent.sim_sensors.rgb_sensor - ) - goal = self.pixel_to_gps(pixel_goal, depth / 1000, intrinsic_matrix, tf_camera_to_episodic) - print('before', goal, depth.shape) - goal = (transformation_matrix @ np.array([-goal[1], 0, -goal[0], 1]))[:3] - - if not self.env._env.sim.pathfinder.is_navigable(np.array(goal)): - goal = np.array(self.env._env.sim.pathfinder.snap_point(np.array(goal))) - - # look down --> horizontal - self.env.step(4) - self.env.step(4) - - # Forking logic based on mode - if self.args.mode == 'system2': - action = agent.get_next_action(goal) - if action == 0: - goal = None - output_ids = None - action = 2 # random action - print('conduct a random action 2') - observations = self.env.step(action) - step_id += 1 - messages = [] - continue - else: # dual-system logic - local_actions = [] - pixel_values = inputs.pixel_values - image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) - - with torch.no_grad(): - traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) - - # prepocess align with navdp - image_dp = ( - torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 - ) - pix_goal_image = copy.copy(image_dp) - images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) - depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - pix_goal_depth = copy.copy(depth_dp) - depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) - - with torch.no_grad(): - dp_actions = self.model.generate_traj( - traj_latents, images_dp, depths_dp, use_async=True - ) - - random_choice = np.random.choice(dp_actions.shape[0]) - if self.args.continuous_traj: - action_list = traj_to_actions(dp_actions) - if len(action_list) < 8: - action_list += [0] * (8 - len(action_list)) - else: - action_list = chunk_token(dp_actions[random_choice]) - - local_actions = action_list - if len(local_actions) >= 4: - local_actions = local_actions[:4] - action = local_actions[0] - if action == 0: - goal = None - output_ids = None - action = 2 # random action - print('conduct a random action 2') - observations = self.env.step(action) - step_id += 1 - messages = [] - continue - - print('predicted goal', pixel_goal, goal, flush=True) - else: - action_seq = self.parse_actions(llm_outputs) - print('actions', action_seq, flush=True) - - if len(action_seq) != 0: - action = action_seq[0] - action_seq.pop(0) - elif goal is not None: - # Forking logic based on mode - if self.args.mode == 'system2': - action = agent.get_next_action(goal) - action = action.detach().cpu().numpy()[0] if isinstance(action, torch.Tensor) else action - action = action[0] if hasattr(action, "__len__") else action - else: # dual-system logic - if len(local_actions) == 0: - # navdp - local_actions = [] - image_dp = ( - torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) / 255 - ) - - images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0).to(self.device) - depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - - depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0).to(self.device) - with torch.no_grad(): - dp_actions = self.model.generate_traj( - traj_latents, images_dp, depths_dp, use_async=True - ) - - random_choice = np.random.choice(dp_actions.shape[0]) - if self.args.continuous_traj: - action_list = traj_to_actions(dp_actions) - if len(action_list) < 8: - action_list += [0] * (8 - len(action_list)) - else: - action_list = chunk_token(dp_actions[random_choice]) - print("first action_list", action_list) - - local_actions = action_list - if len(local_actions) >= 4: - local_actions = local_actions[:4] - # if len(local_actions) >= 2: - # local_actions = local_actions[:2] - - print("local_actions", local_actions) - - action = local_actions.pop(0) - # navdp - else: - action = local_actions.pop(0) - - forward_action += 1 - print('forward_action', forward_action, flush=True) - if forward_action > 8: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue - if action == 0: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue - else: - action = 0 - - if info['top_down_map'] is not None: - if save_dot: - save_raw_image = self.dot_matrix_two_dimensional( - save_raw_image, save_img=False, save_path=f'test_{step_id}.jpg', pixel_goal=pixel_goal - ) - if self.save_video: - frame = observations_to_image({'rgb': np.asarray(save_raw_image)}, info) - vis_frames.append(frame) - - print("step_id", step_id, "action", action) - - # refactor: core - if action == 5: - self.env.step(action) - observations, _, done, _ = self.env.step(action) - else: - observations, _, done, _ = self.env.step(action) - step_id += 1 - messages = [] - - # ---------- 3. End of episode ----------- - # Update result and write progress to the output_path/progress.json - - process_bar.update(1) - - # After the episode finishes, collect metrics: - metrics = self.env.get_metrics() - - sucs.append(metrics['success']) - spls.append(metrics['spl']) - oss.append(metrics['oracle_success']) - nes.append(metrics["distance_to_goal"]) - - print( - f"scene_episode {scene_id}_{episode_id:04d} success: {metrics['success']}, " - f"spl: {metrics['spl']}, os: {metrics['oracle_success']}, " - f"ne: {metrics['distance_to_goal']}" - ) - - # Write per-episode result.json entry (still per-rank) - result = { - "scene_id": scene_id, - "episode_id": episode_id, - "success": metrics["success"], - "spl": metrics["spl"], - "os": metrics['oracle_success'], - "ne": metrics["distance_to_goal"], - "steps": step_id, - "episode_instruction": episode_instruction, - } - os.makedirs(self.output_path, exist_ok=True) - with open(os.path.join(self.output_path, 'progress.json'), 'a') as f: - f.write(json.dumps(result) + "\n") - - self.env.close() - - return { - "sucs": torch.tensor(sucs, device=self.device), - "spls": torch.tensor(spls, device=self.device), - "oss": torch.tensor(oss, device=self.device), - "nes": torch.tensor(nes, device=self.device), - } - - def parse_actions(self, output): - action_patterns = '|'.join(re.escape(action) for action in self.actions2idx) - # import ipdb; ipdb.set_trace() - regex = re.compile(action_patterns) - matches = regex.findall(output) - actions = [self.actions2idx[match] for match in matches] - actions = itertools.chain.from_iterable(actions) - return list(actions) - - def preprocess_depth_image_v2( - self, depth_image, do_depth_scale=True, depth_scale=1000, target_height=None, target_width=None - ): - if target_height is None: - target_height = self.image_processor.crop_size['height'] # 384 - target_width = self.image_processor.crop_size['width'] # 384 - - resized_depth_image = depth_image.resize((target_width, target_height), Image.NEAREST) - - img = to_numpy_array(resized_depth_image) - if do_depth_scale: - img = img / depth_scale - - return img, (target_width, target_height) - - def get_intrinsic_matrix(self, sensor_cfg) -> np.ndarray: - width = sensor_cfg.width - height = sensor_cfg.height - fov = sensor_cfg.hfov - fx = (width / 2.0) / np.tan(np.deg2rad(fov / 2.0)) - fy = fx # Assuming square pixels (fx = fy) - cx = (width - 1.0) / 2.0 - cy = (height - 1.0) / 2.0 - - intrinsic_matrix = np.array( - [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] - ) - return intrinsic_matrix - - def get_axis_align_matrix(self): - ma = np.array([[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]) - return ma - - def xyz_yaw_to_tf_matrix(self, xyz: np.ndarray, yaw: float) -> np.ndarray: - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(yaw), -np.sin(yaw), 0, x], - [np.sin(yaw), np.cos(yaw), 0, y], - [0, 0, 1, z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_pitch_to_tf_matrix(self, xyz: np.ndarray, pitch: float) -> np.ndarray: - """Converts a given position and pitch angle to a 4x4 transformation matrix. - - Args: - xyz (np.ndarray): A 3D vector representing the position. - pitch (float): The pitch angle in radians for y axis. - Returns: - np.ndarray: A 4x4 transformation matrix. - """ - - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(pitch), 0, np.sin(pitch), x], - [0, 1, 0, y], - [-np.sin(pitch), 0, np.cos(pitch), z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_yaw_pitch_to_tf_matrix(self, xyz: np.ndarray, yaw: float, pitch: float) -> np.ndarray: - """Converts a given position and yaw, pitch angles to a 4x4 transformation matrix. - - Args: - xyz (np.ndarray): A 3D vector representing the position. - yaw (float): The yaw angle in radians. - pitch (float): The pitch angle in radians for y axis. - Returns: - np.ndarray: A 4x4 transformation matrix. - """ - x, y, z = xyz - rot1 = self.xyz_yaw_to_tf_matrix(xyz, yaw)[:3, :3] - rot2 = self.xyz_pitch_to_tf_matrix(xyz, pitch)[:3, :3] - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rot1 @ rot2 - transformation_matrix[:3, 3] = xyz - return transformation_matrix - - def pixel_to_gps(self, pixel, depth, intrinsic, tf_camera_to_episodic): - ''' - Args: - pixel: (2,) - [u, v] pixel coordinates - depth: (H, W) - depth image where depth[v, u] gives depth in meters - intrinsic: (4, 4) - camera intrinsic matrix - tf_camera_to_episodic: (4, 4) - transformation from camera to episodic frame - Returns: - (x, y): (x, y) coordinates in the episodic frame - ''' - v, u = pixel - z = depth[v, u] - print("depthhhhhhhhhhhhhh", z) - - x = (u - intrinsic[0, 2]) * z / intrinsic[0, 0] - y = (v - intrinsic[1, 2]) * z / intrinsic[1, 1] - point_camera = np.array([x, y, z, 1.0]) - - # Transform to episodic frame - point_episodic = tf_camera_to_episodic @ point_camera - point_episodic = point_episodic[:3] / point_episodic[3] - - x = point_episodic[0] - y = point_episodic[1] - - return (x, y) # same as habitat gps - - def dot_matrix_two_dimensional( - self, - image_or_image_path, - save_path=None, - dots_size_w=8, - dots_size_h=8, - save_img=False, - font_path='fonts/arial.ttf', - pixel_goal=None, - ): - """ - takes an original image as input, save the processed image to save_path. Each dot is labeled with two-dimensional Cartesian coordinates (x,y). Suitable for single-image tasks. - control args: - 1. dots_size_w: the number of columns of the dots matrix - 2. dots_size_h: the number of rows of the dots matrix - """ - with open_image(image_or_image_path) as img: - if img.mode != 'RGB': - img = img.convert('RGB') - draw = ImageDraw.Draw(img, 'RGB') - - width, height = img.size - grid_size_w = dots_size_w + 1 - grid_size_h = dots_size_h + 1 - cell_width = width / grid_size_w - cell_height = height / grid_size_h - - font = ImageFont.truetype(font_path, width // 40) # Adjust font size if needed; default == width // 40 - - target_i = target_j = None - if pixel_goal is not None: - y_pixel, x_pixel = pixel_goal[0], pixel_goal[1] - # Validate pixel coordinates - if not (0 <= x_pixel < width and 0 <= y_pixel < height): - raise ValueError(f"pixel_goal {pixel_goal} exceeds image dimensions ({width}x{height})") - - # Convert to grid coordinates - target_i = round(x_pixel / cell_width) - target_j = round(y_pixel / cell_height) - - # Validate grid bounds - if not (1 <= target_i <= dots_size_w and 1 <= target_j <= dots_size_h): - raise ValueError( - f"pixel_goal {pixel_goal} maps to grid ({target_j},{target_i}), " - f"valid range is (1,1)-({dots_size_h},{dots_size_w})" - ) - - count = 0 - - for j in range(1, grid_size_h): - for i in range(1, grid_size_w): - x = int(i * cell_width) - y = int(j * cell_height) - - pixel_color = img.getpixel((x, y)) - # choose a more contrasting color from black and white - if pixel_color[0] + pixel_color[1] + pixel_color[2] >= 255 * 3 / 2: - opposite_color = (0, 0, 0) - else: - opposite_color = (255, 255, 255) - - if pixel_goal is not None and i == target_i and j == target_j: - opposite_color = (255, 0, 0) # Red for target - - circle_radius = width // 240 # Adjust dot size if needed; default == width // 240 - draw.ellipse( - [(x - circle_radius, y - circle_radius), (x + circle_radius, y + circle_radius)], - fill=opposite_color, - ) - - text_x, text_y = x + 3, y - count_w = count // dots_size_w - count_h = count % dots_size_w - label_str = f"({count_w+1},{count_h+1})" - draw.text((text_x, text_y), label_str, fill=opposite_color, font=font) - count += 1 - if save_img: - print(">>> dots overlaid image processed, stored in", save_path) - img.save(save_path) - return img diff --git a/setup.cfg b/setup.cfg index 3acbb93..dd5d8f9 100644 --- a/setup.cfg +++ b/setup.cfg @@ -45,4 +45,4 @@ per-file-ignores=*/__init__.py:F401 ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117,E711,E226 max-line-length = 120 max-complexity = 30 -exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb,internnav/internnav_habitat/habitat_n1_agent.py +exclude=_*,.vscode,.git,docs/**,**/test/**,**/lcmtypes/**,*.ipynb From 75b38a7fc7c70e7f1438949d679412ddbe9bc129 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 12 Nov 2025 09:51:15 +0000 Subject: [PATCH 09/35] update slurm bash --- scripts/eval/bash/eval_dual_system.sh | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/scripts/eval/bash/eval_dual_system.sh b/scripts/eval/bash/eval_dual_system.sh index ef4be1e..56e4b40 100755 --- a/scripts/eval/bash/eval_dual_system.sh +++ b/scripts/eval/bash/eval_dual_system.sh @@ -12,8 +12,6 @@ srun -p efm_t \ --ntasks-per-node=8 \ --cpus-per-task=16 \ --kill-on-bad-exit=1 \ - python scripts/eval/eval_habitat.py \ - --model_path checkpoints/${MID_RUN_NAME} \ - --predict_step_nums 32 \ - --continuous_traj \ - --output_path results/$MID_RUN_NAME/val_unseen_32traj_8steps \ + python scripts/eval/eval.py \ + --config scripts/eval/configs/habitat_cfg.py \ + > logs/${MID_RUN_NAME}_log.txt 2>&1 From 08bb9c33f4e8058945475e92185e91be140957c2 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 12 Nov 2025 10:03:53 +0000 Subject: [PATCH 10/35] update readme --- internnav/internnav_habitat/README.md | 135 ++++++++++++++++++++++++++ 1 file changed, 135 insertions(+) diff --git a/internnav/internnav_habitat/README.md b/internnav/internnav_habitat/README.md index 03779de..b7c5d73 100644 --- a/internnav/internnav_habitat/README.md +++ b/internnav/internnav_habitat/README.md @@ -1 +1,136 @@ # Habitat in InternNav + +This package adapts [Meta AI Habitat](https://aihabitat.org) environments and +metrics so they can be used from InternNav's evaluation framework. It provides +an environment wrapper, custom measurements, and evaluator implementations that +bridge Habitat simulations with InternNav agents and distributed evaluation +utilities. + +## Package structure + +``` +internnav_habitat/ +├── __init__.py +├── habitat_env.py +├── habitat_default_evaluator.py +├── habitat_vln_evaluator.py +├── measures.py +└── refactor_notes.md +``` + +* `__init__.py` re-exports the public entry points for the environment and the + VLN evaluator so they can be imported as + `from internnav.internnav_habitat import HabitatEnv`. +* `habitat_env.py` implements the `Env` subclass that wraps Habitat's + `Env` object. It bootstraps episodes, handles sharding across distributed + ranks, and adapts Habitat's observations to InternNav's expectations. +* `habitat_default_evaluator.py` contains a lightweight evaluator that runs a + conventional Habitat agent inside the InternNav evaluator loop. +* `habitat_vln_evaluator.py` is the task-specific evaluator used for Vision- + and-Language Navigation (VLN). It loads InternNav vision-language models, + orchestrates inference, and logs results during distributed evaluation. +* `measures.py` registers additional Habitat measurements (path length, + oracle metrics, step counts) that are required by the evaluators. + +The `refactor_notes.md` file captures design notes and TODOs collected during a +previous refactoring pass. + +## Habitat environment wrapper + +`HabitatEnv` is registered under the key `"habitat"` via the shared +`Env.register` decorator. When InternNav builds an environment from an +`EnvCfg`, the wrapper: + +1. Imports and instantiates the Habitat `Env` using the configuration object + provided in `env_settings['habitat_config']`. +2. Stores the distributed context (`local_rank`, `world_size`) and any output + directory override (`output_path`). +3. Pre-computes the episode list by grouping Habitat episodes by scene, + filtering completed episodes via `progress.json`, and sharding the remaining + work by rank. +4. Implements the standard reset/step/close/render accessors expected by the + InternNav `Env` base class while delegating to the underlying Habitat + simulator. + +This design keeps the Habitat-specific logic isolated from the rest of the +framework and ensures that distributed evaluation proceeds deterministically +across ranks. + +## Evaluation pipeline + +InternNav evaluators extend the shared `DistributedEvaluator` base class, which +handles distributed initialization, environment instantiation, metric +aggregation, and result logging. The Habitat integration provides two +implementations: + +### `HabitatVlnEvaluator` + +The VLN evaluator (`habitat_vln_evaluator.py`) is responsible for coordinating +model inference in Habitat scenes. + +* **Configuration:** During initialization the evaluator reads an `EvalCfg` + whose `env.env_settings['config_path']` points to a Habitat YAML file. The + config is loaded with Habitat's baseline utilities, sensor intrinsics are + cached, and custom measurements (`top_down_map`, `collisions`) are enabled. +* **Environment binding:** The Habitat configuration is injected back into the + `EnvCfg` so the shared `DistributedEvaluator` base class can create the + `HabitatEnv` wrapper with the correct settings. +* **Model loading:** Depending on `cfg.agent.model_settings.mode`, the evaluator + loads either the InternVLA dual-system model or a Qwen2.5-VL model using + Hugging Face Transformers. The processor is configured with left padding and + the model is moved to the rank-local GPU. +* **Episode loop:** + 1. `HabitatEnv.reset()` advances to the next episode and returns the first + observation. + 2. The evaluator reads episode metadata (scene, instruction) from Habitat, + constructs prompt messages, and collects RGB/depth history for the + language model. + 3. Visual inputs are prepared (resizing, optional look-down depth capture) and + depth maps are filtered through `filter_depth` to remove sensor noise. + 4. The evaluator queries the loaded model for the next action sequence, + translates model tokens to Habitat actions via `traj_to_actions`, and + steps the environment. + 5. Per-episode metrics (`success`, `SPL`, oracle success, navigation error) + are appended and checkpointed to `progress.json` for resumability. +* **Aggregation:** After all ranks finish, inherited utilities gather per-rank + tensors, compute global averages, and write `result.json` in + `output_path`. + +### `HabitatVlnEvaluator` (baseline) + +The default evaluator in `habitat_default_evaluator.py` offers a simpler loop +where a pre-built InternNav agent interacts with the Habitat environment. +InternNav's agent abstraction is reset with each new Habitat episode, and +per-step actions are produced via `agent.act()`. The evaluator records the same +metrics as the VLN evaluator, making it useful for baselines or sanity checks. + +## Custom Habitat measurements + +`measures.py` registers a suite of metrics with Habitat's registry so that they +are available in the Habitat configuration: + +* `PathLength`: cumulative Euclidean distance traveled by the agent. +* `OracleNavigationError`: minimum geodesic distance to the goal along the + trajectory. +* `OracleSuccess`: binary success metric derived from oracle navigation error + relative to a goal radius (default 3.0 meters). +* `OracleSPL`: best Success weighted by Path Length value observed during the + trajectory. +* `StepsTaken`: number of actions issued by the agent, including STOP. + +These metrics complement Habitat's built-in success and SPL scores, allowing +InternNav to report a richer set of statistics. + +## Extending the integration + +* **Adding evaluators:** Subclass `DistributedEvaluator`, supply + Habitat-specific initialization similar to `HabitatVlnEvaluator`, and + implement `eval_action` and `calc_metrics`. +* **Custom sensors or observations:** Augment the Habitat YAML configuration and + update `HabitatEnv` or the evaluator to consume the new observation keys. +* **Additional metrics:** Register new measures in `measures.py` and enable them + in the Habitat config via `config.habitat.task.measurements.update(...)`. + +By centralizing Habitat-specific logic in this package, InternNav can swap in +other simulators or extend Habitat support without touching the rest of the +training and evaluation stack. From cde84b3933f55ba2ac2ba71b07b2daf9ec020998 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Thu, 13 Nov 2025 03:49:13 +0000 Subject: [PATCH 11/35] fix init dist print --- internnav/evaluator/distributed_base.py | 11 ++--------- internnav/utils/dist.py | 9 +++++++-- 2 files changed, 9 insertions(+), 11 deletions(-) diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index 94bfc06..4327c8a 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -22,19 +22,12 @@ class DistributedEvaluator(Evaluator): def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True): # distributed setting - import socket - - print( - f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}" - ) - - self.output_path = cfg.eval_settings["output_path"] # TODO: unsafe for distribution - - init_distributed_mode() + init_distributed_mode(dist_url=cfg.eval_settings['dist_url'], port=cfg.eval_settings['port']) self.local_rank = get_rank() np.random.seed(self.local_rank) self.world_size = get_world_size() + self.output_path = cfg.eval_settings["output_path"] # TODO: unsafe for distribution # habitat env also need rank to split dataset cfg.env.env_settings['local_rank'] = get_rank() diff --git a/internnav/utils/dist.py b/internnav/utils/dist.py index 82c14a3..7a65599 100644 --- a/internnav/utils/dist.py +++ b/internnav/utils/dist.py @@ -190,7 +190,7 @@ def save_on_master(*args, **kwargs): torch.save(*args, **kwargs) -def init_distributed_mode(port=29529, backend="nccl", timeout_hours=2): +def init_distributed_mode(dist_url="env://", port=29529, backend="nccl", timeout_hours=2): # Fast-path: torchrun provides these if all(k in os.environ for k in ["RANK", "WORLD_SIZE", "LOCAL_RANK", "MASTER_ADDR", "MASTER_PORT"]): rank = int(os.environ["RANK"]) @@ -218,10 +218,15 @@ def init_distributed_mode(port=29529, backend="nccl", timeout_hours=2): setup_for_distributed(is_master=True) return + import socket + + print(f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}") + # Device selection must happen before NCCL init torch.cuda.set_device(local_rank) - dist.init_process_group(backend=backend, init_method="env://", timeout=datetime.timedelta(hours=timeout_hours)) + dist.init_process_group(backend=backend, init_method=dist_url, timeout=datetime.timedelta(hours=timeout_hours)) + dist.barrier() setup_for_distributed(dist.get_rank() == 0) From c89723d305a74815faba7273cd87e4ed7b08b77c Mon Sep 17 00:00:00 2001 From: wangyukai Date: Thu, 13 Nov 2025 07:20:25 +0000 Subject: [PATCH 12/35] fix eval config; fix local rank to rank --- internnav/evaluator/distributed_base.py | 6 +++--- internnav/internnav_habitat/habitat_env.py | 8 ++++---- .../internnav_habitat/habitat_vln_evaluator.py | 15 +++++++-------- internnav/utils/dist.py | 6 +++++- scripts/eval/configs/h1_cma_cfg.py | 3 ++- scripts/eval/configs/h1_internvla_n1_cfg.py | 2 ++ scripts/eval/configs/h1_rdp_cfg.py | 2 ++ scripts/eval/configs/h1_seq2seq_cfg.py | 2 ++ 8 files changed, 27 insertions(+), 17 deletions(-) diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index 4327c8a..c284edc 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -22,15 +22,15 @@ class DistributedEvaluator(Evaluator): def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True): # distributed setting - init_distributed_mode(dist_url=cfg.eval_settings['dist_url'], port=cfg.eval_settings['port']) + self.local_rank = init_distributed_mode(dist_url=cfg.eval_settings['dist_url'], port=cfg.eval_settings['port']) - self.local_rank = get_rank() + self.rank = get_rank() np.random.seed(self.local_rank) self.world_size = get_world_size() self.output_path = cfg.eval_settings["output_path"] # TODO: unsafe for distribution # habitat env also need rank to split dataset - cfg.env.env_settings['local_rank'] = get_rank() + cfg.env.env_settings['rank'] = get_rank() cfg.env.env_settings['world_size'] = get_world_size() self.eval_config = cfg diff --git a/internnav/internnav_habitat/habitat_env.py b/internnav/internnav_habitat/habitat_env.py index b680e94..1b0f3f4 100644 --- a/internnav/internnav_habitat/habitat_env.py +++ b/internnav/internnav_habitat/habitat_env.py @@ -12,7 +12,7 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): """ env_settings include: - habitat_config: loaded from get_habitat_config - - local_rank: int, rank index for sharding + - rank: int, rank index for sharding - world_size: int, total number of ranks """ try: @@ -27,7 +27,7 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): self.config = env_config.env_settings['habitat_config'] self._env = Env(self.config) - self.local_rank = env_config.env_settings.get('local_rank', 0) + self.rank = env_config.env_settings.get('rank', 0) self.world_size = env_config.env_settings.get('world_size', 1) self._current_episode_index: int = 0 self._last_obs: Optional[Dict[str, Any]] = None @@ -45,7 +45,7 @@ def generate_episodes(self) -> List[Any]: Generate list of episodes for the current split, already: - grouped by scene - filtered by done_res (the path is self.output_path/progress.json) - - sharded by (local_rank, world_size) + - sharded by (rank, world_size) """ all_episodes = [] @@ -71,7 +71,7 @@ def generate_episodes(self) -> List[Any]: scene_id = scene.split('/')[-2] # shard by rank index / world_size - for episode in per_scene_eps[self.local_rank :: self.world_size]: + for episode in per_scene_eps[self.rank :: self.world_size]: episode_id = int(episode.episode_id) if (scene_id, episode_id) in done_res: continue diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py index 9ed4c48..9fdd015 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -44,8 +44,7 @@ # Import for Habitat registry side effects — do not remove import internnav.internnav_habitat.measures # noqa: F401 # isort: skip except Exception as e: - print("Habitat Error:", e) - print("Habitat Evaluation is not loaded.") + print(f"Warning: ({e}), Habitat Evaluation is not loaded in this runtime. Ignore this if not using Habitat.") DEFAULT_IMAGE_TOKEN = "" @@ -170,10 +169,10 @@ def eval_action(self): Returns dict[str, Tensor] on GPU (1D tensors of same length). """ # Old behavior was something like: - # sucs, spls, oss, nes, ep_num = self.eval_action(self.local_rank) + # sucs, spls, oss, nes, ep_num = self.eval_action(self.rank) # Now just implement the actual eval here and return dict. - sucs, spls, oss, nes, _ = self._run_local_eval(self.local_rank) + sucs, spls, oss, nes, _ = self._run_local_eval(self.rank) return { "sucs": sucs, # shape [N_local] @@ -202,7 +201,7 @@ def calc_metrics(self, global_metrics: dict) -> dict: # "length" will be filled by base class } - def _run_local_eval(self, idx=0) -> None: # noqa: C901 + def _run_local_eval(self) -> None: # noqa: C901 """ Run local evaluation on this rank. @@ -242,14 +241,14 @@ def _run_local_eval(self, idx=0) -> None: # noqa: C901 torch.tensor(nes).to(self.device), torch.tensor(len(sucs)).to(self.device), ) - if idx == 0: # noqa: F405 TODO this need to keep in evaluator + if self.rank == 0: # noqa: F405 TODO this need to keep in evaluator sucs.append(res['success']) spls.append(res['spl']) oss.append(res['os']) nes.append(res['ne']) # Episode loop is now driven by env.reset() + env.is_running - process_bar = tqdm.tqdm(total=len(self.env.episodes), desc=f"Eval Epoch {self.epoch} Rank {idx}") + process_bar = tqdm.tqdm(total=len(self.env.episodes), desc=f"Eval Epoch {self.epoch} Rank {self.rank}") while self.env.is_running: # ------------ 1. Start of episode ------------ @@ -280,7 +279,7 @@ def _run_local_eval(self, idx=0) -> None: # noqa: C901 # save first frame per rank to validate sim quality os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) Image.fromarray(observations['rgb']).save( - os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{idx}.jpg') + os.path.join(self.output_path, f'check_sim_{self.epoch}', f'rgb_{self.rank}.jpg') ) vis_frames = [] diff --git a/internnav/utils/dist.py b/internnav/utils/dist.py index 7a65599..81634de 100644 --- a/internnav/utils/dist.py +++ b/internnav/utils/dist.py @@ -221,13 +221,17 @@ def init_distributed_mode(dist_url="env://", port=29529, backend="nccl", timeout import socket print(f"Rank {os.getenv('RANK')} / {os.getenv('WORLD_SIZE')} on {socket.gethostname()}:{os.getenv('MASTER_PORT')}") + print('| distributed init (rank {}): {}, gpu {}'.format(rank, dist_url, local_rank), flush=True) # Device selection must happen before NCCL init torch.cuda.set_device(local_rank) - dist.init_process_group(backend=backend, init_method=dist_url, timeout=datetime.timedelta(hours=timeout_hours)) + dist.init_process_group( + backend=backend, init_method=dist_url, world_size=world_size, rank=rank, timeout=datetime.timedelta(0, 7200) + ) dist.barrier() setup_for_distributed(dist.get_rank() == 0) + return local_rank def save_model(args, epoch, model_without_ddp, optimizer, checkpoint_path): diff --git a/scripts/eval/configs/h1_cma_cfg.py b/scripts/eval/configs/h1_cma_cfg.py index 6b27ee9..eae6a51 100644 --- a/scripts/eval/configs/h1_cma_cfg.py +++ b/scripts/eval/configs/h1_cma_cfg.py @@ -47,5 +47,6 @@ 'filter_stairs': False, }, ), - eval_settings={'save_to_json': False, 'vis_output': True}, + eval_type='vln_multi', + eval_settings={'save_to_json': True, 'vis_output': False}, ) diff --git a/scripts/eval/configs/h1_internvla_n1_cfg.py b/scripts/eval/configs/h1_internvla_n1_cfg.py index 90a801c..e6411e7 100644 --- a/scripts/eval/configs/h1_internvla_n1_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_cfg.py @@ -69,4 +69,6 @@ # 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'], }, ), + eval_type='vln_multi', + eval_settings={'save_to_json': True, 'vis_output': False}, ) diff --git a/scripts/eval/configs/h1_rdp_cfg.py b/scripts/eval/configs/h1_rdp_cfg.py index a6380c8..a7e0254 100644 --- a/scripts/eval/configs/h1_rdp_cfg.py +++ b/scripts/eval/configs/h1_rdp_cfg.py @@ -45,4 +45,6 @@ 'filter_stairs': False, }, ), + eval_type='vln_multi', + eval_settings={'save_to_json': True, 'vis_output': False}, ) diff --git a/scripts/eval/configs/h1_seq2seq_cfg.py b/scripts/eval/configs/h1_seq2seq_cfg.py index 2934e8e..4fd9c19 100644 --- a/scripts/eval/configs/h1_seq2seq_cfg.py +++ b/scripts/eval/configs/h1_seq2seq_cfg.py @@ -45,4 +45,6 @@ 'filter_stairs': False, }, ), + eval_type='vln_multi', + eval_settings={'save_to_json': True, 'vis_output': False}, ) From 783627689df58c53f1600877f38c6afec0edf016 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Thu, 13 Nov 2025 07:45:33 +0000 Subject: [PATCH 13/35] update init distributed mode if condition --- internnav/evaluator/distributed_base.py | 2 +- internnav/utils/dist.py | 20 +++++++++++--------- 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index c284edc..91eeb58 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -23,9 +23,9 @@ class DistributedEvaluator(Evaluator): def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True): # distributed setting self.local_rank = init_distributed_mode(dist_url=cfg.eval_settings['dist_url'], port=cfg.eval_settings['port']) + np.random.seed(self.local_rank) self.rank = get_rank() - np.random.seed(self.local_rank) self.world_size = get_world_size() self.output_path = cfg.eval_settings["output_path"] # TODO: unsafe for distribution diff --git a/internnav/utils/dist.py b/internnav/utils/dist.py index 81634de..1d68832 100644 --- a/internnav/utils/dist.py +++ b/internnav/utils/dist.py @@ -191,14 +191,8 @@ def save_on_master(*args, **kwargs): def init_distributed_mode(dist_url="env://", port=29529, backend="nccl", timeout_hours=2): - # Fast-path: torchrun provides these - if all(k in os.environ for k in ["RANK", "WORLD_SIZE", "LOCAL_RANK", "MASTER_ADDR", "MASTER_PORT"]): - rank = int(os.environ["RANK"]) - world_size = int(os.environ["WORLD_SIZE"]) - local_rank = int(os.environ["LOCAL_RANK"]) - # SLURM path: derive env then fall back to env:// - elif "SLURM_PROCID" in os.environ: + if "SLURM_PROCID" in os.environ: rank = int(os.environ["SLURM_PROCID"]) world_size = int(os.environ["SLURM_NTASKS"]) num_gpus = torch.cuda.device_count() @@ -206,13 +200,21 @@ def init_distributed_mode(dist_url="env://", port=29529, backend="nccl", timeout # pick first node as master nodelist = os.environ["SLURM_NODELIST"] + print(f'Node list: {nodelist}') master_addr = subprocess.getoutput(f"scontrol show hostname {nodelist} | head -n1") - os.environ.setdefault("MASTER_ADDR", master_addr) - os.environ.setdefault("MASTER_PORT", str(port)) + + os.environ["MASTER_ADDR"] = master_addr + os.environ["MASTER_PORT"] = str(port) os.environ["RANK"] = str(rank) os.environ["WORLD_SIZE"] = str(world_size) os.environ["LOCAL_RANK"] = str(local_rank) + # Fast-path: torchrun provides these + elif 'RANK' in os.environ and 'WORLD_SIZE' in os.environ: + rank = int(os.environ["RANK"]) + world_size = int(os.environ["WORLD_SIZE"]) + local_rank = int(os.environ["LOCAL_RANK"]) + else: print("Not using distributed mode") setup_for_distributed(is_master=True) From dac13e1bcf463a514e37c123d81915ae7b17eadd Mon Sep 17 00:00:00 2001 From: wangyukai Date: Thu, 13 Nov 2025 08:48:56 +0000 Subject: [PATCH 14/35] update dist for dlc --- internnav/utils/dist.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/internnav/utils/dist.py b/internnav/utils/dist.py index 1d68832..3f7f1d0 100644 --- a/internnav/utils/dist.py +++ b/internnav/utils/dist.py @@ -213,7 +213,14 @@ def init_distributed_mode(dist_url="env://", port=29529, backend="nccl", timeout elif 'RANK' in os.environ and 'WORLD_SIZE' in os.environ: rank = int(os.environ["RANK"]) world_size = int(os.environ["WORLD_SIZE"]) - local_rank = int(os.environ["LOCAL_RANK"]) + if "LOCAL_RANK" in os.environ: + local_rank = int(os.environ["LOCAL_RANK"]) + elif "RANK" in os.environ: + # fallback: assume per-node GPU count n + num_gpus = torch.cuda.device_count() + local_rank = rank % max(1, num_gpus) + else: + local_rank = 0 else: print("Not using distributed mode") From d8734c746d0a3158e3c6b859bb71168fd14f31ff Mon Sep 17 00:00:00 2001 From: wangyukai Date: Thu, 13 Nov 2025 10:06:20 +0000 Subject: [PATCH 15/35] fix bug in evaluator --- internnav/internnav_habitat/habitat_vln_evaluator.py | 3 +-- scripts/eval/configs/habitat_cfg.py | 6 +----- 2 files changed, 2 insertions(+), 7 deletions(-) diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py index 9fdd015..0be81f4 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -153,7 +153,6 @@ def __init__(self, cfg: EvalCfg): self.num_future_steps = self.model_args.num_future_steps self.num_history = self.model_args.num_history - # ------------------------------------- old ------------------------------------------ self._camera_height = self.sim_sensors_config.rgb_sensor.position[1] self._min_depth = self.sim_sensors_config.depth_sensor.min_depth self._max_depth = self.sim_sensors_config.depth_sensor.max_depth @@ -172,7 +171,7 @@ def eval_action(self): # sucs, spls, oss, nes, ep_num = self.eval_action(self.rank) # Now just implement the actual eval here and return dict. - sucs, spls, oss, nes, _ = self._run_local_eval(self.rank) + sucs, spls, oss, nes, _ = self._run_local_eval() return { "sucs": sucs, # shape [N_local] diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py index de96107..a079c0c 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_cfg.py @@ -29,15 +29,11 @@ eval_type='habitat_vln', eval_settings={ # all current parse args - "output_path": "./logs/habitat/test_refactor_7e25e72", # output directory for logs/results + "output_path": "./logs/habitat/test", # output directory for logs/results "save_video": False, # whether to save videos "epoch": 0, # epoch number for logging "max_steps_per_episode": 500, # maximum steps per episode # distributed settings - "local_rank": 0, # node rank - "world_size": 1, # number of distributed processes - "rank": 0, # rank of current process - "gpu": 0, # gpu id to use "port": "2333", # communication port "dist_url": "env://", # url for distributed setup }, From bfe361637c83e74a715a14a2a05e07737ca78024 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Sat, 15 Nov 2025 04:34:07 +0000 Subject: [PATCH 16/35] update distributed vln multi, episode loader --- internnav/agent/internvla_n1_agent.py | 224 +++++++++++------- internnav/env/internutopia_env.py | 22 ++ .../env/utils/episode_loader/__init__.py | 2 + .../utils/episode_loader}/base.py | 21 +- .../utils/episode_loader/dataset_utils.py} | 122 +++++++++- .../utils/episode_loader/generate_episode.py} | 64 +++-- .../utils/episode_loader}/resumable.py | 13 +- internnav/evaluator/__init__.py | 8 +- internnav/evaluator/distributed_base.py | 25 +- internnav/evaluator/utils/common.py | 141 ----------- internnav/evaluator/utils/dataset.py | 129 ++-------- ....py => vln_multi_distributed_evaluator.py} | 76 +++--- internnav/projects/__init__.py | 0 internnav/utils/progress_log_multi_util.py | 1 + scripts/eval/bash/start_aliyun_dlc.sh | 87 +++++-- scripts/eval/bash/torchrun_eval.sh | 34 +-- scripts/eval/configs/h1_cma_cfg.py | 16 +- scripts/eval/configs/h1_internvla_n1_cfg.py | 12 +- scripts/eval/configs/h1_rdp_cfg.py | 20 +- scripts/eval/configs/h1_seq2seq_cfg.py | 20 +- scripts/eval/eval.py | 2 +- 21 files changed, 561 insertions(+), 478 deletions(-) create mode 100644 internnav/env/utils/episode_loader/__init__.py rename internnav/{projects/dataloader => env/utils/episode_loader}/base.py (67%) rename internnav/{projects/dataloader/data_reviser.py => env/utils/episode_loader/dataset_utils.py} (60%) rename internnav/{evaluator/utils/eval.py => env/utils/episode_loader/generate_episode.py} (52%) rename internnav/{projects/dataloader => env/utils/episode_loader}/resumable.py (89%) rename internnav/evaluator/{vln_multi_evaluator.py => vln_multi_distributed_evaluator.py} (89%) delete mode 100644 internnav/projects/__init__.py diff --git a/internnav/agent/internvla_n1_agent.py b/internnav/agent/internvla_n1_agent.py index 6e97e02..600b0c8 100644 --- a/internnav/agent/internvla_n1_agent.py +++ b/internnav/agent/internvla_n1_agent.py @@ -1,22 +1,21 @@ -import os import copy -from PIL import Image -import numpy as np -import imageio -import base64 -import pickle +import os import threading -import cv2 -from gym import spaces import time + +import cv2 +import imageio +import numpy as np import torch +from gym import spaces +from PIL import Image -from internnav.configs.agent import StepRequest, AgentCfg from internnav.agent.base import Agent +from internnav.configs.agent import AgentCfg from internnav.configs.model.base_encoders import ModelCfg from internnav.model import get_config, get_policy from internnav.model.utils.misc import set_random_seed -from internnav.model.utils.vln_utils import S2Input, S2Output, S1Input, S1Output +from internnav.model.utils.vln_utils import S1Input, S1Output, S2Input, S2Output @Agent.register('internvla_n1') @@ -27,58 +26,56 @@ class InternVLAN1Agent(Agent): shape=(256, 256, 1), dtype=np.float32, ) - + def __init__(self, config: AgentCfg): super().__init__(config) set_random_seed(0) vln_sensor_config = self.config.model_settings self._model_settings = ModelCfg(**vln_sensor_config) - env_num = getattr(self._model_settings, 'env_num', 1) - sim_num = getattr(self._model_settings, 'sim_num', 1) - self.device = torch.device(self._model_settings.device) + local_rank = getattr(self._model_settings, 'local_rank') + self.device = torch.device(local_rank) self.mode = getattr(self._model_settings, 'infer_mode', 'sync') self.sys2_max_forward_step = getattr(self._model_settings, 'sys2_max_forward_step', 8) - + policy = get_policy(self._model_settings.policy_name) policy_config = get_config(self._model_settings.policy_name) model_config = {'model': self._model_settings.model_dump()} self.policy = policy(config=policy_config(model_cfg=model_config)) self.policy.eval() - + self.camera_intrinsic = self.get_intrinsic_matrix( self._model_settings.width, self._model_settings.height, self._model_settings.hfov ) - + self.episode_step = 0 self.episode_idx = 0 self.look_down = False - - - ### for async dual sys + + # for async dual sys self.pixel_goal_rgb = None self.pixel_goal_depth = None self.dual_forward_step = 0 self.sys1_infer_times = 0 - + self.sys1_depth_threshold = 5.0 self.sys1_forward_step = 4 - + self.s1_input = S1Input() self.s2_input = S2Input() self.s2_output = S2Output() self.s1_output = S1Output() - + # Thread management self.s2_thread = None - + # Thread locks self.s2_input_lock = threading.Lock() self.s2_output_lock = threading.Lock() self.s2_agent_lock = threading.Lock() - + # Start S2 thread self._start_s2_thread() - + # vis debug self.vis_debug = vln_sensor_config['vis_debug'] if self.vis_debug: @@ -87,7 +84,7 @@ def __init__(self, config: AgentCfg): self.fps_writer = imageio.get_writer(f"{self.debug_path}/fps_{self.episode_idx}.mp4", fps=5) self.fps_writer2 = imageio.get_writer(f"{self.debug_path}/fps_{self.episode_idx}_dp.mp4", fps=5) self.output_pixel = None - + def reset(self, reset_index=None): '''reset_index: [0]''' if reset_index is not None: @@ -97,7 +94,7 @@ def reset(self, reset_index=None): self.fps_writer2.close() else: self.episode_idx = -1 - + self.episode_step = 0 self.s1_input = S1Input() with self.s2_input_lock: @@ -105,21 +102,21 @@ def reset(self, reset_index=None): with self.s2_output_lock: self.s2_output = S2Output() self.s1_output = S1Output() - - ### for async dual sys + + # for async dual sys self.pixel_goal_rgb = None self.pixel_goal_depth = None - self.dual_forward_step = 0 + self.dual_forward_step = 0 self.sys1_infer_times = 0 - + # Reset s2 agent with self.s2_agent_lock: self.policy.reset() - + if self.vis_debug: self.fps_writer = imageio.get_writer(f"{self.debug_path}/fps_{self.episode_idx}.mp4", fps=5) self.fps_writer2 = imageio.get_writer(f"{self.debug_path}/fps_{self.episode_idx}_dp.mp4", fps=5) - + def get_intrinsic_matrix(self, width, height, hfov) -> np.ndarray: width = width height = height @@ -129,14 +126,11 @@ def get_intrinsic_matrix(self, width, height, hfov) -> np.ndarray: cx = (width - 1.0) / 2.0 cy = (height - 1.0) / 2.0 - intrinsic_matrix = np.array([ - [fx, 0.0, cx, 0.0], - [ 0.0, fy, cy, 0.0], - [ 0.0, 0.0, 1.0, 0.0], - [ 0.0, 0.0, 0.0, 1.0] - ]) + intrinsic_matrix = np.array( + [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] + ) return intrinsic_matrix - + def _start_s2_thread(self): def s2_thread_func(): while True: @@ -149,7 +143,7 @@ def s2_thread_func(): else: time.sleep(0.5) # Sleep briefly if inference is not needed continue - + # # Check if currently inferring # if self.mode == "sync": # if not self.s2_output.is_infering: @@ -158,12 +152,19 @@ def s2_thread_func(): # else: # time.sleep(0.5) # Sleep briefly if already inferring # continue - + # Execute inference success = True try: with self.s2_agent_lock: - current_s2_output = self.policy.s2_step(self.s2_input.rgb, self.s2_input.depth, self.s2_input.pose, self.s2_input.instruction, self.camera_intrinsic, self.s2_input.look_down) + current_s2_output = self.policy.s2_step( + self.s2_input.rgb, + self.s2_input.depth, + self.s2_input.pose, + self.s2_input.instruction, + self.camera_intrinsic, + self.s2_input.look_down, + ) except Exception as e: print(f"s2 infer error: {e}") self.s2_output.is_infering = False @@ -171,22 +172,29 @@ def s2_thread_func(): success = False if not success: try: - current_s2_output = self.policy.s2_step(self.s2_input.rgb, self.s2_input.depth, self.s2_input.pose, self.s2_input.instruction, self.camera_intrinsic, False) + current_s2_output = self.policy.s2_step( + self.s2_input.rgb, + self.s2_input.depth, + self.s2_input.pose, + self.s2_input.instruction, + self.camera_intrinsic, + False, + ) except Exception as e: print(f"s2 infer error: {e}") self.s2_output.is_infering = False self.policy.reset() self.s2_output.output_pixel = None - self.s2_output.output_action = [0] # finish the inference + self.s2_output.output_action = [0] # finish the inference self.s2_output.output_latent = None continue - - print(f"s2 infer finish!!") + + print("s2 infer finish!!") # Update output state with self.s2_output_lock: - print(f"get s2 output lock") + print("get s2 output lock") # S2 output - + self.s2_output.output_pixel = current_s2_output.output_pixel self.s2_output.output_action = current_s2_output.output_action self.s2_output.output_latent = current_s2_output.output_latent @@ -199,20 +207,20 @@ def s2_thread_func(): self.s2_thread = threading.Thread(target=s2_thread_func) self.s2_thread.daemon = True self.s2_thread.start() - + def should_infer_s2(self, mode="sync"): """Function: Enables the sys2 inference thread depending on the mode. mode: just support 2 modes: "sync" and "partial_async". "sync": Synchronous mode (navdp_version >= 0.0), Sys1 and Sys2 execute in a sequential inference chain. - "partial_async": Asynchronous mode (navdp_version > 0.0, e.g., 0.1), + "partial_async": Asynchronous mode (navdp_version > 0.0, e.g., 0.1), Sys2 performs a single inference, while Sys1 performs multiple inference cycles. """ if self.episode_step == 0: return True - + if self.s2_output.is_infering: return False - + # 1. Synchronous mode: infer S2 every frame to provide to S1 for execution if mode == "sync": if self.s2_output.output_action is None: @@ -223,23 +231,27 @@ def should_infer_s2(self, mode="sync"): if mode == "partial_async": if self.dual_forward_step >= self.sys2_max_forward_step: return True - if self.s2_output.output_action is None and self.s2_output.output_pixel is None and self.s2_output.output_latent is None: + if ( + self.s2_output.output_action is None + and self.s2_output.output_pixel is None + and self.s2_output.output_latent is None + ): # This normally only occurs when output is discrete action and discrete action has been fully executed return True return False raise ValueError("Invalid mode: {}".format(mode)) - + def step(self, obs): - mode = self.mode #'sync', 'partial_async' - - obs = obs[0] # do not support batch_env currently? + mode = self.mode # 'sync', 'partial_async' + + obs = obs[0] # do not support batch_env currently? rgb = obs['rgb'] depth = obs['depth'] instruction = obs['instruction'] pose = np.array([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]) - + # S2 inference is done in a separate thread - if self.should_infer_s2(mode) or self.look_down: # The look down frame must be inferred + if self.should_infer_s2(mode) or self.look_down: # The look down frame must be inferred print(f"======== Infer S2 at step {self.episode_step}========") with self.s2_input_lock: self.s2_input.idx = self.episode_step @@ -249,8 +261,8 @@ def step(self, obs): self.s2_input.instruction = instruction self.s2_input.should_infer = True self.s2_input.look_down = self.look_down - self.s2_output.is_infering = True #for async - + self.s2_output.is_infering = True # for async + self.dual_forward_step = 0 else: # Even if this frame doesn't do s2 inference, rgb needs to be provided to ensure history is correct @@ -258,17 +270,17 @@ def step(self, obs): # S1 inference is done in the main thread while self.s2_output.is_infering: time.sleep(0.5) - + while not self.s2_output.validate(): time.sleep(0.2) - + output = {} # Simple branch: # 1. If S2 output is full discrete actions, don't execute S1 and return directly print('===============', self.s2_output.output_action, '=================') if self.s2_output.output_action is not None: output['action'] = [self.s2_output.output_action[0]] - + with self.s2_output_lock: self.s2_output.output_action = self.s2_output.output_action[1:] if self.s2_output.output_action == []: @@ -286,34 +298,53 @@ def step(self, obs): self.look_down = False if self.sys1_infer_times > 0: self.dual_forward_step += 1 - + # print('Output action:', output, self.dual_forward_step) - + else: self.look_down = False # 2. If output is in latent form, execute latent S1 if self.s2_output.output_latent is not None: self.output_pixel = copy.deepcopy(self.s2_output.output_pixel) print(self.output_pixel) - + if mode != 'sync': - processed_pixel_rgb = np.array(Image.fromarray(self.s2_output.rgb_memory).resize((224, 224))) / 255.0 - processed_pixel_depth = np.array(Image.fromarray(self.s2_output.depth_memory[:,:,0]).resize((224, 224))) * 10.0 + processed_pixel_rgb = ( + np.array(Image.fromarray(self.s2_output.rgb_memory).resize((224, 224))) / 255.0 + ) + processed_pixel_depth = ( + np.array(Image.fromarray(self.s2_output.depth_memory[:, :, 0]).resize((224, 224))) * 10.0 + ) processed_pixel_depth[processed_pixel_depth > self.sys1_depth_threshold] = self.sys1_depth_threshold - + processed_rgb = np.array(Image.fromarray(rgb).resize((224, 224))) / 255.0 - processed_depth = np.array(Image.fromarray(depth[:,:,0]).resize((224, 224))) * 10.0 # should be 0-10m + processed_depth = ( + np.array(Image.fromarray(depth[:, :, 0]).resize((224, 224))) * 10.0 + ) # should be 0-10m processed_depth[processed_depth > self.sys1_depth_threshold] = self.sys1_depth_threshold - - rgbs = torch.stack([torch.from_numpy(processed_pixel_rgb), torch.from_numpy(processed_rgb)]).unsqueeze(0).to(self.device) #[1, 2, 224, 224, 3] - depths = torch.stack([torch.from_numpy(processed_pixel_depth), torch.from_numpy(processed_depth)]).unsqueeze(0).unsqueeze(-1).to(self.device)#[1, 2, 224, 224, 1] - self.s1_output = self.policy.s1_step_latent(rgbs, depths, self.s2_output.output_latent, use_async=True) + + rgbs = ( + torch.stack([torch.from_numpy(processed_pixel_rgb), torch.from_numpy(processed_rgb)]) + .unsqueeze(0) + .to(self.device) + ) # [1, 2, 224, 224, 3] + depths = ( + torch.stack([torch.from_numpy(processed_pixel_depth), torch.from_numpy(processed_depth)]) + .unsqueeze(0) + .unsqueeze(-1) + .to(self.device) + ) # [1, 2, 224, 224, 1] + self.s1_output = self.policy.s1_step_latent( + rgbs, depths, self.s2_output.output_latent, use_async=True + ) else: - self.s1_output = self.policy.s1_step_latent(rgb, depth * 10000.0, self.s2_output.output_latent, use_async=False) - + self.s1_output = self.policy.s1_step_latent( + rgb, depth * 10000.0, self.s2_output.output_latent, use_async=False + ) + else: assert False, f"S2 output should be either action or latent, but got neither! {self.s2_output}" - + if self.s1_output.idx == []: output['action'] = [-1] else: @@ -325,9 +356,8 @@ def step(self, obs): self.s2_output.output_action = None else: self.s2_output.output_action = None - - - self.s2_output.output_pixel = None #TODO: now just for visulization + + self.s2_output.output_pixel = None # TODO: now just for visulization if mode == 'sync': self.s2_output.output_latent = None else: @@ -339,31 +369,41 @@ def step(self, obs): self.sys1_infer_times += 1 self.dual_forward_step += 1 - + if self.dual_forward_step > self.sys2_max_forward_step: print("!!!!!!!!!!!!") print("ERR: self.dual_forward_step ", self.dual_forward_step, " > ", self.sys2_max_forward_step) print("!!!!!!!!!!!!") - + print('Output discretized traj:', output['action'], self.dual_forward_step) - - # Visualization + + # Visualization if self.vis_debug: vis = rgb.copy() if 'action' in output: vis = cv2.putText(vis, str(output['action'][0]), (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2) if self.output_pixel is not None: pixel = self.output_pixel - vis = cv2.putText(vis, f"{pixel[1]}, {pixel[0]} ({self.s2_output.idx})", (50, 100), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2) - + vis = cv2.putText( + vis, + f"{pixel[1]}, {pixel[0]} ({self.s2_output.idx})", + (50, 100), + cv2.FONT_HERSHEY_SIMPLEX, + 1, + (0, 255, 0), + 2, + ) + cv2.circle(vis, (pixel[1], pixel[0]), 5, (0, 255, 0), -1) self.output_pixel = None self.fps_writer.append_data(vis) - + if self.s1_output.vis_image is not None: - Image.fromarray(self.s1_output.vis_image).save(os.path.join("./vis_debug_pix/", f"ttttt_{self.episode_step}.png")) + Image.fromarray(self.s1_output.vis_image).save( + os.path.join("./vis_debug_pix/", f"ttttt_{self.episode_step}.png") + ) self.fps_writer2.append_data(self.s1_output.vis_image) - + self.episode_step += 1 if 'action' in output: return [{'action': output['action'], 'ideal_flag': True}] diff --git a/internnav/env/internutopia_env.py b/internnav/env/internutopia_env.py index ad7fcf1..ba7793f 100644 --- a/internnav/env/internutopia_env.py +++ b/internnav/env/internutopia_env.py @@ -1,7 +1,13 @@ +import os +import sys from typing import Any, Dict, List from internnav.configs.evaluator import EnvCfg, TaskCfg from internnav.env import base +from internnav.env.utils.episode_loader import ( + ResumablePathKeyEpisodeloader, + generate_vln_episode, +) @base.Env.register('internutopia') @@ -22,6 +28,22 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): super().__init__(env_config, task_config) env_settings = self.env_config.env_settings task_settings = self.task_config.task_settings + + # generate episodes + self.episode_loader = ResumablePathKeyEpisodeloader( + env_config.dataset.dataset_type, + **env_config.dataset.dataset_settings, + rank=env_settings['rank'], + world_size=env_settings['world_size'] + ) + self.episodes = generate_vln_episode(self.episode_loader, task_config) + if len(self.episodes) == 0: + sys.exit(0) + task_settings.update({'episodes': self.episodes}) + + # set visible device for isaac sim + os.environ["CUDA_VISIBLE_DEVICES"] = env_settings.get('local_rank', '0') + config = Config( simulator=SimConfig(**env_settings), env_num=task_settings['env_num'], diff --git a/internnav/env/utils/episode_loader/__init__.py b/internnav/env/utils/episode_loader/__init__.py new file mode 100644 index 0000000..b3d58ad --- /dev/null +++ b/internnav/env/utils/episode_loader/__init__.py @@ -0,0 +1,2 @@ +from .generate_episode import generate_vln_episode +from .resumable import ResumablePathKeyEpisodeloader diff --git a/internnav/projects/dataloader/base.py b/internnav/env/utils/episode_loader/base.py similarity index 67% rename from internnav/projects/dataloader/base.py rename to internnav/env/utils/episode_loader/base.py index d00a67b..ab18b61 100644 --- a/internnav/projects/dataloader/base.py +++ b/internnav/env/utils/episode_loader/base.py @@ -1,9 +1,7 @@ -from internnav.evaluator.utils.common import load_data +from .dataset_utils import load_data, revise_one_data, skip_list -from .data_reviser import revise_one_data, skip_list - -class BasePathKeyDataloader: +class BasePathKeyEpisodeloader: def __init__( self, dataset_type, @@ -13,7 +11,15 @@ def __init__( filter_same_trajectory, revise_data=True, filter_stairs=True, + rank=0, + world_size=1, ): + # current supported dataset types in InternUtopia + # only kujiale has special scene path + # others type should be considered the same as mp3d in loading + allowed = ('R2RVLN', 'mp3d', 'kujiale', 'grscene') + assert dataset_type in allowed, f"Unsupported dataset type: {dataset_type}. Allowed: {allowed}" + self.path_key_data = {} self.path_key_scan = {} self.path_key_split = {} @@ -25,14 +31,19 @@ def __init__( filter_same_trajectory=filter_same_trajectory, filter_stairs=filter_stairs, dataset_type=dataset_type, + rank=rank, + world_size=world_size, ) for scan, path_list in load_data_map.items(): for path in path_list: trajectory_id = path['trajectory_id'] - if revise_data: + + # tiny revision for R2R dataset in MP3D to fit vlnpe task + if dataset_type == 'mp3d' and revise_data: if trajectory_id in skip_list: continue path = revise_one_data(path) + episode_id = path['episode_id'] path_key = f'{trajectory_id}_{episode_id}' path['start_position'] += robot_offset diff --git a/internnav/projects/dataloader/data_reviser.py b/internnav/env/utils/episode_loader/dataset_utils.py similarity index 60% rename from internnav/projects/dataloader/data_reviser.py rename to internnav/env/utils/episode_loader/dataset_utils.py index d4841b4..12e5f46 100644 --- a/internnav/projects/dataloader/data_reviser.py +++ b/internnav/env/utils/episode_loader/dataset_utils.py @@ -1,3 +1,13 @@ +import copy +import gzip +import json +import os +from collections import defaultdict + +import numpy as np + +from internnav.utils.common_log_util import common_logger as log + fall_path_z_0_3 = [ 70, 121, @@ -322,8 +332,7 @@ 2306, ] -skip_list = [ -] +skip_list = [] fall_path_custom = { 6558: [-1, 0, 0], @@ -447,3 +456,112 @@ def revise_one_data(origin): origin['reference_path'][0][1] = origin['reference_path'][0][1] + amend_offset[1] origin['reference_path'][0][2] = origin['reference_path'][0][2] + amend_offset[2] return origin + + +def transform_rotation_z_90degrees(rotation): + z_rot_90 = [np.cos(np.pi / 4), 0, 0, np.sin(np.pi / 4)] # 90 degrees = pi/2 radians + w1, x1, y1, z1 = rotation + w2, x2, y2, z2 = z_rot_90 + revised_rotation = [ + w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, # w + w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, # x + w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, # y + w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, # z + ] + return revised_rotation + + +def has_stairs(item, height_threshold=0.3): + has_stairs = False + if 'stair' in item['instruction']['instruction_text']: + latest_height = item['reference_path'][0][-1] + for index in range(1, len(item['reference_path'])): + position = item['reference_path'][index] + if abs(position[-1] - latest_height) >= height_threshold: + has_stairs = True + break + else: + latest_height = position[-1] + return has_stairs + + +def different_height(item): + different_height = False + paths = item['reference_path'] + for path_idx in range(len(paths) - 1): + if abs(paths[path_idx + 1][2] - paths[path_idx][2]) > 0.3: + different_height = True + break + return different_height + + +def load_data( + dataset_root_dir, split, filter_same_trajectory=True, filter_stairs=True, dataset_type='mp3d', rank=0, world_size=1 +): + with gzip.open(os.path.join(dataset_root_dir, split, f"{split}.json.gz"), 'rt', encoding='utf-8') as f: + data = json.load(f)['episodes'][rank::world_size] + + if dataset_type == 'kujiale': + scenes = list(set([x['scan'] for x in data])) + else: + scenes = list(set([x['scene_id'] for x in data])) # e.g. 'mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb' + + scenes.sort() + new_data = {} + for scene in scenes: + if dataset_type == 'kujiale': + scene_data = [x for x in data if x['scan'] == scene] + scan = scene + else: + scene_data = [x for x in data if x['scene_id'] == scene] + scan = scene.split('/')[1] # e.g. 'zsNo4HB9uLZ' + new_scene_data = [] + for item in scene_data: + new_item = copy.deepcopy(item) + new_item['scan'] = scan + new_item['original_start_position'] = item['start_position'] + new_item['original_start_rotation'] = item['start_rotation'] + if dataset_type != 'kujiale': + x, z, y = item['start_position'] + new_item['start_position'] = [x, -y, z] + r1, r2, r3, r4 = item['start_rotation'] + new_item['start_rotation'] = transform_rotation_z_90degrees([-r4, r1, r3, -r2]) + new_item['reference_path'] = [[x, -y, z] for x, z, y in item['reference_path']] + new_scene_data.append(new_item) + + new_data[scan] = new_scene_data + + data = copy.deepcopy(new_data) + new_data = defaultdict(list) + + # filter_same_trajectory + if filter_same_trajectory: + total_count = 0 + remaining_count = 0 + trajectory_list = [] + for scan, data_item in data.items(): + for item in data_item: + total_count += 1 + if item['trajectory_id'] in trajectory_list: + continue + remaining_count += 1 + trajectory_list.append(item['trajectory_id']) + new_data[scan].append(item) + log.info(f'[split:{split}]filter_same_trajectory remain: [ {remaining_count} / {total_count} ]') + data = new_data + new_data = defaultdict(list) + + if filter_stairs: + total_count = 0 + remaining_count = 0 + for scan, data_item in data.items(): + for item in data_item: + total_count += 1 + if has_stairs(item) or different_height(item): + continue + remaining_count += 1 + new_data[scan].append(item) + log.info(f'[split:{split}]filter_stairs remain: [ {remaining_count} / {total_count} ]') + data = new_data + + return data diff --git a/internnav/evaluator/utils/eval.py b/internnav/env/utils/episode_loader/generate_episode.py similarity index 52% rename from internnav/evaluator/utils/eval.py rename to internnav/env/utils/episode_loader/generate_episode.py index 9e6c447..b244045 100644 --- a/internnav/evaluator/utils/eval.py +++ b/internnav/env/utils/episode_loader/generate_episode.py @@ -1,11 +1,43 @@ -from internnav.configs.evaluator import EvalCfg -from internnav.evaluator.utils.common import load_kujiale_scene_usd, load_scene_usd -from internnav.projects.dataloader.resumable import ResumablePathKeyDataloader +import os +from internnav.configs.evaluator import TaskCfg +from internnav.utils.common_log_util import common_logger as log -def generate_episode(dataloader: ResumablePathKeyDataloader, config: EvalCfg): - scene_data_dir = config.task.scene.scene_data_dir - scene_asset_path = config.task.scene.scene_asset_path +from .resumable import ResumablePathKeyEpisodeloader + + +def load_scene_usd(mp3d_data_dir, scan): + """Load scene USD based on the scan""" + from internutopia.core.util import is_in_container + + find_flag = False + for root, dirs, files in os.walk(os.path.join(mp3d_data_dir, scan)): + target_file_name = 'fixed_docker.usd' if is_in_container() else 'fixed.usd' + for file in files: + if file == target_file_name: + scene_usd_path = os.path.join(root, file) + find_flag = True + break + if find_flag: + break + if not find_flag: + log.error('Scene USD not found for scan %s', scan) + return None + return scene_usd_path + + +def load_kujiale_scene_usd(kujiale_iros_data_dir, scan): + """Load scene USD based on the scan""" + scene_usd_path = os.path.join(kujiale_iros_data_dir, scan, f'{scan}.usda') + if not os.path.exists(scene_usd_path): + log.error('Scene USD not found for scan %s', scan) + return None + return scene_usd_path + + +def generate_vln_episode(dataloader: ResumablePathKeyEpisodeloader, task: TaskCfg): + scene_data_dir = task.scene.scene_data_dir + scene_asset_path = task.scene.scene_asset_path eval_path_key_list = dataloader.resumed_path_key_list path_key_data = dataloader.path_key_data episodes = [] @@ -21,9 +53,9 @@ def generate_episode(dataloader: ResumablePathKeyDataloader, config: EvalCfg): from internnav.env.utils.internutopia_extension.configs.tasks import VLNEvalTaskCfg robot = H1RobotCfg( - **config.task.robot.robot_settings, - controllers=[ControllerCfg(**cfg.controller_settings) for cfg in config.task.robot.controllers], - sensors=[RepCameraCfg(**cfg.sensor_settings) for cfg in config.task.robot.sensors], + **task.robot.robot_settings, + controllers=[ControllerCfg(**cfg.controller_settings) for cfg in task.robot.controllers], + sensors=[RepCameraCfg(**cfg.sensor_settings) for cfg in task.robot.sensors], ) for path_key in eval_path_key_list: @@ -33,23 +65,23 @@ def generate_episode(dataloader: ResumablePathKeyDataloader, config: EvalCfg): data['path_key'] = path_key data['name'] = dataloader.task_name - if config.task.scene.scene_type == 'kujiale': + if task.scene.scene_type == 'kujiale': load_scene_func = load_kujiale_scene_usd scene_scale = (1, 1, 1) else: load_scene_func = load_scene_usd scene_scale = (1, 1, 1) - robot_flash = getattr(config.task, "robot_flash", False) - one_step_stand_still = getattr(config.task, "one_step_stand_still", False) - if config.task.metric.metric_setting['metric_config'].get('name', None) is None: - config.task.metric.metric_setting['metric_config']['name'] = 'default_eval_name' + robot_flash = getattr(task, "robot_flash", False) + one_step_stand_still = getattr(task, "one_step_stand_still", False) + if task.metric.metric_setting['metric_config'].get('name', None) is None: + task.metric.metric_setting['metric_config']['name'] = 'default_eval_name' episodes.append( VLNEvalTaskCfg( - **config.task.task_settings, + **task.task_settings, robot_flash=robot_flash, one_step_stand_still=one_step_stand_still, - metrics=[VLNPEMetricCfg(**config.task.metric.metric_setting['metric_config'])], + metrics=[VLNPEMetricCfg(**task.metric.metric_setting['metric_config'])], scene_asset_path=load_scene_func(scene_data_dir, dataloader.path_key_scan[path_key]) if scene_asset_path == '' else scene_asset_path, diff --git a/internnav/projects/dataloader/resumable.py b/internnav/env/utils/episode_loader/resumable.py similarity index 89% rename from internnav/projects/dataloader/resumable.py rename to internnav/env/utils/episode_loader/resumable.py index 73cdd6d..81dba8c 100644 --- a/internnav/projects/dataloader/resumable.py +++ b/internnav/env/utils/episode_loader/resumable.py @@ -3,11 +3,10 @@ from internnav.evaluator.utils.config import get_lmdb_path -from .base import BasePathKeyDataloader -from .data_reviser import skip_list +from .base import BasePathKeyEpisodeloader -class ResumablePathKeyDataloader(BasePathKeyDataloader): +class ResumablePathKeyEpisodeloader(BasePathKeyEpisodeloader): def __init__( self, dataset_type, @@ -19,6 +18,8 @@ def __init__( run_type, retry_list, filter_stairs, + rank=0, + world_size=1, ): # 加载所有数据 super().__init__( @@ -29,6 +30,8 @@ def __init__( filter_same_trajectory=filter_same_trajectory, revise_data=True, filter_stairs=filter_stairs, + rank=rank, + world_size=world_size, ) self.task_name = task_name self.run_type = run_type @@ -43,9 +46,7 @@ def __init__( filtered_target_path_key_list = [] for path_key in self.path_key_data.keys(): - trajectory_id = int(path_key.split('_')[0]) - if trajectory_id in skip_list: - continue + # trajectory_id = int(path_key.split('_')[0]) with database.begin() as txn: value = txn.get(path_key.encode()) if value is None: diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index 07a7208..b9929c8 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -1,8 +1,12 @@ from internnav.evaluator.base import Evaluator from internnav.evaluator.distributed_base import DistributedEvaluator -from internnav.evaluator.vln_multi_evaluator import VlnMultiEvaluator + +# from internnav.evaluator.vln_multi_evaluator import VlnMultiEvaluator +from internnav.evaluator.vln_multi_distributed_evaluator import ( + VlnMultiDistributedEvaluator, +) # register habitat import internnav.internnav_habitat # noqa: F401 # isort: skip -__all__ = ['Evaluator', 'VlnMultiEvaluator'] +__all__ = ['Evaluator', 'DistributedEvaluator'] diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index 91eeb58..fca3b9d 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -7,7 +7,13 @@ from internnav.configs.evaluator import EvalCfg from internnav.env import Env from internnav.evaluator import Evaluator -from internnav.utils.dist import dist, get_rank, get_world_size, init_distributed_mode +from internnav.utils.dist import ( + dist, + get_rank, + get_world_size, + init_distributed_mode, + is_dist_avail_and_initialized, +) class DistributedEvaluator(Evaluator): @@ -22,16 +28,23 @@ class DistributedEvaluator(Evaluator): def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True): # distributed setting - self.local_rank = init_distributed_mode(dist_url=cfg.eval_settings['dist_url'], port=cfg.eval_settings['port']) + if not cfg.eval_settings.get('use_agent_server', False): + self.local_rank = init_distributed_mode( + dist_url=cfg.eval_settings.get('dist_url', "env://"), port=cfg.eval_settings.get('port', 29529) + ) + else: + self.local_rank = 0 np.random.seed(self.local_rank) self.rank = get_rank() self.world_size = get_world_size() - self.output_path = cfg.eval_settings["output_path"] # TODO: unsafe for distribution + self.output_path = cfg.eval_settings.get("output_path") # TODO: unsafe for distribution # habitat env also need rank to split dataset cfg.env.env_settings['rank'] = get_rank() + cfg.env.env_settings['local_rank'] = self.local_rank cfg.env.env_settings['world_size'] = get_world_size() + cfg.env.dataset = cfg.dataset self.eval_config = cfg @@ -40,15 +53,17 @@ def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True) # -------- initialize agent config (either remote server or local agent) -------- if init_agent: - if cfg.remote_agent: + if cfg.eval_settings.get('use_agent_server', False): + assert not is_dist_avail_and_initialized(), "agent server requires single evaluator process." # set agent port based on rank from internnav.utils import AgentClient - cfg.agent.agent_settings['port'] = 8000 + get_rank() + print(f"[R{self.rank}] Connecting to agent server at port {cfg.agent.server_port}") self.agent = AgentClient(cfg.agent) else: from internnav.agent import Agent + cfg.agent.model_settings['local_rank'] = self.local_rank self.agent = Agent(cfg.agent) def eval(self): diff --git a/internnav/evaluator/utils/common.py b/internnav/evaluator/utils/common.py index f855014..1b811b9 100644 --- a/internnav/evaluator/utils/common.py +++ b/internnav/evaluator/utils/common.py @@ -1,9 +1,5 @@ -import copy -import gzip -import json import math import os -from collections import defaultdict import numpy as np from PIL import Image, ImageDraw @@ -133,143 +129,6 @@ def check_is_on_track( return True -def has_stairs(item, height_threshold=0.3): - has_stairs = False - if 'stair' in item['instruction']['instruction_text']: - latest_height = item['reference_path'][0][-1] - for index in range(1, len(item['reference_path'])): - position = item['reference_path'][index] - if abs(position[-1] - latest_height) >= height_threshold: - has_stairs = True - break - else: - latest_height = position[-1] - return has_stairs - - -def different_height(item): - different_height = False - paths = item['reference_path'] - for path_idx in range(len(paths) - 1): - if abs(paths[path_idx + 1][2] - paths[path_idx][2]) > 0.3: - different_height = True - break - return different_height - - -def transform_rotation_z_90degrees(rotation): - z_rot_90 = [np.cos(np.pi / 4), 0, 0, np.sin(np.pi / 4)] # 90 degrees = pi/2 radians - w1, x1, y1, z1 = rotation - w2, x2, y2, z2 = z_rot_90 - revised_rotation = [ - w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, # w - w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, # x - w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, # y - w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, # z - ] - return revised_rotation - - -def load_data(dataset_root_dir, split, filter_same_trajectory=True, filter_stairs=True, dataset_type='mp3d'): - with gzip.open(os.path.join(dataset_root_dir, split, f"{split}.json.gz"), 'rt', encoding='utf-8') as f: - data = json.load(f)['episodes'] - - if dataset_type == 'mp3d': - scenes = list(set([x['scene_id'] for x in data])) # e.g. 'mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb' - elif dataset_type == 'kujiale': - scenes = list(set([x['scan'] for x in data])) - else: - raise Exception(f"Unsupported dataset type {dataset_type}, please update cfg to contain valid dataset_type") - scenes.sort() - new_data = {} - for scene in scenes: - if dataset_type == 'mp3d': - scene_data = [x for x in data if x['scene_id'] == scene] - scan = scene.split('/')[1] # e.g. 'zsNo4HB9uLZ' - else: - scene_data = [x for x in data if x['scan'] == scene] - scan = scene - new_scene_data = [] - for item in scene_data: - new_item = copy.deepcopy(item) - new_item['scan'] = scan - new_item['original_start_position'] = item['start_position'] - new_item['original_start_rotation'] = item['start_rotation'] - if dataset_type == 'mp3d': - x, z, y = item['start_position'] - new_item['start_position'] = [x, -y, z] - r1, r2, r3, r4 = item['start_rotation'] - new_item['start_rotation'] = transform_rotation_z_90degrees([-r4, r1, r3, -r2]) - new_item['reference_path'] = [[x, -y, z] for x, z, y in item['reference_path']] - new_scene_data.append(new_item) - - new_data[scan] = new_scene_data - - data = copy.deepcopy(new_data) - new_data = defaultdict(list) - - # filter_same_trajectory - if filter_same_trajectory: - total_count = 0 - remaining_count = 0 - trajectory_list = [] - for scan, data_item in data.items(): - for item in data_item: - total_count += 1 - if item['trajectory_id'] in trajectory_list: - continue - remaining_count += 1 - trajectory_list.append(item['trajectory_id']) - new_data[scan].append(item) - log.info(f'[split:{split}]filter_same_trajectory remain: [ {remaining_count} / {total_count} ]') - data = new_data - new_data = defaultdict(list) - - if filter_stairs: - total_count = 0 - remaining_count = 0 - for scan, data_item in data.items(): - for item in data_item: - total_count += 1 - if has_stairs(item) or different_height(item): - continue - remaining_count += 1 - new_data[scan].append(item) - log.info(f'[split:{split}]filter_stairs remain: [ {remaining_count} / {total_count} ]') - data = new_data - - return data - - -def load_scene_usd(mp3d_data_dir, scan): - """Load scene USD based on the scan""" - from internutopia.core.util import is_in_container - - find_flag = False - for root, dirs, files in os.walk(os.path.join(mp3d_data_dir, scan)): - target_file_name = 'fixed_docker.usd' if is_in_container() else 'fixed.usd' - for file in files: - if file == target_file_name: - scene_usd_path = os.path.join(root, file) - find_flag = True - break - if find_flag: - break - if not find_flag: - log.error('Scene USD not found for scan %s', scan) - return None - return scene_usd_path - - -def load_kujiale_scene_usd(kujiale_iros_data_dir, scan): - """Load scene USD based on the scan""" - scene_usd_path = os.path.join(kujiale_iros_data_dir, scan, f'{scan}.usda') - if not os.path.exists(scene_usd_path): - log.error('Scene USD not found for scan %s', scan) - return None - return scene_usd_path - - def get_new_position_and_rotation(robot_position, robot_rotation, action): from omni.isaac.core.utils.rotations import ( euler_angles_to_quat, diff --git a/internnav/evaluator/utils/dataset.py b/internnav/evaluator/utils/dataset.py index c4f224c..7db38f4 100644 --- a/internnav/evaluator/utils/dataset.py +++ b/internnav/evaluator/utils/dataset.py @@ -1,112 +1,15 @@ -import os -import sys import json +import os import lmdb import msgpack_numpy from internnav import PROJECT_ROOT_PATH -from internnav.evaluator.utils.common import load_data -from internnav.evaluator.utils.config import get_lmdb_path, get_lmdb_prefix - from internnav.configs.evaluator import EvalDatasetCfg -from .config import Config - +from internnav.env.utils.episode_loader.dataset_utils import load_data +from internnav.evaluator.utils.config import get_lmdb_path -def split_data(dataset_cfg: EvalDatasetCfg): - if isinstance(dataset_cfg.dataset_settings, dict): - config = Config(**dataset_cfg.dataset_settings) - run_type = config.run_type - split_number = 1 # config.total_rank - run_type = run_type - name = config.task_name - split_data_types = config.split_data_types - base_data_dir = config.base_data_dir - filter_stairs = config.filter_stairs - - print(f'run_type:{run_type}') - print(f'name:{name}') - print(f'split_data_types:{split_data_types}') - prefix = get_lmdb_prefix(run_type) - if run_type == 'eval': - filter_same_trajectory = False - elif run_type == 'sample': - filter_same_trajectory = True - else: - print(f'unknown run_type:{run_type}') - sys.exit() - - lmdb_path = get_lmdb_path(name) - # get all data - path_key_map = {} - count = 0 - - dataset_type = dataset_cfg.dataset_type - for split_data_type in split_data_types: - data_map = load_data( - base_data_dir, - split_data_type, - filter_same_trajectory=filter_same_trajectory, - filter_stairs=filter_stairs, - dataset_type=dataset_type, - ) - for scan, path_list in data_map.items(): - path_key_list = [] - for path in path_list: - trajectory_id = path['trajectory_id'] - episode_id = path['episode_id'] - path_key = f'{trajectory_id}_{episode_id}' - path_key_list.append(path_key) - path_key_map[scan] = path_key_list - count += len(path_key_list) - - print(f'TOTAL:{count}') - - # split rank - rank_map = {} - split_length = count // split_number - index = -1 - for scan, path_key_list in path_key_map.items(): - for path_key in path_key_list: - index += 1 - rank = index // split_length - if rank >= split_number: - rank = split_number - 1 - rank_map[path_key] = rank - - ranked_data = {} - for i in range(split_number): - filtered_path_key_map = {} - for scan, path_key_list in path_key_map.items(): - filtered_list = [] - for path_key in path_key_list: - if rank_map[path_key] == i: - filtered_list.append(path_key) - if len(filtered_list) > 0: - filtered_path_key_map[scan] = filtered_list - ranked_data[i] = filtered_path_key_map - - for rank, path_key_map in ranked_data.items(): - count = 0 - for scan, path_key_list in path_key_map.items(): - count += len(path_key_list) - print(f'[rank:{rank}][scan:{scan}][count:{len(path_key_list)}]') - print(f'[rank:{rank}][count:{count}]') - - if not os.path.exists(lmdb_path): - os.makedirs(lmdb_path) - database = lmdb.open( - f'{lmdb_path}/sample_data.lmdb', - map_size=1 * 1024 * 1024 * 1024 * 1024, - max_dbs=0, - ) - with database.begin(write=True) as txn: - for rank, path_key_map in ranked_data.items(): - key = f'{prefix}_{rank}'.encode() - value = msgpack_numpy.packb(path_key_map, use_bin_type=True) - txn.put(key, value) - print(f'finish [key:{key}]') - database.close() +from .config import Config class ResultLogger: @@ -151,7 +54,7 @@ def get_split_map( def write_now_result_json(self): # create log file - log_content = [] + # log_content = [] self.database_read = lmdb.open( f'{self.lmdb_path}/sample_data.lmdb', map_size=1 * 1024 * 1024 * 1024 * 1024, @@ -209,23 +112,23 @@ def write_now_result_json(self): reason_map[ret_type] = reason_map[ret_type] + 1 if success > 0: reason_map['reach_goal'] = reason_map['reach_goal'] + 1 - + if count == 0: continue - json_data[split]={} - json_data[split]['TL']=round((total_TL / count),4) - json_data[split]['NE']=round((total_NE / count),4) + json_data[split] = {} + json_data[split]['TL'] = round((total_TL / count), 4) + json_data[split]['NE'] = round((total_NE / count), 4) if 'fall' not in reason_map: reason_map['fall'] = 0 - json_data[split]['FR']=round((reason_map['fall'] / count),4) + json_data[split]['FR'] = round((reason_map['fall'] / count), 4) if 'stuck' in reason_map: - json_data[split]['StR']=round((reason_map['stuck'] / count),4) + json_data[split]['StR'] = round((reason_map['stuck'] / count), 4) else: - json_data[split]['StR']=0 - json_data[split]['OS']=round((total_osr / count),4) - json_data[split]['SR']=round((total_success / count),4) - json_data[split]['SPL']=round((total_spl / count),4) - json_data[split]['Count']=count + json_data[split]['StR'] = 0 + json_data[split]['OS'] = round((total_osr / count), 4) + json_data[split]['SR'] = round((total_success / count), 4) + json_data[split]['SPL'] = round((total_spl / count), 4) + json_data[split]['Count'] = count # write log content to file with open(f'{self.dataset_type}_result.json', 'w') as f: diff --git a/internnav/evaluator/vln_multi_evaluator.py b/internnav/evaluator/vln_multi_distributed_evaluator.py similarity index 89% rename from internnav/evaluator/vln_multi_evaluator.py rename to internnav/evaluator/vln_multi_distributed_evaluator.py index e573c7a..8efb7c7 100644 --- a/internnav/evaluator/vln_multi_evaluator.py +++ b/internnav/evaluator/vln_multi_distributed_evaluator.py @@ -1,4 +1,3 @@ -import sys from enum import Enum from pathlib import Path from time import time @@ -7,14 +6,12 @@ import numpy as np from internnav.configs.evaluator import EvalCfg -from internnav.evaluator.base import Evaluator +from internnav.evaluator import DistributedEvaluator, Evaluator from internnav.evaluator.utils.common import set_seed_model from internnav.evaluator.utils.config import get_lmdb_path from internnav.evaluator.utils.data_collector import DataCollector -from internnav.evaluator.utils.dataset import ResultLogger, split_data -from internnav.evaluator.utils.eval import generate_episode +from internnav.evaluator.utils.dataset import ResultLogger from internnav.evaluator.utils.visualize_util import VisualizeUtil -from internnav.projects.dataloader.resumable import ResumablePathKeyDataloader from internnav.utils import common_log_util, progress_log_multi_util from internnav.utils.common_log_util import common_logger as log @@ -27,27 +24,14 @@ class runner_status_code(Enum): STOP = 4 -@Evaluator.register('vln_multi') -class VlnMultiEvaluator(Evaluator): +@Evaluator.register('vln_multi_distributed') +class VlnMultiDistributedEvaluator(DistributedEvaluator): def __init__(self, config: EvalCfg): self.task_name = config.task.task_name - if not Path(get_lmdb_path(self.task_name)).exists(): - split_data(config.dataset) self.result_logger = ResultLogger(config.dataset) - common_log_util.init(self.task_name) - self.dataloader = ResumablePathKeyDataloader(config.dataset.dataset_type, **config.dataset.dataset_settings) self.dataset_name = Path(config.dataset.dataset_settings['base_data_dir']).name - progress_log_multi_util.init(self.task_name, self.dataloader.size) - self.total_path_num = self.dataloader.size - progress_log_multi_util.progress_logger_multi.info( - f'start eval dataset: {self.task_name}, total_path: {self.dataloader.size}' # noqa: E501 - ) - # generate episode - episodes = generate_episode(self.dataloader, config) - if len(episodes) == 0: - log.info("No more episodes to evaluate. Episodes are saved in data/sample_episodes/") - sys.exit(0) - config.task.task_settings.update({'episodes': episodes}) + + # vec env settings self.env_num = config.task.task_settings['env_num'] self.proc_num = ( config.env.env_settings['distribution_config']['proc_num'] @@ -62,16 +46,25 @@ def __init__(self, config: EvalCfg): while self.proc_num > 1 and self.proc_num * self.env_num > self.total_path_num: self.proc_num -= 1 log.info(f'dataset size is too small! Change proc_num to {self.proc_num}.') - # update + + # update config config.task.task_settings['env_num'] = self.env_num if 'distribution_config' in config.env.env_settings: config.env.env_settings['distribution_config']['proc_num'] = self.proc_num config.agent.model_settings.update({'env_num': self.env_num, 'proc_num': self.proc_num}) self.robot_name = config.task.robot_name + super().__init__(config) set_seed_model(0) - self.data_collector = DataCollector(self.dataloader.lmdb_path) + + common_log_util.init(self.task_name) + self.total_path_num = len(self.env.episodes) + progress_log_multi_util.init(self.task_name, self.total_path_num) + progress_log_multi_util.progress_logger_multi.info( + f'start eval dataset: {self.task_name}, total_path: {self.total_path_num}' # noqa: E501 + ) + self.data_collector = DataCollector(get_lmdb_path(self.task_name)) self.robot_flash = config.task.robot_flash self.save_to_json = config.eval_settings['save_to_json'] self.vis_output = config.eval_settings['vis_output'] @@ -96,7 +89,7 @@ def warm_up(self): action=[{self.robot_name: {'stand_still': []}} for _ in range(self.env_num * self.proc_num)] ) if obs[0][self.robot_name]['finish_action']: - print('get_obs') + # print('get_obs') break return obs @@ -168,10 +161,10 @@ def env_step(self, action): self.runner_status[ np.logical_and(self.runner_status == runner_status_code.NORMAL, action == {'h1': {'stop': []}}) ] = runner_status_code.STOP - print(action) - t0 = time() + # print(action) + # t0 = time() obs, reward, terminated, truncated, info = self.env.step(action=action.tolist()) - print(f"inner one step time {time() - t0}") + # print(f"inner one step time {time() - t0}") obs = self._obs_remove_robot_name(obs) finish_status = np.logical_or( np.array([ob['finish_action'] for ob in obs]), @@ -184,14 +177,21 @@ def env_step(self, action): ) or np.logical_and.reduce(np.array(finish_status)): self.runner_status[self.runner_status == runner_status_code.STOP] = runner_status_code.NORMAL break - if __debug__ and np.logical_or.reduce(np.array(finish_status)): - print(f'finish_status: {finish_status}') + # if __debug__ and np.logical_or.reduce(np.array(finish_status)): + # print(f'finish_status: {finish_status}') end_time = time() duration = round(end_time - start_time, 2) log.info(f'env step time: {duration}s') return obs, terminated def terminate_ops(self, obs_ls, reset_infos, terminated_ls): + """ + 1. reset agent if finished warm up + 2. reset envs that are terminated + 3. start new trace log and visualize log + 4. return whether all envs are terminated + 5. return updated reset_infos + """ finish_warmup_ls = (self.runner_status == runner_status_code.WARM_UP) & [ob['finish_action'] for ob in obs_ls] if np.logical_or.reduce(finish_warmup_ls): self.agent.reset(np.where(finish_warmup_ls)[0].tolist()) @@ -249,7 +249,7 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): reset_infos = reset_infos.tolist() if np.logical_and.reduce(self.runner_status == runner_status_code.TERMINATED): - print('finished') + # print('finished') return True, reset_infos for reset_info in new_reset_infos: if reset_info is None: @@ -268,7 +268,7 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): def eval(self): print('--- VlnMultiEvaluator start ---') obs, reset_info = self.env.reset() - print('obs:', obs) + # print('obs:', obs) for info in reset_info: if info is None: continue @@ -293,10 +293,20 @@ def eval(self): self.runner_status[[info is None for info in reset_info]] = runner_status_code.TERMINATED while self.env.is_running(): - + start_time = time() + # get action from agent obs, action = self.get_action(obs, action) + log.info(f'get_action time: {round(time() - start_time, 2)}s') + + # step env + start_time = time() obs, terminated = self.env_step(action) + log.info(f'env_step time: {round(time() - start_time, 2)}s') + + # terminate ops + start_time = time() env_term, reset_info = self.terminate_ops(obs, reset_info, terminated) + log.info(f'terminate_ops time: {round(time() - start_time, 2)}s') if env_term: break diff --git a/internnav/projects/__init__.py b/internnav/projects/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/internnav/utils/progress_log_multi_util.py b/internnav/utils/progress_log_multi_util.py index c7c60b1..7ad3655 100644 --- a/internnav/utils/progress_log_multi_util.py +++ b/internnav/utils/progress_log_multi_util.py @@ -68,6 +68,7 @@ def init(dataset_name, path_count): formatter = logging.Formatter('[%(asctime)s][%(levelname)s] %(message)s') file_handler.setFormatter(formatter) progress_logger_multi.addHandler(file_handler) + progress_logger_multi.disabled = False INITED = True diff --git a/scripts/eval/bash/start_aliyun_dlc.sh b/scripts/eval/bash/start_aliyun_dlc.sh index 14d5e90..cb4efc6 100755 --- a/scripts/eval/bash/start_aliyun_dlc.sh +++ b/scripts/eval/bash/start_aliyun_dlc.sh @@ -1,26 +1,65 @@ #!/bin/bash + +# Activate conda automatically source /root/miniconda3/etc/profile.d/conda.sh -conda activate internutopia - -while [[ $# -gt 0 ]]; do - case $1 in - --config) - CONFIG="$2" - shift 2 - ;; - *) - echo "Unknown parameter: $1" - exit 1 - ;; - esac -done - -if [ "$RANK" -eq 0 ]; then - RAY_max_direct_call_object_size=104857600 ray start --head --port=6379 - sleep 20s - bash scripts/eval/start_eval_iros.sh - sleep inf -else - RAY_max_direct_call_object_size=104857600 ray start --address=${MASTER_ADDR}:6379 - sleep inf -fi + +mode="$1" +shift # remove first argument so only extra args left (--config ...) + +case "$mode" in + habitat) + echo "[run.sh] Starting HABITAT evaluation..." + + conda activate habitat + + python scripts/eval/eval.py \ + --config scripts/eval/configs/habitat_cfg.py \ + > logs/internvla_n1_log.txt 2>&1 + + ;; + + internutopia) + echo "[run.sh] Starting INTERNUTOPIA evaluation..." + + conda activate internutopia + + # -------- parse remaining arguments (e.g., --config xxx) -------- + while [[ $# -gt 0 ]]; do + case $1 in + --config) + CONFIG="$2" + shift 2 + ;; + *) + echo "Unknown parameter: $1" + exit 1 + ;; + esac + done + # ---------------------------------------------------------------- + + if [ "$RANK" -eq 0 ]; then + echo "[run.sh] Starting Ray head..." + RAY_max_direct_call_object_size=104857600 \ + ray start --head --port=6379 + + sleep 20s + + echo "[run.sh] Exec start_eval.sh..." + bash scripts/eval/bash/start_eval.sh + + sleep inf + else + echo "[run.sh] Starting Ray worker..." + RAY_max_direct_call_object_size=104857600 \ + ray start --address=${MASTER_ADDR}:6379 + + sleep inf + fi + ;; + + *) + echo "Usage: $0 {habitat|internutopia} [--config xxx]" + exit 1 + ;; +esac diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index 00303c5..df3ddfd 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -1,20 +1,26 @@ # use to run distributed eval with 4 gpus on single node -MID_RUN_NAME="InternVLA-N1" +while [[ $# -gt 0 ]]; do + case $1 in + --config) + CONFIG="$2" + shift 2 + ;; + *) + echo "Unknown argument: $1" + exit 1 + ;; + esac +done + +# Extract the prefix from the config filename +CONFIG_BASENAME=$(basename "$CONFIG" .py) +CONFIG_PREFIX=$(echo "$CONFIG_BASENAME" | sed 's/_cfg$//') +EVAL_LOG="logs/${CONFIG_PREFIX}_eval.log" + torchrun \ --nproc_per_node=8 \ --master_port=2333 \ scripts/eval/eval.py \ - --config scripts/eval/configs/habitat_cfg.py \ - > logs/${MID_RUN_NAME}_log.txt 2>&1 - -# CUDA_VISIBLE_DEVICES=6,7 -# MID_RUN_NAME="InternVLA-N1" -# torchrun \ -# --nproc_per_node=8 \ -# --master_port=29501 \ -# scripts/eval/eval_habitat.py \ -# --model_path checkpoints/InternVLA-N1 \ -# --continuous_traj \ -# --output_path logs/habitat/test_new_checkpoint2 \ -# > logs/${MID_RUN_NAME}_old_log1.txt 2>&1 + --config $CONFIG \ + > $EVAL_LOG 2>&1 diff --git a/scripts/eval/configs/h1_cma_cfg.py b/scripts/eval/configs/h1_cma_cfg.py index eae6a51..05fcb01 100644 --- a/scripts/eval/configs/h1_cma_cfg.py +++ b/scripts/eval/configs/h1_cma_cfg.py @@ -22,11 +22,11 @@ }, ), task=TaskCfg( - task_name='cma_plus_eval', + task_name='cma_plus_refactor_debug', task_settings={ - 'env_num': 2, + 'env_num': 1, 'use_distributed': False, - 'proc_num': 2, + 'proc_num': 8, }, scene=SceneCfg( scene_type='mp3d', @@ -44,9 +44,13 @@ dataset_settings={ 'base_data_dir': 'data/vln_pe/raw_data/r2r', 'split_data_types': ['val_unseen', 'val_seen'], - 'filter_stairs': False, + 'filter_stairs': True, }, ), - eval_type='vln_multi', - eval_settings={'save_to_json': True, 'vis_output': False}, + eval_type='vln_multi_distributed', + eval_settings={ + 'save_to_json': True, + 'vis_output': True, + 'use_agent_server': False, + }, ) diff --git a/scripts/eval/configs/h1_internvla_n1_cfg.py b/scripts/eval/configs/h1_internvla_n1_cfg.py index e6411e7..f367473 100644 --- a/scripts/eval/configs/h1_internvla_n1_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_cfg.py @@ -30,7 +30,7 @@ 'predict_step_nums': 32, 'continuous_traj': True, # debug - 'vis_debug': True, # If vis_debug=True, you can get visualization results + 'vis_debug': False, # If vis_debug=True, you can get visualization results 'vis_debug_path': './logs/test/vis_debug', }, ), @@ -64,11 +64,15 @@ dataset_settings={ 'base_data_dir': 'data/vln_pe/raw_data/r2r', 'split_data_types': ['val_unseen'], # 'val_seen' - 'filter_stairs': False, + 'filter_stairs': True, # 'selected_scans': ['zsNo4HB9uLZ'], # 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'], }, ), - eval_type='vln_multi', - eval_settings={'save_to_json': True, 'vis_output': False}, + eval_type='vln_multi_distributed', + eval_settings={ + 'save_to_json': True, + 'vis_output': False, + 'use_agent_server': False, + }, ) diff --git a/scripts/eval/configs/h1_rdp_cfg.py b/scripts/eval/configs/h1_rdp_cfg.py index a7e0254..71b519b 100644 --- a/scripts/eval/configs/h1_rdp_cfg.py +++ b/scripts/eval/configs/h1_rdp_cfg.py @@ -22,11 +22,11 @@ }, ), task=TaskCfg( - task_name='rdp_eval', + task_name='cma_plus_refactor_debug', task_settings={ - 'env_num': 2, - 'use_distributed': True, - 'proc_num': 1, + 'env_num': 1, + 'use_distributed': False, + 'proc_num': 8, }, scene=SceneCfg( scene_type='mp3d', @@ -36,15 +36,21 @@ robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd', camera_resolution=[256, 256], # (W,H) camera_prim_path='torso_link/h1_pano_camera_0', + vlnce=False, # vlnpe by default + obstacle_detection=False, # whether allow flash across obstacle ), dataset=EvalDatasetCfg( dataset_type="mp3d", dataset_settings={ 'base_data_dir': 'data/vln_pe/raw_data/r2r', 'split_data_types': ['val_unseen', 'val_seen'], - 'filter_stairs': False, + 'filter_stairs': True, }, ), - eval_type='vln_multi', - eval_settings={'save_to_json': True, 'vis_output': False}, + eval_type='vln_multi_distributed', + eval_settings={ + 'save_to_json': True, + 'vis_output': True, + 'use_agent_server': True, + }, ) diff --git a/scripts/eval/configs/h1_seq2seq_cfg.py b/scripts/eval/configs/h1_seq2seq_cfg.py index 4fd9c19..0d2d9de 100644 --- a/scripts/eval/configs/h1_seq2seq_cfg.py +++ b/scripts/eval/configs/h1_seq2seq_cfg.py @@ -22,11 +22,11 @@ }, ), task=TaskCfg( - task_name='seq2seq_eval', + task_name='cma_plus_refactor_debug', task_settings={ - 'env_num': 2, - 'use_distributed': True, - 'proc_num': 1, + 'env_num': 1, + 'use_distributed': False, + 'proc_num': 8, }, scene=SceneCfg( scene_type='mp3d', @@ -36,15 +36,21 @@ robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd', camera_resolution=[256, 256], # (W,H) camera_prim_path='torso_link/h1_pano_camera_0', + vlnce=False, # vlnpe by default + obstacle_detection=False, # whether allow flash across obstacle ), dataset=EvalDatasetCfg( dataset_type="mp3d", dataset_settings={ 'base_data_dir': 'data/vln_pe/raw_data/r2r', 'split_data_types': ['val_unseen', 'val_seen'], - 'filter_stairs': False, + 'filter_stairs': True, }, ), - eval_type='vln_multi', - eval_settings={'save_to_json': True, 'vis_output': False}, + eval_type='vln_multi_distributed', + eval_settings={ + 'save_to_json': True, + 'vis_output': True, + 'use_agent_server': True, + }, ) diff --git a/scripts/eval/eval.py b/scripts/eval/eval.py index 79d0cda..55b4814 100644 --- a/scripts/eval/eval.py +++ b/scripts/eval/eval.py @@ -37,7 +37,7 @@ def main(): evaluator_cfg = load_eval_cfg(args.config, attr_name='eval_cfg') # fill in evaluator default config - if evaluator_cfg.eval_type == 'vln_multi': + if evaluator_cfg.eval_type == 'vln_multi_distributed': from internnav.configs.evaluator.vln_default_config import get_config evaluator_cfg = get_config(evaluator_cfg) From 43957f64ff2b88807f5923b02237ccb95bbe713e Mon Sep 17 00:00:00 2001 From: wangyukai Date: Mon, 17 Nov 2025 07:11:38 +0000 Subject: [PATCH 17/35] cma tested --- internnav/env/internutopia_env.py | 6 ++--- internnav/evaluator/distributed_base.py | 2 +- .../vln_multi_distributed_evaluator.py | 26 +++++++++++-------- internnav/utils/dist.py | 2 +- scripts/eval/configs/h1_cma_cfg.py | 2 +- 5 files changed, 21 insertions(+), 17 deletions(-) diff --git a/internnav/env/internutopia_env.py b/internnav/env/internutopia_env.py index ba7793f..453c374 100644 --- a/internnav/env/internutopia_env.py +++ b/internnav/env/internutopia_env.py @@ -31,8 +31,8 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): # generate episodes self.episode_loader = ResumablePathKeyEpisodeloader( - env_config.dataset.dataset_type, - **env_config.dataset.dataset_settings, + env_settings['dataset'].dataset_type, + **env_settings['dataset'].dataset_settings, rank=env_settings['rank'], world_size=env_settings['world_size'] ) @@ -42,7 +42,7 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): task_settings.update({'episodes': self.episodes}) # set visible device for isaac sim - os.environ["CUDA_VISIBLE_DEVICES"] = env_settings.get('local_rank', '0') + os.environ["CUDA_VISIBLE_DEVICES"] = str(env_settings.get('local_rank', 0)) config = Config( simulator=SimConfig(**env_settings), diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index fca3b9d..a50a477 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -44,7 +44,7 @@ def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True) cfg.env.env_settings['rank'] = get_rank() cfg.env.env_settings['local_rank'] = self.local_rank cfg.env.env_settings['world_size'] = get_world_size() - cfg.env.dataset = cfg.dataset + cfg.env.env_settings['dataset'] = cfg.dataset self.eval_config = cfg diff --git a/internnav/evaluator/vln_multi_distributed_evaluator.py b/internnav/evaluator/vln_multi_distributed_evaluator.py index 8efb7c7..776e06e 100644 --- a/internnav/evaluator/vln_multi_distributed_evaluator.py +++ b/internnav/evaluator/vln_multi_distributed_evaluator.py @@ -128,6 +128,7 @@ def _transform_action_batch(self, actions: List[Dict], flash=False): return transformed_actions def get_action(self, obs, action): + start_time = time() # process obs obs = np.array(obs) fake_obs_index = np.logical_or( @@ -143,6 +144,9 @@ def get_action(self, obs, action): # change warm_up action = np.array(action) action[self.runner_status == runner_status_code.WARM_UP] = {'h1': {'stand_still': []}} + end_time = time() + duration = round(end_time - start_time, 2) + log.info(f'[TIME] agent step time: {duration}s') return obs, action def _need_reset(self, terminated_ls): @@ -155,6 +159,7 @@ def _need_reset(self, terminated_ls): def env_step(self, action): start_time = time() + # stop_count = [0 for _ in range(self.env_num * self.sim_num)] while True: # stop action maybe also need 50 steps @@ -181,7 +186,7 @@ def env_step(self, action): # print(f'finish_status: {finish_status}') end_time = time() duration = round(end_time - start_time, 2) - log.info(f'env step time: {duration}s') + log.info(f'[TIME] env step time: {duration}s') return obs, terminated def terminate_ops(self, obs_ls, reset_infos, terminated_ls): @@ -192,6 +197,8 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): 4. return whether all envs are terminated 5. return updated reset_infos """ + start_time = time() + finish_warmup_ls = (self.runner_status == runner_status_code.WARM_UP) & [ob['finish_action'] for ob in obs_ls] if np.logical_or.reduce(finish_warmup_ls): self.agent.reset(np.where(finish_warmup_ls)[0].tolist()) @@ -263,6 +270,10 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): self.visualize_util.trace_start( trajectory_id=self.now_path_key(reset_info), reference_path=reset_info.data['reference_path'] ) + + end_time = time() + duration = round(end_time - start_time, 2) + log.info(f'[TIME] reset time: {duration}s') return False, reset_infos def eval(self): @@ -293,21 +304,14 @@ def eval(self): self.runner_status[[info is None for info in reset_info]] = runner_status_code.TERMINATED while self.env.is_running(): - start_time = time() # get action from agent obs, action = self.get_action(obs, action) - log.info(f'get_action time: {round(time() - start_time, 2)}s') - # step env - start_time = time() obs, terminated = self.env_step(action) - log.info(f'env_step time: {round(time() - start_time, 2)}s') - # terminate ops - start_time = time() - env_term, reset_info = self.terminate_ops(obs, reset_info, terminated) - log.info(f'terminate_ops time: {round(time() - start_time, 2)}s') - if env_term: + env_terminate, reset_info = self.terminate_ops(obs, reset_info, terminated) + + if env_terminate: break # save step obs diff --git a/internnav/utils/dist.py b/internnav/utils/dist.py index 3f7f1d0..0b7ac64 100644 --- a/internnav/utils/dist.py +++ b/internnav/utils/dist.py @@ -225,7 +225,7 @@ def init_distributed_mode(dist_url="env://", port=29529, backend="nccl", timeout else: print("Not using distributed mode") setup_for_distributed(is_master=True) - return + return 0 import socket diff --git a/scripts/eval/configs/h1_cma_cfg.py b/scripts/eval/configs/h1_cma_cfg.py index 05fcb01..c794d9e 100644 --- a/scripts/eval/configs/h1_cma_cfg.py +++ b/scripts/eval/configs/h1_cma_cfg.py @@ -51,6 +51,6 @@ eval_settings={ 'save_to_json': True, 'vis_output': True, - 'use_agent_server': False, + 'use_agent_server': True, }, ) From a9ca15dedd4ffa9452a015ec7e6780404d65dcc1 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Mon, 17 Nov 2025 11:03:41 +0000 Subject: [PATCH 18/35] cma tested; episode loader; torchrun; local agent tested; TODO fix isaac sim gpu setting --- internnav/env/utils/episode_loader/resumable.py | 9 +++++++-- internnav/evaluator/distributed_base.py | 3 +-- internnav/evaluator/utils/data_collector.py | 8 +++++++- .../evaluator/vln_multi_distributed_evaluator.py | 11 +++++++++-- scripts/eval/bash/torchrun_eval.sh | 2 ++ scripts/eval/configs/h1_cma_cfg.py | 4 ++-- scripts/eval/configs/h1_internvla_n1_cfg.py | 4 ++-- 7 files changed, 30 insertions(+), 11 deletions(-) diff --git a/internnav/env/utils/episode_loader/resumable.py b/internnav/env/utils/episode_loader/resumable.py index 81dba8c..bee3ac0 100644 --- a/internnav/env/utils/episode_loader/resumable.py +++ b/internnav/env/utils/episode_loader/resumable.py @@ -1,3 +1,5 @@ +import os + import lmdb import msgpack_numpy @@ -37,11 +39,14 @@ def __init__( self.run_type = run_type self.lmdb_path = get_lmdb_path(task_name) self.retry_list = retry_list + + if not os.path.exists(self.lmdb_path): + os.makedirs(self.lmdb_path) + database = lmdb.open( f'{self.lmdb_path}/sample_data.lmdb', map_size=1 * 1024 * 1024 * 1024 * 1024, - readonly=True, - lock=False, + lock=True, ) filtered_target_path_key_list = [] diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index a50a477..7f730e3 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -44,7 +44,6 @@ def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True) cfg.env.env_settings['rank'] = get_rank() cfg.env.env_settings['local_rank'] = self.local_rank cfg.env.env_settings['world_size'] = get_world_size() - cfg.env.env_settings['dataset'] = cfg.dataset self.eval_config = cfg @@ -64,7 +63,7 @@ def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True) from internnav.agent import Agent cfg.agent.model_settings['local_rank'] = self.local_rank - self.agent = Agent(cfg.agent) + self.agent = Agent.init(cfg.agent) def eval(self): """ diff --git a/internnav/evaluator/utils/data_collector.py b/internnav/evaluator/utils/data_collector.py index f721d82..99659b6 100644 --- a/internnav/evaluator/utils/data_collector.py +++ b/internnav/evaluator/utils/data_collector.py @@ -104,7 +104,12 @@ def save_sample_data(self, key, result, instruction): if result != 'success': finish_flag = 'fail' lmdb_file = os.path.join(self.lmdb_path, 'sample_data.lmdb') - database = lmdb.open(lmdb_file, map_size=1 * 1024 * 1024 * 1024 * 1024, max_dbs=0) + database = lmdb.open( + lmdb_file, + map_size=1 * 1024 * 1024 * 1024 * 1024, + max_dbs=0, + lock=True, + ) with database.begin(write=True) as txn: encode_key = key.encode() episode_datas = self.merge_data(self.episode_total_data, self.actions) @@ -129,6 +134,7 @@ def save_eval_result(self, key, result, info): f'{self.lmdb_path}/sample_data.lmdb', map_size=1 * 1024 * 1024 * 1024 * 1024, max_dbs=0, + lock=True, ) with database_write.begin(write=True) as txn: key_write = key.encode() diff --git a/internnav/evaluator/vln_multi_distributed_evaluator.py b/internnav/evaluator/vln_multi_distributed_evaluator.py index 776e06e..9cbb0bc 100644 --- a/internnav/evaluator/vln_multi_distributed_evaluator.py +++ b/internnav/evaluator/vln_multi_distributed_evaluator.py @@ -27,9 +27,12 @@ class runner_status_code(Enum): @Evaluator.register('vln_multi_distributed') class VlnMultiDistributedEvaluator(DistributedEvaluator): def __init__(self, config: EvalCfg): + start_time = time() + self.task_name = config.task.task_name self.result_logger = ResultLogger(config.dataset) self.dataset_name = Path(config.dataset.dataset_settings['base_data_dir']).name + config.env.env_settings['dataset'] = config.dataset # vec env settings self.env_num = config.task.task_settings['env_num'] @@ -70,6 +73,10 @@ def __init__(self, config: EvalCfg): self.vis_output = config.eval_settings['vis_output'] self.visualize_util = VisualizeUtil(self.task_name, fps=6) + end_time = time() + duration = round(end_time - start_time, 2) + log.info(f'[TIME] Env Init time: {duration}s') + @property def ignore_obs_attr(self): return [ @@ -186,7 +193,7 @@ def env_step(self, action): # print(f'finish_status: {finish_status}') end_time = time() duration = round(end_time - start_time, 2) - log.info(f'[TIME] env step time: {duration}s') + log.info(f'[TIME] Env Step time: {duration}s') return obs, terminated def terminate_ops(self, obs_ls, reset_infos, terminated_ls): @@ -273,7 +280,7 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): end_time = time() duration = round(end_time - start_time, 2) - log.info(f'[TIME] reset time: {duration}s') + log.info(f'[TIME] Env Reset time: {duration}s') return False, reset_infos def eval(self): diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index df3ddfd..463570c 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -1,5 +1,7 @@ # use to run distributed eval with 4 gpus on single node +CONFIG=scripts/eval/configs/h1_cma_cfg.py + while [[ $# -gt 0 ]]; do case $1 in --config) diff --git a/scripts/eval/configs/h1_cma_cfg.py b/scripts/eval/configs/h1_cma_cfg.py index c794d9e..331a0cb 100644 --- a/scripts/eval/configs/h1_cma_cfg.py +++ b/scripts/eval/configs/h1_cma_cfg.py @@ -22,7 +22,7 @@ }, ), task=TaskCfg( - task_name='cma_plus_refactor_debug', + task_name='cma_plus_refactor_debug_local_dist', task_settings={ 'env_num': 1, 'use_distributed': False, @@ -51,6 +51,6 @@ eval_settings={ 'save_to_json': True, 'vis_output': True, - 'use_agent_server': True, + 'use_agent_server': False, }, ) diff --git a/scripts/eval/configs/h1_internvla_n1_cfg.py b/scripts/eval/configs/h1_internvla_n1_cfg.py index f367473..e81ff52 100644 --- a/scripts/eval/configs/h1_internvla_n1_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_cfg.py @@ -45,7 +45,7 @@ task_name='test', task_settings={ 'env_num': 1, - 'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False. + 'use_distributed': False, # flag for multi isaac sims, must be False because currently internvla-n1 agent unsupported batch observation 'proc_num': 1, }, scene=SceneCfg( @@ -73,6 +73,6 @@ eval_settings={ 'save_to_json': True, 'vis_output': False, - 'use_agent_server': False, + 'use_agent_server': False, # If use_agent_server=True, please start the agent server first. }, ) From 6e93ba032407e30b9521f9980845ddd04ab45e3e Mon Sep 17 00:00:00 2001 From: wangyukai Date: Mon, 17 Nov 2025 12:35:57 +0000 Subject: [PATCH 19/35] add vlnpe distributed script --- scripts/eval/bash/eval_vlnpe_distributed.sh | 25 +++++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 scripts/eval/bash/eval_vlnpe_distributed.sh diff --git a/scripts/eval/bash/eval_vlnpe_distributed.sh b/scripts/eval/bash/eval_vlnpe_distributed.sh new file mode 100644 index 0000000..14f15b8 --- /dev/null +++ b/scripts/eval/bash/eval_vlnpe_distributed.sh @@ -0,0 +1,25 @@ +#!/bin/bash +# vlnpe distributed scripts for dlc and slurm +# use this to run distributed eval with 1 gpus on single node +# set use_agent_server=False in config file to use local agent on single node + +source /root/miniconda3/etc/profile.d/conda.sh +conda activate internutopia + +CONFIG=scripts/eval/configs/h1_internvla_n1_cfg.py +while [[ $# -gt 0 ]]; do + case $1 in + --config) + CONFIG="$2" + shift 2 + ;; + *) + echo "Unknown argument: $1" + exit 1 + ;; + esac +done + +# use srun for slurm eval +python scripts/eval/eval.py \ + --config $CONFIG \ From b4af0cebbbcb7c4b660b020fd41ef2e6b33c1129 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Tue, 18 Nov 2025 06:55:26 +0000 Subject: [PATCH 20/35] add grscene; add new result write and resumble load data feature based on lmdb path + rank; remove TODOs and unused files --- .../env/utils/episode_loader/dataset_utils.py | 6 +- .../env/utils/episode_loader/resumable.py | 2 +- .../habitat_extensions/evaluator_single.py | 695 ------------------ .../utils/habitat_extensions/fonts/arial.ttf | Bin 311636 -> 0 bytes .../env/utils/habitat_extensions/maps.py | 370 ---------- .../env/utils/habitat_extensions/measures.py | 560 -------------- internnav/evaluator/utils/data_collector.py | 6 +- internnav/evaluator/utils/dataset.py | 95 +++ .../vln_multi_distributed_evaluator.py | 17 +- internnav/internnav_habitat/README.md | 2 - .../habitat_vln_evaluator.py | 3 +- internnav/internnav_habitat/refactor_notes.md | 66 -- scripts/eval/bash/start_eval.sh | 2 +- scripts/eval/bash/torchrun_eval.sh | 4 +- scripts/eval/configs/h1_internvla_n1_cfg.py | 2 +- scripts/eval/configs/h1_rdp_cfg.py | 10 +- scripts/eval/configs/habitat_cfg.py | 2 +- 17 files changed, 119 insertions(+), 1723 deletions(-) delete mode 100644 internnav/env/utils/habitat_extensions/evaluator_single.py delete mode 100644 internnav/env/utils/habitat_extensions/fonts/arial.ttf delete mode 100644 internnav/env/utils/habitat_extensions/maps.py delete mode 100644 internnav/env/utils/habitat_extensions/measures.py delete mode 100644 internnav/internnav_habitat/refactor_notes.md diff --git a/internnav/env/utils/episode_loader/dataset_utils.py b/internnav/env/utils/episode_loader/dataset_utils.py index 12e5f46..c85c2bb 100644 --- a/internnav/env/utils/episode_loader/dataset_utils.py +++ b/internnav/env/utils/episode_loader/dataset_utils.py @@ -501,7 +501,7 @@ def load_data( with gzip.open(os.path.join(dataset_root_dir, split, f"{split}.json.gz"), 'rt', encoding='utf-8') as f: data = json.load(f)['episodes'][rank::world_size] - if dataset_type == 'kujiale': + if dataset_type in ['kujiale', 'grscene']: scenes = list(set([x['scan'] for x in data])) else: scenes = list(set([x['scene_id'] for x in data])) # e.g. 'mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb' @@ -509,7 +509,7 @@ def load_data( scenes.sort() new_data = {} for scene in scenes: - if dataset_type == 'kujiale': + if dataset_type in ['kujiale', 'grscene']: scene_data = [x for x in data if x['scan'] == scene] scan = scene else: @@ -521,7 +521,7 @@ def load_data( new_item['scan'] = scan new_item['original_start_position'] = item['start_position'] new_item['original_start_rotation'] = item['start_rotation'] - if dataset_type != 'kujiale': + if dataset_type == 'mp3d': x, z, y = item['start_position'] new_item['start_position'] = [x, -y, z] r1, r2, r3, r4 = item['start_rotation'] diff --git a/internnav/env/utils/episode_loader/resumable.py b/internnav/env/utils/episode_loader/resumable.py index bee3ac0..eadb4f6 100644 --- a/internnav/env/utils/episode_loader/resumable.py +++ b/internnav/env/utils/episode_loader/resumable.py @@ -44,7 +44,7 @@ def __init__( os.makedirs(self.lmdb_path) database = lmdb.open( - f'{self.lmdb_path}/sample_data.lmdb', + f'{self.lmdb_path}/sample_data{rank}.lmdb', map_size=1 * 1024 * 1024 * 1024 * 1024, lock=True, ) diff --git a/internnav/env/utils/habitat_extensions/evaluator_single.py b/internnav/env/utils/habitat_extensions/evaluator_single.py deleted file mode 100644 index 24d95ea..0000000 --- a/internnav/env/utils/habitat_extensions/evaluator_single.py +++ /dev/null @@ -1,695 +0,0 @@ -import argparse -import copy -import itertools -import os -import random -import re -import sys -from collections import OrderedDict -from typing import Any - -import cv2 -import habitat -import numpy as np -import quaternion -import torch -from depth_camera_filtering import filter_depth -from habitat import Env -from habitat.config.default import get_agent_config -from habitat.config.default_structured_configs import ( - CollisionsMeasurementConfig, - FogOfWarConfig, - TopDownMapMeasurementConfig, -) -from habitat.utils.visualizations.utils import images_to_video, observations_to_image -from habitat_baselines.config.default import get_config as get_habitat_config -from omegaconf import OmegaConf -from PIL import Image -from transformers import AutoProcessor -from transformers.image_utils import to_numpy_array - -PROJECT_ROOT_PATH = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -sys.path.append(PROJECT_ROOT_PATH) -print(f"PROJECT_ROOT_PATH {PROJECT_ROOT_PATH}") -from internnav.model.basemodel.internvla_n1.internvla_n1 import InternVLAN1ForCausalLM -from internnav.model.utils.vln_utils import ( - chunk_token, - split_and_clean, - traj_to_actions, -) -from internnav.utils.dist import get_rank, get_world_size, init_distributed_mode - -DEFAULT_IMAGE_TOKEN = "" - - -class VLNEvaluator: - def __init__( - self, - config_path: str, - split: str = "val_seen", - env_num: int = 1, - output_path: str = None, - model: Any = None, - processor: Any = None, - epoch: int = 0, - args: argparse.Namespace = None, - ): - self.args = args - self.device = torch.device('cuda') - self.split = split - self.env_num = env_num - self.save_video = args.save_video - self.output_path = output_path - self.epoch = epoch - self.config_path = config_path - self.config = get_habitat_config(config_path) - self.agent_config = get_agent_config(self.config.habitat.simulator) - self.sim_sensors_config = self.config.habitat.simulator.agents.main_agent.sim_sensors - - # for gradio evaluation - self.infer_data_ready = False - self.infer_scene_id = 0 - self.infer_episode_id = 0 - self.infer_success_cnt = -1 - self.infer_instruction = "" - self.infer_success = False - self.env = None - with habitat.config.read_write(self.config): - # self.config.habitat.task.measurements.success.success_distance=3.0 - self.config.habitat.dataset.split = self.split - self.config.habitat.task.measurements.update( - { - "top_down_map": TopDownMapMeasurementConfig( - map_padding=3, - map_resolution=1024, - draw_source=True, - draw_border=True, - draw_shortest_path=True, - draw_view_points=True, - draw_goal_positions=True, - draw_goal_aabbs=True, - fog_of_war=FogOfWarConfig( - draw=True, - visibility_dist=5.0, - fov=90, - ), - ), - "collisions": CollisionsMeasurementConfig(), - } - ) - - print(f"config = {type(self.config)}") - print(OmegaConf.to_yaml(self.config)) - - self._camera_height = self.sim_sensors_config.rgb_sensor.position[1] - self._min_depth = self.sim_sensors_config.depth_sensor.min_depth - self._max_depth = self.sim_sensors_config.depth_sensor.max_depth - - camera_fov_rad = np.deg2rad(self.sim_sensors_config.depth_sensor.hfov) - self._camera_fov = camera_fov_rad - self._fx = self._fy = self.sim_sensors_config.depth_sensor.width / (2 * np.tan(camera_fov_rad / 2)) - - self.model = model - self.processor = processor - - prompt = "You are an autonomous navigation assistant. Your task is to . Where should you go next to stay on track? Please output the next waypoint\'s coordinates in the image. Please output STOP when you have successfully completed the task." - answer = "" - self.conversation = [{"from": "human", "value": prompt}, {"from": "gpt", "value": answer}] - - self.conjunctions = [ - 'you can see ', - 'in front of you is ', - 'there is ', - 'you can spot ', - 'you are toward the ', - 'ahead of you is ', - 'in your sight is ', - ] - - self.actions2idx = OrderedDict( - { - 'STOP': [0], - "↑": [1], - "←": [2], - "→": [3], - "↓": [5], - } - ) - - self.num_frames = args.num_frames - self.num_future_steps = args.num_future_steps - self.num_history = args.num_history - - def preprocess_depth_image_v2( - self, depth_image, do_depth_scale=True, depth_scale=1000, target_height=None, target_width=None - ): - if target_height is None: - target_height = self.image_processor.crop_size['height'] # 384 - target_width = self.image_processor.crop_size['width'] # 384 - - resized_depth_image = depth_image.resize((target_width, target_height), Image.NEAREST) - - img = to_numpy_array(resized_depth_image) - if do_depth_scale: - img = img / depth_scale - - return img, (target_width, target_height) - - def get_intrinsic_matrix(self, sensor_cfg) -> np.ndarray: - width = sensor_cfg.width - height = sensor_cfg.height - fov = sensor_cfg.hfov - fx = (width / 2.0) / np.tan(np.deg2rad(fov / 2.0)) - fy = fx # Assuming square pixels (fx = fy) - cx = (width - 1.0) / 2.0 - cy = (height - 1.0) / 2.0 - - intrinsic_matrix = np.array( - [[fx, 0.0, cx, 0.0], [0.0, fy, cy, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] - ) - return intrinsic_matrix - - def preprocess_instrinsic(self, intrinsic, ori_size, target_size): # (V, 4, 4) (resize_shape) (h, w) - intrinsic = copy.deepcopy(intrinsic) - if len(intrinsic.shape) == 2: - intrinsic = intrinsic[None, :, :] # (1, 4, 4) or (B, 4, 4) - - intrinsic[:, 0] /= ori_size[0] / target_size[0] # width - intrinsic[:, 1] /= ori_size[1] / target_size[1] # height - - # for crop transform - intrinsic[:, 0, 2] -= (target_size[0] - target_size[1]) / 2 - - if intrinsic.shape[0] == 1: - intrinsic = intrinsic.squeeze(0) - - return intrinsic - - def get_axis_align_matrix(self): - ma = np.array([[0, 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 0, 1]]) - return ma - - def xyz_yaw_to_tf_matrix(self, xyz: np.ndarray, yaw: float) -> np.ndarray: - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(yaw), -np.sin(yaw), 0, x], - [np.sin(yaw), np.cos(yaw), 0, y], - [0, 0, 1, z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_pitch_to_tf_matrix(self, xyz: np.ndarray, pitch: float) -> np.ndarray: - x, y, z = xyz - transformation_matrix = np.array( - [ - [np.cos(pitch), 0, np.sin(pitch), x], - [0, 1, 0, y], - [-np.sin(pitch), 0, np.cos(pitch), z], - [0, 0, 0, 1], - ] - ) - return transformation_matrix - - def xyz_yaw_pitch_to_tf_matrix(self, xyz: np.ndarray, yaw: float, pitch: float) -> np.ndarray: - """Converts a given position and yaw, pitch angles to a 4x4 transformation matrix. - - Args: - xyz (np.ndarray): A 3D vector representing the position. - yaw (float): The yaw angle in radians. - pitch (float): The pitch angle in radians for y axis. - Returns: - np.ndarray: A 4x4 transformation matrix. - """ - x, y, z = xyz - rot1 = self.xyz_yaw_to_tf_matrix(xyz, yaw)[:3, :3] - rot2 = self.xyz_pitch_to_tf_matrix(xyz, pitch)[:3, :3] - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rot1 @ rot2 - transformation_matrix[:3, 3] = xyz - return transformation_matrix - - def pixel_to_gps(self, pixel, depth, intrinsic, tf_camera_to_episodic): - ''' - Args: - pixel: (2,) - [u, v] pixel coordinates - depth: (H, W) - depth image where depth[v, u] gives depth in meters - intrinsic: (4, 4) - camera intrinsic matrix - tf_camera_to_episodic: (4, 4) - transformation from camera to episodic frame - Returns: - (x, y): (x, y) coordinates in the episodic frame - ''' - v, u = pixel - z = depth[v, u] - print("depthhhhhhhhhhhhhh", z) - - x = (u - intrinsic[0, 2]) * z / intrinsic[0, 0] - y = (v - intrinsic[1, 2]) * z / intrinsic[1, 1] - point_camera = np.array([x, y, z, 1.0]) - - # Transform to episodic frame - point_episodic = tf_camera_to_episodic @ point_camera - point_episodic = point_episodic[:3] / point_episodic[3] - - x = point_episodic[0] - y = point_episodic[1] - - return (x, y) # same as habitat gps - - def config_env(self) -> Env: - env = Env(config=self.config) - # env.episodes = env.episodes[0:1] - return env - - def run_single_eval(self): - - self.model.eval() - self.env = self.config_env() - self.scene_episode_dict = {} - for episode in self.env.episodes: - if episode.scene_id not in self.scene_episode_dict: - self.scene_episode_dict[episode.scene_id] = [] - self.scene_episode_dict[episode.scene_id].append(episode) - intrinsic_matrix = self.get_intrinsic_matrix( - self.config.habitat.simulator.agents.main_agent.sim_sensors.rgb_sensor - ) - sucs, spls, oss, nes = [], [], [], [] - - if True: # fixme - scenes_keys = list(sorted(self.scene_episode_dict.keys())) - - self.infer_success = False - self.infer_data_ready = False - print('---------------current infer scene:', scenes_keys[self.infer_scene_id]) - selected_scenes = ['17DRP5sb8fy', 'r1Q1Z4BcV1o', 'dhjEzFoUFzH'] - key_name = ( - 'data/scene_datasets/mp3d/' - + selected_scenes[self.infer_scene_id] - + '/' - + selected_scenes[self.infer_scene_id] - + '.glb' - ) - episodes = self.scene_episode_dict[key_name] - step_size = len(episodes) // 6 - # episode_id = 0 - - episode = episodes[self.infer_episode_id * step_size] - - episode_instruction = ( - self.infer_instruction - ) # episode.instruction.instruction_text if 'objectnav' not in self.config_path else episode.object_category - print("episode start", episode_instruction) - - # episode_id = int(episode.episode_id) - env = self.env - env.current_episode = episode - observations = env.reset() - - agent_state = env.sim.get_agent_state() - rotation = agent_state.rotation - translation = agent_state.position - rotation_matrix = quaternion.as_rotation_matrix(rotation) - transformation_matrix = np.eye(4) - transformation_matrix[:3, :3] = rotation_matrix - transformation_matrix[:3, 3] = translation - - # agent = ShortestPathFollower(env.sim, 0.25, False) - - os.makedirs(os.path.join(self.output_path, f'check_sim_{self.epoch}'), exist_ok=True) - - vis_frames = [] - step_id = 0 - - if self.save_video: - os.makedirs(self.output_path, exist_ok=True) - initial_height = env.sim.get_agent_state().position[1] - - rgb_list = [] - # depth_list = [] - action_seq = [] - # past_key_values = None - output_ids = None - - goal = None - action = None - # look_down_observations = None - # look_down_id_list = [] - messages = [] - # last_action = None - local_actions = [] - - # begin evaluation main loop - while not env.episode_over and step_id <= 70: - rgb = observations["rgb"] - depth = observations["depth"] - x, y = observations["gps"] - camera_yaw = observations["compass"][0] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - - agent_state = env.sim.get_agent_state() - height = agent_state.position[1] - initial_height # Habitat GPS makes west negative, so flip y - camera_position = np.array([x, -y, self._camera_height + height]) - # robot_xy = camera_position[:2] - # tf_camera_to_episodic = self.xyz_yaw_to_tf_matrix(camera_position, camera_yaw) @ self.get_axis_align_matrix() - tf_camera_to_episodic = ( - self.xyz_yaw_pitch_to_tf_matrix(camera_position, camera_yaw, np.deg2rad(30)) - @ self.get_axis_align_matrix() - ) - - image = Image.fromarray(rgb).convert('RGB') # raw observation image - # image_size = image.size # 640*480 - save_raw_image = image.copy() - - if action == 5: - look_down_image = image # Image.fromarray(look_down_observations['rgb']).convert('RGB') - save_raw_image = look_down_image.copy() - - # rgb_list.append(look_down_image) - look_down_depth, resize_shape = self.preprocess_depth_image_v2( - Image.fromarray(depth.astype(np.uint16), mode='I;16'), - do_depth_scale=True, - depth_scale=1000, - target_height=224, - target_width=224, - ) - look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() # [H, W] - # depth clip to 5m - look_down_depth[look_down_depth > 5.0] = 5.0 - else: - image = image.resize((self.args.resize_w, self.args.resize_h)) - rgb_list.append(image) - - down_observations = env.step(5) - down_observations = env.step(5) - - look_down_image = Image.fromarray(down_observations["rgb"]).convert('RGB') - depth = down_observations["depth"] - depth = filter_depth(depth.reshape(depth.shape[:2]), blur_type=None) - depth = depth * (self._max_depth - self._min_depth) + self._min_depth - depth = depth * 1000 - look_down_depth, resize_shape = self.preprocess_depth_image_v2( - Image.fromarray(depth.astype(np.uint16), mode='I;16'), - do_depth_scale=True, - depth_scale=1000, - target_height=224, - target_width=224, - ) - look_down_depth = torch.as_tensor(np.ascontiguousarray(look_down_depth)).float() # [H, W] - # depth clip to 5m - look_down_depth[look_down_depth > 5.0] = 5.0 - - env.step(4) - env.step(4) - - info = env.get_metrics() - current_frame_infer_pixel = False - if len(action_seq) == 0 and goal is None: # 只有执行完一次输出的所有 action_seq 才能继续做模型推理 - if action != 5: - sources = copy.deepcopy(self.conversation) - if 'objectnav' in self.config_path: - sources[0]["value"] = sources[0]["value"].replace( - '.', - random.choice(self.objectnav_instructions).format( - target_object=episode.object_category.replace('_', ' ') - ), - ) - else: - sources[0]["value"] = sources[0]["value"].replace( - '.', episode_instruction[:-1] - ) - cur_images = rgb_list[-1:] # current observation - if step_id == 0: - history_id = [] - else: - history_id = np.unique( - np.linspace(0, step_id - 1, self.num_history, dtype=np.int32) - ).tolist() - placeholder = (DEFAULT_IMAGE_TOKEN + '\n') * len(history_id) - sources[0]["value"] += f' These are your historical observations: {placeholder}.' - - history_id = sorted(history_id) - print('history_idddddddd', step_id, history_id) - input_images = [rgb_list[i] for i in history_id] + cur_images - input_img_id = 0 - else: - assert action == 5 # last action is look down - sources = [{"from": "human", "value": ""}, {"from": "gpt", "value": ""}] - input_images += [look_down_image] - # messages.append({'role': 'assistant', 'content': [{'type': 'text', 'text': llm_outputs}]}) - input_img_id = -1 - - prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN - sources[0]["value"] += f" {prompt}." - print('sources', step_id, sources) - prompt_instruction = copy.deepcopy(sources[0]["value"]) - parts = split_and_clean(prompt_instruction) - - content = [] - for i in range(len(parts)): - if parts[i] == "": - content.append({"type": "image", "image": input_images[input_img_id]}) - input_img_id += 1 - else: - content.append({"type": "text", "text": parts[i]}) - - messages.append({'role': 'user', 'content': content}) - - print('step_id', step_id, 'messages:', messages) - - text = self.processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True) - - inputs = self.processor(text=[text], images=input_images, return_tensors="pt").to(self.model.device) - - with torch.no_grad(): - output_ids = self.model.generate(**inputs, max_new_tokens=128, do_sample=False) - - llm_outputs = self.processor.tokenizer.decode( - output_ids[0][inputs.input_ids.shape[1] :], skip_special_tokens=True - ) - print('step_id:', step_id, 'output text:', llm_outputs) - - if bool(re.search(r'\d', llm_outputs)): # output pixel goal - current_frame_infer_pixel = True - forward_action = 0 - coord = [int(c) for c in re.findall(r'\d+', llm_outputs)] - pixel_goal = [int(coord[1]), int(coord[0])] # switch the goal o - - goal = self.pixel_to_gps(pixel_goal, depth / 1000, intrinsic_matrix, tf_camera_to_episodic) - print('before', goal, depth.shape) - goal = (transformation_matrix @ np.array([-goal[1], 0, -goal[0], 1]))[:3] - - if not env.sim.pathfinder.is_navigable(np.array(goal)): - goal = np.array(env.sim.pathfinder.snap_point(np.array(goal))) - - # look down --> horizontal - env.step(4) - env.step(4) - - # action = agent.get_next_action(goal) - local_actions = [] - pixel_values = inputs.pixel_values - image_grid_thw = torch.cat([thw.unsqueeze(0) for thw in inputs.image_grid_thw], dim=0) - - with torch.no_grad(): - traj_latents = self.model.generate_latents(output_ids, pixel_values, image_grid_thw) - - # image_dp = torch.tensor(np.array(look_down_image.resize((224, 224)))).to(torch.bfloat16) - # pix_goal_image = copy.copy(image_dp) - # images_dp = torch.stack([pix_goal_image, image_dp]).unsqueeze(0) - # depth_dp = look_down_depth.unsqueeze(-1).to(torch.bfloat16) - # pix_goal_depth = copy.copy(depth_dp) - # depths_dp = torch.stack([pix_goal_depth, depth_dp]).unsqueeze(0) - - with torch.no_grad(): - dp_actions = self.model.generate_traj(traj_latents) - - random_choice = np.random.choice(dp_actions.shape[0]) - if self.args.continuous_traj: - action_list = traj_to_actions(dp_actions) - if len(action_list) < 8: - action_list += [0] * (8 - len(action_list)) - else: - action_list = chunk_token(dp_actions[random_choice]) - print("first action_list", action_list) - local_actions = action_list - action = local_actions[0] - if action == 0: - goal = None - output_ids = None - action = 2 - print('conduct a random action 2') - observations = env.step(action) - step_id += 1 - messages = [] - continue - - print('predicted goal', pixel_goal, goal, flush=True) - else: - action_seq = self.parse_actions(llm_outputs) - print('actions', action_seq, flush=True) - - if len(action_seq) != 0: - action = action_seq[0] - action_seq.pop(0) - elif goal is not None: - if len(local_actions) != 0: - action = local_actions.pop(0) - else: - action = 0 - forward_action += 1 - print('forward_action', forward_action, flush=True) - if forward_action > 8: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue - if action == 0: - goal = None - output_ids = None - messages = [] - step_id += 1 - forward_action = 0 - local_actions = [] - continue - else: - action = 0 - - if info['top_down_map'] is not None: - frame = observations_to_image({'rgb': np.asarray(save_raw_image)}, info) - if current_frame_infer_pixel: - frame = cv2.putText( - frame, - f"{pixel_goal[1], pixel_goal[0]}", - (50, 80), - cv2.FONT_HERSHEY_SIMPLEX, - 1, - (255, 0, 0), - 2, - ) - frame = cv2.circle(frame, (pixel_goal[1], pixel_goal[0]), 5, (255, 0, 0), -1) - else: - output_str = str(action) - output_str = ( - output_str.replace('1', "Go forward").replace('2', 'Turn left').replace('3', 'Turn right') - ) - output_str = output_str.replace('5', 'Look down').replace('0', 'Stop!') - frame = cv2.putText(frame, output_str, (50, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) - vis_frames.append(frame) - if action == 5: - vis_frames.append(frame) - - print("step_id", step_id, "action", action) - - if action == 5: - env.step(action) - observations = env.step(action) - else: - observations = env.step(action) - step_id += 1 - messages = [] - - self.infer_success_cnt += 1 - - # metrics = env.get_metrics() - if self.save_video: - images_to_video(vis_frames, self.output_path, f"res_{self.infer_success_cnt}", fps=6, quality=9) - self.infer_success = True - vis_frames.clear() - - env.close() - return ( - torch.tensor(sucs).to(self.device), - torch.tensor(spls).to(self.device), - torch.tensor(oss).to(self.device), - torch.tensor(nes).to(self.device), - torch.tensor(len(sucs)).to(self.device), - ) - - def parse_actions(self, output): - action_patterns = '|'.join(re.escape(action) for action in self.actions2idx) - # import ipdb; ipdb.set_trace() - regex = re.compile(action_patterns) - matches = regex.findall(output) - actions = [self.actions2idx[match] for match in matches] - actions = itertools.chain.from_iterable(actions) - return list(actions) - - def preprocess_qwenvl(self, source): - prompt = random.choice(self.conjunctions) + DEFAULT_IMAGE_TOKEN - if len(source[0]["value"]) != 0: - source[0]["value"] += f" {prompt}." - else: - source[0]["value"] = f"{prompt}." # Please output the next waypoint\'s coordinates in the image." - return source - - -def eval(): - global local_rank - - parser = argparse.ArgumentParser() - parser.add_argument("--local_rank", default=0, type=int, help="node rank") - parser.add_argument("--model_path", type=str, default="") - parser.add_argument("--habitat_config_path", type=str, default='scripts/eval/configs/vln_r2r.yaml') - parser.add_argument("--eval_split", type=str, default='val_unseen') - parser.add_argument("--output_path", type=str, default='./exps_pix/val_unseen/debug_coord_wm') - parser.add_argument("--num_future_steps", type=int, default=4) - parser.add_argument("--num_frames", type=int, default=32) - parser.add_argument("--save_video", action="store_true", default=True) - parser.add_argument("--num_history", type=int, default=8) - parser.add_argument("--resize_w", type=int, default=384) - parser.add_argument("--resize_h", type=int, default=384) - parser.add_argument("--predict_step_nums", type=int, default=16) - parser.add_argument("--continuous_traj", action="store_true", default=False) - parser.add_argument("--max_new_tokens", type=int, default=1024) - - parser.add_argument('--world_size', default=1, type=int, help='number of distributed processes') - parser.add_argument('--rank', default=0, type=int, help='rank') - parser.add_argument('--gpu', default=0, type=int, help='gpu') - parser.add_argument('--port', default='2333') - parser.add_argument('--dist_url', default='env://', help='url used to set up distributed training') - parser.add_argument('--device', default='cuda', help='device to use for training / testing') - - args = parser.parse_args() - init_distributed_mode(args) - local_rank = args.local_rank - np.random.seed(local_rank) - # Load model and tokenizer - processor = AutoProcessor.from_pretrained(args.model_path) - processor.tokenizer.padding_side = 'left' - - device = torch.device(f"cuda:{local_rank}") - model = InternVLAN1ForCausalLM.from_pretrained( - args.model_path, torch_dtype=torch.bfloat16, attn_implementation="flash_attention_2", device_map={"": device} - ) - - # start the evaluation - evaluate(model, processor, args) - - -def evaluate(model, processor, args): - model.eval() - world_size = get_world_size() - evaluator = VLNEvaluator( - config_path=args.habitat_config_path, - split=args.eval_split, - env_num=world_size, - output_path=args.output_path, - model=model, - processor=processor, - epoch=0, - args=args, - ) - sucs, spls, oss, nes, ep_num = evaluator.eval_action(idx=get_rank()) - - -if __name__ == "__main__": - eval() - print('hello world!!') - sys.exit(0) diff --git a/internnav/env/utils/habitat_extensions/fonts/arial.ttf 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zwZ1X9!{OI1xUMbG7I?gtwkfqa3U;Cw1x95@?ZvAj$$;tN`*UTR0 zKGkd95~rlip?k+ijtiJL=-JEf_nlcRct*Tp^U;JpekT?!*;D@MnVpl)_Pldz{G^xm VXQc0|TekeI1$m{%qWu+${|A np.ndarray: - """Same as `maps.colorize_topdown_map` in Habitat-Lab, but with different - colors. - """ - _map = TOP_DOWN_MAP_COLORS[top_down_map] - - if fog_of_war_mask is not None: - fog_of_war_desat_values = np.array([[fog_of_war_desat_amount], [1.0]]) - # Only desaturate valid points as only valid points get revealed - desat_mask = top_down_map != MAP_INVALID_POINT - - _map[desat_mask] = (_map * fog_of_war_desat_values[fog_of_war_mask]).astype(np.uint8)[desat_mask] - - return _map - - -def static_to_grid( - realworld_x: float, - realworld_y: float, - grid_resolution: Tuple[int, int], - bounds: Dict[str, Tuple[float, float]], -) -> Tuple[int, int]: - """Return gridworld index of realworld coordinates assuming top-left - corner is the origin. The real world coordinates of lower left corner are - (coordinate_min, coordinate_min) and of top right corner are - (coordinate_max, coordinate_max). Same as the habitat-Lab maps.to_grid - function but with a static `bounds` instead of requiring a simulator or - pathfinder instance. - """ - grid_size = ( - abs(bounds["upper"][2] - bounds["lower"][2]) / grid_resolution[0], - abs(bounds["upper"][0] - bounds["lower"][0]) / grid_resolution[1], - ) - grid_x = int((realworld_x - bounds["lower"][2]) / grid_size[0]) - grid_y = int((realworld_y - bounds["lower"][0]) / grid_size[1]) - return grid_x, grid_y - - -def drawline( - img: np.ndarray, - pt1: Union[Tuple[float], List[float]], - pt2: Union[Tuple[float], List[float]], - color: List[int], - thickness: int = 1, - style: str = "dotted", - gap: int = 15, -) -> None: - """https://stackoverflow.com/questions/26690932/opencv-rectangle-with-dotted-or-dashed-lines - style: "dotted", "dashed", or "filled" - """ - assert style in ["dotted", "dashed", "filled"] - - if style == "filled": - cv2.line(img, pt1, pt2, color, thickness) - return - - dist = ((pt1[0] - pt2[0]) ** 2 + (pt1[1] - pt2[1]) ** 2) ** 0.5 - pts = [] - for i in np.arange(0, dist, gap): - r = i / dist - x = int((pt1[0] * (1 - r) + pt2[0] * r) + 0.5) - y = int((pt1[1] * (1 - r) + pt2[1] * r) + 0.5) - pts.append((x, y)) - - if style == "dotted": - for p in pts: - cv2.circle(img, p, thickness, color, -1) - else: - s = pts[0] - e = pts[0] - for i, p in enumerate(pts): - s = e - e = p - if i % 2 == 1: - cv2.line(img, s, e, color, thickness) - - -def drawpoint( - img: np.ndarray, - position: Union[Tuple[int], List[int]], - color: List[int], - meters_per_px: float, - pad: float = 0.3, -) -> None: - point_padding = int(pad / meters_per_px) - img[ - position[0] - point_padding : position[0] + point_padding + 1, - position[1] - point_padding : position[1] + point_padding + 1, - ] = color - - -def draw_triangle( - img: np.ndarray, - centroid: Union[Tuple[int], List[int]], - color: List[int], - meters_per_px: float, - pad: int = 0.35, -) -> None: - point_padding = int(pad / meters_per_px) - - # (Y, X) - left = (centroid[1] - point_padding, centroid[0] + point_padding) - right = (centroid[1] + point_padding, centroid[0] + point_padding) - top = (centroid[1], centroid[0] - point_padding) - cv2.drawContours(img, [np.array([left, right, top])], 0, color, -1) - - -def draw_reference_path( - img: np.ndarray, - sim: Simulator, - episode: VLNEpisode, - map_resolution: int, - meters_per_px: float, -) -> None: - """Draws lines between each waypoint in the reference path.""" - shortest_path_points = [ - habitat_maps.to_grid( - p[2], - p[0], - img.shape[0:2], - sim, - )[::-1] - for p in episode.reference_path - ] - - pt_from = None - for i, pt_to in enumerate(shortest_path_points): - - if i != 0: - drawline( - img, - (pt_from[0], pt_from[1]), - (pt_to[0], pt_to[1]), - MAP_SHORTEST_PATH_WAYPOINT, - thickness=int(0.4 * map_resolution / MAP_THICKNESS_SCALAR), - style="dashed", - gap=10, - ) - pt_from = pt_to - - for pt in shortest_path_points: - drawpoint(img, (pt[1], pt[0]), MAP_SHORTEST_PATH_WAYPOINT, meters_per_px) - - -def draw_straight_shortest_path_points( - img: np.ndarray, - sim: Simulator, - map_resolution: int, - shortest_path_points: List[List[float]], -) -> None: - """Draws the shortest path from start to goal assuming a standard - discrete action space. - """ - shortest_path_points = [habitat_maps.to_grid(p[2], p[0], img.shape[0:2], sim)[::-1] for p in shortest_path_points] - - habitat_maps.draw_path( - img, - [(p[1], p[0]) for p in shortest_path_points], - MAP_SHORTEST_PATH_WAYPOINT, - int(0.4 * map_resolution / MAP_THICKNESS_SCALAR), - ) - - -def draw_source_and_target(img: np.ndarray, sim: Simulator, episode: VLNEpisode, meters_per_px: float) -> None: - s_x, s_y = habitat_maps.to_grid( - episode.start_position[2], - episode.start_position[0], - img.shape[0:2], - sim, - ) - drawpoint(img, (s_x, s_y), MAP_SOURCE_POINT_INDICATOR, meters_per_px) - - # mark target point - t_x, t_y = habitat_maps.to_grid( - episode.goals[0].position[2], - episode.goals[0].position[0], - img.shape[0:2], - sim, - ) - drawpoint(img, (t_x, t_y), MAP_TARGET_POINT_INDICATOR, meters_per_px) - - -def draw_waypoint_prediction( - img: np.ndarray, - waypoint: Union[Tuple[float], List[float]], - meters_per_px: float, - bounds: Dict[str, Tuple[float]], -) -> None: - w_x, w_y = static_to_grid(waypoint[1], waypoint[0], img.shape[0:2], bounds) - if w_x < img.shape[0] and w_x > 0 and w_y < img.shape[1] and w_y > 0: - draw_triangle(img, (w_x, w_y), MAP_WAYPOINT_PREDICTION, meters_per_px) - - -def draw_oracle_waypoint( - img: np.ndarray, - waypoint: Union[Tuple[float], List[float]], - meters_per_px: float, - bounds: Dict[str, Tuple[float]], -) -> None: - w_x, w_y = static_to_grid(waypoint[1], waypoint[0], img.shape[0:2], bounds) - draw_triangle(img, (w_x, w_y), MAP_ORACLE_WAYPOINT, meters_per_px, pad=0.2) - - -def get_nearest_node(graph: nx.Graph, current_position: List[float]) -> str: - """Determine the closest MP3D node to the agent's start position as given - by a [x,z] position vector. - Returns: - node ID - """ - nearest = None - dist = float("inf") - for node in graph: - node_pos = graph.nodes[node]["position"] - node_pos = np.take(node_pos, (0, 2)) - cur_dist = np.linalg.norm(np.array(node_pos) - np.array(current_position), ord=2) - if cur_dist < dist: - dist = cur_dist - nearest = node - return nearest - - -def update_nearest_node(graph: nx.Graph, nearest_node: str, current_position: np.ndarray) -> str: - """Determine the closest MP3D node to the agent's current position as - given by a [x,z] position vector. The selected node must be reachable - from the previous MP3D node as specified in the nav-graph edges. - Returns: - node ID - """ - nearest = None - dist = float("inf") - - for node in [nearest_node] + [e[1] for e in graph.edges(nearest_node)]: - node_pos = graph.nodes[node]["position"] - node_pos = np.take(node_pos, (0, 2)) - cur_dist = np.linalg.norm(np.array(node_pos) - np.array(current_position), ord=2) - if cur_dist < dist: - dist = cur_dist - nearest = node - return nearest - - -def draw_mp3d_nodes( - img: np.ndarray, - sim: Simulator, - episode: VLNEpisode, - graph: nx.Graph, - meters_per_px: float, -) -> None: - n = get_nearest_node(graph, (episode.start_position[0], episode.start_position[2])) - starting_height = graph.nodes[n]["position"][1] - for node in graph: - pos = graph.nodes[node]["position"] - - # no obvious way to differentiate between floors. Use this for now. - if abs(pos[1] - starting_height) < 1.0: - r_x, r_y = habitat_maps.to_grid(pos[2], pos[0], img.shape[0:2], sim) - - # only paint if over a valid point - if img[r_x, r_y]: - drawpoint(img, (r_x, r_y), MAP_MP3D_WAYPOINT, meters_per_px) - - -from typing import Tuple - -import torch -from torch import Tensor - - -def image_resize( - img: Tensor, - size: Tuple[int, int], - channels_last: bool = False, - interpolation_mode: str = "area", -) -> torch.Tensor: - """Resizes an img. - - Args: - img: the array object that needs to be resized (HWC) or (NHWC) - size: the size that you want - channels: a boolean that channel is the last dimension - Returns: - The resized array as a torch tensor. - """ - img = torch.as_tensor(img) - no_batch_dim = len(img.shape) == 3 - if len(img.shape) < 3 or len(img.shape) > 5: - raise NotImplementedError() - if no_batch_dim: - img = img.unsqueeze(0) # Adds a batch dimension - if channels_last: - if len(img.shape) == 4: - # NHWC -> NCHW - img = img.permute(0, 3, 1, 2) - else: - # NDHWC -> NDCHW - img = img.permute(0, 1, 4, 2, 3) - - img = torch.nn.functional.interpolate(img.float(), size=size, mode=interpolation_mode).to(dtype=img.dtype) - if channels_last: - if len(img.shape) == 4: - # NCHW -> NHWC - img = img.permute(0, 2, 3, 1) - else: - # NDCHW -> NDHWC - img = img.permute(0, 1, 3, 4, 2) - if no_batch_dim: - img = img.squeeze(dim=0) # Removes the batch dimension - return img diff --git a/internnav/env/utils/habitat_extensions/measures.py b/internnav/env/utils/habitat_extensions/measures.py deleted file mode 100644 index 5dddcae..0000000 --- a/internnav/env/utils/habitat_extensions/measures.py +++ /dev/null @@ -1,560 +0,0 @@ -from typing import Any, List, Union - -import numpy as np -from habitat.core.embodied_task import EmbodiedTask, Measure -from habitat.core.registry import registry -from habitat.core.simulator import Simulator -from habitat.core.utils import try_cv2_import -from habitat.tasks.nav.nav import DistanceToGoal -from numpy import ndarray - -cv2 = try_cv2_import() - - -def euclidean_distance(pos_a: Union[List[float], ndarray], pos_b: Union[List[float], ndarray]) -> float: - return np.linalg.norm(np.array(pos_b) - np.array(pos_a), ord=2) - - -@registry.register_measure -class PathLength(Measure): - """Path Length (PL) - PL = sum(geodesic_distance(agent_prev_position, agent_position) - over all agent positions. - """ - - cls_uuid: str = "path_length" - - def __init__(self, sim: Simulator, *args: Any, **kwargs: Any): - self._sim = sim - super().__init__(**kwargs) - - def _get_uuid(self, *args: Any, **kwargs: Any) -> str: - return self.cls_uuid - - def reset_metric(self, *args: Any, **kwargs: Any): - self._previous_position = self._sim.get_agent_state().position - self._metric = 0.0 - - def update_metric(self, *args: Any, **kwargs: Any): - current_position = self._sim.get_agent_state().position - self._metric += euclidean_distance(current_position, self._previous_position) - self._previous_position = current_position - - -@registry.register_measure -class OracleNavigationError(Measure): - """Oracle Navigation Error (ONE) - ONE = min(geosdesic_distance(agent_pos, goal)) over all points in the - agent path. - """ - - cls_uuid: str = "oracle_navigation_error" - - def _get_uuid(self, *args: Any, **kwargs: Any) -> str: - return self.cls_uuid - - def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): - task.measurements.check_measure_dependencies(self.uuid, [DistanceToGoal.cls_uuid]) - self._metric = float("inf") - self.update_metric(task=task) - - def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): - distance_to_target = task.measurements.measures[DistanceToGoal.cls_uuid].get_metric() - self._metric = min(self._metric, distance_to_target) - - -@registry.register_measure -class OracleSuccess(Measure): - """Oracle Success Rate (OSR). OSR = I(ONE <= goal_radius)""" - - cls_uuid: str = "oracle_success" - - # def __init__(self, *args: Any, config: Config, **kwargs: Any): - # self._config = config - # super().__init__() - - def __init__(self, *args: Any, config: Any, **kwargs: Any): - print(f"in oracle success init: args = {args}, kwargs = {kwargs}") - self._config = config - super().__init__() - - def _get_uuid(self, *args: Any, **kwargs: Any) -> str: - return self.cls_uuid - - def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): - task.measurements.check_measure_dependencies(self.uuid, [DistanceToGoal.cls_uuid]) - self._metric = 0.0 - self.update_metric(task=task) - - def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): - d = task.measurements.measures[DistanceToGoal.cls_uuid].get_metric() - # self._metric = float(self._metric or d < self._config["success_distance"]) - self._metric = float(self._metric or d < 3.0) - - -@registry.register_measure -class OracleSPL(Measure): - """OracleSPL (Oracle Success weighted by Path Length) - OracleSPL = max(SPL) over all points in the agent path. - """ - - cls_uuid: str = "oracle_spl" - - def _get_uuid(self, *args: Any, **kwargs: Any) -> str: - return self.cls_uuid - - def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): - task.measurements.check_measure_dependencies(self.uuid, ["spl"]) - self._metric = 0.0 - - def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): - spl = task.measurements.measures["spl"].get_metric() - self._metric = max(self._metric, spl) - - -@registry.register_measure -class StepsTaken(Measure): - """Counts the number of times update_metric() is called. This is equal to - the number of times that the agent takes an action. STOP counts as an - action. - """ - - cls_uuid: str = "steps_taken" - - def _get_uuid(self, *args: Any, **kwargs: Any) -> str: - return self.cls_uuid - - def reset_metric(self, *args: Any, **kwargs: Any): - self._metric = 0.0 - - def update_metric(self, *args: Any, **kwargs: Any): - self._metric += 1.0 - - -# import gzip -# import json -# import pickle -# from dtw import dtw -# from fastdtw import fastdtw -# from habitat.config import Config -# from utils import maps -# from habitat_extensions.task import RxRVLNCEDatasetV1 -# from habitat.tasks.nav.nav import DistanceToGoal, Success -# from habitat.tasks.utils import cartesian_to_polar -# from habitat.utils.geometry_utils import quaternion_rotate_vector -# from habitat.utils.visualizations import fog_of_war -# from habitat.utils.visualizations import maps as habitat_maps -# from habitat.core.dataset import Episode -# from habitat.core.embodied_task import Action, EmbodiedTask, Measure -# from habitat.core.logging import logger - -# @registry.register_measure -# class WaypointRewardMeasure(Measure): -# """A reward measure used for training VLN-CE agents via RL.""" - -# def __init__( -# self, *args: Any, sim: Simulator, config: Config, **kwargs: Any -# ) -> None: -# self._sim = sim -# self._slack_reward = config.slack_reward -# self._use_distance_scaled_slack_reward = ( -# config.use_distance_scaled_slack_reward -# ) -# self._scale_slack_on_prediction = config.scale_slack_on_prediction -# self._success_reward = config.success_reward -# self._distance_scalar = config.distance_scalar -# self._prev_position = None -# super().__init__() - -# def reset_metric( -# self, *args: Any, task: EmbodiedTask, **kwargs: Any -# ) -> None: -# task.measurements.check_measure_dependencies( -# self.uuid, [DistanceToGoal.cls_uuid, Success.cls_uuid] -# ) -# self._previous_distance_to_goal = task.measurements.measures[ -# "distance_to_goal" -# ].get_metric() -# self._metric = 0.0 -# self._prev_position = np.take( -# self._sim.get_agent_state().position, [0, 2] -# ) - -# def _get_scaled_slack_reward(self, action: Action) -> float: -# if isinstance(action["action"], int): -# return self._slack_reward - -# if not self._use_distance_scaled_slack_reward: -# return self._slack_reward - -# agent_pos = np.take(self._sim.get_agent_state().position, [0, 2]) -# slack_distance = ( -# action["action_args"]["r"] -# if self._scale_slack_on_prediction and action["action"] != "STOP" -# else np.linalg.norm(self._prev_position - agent_pos) -# ) -# scaled_slack_reward = self._slack_reward * slack_distance / 0.25 -# self._prev_position = agent_pos -# return min(self._slack_reward, scaled_slack_reward) - -# def _progress_to_goal(self, task: EmbodiedTask) -> float: -# distance_to_goal = task.measurements.measures[ -# "distance_to_goal" -# ].get_metric() -# distance_to_goal_delta = ( -# self._previous_distance_to_goal - distance_to_goal -# ) -# if np.isnan(distance_to_goal_delta) or np.isinf( -# distance_to_goal_delta -# ): -# l = self._sim.get_agent_state().position -# logger.error( -# f"\nNaN or inf encountered in distance measure. agent location: {l}", -# ) -# distance_to_goal_delta = -1.0 -# self._previous_distance_to_goal = distance_to_goal -# return self._distance_scalar * distance_to_goal_delta - -# def update_metric( -# self, *args: Any, action: Action, task: EmbodiedTask, **kwargs: Any -# ) -> None: -# reward = self._get_scaled_slack_reward(action) -# reward += self._progress_to_goal(task) -# reward += ( -# self._success_reward -# * task.measurements.measures["success"].get_metric() -# ) -# self._metric = reward - -# @staticmethod -# def _get_uuid(*args: Any, **kwargs: Any) -> str: -# return "waypoint_reward_measure" - - -# @registry.register_measure -# class NDTW(Measure): -# """NDTW (Normalized Dynamic Time Warping) -# ref: https://arxiv.org/abs/1907.05446 -# """ - -# cls_uuid: str = "ndtw" - -# def __init__( -# self, *args: Any, sim: Simulator, config: Config, **kwargs: Any -# ): -# self._sim = sim -# self._config = config -# self.dtw_func = fastdtw if config.FDTW else dtw - -# if "{role}" in config.GT_PATH: -# self.gt_json = {} -# for role in RxRVLNCEDatasetV1.annotation_roles: -# with gzip.open( -# config.GT_PATH.format(split=config.SPLIT, role=role), "rt" -# ) as f: -# self.gt_json.update(json.load(f)) -# else: -# with gzip.open( -# config.GT_PATH.format(split=config.SPLIT), "rt" -# ) as f: -# self.gt_json = json.load(f) - -# super().__init__() - -# def _get_uuid(self, *args: Any, **kwargs: Any) -> str: -# return self.cls_uuid - -# def reset_metric(self, *args: Any, episode, **kwargs: Any): -# self.locations = [] -# self.gt_locations = self.gt_json[episode.episode_id]["locations"] -# self.update_metric() - -# def update_metric(self, *args: Any, **kwargs: Any): -# current_position = self._sim.get_agent_state().position.tolist() -# if len(self.locations) == 0: -# self.locations.append(current_position) -# else: -# if current_position == self.locations[-1]: -# return -# self.locations.append(current_position) - -# dtw_distance = self.dtw_func( -# self.locations, self.gt_locations, dist=euclidean_distance -# )[0] - -# nDTW = np.exp( -# -dtw_distance -# / (len(self.gt_locations) * self._config.SUCCESS_DISTANCE) -# ) -# self._metric = nDTW - - -# @registry.register_measure -# class SDTW(Measure): -# """SDTW (Success Weighted be nDTW) -# ref: https://arxiv.org/abs/1907.05446 -# """ - -# cls_uuid: str = "sdtw" - -# def _get_uuid(self, *args: Any, **kwargs: Any) -> str: -# return self.cls_uuid - -# def reset_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): -# task.measurements.check_measure_dependencies( -# self.uuid, [NDTW.cls_uuid, Success.cls_uuid] -# ) -# self.update_metric(task=task) - -# def update_metric(self, *args: Any, task: EmbodiedTask, **kwargs: Any): -# ep_success = task.measurements.measures[Success.cls_uuid].get_metric() -# nDTW = task.measurements.measures[NDTW.cls_uuid].get_metric() -# self._metric = ep_success * nDTW - - -# @registry.register_measure -# class TopDownMapVLNCE(Measure): -# """A top down map that optionally shows VLN-related visual information -# such as MP3D node locations and MP3D agent traversals. -# """ - -# cls_uuid: str = "top_down_map_vlnce" - -# def __init__( -# self, *args: Any, sim: Simulator, config: Config, **kwargs: Any -# ) -> None: -# self._sim = sim -# self._config = config -# self._step_count = None -# self._map_resolution = config.MAP_RESOLUTION -# self._previous_xy_location = None -# self._top_down_map = None -# self._meters_per_pixel = None -# self.current_node = "" -# with open(self._config.GRAPHS_FILE, "rb") as f: -# self._conn_graphs = pickle.load(f) -# super().__init__() - -# def _get_uuid(self, *args: Any, **kwargs: Any) -> str: -# return self.cls_uuid - -# def get_original_map(self) -> ndarray: -# top_down_map = habitat_maps.get_topdown_map_from_sim( -# self._sim, -# map_resolution=self._map_resolution, -# draw_border=self._config.DRAW_BORDER, -# meters_per_pixel=self._meters_per_pixel, -# ) - -# self._fog_of_war_mask = None -# if self._config.FOG_OF_WAR.DRAW: -# self._fog_of_war_mask = np.zeros_like(top_down_map) - -# return top_down_map - -# def reset_metric( -# self, *args: Any, episode: Episode, **kwargs: Any -# ) -> None: -# self._scene_id = episode.scene_id.split("/")[-2] -# self._step_count = 0 -# self._metric = None -# self._meters_per_pixel = habitat_maps.calculate_meters_per_pixel( -# self._map_resolution, self._sim -# ) -# self._top_down_map = self.get_original_map() -# agent_position = self._sim.get_agent_state().position -# scene_id = episode.scene_id.split("/")[-1].split(".")[0] -# a_x, a_y = habitat_maps.to_grid( -# agent_position[2], -# agent_position[0], -# self._top_down_map.shape[0:2], -# sim=self._sim, -# ) -# self._previous_xy_location = (a_y, a_x) - -# if self._config.FOG_OF_WAR.DRAW: -# self._fog_of_war_mask = fog_of_war.reveal_fog_of_war( -# self._top_down_map, -# self._fog_of_war_mask, -# np.array([a_x, a_y]), -# self.get_polar_angle(), -# fov=self._config.FOG_OF_WAR.FOV, -# max_line_len=self._config.FOG_OF_WAR.VISIBILITY_DIST -# / habitat_maps.calculate_meters_per_pixel( -# self._map_resolution, sim=self._sim -# ), -# ) - -# if self._config.DRAW_FIXED_WAYPOINTS: -# maps.draw_mp3d_nodes( -# self._top_down_map, -# self._sim, -# episode, -# self._conn_graphs[scene_id], -# self._meters_per_pixel, -# ) - -# if self._config.DRAW_SHORTEST_PATH: -# shortest_path_points = self._sim.get_straight_shortest_path_points( -# agent_position, episode.goals[0].position -# ) -# maps.draw_straight_shortest_path_points( -# self._top_down_map, -# self._sim, -# self._map_resolution, -# shortest_path_points, -# ) - -# if self._config.DRAW_REFERENCE_PATH: -# maps.draw_reference_path( -# self._top_down_map, -# self._sim, -# episode, -# self._map_resolution, -# self._meters_per_pixel, -# ) - -# # draw source and target points last to avoid overlap -# if self._config.DRAW_SOURCE_AND_TARGET: -# maps.draw_source_and_target( -# self._top_down_map, -# self._sim, -# episode, -# self._meters_per_pixel, -# ) - -# # MP3D START NODE -# self._nearest_node = maps.get_nearest_node( -# self._conn_graphs[scene_id], np.take(agent_position, (0, 2)) -# ) -# nn_position = self._conn_graphs[self._scene_id].nodes[ -# self._nearest_node -# ]["position"] -# self.s_x, self.s_y = habitat_maps.to_grid( -# nn_position[2], -# nn_position[0], -# self._top_down_map.shape[0:2], -# self._sim, -# ) -# self.update_metric() - -# def update_metric(self, *args: Any, **kwargs: Any) -> None: -# self._step_count += 1 -# ( -# house_map, -# map_agent_pos, -# ) = self.update_map(self._sim.get_agent_state().position) - -# self._metric = { -# "map": house_map, -# "fog_of_war_mask": self._fog_of_war_mask, -# "agent_map_coord": map_agent_pos, -# "agent_angle": self.get_polar_angle(), -# "bounds": { -# k: v -# for k, v in zip( -# ["lower", "upper"], -# self._sim.pathfinder.get_bounds(), -# ) -# }, -# "meters_per_px": self._meters_per_pixel, -# } - -# def get_polar_angle(self) -> float: -# agent_state = self._sim.get_agent_state() -# # quaternion is in x, y, z, w format -# ref_rotation = agent_state.rotation - -# heading_vector = quaternion_rotate_vector( -# ref_rotation.inverse(), np.array([0, 0, -1]) -# ) - -# phi = cartesian_to_polar(-heading_vector[2], heading_vector[0])[1] -# z_neg_z_flip = np.pi -# return np.array(phi) + z_neg_z_flip - -# def update_map(self, agent_position: List[float]) -> None: -# a_x, a_y = habitat_maps.to_grid( -# agent_position[2], -# agent_position[0], -# self._top_down_map.shape[0:2], -# self._sim, -# ) -# # Don't draw over the source point -# gradient_color = 15 + min( -# self._step_count * 245 // self._config.MAX_EPISODE_STEPS, 245 -# ) -# if self._top_down_map[a_x, a_y] != maps.MAP_SOURCE_POINT_INDICATOR: -# maps.drawline( -# self._top_down_map, -# self._previous_xy_location, -# (a_y, a_x), -# gradient_color, -# thickness=int( -# self._map_resolution * 1.4 / maps.MAP_THICKNESS_SCALAR -# ), -# style="filled", -# ) - -# if self._config.FOG_OF_WAR.DRAW: -# self._fog_of_war_mask = fog_of_war.reveal_fog_of_war( -# self._top_down_map, -# self._fog_of_war_mask, -# np.array([a_x, a_y]), -# self.get_polar_angle(), -# self._config.FOG_OF_WAR.FOV, -# max_line_len=self._config.FOG_OF_WAR.VISIBILITY_DIST -# / habitat_maps.calculate_meters_per_pixel( -# self._map_resolution, sim=self._sim -# ), -# ) - -# point_padding = int(0.2 / self._meters_per_pixel) -# prev_nearest_node = self._nearest_node -# self._nearest_node = maps.update_nearest_node( -# self._conn_graphs[self._scene_id], -# self._nearest_node, -# np.take(agent_position, (0, 2)), -# ) -# if ( -# self._nearest_node != prev_nearest_node -# and self._config.DRAW_MP3D_AGENT_PATH -# ): -# nn_position = self._conn_graphs[self._scene_id].nodes[ -# self._nearest_node -# ]["position"] -# (prev_s_x, prev_s_y) = (self.s_x, self.s_y) -# self.s_x, self.s_y = habitat_maps.to_grid( -# nn_position[2], -# nn_position[0], -# self._top_down_map.shape[0:2], -# self._sim, -# ) -# self._top_down_map[ -# self.s_x -# - int(2.0 / 3.0 * point_padding) : self.s_x -# + int(2.0 / 3.0 * point_padding) -# + 1, -# self.s_y -# - int(2.0 / 3.0 * point_padding) : self.s_y -# + int(2.0 / 3.0 * point_padding) -# + 1, -# ] = gradient_color - -# maps.drawline( -# self._top_down_map, -# (prev_s_y, prev_s_x), -# (self.s_y, self.s_x), -# gradient_color, -# thickness=int( -# 1.0 -# / 2.0 -# * np.round( -# self._map_resolution / maps.MAP_THICKNESS_SCALAR -# ) -# ), -# ) - -# self._previous_xy_location = (a_y, a_x) -# map_agent_pos = (a_x, a_y) -# return self._top_down_map, map_agent_pos diff --git a/internnav/evaluator/utils/data_collector.py b/internnav/evaluator/utils/data_collector.py index 99659b6..0cc9117 100644 --- a/internnav/evaluator/utils/data_collector.py +++ b/internnav/evaluator/utils/data_collector.py @@ -7,12 +7,14 @@ class DataCollector: - def __init__(self, lmdb_path): + def __init__(self, lmdb_path, rank=0, world_size=1): if not os.path.exists(lmdb_path): os.makedirs(lmdb_path) self.lmdb_path = lmdb_path self.episode_total_data = [] self.actions = [] + self.rank = rank + self.world_size = world_size def collect_observation(self, rgb, depth, step, process, camera_pose, robot_pose): from omni.isaac.core.utils.rotations import quat_to_euler_angles @@ -131,7 +133,7 @@ def save_eval_result(self, key, result, info): if result != 'success': finish_flag = 'fail' database_write = lmdb.open( - f'{self.lmdb_path}/sample_data.lmdb', + f'{self.lmdb_path}/sample_data{self.rank}.lmdb', map_size=1 * 1024 * 1024 * 1024 * 1024, max_dbs=0, lock=True, diff --git a/internnav/evaluator/utils/dataset.py b/internnav/evaluator/utils/dataset.py index 7db38f4..00045a7 100644 --- a/internnav/evaluator/utils/dataset.py +++ b/internnav/evaluator/utils/dataset.py @@ -1,3 +1,4 @@ +import collections import json import os @@ -232,3 +233,97 @@ def log_print(content): f.write('\n'.join(log_content)) self.database_read.close() + + def finalize_all_results(self, rank, world_size): + # Only rank 0 aggregates and writes final results + if rank != 0: + return + + # accumulator for all splits across all ranks + split_acc = {} + for split in self.split_map.keys(): + split_acc[split] = { + "total_TL": 0.0, + "total_NE": 0.0, + "total_osr": 0.0, + "total_success": 0.0, + "total_spl": 0.0, + "reason_map": collections.Counter({"reach_goal": 0}), + "count": 0, + } + + # loop over all ranks' lmdbs + for i in range(world_size): + lmdb_dir = f"{self.lmdb_path}/sample_data{i}.lmdb" + if not os.path.exists(lmdb_dir): + # this rank might not have produced a db; skip + continue + + env = lmdb.open( + lmdb_dir, + readonly=True, + lock=False, + max_readers=256, + ) + + for split, path_key_list in self.split_map.items(): + for path_key in path_key_list: + with env.begin() as txn: + value = txn.get(path_key.encode()) + if value is None: + continue + + data = msgpack_numpy.unpackb(value) + data["path_key"] = path_key + + acc = split_acc[split] + + TL = data["info"]["TL"] + NE = data["info"]["NE"] + if NE < 0: + NE = 0 + osr = data["info"]["osr"] + if osr < 0: + osr = 0 + success = data["info"]["success"] + spl = data["info"]["spl"] + + acc["total_TL"] += TL + acc["total_NE"] += NE + acc["total_osr"] += osr + acc["total_success"] += success + acc["total_spl"] += spl + acc["count"] += 1 + + ret_type = data.get("fail_reason", "") or "success" + acc["reason_map"][ret_type] += 1 + if success > 0: + acc["reason_map"]["reach_goal"] += 1 + + env.close() + + # build final json + json_data = {} + for split, acc in split_acc.items(): + count = acc["count"] + if count == 0: + continue + + reason_map = acc["reason_map"] + fall = reason_map.get("fall", 0) + stuck = reason_map.get("stuck", 0) + + json_data[split] = { + "TL": round(acc["total_TL"] / count, 4), + "NE": round(acc["total_NE"] / count, 4), + "FR": round(fall / count, 4), + "StR": round(stuck / count, 4), + "OS": round(acc["total_osr"] / count, 4), + "SR": round(acc["total_success"] / count, 4), + "SPL": round(acc["total_spl"] / count, 4), + "Count": count, + } + + # write log content to file + with open(f"{self.name}_result.json", "w") as f: + json.dump(json_data, f, indent=2, ensure_ascii=False) diff --git a/internnav/evaluator/vln_multi_distributed_evaluator.py b/internnav/evaluator/vln_multi_distributed_evaluator.py index 9cbb0bc..9b6f25d 100644 --- a/internnav/evaluator/vln_multi_distributed_evaluator.py +++ b/internnav/evaluator/vln_multi_distributed_evaluator.py @@ -41,14 +41,6 @@ def __init__(self, config: EvalCfg): if 'distribution_config' in config.env.env_settings else 1 ) - # check env_num and proc_num - # priority: reduce env_num first then reduce proc_num - while self.env_num > 1 and self.proc_num * self.env_num > self.total_path_num: - self.env_num -= 1 - log.info(f'dataset size is too small! Change env_num to {self.env_num}.') - while self.proc_num > 1 and self.proc_num * self.env_num > self.total_path_num: - self.proc_num -= 1 - log.info(f'dataset size is too small! Change proc_num to {self.proc_num}.') # update config config.task.task_settings['env_num'] = self.env_num @@ -67,7 +59,7 @@ def __init__(self, config: EvalCfg): progress_log_multi_util.progress_logger_multi.info( f'start eval dataset: {self.task_name}, total_path: {self.total_path_num}' # noqa: E501 ) - self.data_collector = DataCollector(get_lmdb_path(self.task_name)) + self.data_collector = DataCollector(get_lmdb_path(self.task_name), rank=self.rank, world_size=self.world_size) self.robot_flash = config.task.robot_flash self.save_to_json = config.eval_settings['save_to_json'] self.vis_output = config.eval_settings['vis_output'] @@ -239,9 +231,10 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): result=obs['metrics'][list(obs['metrics'].keys())[0]][0]['fail_reason'], ) # json format result - if self.save_to_json: - self.result_logger.write_now_result_json() - self.result_logger.write_now_result() + # if self.save_to_json: + # self.result_logger.write_now_result_json() + # self.result_logger.write_now_result() + self.result_logger.finalize_all_results(self.rank, self.world_size) self.runner_status[env_id] = runner_status_code.NOT_RESET log.info(f'env{env_id}: states switch to NOT_RESET.') # need this status to reset diff --git a/internnav/internnav_habitat/README.md b/internnav/internnav_habitat/README.md index b7c5d73..c877b1c 100644 --- a/internnav/internnav_habitat/README.md +++ b/internnav/internnav_habitat/README.md @@ -32,8 +32,6 @@ internnav_habitat/ * `measures.py` registers additional Habitat measurements (path length, oracle metrics, step counts) that are required by the evaluators. -The `refactor_notes.md` file captures design notes and TODOs collected during a -previous refactoring pass. ## Habitat environment wrapper diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py index 0be81f4..137a446 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -226,7 +226,6 @@ def _run_local_eval(self) -> None: # noqa: C901 self.model.eval() # resume from previous results - # TODO: Current read write op is not distributed safe if os.path.exists(os.path.join(self.output_path, 'progress.json')): with open(os.path.join(self.output_path, 'progress.json'), 'r') as f: for line in f.readlines(): @@ -240,7 +239,7 @@ def _run_local_eval(self) -> None: # noqa: C901 torch.tensor(nes).to(self.device), torch.tensor(len(sucs)).to(self.device), ) - if self.rank == 0: # noqa: F405 TODO this need to keep in evaluator + if self.rank == 0: # noqa: F405 sucs.append(res['success']) spls.append(res['spl']) oss.append(res['os']) diff --git a/internnav/internnav_habitat/refactor_notes.md b/internnav/internnav_habitat/refactor_notes.md deleted file mode 100644 index 7a197b4..0000000 --- a/internnav/internnav_habitat/refactor_notes.md +++ /dev/null @@ -1,66 +0,0 @@ -# Refactoring `habitat_vln_evaluator` - -This note explains how to split the current `VLNEvaluator` implementation into the -framework's `Env` and `Agent` abstractions. - -## 1. Construction and configuration (lines 45-135) -* **Environment**: Habitat config loading, dataset split selection, sensor parameter - extraction, and measurement registration belong to the environment setup. These - responsibilities configure and own the simulator state and therefore should be - moved into a `HabitatVLNEnv` class that extends `Env`.【F:internnav/evaluator/habitat_vln_evaluator.py†L45-L103】 -* **Agent**: Model handles, prompt bootstrapping, conversation history, action - vocabulary, and instruction templates are part of the policy logic and should be - carried by a dedicated `HabitatVLNAgent` subclass. These fields initialize the - reasoning model rather than the simulator.【F:internnav/evaluator/habitat_vln_evaluator.py†L104-L135】 - -## 2. Perception utilities (lines 137-236) -Depth pre-processing, intrinsic matrix computation, coordinate transforms, and GPS -projection are tied to the simulator sensor geometry. They should move into the -`HabitatVLNEnv` so that observation tensors returned to the agent are already in a -consistent world frame.【F:internnav/evaluator/habitat_vln_evaluator.py†L137-L236】 - -## 3. Visualization helper (lines 238-309) -The dot-matrix overlay operates purely on rendered frames and can stay as an -environment utility. The helper should become a method of the environment (or a -separate visualization module) so evaluators can call it regardless of the agent. -【F:internnav/evaluator/habitat_vln_evaluator.py†L238-L309】 - -## 4. Low-level point navigation (lines 311-347) -The `_pointnav` helper controls a waypoint-following controller that consumes -processed observations and outputs low-level actions. Because it interacts with the -robot's state (goal resets, depth resizing, point-goal calculation), it fits inside -the environment. The agent can request point-goal actions through a method such as -`HabitatVLNEnv.pointnav(goal, depth, ...)`.【F:internnav/evaluator/habitat_vln_evaluator.py†L311-L347】 - -## 5. Main evaluation loop (lines 349-520) -* **Environment**: Episode iteration, resetting, stepping, intrinsic assembly, and - metric gathering should be owned by the environment. Wrapping Habitat's episode - lifecycle in `HabitatVLNEnv` keeps the evaluator thin and deterministic. -* **Agent**: Generating waypoint predictions, maintaining conversation turns, and - deciding discrete actions are policy responsibilities. The evaluator should ask - the new agent for an action by passing observations (RGB, depth, state metadata) - returned by the environment wrapper.【F:internnav/evaluator/habitat_vln_evaluator.py†L349-L520】 - -## 6. Language and action parsing (lines 522-680) -Instruction processing (`split_and_clean`, dynamic prompt assembly) and action string -parsing convert model text into executable commands. These should be encapsulated in -`HabitatVLNAgent` so the evaluator only receives structured actions (e.g., STOP, -MOVE, LOOK).【F:internnav/evaluator/habitat_vln_evaluator.py†L522-L680】 - -## 7. Metric aggregation and exports (lines 682-745) -Writing JSON lines, aggregating SPL/OS/NE, and optional video dumping can remain in -the evaluator, but the raw metrics originate from the environment through -`HabitatVLNEnv.get_metrics()` and rendering helpers. The evaluator should simply -post-process the aggregated numbers.【F:internnav/evaluator/habitat_vln_evaluator.py†L682-L745】 - -## Resulting structure -1. **`internnav/env/habitat_vln_env.py`**: wraps Habitat configuration, episode - control, sensor processing, point-nav helper, and visualization utilities. -2. **`internnav/agent/habitat_vln_agent.py`**: encapsulates the vision-language - model, prompt management, observation parsing, and action decoding. -3. **`internnav/evaluator/habitat_vln_evaluator.py`**: becomes a thin coordinator - that instantiates the env/agent via the registry, loops over episodes, and logs - metrics. - -This split brings the Habitat evaluator in line with the existing framework while -keeping domain-specific functionality in focused components. diff --git a/scripts/eval/bash/start_eval.sh b/scripts/eval/bash/start_eval.sh index ce41df1..a7b3639 100755 --- a/scripts/eval/bash/start_eval.sh +++ b/scripts/eval/bash/start_eval.sh @@ -3,7 +3,7 @@ source /root/miniconda3/etc/profile.d/conda.sh conda activate internutopia -CONFIG=scripts/eval/configs/h1_cma_cfg.py +CONFIG=scripts/eval/configs/h1_rdp_cfg.py while [[ $# -gt 0 ]]; do case $1 in diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index 463570c..f5a7fb7 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -1,6 +1,6 @@ # use to run distributed eval with 4 gpus on single node -CONFIG=scripts/eval/configs/h1_cma_cfg.py +CONFIG=scripts/eval/configs/habitat_cfg.py while [[ $# -gt 0 ]]; do case $1 in @@ -21,7 +21,7 @@ CONFIG_PREFIX=$(echo "$CONFIG_BASENAME" | sed 's/_cfg$//') EVAL_LOG="logs/${CONFIG_PREFIX}_eval.log" torchrun \ - --nproc_per_node=8 \ + --nproc_per_node=2 \ --master_port=2333 \ scripts/eval/eval.py \ --config $CONFIG \ diff --git a/scripts/eval/configs/h1_internvla_n1_cfg.py b/scripts/eval/configs/h1_internvla_n1_cfg.py index e81ff52..fee0a06 100644 --- a/scripts/eval/configs/h1_internvla_n1_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_cfg.py @@ -42,7 +42,7 @@ }, ), task=TaskCfg( - task_name='test', + task_name='internvla-n1_dist_eval', task_settings={ 'env_num': 1, 'use_distributed': False, # flag for multi isaac sims, must be False because currently internvla-n1 agent unsupported batch observation diff --git a/scripts/eval/configs/h1_rdp_cfg.py b/scripts/eval/configs/h1_rdp_cfg.py index 71b519b..36d4c84 100644 --- a/scripts/eval/configs/h1_rdp_cfg.py +++ b/scripts/eval/configs/h1_rdp_cfg.py @@ -22,11 +22,11 @@ }, ), task=TaskCfg( - task_name='cma_plus_refactor_debug', + task_name='rdp_refactor_test', task_settings={ - 'env_num': 1, - 'use_distributed': False, - 'proc_num': 8, + 'env_num': 2, + 'use_distributed': True, + 'proc_num': 4, }, scene=SceneCfg( scene_type='mp3d', @@ -50,7 +50,7 @@ eval_type='vln_multi_distributed', eval_settings={ 'save_to_json': True, - 'vis_output': True, + 'vis_output': False, 'use_agent_server': True, }, ) diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py index a079c0c..b4f0e7c 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_cfg.py @@ -29,7 +29,7 @@ eval_type='habitat_vln', eval_settings={ # all current parse args - "output_path": "./logs/habitat/test", # output directory for logs/results + "output_path": "./logs/habitat/test1", # output directory for logs/results "save_video": False, # whether to save videos "epoch": 0, # epoch number for logging "max_steps_per_episode": 500, # maximum steps per episode From ae33f0954842e971c32159c659c18796ee653374 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 19 Nov 2025 12:55:05 +0000 Subject: [PATCH 21/35] fix bugs in evaluator and dataset for distributed; n1 and rdp tested --- internnav/agent/internvla_n1_agent.py | 3 +- internnav/env/internutopia_env.py | 1 + .../env/utils/episode_loader/resumable.py | 2 +- internnav/evaluator/utils/dataset.py | 4 - .../vln_multi_distributed_evaluator.py | 11 --- scripts/eval/bash/eval_vlnpe_distributed.sh | 4 +- scripts/eval/bash/start_aliyun_dlc.sh | 1 + scripts/eval/bash/torchrun_eval.sh | 4 +- .../eval/configs/h1_internvla_n1_async_cfg.py | 20 +++-- scripts/eval/configs/h1_internvla_n1_cfg.py | 78 ------------------- scripts/eval/configs/h1_rdp_cfg.py | 4 +- 11 files changed, 22 insertions(+), 110 deletions(-) delete mode 100644 scripts/eval/configs/h1_internvla_n1_cfg.py diff --git a/internnav/agent/internvla_n1_agent.py b/internnav/agent/internvla_n1_agent.py index 600b0c8..8e696af 100644 --- a/internnav/agent/internvla_n1_agent.py +++ b/internnav/agent/internvla_n1_agent.py @@ -32,8 +32,7 @@ def __init__(self, config: AgentCfg): set_random_seed(0) vln_sensor_config = self.config.model_settings self._model_settings = ModelCfg(**vln_sensor_config) - local_rank = getattr(self._model_settings, 'local_rank') - self.device = torch.device(local_rank) + self.device = torch.device(self._model_settings.device) self.mode = getattr(self._model_settings, 'infer_mode', 'sync') self.sys2_max_forward_step = getattr(self._model_settings, 'sys2_max_forward_step', 8) diff --git a/internnav/env/internutopia_env.py b/internnav/env/internutopia_env.py index 453c374..4faee7c 100644 --- a/internnav/env/internutopia_env.py +++ b/internnav/env/internutopia_env.py @@ -38,6 +38,7 @@ def __init__(self, env_config: EnvCfg, task_config: TaskCfg): ) self.episodes = generate_vln_episode(self.episode_loader, task_config) if len(self.episodes) == 0: + print("No episodes found for the given configuration.") sys.exit(0) task_settings.update({'episodes': self.episodes}) diff --git a/internnav/env/utils/episode_loader/resumable.py b/internnav/env/utils/episode_loader/resumable.py index eadb4f6..506a672 100644 --- a/internnav/env/utils/episode_loader/resumable.py +++ b/internnav/env/utils/episode_loader/resumable.py @@ -41,7 +41,7 @@ def __init__( self.retry_list = retry_list if not os.path.exists(self.lmdb_path): - os.makedirs(self.lmdb_path) + os.makedirs(self.lmdb_path, exist_ok=True) database = lmdb.open( f'{self.lmdb_path}/sample_data{rank}.lmdb', diff --git a/internnav/evaluator/utils/dataset.py b/internnav/evaluator/utils/dataset.py index 00045a7..35e7694 100644 --- a/internnav/evaluator/utils/dataset.py +++ b/internnav/evaluator/utils/dataset.py @@ -235,10 +235,6 @@ def log_print(content): self.database_read.close() def finalize_all_results(self, rank, world_size): - # Only rank 0 aggregates and writes final results - if rank != 0: - return - # accumulator for all splits across all ranks split_acc = {} for split in self.split_map.keys(): diff --git a/internnav/evaluator/vln_multi_distributed_evaluator.py b/internnav/evaluator/vln_multi_distributed_evaluator.py index 9b6f25d..37bd6e9 100644 --- a/internnav/evaluator/vln_multi_distributed_evaluator.py +++ b/internnav/evaluator/vln_multi_distributed_evaluator.py @@ -88,7 +88,6 @@ def warm_up(self): action=[{self.robot_name: {'stand_still': []}} for _ in range(self.env_num * self.proc_num)] ) if obs[0][self.robot_name]['finish_action']: - # print('get_obs') break return obs @@ -165,10 +164,7 @@ def env_step(self, action): self.runner_status[ np.logical_and(self.runner_status == runner_status_code.NORMAL, action == {'h1': {'stop': []}}) ] = runner_status_code.STOP - # print(action) - # t0 = time() obs, reward, terminated, truncated, info = self.env.step(action=action.tolist()) - # print(f"inner one step time {time() - t0}") obs = self._obs_remove_robot_name(obs) finish_status = np.logical_or( np.array([ob['finish_action'] for ob in obs]), @@ -181,8 +177,6 @@ def env_step(self, action): ) or np.logical_and.reduce(np.array(finish_status)): self.runner_status[self.runner_status == runner_status_code.STOP] = runner_status_code.NORMAL break - # if __debug__ and np.logical_or.reduce(np.array(finish_status)): - # print(f'finish_status: {finish_status}') end_time = time() duration = round(end_time - start_time, 2) log.info(f'[TIME] Env Step time: {duration}s') @@ -231,9 +225,6 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): result=obs['metrics'][list(obs['metrics'].keys())[0]][0]['fail_reason'], ) # json format result - # if self.save_to_json: - # self.result_logger.write_now_result_json() - # self.result_logger.write_now_result() self.result_logger.finalize_all_results(self.rank, self.world_size) self.runner_status[env_id] = runner_status_code.NOT_RESET log.info(f'env{env_id}: states switch to NOT_RESET.') @@ -256,7 +247,6 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): reset_infos = reset_infos.tolist() if np.logical_and.reduce(self.runner_status == runner_status_code.TERMINATED): - # print('finished') return True, reset_infos for reset_info in new_reset_infos: if reset_info is None: @@ -279,7 +269,6 @@ def terminate_ops(self, obs_ls, reset_infos, terminated_ls): def eval(self): print('--- VlnMultiEvaluator start ---') obs, reset_info = self.env.reset() - # print('obs:', obs) for info in reset_info: if info is None: continue diff --git a/scripts/eval/bash/eval_vlnpe_distributed.sh b/scripts/eval/bash/eval_vlnpe_distributed.sh index 14f15b8..108a6f8 100644 --- a/scripts/eval/bash/eval_vlnpe_distributed.sh +++ b/scripts/eval/bash/eval_vlnpe_distributed.sh @@ -1,12 +1,12 @@ #!/bin/bash -# vlnpe distributed scripts for dlc and slurm +# vlnpe distributed scripts for aliyun dlc # use this to run distributed eval with 1 gpus on single node # set use_agent_server=False in config file to use local agent on single node source /root/miniconda3/etc/profile.d/conda.sh conda activate internutopia -CONFIG=scripts/eval/configs/h1_internvla_n1_cfg.py +CONFIG=scripts/eval/configs/h1_internvla_n1_async_cfg.py while [[ $# -gt 0 ]]; do case $1 in --config) diff --git a/scripts/eval/bash/start_aliyun_dlc.sh b/scripts/eval/bash/start_aliyun_dlc.sh index cb4efc6..6fdc5e0 100755 --- a/scripts/eval/bash/start_aliyun_dlc.sh +++ b/scripts/eval/bash/start_aliyun_dlc.sh @@ -7,6 +7,7 @@ mode="$1" shift # remove first argument so only extra args left (--config ...) case "$mode" in + # start to evaluate habitat in dlc habitat) echo "[run.sh] Starting HABITAT evaluation..." diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index f5a7fb7..195e6d4 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -1,6 +1,6 @@ # use to run distributed eval with 4 gpus on single node -CONFIG=scripts/eval/configs/habitat_cfg.py +CONFIG=scripts/eval/configs/h1_internvla_n1_cfg.py while [[ $# -gt 0 ]]; do case $1 in @@ -21,7 +21,7 @@ CONFIG_PREFIX=$(echo "$CONFIG_BASENAME" | sed 's/_cfg$//') EVAL_LOG="logs/${CONFIG_PREFIX}_eval.log" torchrun \ - --nproc_per_node=2 \ + --nproc_per_node=1 \ --master_port=2333 \ scripts/eval/eval.py \ --config $CONFIG \ diff --git a/scripts/eval/configs/h1_internvla_n1_async_cfg.py b/scripts/eval/configs/h1_internvla_n1_async_cfg.py index 9ee5b83..4ecbd46 100644 --- a/scripts/eval/configs/h1_internvla_n1_async_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_async_cfg.py @@ -27,13 +27,13 @@ 'num_frames': 32, 'num_history': 8, 'num_future_steps': 4, - 'device': 'cuda:1', + 'device': 'cuda:0', 'predict_step_nums': 32, 'continuous_traj': True, 'infer_mode': 'partial_async', # You can choose "sync" or "partial_async", but for this model, "partial_async" is better. # debug 'vis_debug': True, # If vis_debug=True, you can get visualization results - 'vis_debug_path': './logs/test/vis_debug', + 'vis_debug_path': './logs/test_partial/vis_debug', }, ), env=EnvCfg( @@ -44,19 +44,19 @@ }, ), task=TaskCfg( - task_name='test', + task_name='test_partial_pe', task_settings={ 'env_num': 1, 'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False. 'proc_num': 1, - # 'max_step': 1000, #If use flash mode，default 1000; descrete mode, set 50000 + 'max_step': 1000, # If use flash mode，default 1000; descrete mode, set 50000 }, scene=SceneCfg( scene_type='mp3d', scene_data_dir='data/scene_data/mp3d_pe', ), robot_name='h1', - robot_flash=True, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode. + robot_flash=False, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode. robot_usd_path='data/Embodiments/vln-pe/h1/h1_internvla.usd', camera_resolution=[640, 480], # (W,H) camera_prim_path='torso_link/h1_1_25_down_30', @@ -66,10 +66,16 @@ dataset_type="mp3d", dataset_settings={ 'base_data_dir': 'data/vln_pe/raw_data/r2r', - 'split_data_types': ['val_seen', 'val_unseen'], # 'val_seen' - 'filter_stairs': False, # For iros challenge, this is False; For results in the paper, this is True. + 'split_data_types': ['val_unseen'], # 'val_seen' + 'filter_stairs': True, # For iros challenge, this is False; For results in the paper, this is True. # 'selected_scans': ['zsNo4HB9uLZ'], # 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'], }, ), + eval_type='vln_multi_distributed', + eval_settings={ + 'save_to_json': True, + 'vis_output': False, + 'use_agent_server': False, # If use_agent_server=True, please start the agent server first. + }, ) diff --git a/scripts/eval/configs/h1_internvla_n1_cfg.py b/scripts/eval/configs/h1_internvla_n1_cfg.py deleted file mode 100644 index fee0a06..0000000 --- a/scripts/eval/configs/h1_internvla_n1_cfg.py +++ /dev/null @@ -1,78 +0,0 @@ -from internnav.configs.agent import AgentCfg -from internnav.configs.evaluator import ( - EnvCfg, - EvalCfg, - EvalDatasetCfg, - SceneCfg, - TaskCfg, -) - -eval_cfg = EvalCfg( - agent=AgentCfg( - server_port=8087, - model_name='internvla_n1', - ckpt_path='', - model_settings={ - 'env_num': 1, - 'sim_num': 1, - 'model_path': "checkpoints/InternVLA-N1", - 'camera_intrinsic': [[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]], - 'width': 640, - 'height': 480, - 'hfov': 79, - 'resize_w': 384, - 'resize_h': 384, - 'max_new_tokens': 1024, - 'num_frames': 32, - 'num_history': 8, - 'num_future_steps': 4, - 'device': 'cuda:0', - 'predict_step_nums': 32, - 'continuous_traj': True, - # debug - 'vis_debug': False, # If vis_debug=True, you can get visualization results - 'vis_debug_path': './logs/test/vis_debug', - }, - ), - env=EnvCfg( - env_type='internutopia', - env_settings={ - 'use_fabric': False, # Please set use_fabric=False due to the render delay; - 'headless': True, - }, - ), - task=TaskCfg( - task_name='internvla-n1_dist_eval', - task_settings={ - 'env_num': 1, - 'use_distributed': False, # flag for multi isaac sims, must be False because currently internvla-n1 agent unsupported batch observation - 'proc_num': 1, - }, - scene=SceneCfg( - scene_type='mp3d', - scene_data_dir='data/scene_data/mp3d_pe', - ), - robot_name='h1', - robot_flash=True, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode. - robot_usd_path='data/Embodiments/vln-pe/h1/h1_internvla.usd', - camera_resolution=[640, 480], # (W,H) - camera_prim_path='torso_link/h1_1_25_down_30', - one_step_stand_still=True, # For dual-system, please keep this param True. - ), - dataset=EvalDatasetCfg( - dataset_type="mp3d", - dataset_settings={ - 'base_data_dir': 'data/vln_pe/raw_data/r2r', - 'split_data_types': ['val_unseen'], # 'val_seen' - 'filter_stairs': True, - # 'selected_scans': ['zsNo4HB9uLZ'], - # 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'], - }, - ), - eval_type='vln_multi_distributed', - eval_settings={ - 'save_to_json': True, - 'vis_output': False, - 'use_agent_server': False, # If use_agent_server=True, please start the agent server first. - }, -) diff --git a/scripts/eval/configs/h1_rdp_cfg.py b/scripts/eval/configs/h1_rdp_cfg.py index 36d4c84..c5fe705 100644 --- a/scripts/eval/configs/h1_rdp_cfg.py +++ b/scripts/eval/configs/h1_rdp_cfg.py @@ -36,14 +36,12 @@ robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd', camera_resolution=[256, 256], # (W,H) camera_prim_path='torso_link/h1_pano_camera_0', - vlnce=False, # vlnpe by default - obstacle_detection=False, # whether allow flash across obstacle ), dataset=EvalDatasetCfg( dataset_type="mp3d", dataset_settings={ 'base_data_dir': 'data/vln_pe/raw_data/r2r', - 'split_data_types': ['val_unseen', 'val_seen'], + 'split_data_types': ['val_unseen'], 'filter_stairs': True, }, ), From 53258b1b8fea51905cec1e9d8a135828aefb3a1c Mon Sep 17 00:00:00 2001 From: wangyukai Date: Fri, 21 Nov 2025 05:07:08 +0000 Subject: [PATCH 22/35] fix comm log concurrency issue, create file with exist true --- internnav/utils/common_log_util.py | 2 +- scripts/eval/bash/eval_dual_system.sh | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/internnav/utils/common_log_util.py b/internnav/utils/common_log_util.py index b04830e..d012572 100644 --- a/internnav/utils/common_log_util.py +++ b/internnav/utils/common_log_util.py @@ -20,7 +20,7 @@ def init(task_name='default'): NAME = task_name log_dir = f'{PROJECT_ROOT_PATH}/logs/{task_name}/common' if not os.path.exists(log_dir): - os.makedirs(log_dir) + os.makedirs(log_dir, exist_ok=True) file_name = f"log_{datetime.now().strftime('%Y%m%d%H%M%S')}_{os.getpid()}.log" file_handler = logging.FileHandler(f'{log_dir}/{file_name}') file_handler.setLevel(logging.INFO) diff --git a/scripts/eval/bash/eval_dual_system.sh b/scripts/eval/bash/eval_dual_system.sh index 56e4b40..165fd3d 100755 --- a/scripts/eval/bash/eval_dual_system.sh +++ b/scripts/eval/bash/eval_dual_system.sh @@ -3,6 +3,7 @@ export NCCL_SOCKET_IFNAME=bond0 export NCCL_IB_HCA=mlx5_2,mlx5_3,mlx5_4,mlx5_5 MID_RUN_NAME="InternVLA-N1" +CONFIG="scripts/eval/configs/habitat_cfg.py" srun -p efm_t \ --gres=gpu:8 \ @@ -13,5 +14,5 @@ srun -p efm_t \ --cpus-per-task=16 \ --kill-on-bad-exit=1 \ python scripts/eval/eval.py \ - --config scripts/eval/configs/habitat_cfg.py \ + --config $CONFIG \ > logs/${MID_RUN_NAME}_log.txt 2>&1 From 50b1f24837784f892b3012967c0aa62e856a1898 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Fri, 21 Nov 2025 05:37:34 +0000 Subject: [PATCH 23/35] fix progress log mkdir race condition --- internnav/utils/progress_log_multi_util.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/internnav/utils/progress_log_multi_util.py b/internnav/utils/progress_log_multi_util.py index 7ad3655..d2f8d82 100644 --- a/internnav/utils/progress_log_multi_util.py +++ b/internnav/utils/progress_log_multi_util.py @@ -61,8 +61,7 @@ def init(dataset_name, path_count): global INITED PROGRESS = ProgressInfo(dataset_name, path_count) log_dir = f'{PROJECT_ROOT_PATH}/logs/{get_task_name()}/progress/' - if not os.path.exists(log_dir): - os.makedirs(log_dir) + os.makedirs(log_dir, exist_ok=True) file_handler = logging.FileHandler(f'{log_dir}/{dataset_name}.log') file_handler.setLevel(logging.INFO) formatter = logging.Formatter('[%(asctime)s][%(levelname)s] %(message)s') From 8665b380c4f6f9143851b2fdce25cbe479cc5f84 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Tue, 25 Nov 2025 09:43:06 +0000 Subject: [PATCH 24/35] fix comments --- internnav/configs/agent/__init__.py | 2 +- internnav/evaluator/__init__.py | 6 +++- internnav/evaluator/distributed_base.py | 2 +- .../habitat_vln_evaluator.py | 29 ++++++++----------- scripts/eval/bash/eval_dual_system.sh | 6 +--- ...rt_aliyun_dlc.sh => start_alicloud_dlc.sh} | 1 - scripts/eval/configs/h1_cma_cfg.py | 4 +-- .../eval/configs/h1_internvla_n1_async_cfg.py | 8 ++--- scripts/eval/configs/habitat_cfg.py | 2 -- scripts/eval/eval.py | 6 ---- 10 files changed, 26 insertions(+), 40 deletions(-) rename scripts/eval/bash/{start_aliyun_dlc.sh => start_alicloud_dlc.sh} (99%) diff --git a/internnav/configs/agent/__init__.py b/internnav/configs/agent/__init__.py index fcafb67..17b3e2e 100644 --- a/internnav/configs/agent/__init__.py +++ b/internnav/configs/agent/__init__.py @@ -5,7 +5,7 @@ class AgentCfg(BaseModel): server_host: str = 'localhost' - server_port: int = 5000 + server_port: int = 8087 model_name: str ckpt_path: str model_settings: Dict[str, Any] diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index b9929c8..fb77eb1 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -7,6 +7,10 @@ ) # register habitat -import internnav.internnav_habitat # noqa: F401 # isort: skip +try: + import internnav.internnav_habitat # noqa: F401 # isort: skip +except Exception as e: + print(f"Warning: ({e}), Habitat Evaluation is not loaded in this runtime. Ignore this if not using Habitat.") + __all__ = ['Evaluator', 'DistributedEvaluator'] diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index 7f730e3..9a9c6b1 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -38,7 +38,7 @@ def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True) self.rank = get_rank() self.world_size = get_world_size() - self.output_path = cfg.eval_settings.get("output_path") # TODO: unsafe for distribution + self.output_path = cfg.eval_settings.get("output_path") # habitat env also need rank to split dataset cfg.env.env_settings['rank'] = get_rank() diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/internnav_habitat/habitat_vln_evaluator.py index 137a446..f3c31d3 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/internnav_habitat/habitat_vln_evaluator.py @@ -10,11 +10,21 @@ import re from collections import OrderedDict +import habitat import numpy as np import quaternion import torch import tqdm from depth_camera_filtering import filter_depth +from habitat.config.default import get_agent_config +from habitat.config.default_structured_configs import ( + CollisionsMeasurementConfig, + FogOfWarConfig, + TopDownMapMeasurementConfig, +) +from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower +from habitat.utils.visualizations.utils import observations_to_image +from habitat_baselines.config.default import get_config as get_habitat_config from PIL import Image, ImageDraw, ImageFont from transformers import AutoProcessor, Qwen2_5_VLForConditionalGeneration from transformers.image_utils import to_numpy_array @@ -29,23 +39,8 @@ traj_to_actions, ) -try: - import habitat - from habitat.config.default import get_agent_config - from habitat.config.default_structured_configs import ( - CollisionsMeasurementConfig, - FogOfWarConfig, - TopDownMapMeasurementConfig, - ) - from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower - from habitat.utils.visualizations.utils import observations_to_image - from habitat_baselines.config.default import get_config as get_habitat_config - - # Import for Habitat registry side effects — do not remove - import internnav.internnav_habitat.measures # noqa: F401 # isort: skip -except Exception as e: - print(f"Warning: ({e}), Habitat Evaluation is not loaded in this runtime. Ignore this if not using Habitat.") - +# Import for Habitat registry side effects — do not remove +import internnav.internnav_habitat.measures # noqa: F401 # isort: skip DEFAULT_IMAGE_TOKEN = "" diff --git a/scripts/eval/bash/eval_dual_system.sh b/scripts/eval/bash/eval_dual_system.sh index 165fd3d..476d04d 100755 --- a/scripts/eval/bash/eval_dual_system.sh +++ b/scripts/eval/bash/eval_dual_system.sh @@ -1,11 +1,7 @@ -export MAGNUM_LOG=quiet HABITAT_SIM_LOG=quiet -export NCCL_SOCKET_IFNAME=bond0 -export NCCL_IB_HCA=mlx5_2,mlx5_3,mlx5_4,mlx5_5 - MID_RUN_NAME="InternVLA-N1" CONFIG="scripts/eval/configs/habitat_cfg.py" -srun -p efm_t \ +srun -p \ --gres=gpu:8 \ --ntasks=8 \ -x HOST-10-140-66-68,HOST-10-140-66-182,HOST-10-140-66-181 \ diff --git a/scripts/eval/bash/start_aliyun_dlc.sh b/scripts/eval/bash/start_alicloud_dlc.sh similarity index 99% rename from scripts/eval/bash/start_aliyun_dlc.sh rename to scripts/eval/bash/start_alicloud_dlc.sh index 6fdc5e0..3785363 100755 --- a/scripts/eval/bash/start_aliyun_dlc.sh +++ b/scripts/eval/bash/start_alicloud_dlc.sh @@ -18,7 +18,6 @@ case "$mode" in > logs/internvla_n1_log.txt 2>&1 ;; - internutopia) echo "[run.sh] Starting INTERNUTOPIA evaluation..." diff --git a/scripts/eval/configs/h1_cma_cfg.py b/scripts/eval/configs/h1_cma_cfg.py index 331a0cb..ffa5ce9 100644 --- a/scripts/eval/configs/h1_cma_cfg.py +++ b/scripts/eval/configs/h1_cma_cfg.py @@ -22,7 +22,7 @@ }, ), task=TaskCfg( - task_name='cma_plus_refactor_debug_local_dist', + task_name='cma_plus_eval', task_settings={ 'env_num': 1, 'use_distributed': False, @@ -51,6 +51,6 @@ eval_settings={ 'save_to_json': True, 'vis_output': True, - 'use_agent_server': False, + 'use_agent_server': True, }, ) diff --git a/scripts/eval/configs/h1_internvla_n1_async_cfg.py b/scripts/eval/configs/h1_internvla_n1_async_cfg.py index 4ecbd46..7ccc1f3 100644 --- a/scripts/eval/configs/h1_internvla_n1_async_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_async_cfg.py @@ -33,7 +33,7 @@ 'infer_mode': 'partial_async', # You can choose "sync" or "partial_async", but for this model, "partial_async" is better. # debug 'vis_debug': True, # If vis_debug=True, you can get visualization results - 'vis_debug_path': './logs/test_partial/vis_debug', + 'vis_debug_path': './logs/test/vis_debug', }, ), env=EnvCfg( @@ -44,19 +44,19 @@ }, ), task=TaskCfg( - task_name='test_partial_pe', + task_name='test', task_settings={ 'env_num': 1, 'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False. 'proc_num': 1, - 'max_step': 1000, # If use flash mode，default 1000; descrete mode, set 50000 + 'max_step': 50000, # If use flash mode，default 1000; descrete mode, set 50000 }, scene=SceneCfg( scene_type='mp3d', scene_data_dir='data/scene_data/mp3d_pe', ), robot_name='h1', - robot_flash=False, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode. + robot_flash=True, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode. robot_usd_path='data/Embodiments/vln-pe/h1/h1_internvla.usd', camera_resolution=[640, 480], # (W,H) camera_prim_path='torso_link/h1_1_25_down_30', diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_cfg.py index b4f0e7c..2fc6111 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_cfg.py @@ -3,9 +3,7 @@ eval_cfg = EvalCfg( agent=AgentCfg( - server_port=8087, model_name='internvla_n1', - ckpt_path='', model_settings={ "mode": "dual_system", # inference mode: dual_system or system2 "model_path": "checkpoints/InternVLA-N1", # path to model checkpoint diff --git a/scripts/eval/eval.py b/scripts/eval/eval.py index 55b4814..617ed62 100644 --- a/scripts/eval/eval.py +++ b/scripts/eval/eval.py @@ -18,9 +18,6 @@ def parse_args(): default='scripts/eval/configs/h1_rdp_cfg.py', help='eval config file path, e.g. scripts/eval/configs/h1_cma_cfg.py', ) - parser.add_argument('--port', type=int, default=None) - parser.add_argument('--host', type=str, default=None) - parser.add_argument('--dist_eval', action="store_true", default=False) return parser.parse_args() @@ -41,9 +38,6 @@ def main(): from internnav.configs.evaluator.vln_default_config import get_config evaluator_cfg = get_config(evaluator_cfg) - elif evaluator_cfg.eval_type == 'habitat_vln': - # TODO: add default config - pass # create evaluator based on sim backend and run eval evaluator = Evaluator.init(evaluator_cfg) From 7d5daa6cd1db845ccc29c12e22f3dd4bf1187a68 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Tue, 25 Nov 2025 10:21:26 +0000 Subject: [PATCH 25/35] polish existing configs and bash --- scripts/eval/bash/eval_dual_system.sh | 2 +- scripts/eval/bash/eval_system2.sh | 17 ++-- scripts/eval/configs/h1_rdp_cfg.py | 2 +- scripts/eval/configs/h1_seq2seq_cfg.py | 2 +- ...itat_cfg.py => habitat_dual_system_cfg.py} | 2 +- scripts/eval/configs/habitat_r2r_pix.yaml | 83 ------------------- scripts/eval/configs/habitat_s2_cfg.py | 38 +++++++++ 7 files changed, 48 insertions(+), 98 deletions(-) rename scripts/eval/configs/{habitat_cfg.py => habitat_dual_system_cfg.py} (94%) delete mode 100644 scripts/eval/configs/habitat_r2r_pix.yaml create mode 100644 scripts/eval/configs/habitat_s2_cfg.py diff --git a/scripts/eval/bash/eval_dual_system.sh b/scripts/eval/bash/eval_dual_system.sh index 476d04d..cb52d14 100755 --- a/scripts/eval/bash/eval_dual_system.sh +++ b/scripts/eval/bash/eval_dual_system.sh @@ -1,5 +1,5 @@ MID_RUN_NAME="InternVLA-N1" -CONFIG="scripts/eval/configs/habitat_cfg.py" +CONFIG="scripts/eval/configs/habitat_dual_system_cfg.py" srun -p \ --gres=gpu:8 \ diff --git a/scripts/eval/bash/eval_system2.sh b/scripts/eval/bash/eval_system2.sh index bedfbb3..409b099 100755 --- a/scripts/eval/bash/eval_system2.sh +++ b/scripts/eval/bash/eval_system2.sh @@ -1,11 +1,7 @@ -export MAGNUM_LOG=quiet HABITAT_SIM_LOG=quiet -export NCCL_SOCKET_IFNAME=bond0 -export NCCL_IB_HCA=mlx5_2,mlx5_3,mlx5_4,mlx5_5 +MID_RUN_NAME="InternVLA-N1" +CONFIG="scripts/eval/configs/habitat_s2_cfg.py" - -MID_RUN_NAME="vln_one_stage_with_qa_bs256_backup-checkpoint-21000" - -srun -p efm_t \ +srun -p \ --gres=gpu:8 \ --ntasks=8 \ -x HOST-10-140-66-68,HOST-10-140-66-182,HOST-10-140-66-181 \ @@ -13,7 +9,6 @@ srun -p efm_t \ --ntasks-per-node=8 \ --cpus-per-task=16 \ --kill-on-bad-exit=1 \ - python scripts/eval/eval_habitat.py \ - --model_path /path/to/${MID_RUN_NAME} \ - --mode system2 \ - --output_path results/$MID_RUN_NAME/val_unseen \ + python scripts/eval/eval.py \ + --config $CONFIG \ + > logs/${MID_RUN_NAME}_log.txt 2>&1 diff --git a/scripts/eval/configs/h1_rdp_cfg.py b/scripts/eval/configs/h1_rdp_cfg.py index c5fe705..f7f5695 100644 --- a/scripts/eval/configs/h1_rdp_cfg.py +++ b/scripts/eval/configs/h1_rdp_cfg.py @@ -22,7 +22,7 @@ }, ), task=TaskCfg( - task_name='rdp_refactor_test', + task_name='rdp_eval', task_settings={ 'env_num': 2, 'use_distributed': True, diff --git a/scripts/eval/configs/h1_seq2seq_cfg.py b/scripts/eval/configs/h1_seq2seq_cfg.py index 0d2d9de..5145637 100644 --- a/scripts/eval/configs/h1_seq2seq_cfg.py +++ b/scripts/eval/configs/h1_seq2seq_cfg.py @@ -22,7 +22,7 @@ }, ), task=TaskCfg( - task_name='cma_plus_refactor_debug', + task_name='seq_eval', task_settings={ 'env_num': 1, 'use_distributed': False, diff --git a/scripts/eval/configs/habitat_cfg.py b/scripts/eval/configs/habitat_dual_system_cfg.py similarity index 94% rename from scripts/eval/configs/habitat_cfg.py rename to scripts/eval/configs/habitat_dual_system_cfg.py index 2fc6111..7604804 100644 --- a/scripts/eval/configs/habitat_cfg.py +++ b/scripts/eval/configs/habitat_dual_system_cfg.py @@ -27,7 +27,7 @@ eval_type='habitat_vln', eval_settings={ # all current parse args - "output_path": "./logs/habitat/test1", # output directory for logs/results + "output_path": "./logs/habitat/test_dual_system", # output directory for logs/results "save_video": False, # whether to save videos "epoch": 0, # epoch number for logging "max_steps_per_episode": 500, # maximum steps per episode diff --git a/scripts/eval/configs/habitat_r2r_pix.yaml b/scripts/eval/configs/habitat_r2r_pix.yaml deleted file mode 100644 index 454cdef..0000000 --- a/scripts/eval/configs/habitat_r2r_pix.yaml +++ /dev/null @@ -1,83 +0,0 @@ -# @package _global_ - -defaults: - - /habitat: habitat_config_base - - /habitat/task: vln_r2r - - /habitat/simulator/agents@habitat.simulator.agents.main_agent: rgbd_agent - # - /habitat/simulator/sensor_setups@habitat.simulator.agents.main_agent: rgbd_agent - - /habitat/dataset/vln: mp3d_r2r - - /habitat/task/lab_sensors: - - gps_sensor - - compass_sensor - - _self_ - -habitat: - environment: - max_episode_steps: 10000 - iterator_options: - max_scene_repeat_steps: 50000 - shuffle: False - simulator: - agents: - main_agent: - sim_sensors: - rgb_sensor: - width: 640 - height: 480 - hfov: 79 - # hfov: 69 - # position: [0, 0.6, 0] - depth_sensor: - width: 640 - height: 480 - hfov: 79 - # hfov: 69 - min_depth: 0.0 - max_depth: 10.0 - # position: [0, 0.6, 0] - forward_step_size: 0.25 - turn_angle: 15 - tilt_angle: 15 - action_space_config: "v1" - habitat_sim_v0: - gpu_device_id: 0 - task: - measurements: - distance_to_goal: - type: DistanceToGoal - distance_to: POINT - success: - type: Success - success_distance: 3.0 - spl: - type: SPL - oracle_success: - type: OracleSuccess - # success_distance: 3.0 - oracle_navigation_error: - type: OracleNavigationError - actions: - stop: - type: StopAction - agent_index: 0 - move_forward: - type: MoveForwardAction - agent_index: 0 - turn_left: - type: TurnLeftAction - agent_index: 0 - turn_right: - type: TurnRightAction - agent_index: 0 - look_up: - type: LookUpAction - agent_index: 0 - look_down: - type: LookDownAction - agent_index: 0 - - dataset: - type: R2RVLN-v1 - split: val_seen - scenes_dir: data/scene_data/mp3d_ce - data_path: data/datasets/vln/mp3d/r2r/v1/{split}/{split}.json.gz diff --git a/scripts/eval/configs/habitat_s2_cfg.py b/scripts/eval/configs/habitat_s2_cfg.py new file mode 100644 index 0000000..3debe85 --- /dev/null +++ b/scripts/eval/configs/habitat_s2_cfg.py @@ -0,0 +1,38 @@ +from internnav.configs.agent import AgentCfg +from internnav.configs.evaluator import EnvCfg, EvalCfg + +eval_cfg = EvalCfg( + agent=AgentCfg( + model_name='internvla_n1', + model_settings={ + "mode": "system2", # inference mode: dual_system or system2 + "model_path": "checkpoints/", # path to model checkpoint + "num_future_steps": 4, # number of future steps for prediction + "num_frames": 32, # number of frames used in evaluation + "num_history": 8, + "resize_w": 384, # image resize width + "resize_h": 384, # image resize height + "predict_step_nums": 32, # number of steps to predict + "continuous_traj": True, # whether to use continuous trajectory + "max_new_tokens": 1024, # maximum number of tokens for generation + }, + ), + env=EnvCfg( + env_type='habitat', + env_settings={ + # habitat sim specifications - agent, sensors, tasks, measures etc. are defined in the habitat config file + 'config_path': 'scripts/eval/configs/vln_r2r.yaml', + }, + ), + eval_type='habitat_vln', + eval_settings={ + # all current parse args + "output_path": "./logs/habitat/test_s2", # output directory for logs/results + "save_video": False, # whether to save videos + "epoch": 0, # epoch number for logging + "max_steps_per_episode": 500, # maximum steps per episode + # distributed settings + "port": "2333", # communication port + "dist_url": "env://", # url for distributed setup + }, +) From 4f67d9b655e29deac4bc154b6fe7e12f94513575 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Tue, 25 Nov 2025 10:44:13 +0000 Subject: [PATCH 26/35] update bash align with doc --- internnav/configs/agent/__init__.py | 2 +- ...licloud_dlc.sh => eval_vln_distributed.sh} | 33 ++++++++++++++++--- scripts/eval/bash/eval_vlnpe_distributed.sh | 25 -------------- scripts/eval/bash/torchrun_eval.sh | 4 +-- 4 files changed, 32 insertions(+), 32 deletions(-) rename scripts/eval/bash/{start_alicloud_dlc.sh => eval_vln_distributed.sh} (63%) mode change 100755 => 100644 delete mode 100644 scripts/eval/bash/eval_vlnpe_distributed.sh diff --git a/internnav/configs/agent/__init__.py b/internnav/configs/agent/__init__.py index 17b3e2e..ee00ef0 100644 --- a/internnav/configs/agent/__init__.py +++ b/internnav/configs/agent/__init__.py @@ -7,7 +7,7 @@ class AgentCfg(BaseModel): server_host: str = 'localhost' server_port: int = 8087 model_name: str - ckpt_path: str + ckpt_path: str = None model_settings: Dict[str, Any] diff --git a/scripts/eval/bash/start_alicloud_dlc.sh b/scripts/eval/bash/eval_vln_distributed.sh old mode 100755 new mode 100644 similarity index 63% rename from scripts/eval/bash/start_alicloud_dlc.sh rename to scripts/eval/bash/eval_vln_distributed.sh index 3785363..cd7e176 --- a/scripts/eval/bash/start_alicloud_dlc.sh +++ b/scripts/eval/bash/eval_vln_distributed.sh @@ -1,4 +1,8 @@ #!/bin/bash +# vlnpe distributed scripts for aliyun dlc +# use habitat or internutopia mode to run distributed eval with 1 gpus on single node +# set use_agent_server=False in config file to use local agent on single node +# internutopia_vec_env mode: collect all GPUs by ray, observations are collected in batch # Activate conda automatically source /root/miniconda3/etc/profile.d/conda.sh @@ -6,6 +10,20 @@ source /root/miniconda3/etc/profile.d/conda.sh mode="$1" shift # remove first argument so only extra args left (--config ...) +CONFIG=scripts/eval/configs/h1_internvla_n1_async_cfg.py +while [[ $# -gt 0 ]]; do + case $1 in + --config) + CONFIG="$2" + shift 2 + ;; + *) + echo "Unknown argument: $1" + exit 1 + ;; + esac +done + case "$mode" in # start to evaluate habitat in dlc habitat) @@ -14,8 +32,7 @@ case "$mode" in conda activate habitat python scripts/eval/eval.py \ - --config scripts/eval/configs/habitat_cfg.py \ - > logs/internvla_n1_log.txt 2>&1 + --config $CONFIG ;; internutopia) @@ -23,6 +40,15 @@ case "$mode" in conda activate internutopia + python scripts/eval/eval.py \ + --config $CONFIG + + ;; + internutopia_vec_env) + echo "[run.sh] Starting INTERNUTOPIA evaluation..." + + conda activate internutopia + # -------- parse remaining arguments (e.g., --config xxx) -------- while [[ $# -gt 0 ]]; do case $1 in @@ -57,9 +83,8 @@ case "$mode" in sleep inf fi ;; - *) - echo "Usage: $0 {habitat|internutopia} [--config xxx]" + echo "Usage: $0 {habitat|internutopia|internutopia_vec_env} [--config xxx]" exit 1 ;; esac diff --git a/scripts/eval/bash/eval_vlnpe_distributed.sh b/scripts/eval/bash/eval_vlnpe_distributed.sh deleted file mode 100644 index 108a6f8..0000000 --- a/scripts/eval/bash/eval_vlnpe_distributed.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/bash -# vlnpe distributed scripts for aliyun dlc -# use this to run distributed eval with 1 gpus on single node -# set use_agent_server=False in config file to use local agent on single node - -source /root/miniconda3/etc/profile.d/conda.sh -conda activate internutopia - -CONFIG=scripts/eval/configs/h1_internvla_n1_async_cfg.py -while [[ $# -gt 0 ]]; do - case $1 in - --config) - CONFIG="$2" - shift 2 - ;; - *) - echo "Unknown argument: $1" - exit 1 - ;; - esac -done - -# use srun for slurm eval -python scripts/eval/eval.py \ - --config $CONFIG \ diff --git a/scripts/eval/bash/torchrun_eval.sh b/scripts/eval/bash/torchrun_eval.sh index 195e6d4..5747eea 100644 --- a/scripts/eval/bash/torchrun_eval.sh +++ b/scripts/eval/bash/torchrun_eval.sh @@ -1,6 +1,6 @@ -# use to run distributed eval with 4 gpus on single node +# use to run distributed eval with multi gpus -CONFIG=scripts/eval/configs/h1_internvla_n1_cfg.py +CONFIG=scripts/eval/configs/h1_internvla_n1_async_cfg.py while [[ $# -gt 0 ]]; do case $1 in From d7e12e9b97712534f09924363aa459636ffe6c7b Mon Sep 17 00:00:00 2001 From: wangyukai Date: Tue, 25 Nov 2025 11:36:21 +0000 Subject: [PATCH 27/35] fix CI test --- tests/function_test/e2e_test.py | 2 +- tests/function_test/test_evaluator.py | 11 ++++++++--- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/tests/function_test/e2e_test.py b/tests/function_test/e2e_test.py index 023508c..d50e9a6 100644 --- a/tests/function_test/e2e_test.py +++ b/tests/function_test/e2e_test.py @@ -37,7 +37,7 @@ def teardown_function(function): if os.path.exists('./test_result.json'): case_info = {} test_name = function.__name__ - case_info['case_info'] = test_name + '_' + os.environ.get('JOB_ID') + case_info['case_info'] = f"{test_name}_{os.environ.get('JOB_ID', 'local')}" update_jsonl_from_json('./test_result.json', '../total_result.jsonl', case_info) else: print('Warning! There is no test_result.json') diff --git a/tests/function_test/test_evaluator.py b/tests/function_test/test_evaluator.py index 155a3b2..4c884a2 100644 --- a/tests/function_test/test_evaluator.py +++ b/tests/function_test/test_evaluator.py @@ -49,8 +49,8 @@ task=TaskCfg( task_name='test_evaluation', task_settings={ - 'env_num': 2, - 'use_distributed': True, # Ray distributed framework + 'env_num': 1, + 'use_distributed': False, # Ray distributed framework 'proc_num': 4, }, scene=SceneCfg( @@ -70,7 +70,12 @@ 'filter_stairs': False, }, ), - eval_settings={'save_to_json': False, 'vis_output': False}, # save result to video under logs/ + eval_type='vln_multi_distributed', + eval_settings={ + 'save_to_json': False, + 'vis_output': False, + 'use_agent_server': True, + }, # save result to video under logs/ ) From 4eff8f9b3042d18aafb16adebae52f0797f606b5 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Wed, 26 Nov 2025 07:39:38 +0000 Subject: [PATCH 28/35] rename habitat_extensions --- internnav/evaluator/__init__.py | 2 +- .../{internnav_habitat => habitat_extensions}/README.md | 7 +++---- internnav/habitat_extensions/__init__.py | 2 ++ .../habitat_default_evaluator.py | 0 .../habitat_env.py | 0 .../habitat_vln_evaluator.py | 2 +- .../{internnav_habitat => habitat_extensions}/measures.py | 0 internnav/internnav_habitat/__init__.py | 2 -- scripts/eval/configs/h1_internvla_n1_async_cfg.py | 2 +- 9 files changed, 8 insertions(+), 9 deletions(-) rename internnav/{internnav_habitat => habitat_extensions}/README.md (98%) create mode 100644 internnav/habitat_extensions/__init__.py rename internnav/{internnav_habitat => habitat_extensions}/habitat_default_evaluator.py (100%) rename internnav/{internnav_habitat => habitat_extensions}/habitat_env.py (100%) rename internnav/{internnav_habitat => habitat_extensions}/habitat_vln_evaluator.py (99%) rename internnav/{internnav_habitat => habitat_extensions}/measures.py (100%) delete mode 100644 internnav/internnav_habitat/__init__.py diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index fb77eb1..16e0a4b 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -8,7 +8,7 @@ # register habitat try: - import internnav.internnav_habitat # noqa: F401 # isort: skip + import internnav.habitat_extensions # noqa: F401 # isort: skip except Exception as e: print(f"Warning: ({e}), Habitat Evaluation is not loaded in this runtime. Ignore this if not using Habitat.") diff --git a/internnav/internnav_habitat/README.md b/internnav/habitat_extensions/README.md similarity index 98% rename from internnav/internnav_habitat/README.md rename to internnav/habitat_extensions/README.md index c877b1c..41dc200 100644 --- a/internnav/internnav_habitat/README.md +++ b/internnav/habitat_extensions/README.md @@ -9,18 +9,17 @@ utilities. ## Package structure ``` -internnav_habitat/ +habitat_extensions/ ├── __init__.py ├── habitat_env.py ├── habitat_default_evaluator.py ├── habitat_vln_evaluator.py -├── measures.py -└── refactor_notes.md +└── measures.py ``` * `__init__.py` re-exports the public entry points for the environment and the VLN evaluator so they can be imported as - `from internnav.internnav_habitat import HabitatEnv`. + `from internnav.habitat_extensions import HabitatEnv`. * `habitat_env.py` implements the `Env` subclass that wraps Habitat's `Env` object. It bootstraps episodes, handles sharding across distributed ranks, and adapts Habitat's observations to InternNav's expectations. diff --git a/internnav/habitat_extensions/__init__.py b/internnav/habitat_extensions/__init__.py new file mode 100644 index 0000000..ee41522 --- /dev/null +++ b/internnav/habitat_extensions/__init__.py @@ -0,0 +1,2 @@ +from internnav.habitat_extensions.habitat_env import HabitatEnv +from internnav.habitat_extensions.habitat_vln_evaluator import HabitatVlnEvaluator diff --git a/internnav/internnav_habitat/habitat_default_evaluator.py b/internnav/habitat_extensions/habitat_default_evaluator.py similarity index 100% rename from internnav/internnav_habitat/habitat_default_evaluator.py rename to internnav/habitat_extensions/habitat_default_evaluator.py diff --git a/internnav/internnav_habitat/habitat_env.py b/internnav/habitat_extensions/habitat_env.py similarity index 100% rename from internnav/internnav_habitat/habitat_env.py rename to internnav/habitat_extensions/habitat_env.py diff --git a/internnav/internnav_habitat/habitat_vln_evaluator.py b/internnav/habitat_extensions/habitat_vln_evaluator.py similarity index 99% rename from internnav/internnav_habitat/habitat_vln_evaluator.py rename to internnav/habitat_extensions/habitat_vln_evaluator.py index f3c31d3..3a2063c 100644 --- a/internnav/internnav_habitat/habitat_vln_evaluator.py +++ b/internnav/habitat_extensions/habitat_vln_evaluator.py @@ -40,7 +40,7 @@ ) # Import for Habitat registry side effects — do not remove -import internnav.internnav_habitat.measures # noqa: F401 # isort: skip +import internnav.habitat_extensions.measures # noqa: F401 # isort: skip DEFAULT_IMAGE_TOKEN = "" diff --git a/internnav/internnav_habitat/measures.py b/internnav/habitat_extensions/measures.py similarity index 100% rename from internnav/internnav_habitat/measures.py rename to internnav/habitat_extensions/measures.py diff --git a/internnav/internnav_habitat/__init__.py b/internnav/internnav_habitat/__init__.py deleted file mode 100644 index af9bee9..0000000 --- a/internnav/internnav_habitat/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -from internnav.internnav_habitat.habitat_env import HabitatEnv -from internnav.internnav_habitat.habitat_vln_evaluator import HabitatVlnEvaluator diff --git a/scripts/eval/configs/h1_internvla_n1_async_cfg.py b/scripts/eval/configs/h1_internvla_n1_async_cfg.py index 7ccc1f3..27b8837 100644 --- a/scripts/eval/configs/h1_internvla_n1_async_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_async_cfg.py @@ -49,7 +49,7 @@ 'env_num': 1, 'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False. 'proc_num': 1, - 'max_step': 50000, # If use flash mode，default 1000; descrete mode, set 50000 + 'max_step': 1000, # If use flash mode，default 1000; descrete mode, set 50000 }, scene=SceneCfg( scene_type='mp3d', From b4a199802cb9b0b0dfd465643cbcbf4d1a58fcc4 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Thu, 27 Nov 2025 05:42:29 +0000 Subject: [PATCH 29/35] fix comments --- .../env/utils/episode_loader/dataset_utils.py | 68 +++++++++++++++ internnav/evaluator/__init__.py | 4 +- internnav/evaluator/distributed_base.py | 82 +++++++++---------- .../vln_multi_distributed_evaluator.py | 2 +- .../habitat_vln_evaluator.py | 11 ++- 5 files changed, 121 insertions(+), 46 deletions(-) diff --git a/internnav/env/utils/episode_loader/dataset_utils.py b/internnav/env/utils/episode_loader/dataset_utils.py index c85c2bb..f740922 100644 --- a/internnav/env/utils/episode_loader/dataset_utils.py +++ b/internnav/env/utils/episode_loader/dataset_utils.py @@ -442,6 +442,23 @@ def revise_one_data(origin): + """ + Apply an offset amendment to the start position and first waypoint of the reference path + for a given trajectory, if it belongs to a known fall-amend trajectory group. + + The offset is selected based on: + - `fall_path_z_0_3` → fixed offset [0, 0, 0.3] + - `fall_path_custom` → custom offset mapped by trajectory_id + - otherwise → return original unchanged + + Args: + origin (dict): One navigation episode item containing keys such as + `trajectory_id`, `start_position`, and `reference_path`. + + Returns: + dict: The amended item with updated start position and first reference path waypoint, + or the original if no amendment rule matched. + """ trajectory_id = origin['trajectory_id'] if trajectory_id in fall_path_z_0_3: amend_offset = [0, 0, 0.3] @@ -459,6 +476,9 @@ def revise_one_data(origin): def transform_rotation_z_90degrees(rotation): + """ + Rotate a quaternion by 90 degrees (π/2 radians) around the Z axis. + """ z_rot_90 = [np.cos(np.pi / 4), 0, 0, np.sin(np.pi / 4)] # 90 degrees = pi/2 radians w1, x1, y1, z1 = rotation w2, x2, y2, z2 = z_rot_90 @@ -472,6 +492,20 @@ def transform_rotation_z_90degrees(rotation): def has_stairs(item, height_threshold=0.3): + """ + Determine if a navigation reference path contains stair-like height jumps when the + instruction text includes the word 'stair'. + + The function checks the Z-height (3rd axis) differences between consecutive reference + waypoints and flags True if any jump exceeds the threshold. + + Args: + item (dict): Episode item containing `instruction.instruction_text` and `reference_path`. + height_threshold (float, optional): Minimum absolute height delta to consider as stairs. Defaults to 0.3. + + Returns: + bool: True if stairs are detected, False otherwise. + """ has_stairs = False if 'stair' in item['instruction']['instruction_text']: latest_height = item['reference_path'][0][-1] @@ -486,6 +520,16 @@ def has_stairs(item, height_threshold=0.3): def different_height(item): + """ + Check if multiple reference paths (or waypoints across paths) have significantly different + heights (Z-axis), indicating non-flat terrain. + + Args: + item (dict): Episode item containing a list of reference paths in `reference_path`. + + Returns: + bool: True if any adjacent path segment has a height difference > 0.3, else False. + """ different_height = False paths = item['reference_path'] for path_idx in range(len(paths) - 1): @@ -498,6 +542,30 @@ def different_height(item): def load_data( dataset_root_dir, split, filter_same_trajectory=True, filter_stairs=True, dataset_type='mp3d', rank=0, world_size=1 ): + """ + Load a compressed navigation dataset split and organize episodes by scan/scene, + with optional filtering rules for duplicate trajectories and stair terrain. + + Supported behaviors include: + - Distributed slicing via `rank::world_size` + - Scene grouping by `scan` (kujiale/grscene) or `scene_id` (mp3d) + - Coordinate system remapping for mp3d (`x, z, y` → `[x, -y, z]`) + - Start rotation quaternion remapping + 90° Z rotation + - Filtering repeated `trajectory_id` + - Filtering episodes containing stairs or uneven heights + + Args: + dataset_root_dir (str): Root data directory containing the split folders. + split (str): Dataset split name (folder & file prefix), e.g. "val_unseen". + filter_same_trajectory (bool, optional): Remove episodes with duplicate trajectory_id. Defaults to True. + filter_stairs (bool, optional): Remove episodes where stairs or large height variation are detected. Defaults to True. + dataset_type (str, optional): Dataset source identifier, such as "mp3d", "kujiale", or "grscene". Defaults to "mp3d". + rank (int, optional): Distributed process rank used for slicing episodes. Defaults to 0. + world_size (int, optional): Number of distributed ranks used for striding. Defaults to 1. + + Returns: + dict: Mapping from `scan` → List of filtered episode items for that scene. + """ with gzip.open(os.path.join(dataset_root_dir, split, f"{split}.json.gz"), 'rt', encoding='utf-8') as f: data = json.load(f)['episodes'][rank::world_size] diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index 16e0a4b..047a95f 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -3,7 +3,7 @@ # from internnav.evaluator.vln_multi_evaluator import VlnMultiEvaluator from internnav.evaluator.vln_multi_distributed_evaluator import ( - VlnMultiDistributedEvaluator, + VLNMultiDistributedEvaluator, ) # register habitat @@ -13,4 +13,4 @@ print(f"Warning: ({e}), Habitat Evaluation is not loaded in this runtime. Ignore this if not using Habitat.") -__all__ = ['Evaluator', 'DistributedEvaluator'] +__all__ = ['Evaluator', 'DistributedEvaluator', 'VLNMultiDistributedEvaluator', 'HabitatVlnEvaluator'] diff --git a/internnav/evaluator/distributed_base.py b/internnav/evaluator/distributed_base.py index 9a9c6b1..9df4e74 100644 --- a/internnav/evaluator/distributed_base.py +++ b/internnav/evaluator/distributed_base.py @@ -21,16 +21,17 @@ class DistributedEvaluator(Evaluator): Base class of distributed evaluators. Args: - cfg (EvalCfg): evaluation configuration - init_env (bool): whether to initialize the environment - init_agent (bool): whether to initialize the agent + eval_cfg (EvalCfg): Evaluation configuration + init_env (bool): Whether to initialize the environment + init_agent (bool): Whether to initialize the agent """ - def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True): + def __init__(self, eval_cfg: EvalCfg, init_env: bool = True, init_agent: bool = True): # distributed setting - if not cfg.eval_settings.get('use_agent_server', False): + if not eval_cfg.eval_settings.get('use_agent_server', False): self.local_rank = init_distributed_mode( - dist_url=cfg.eval_settings.get('dist_url', "env://"), port=cfg.eval_settings.get('port', 29529) + dist_url=eval_cfg.eval_settings.get('dist_url', "env://"), + port=eval_cfg.eval_settings.get('port', 29529), ) else: self.local_rank = 0 @@ -38,32 +39,32 @@ def __init__(self, cfg: EvalCfg, init_env: bool = True, init_agent: bool = True) self.rank = get_rank() self.world_size = get_world_size() - self.output_path = cfg.eval_settings.get("output_path") + self.output_path = eval_cfg.eval_settings.get("output_path") # habitat env also need rank to split dataset - cfg.env.env_settings['rank'] = get_rank() - cfg.env.env_settings['local_rank'] = self.local_rank - cfg.env.env_settings['world_size'] = get_world_size() + eval_cfg.env.env_settings['rank'] = get_rank() + eval_cfg.env.env_settings['local_rank'] = self.local_rank + eval_cfg.env.env_settings['world_size'] = get_world_size() - self.eval_config = cfg + self.eval_config = eval_cfg if init_env: - self.env = Env.init(cfg.env, cfg.task) + self.env = Env.init(eval_cfg.env, eval_cfg.task) # -------- initialize agent config (either remote server or local agent) -------- if init_agent: - if cfg.eval_settings.get('use_agent_server', False): + if eval_cfg.eval_settings.get('use_agent_server', False): assert not is_dist_avail_and_initialized(), "agent server requires single evaluator process." # set agent port based on rank from internnav.utils import AgentClient - print(f"[R{self.rank}] Connecting to agent server at port {cfg.agent.server_port}") - self.agent = AgentClient(cfg.agent) + print(f"[R{self.rank}] Connecting to agent server at port {eval_cfg.agent.server_port}") + self.agent = AgentClient(eval_cfg.agent) else: from internnav.agent import Agent - cfg.agent.model_settings['local_rank'] = self.local_rank - self.agent = Agent.init(cfg.agent) + eval_cfg.agent.model_settings['local_rank'] = self.local_rank + self.agent = Agent.init(eval_cfg.agent) def eval(self): """ @@ -152,16 +153,15 @@ def eval_action(self) -> dict: """ Run evaluation on this rank and return per-episode metrics. - Returns - ------- - dict[str, torch.Tensor] - Example: - { - "sucs": tensor([0., 1., ...], device=...), - "spls": tensor([...]), - "oss": tensor([...]), - "nes": tensor([...]), - } + Returns: + dict[str, torch.Tensor] + Example: + { + "sucs": tensor([0., 1., ...], device=...), + "spls": tensor([...]), + "oss": tensor([...]), + "nes": tensor([...]), + } """ raise NotImplementedError @@ -169,20 +169,18 @@ def calc_metrics(self, global_metrics: dict) -> dict: """ Compute final scalar metrics from global per-episode tensors. - Parameters - ---------- - global_metrics : dict[str, torch.Tensor] - For each metric name, a 1-D CPU tensor with all episodes across all ranks. - Example: - { - "sucs": tensor([...], dtype=torch.float32), - "spls": tensor([...]), - ... - } - - Returns - ------- - dict[str, float] - Final scalar metrics to log. + Args: + global_metrics : dict[str, torch.Tensor] + For each metric name, a 1-D CPU tensor with all episodes across all ranks. + Example: + { + "sucs": tensor([...], dtype=torch.float32), + "spls": tensor([...]), + ... + } + + Returns: + dict[str, float] + Final scalar metrics to log. """ raise NotImplementedError diff --git a/internnav/evaluator/vln_multi_distributed_evaluator.py b/internnav/evaluator/vln_multi_distributed_evaluator.py index 37bd6e9..f56732b 100644 --- a/internnav/evaluator/vln_multi_distributed_evaluator.py +++ b/internnav/evaluator/vln_multi_distributed_evaluator.py @@ -25,7 +25,7 @@ class runner_status_code(Enum): @Evaluator.register('vln_multi_distributed') -class VlnMultiDistributedEvaluator(DistributedEvaluator): +class VLNMultiDistributedEvaluator(DistributedEvaluator): def __init__(self, config: EvalCfg): start_time = time() diff --git a/internnav/habitat_extensions/habitat_vln_evaluator.py b/internnav/habitat_extensions/habitat_vln_evaluator.py index 3a2063c..75d71f8 100644 --- a/internnav/habitat_extensions/habitat_vln_evaluator.py +++ b/internnav/habitat_extensions/habitat_vln_evaluator.py @@ -23,7 +23,7 @@ TopDownMapMeasurementConfig, ) from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower -from habitat.utils.visualizations.utils import observations_to_image +from habitat.utils.visualizations.utils import images_to_video, observations_to_image from habitat_baselines.config.default import get_config as get_habitat_config from PIL import Image, ImageDraw, ImageFont from transformers import AutoProcessor, Qwen2_5_VLForConditionalGeneration @@ -618,6 +618,15 @@ def _run_local_eval(self) -> None: # noqa: C901 os.makedirs(self.output_path, exist_ok=True) with open(os.path.join(self.output_path, 'progress.json'), 'a') as f: f.write(json.dumps(result) + "\n") + if self.save_video: + images_to_video( + vis_frames, + os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), + f'{episode_id:04d}', + fps=6, + quality=9, + ) + vis_frames.clear() self.env.close() From c6cf34dbbb4340c729c4807b106ade68f3bd25fa Mon Sep 17 00:00:00 2001 From: wangyukai Date: Thu, 27 Nov 2025 05:46:00 +0000 Subject: [PATCH 30/35] remove useless line --- internnav/evaluator/__init__.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index 047a95f..cdceadc 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -1,7 +1,5 @@ from internnav.evaluator.base import Evaluator from internnav.evaluator.distributed_base import DistributedEvaluator - -# from internnav.evaluator.vln_multi_evaluator import VlnMultiEvaluator from internnav.evaluator.vln_multi_distributed_evaluator import ( VLNMultiDistributedEvaluator, ) From f74a79be4df018b6167e8e47b9e73409cc11becc Mon Sep 17 00:00:00 2001 From: Yuqiang Yang <49871992+yuqiang-yang@users.noreply.github.com> Date: Thu, 27 Nov 2025 17:02:34 +0800 Subject: [PATCH 31/35] [file] Update 3D Printing Files for Camera of Unitree Go2 (#176) * [file] Update 3d printing files for camera of Unitree Go2. * [Doc] Update readme for 3d printing models. --- .pre-commit-config.yaml | 3 +- README.md | 2 +- assets/3d_printing_files/downwards_slope.3mf | Bin 0 -> 201196 bytes assets/3d_printing_files/go2_stand.STEP | 46768 +++++++++++++++++ 4 files changed, 46770 insertions(+), 3 deletions(-) create mode 100644 assets/3d_printing_files/downwards_slope.3mf create mode 100644 assets/3d_printing_files/go2_stand.STEP diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 47e3a48..a66bfcb 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,5 +1,4 @@ -exclude: | - ^internnav/model/basemodel/LongCLIP/ +exclude: '^internnav/model/basemodel/LongCLIP/|^assets/' repos: - repo: https://github.com/PyCQA/autoflake diff --git a/README.md b/README.md index 9e17af1..1518bb2 100644 --- a/README.md +++ b/README.md @@ -36,7 +36,7 @@ The toolbox supports the most advanced high-quality navigation dataset, InternDa ## 🔥 News - [2025/10] Add a simple [inference-only demo](scripts/notebooks/inference_only_demo.ipynb) of InternVLA-N1. - [2025/10] InternVLA-N1 [technical report](https://internrobotics.github.io/internvla-n1.github.io/static/pdfs/InternVLA_N1.pdf) is released. Please check our [homepage](https://internrobotics.github.io/internvla-n1.github.io/). -- [2025/09] Real-world deployment code of InternVLA-N1 is released. +- [2025/09] Real-world deployment code of InternVLA-N1 is released. Upload 3D printing [files](assets/3d_printing_files/go2_stand.STEP) for Unitree Go2. - [2025/07] We are hosting 🏆IROS 2025 Grand Challenge, stay tuned at [official website](https://internrobotics.shlab.org.cn/challenge/2025/). - [2025/07] InternNav v0.1.1 released. diff --git a/assets/3d_printing_files/downwards_slope.3mf b/assets/3d_printing_files/downwards_slope.3mf new file mode 100644 index 0000000000000000000000000000000000000000..05cf34d0d82e0558b7d466bfb714e8beb2895524 GIT binary patch literal 201196 zcmeFZ2T)Yowl2K7$&!(rB}mRFNX{Tg5J3mje1)07mW7j#huS5 zqS_jzPtsCjCfeU)YkwSiq0e(iSqbx<-E5!41Ml*_UN{Q7H)T8Y zlzX%BLs`Q48sYX;Cy@$+6~@djAUeSRf(|Xnq3`Hz=V0e;C+6;A=j~`CA?ogWH`>TRoBSN}IdGW#s*Z*+ z06@Ve6d)!9Z#(`&hX6qN_Ns=ei9h7mM0p8|DFXpYflN(JnlnD$XuXJs{NXuvMCiFO z@B1o^hRohc*Bn@X&c3|jwUF_#(a>TyuFGwsGE=d&$P85X@A+|0-A4uo?@o`zooE6o zp-9*v#u0ORba=zS@Cg8rt$JdRWG5*Ka0);?UKw8BxNF#Y>P-*W0$!G<%env}RzD2h zjW&YN{#RpVob={6ZinL4j>?80_mNS%_O#=X# z{!AwiI5uv8;!@fVaU87q9cLrY-acA-gAX({TZ|tj0l?^&joOmUnD0B>_r 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.../utils/{dataset.py => result_logger.py} | 2 -- .../vln_multi_distributed_evaluator.py | 3 +- .../habitat_default_evaluator.py | 29 +++++++++++++++++-- internnav/model/utils/utils.py | 10 +++---- scripts/eval/bash/eval_vln_distributed.sh | 28 ++++++++++++++---- 6 files changed, 56 insertions(+), 18 deletions(-) rename internnav/evaluator/utils/{dataset.py => result_logger.py} (99%) diff --git a/internnav/evaluator/utils/common.py b/internnav/evaluator/utils/common.py index 1b811b9..08dde7e 100644 --- a/internnav/evaluator/utils/common.py +++ b/internnav/evaluator/utils/common.py @@ -464,7 +464,7 @@ def obs_to_image(obs_lst, action, output_path: str, reference_path, normalize: b topdown_array = first_obs['topdown_rgb'] # draw array on rgb array - rgb_array = draw_action_pil(rgb_array, action) + rgb_array = cv2.resize(draw_action_pil(rgb_array, action), (256, 256)) # draw trajectory on depth topdown_array = crop(draw_trajectory(topdown_array, obs_lst, reference_path)) diff --git a/internnav/evaluator/utils/dataset.py b/internnav/evaluator/utils/result_logger.py similarity index 99% rename from internnav/evaluator/utils/dataset.py rename to internnav/evaluator/utils/result_logger.py index 35e7694..e3826a6 100644 --- a/internnav/evaluator/utils/dataset.py +++ b/internnav/evaluator/utils/result_logger.py @@ -54,8 +54,6 @@ def get_split_map( return split_map def write_now_result_json(self): - # create log file - # log_content = [] self.database_read = lmdb.open( f'{self.lmdb_path}/sample_data.lmdb', map_size=1 * 1024 * 1024 * 1024 * 1024, diff --git a/internnav/evaluator/vln_multi_distributed_evaluator.py b/internnav/evaluator/vln_multi_distributed_evaluator.py index f56732b..2a68df5 100644 --- a/internnav/evaluator/vln_multi_distributed_evaluator.py +++ b/internnav/evaluator/vln_multi_distributed_evaluator.py @@ -10,7 +10,7 @@ from internnav.evaluator.utils.common import set_seed_model from internnav.evaluator.utils.config import get_lmdb_path from internnav.evaluator.utils.data_collector import DataCollector -from internnav.evaluator.utils.dataset import ResultLogger +from internnav.evaluator.utils.result_logger import ResultLogger from internnav.evaluator.utils.visualize_util import VisualizeUtil from internnav.utils import common_log_util, progress_log_multi_util from internnav.utils.common_log_util import common_logger as log @@ -158,7 +158,6 @@ def _need_reset(self, terminated_ls): def env_step(self, action): start_time = time() - # stop_count = [0 for _ in range(self.env_num * self.sim_num)] while True: # stop action maybe also need 50 steps self.runner_status[ diff --git a/internnav/habitat_extensions/habitat_default_evaluator.py b/internnav/habitat_extensions/habitat_default_evaluator.py index 2f65236..c4df86a 100644 --- a/internnav/habitat_extensions/habitat_default_evaluator.py +++ b/internnav/habitat_extensions/habitat_default_evaluator.py @@ -26,8 +26,33 @@ DEFAULT_IMAGE_TOKEN = "" -@Evaluator.register('habitat_vlln') -class HabitatVlnEvaluator(DistributedEvaluator): +@Evaluator.register('habitat_evaluator') +class HabitatDefaultEvaluator(DistributedEvaluator): + """ + A default evaluator class for running Habitat-based evaluations in a distributed environment. + + This evaluator is designed to work with the Habitat simulator and performs evaluation of + agents on local episodes. It provides metrics such as success rate (success), SPL (Success weighted by Path Length), + Oracle success rate (oracle_success), and the distance to the goal (distance_to_goal). + + Attributes: + save_video (bool): Whether to save video during the evaluation. + epoch (int): The current epoch of the evaluation process. + max_steps_per_episode (int): The maximum number of steps allowed per episode. + output_path (str): The path where the evaluation results are saved. + config (habitat.config.default.Config): The Habitat configuration used for the environment setup. + agent_config (habitat.config.default.AgentConfig): Configuration specific to the agent in the Habitat simulator. + sim_sensors_config (dict): Configuration for the sensors used by the agent in the simulation. + + Methods: + eval_action() -> dict: + Runs the local episodes and returns a dictionary of evaluation metrics such as success rate, + success weighted by path length (SPL), oracle success, and distance to the goal. + + calc_metrics(global_metrics: dict) -> dict: + Calculates the global evaluation metrics from the distributed results by aggregating local metrics. + """ + def __init__(self, cfg: EvalCfg): args = argparse.Namespace(**cfg.eval_settings) self.args = args diff --git a/internnav/model/utils/utils.py b/internnav/model/utils/utils.py index 02330ea..692f13c 100755 --- a/internnav/model/utils/utils.py +++ b/internnav/model/utils/utils.py @@ -349,6 +349,9 @@ def get_action(diffusion_output, action_stats, cumsum=True): ndeltas = unnormalize_data(ndeltas, action_stats) if cumsum: + import torch + + torch.use_deterministic_algorithms(False) actions = torch.cumsum(ndeltas, dim=1) # This get the relative actions (not delta) from the diffusion output else: actions = ndeltas @@ -391,11 +394,9 @@ def unnormalize_data(ndata, stats): ndata_part = (ndata[:, :2] + 1) / 2 try: data = ndata_part * (stats['max'].to(device) - stats['min'].to(device)) + stats['min'].to(device) - except Exception as e: + except Exception: data = ndata_part * (stats.max.to(device) - stats.min.to(device)) + stats.min.to(device) - # if len(ndata.shape) == 3: - # data = torch.cat([data, ndata[:, 2:]], dim=1) return data @@ -440,7 +441,7 @@ def load_dataset(dataset_root_dir, split, logger=None, dataset_type='r2r'): item['c_reference_path'].append([path[0], -path[2], path[1]]) item['reference_path'] = item['c_reference_path'] del item['c_reference_path'] - + if dataset_type == 'kujiale': load_data[f'{str(item["trajectory_id"])}_{str(item["episode_id"])}'].append(item) else: @@ -448,4 +449,3 @@ def load_dataset(dataset_root_dir, split, logger=None, dataset_type='r2r'): if logger is not None: logger.info(f'Loaded data with a total of {len(load_data)} items from {split}') return load_data - diff --git a/scripts/eval/bash/eval_vln_distributed.sh b/scripts/eval/bash/eval_vln_distributed.sh index cd7e176..ae2060e 100644 --- a/scripts/eval/bash/eval_vln_distributed.sh +++ b/scripts/eval/bash/eval_vln_distributed.sh @@ -1,10 +1,26 @@ #!/bin/bash -# vlnpe distributed scripts for aliyun dlc -# use habitat or internutopia mode to run distributed eval with 1 gpus on single node -# set use_agent_server=False in config file to use local agent on single node -# internutopia_vec_env mode: collect all GPUs by ray, observations are collected in batch - -# Activate conda automatically +# ---------------------------------------------------------------------------- +# USAGE INSTRUCTIONS: +# +# This script runs a distributed evaluation for Habitat or Internutopia. +# You can choose from the following modes: +# +# 1. **habitat**: Runs evaluation using the Habitat environment. +# 2. **internutopia**: Runs evaluation using the Internutopia environment. +# 3. **internutopia_vec_env**: Runs distributed evaluation with Ray in vectorized environments. +# +# The script automatically activates the appropriate Conda environment based on the mode. +# You can specify a custom configuration file using the `--config` argument. +# +# Example usage: +# ./scripts/eval/bash/eval_vln_distributed.sh habitat --config +# ./ internutopia --config +# ./ internutopia_vec_env --config +# +# Make sure required Conda environments (habitat, internutopia) and Ray (for internutopia_vec_env) are set up. +# ---------------------------------------------------------------------------- + +# Activate conda (update to your local path) source /root/miniconda3/etc/profile.d/conda.sh mode="$1" From ea730752c54cd27b9f6fb2615e984b948fa44a38 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Mon, 1 Dec 2025 09:17:06 +0000 Subject: [PATCH 33/35] bump to version v0.0.2 --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index ac0a187..f2c5bcb 100644 --- a/setup.py +++ b/setup.py @@ -52,7 +52,7 @@ def parse_readme(readme: str) -> str: setuptools.setup( name='internnav', - version='0.0.1', + version='0.0.2', packages=setuptools.find_packages(), author='Intern Robotics', author_email='embodiedai@pjlab.org.cn', From 80822920f9ad0beee9177e84357d484fd3081132 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Mon, 1 Dec 2025 11:20:52 +0000 Subject: [PATCH 34/35] update vlnmulti to VLN; update habitatVln to HabitatVLN --- internnav/evaluator/__init__.py | 6 ++---- ...istributed_evaluator.py => vln_distributed_evaluator.py} | 4 ++-- internnav/habitat_extensions/__init__.py | 2 +- internnav/habitat_extensions/habitat_vln_evaluator.py | 2 +- scripts/eval/configs/h1_cma_cfg.py | 2 +- scripts/eval/configs/h1_internvla_n1_async_cfg.py | 2 +- scripts/eval/configs/h1_rdp_cfg.py | 2 +- scripts/eval/configs/h1_seq2seq_cfg.py | 2 +- scripts/eval/eval.py | 2 +- setup.py | 2 +- tests/function_test/test_evaluator.py | 2 +- 11 files changed, 13 insertions(+), 15 deletions(-) rename internnav/evaluator/{vln_multi_distributed_evaluator.py => vln_distributed_evaluator.py} (99%) diff --git a/internnav/evaluator/__init__.py b/internnav/evaluator/__init__.py index cdceadc..35968e8 100644 --- a/internnav/evaluator/__init__.py +++ b/internnav/evaluator/__init__.py @@ -1,8 +1,6 @@ from internnav.evaluator.base import Evaluator from internnav.evaluator.distributed_base import DistributedEvaluator -from internnav.evaluator.vln_multi_distributed_evaluator import ( - VLNMultiDistributedEvaluator, -) +from internnav.evaluator.vln_distributed_evaluator import VLNDistributedEvaluator # register habitat try: @@ -11,4 +9,4 @@ print(f"Warning: ({e}), Habitat Evaluation is not loaded in this runtime. Ignore this if not using Habitat.") -__all__ = ['Evaluator', 'DistributedEvaluator', 'VLNMultiDistributedEvaluator', 'HabitatVlnEvaluator'] +__all__ = ['Evaluator', 'DistributedEvaluator', 'VLNDistributedEvaluator', 'HabitatVLNEvaluator'] diff --git a/internnav/evaluator/vln_multi_distributed_evaluator.py b/internnav/evaluator/vln_distributed_evaluator.py similarity index 99% rename from internnav/evaluator/vln_multi_distributed_evaluator.py rename to internnav/evaluator/vln_distributed_evaluator.py index 2a68df5..0ce616b 100644 --- a/internnav/evaluator/vln_multi_distributed_evaluator.py +++ b/internnav/evaluator/vln_distributed_evaluator.py @@ -24,8 +24,8 @@ class runner_status_code(Enum): STOP = 4 -@Evaluator.register('vln_multi_distributed') -class VLNMultiDistributedEvaluator(DistributedEvaluator): +@Evaluator.register('vln_distributed') +class VLNDistributedEvaluator(DistributedEvaluator): def __init__(self, config: EvalCfg): start_time = time() diff --git a/internnav/habitat_extensions/__init__.py b/internnav/habitat_extensions/__init__.py index ee41522..5906e1c 100644 --- a/internnav/habitat_extensions/__init__.py +++ b/internnav/habitat_extensions/__init__.py @@ -1,2 +1,2 @@ from internnav.habitat_extensions.habitat_env import HabitatEnv -from internnav.habitat_extensions.habitat_vln_evaluator import HabitatVlnEvaluator +from internnav.habitat_extensions.habitat_vln_evaluator import HabitatVLNEvaluator diff --git a/internnav/habitat_extensions/habitat_vln_evaluator.py b/internnav/habitat_extensions/habitat_vln_evaluator.py index 75d71f8..2d552fd 100644 --- a/internnav/habitat_extensions/habitat_vln_evaluator.py +++ b/internnav/habitat_extensions/habitat_vln_evaluator.py @@ -46,7 +46,7 @@ @Evaluator.register('habitat_vln') -class HabitatVlnEvaluator(DistributedEvaluator): +class HabitatVLNEvaluator(DistributedEvaluator): def __init__(self, cfg: EvalCfg): args = argparse.Namespace(**cfg.eval_settings) self.save_video = args.save_video diff --git a/scripts/eval/configs/h1_cma_cfg.py b/scripts/eval/configs/h1_cma_cfg.py index ffa5ce9..6c509d4 100644 --- a/scripts/eval/configs/h1_cma_cfg.py +++ b/scripts/eval/configs/h1_cma_cfg.py @@ -47,7 +47,7 @@ 'filter_stairs': True, }, ), - eval_type='vln_multi_distributed', + eval_type='vln_distributed', eval_settings={ 'save_to_json': True, 'vis_output': True, diff --git a/scripts/eval/configs/h1_internvla_n1_async_cfg.py b/scripts/eval/configs/h1_internvla_n1_async_cfg.py index 27b8837..36f1012 100644 --- a/scripts/eval/configs/h1_internvla_n1_async_cfg.py +++ b/scripts/eval/configs/h1_internvla_n1_async_cfg.py @@ -72,7 +72,7 @@ # 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'], }, ), - eval_type='vln_multi_distributed', + eval_type='vln_distributed', eval_settings={ 'save_to_json': True, 'vis_output': False, diff --git a/scripts/eval/configs/h1_rdp_cfg.py b/scripts/eval/configs/h1_rdp_cfg.py index f7f5695..ef5ff19 100644 --- a/scripts/eval/configs/h1_rdp_cfg.py +++ b/scripts/eval/configs/h1_rdp_cfg.py @@ -45,7 +45,7 @@ 'filter_stairs': True, }, ), - eval_type='vln_multi_distributed', + eval_type='vln_distributed', eval_settings={ 'save_to_json': True, 'vis_output': False, diff --git a/scripts/eval/configs/h1_seq2seq_cfg.py b/scripts/eval/configs/h1_seq2seq_cfg.py index 5145637..b8696be 100644 --- a/scripts/eval/configs/h1_seq2seq_cfg.py +++ b/scripts/eval/configs/h1_seq2seq_cfg.py @@ -47,7 +47,7 @@ 'filter_stairs': True, }, ), - eval_type='vln_multi_distributed', + eval_type='vln_distributed', eval_settings={ 'save_to_json': True, 'vis_output': True, diff --git a/scripts/eval/eval.py b/scripts/eval/eval.py index 617ed62..4c17026 100644 --- a/scripts/eval/eval.py +++ b/scripts/eval/eval.py @@ -34,7 +34,7 @@ def main(): evaluator_cfg = load_eval_cfg(args.config, attr_name='eval_cfg') # fill in evaluator default config - if evaluator_cfg.eval_type == 'vln_multi_distributed': + if evaluator_cfg.eval_type == 'vln_distributed': from internnav.configs.evaluator.vln_default_config import get_config evaluator_cfg = get_config(evaluator_cfg) diff --git a/setup.py b/setup.py index f2c5bcb..ac0a187 100644 --- a/setup.py +++ b/setup.py @@ -52,7 +52,7 @@ def parse_readme(readme: str) -> str: setuptools.setup( name='internnav', - version='0.0.2', + version='0.0.1', packages=setuptools.find_packages(), author='Intern Robotics', author_email='embodiedai@pjlab.org.cn', diff --git a/tests/function_test/test_evaluator.py b/tests/function_test/test_evaluator.py index 4c884a2..36e40d9 100644 --- a/tests/function_test/test_evaluator.py +++ b/tests/function_test/test_evaluator.py @@ -70,7 +70,7 @@ 'filter_stairs': False, }, ), - eval_type='vln_multi_distributed', + eval_type='vln_distributed', eval_settings={ 'save_to_json': False, 'vis_output': False, From da06d229d9f191ef75141fbe8051f957464f2821 Mon Sep 17 00:00:00 2001 From: wangyukai Date: Tue, 2 Dec 2025 03:53:20 +0000 Subject: [PATCH 35/35] :Revert "Merge branch 'main' into vlnpe_refactor" This reverts commit 7a23b729c9d90d0c5fa2e8ec4a7d1b99cc576b47, reversing changes made to ea730752c54cd27b9f6fb2615e984b948fa44a38. --- .pre-commit-config.yaml | 3 +- README.md | 2 +- assets/3d_printing_files/downwards_slope.3mf | Bin 201196 -> 0 bytes assets/3d_printing_files/go2_stand.STEP | 46768 ----------------- 4 files changed, 3 insertions(+), 46770 deletions(-) delete mode 100644 assets/3d_printing_files/downwards_slope.3mf delete mode 100644 assets/3d_printing_files/go2_stand.STEP diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a66bfcb..47e3a48 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,4 +1,5 @@ -exclude: '^internnav/model/basemodel/LongCLIP/|^assets/' +exclude: | + ^internnav/model/basemodel/LongCLIP/ repos: - repo: https://github.com/PyCQA/autoflake diff --git a/README.md b/README.md index 1518bb2..9e17af1 100644 --- a/README.md +++ b/README.md @@ -36,7 +36,7 @@ The toolbox supports the most advanced high-quality navigation dataset, InternDa ## 🔥 News - [2025/10] Add a simple [inference-only demo](scripts/notebooks/inference_only_demo.ipynb) of InternVLA-N1. - [2025/10] InternVLA-N1 [technical report](https://internrobotics.github.io/internvla-n1.github.io/static/pdfs/InternVLA_N1.pdf) is released. Please check our [homepage](https://internrobotics.github.io/internvla-n1.github.io/). -- [2025/09] Real-world deployment code of InternVLA-N1 is released. Upload 3D printing [files](assets/3d_printing_files/go2_stand.STEP) for Unitree Go2. +- [2025/09] Real-world deployment code of InternVLA-N1 is released. - [2025/07] We are hosting 🏆IROS 2025 Grand Challenge, stay tuned at [official website](https://internrobotics.shlab.org.cn/challenge/2025/). - [2025/07] InternNav v0.1.1 released. diff --git a/assets/3d_printing_files/downwards_slope.3mf b/assets/3d_printing_files/downwards_slope.3mf deleted file mode 100644 index 05cf34d0d82e0558b7d466bfb714e8beb2895524..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 201196 zcmeFZ2T)Yowl2K7$&!(rB}mRFNX{Tg5J3mje1)07mW7j#huS5 zqS_jzPtsCjCfeU)YkwSiq0e(iSqbx<-E5!41Ml*_UN{Q7H)T8Y zlzX%BLs`Q48sYX;Cy@$+6~@djAUeSRf(|Xnq3`Hz=V0e;C+6;A=j~`CA?ogWH`>TRoBSN}IdGW#s*Z*+ z06@Ve6d)!9Z#(`&hX6qN_Ns=ei9h7mM0p8|DFXpYflN(JnlnD$XuXJs{NXuvMCiFO z@B1o^hRohc*Bn@X&c3|jwUF_#(a>TyuFGwsGE=d&$P85X@A+|0-A4uo?@o`zooE6o zp-9*v#u0ORba=zS@Cg8rt$JdRWG5*Ka0);?UKw8BxNF#Y>P-*W0$!G<%env}RzD2h 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