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import utils
import hydra
import torch
import einops
import numpy as np
from workspaces import base
from utils import get_split_idx
from accelerate import Accelerator
accelerator = Accelerator()
OBS_ELEMENT_INDICES = {
"joint_pos": np.arange(0, 7),
"eef": np.arange(7, 14),
"gripper_qpos": np.arange(14, 16),
"object_states": np.arange(16, 128),
}
def calc_state_dist(a, b):
result = {}
for k, v in OBS_ELEMENT_INDICES.items():
idx = torch.Tensor(v).long()
result[k] = ((a[idx] - b[idx]) ** 2).mean()
result["total"] = ((a - b) ** 2).mean()
return result
def mean_dicts(dicts):
result = {}
for k in dicts[0].keys():
result[k] = np.mean([x[k] for x in dicts])
return result
class LiberoGoalWorkspace(base.Workspace):
def __init__(self, cfg, work_dir):
super().__init__(cfg, work_dir)
def _report_result_upon_completion(self, goal_idx=None):
return 0
def run_offline_eval(self):
train_idx, val_idx = get_split_idx(
len(self.dataset),
self.cfg.seed,
train_fraction=self.cfg.train_fraction,
)
embeddings = utils.inference.embed_trajectory_dataset(
self.encoder, self.dataset
)
embeddings = [
einops.rearrange(x, "T V E -> T (V E)") for x in embeddings
] # flatten views
if self.accelerator.is_main_process:
states = []
actions = []
for i in range(len(self.dataset)):
T = self.dataset.get_seq_length(i)
states.append(self.dataset.states[i, :T])
actions.append(self.dataset.actions[i, :T])
embd_state_linear_probe_results = (
utils.inference.linear_probe_with_trajectory_split(
embeddings,
states,
train_idx,
val_idx,
)
)
# add prefix to keys
embd_state_linear_probe_results = {
f"embd_state_{k}": v for k, v in embd_state_linear_probe_results.items()
}
embd_action_linear_probe_results = (
utils.inference.linear_probe_with_trajectory_split(
embeddings,
actions,
train_idx,
val_idx,
)
)
embd_action_linear_probe_results = {
f"embd_action_{k}": v
for k, v in embd_action_linear_probe_results.items()
}
state_dists = []
N = 200
rng = np.random.default_rng(self.cfg.seed)
for i in range(N):
query_traj_idx = rng.choice(len(self.dataset))
query_frame_idx = rng.choice(
range(10, self.dataset.get_seq_length(query_traj_idx))
)
query_embedding = embeddings[query_traj_idx][query_frame_idx]
query_frame_state = self.dataset.states[query_traj_idx, query_frame_idx]
pool_embeddings = torch.cat(
[x for i, x in enumerate(embeddings) if i != query_traj_idx]
)
pool_states = torch.cat(
[x for i, x in enumerate(states) if i != query_traj_idx]
)
_, nn_idx = utils.inference.batch_knn(
query_embedding.unsqueeze(0),
pool_embeddings,
metric=utils.inference.mse,
k=1,
batch_size=1,
)
closest_frame_state = pool_states[nn_idx[0, 0]]
state_dist = calc_state_dist(query_frame_state, closest_frame_state)
state_dists.append(state_dist)
mean_state_dist = mean_dicts(state_dists)
return {
**embd_state_linear_probe_results,
**embd_action_linear_probe_results,
**mean_state_dist,
}
else:
return None
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