diff --git a/README.md b/README.md index 2c2f25e..57b6da9 100644 --- a/README.md +++ b/README.md @@ -30,6 +30,7 @@ Given any model that produces latent action representations (LAMs or visual enco --- ## News +- **[2026-06-22]** We release new action mode called delta-action where difference between first and last action is calculated in a physical sense along with new evaluation metrics which also have physical meaning. - **[2026-06-10]** LARYBench now supports V-JEPA 2.1 and simplify the way to add new custom models. We welcome all kinds of models evaluating on LARYBench and contributing to our leaderboards! - **[2026-05-01]** LARYBench now supports SigLIP2, relative-action regression evaluation (`target = action_tgt - action_src`), and a fast dataset integrity checker. Happy Labor Day! - **[2026-04-27]** We have open-sourced all datasets on [HuggingFace](https://huggingface.co/datasets/meituan-longcat/LARYBench). @@ -223,11 +224,13 @@ python -m lary.cli extract \ # Step 2: train the regression probe. # Uses CUDA_VISIBLE_DEVICES; one visible GPU means single-card training, multiple visible GPUs use accelerate. # Keep --dataset and --stride consistent with the extracted CSV names. +# Available --action-mode includes absolute | relative | delta CUDA_VISIBLE_DEVICES=0,1,2,3,4,5,6,7 python -m lary.cli regress \ --model dinov2 \ --dataset calvin \ --stride 5 \ --model-type mlp + --action-mode absolute ``` The extraction step writes latent-action `.npz` files under `$LARY_LA_DIR` and CSVs such as `data/train_la_calvin_5_dinov2.csv`. Regression logs and metrics are written under `$LARY_LOG_DIR/regression/`. @@ -272,13 +275,14 @@ python -m lary.cli classify \ Classification outputs are written under `$LARY_LOG_DIR/classification/`. -## Relative-Action Regression +## Relative/Delta-Action Regression -Absolute regression predicts the absolute action chunk. Relative regression predicts relative motion between two frames. Generate non-overwriting relative-action files first: +Absolute regression predicts the absolute action chunk. Relative regression predicts relative motion between two frames. Delta regression predicts the difference between the 1st and last frames in physics sense. Generate non-overwriting relative-action/delta-action files first designated by action-mode options: ```bash python utils/prepare_relative_actions.py \ --dataset calvin \ + --cation-mode [relative | delta ] \ --input-root $DATA_DIR \ --output-root $DATA_DIR \ --csv data/train_la_calvin_5_dinov2.csv \ diff --git a/classification/evals/video_classification_frozen/eval.py b/classification/evals/video_classification_frozen/eval.py index d46a26c..29db258 100644 --- a/classification/evals/video_classification_frozen/eval.py +++ b/classification/evals/video_classification_frozen/eval.py @@ -27,6 +27,7 @@ import wandb from utils.model_utils import print_model_params + # --- Configuration & Setup --- logging.basicConfig() logger = logging.getLogger() diff --git a/data/train_la_calvin_5_dinov2.csv b/data/train_la_calvin_5_dinov2.csv deleted file mode 100644 index c730699..0000000 --- a/data/train_la_calvin_5_dinov2.csv +++ /dev/null @@ -1,197953 +0,0 @@ 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-CALVIN,robot,1st,ep_17860/frame_1071223.png,ep_17860/state_1071223.npy,ep_17860/frame_1071228.png,ep_17860/state_1071228.npy,ep_17860/action_1071223to1071227.npy,latent_action_00197923.npz -CALVIN,robot,1st,ep_17860/frame_1071228.png,ep_17860/state_1071228.npy,ep_17860/frame_1071233.png,ep_17860/state_1071233.npy,ep_17860/action_1071228to1071232.npy,latent_action_00197924.npz -CALVIN,robot,1st,ep_17860/frame_1071233.png,ep_17860/state_1071233.npy,ep_17860/frame_1071238.png,ep_17860/state_1071238.npy,ep_17860/action_1071233to1071237.npy,latent_action_00197925.npz -CALVIN,robot,1st,ep_17860/frame_1071238.png,ep_17860/state_1071238.npy,ep_17860/frame_1071243.png,ep_17860/state_1071243.npy,ep_17860/action_1071238to1071242.npy,latent_action_00197926.npz -CALVIN,robot,1st,ep_17860/frame_1071243.png,ep_17860/state_1071243.npy,ep_17860/frame_1071248.png,ep_17860/state_1071248.npy,ep_17860/action_1071243to1071247.npy,latent_action_00197927.npz -CALVIN,robot,1st,ep_17868/frame_1071613.png,ep_17868/state_1071613.npy,ep_17868/frame_1071618.png,ep_17868/state_1071618.npy,ep_17868/action_1071613to1071617.npy,latent_action_00197928.npz -CALVIN,robot,1st,ep_17868/frame_1071618.png,ep_17868/state_1071618.npy,ep_17868/frame_1071623.png,ep_17868/state_1071623.npy,ep_17868/action_1071618to1071622.npy,latent_action_00197929.npz -CALVIN,robot,1st,ep_17868/frame_1071623.png,ep_17868/state_1071623.npy,ep_17868/frame_1071628.png,ep_17868/state_1071628.npy,ep_17868/action_1071623to1071627.npy,latent_action_00197930.npz -CALVIN,robot,1st,ep_17868/frame_1071628.png,ep_17868/state_1071628.npy,ep_17868/frame_1071633.png,ep_17868/state_1071633.npy,ep_17868/action_1071628to1071632.npy,latent_action_00197931.npz -CALVIN,robot,1st,ep_17868/frame_1071633.png,ep_17868/state_1071633.npy,ep_17868/frame_1071638.png,ep_17868/state_1071638.npy,ep_17868/action_1071633to1071637.npy,latent_action_00197932.npz -CALVIN,robot,1st,ep_17868/frame_1071638.png,ep_17868/state_1071638.npy,ep_17868/frame_1071643.png,ep_17868/state_1071643.npy,ep_17868/action_1071638to1071642.npy,latent_action_00197933.npz -CALVIN,robot,1st,ep_17868/frame_1071643.png,ep_17868/state_1071643.npy,ep_17868/frame_1071648.png,ep_17868/state_1071648.npy,ep_17868/action_1071643to1071647.npy,latent_action_00197934.npz -CALVIN,robot,1st,ep_17868/frame_1071648.png,ep_17868/state_1071648.npy,ep_17868/frame_1071653.png,ep_17868/state_1071653.npy,ep_17868/action_1071648to1071652.npy,latent_action_00197935.npz -CALVIN,robot,1st,ep_17868/frame_1071653.png,ep_17868/state_1071653.npy,ep_17868/frame_1071658.png,ep_17868/state_1071658.npy,ep_17868/action_1071653to1071657.npy,latent_action_00197936.npz -CALVIN,robot,1st,ep_17868/frame_1071658.png,ep_17868/state_1071658.npy,ep_17868/frame_1071663.png,ep_17868/state_1071663.npy,ep_17868/action_1071658to1071662.npy,latent_action_00197937.npz -CALVIN,robot,1st,ep_17868/frame_1071663.png,ep_17868/state_1071663.npy,ep_17868/frame_1071668.png,ep_17868/state_1071668.npy,ep_17868/action_1071663to1071667.npy,latent_action_00197938.npz -CALVIN,robot,1st,ep_17868/frame_1071668.png,ep_17868/state_1071668.npy,ep_17868/frame_1071673.png,ep_17868/state_1071673.npy,ep_17868/action_1071668to1071672.npy,latent_action_00197939.npz -CALVIN,robot,1st,ep_17869/frame_1071678.png,ep_17869/state_1071678.npy,ep_17869/frame_1071683.png,ep_17869/state_1071683.npy,ep_17869/action_1071678to1071682.npy,latent_action_00197940.npz -CALVIN,robot,1st,ep_17869/frame_1071683.png,ep_17869/state_1071683.npy,ep_17869/frame_1071688.png,ep_17869/state_1071688.npy,ep_17869/action_1071683to1071687.npy,latent_action_00197941.npz -CALVIN,robot,1st,ep_17869/frame_1071688.png,ep_17869/state_1071688.npy,ep_17869/frame_1071693.png,ep_17869/state_1071693.npy,ep_17869/action_1071688to1071692.npy,latent_action_00197942.npz -CALVIN,robot,1st,ep_17869/frame_1071693.png,ep_17869/state_1071693.npy,ep_17869/frame_1071698.png,ep_17869/state_1071698.npy,ep_17869/action_1071693to1071697.npy,latent_action_00197943.npz -CALVIN,robot,1st,ep_17869/frame_1071698.png,ep_17869/state_1071698.npy,ep_17869/frame_1071703.png,ep_17869/state_1071703.npy,ep_17869/action_1071698to1071702.npy,latent_action_00197944.npz -CALVIN,robot,1st,ep_17869/frame_1071703.png,ep_17869/state_1071703.npy,ep_17869/frame_1071708.png,ep_17869/state_1071708.npy,ep_17869/action_1071703to1071707.npy,latent_action_00197945.npz -CALVIN,robot,1st,ep_17869/frame_1071708.png,ep_17869/state_1071708.npy,ep_17869/frame_1071713.png,ep_17869/state_1071713.npy,ep_17869/action_1071708to1071712.npy,latent_action_00197946.npz -CALVIN,robot,1st,ep_17869/frame_1071713.png,ep_17869/state_1071713.npy,ep_17869/frame_1071718.png,ep_17869/state_1071718.npy,ep_17869/action_1071713to1071717.npy,latent_action_00197947.npz -CALVIN,robot,1st,ep_17869/frame_1071718.png,ep_17869/state_1071718.npy,ep_17869/frame_1071723.png,ep_17869/state_1071723.npy,ep_17869/action_1071718to1071722.npy,latent_action_00197948.npz -CALVIN,robot,1st,ep_17869/frame_1071723.png,ep_17869/state_1071723.npy,ep_17869/frame_1071728.png,ep_17869/state_1071728.npy,ep_17869/action_1071723to1071727.npy,latent_action_00197949.npz -CALVIN,robot,1st,ep_17869/frame_1071728.png,ep_17869/state_1071728.npy,ep_17869/frame_1071733.png,ep_17869/state_1071733.npy,ep_17869/action_1071728to1071732.npy,latent_action_00197950.npz -CALVIN,robot,1st,ep_17869/frame_1071733.png,ep_17869/state_1071733.npy,ep_17869/frame_1071738.png,ep_17869/state_1071738.npy,ep_17869/action_1071733to1071737.npy,latent_action_00197951.npz diff --git a/data/val_la_calvin_5_dinov2.csv b/data/val_la_calvin_5_dinov2.csv deleted file mode 100644 index f8820f1..0000000 --- a/data/val_la_calvin_5_dinov2.csv +++ /dev/null @@ -1,11970 +0,0 @@ -dataset,type,perspective,src_img,src_state,tgt_img,tgt_state,action,la_path -CALVIN,robot,1st,ep_1/frame_000065.png,ep_1/state_000065.npy,ep_1/frame_000070.png,ep_1/state_000070.npy,ep_1/action_000065to000069.npy,latent_action_00000000.npz -CALVIN,robot,1st,ep_1/frame_000070.png,ep_1/state_000070.npy,ep_1/frame_000075.png,ep_1/state_000075.npy,ep_1/action_000070to000074.npy,latent_action_00000001.npz -CALVIN,robot,1st,ep_1/frame_000075.png,ep_1/state_000075.npy,ep_1/frame_000080.png,ep_1/state_000080.npy,ep_1/action_000075to000079.npy,latent_action_00000002.npz -CALVIN,robot,1st,ep_1/frame_000080.png,ep_1/state_000080.npy,ep_1/frame_000085.png,ep_1/state_000085.npy,ep_1/action_000080to000084.npy,latent_action_00000003.npz -CALVIN,robot,1st,ep_1/frame_000085.png,ep_1/state_000085.npy,ep_1/frame_000090.png,ep_1/state_000090.npy,ep_1/action_000085to000089.npy,latent_action_00000004.npz -CALVIN,robot,1st,ep_1/frame_000090.png,ep_1/state_000090.npy,ep_1/frame_000095.png,ep_1/state_000095.npy,ep_1/action_000090to000094.npy,latent_action_00000005.npz -CALVIN,robot,1st,ep_1/frame_000095.png,ep_1/state_000095.npy,ep_1/frame_000100.png,ep_1/state_000100.npy,ep_1/action_000095to000099.npy,latent_action_00000006.npz -CALVIN,robot,1st,ep_1/frame_000100.png,ep_1/state_000100.npy,ep_1/frame_000105.png,ep_1/state_000105.npy,ep_1/action_000100to000104.npy,latent_action_00000007.npz -CALVIN,robot,1st,ep_1/frame_000105.png,ep_1/state_000105.npy,ep_1/frame_000110.png,ep_1/state_000110.npy,ep_1/action_000105to000109.npy,latent_action_00000008.npz -CALVIN,robot,1st,ep_1/frame_000110.png,ep_1/state_000110.npy,ep_1/frame_000115.png,ep_1/state_000115.npy,ep_1/action_000110to000114.npy,latent_action_00000009.npz -CALVIN,robot,1st,ep_1/frame_000115.png,ep_1/state_000115.npy,ep_1/frame_000120.png,ep_1/state_000120.npy,ep_1/action_000115to000119.npy,latent_action_00000010.npz -CALVIN,robot,1st,ep_1/frame_000120.png,ep_1/state_000120.npy,ep_1/frame_000125.png,ep_1/state_000125.npy,ep_1/action_000120to000124.npy,latent_action_00000011.npz -CALVIN,robot,1st,ep_15/frame_000975.png,ep_15/state_000975.npy,ep_15/frame_000980.png,ep_15/state_000980.npy,ep_15/action_000975to000979.npy,latent_action_00000012.npz -CALVIN,robot,1st,ep_15/frame_000980.png,ep_15/state_000980.npy,ep_15/frame_000985.png,ep_15/state_000985.npy,ep_15/action_000980to000984.npy,latent_action_00000013.npz -CALVIN,robot,1st,ep_15/frame_000985.png,ep_15/state_000985.npy,ep_15/frame_000990.png,ep_15/state_000990.npy,ep_15/action_000985to000989.npy,latent_action_00000014.npz -CALVIN,robot,1st,ep_15/frame_000990.png,ep_15/state_000990.npy,ep_15/frame_000995.png,ep_15/state_000995.npy,ep_15/action_000990to000994.npy,latent_action_00000015.npz -CALVIN,robot,1st,ep_15/frame_000995.png,ep_15/state_000995.npy,ep_15/frame_001000.png,ep_15/state_001000.npy,ep_15/action_000995to000999.npy,latent_action_00000016.npz -CALVIN,robot,1st,ep_15/frame_001000.png,ep_15/state_001000.npy,ep_15/frame_001005.png,ep_15/state_001005.npy,ep_15/action_001000to001004.npy,latent_action_00000017.npz -CALVIN,robot,1st,ep_15/frame_001005.png,ep_15/state_001005.npy,ep_15/frame_001010.png,ep_15/state_001010.npy,ep_15/action_001005to001009.npy,latent_action_00000018.npz -CALVIN,robot,1st,ep_15/frame_001010.png,ep_15/state_001010.npy,ep_15/frame_001015.png,ep_15/state_001015.npy,ep_15/action_001010to001014.npy,latent_action_00000019.npz -CALVIN,robot,1st,ep_15/frame_001015.png,ep_15/state_001015.npy,ep_15/frame_001020.png,ep_15/state_001020.npy,ep_15/action_001015to001019.npy,latent_action_00000020.npz -CALVIN,robot,1st,ep_15/frame_001020.png,ep_15/state_001020.npy,ep_15/frame_001025.png,ep_15/state_001025.npy,ep_15/action_001020to001024.npy,latent_action_00000021.npz -CALVIN,robot,1st,ep_15/frame_001025.png,ep_15/state_001025.npy,ep_15/frame_001030.png,ep_15/state_001030.npy,ep_15/action_001025to001029.npy,latent_action_00000022.npz -CALVIN,robot,1st,ep_15/frame_001030.png,ep_15/state_001030.npy,ep_15/frame_001035.png,ep_15/state_001035.npy,ep_15/action_001030to001034.npy,latent_action_00000023.npz -CALVIN,robot,1st,ep_2/frame_000130.png,ep_2/state_000130.npy,ep_2/frame_000135.png,ep_2/state_000135.npy,ep_2/action_000130to000134.npy,latent_action_00000024.npz -CALVIN,robot,1st,ep_2/frame_000135.png,ep_2/state_000135.npy,ep_2/frame_000140.png,ep_2/state_000140.npy,ep_2/action_000135to000139.npy,latent_action_00000025.npz -CALVIN,robot,1st,ep_2/frame_000140.png,ep_2/state_000140.npy,ep_2/frame_000145.png,ep_2/state_000145.npy,ep_2/action_000140to000144.npy,latent_action_00000026.npz 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-CALVIN,robot,1st,ep_1080/frame_064521.png,ep_1080/state_064521.npy,ep_1080/frame_064526.png,ep_1080/state_064526.npy,ep_1080/action_064521to064525.npy,latent_action_00011907.npz -CALVIN,robot,1st,ep_1080/frame_064526.png,ep_1080/state_064526.npy,ep_1080/frame_064531.png,ep_1080/state_064531.npy,ep_1080/action_064526to064530.npy,latent_action_00011908.npz -CALVIN,robot,1st,ep_1086/frame_064757.png,ep_1086/state_064757.npy,ep_1086/frame_064762.png,ep_1086/state_064762.npy,ep_1086/action_064757to064761.npy,latent_action_00011909.npz -CALVIN,robot,1st,ep_1086/frame_064762.png,ep_1086/state_064762.npy,ep_1086/frame_064767.png,ep_1086/state_064767.npy,ep_1086/action_064762to064766.npy,latent_action_00011910.npz -CALVIN,robot,1st,ep_1086/frame_064767.png,ep_1086/state_064767.npy,ep_1086/frame_064772.png,ep_1086/state_064772.npy,ep_1086/action_064767to064771.npy,latent_action_00011911.npz 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-CALVIN,robot,1st,ep_1078/frame_064426.png,ep_1078/state_064426.npy,ep_1078/frame_064431.png,ep_1078/state_064431.npy,ep_1078/action_064426to064430.npy,latent_action_00011922.npz -CALVIN,robot,1st,ep_1078/frame_064431.png,ep_1078/state_064431.npy,ep_1078/frame_064436.png,ep_1078/state_064436.npy,ep_1078/action_064431to064435.npy,latent_action_00011923.npz -CALVIN,robot,1st,ep_1078/frame_064436.png,ep_1078/state_064436.npy,ep_1078/frame_064441.png,ep_1078/state_064441.npy,ep_1078/action_064436to064440.npy,latent_action_00011924.npz -CALVIN,robot,1st,ep_1084/frame_064677.png,ep_1084/state_064677.npy,ep_1084/frame_064682.png,ep_1084/state_064682.npy,ep_1084/action_064677to064681.npy,latent_action_00011925.npz -CALVIN,robot,1st,ep_1084/frame_064682.png,ep_1084/state_064682.npy,ep_1084/frame_064687.png,ep_1084/state_064687.npy,ep_1084/action_064682to064686.npy,latent_action_00011926.npz -CALVIN,robot,1st,ep_1084/frame_064687.png,ep_1084/state_064687.npy,ep_1084/frame_064692.png,ep_1084/state_064692.npy,ep_1084/action_064687to064691.npy,latent_action_00011927.npz -CALVIN,robot,1st,ep_1084/frame_064692.png,ep_1084/state_064692.npy,ep_1084/frame_064697.png,ep_1084/state_064697.npy,ep_1084/action_064692to064696.npy,latent_action_00011928.npz -CALVIN,robot,1st,ep_1084/frame_064697.png,ep_1084/state_064697.npy,ep_1084/frame_064702.png,ep_1084/state_064702.npy,ep_1084/action_064697to064701.npy,latent_action_00011929.npz -CALVIN,robot,1st,ep_1084/frame_064702.png,ep_1084/state_064702.npy,ep_1084/frame_064707.png,ep_1084/state_064707.npy,ep_1084/action_064702to064706.npy,latent_action_00011930.npz -CALVIN,robot,1st,ep_1084/frame_064707.png,ep_1084/state_064707.npy,ep_1084/frame_064712.png,ep_1084/state_064712.npy,ep_1084/action_064707to064711.npy,latent_action_00011931.npz -CALVIN,robot,1st,ep_1084/frame_064712.png,ep_1084/state_064712.npy,ep_1084/frame_064717.png,ep_1084/state_064717.npy,ep_1084/action_064712to064716.npy,latent_action_00011932.npz -CALVIN,robot,1st,ep_1079/frame_064442.png,ep_1079/state_064442.npy,ep_1079/frame_064447.png,ep_1079/state_064447.npy,ep_1079/action_064442to064446.npy,latent_action_00011933.npz -CALVIN,robot,1st,ep_1079/frame_064447.png,ep_1079/state_064447.npy,ep_1079/frame_064452.png,ep_1079/state_064452.npy,ep_1079/action_064447to064451.npy,latent_action_00011934.npz -CALVIN,robot,1st,ep_1079/frame_064452.png,ep_1079/state_064452.npy,ep_1079/frame_064457.png,ep_1079/state_064457.npy,ep_1079/action_064452to064456.npy,latent_action_00011935.npz -CALVIN,robot,1st,ep_1079/frame_064457.png,ep_1079/state_064457.npy,ep_1079/frame_064462.png,ep_1079/state_064462.npy,ep_1079/action_064457to064461.npy,latent_action_00011936.npz -CALVIN,robot,1st,ep_1079/frame_064462.png,ep_1079/state_064462.npy,ep_1079/frame_064467.png,ep_1079/state_064467.npy,ep_1079/action_064462to064466.npy,latent_action_00011937.npz -CALVIN,robot,1st,ep_1079/frame_064467.png,ep_1079/state_064467.npy,ep_1079/frame_064472.png,ep_1079/state_064472.npy,ep_1079/action_064467to064471.npy,latent_action_00011938.npz -CALVIN,robot,1st,ep_1079/frame_064472.png,ep_1079/state_064472.npy,ep_1079/frame_064477.png,ep_1079/state_064477.npy,ep_1079/action_064472to064476.npy,latent_action_00011939.npz -CALVIN,robot,1st,ep_1079/frame_064477.png,ep_1079/state_064477.npy,ep_1079/frame_064482.png,ep_1079/state_064482.npy,ep_1079/action_064477to064481.npy,latent_action_00011940.npz -CALVIN,robot,1st,ep_1079/frame_064482.png,ep_1079/state_064482.npy,ep_1079/frame_064487.png,ep_1079/state_064487.npy,ep_1079/action_064482to064486.npy,latent_action_00011941.npz -CALVIN,robot,1st,ep_1081/frame_064535.png,ep_1081/state_064535.npy,ep_1081/frame_064540.png,ep_1081/state_064540.npy,ep_1081/action_064535to064539.npy,latent_action_00011942.npz -CALVIN,robot,1st,ep_1081/frame_064540.png,ep_1081/state_064540.npy,ep_1081/frame_064545.png,ep_1081/state_064545.npy,ep_1081/action_064540to064544.npy,latent_action_00011943.npz -CALVIN,robot,1st,ep_1081/frame_064545.png,ep_1081/state_064545.npy,ep_1081/frame_064550.png,ep_1081/state_064550.npy,ep_1081/action_064545to064549.npy,latent_action_00011944.npz -CALVIN,robot,1st,ep_1081/frame_064550.png,ep_1081/state_064550.npy,ep_1081/frame_064555.png,ep_1081/state_064555.npy,ep_1081/action_064550to064554.npy,latent_action_00011945.npz -CALVIN,robot,1st,ep_1081/frame_064555.png,ep_1081/state_064555.npy,ep_1081/frame_064560.png,ep_1081/state_064560.npy,ep_1081/action_064555to064559.npy,latent_action_00011946.npz -CALVIN,robot,1st,ep_1081/frame_064560.png,ep_1081/state_064560.npy,ep_1081/frame_064565.png,ep_1081/state_064565.npy,ep_1081/action_064560to064564.npy,latent_action_00011947.npz -CALVIN,robot,1st,ep_1081/frame_064565.png,ep_1081/state_064565.npy,ep_1081/frame_064570.png,ep_1081/state_064570.npy,ep_1081/action_064565to064569.npy,latent_action_00011948.npz -CALVIN,robot,1st,ep_1081/frame_064570.png,ep_1081/state_064570.npy,ep_1081/frame_064575.png,ep_1081/state_064575.npy,ep_1081/action_064570to064574.npy,latent_action_00011949.npz -CALVIN,robot,1st,ep_1081/frame_064575.png,ep_1081/state_064575.npy,ep_1081/frame_064580.png,ep_1081/state_064580.npy,ep_1081/action_064575to064579.npy,latent_action_00011950.npz -CALVIN,robot,1st,ep_1082/frame_064583.png,ep_1082/state_064583.npy,ep_1082/frame_064588.png,ep_1082/state_064588.npy,ep_1082/action_064583to064587.npy,latent_action_00011951.npz -CALVIN,robot,1st,ep_1082/frame_064588.png,ep_1082/state_064588.npy,ep_1082/frame_064593.png,ep_1082/state_064593.npy,ep_1082/action_064588to064592.npy,latent_action_00011952.npz -CALVIN,robot,1st,ep_1082/frame_064593.png,ep_1082/state_064593.npy,ep_1082/frame_064598.png,ep_1082/state_064598.npy,ep_1082/action_064593to064597.npy,latent_action_00011953.npz -CALVIN,robot,1st,ep_1082/frame_064598.png,ep_1082/state_064598.npy,ep_1082/frame_064603.png,ep_1082/state_064603.npy,ep_1082/action_064598to064602.npy,latent_action_00011954.npz -CALVIN,robot,1st,ep_1082/frame_064603.png,ep_1082/state_064603.npy,ep_1082/frame_064608.png,ep_1082/state_064608.npy,ep_1082/action_064603to064607.npy,latent_action_00011955.npz -CALVIN,robot,1st,ep_1082/frame_064608.png,ep_1082/state_064608.npy,ep_1082/frame_064613.png,ep_1082/state_064613.npy,ep_1082/action_064608to064612.npy,latent_action_00011956.npz -CALVIN,robot,1st,ep_1082/frame_064613.png,ep_1082/state_064613.npy,ep_1082/frame_064618.png,ep_1082/state_064618.npy,ep_1082/action_064613to064617.npy,latent_action_00011957.npz -CALVIN,robot,1st,ep_1082/frame_064618.png,ep_1082/state_064618.npy,ep_1082/frame_064623.png,ep_1082/state_064623.npy,ep_1082/action_064618to064622.npy,latent_action_00011958.npz -CALVIN,robot,1st,ep_1082/frame_064623.png,ep_1082/state_064623.npy,ep_1082/frame_064628.png,ep_1082/state_064628.npy,ep_1082/action_064623to064627.npy,latent_action_00011959.npz -CALVIN,robot,1st,ep_1083/frame_064629.png,ep_1083/state_064629.npy,ep_1083/frame_064634.png,ep_1083/state_064634.npy,ep_1083/action_064629to064633.npy,latent_action_00011960.npz -CALVIN,robot,1st,ep_1083/frame_064634.png,ep_1083/state_064634.npy,ep_1083/frame_064639.png,ep_1083/state_064639.npy,ep_1083/action_064634to064638.npy,latent_action_00011961.npz -CALVIN,robot,1st,ep_1083/frame_064639.png,ep_1083/state_064639.npy,ep_1083/frame_064644.png,ep_1083/state_064644.npy,ep_1083/action_064639to064643.npy,latent_action_00011962.npz -CALVIN,robot,1st,ep_1083/frame_064644.png,ep_1083/state_064644.npy,ep_1083/frame_064649.png,ep_1083/state_064649.npy,ep_1083/action_064644to064648.npy,latent_action_00011963.npz -CALVIN,robot,1st,ep_1083/frame_064649.png,ep_1083/state_064649.npy,ep_1083/frame_064654.png,ep_1083/state_064654.npy,ep_1083/action_064649to064653.npy,latent_action_00011964.npz -CALVIN,robot,1st,ep_1083/frame_064654.png,ep_1083/state_064654.npy,ep_1083/frame_064659.png,ep_1083/state_064659.npy,ep_1083/action_064654to064658.npy,latent_action_00011965.npz -CALVIN,robot,1st,ep_1083/frame_064659.png,ep_1083/state_064659.npy,ep_1083/frame_064664.png,ep_1083/state_064664.npy,ep_1083/action_064659to064663.npy,latent_action_00011966.npz -CALVIN,robot,1st,ep_1083/frame_064664.png,ep_1083/state_064664.npy,ep_1083/frame_064669.png,ep_1083/state_064669.npy,ep_1083/action_064664to064668.npy,latent_action_00011967.npz -CALVIN,robot,1st,ep_1083/frame_064669.png,ep_1083/state_064669.npy,ep_1083/frame_064674.png,ep_1083/state_064674.npy,ep_1083/action_064669to064673.npy,latent_action_00011968.npz diff --git a/get_latent_action/models/base.py b/get_latent_action/models/base.py index 116e7f9..d3ea546 100644 --- a/get_latent_action/models/base.py +++ b/get_latent_action/models/base.py @@ -8,7 +8,8 @@ import torchvision.transforms.functional as F from registry import MODEL -from get_latent_action.utils import print_model_params, freeze_backbone, load_video_frames, read_video_tensor +from get_latent_action.utils import freeze_backbone, load_video_frames, read_video_tensor +from utils.model_utils import print_model_params model_dir = os.environ.get("MODEL_DIR") diff --git a/get_latent_action/utils.py b/get_latent_action/utils.py index a294262..0d9245b 100644 --- a/get_latent_action/utils.py +++ b/get_latent_action/utils.py @@ -3,71 +3,6 @@ import numpy as np from torchvision.io import read_video import torchvision.transforms.functional as F -from prettytable import PrettyTable - - -def format_params(num_params): - """Convert parameter count to human-readable format (M or B)""" - if num_params >= 1e9: - return f"{num_params / 1e9:.2f}B" - elif num_params >= 1e6: - return f"{num_params / 1e6:.2f}M" - else: - return f"{int(num_params)}" - - -def print_model_params(model): - """Print model parameters in table format - - Args: - model: Model instance, automatically iterates through first-level submodules - """ - total_params = sum(p.numel() for p in model.parameters()) - total_trainable = sum(p.numel() for p in model.parameters() if p.requires_grad) - total_frozen = total_params - total_trainable - trainable_ratio = (total_trainable / total_params * 100) if total_params > 0 else 0 - - table = PrettyTable() - table.title = "Model Parameters Summary" - table.field_names = ["Component", "Total", "Trainable", "Frozen", "Trainable %"] - - for name, module in model.named_children(): - module_params = sum(p.numel() for p in module.parameters()) - module_trainable = sum( - p.numel() for p in module.parameters() if p.requires_grad - ) - module_frozen = module_params - module_trainable - module_ratio = ( - (module_trainable / module_params * 100) if module_params > 0 else 0 - ) - - table.add_row( - [ - name, - format_params(module_params), - format_params(module_trainable), - format_params(module_frozen), - f"{module_ratio:.2f}%", - ] - ) - - table.add_row( - [ - "Total", - format_params(total_params), - format_params(total_trainable), - format_params(total_frozen), - f"{trainable_ratio:.2f}%", - ] - ) - - table.align["Component"] = "l" - table.align["Total"] = "r" - table.align["Trainable"] = "r" - table.align["Frozen"] = "r" - table.align["Trainable %"] = "r" - - print(f"\n{table}\n") def disabled_train(self, mode=True): diff --git a/lary/cli.py b/lary/cli.py index 54ef906..725f6a3 100644 --- a/lary/cli.py +++ b/lary/cli.py @@ -100,8 +100,8 @@ def create_parser() -> argparse.ArgumentParser: help="Stride for frame sampling") regress_parser.add_argument("--model-type", type=str, required=True, help="Model type for regression") - regress_parser.add_argument("--action-mode", type=str, default="absolute", choices=["absolute", "relative"], - help="Regression target: full absolute action chunk or relative last-minus-first action.") + regress_parser.add_argument("--action-mode", type=str, default="absolute", choices=["absolute", "relative", "delta"], + help="Regression target: full absolute action chunk; relative last-minus-first action; delta last-minus-first action with physical meaning") regress_parser.add_argument("--action-data-root", type=str, default=None, help="Optional LARYBench data root. Relative mode reads regression_relative// under this root.") regress_parser.add_argument("--batch-size", type=int, default=256) @@ -344,9 +344,9 @@ def find_free_port(start=11325, end=11425): # Build devices list devices = [f"cuda:{g}" for g in args.gpus.split(",")] - project_root = Path(__file__).resolve().parents[1] - train_csv = str(project_root / "data" / f"train_la_{args.dataset}_{args.model}.csv") - val_csv = str(project_root / "data" / f"val_la_{args.dataset}_{args.model}.csv") + project_root = str(config.paths.project_root) + train_csv = str(config.paths.project_root / "data" / f"train_la_{args.dataset}_{args.model}.csv") + val_csv = str(config.paths.project_root / "data" / f"val_la_{args.dataset}_{args.model}.csv") if not args.skip_preflight: preflight_latent_actions([train_csv, val_csv]) @@ -386,13 +386,22 @@ def find_free_port(start=11325, end=11425): } -def _relative_stats_path(action_data_root: str, dataset: str) -> str: +def _action_stats_path(action_data_root: str, dataset: str, action_mode: str) -> str: root = os.path.normpath(action_data_root) - if os.path.basename(root) != "regression_relative": - root = os.path.join(root, "regression_relative") + leaf = "regression_delta" if action_mode == "delta" else "regression_relative" + if os.path.basename(root) != leaf: + root = os.path.join(root, leaf) dataset_key = dataset.lower() stats_dir = os.path.join(root, _REGRESSION_DATA_SUBDIR.get(dataset_key, dataset_key)) - return os.path.join(stats_dir, f"relative_action_stats_{dataset_key}.json") + return os.path.join(stats_dir, f"{action_mode}_action_stats_{dataset_key}.json") + + +def _relative_stats_path(action_data_root: str, dataset: str) -> str: + return _action_stats_path(action_data_root, dataset, "relative") + + +def _delta_stats_path(action_data_root: str, dataset: str) -> str: + return _action_stats_path(action_data_root, dataset, "delta") def run_regress(args) -> None: @@ -438,6 +447,10 @@ def run_regress(args) -> None: action_root = args.action_data_root or os.environ.get("DATA_DIR") if action_root: global_stats_json = _relative_stats_path(action_root, dataset) + if not global_stats_json and args.action_mode == "delta": + action_root = args.action_data_root or os.environ.get("DATA_DIR") + if action_root: + global_stats_json = _delta_stats_path(action_root, dataset) if not global_stats_json and dataset in _STATS_JSON_NAME: data_root = get_data_root(dataset, 'seen_train') if data_root: diff --git a/regression/action_chunk.py b/regression/action_chunk.py new file mode 100644 index 0000000..dfbc045 --- /dev/null +++ b/regression/action_chunk.py @@ -0,0 +1,188 @@ +from dataclasses import dataclass +from typing import Sequence + +import numpy as np +from numpy.typing import NDArray + +from regression.pose import EndPose + + +@dataclass(frozen=True) +class ArmSpec: + position: slice + rotation: slice + rotation_type: str + rotation_order: str | None = None + + +DATASET_ARM_SPECS = { + "calvin": [ArmSpec(slice(0, 3), slice(3, 6), "euler", "xyz")], + "vlabench": [ArmSpec(slice(0, 3), slice(3, 6), "euler", "xyz")], + "vlabench_15": [ArmSpec(slice(0, 3), slice(3, 6), "euler", "xyz")], + "vlabench_30": [ArmSpec(slice(0, 3), slice(3, 6), "euler", "xyz")], + "agibotbeta": [ + ArmSpec(slice(0, 3), slice(6, 10), "quat", "xyzw"), + ArmSpec(slice(3, 6), slice(10, 14), "quat", "xyzw"), + ], + "robocoin": [ + ArmSpec(slice(0, 3), slice(3, 6), "euler", "xyz"), + ArmSpec(slice(6, 9), slice(9, 12), "euler", "xyz"), + ], +} + + +DATASET_GRIPPER_SPECS = { + "calvin": [slice(6, 7)], + "vlabench": [slice(6, 7)], + "vlabench_15": [slice(6, 7)], + "vlabench_30": [slice(6, 7)], + "agibotbeta": [slice(14, 16)], +} + + +class EndActionChunk: + """A chunk of absolute end-effector actions with SE(3) relative conversion.""" + + def __init__( + self, + actions: NDArray[np.float64], + arm_specs: Sequence[ArmSpec], + action_dim: int, + ) -> None: + actions = np.asarray(actions, dtype=np.float64) + if actions.ndim != 2: + raise ValueError(f"actions must have shape (T, D), got {actions.shape}.") + if actions.shape[1] != action_dim: + raise ValueError(f"actions width must be action_dim={action_dim}, got {actions.shape[1]}.") + self.actions = actions + self.arm_specs = list(arm_specs) + self.action_dim = action_dim + self.gripper_specs: list[slice] = [] + + @classmethod + def from_array(cls, array: NDArray[np.float64], dataset_name: str, action_dim: int) -> "EndActionChunk": + flat = np.asarray(array, dtype=np.float64).reshape(-1) + if flat.size % action_dim != 0: + raise ValueError(f"Action size {flat.size} is not divisible by action_dim={action_dim}.") + dataset_key = dataset_name.lower() + if dataset_key not in DATASET_ARM_SPECS: + raise ValueError(f"Delta action mode does not know the pose layout for dataset: {dataset_name}.") + chunk = cls(flat.reshape(-1, action_dim), DATASET_ARM_SPECS[dataset_key], action_dim) + chunk.gripper_specs = DATASET_GRIPPER_SPECS.get(dataset_key, []) + return chunk + + @property + def poses(self) -> list[list[EndPose]]: + return [ + [ + EndPose( + translation=row[spec.position], + rotation=row[spec.rotation], + rotation_type=spec.rotation_type, + rotation_order=spec.rotation_order, + degrees=False, + ) + for spec in self.arm_specs + ] + for row in self.actions + ] + + @property + def relative_action(self) -> NDArray[np.float32]: + """Return a full chunk where each end-effector pose is relative to the first timestep.""" + reference_poses = self.poses[0] + relative = self.actions.copy() + + for t, current_poses in enumerate(self.poses): + for spec, current_pose, reference_pose in zip(self.arm_specs, current_poses, reference_poses): + relative_pose = current_pose - reference_pose + relative[t, spec.position] = relative_pose.translation + relative[t, spec.rotation] = self._rotation_vector(relative_pose, spec) + + for gripper_slice in self.gripper_specs: + relative[:, gripper_slice] = self.actions[:, gripper_slice] - self.actions[0, gripper_slice] + + return relative.astype(np.float32, copy=False).reshape(-1) + + @staticmethod + def _rotation_vector(pose: EndPose, spec: ArmSpec) -> NDArray[np.float64]: + if spec.rotation_type == "quat": + return pose.to_vector("quat", spec.rotation_order)[3:] + if spec.rotation_type == "euler": + return pose.to_vector("euler", spec.rotation_order)[3:] + if spec.rotation_type == "rotvec": + return pose.rotvec + raise ValueError(f"Unsupported output rotation type: {spec.rotation_type}.") + + +def to_delta_action_target(action: NDArray[np.float64], dataset_name: str, action_dim: int) -> NDArray[np.float32]: + return EndActionChunk.from_array(action, dataset_name, action_dim).relative_action.reshape(-1, action_dim)[-1] + + +def delta_to_absolute_last_action( + first_action: NDArray[np.float64], + delta_action: NDArray[np.float64], + dataset_name: str, + action_dim: int, +) -> NDArray[np.float32]: + """Compose a predicted final relative end-pose with the first absolute action.""" + first = np.asarray(first_action, dtype=np.float64).reshape(action_dim) + delta = np.asarray(delta_action, dtype=np.float64).reshape(action_dim) + dataset_key = dataset_name.lower() + if dataset_key not in DATASET_ARM_SPECS: + raise ValueError(f"Delta action mode does not know the pose layout for dataset: {dataset_name}.") + + absolute = first.copy() + for spec in DATASET_ARM_SPECS[dataset_key]: + reference_pose = EndPose( + translation=first[spec.position], + rotation=first[spec.rotation], + rotation_type=spec.rotation_type, + rotation_order=spec.rotation_order, + degrees=False, + ) + relative_pose = EndPose( + translation=delta[spec.position], + rotation=delta[spec.rotation], + rotation_type=spec.rotation_type, + rotation_order=spec.rotation_order, + degrees=False, + ) + absolute_pose = EndPose(homogeneous=reference_pose.homogeneous @ relative_pose.homogeneous) + absolute[spec.position] = absolute_pose.translation + absolute[spec.rotation] = EndActionChunk._rotation_vector(absolute_pose, spec) + + for gripper_slice in DATASET_GRIPPER_SPECS.get(dataset_key, []): + absolute[gripper_slice] = first[gripper_slice] + delta[gripper_slice] + + return absolute.astype(np.float32, copy=False) + + +def canonicalize_absolute_action( + action: NDArray[np.float64], + dataset_name: str, + action_dim: int, + reference_action: NDArray[np.float64] | None = None, +) -> NDArray[np.float32]: + """Return an absolute action vector in the same pose representation used by delta composition.""" + absolute = np.asarray(action, dtype=np.float64).reshape(action_dim).copy() + dataset_key = dataset_name.lower() + if dataset_key not in DATASET_ARM_SPECS: + return absolute.astype(np.float32, copy=False) + + reference = None if reference_action is None else np.asarray(reference_action, dtype=np.float64).reshape(action_dim) + for spec in DATASET_ARM_SPECS[dataset_key]: + pose = EndPose( + translation=absolute[spec.position], + rotation=absolute[spec.rotation], + rotation_type=spec.rotation_type, + rotation_order=spec.rotation_order, + degrees=False, + ) + absolute[spec.position] = pose.translation + absolute[spec.rotation] = EndActionChunk._rotation_vector(pose, spec) + if spec.rotation_type == "quat" and reference is not None: + if np.dot(absolute[spec.rotation], reference[spec.rotation]) < 0: + absolute[spec.rotation] *= -1.0 + + return absolute.astype(np.float32, copy=False) diff --git a/regression/main.py b/regression/main.py index 9ece94c..bea8800 100644 --- a/regression/main.py +++ b/regression/main.py @@ -14,13 +14,21 @@ import json from diffusers.optimization import get_cosine_schedule_with_warmup, get_constant_schedule_with_warmup from regression.dit import DiT -from get_latent_action.utils import print_model_params +from regression.action_chunk import ( + DATASET_ARM_SPECS, + DATASET_GRIPPER_SPECS, + canonicalize_absolute_action, + delta_to_absolute_last_action, + to_delta_action_target, +) +from utils.model_utils import print_model_params from diffusers import DDPMScheduler import matplotlib.pyplot as plt import matplotlib.image as mpimg from pathlib import Path import random + # ========================================== # 0. Dimension Labels Configuration # ========================================== @@ -67,14 +75,18 @@ def get_group_indices(dataset_name): return GROUP_INDICES.get(dataset_name, None) def get_action_steps(chunk_size, action_mode): - return 1 if action_mode == 'relative' else chunk_size + return 1 if action_mode in {'relative', 'delta'} else chunk_size def get_regression_root(action_data_root, action_mode='absolute'): root = action_data_root or os.environ.get('DATA_DIR') if not root: return None root = os.path.normpath(root) - expected_leaf = 'regression_relative' if action_mode == 'relative' else 'regression' + mode_leaf = { + 'relative': 'regression_relative', + 'delta': 'regression_delta', + } + expected_leaf = mode_leaf.get(action_mode, 'regression') if os.path.basename(root) == expected_leaf: return root return os.path.join(root, expected_leaf) @@ -83,23 +95,29 @@ def get_regression_data_subdir(dataset_name): dataset_key = dataset_name.lower() return REGRESSION_DATA_SUBDIR.get(dataset_key, dataset_key) -def get_relative_stats_path(action_data_root, dataset_name): - regression_root = get_regression_root(action_data_root, 'relative') +def get_action_stats_path(action_data_root, dataset_name, action_mode): + regression_root = get_regression_root(action_data_root, action_mode) if not regression_root: return None subdir = get_regression_data_subdir(dataset_name) stats_dir = os.path.join(regression_root, subdir) dataset_key = dataset_name.lower() - dataset_specific = os.path.join(stats_dir, f"relative_action_stats_{dataset_key}.json") - default = os.path.join(stats_dir, "relative_action_stats.json") + dataset_specific = os.path.join(stats_dir, f"{action_mode}_action_stats_{dataset_key}.json") + default = os.path.join(stats_dir, f"{action_mode}_action_stats.json") if os.path.exists(dataset_specific): return dataset_specific if os.path.exists(default): return default return dataset_specific +def get_relative_stats_path(action_data_root, dataset_name): + return get_action_stats_path(action_data_root, dataset_name, 'relative') + +def get_delta_stats_path(action_data_root, dataset_name): + return get_action_stats_path(action_data_root, dataset_name, 'delta') + def get_action_data_root(action_data_root, dataset_name, split, action_mode='absolute'): - if action_mode != 'relative' and not action_data_root: + if action_mode not in {'relative', 'delta'} and not action_data_root: return None regression_root = get_regression_root(action_data_root, action_mode) if not regression_root: @@ -133,8 +151,44 @@ def to_action_target(action, action_dim, action_mode): raise ValueError(f"Action size {flat.size} is not divisible by action_dim={action_dim}.") seq = flat.reshape(-1, action_dim) return (seq[-1] - seq[0]).astype(np.float32, copy=False) + if action_mode == 'delta': + raise ValueError("delta action mode requires dataset_name. Use to_dataset_action_target().") return flat.astype(np.float32, copy=False) +def to_dataset_action_target(action, dataset_name, action_dim, action_mode): + if action_mode == 'delta': + flat = np.asarray(action).reshape(-1) + if flat.size == action_dim: + return flat.astype(np.float32, copy=False) + return to_delta_action_target(action, dataset_name, action_dim) + return to_action_target(action, action_dim, action_mode) + +def get_first_last_actions(action, action_dim): + seq = np.asarray(action, dtype=np.float32).reshape(-1, action_dim) + return seq[0], seq[-1] + +def load_delta_stats(stats_json, dataset_name): + if not stats_json or not os.path.exists(stats_json): + return None, None, {} + with open(stats_json, 'r') as f: + stats = json.load(f) + if stats.get('action_mode') not in {None, 'delta'}: + return None, None, {} + if dataset_name in ['agibotbeta', 'robocoin'] and 'robot_stats' in stats: + robot_stats = {} + for robot_type, item in stats['robot_stats'].items(): + mean = np.array(item['mean'], dtype=np.float64) + std = np.array(item['std'], dtype=np.float64) + std = np.where(std < 1e-6, 1.0, std) + robot_stats[str(robot_type)] = (mean, std) + return None, None, robot_stats + if 'mean' not in stats or 'std' not in stats: + return None, None, {} + mean = np.array(stats['mean'], dtype=np.float64) + std = np.array(stats['std'], dtype=np.float64) + std = np.where(std < 1e-6, 1.0, std) + return mean, std, {} + # ========================================== # Utils # ========================================== @@ -219,6 +273,126 @@ def compute_group_mse(pred, target, action_steps, dataset_name): result[f"mse_{group_name}"] = squared_diff[:, :, indices].mean().item() return result + +def denormalize_action(action, a_mean, a_std): + return (action * a_std) + a_mean + +def _euler_xyz_to_matrix(euler): + x, y, z = euler.unbind(dim=-1) + cx, sx = torch.cos(x), torch.sin(x) + cy, sy = torch.cos(y), torch.sin(y) + cz, sz = torch.cos(z), torch.sin(z) + + row0 = torch.stack([cz * cy, cz * sy * sx - sz * cx, cz * sy * cx + sz * sx], dim=-1) + row1 = torch.stack([sz * cy, sz * sy * sx + cz * cx, sz * sy * cx - cz * sx], dim=-1) + row2 = torch.stack([-sy, cy * sx, cy * cx], dim=-1) + return torch.stack([row0, row1, row2], dim=-2) + +def _quat_xyzw_to_matrix(quat): + quat = quat / quat.norm(dim=-1, keepdim=True).clamp_min(1e-8) + x, y, z, w = quat.unbind(dim=-1) + two = 2.0 + + row0 = torch.stack([1 - two * (y * y + z * z), two * (x * y - z * w), two * (x * z + y * w)], dim=-1) + row1 = torch.stack([two * (x * y + z * w), 1 - two * (x * x + z * z), two * (y * z - x * w)], dim=-1) + row2 = torch.stack([two * (x * z - y * w), two * (y * z + x * w), 1 - two * (x * x + y * y)], dim=-1) + return torch.stack([row0, row1, row2], dim=-2) + +def _rotation_to_matrix(rotation, spec): + if spec.rotation_type == "quat": + return _quat_xyzw_to_matrix(rotation) + if spec.rotation_type == "euler": + if (spec.rotation_order or "xyz").lower() != "xyz": + raise ValueError(f"Unsupported euler rotation order for metrics: {spec.rotation_order}") + return _euler_xyz_to_matrix(rotation) + if spec.rotation_type == "rotvec": + angle = rotation.norm(dim=-1, keepdim=True) + axis = rotation / angle.clamp_min(1e-8) + x, y, z = axis.unbind(dim=-1) + zero = torch.zeros_like(x) + skew = torch.stack( + [ + torch.stack([zero, -z, y], dim=-1), + torch.stack([z, zero, -x], dim=-1), + torch.stack([-y, x, zero], dim=-1), + ], + dim=-2, + ) + eye = torch.eye(3, device=rotation.device, dtype=rotation.dtype).expand(rotation.shape[:-1] + (3, 3)) + sin = torch.sin(angle)[..., None] + cos = torch.cos(angle)[..., None] + return eye + sin * skew + (1 - cos) * torch.matmul(skew, skew) + raise ValueError(f"Unsupported rotation type for metrics: {spec.rotation_type}") + +def _rotation_geodesic_error(pred_rotation, target_rotation, spec): + pred_matrix = _rotation_to_matrix(pred_rotation, spec) + target_matrix = _rotation_to_matrix(target_rotation, spec) + rel = torch.matmul(pred_matrix.transpose(-1, -2), target_matrix) + trace = rel.diagonal(offset=0, dim1=-1, dim2=-2).sum(dim=-1) + cos_theta = ((trace - 1.0) * 0.5).clamp(-1.0, 1.0) + return torch.acos(cos_theta) + +def compute_physical_action_metrics(pred, target, action_steps, dataset_name): + """Compute physically meaningful metrics on denormalized action vectors. + + Position is squared Euclidean translation error, orientation is squared SO(3) + geodesic angle in rad^2, and gripper is scalar/vector MSE. + """ + dataset_key = dataset_name.lower() + arm_specs = DATASET_ARM_SPECS.get(dataset_key) + if not arm_specs: + return {} + + action_dim = get_action_dim(dataset_name) + pred = pred.view(-1, action_steps, action_dim) + target = target.view(-1, action_steps, action_dim) + metrics = {} + + pos_errors, rot_errors = [], [] + for arm_idx, spec in enumerate(arm_specs): + pos_se = (pred[:, :, spec.position] - target[:, :, spec.position]).pow(2).sum(dim=-1) + rot_angle = _rotation_geodesic_error(pred[:, :, spec.rotation], target[:, :, spec.rotation], spec) + pos_errors.append(pos_se) + rot_errors.append(rot_angle.pow(2)) + suffix = "" if len(arm_specs) == 1 else f"_arm{arm_idx}" + metrics[f"phys/mse_position{suffix}"] = pos_se.mean().item() + metrics[f"phys/mse_orientation_rad2{suffix}"] = rot_angle.pow(2).mean().item() + metrics[f"phys/mae_orientation_rad{suffix}"] = rot_angle.mean().item() + metrics[f"phys/mae_orientation_deg{suffix}"] = torch.rad2deg(rot_angle).mean().item() + + position_mse = torch.stack(pos_errors, dim=0).mean() + orientation_mse = torch.stack(rot_errors, dim=0).mean() + metrics["phys/mse_position"] = position_mse.item() + metrics["phys/mse_orientation_rad2"] = orientation_mse.item() + + total_terms = [position_mse, orientation_mse] + gripper_slices = DATASET_GRIPPER_SPECS.get(dataset_key, []) + if gripper_slices: + gripper_se = torch.cat([(pred[:, :, s] - target[:, :, s]).pow(2).reshape(-1) for s in gripper_slices]) + gripper_mse = gripper_se.mean() + metrics["phys/mse_gripper"] = gripper_mse.item() + total_terms.append(gripper_mse) + + metrics["phys/se3_mse"] = (position_mse + orientation_mse).item() + metrics["phys/balanced_mse"] = torch.stack(total_terms).mean().item() + return metrics + +def compute_eval_metrics(pred_norm, target_norm, pred_phys, target_phys, action_steps, dim_labels, dataset_name): + metrics = {"norm/mse": F.mse_loss(pred_norm, target_norm).item()} + for k, v in compute_per_dim_mse(pred_norm, target_norm, action_steps, dim_labels).items(): + metrics[f"norm/mse_{k}"] = v + for k, v in compute_group_mse(pred_norm, target_norm, action_steps, dataset_name).items(): + metrics[f"norm/{k}"] = v + + metrics["phys/vector_mse"] = F.mse_loss(pred_phys, target_phys).item() + for k, v in compute_per_dim_mse(pred_phys, target_phys, action_steps, dim_labels).items(): + metrics[f"phys/vector_mse_{k}"] = v + for k, v in compute_group_mse(pred_phys, target_phys, action_steps, dataset_name).items(): + metrics[f"phys/vector_{k}"] = v + metrics.update(compute_physical_action_metrics(pred_phys, target_phys, action_steps, dataset_name)) + return metrics + + # ========================================== # 1. Dataset Definition # ========================================== @@ -233,6 +407,9 @@ def __init__( action_std=None, action_mode='absolute', action_data_root=None, + delta_robot_stats=None, + normalize_actions=True, + return_absolute_actions=True, ): self.data = pd.read_csv(csv_path) self.dataset_name = dataset_name @@ -241,13 +418,14 @@ def __init__( self.action_mode = action_mode self.action_steps = get_action_steps(chunk_size, action_mode) self.action_data_root = action_data_root + self.normalize_actions = normalize_actions + self.return_absolute_actions = return_absolute_actions # Detect split from CSV path or filename self.split = self._detect_split(csv_path) # Resolve relative paths self._resolve_paths() - # Calvin 的全局统计信息 self.action_mean = action_mean self.action_std = action_std @@ -265,6 +443,8 @@ def __init__( s_arr = np.array(stats['std']) s_arr = np.where(s_arr < 1e-6, 1.0, s_arr) self.robot_stats[r_type] = (m_arr, s_arr) + if delta_robot_stats: + self.robot_stats.update(delta_robot_stats) if 'la_path' not in self.data.columns: raise ValueError("CSV must contain 'la_path' for latent actions.") @@ -324,6 +504,12 @@ def _resolve_paths(self): self.data[col] = None continue if col == 'action' and action_root: + absolute_root = os.path.join(data_root, subdir) if (data_root and subdir) else data_root + if absolute_root: + self.data['_absolute_action'] = self.data[col].apply( + lambda x: resolve_under_root(data_root, subdir, x) + if pd.notna(x) and not os.path.isabs(str(x)) else x + ) self.data[col] = self.data[col].apply( lambda x: resolve_under_root(action_root, subdir, x) ) @@ -363,7 +549,8 @@ def __getitem__(self, idx): la_data = np.load(row['la_path']) latent_action = la_data['tokens'].flatten() if 'tokens' in la_data else la_data.flatten() - action = to_action_target(np.load(row['action']), self.action_dim, self.action_mode) + action_raw = np.load(row['action']) + action = to_dataset_action_target(action_raw, self.dataset_name, self.action_dim, self.action_mode) # === 核心修改：根据 robot_type 获取全局 Mean 和 Std === if self.dataset_name in ['agibotbeta', 'robocoin']: @@ -375,24 +562,38 @@ def __getitem__(self, idx): a_mean, a_std = np.zeros(self.action_dim), np.ones(self.action_dim) else: a_mean, a_std = self.action_mean, self.action_std + if a_mean is None or a_std is None: + raise ValueError(f"Missing action normalization statistics for action_mode={self.action_mode}.") # 扩展到输出时间步数：absolute 预测完整 chunk；relative 只预测 last - first。 a_mean_tiled = np.tile(a_mean, self.action_steps) a_std_tiled = np.tile(a_std, self.action_steps) - action_norm = (action - a_mean_tiled) / a_std_tiled + if self.normalize_actions: + action_target = (action - a_mean_tiled) / a_std_tiled + else: + action_target = action.astype(np.float32, copy=False) src_img_path = str(row['src_img']) if 'src_img' in row else "" tgt_img_path = str(row['tgt_img']) if 'tgt_img' in row else "" - return ( + item = ( torch.from_numpy(latent_action).float(), - torch.from_numpy(action_norm).float(), + torch.from_numpy(action_target).float(), src_img_path, tgt_img_path, torch.from_numpy(a_mean_tiled).float(), torch.from_numpy(a_std_tiled).float() ) + if self.return_absolute_actions: + absolute_action_raw = np.load(row['_absolute_action']) if self.action_mode == 'delta' else action_raw + + first_action, last_action = get_first_last_actions(absolute_action_raw, self.action_dim) + item += ( + torch.from_numpy(first_action).float(), + torch.from_numpy(last_action).float(), + ) + return item # ========================================== # 2. Model Definitions (保持不变) @@ -470,7 +671,19 @@ def train_one_epoch(model, loader, optimizer, scheduler, accelerator, epoch, mod latent_action, action = batch[0], batch[1] optimizer.zero_grad() - if model_type == 'dit': loss = unwrapped_model.loss(latent_action, action) + if model_type == 'dit': + batch_size = latent_action.shape[0] + gt_action_seq = action.view(batch_size, unwrapped_model.action_steps, unwrapped_model.action_dim) + timesteps = torch.randint( + 0, + unwrapped_model.noise_scheduler.config.num_train_timesteps, + (batch_size,), + device=latent_action.device, + ).long() + noise = torch.randn_like(gt_action_seq) + noisy_actions = unwrapped_model.noise_scheduler.add_noise(gt_action_seq, noise, timesteps) + noise_pred = model(latent_action, noisy_actions, timesteps) + loss = F.huber_loss(noise_pred, noise, delta=1.0) else: loss = unwrapped_model.loss(model(latent_action), action) accelerator.backward(loss) @@ -501,9 +714,53 @@ def train_one_epoch(model, loader, optimizer, scheduler, accelerator, epoch, mod return total_loss / total_samples -def evaluate(model, loader, accelerator, model_type, epoch, save_dir, action_steps, dim_labels, dataset_name, prefix="val"): +def delta_batch_to_absolute_last(pred_delta, first_action, dataset_name, action_dim, target_action=None): + pred_np = pred_delta.detach().cpu().numpy() + first_np = first_action.detach().cpu().numpy() + target_np = target_action.detach().cpu().numpy() if target_action is not None else None + absolute = [ + canonicalize_absolute_action( + delta_to_absolute_last_action(first_np[i], pred_np[i], dataset_name, action_dim), + dataset_name, + action_dim, + reference_action=target_np[i] if target_np is not None else None, + ) + for i in range(pred_np.shape[0]) + ] + return torch.from_numpy(np.stack(absolute)).to(device=pred_delta.device, dtype=pred_delta.dtype) + +def prepare_metric_actions(pred_action, action, a_mean, a_std, first_action, last_action, args): + action_mode = args.action_mode + dataset_name = args.dataset + if action_mode != 'delta': + return pred_action, action + if first_action is None or last_action is None: + raise ValueError("Delta evaluation requires first and last absolute actions in the batch.") + pred_delta = (pred_action * a_std) + a_mean + action_dim = get_action_dim(dataset_name) + pred_last_abs = delta_batch_to_absolute_last(pred_delta, first_action, dataset_name, action_dim, target_action=last_action) + target_last_abs = torch.from_numpy( + np.stack( + [ + canonicalize_absolute_action( + last_action[i].detach().cpu().numpy(), + dataset_name, + action_dim, + reference_action=last_action[i].detach().cpu().numpy(), + ) + for i in range(last_action.shape[0]) + ] + ) + ).to(device=last_action.device, dtype=last_action.dtype) + return pred_last_abs, target_last_abs + +def evaluate(model, loader, accelerator, args, epoch, action_steps, dim_labels, prefix="val"): + model_type = args.model_type + save_dir = args.save_dir + model.eval() - all_preds, all_targets = [], [] + all_norm_preds, all_norm_targets = [], [] + all_phys_preds, all_phys_targets = [], [] total_huber_loss, total_samples = 0.0, 0 unwrapped_model = accelerator.unwrap_model(model) @@ -511,6 +768,8 @@ def evaluate(model, loader, accelerator, model_type, epoch, save_dir, action_ste for step, batch in enumerate(tqdm(loader, desc=f"Evaluating {prefix}", disable=not accelerator.is_local_main_process)): latent_action, action = batch[0], batch[1] src_paths, tgt_paths, a_mean, a_std = batch[2], batch[3], batch[4], batch[5] + first_action = batch[6] if len(batch) > 6 else None + last_action = batch[7] if len(batch) > 7 else None if model_type == 'dit': h_loss = unwrapped_model.loss(latent_action, action) @@ -523,8 +782,25 @@ def evaluate(model, loader, accelerator, model_type, epoch, save_dir, action_ste total_huber_loss += accelerator.gather(h_loss).mean().item() total_samples += 1 - all_preds.append(accelerator.gather_for_metrics(pred_action)) - all_targets.append(accelerator.gather_for_metrics(action)) + norm_pred, norm_target = pred_action, action + if args.action_mode == 'delta': + phys_pred, phys_target = prepare_metric_actions( + pred_action, + action, + a_mean, + a_std, + first_action, + last_action, + args + ) + else: + phys_pred = denormalize_action(pred_action, a_mean, a_std) + phys_target = denormalize_action(action, a_mean, a_std) + + all_norm_preds.append(accelerator.gather_for_metrics(norm_pred)) + all_norm_targets.append(accelerator.gather_for_metrics(norm_target)) + all_phys_preds.append(accelerator.gather_for_metrics(phys_pred)) + all_phys_targets.append(accelerator.gather_for_metrics(phys_target)) if step == 0 and accelerator.is_local_main_process: current_batch_size = pred_action.shape[0] @@ -544,15 +820,26 @@ def evaluate(model, loader, accelerator, model_type, epoch, save_dir, action_ste sample_idx=i # 使用循环索引 i 作为 sample_idx，确保保存的文件名不冲突 ) - all_preds = torch.cat(all_preds, dim=0) - all_targets = torch.cat(all_targets, dim=0) + all_norm_preds = torch.cat(all_norm_preds, dim=0) + all_norm_targets = torch.cat(all_norm_targets, dim=0) + all_phys_preds = torch.cat(all_phys_preds, dim=0) + all_phys_targets = torch.cat(all_phys_targets, dim=0) val_loss_final = total_huber_loss / total_samples - val_total_mse = F.mse_loss(all_preds, all_targets).item() - val_dim_metrics = compute_per_dim_mse(all_preds, all_targets, action_steps, dim_labels) - val_group_metrics = compute_group_mse(all_preds, all_targets, action_steps, dataset_name) - - return val_loss_final, val_total_mse, val_dim_metrics, val_group_metrics + metric_action_steps = 1 if args.action_mode == 'delta' else action_steps + metric_dim_labels = dim_labels if args.action_mode != 'delta' else dim_labels[: get_action_dim(args.dataset)] + metrics = compute_eval_metrics( + all_norm_preds, + all_norm_targets, + all_phys_preds, + all_phys_targets, + metric_action_steps, + metric_dim_labels, + args.dataset, + ) + val_total_mse = metrics["norm/mse"] + + return val_loss_final, val_total_mse, metrics # ========================================== # 4. Main Execution @@ -585,16 +872,19 @@ def main(): parser.add_argument('--stride', type=int, default=5) parser.add_argument('--dataset', type=str, default='calvin') parser.add_argument('--model_type', type=str, default='mlp', choices=['mlp', 'dit']) - parser.add_argument('--action_mode', type=str, default='absolute', choices=['absolute', 'relative'], - help="absolute predicts the full action chunk; relative predicts last action minus first action.") + parser.add_argument('--action_mode', type=str, default='absolute', choices=['absolute', 'relative', 'delta'], + help="absolute predicts the full action chunk; relative predicts last action minus first action; " + "delta predicts the last end-pose action relative to the first pose.") parser.add_argument('--action_data_root', type=str, default=None, - help="Optional LARYBench data root. Relative mode reads regression/_relative/ under this root.") + help="Optional LARYBench data root. Relative/delta modes read precomputed action files under this root.") parser.add_argument('--dit_hidden_size', type=int, default=512) parser.add_argument('--dit_depth', type=int, default=6) args = parser.parse_args() global_stats_json = args.global_stats_json if args.action_mode == 'relative' and global_stats_json is None: global_stats_json = get_relative_stats_path(args.action_data_root, args.dataset) + if args.action_mode == 'delta' and global_stats_json is None: + global_stats_json = get_delta_stats_path(args.action_data_root, args.dataset) args.global_stats_json = global_stats_json make_reproducible(args.seed) @@ -616,7 +906,24 @@ def main(): # Calvin 的全局统计信息 action_mean, action_std = None, None - if args.action_mode == 'relative' and global_stats_json and os.path.exists(global_stats_json): + delta_robot_stats = None + if args.action_mode == 'delta': + action_mean, action_std, delta_robot_stats = load_delta_stats(global_stats_json, args.dataset) + if args.dataset not in ['agibotbeta', 'robocoin'] and (action_mean is None or action_std is None): + raise FileNotFoundError( + "Delta action mode requires precomputed delta-action statistics. " + f"Expected: {global_stats_json}. Generate them with utils/prepare_relative_actions.py " + "--action-mode delta or pass --global_stats_json explicitly." + ) + if args.dataset in ['agibotbeta', 'robocoin'] and not delta_robot_stats: + raise FileNotFoundError( + "Delta action mode requires precomputed per-robot delta-action statistics. " + f"Expected: {global_stats_json}. Generate them with utils/prepare_relative_actions.py " + "--action-mode delta or pass --global_stats_json explicitly." + ) + if accelerator.is_local_main_process: + print("Delta action mode reads precomputed relative end-pose targets for training.") + elif args.action_mode == 'relative' and global_stats_json and os.path.exists(global_stats_json): with open(global_stats_json, 'r') as f: stats = json.load(f) if args.dataset in ['agibotbeta', 'robocoin']: @@ -641,11 +948,11 @@ def main(): train_dataset = ActionExpertDataset( args.train_csv, args.dataset, args.stride, global_stats_json, action_mean, action_std, - action_mode=args.action_mode, action_data_root=args.action_data_root + action_mode=args.action_mode, action_data_root=args.action_data_root, delta_robot_stats=delta_robot_stats ) val_dataset = ActionExpertDataset( args.val_csv, args.dataset, args.stride, global_stats_json, action_mean, action_std, - action_mode=args.action_mode, action_data_root=args.action_data_root + action_mode=args.action_mode, action_data_root=args.action_data_root, delta_robot_stats=delta_robot_stats ) train_loader = DataLoader(train_dataset, batch_size=args.batch_size, shuffle=True, num_workers=args.num_workers, pin_memory=True) @@ -655,7 +962,7 @@ def main(): if args.val_unseen_csv and os.path.exists(args.val_unseen_csv): val_unseen_dataset = ActionExpertDataset( args.val_unseen_csv, args.dataset, args.stride, global_stats_json, action_mean, action_std, - action_mode=args.action_mode, action_data_root=args.action_data_root + action_mode=args.action_mode, action_data_root=args.action_data_root, delta_robot_stats=delta_robot_stats ) val_unseen_loader = DataLoader(val_unseen_dataset, batch_size=args.batch_size, shuffle=False, num_workers=args.num_workers, pin_memory=True) @@ -677,65 +984,83 @@ def main(): model, optimizer, train_loader, val_loader, scheduler = accelerator.prepare(model, optimizer, train_loader, val_loader, scheduler) if val_unseen_loader: val_unseen_loader = accelerator.prepare(val_unseen_loader) - best_val_mse = float('inf') + best_val_loss = float('inf') best_result = {} # 用于记录最佳结果 for epoch in range(1, args.epochs + 1): train_loss = train_one_epoch(model, train_loader, optimizer, scheduler, accelerator, epoch, args.model_type, action_steps, dim_labels) - val_loss, val_mse, val_dim_metrics, val_group_metrics = evaluate(model, val_loader, accelerator, args.model_type, epoch, args.save_dir, action_steps, dim_labels, args.dataset, prefix="val_seen") + val_loss, val_mse, val_metrics = evaluate(model, val_loader, accelerator, args, epoch, action_steps, dim_labels, prefix="val_seen") if val_unseen_loader: - u_val_loss, u_val_mse, u_val_dim_metrics, u_val_group_metrics = evaluate(model, val_unseen_loader, accelerator, args.model_type, epoch, args.save_dir, action_steps, dim_labels, args.dataset, prefix="val_unseen") - + u_val_loss, u_val_mse, u_val_metrics = evaluate(model, val_unseen_loader, accelerator, args, epoch, action_steps, dim_labels, prefix="val_unseen") + if accelerator.is_local_main_process: - log_dict = {"loss/train": train_loss, "loss/val_seen": val_loss, "val_seen/mse": val_mse, "epoch": epoch, "lr": optimizer.param_groups[0]['lr']} - for k, v in val_dim_metrics.items(): log_dict[f"val_seen/mse_{k}"] = v - for k, v in val_group_metrics.items(): log_dict[f"val_seen/{k}"] = v - + log_dict = { + "loss/train": train_loss, + "loss/val_seen": val_loss, + "val_seen/mse": val_mse, + "val_seen/checkpoint_metric": val_loss, + "epoch": epoch, + "lr": optimizer.param_groups[0]['lr'], + } + for k, v in val_metrics.items(): + log_dict[f"val_seen/{k}"] = v + if val_unseen_loader: log_dict.update({"loss/val_unseen": u_val_loss, "val_unseen/mse": u_val_mse}) - for k, v in u_val_dim_metrics.items(): log_dict[f"val_unseen/mse_{k}"] = v - for k, v in u_val_group_metrics.items(): log_dict[f"val_unseen/{k}"] = v + for k, v in u_val_metrics.items(): + log_dict[f"val_unseen/{k}"] = v wandb.log(log_dict) - print(f"Epoch {epoch} | Train Loss: {train_loss:.4f} | Val Seen Loss: {val_loss:.4f} | Val Seen MSE: {val_mse:.4f}") - if val_group_metrics: - group_str = " ".join([f"{k}: {v:.4f}" for k, v in val_group_metrics.items()]) - print(f" | Val Seen Groups -> {group_str}") + print( + f"Epoch {epoch} | Train Loss: {train_loss:.4f} | Val Seen Loss: {val_loss:.4f} " + f"| Norm MSE: {val_metrics.get('norm/mse', val_mse):.4f} " + f"| Phys vector MSE: {val_metrics.get('phys/vector_mse', float('nan')):.4f}" + f"| Phys Balanced MSE: {val_metrics.get('phys/balanced_mse', float('nan')):.4f}" + ) + phys_keys = ["phys/mse_position", "phys/mse_orientation_rad2", "phys/mse_gripper", "phys/se3_mse"] + phys_str = " ".join([f"{k}: {val_metrics[k]:.4f}" for k in phys_keys if k in val_metrics]) + if phys_str: + print(f" | Val Seen Physical -> {phys_str}") if val_unseen_loader: - print(f" | Val Unseen Loss: {u_val_loss:.4f} | Val Unseen MSE: {u_val_mse:.4f}") - if u_val_group_metrics: - u_group_str = " ".join([f"{k}: {v:.4f}" for k, v in u_val_group_metrics.items()]) - print(f" | Val Unseen Groups -> {u_group_str}") + print( + f" | Val Unseen Loss: {u_val_loss:.4f} " + f"| Norm MSE: {u_val_metrics.get('norm/mse', u_val_mse):.4f} " + f"| Phys Balanced MSE: {u_val_metrics.get('phys/balanced_mse', float('nan')):.4f}" + ) + u_phys_str = " ".join([f"{k}: {u_val_metrics[k]:.4f}" for k in phys_keys if k in u_val_metrics]) + if u_phys_str: + print(f" | Val Unseen Physical -> {u_phys_str}") - if val_mse < best_val_mse: - best_val_mse = val_mse + if val_loss < best_val_loss: + best_val_loss = val_loss torch.save({'model_state_dict': accelerator.unwrap_model(model).state_dict()}, os.path.join(args.save_dir, "best_model.pth")) # 记录最佳结果 best_result = { "best_epoch": epoch, + "checkpoint_metric": val_loss, "train_loss": train_loss, "val_seen_loss": val_loss, "val_seen_mse": val_mse, } - for k, v in val_dim_metrics.items(): - best_result[f"val_seen_mse_{k}"] = v - for k, v in val_group_metrics.items(): - best_result[f"val_seen_{k}"] = v + for k, v in val_metrics.items(): + best_result[f"val_seen_{k.replace('/', '_')}"] = v if val_unseen_loader: best_result["val_unseen_loss"] = u_val_loss best_result["val_unseen_mse"] = u_val_mse - for k, v in u_val_dim_metrics.items(): - best_result[f"val_unseen_mse_{k}"] = v - for k, v in u_val_group_metrics.items(): - best_result[f"val_unseen_{k}"] = v + for k, v in u_val_metrics.items(): + best_result[f"val_unseen_{k.replace('/', '_')}"] = v # 训练结束后将最佳结果保存到 CSV if accelerator.is_local_main_process and best_result: best_csv_path = os.path.join(args.save_dir, "best_result.csv") pd.DataFrame([best_result]).to_csv(best_csv_path, index=False) print(f"\nBest result saved to {best_csv_path}") - print(f"Best Epoch: {best_result['best_epoch']} | Val Seen Loss: {best_result['val_seen_loss']:.4f} | Val Seen MSE: {best_result['val_seen_mse']:.4f}") + print( + f"Best Epoch: {best_result['best_epoch']} | " + f"Best Val Seen Loss: {best_result['val_seen_loss']:.4f} | " + f"Val Seen MSE: {best_result['val_seen_mse']:.4f}" + ) if accelerator.is_local_main_process: wandb.finish() diff --git a/regression/pose.py b/regression/pose.py new file mode 100644 index 0000000..4a3662e --- /dev/null +++ b/regression/pose.py @@ -0,0 +1,178 @@ +from enum import Enum +from typing import ClassVar, TypeVar + +import numpy as np +from numpy.typing import NDArray +from scipy.spatial.transform import Rotation + + +PoseT = TypeVar("PoseT", bound="Pose") + + +def invert_transformation(transform: NDArray[np.float64]) -> NDArray[np.float64]: + rotation = transform[:3, :3] + translation = transform[:3, 3] + + inverse = np.eye(4, dtype=np.float64) + inverse[:3, :3] = rotation.T + inverse[:3, 3] = -rotation.T @ translation + return inverse + + +def relative_transformation( + reference: NDArray[np.float64], + target: NDArray[np.float64], +) -> NDArray[np.float64]: + return invert_transformation(reference) @ target + + +class RotationType(Enum): + QUAT = "quat" + EULER = "euler" + ROTVEC = "rotvec" + MATRIX = "matrix" + ROT6D = "rot6d" + + +class Pose: + pose_type: ClassVar[str] + + def __sub__(self: PoseT, other: PoseT) -> PoseT: + if type(self) is not type(other): + raise TypeError( + "Cannot compute a relative pose between " + f"{type(self).__name__} and {type(other).__name__}." + ) + return self._compute_relative(other) + + def _compute_relative(self: PoseT, other: PoseT) -> PoseT: + raise NotImplementedError + + def copy(self: PoseT) -> PoseT: + raise NotImplementedError + + +class EndPose(Pose): + """End-effector pose represented internally as an SE(3) transform.""" + + pose_type = "end_effector" + + def __init__( + self, + translation: list[float] | NDArray[np.float64] | None = None, + rotation: list[float] | NDArray[np.float64] | None = None, + rotation_type: str | RotationType | None = None, + rotation_order: str | None = None, + homogeneous: NDArray[np.float64] | None = None, + degrees: bool = False, + ) -> None: + self._homogeneous_cache: NDArray[np.float64] | None = None + self._cache_valid = False + + if homogeneous is not None: + self._from_homogeneous(homogeneous) + return + + self._translation = np.asarray(translation if translation is not None else np.zeros(3), dtype=np.float64) + if self._translation.shape != (3,): + raise ValueError(f"EndPose translation must have shape (3,), got {self._translation.shape}.") + + if rotation is None: + self._rotation = Rotation.identity() + else: + if rotation_type is None: + raise ValueError("rotation_type is required when rotation is provided.") + self._rotation = self._make_rotation(rotation, rotation_type, rotation_order, degrees) + + def _from_homogeneous(self, homogeneous: NDArray[np.float64]) -> None: + homogeneous = np.asarray(homogeneous, dtype=np.float64) + if homogeneous.shape != (4, 4): + raise ValueError(f"homogeneous must have shape (4, 4), got {homogeneous.shape}.") + self._translation = homogeneous[:3, 3].copy() + self._rotation = Rotation.from_matrix(homogeneous[:3, :3]) + + @staticmethod + def _make_rotation( + rotation: list[float] | NDArray[np.float64], + rotation_type: str | RotationType, + rotation_order: str | None, + degrees: bool, + ) -> Rotation: + rotation = np.asarray(rotation, dtype=np.float64) + rot_type = rotation_type if isinstance(rotation_type, RotationType) else RotationType(rotation_type.lower()) + + if rot_type == RotationType.QUAT: + order = (rotation_order or "xyzw").lower() + if order == "wxyz": + rotation = np.array([rotation[1], rotation[2], rotation[3], rotation[0]], dtype=np.float64) + elif order != "xyzw": + raise ValueError(f"Unsupported quaternion order: {rotation_order}.") + return Rotation.from_quat(rotation) + if rot_type == RotationType.EULER: + return Rotation.from_euler(rotation_order or "xyz", rotation, degrees=degrees) + if rot_type == RotationType.ROTVEC: + return Rotation.from_rotvec(rotation) + if rot_type == RotationType.MATRIX: + return Rotation.from_matrix(rotation) + if rot_type == RotationType.ROT6D: + return Rotation.from_matrix(EndPose.rot6d_to_matrix(rotation)) + raise ValueError(f"Unsupported rotation type: {rotation_type}.") + + @staticmethod + def rot6d_to_matrix(rot6d: NDArray[np.float64]) -> NDArray[np.float64]: + rot6d = np.asarray(rot6d, dtype=np.float64) + a1 = rot6d[..., 0:3] + a2 = rot6d[..., 3:6] + + b1 = a1 / (np.linalg.norm(a1, axis=-1, keepdims=True) + 1e-8) + b2 = a2 - np.sum(b1 * a2, axis=-1, keepdims=True) * b1 + b2 = b2 / (np.linalg.norm(b2, axis=-1, keepdims=True) + 1e-8) + b3 = np.cross(b1, b2, axis=-1) + return np.stack([b1, b2, b3], axis=-1) + + @property + def translation(self) -> NDArray[np.float64]: + return self._translation.copy() + + @property + def homogeneous(self) -> NDArray[np.float64]: + if not self._cache_valid: + transform = np.eye(4, dtype=np.float64) + transform[:3, :3] = self._rotation.as_matrix() + transform[:3, 3] = self._translation + self._homogeneous_cache = transform + self._cache_valid = True + return self._homogeneous_cache.copy() + + @property + def rotvec(self) -> NDArray[np.float64]: + return self._rotation.as_rotvec() + + @property + def quat_xyzw(self) -> NDArray[np.float64]: + return self._rotation.as_quat() + + def to_vector(self, rotation_type: str = "rotvec", rotation_order: str | None = None) -> NDArray[np.float64]: + rot_type = RotationType(rotation_type.lower()) + if rot_type == RotationType.ROTVEC: + rotation = self._rotation.as_rotvec() + elif rot_type == RotationType.EULER: + rotation = self._rotation.as_euler(rotation_order or "xyz", degrees=False) + elif rot_type == RotationType.QUAT: + quat_xyzw = self._rotation.as_quat() + if (rotation_order or "xyzw").lower() == "wxyz": + rotation = np.array([quat_xyzw[3], quat_xyzw[0], quat_xyzw[1], quat_xyzw[2]], dtype=np.float64) + else: + rotation = quat_xyzw + else: + raise ValueError(f"Unsupported vector rotation type: {rotation_type}.") + return np.concatenate([self._translation, rotation]) + + def _compute_relative(self, other: "EndPose") -> "EndPose": + return EndPose(homogeneous=relative_transformation(other.homogeneous, self.homogeneous)) + + def copy(self) -> "EndPose": + return EndPose(homogeneous=self.homogeneous) + + +EndEffectorPose = EndPose diff --git a/utils/model_utils.py b/utils/model_utils.py new file mode 100644 index 0000000..c9a217d --- /dev/null +++ b/utils/model_utils.py @@ -0,0 +1,65 @@ +from prettytable import PrettyTable + + +def format_params(num_params): + """Convert parameter count to human-readable format (M or B)""" + if num_params >= 1e9: + return f"{num_params / 1e9:.2f}B" + elif num_params >= 1e6: + return f"{num_params / 1e6:.2f}M" + else: + return f"{int(num_params)}" + + +def print_model_params(model): + """Print model parameters in table format + + Args: + model: Model instance, automatically iterates through first-level submodules + """ + total_params = sum(p.numel() for p in model.parameters()) + total_trainable = sum(p.numel() for p in model.parameters() if p.requires_grad) + total_frozen = total_params - total_trainable + trainable_ratio = (total_trainable / total_params * 100) if total_params > 0 else 0 + + table = PrettyTable() + table.title = "Model Parameters Summary" + table.field_names = ["Component", "Total", "Trainable", "Frozen", "Trainable %"] + + for name, module in model.named_children(): + module_params = sum(p.numel() for p in module.parameters()) + module_trainable = sum( + p.numel() for p in module.parameters() if p.requires_grad + ) + module_frozen = module_params - module_trainable + module_ratio = ( + (module_trainable / module_params * 100) if module_params > 0 else 0 + ) + + table.add_row( + [ + name, + format_params(module_params), + format_params(module_trainable), + format_params(module_frozen), + f"{module_ratio:.2f}%", + ] + ) + + table.add_row( + [ + "Total", + format_params(total_params), + format_params(total_trainable), + format_params(total_frozen), + f"{trainable_ratio:.2f}%", + ] + ) + + table.align["Component"] = "l" + table.align["Total"] = "r" + table.align["Trainable"] = "r" + table.align["Frozen"] = "r" + table.align["Trainable %"] = "r" + + print(f"\n{table}\n") diff --git a/utils/prepare_relative_actions.py b/utils/prepare_relative_actions.py index 9cc0f6d..5f037eb 100644 --- a/utils/prepare_relative_actions.py +++ b/utils/prepare_relative_actions.py @@ -1,13 +1,18 @@ import argparse -from concurrent.futures import ThreadPoolExecutor +from concurrent.futures import ProcessPoolExecutor, ThreadPoolExecutor import json import os from pathlib import Path +import sys import numpy as np import pandas as pd from tqdm import tqdm +sys.path.insert(0, str(Path(__file__).resolve().parents[1])) + +from regression.action_chunk import to_delta_action_target + ACTION_DIMS = { "calvin": 7, @@ -96,6 +101,16 @@ def relative_data_root(base_root, dataset, split): return root +def transformed_data_root(base_root, dataset, split, action_mode): + dataset_key = dataset.lower() + leaf = "regression_delta" if action_mode == "delta" else "regression_relative" + root = Path(base_root) / leaf / DATASET_SUBDIR.get(dataset_key, dataset_key) + split_dir = SPLIT_DIR.get((dataset_key, split.lower())) + if split_dir: + root = root / split_dir + return root + + def resolve_action_path(root, value): path = Path(str(value)) if path.is_absolute(): @@ -114,6 +129,12 @@ def relative_action(action, action_dim): return (seq[-1] - seq[0]).astype(np.float32) +def transformed_action(action, dataset, action_dim, action_mode): + if action_mode == "delta": + return to_delta_action_target(action, dataset, action_dim) + return relative_action(action, action_dim) + + def output_path(src_path, src_root, dst_root): try: rel = src_path.relative_to(src_root) @@ -122,23 +143,28 @@ def output_path(src_path, src_root, dst_root): return dst_root / rel -def process_action(value, src_root, dst_root, action_dim, overwrite=False): +def process_action(value, src_root, dst_root, dataset, action_dim, action_mode, overwrite=False): src = resolve_action_path(src_root, value) dst = output_path(src, src_root, dst_root) if dst.exists() and not overwrite: return np.load(dst), False action = np.load(src) - rel = relative_action(action, action_dim) + rel = transformed_action(action, dataset, action_dim, action_mode) dst.parent.mkdir(parents=True, exist_ok=True) np.save(dst, rel) return rel, True -def process_csv(csv_path, dataset, input_root, output_root, overwrite=False, workers=1): +def process_action_item(item): + idx, value, src_root, dst_root, dataset, action_dim, action_mode, overwrite = item + return idx, process_action(value, src_root, dst_root, dataset, action_dim, action_mode, overwrite) + + +def process_csv(csv_path, dataset, input_root, output_root, action_mode="relative", overwrite=False, workers=1, executor_type="thread"): split = split_from_csv_name(csv_path) src_root = data_root(input_root, dataset, split) - dst_root = relative_data_root(output_root, dataset, split) + dst_root = transformed_data_root(output_root, dataset, split, action_mode) action_dim = ACTION_DIMS[dataset.lower()] df = pd.read_csv(csv_path) if "action" not in df.columns: @@ -170,17 +196,21 @@ def handle_result(index, result): if workers <= 1: iterator = ( - (idx, process_action(value, src_root, dst_root, action_dim, overwrite)) + (idx, process_action(value, src_root, dst_root, dataset, action_dim, action_mode, overwrite)) for idx, value in enumerate(values) ) for idx, result in tqdm(iterator, total=len(values), desc=f"{Path(csv_path).name}"): handle_result(idx, result) else: - with ThreadPoolExecutor(max_workers=workers) as executor: + executor_cls = ProcessPoolExecutor if executor_type == "process" else ThreadPoolExecutor + with executor_cls(max_workers=workers) as executor: futures = ( executor.map( - lambda item: (item[0], process_action(item[1], src_root, dst_root, action_dim, overwrite)), - enumerate(values), + process_action_item, + ( + (idx, value, src_root, dst_root, dataset, action_dim, action_mode, overwrite) + for idx, value in enumerate(values) + ), ) ) for idx, result in tqdm(futures, total=len(values), desc=f"{Path(csv_path).name}"): @@ -189,6 +219,7 @@ def handle_result(index, result): return { "csv": str(csv_path), "split": split, + "action_mode": action_mode, "source_root": str(src_root), "output_root": str(dst_root), "written": written, @@ -206,17 +237,22 @@ def merge_robot_stats(results, dataset): return merged -def write_stats(results, dataset, output_root): +def write_stats(results, dataset, output_root, action_mode="relative"): dataset_key = dataset.lower() - stats_dir = Path(output_root) / "regression_relative" / DATASET_SUBDIR.get(dataset_key, dataset_key) + leaf = "regression_delta" if action_mode == "delta" else "regression_relative" + stats_dir = Path(output_root) / leaf / DATASET_SUBDIR.get(dataset_key, dataset_key) stats_dir.mkdir(parents=True, exist_ok=True) train_stats = [item["stats"] for item in results if item["stats"]] if not train_stats: return None payload = { - "action_mode": "relative", - "definition": "last action step minus first action step", + "action_mode": action_mode, + "definition": ( + "last end-pose action relative to the first pose" + if action_mode == "delta" + else "last action step minus first action step" + ), "dataset": dataset, } if dataset_key in {"agibotbeta", "robocoin"}: @@ -224,24 +260,28 @@ def write_stats(results, dataset, output_root): else: payload.update(train_stats[0]) - stats_path = stats_dir / f"relative_action_stats_{dataset_key}.json" + stats_path = stats_dir / f"{action_mode}_action_stats_{dataset_key}.json" with stats_path.open("w") as f: json.dump(payload, f, indent=2) return stats_path def main(): - parser = argparse.ArgumentParser(description="Generate non-overwriting relative-action files for regression.") + parser = argparse.ArgumentParser(description="Generate non-overwriting relative/delta-action files for regression.") parser.add_argument("--dataset", required=True, choices=sorted(ACTION_DIMS)) + parser.add_argument("--action-mode", choices=["relative", "delta"], default="relative", + help="Target action transform to precompute.") parser.add_argument("--input-root", default=os.environ.get("DATA_DIR"), help="LARYBench data root containing regression/. Defaults to DATA_DIR.") parser.add_argument("--output-root", default=None, - help="LARYBench data root to write into. Defaults to --input-root and creates regression_relative//.") + help="LARYBench data root to write into. Defaults to --input-root and creates regression_//.") parser.add_argument("--csv", action="append", required=True, help="Metadata or latent-action CSV. Pass multiple --csv values for train/val/unseen.") parser.add_argument("--overwrite", action="store_true") parser.add_argument("--workers", type=int, default=8, help="Number of worker threads for npy read/write conversion.") + parser.add_argument("--executor", choices=["thread", "process"], default="thread", + help="Use process workers for CPU-heavy delta conversion.") args = parser.parse_args() if not args.input_root: @@ -256,11 +296,13 @@ def main(): args.dataset, args.input_root, args.output_root, + args.action_mode, args.overwrite, workers=args.workers, + executor_type=args.executor, )) - stats_path = write_stats(results, args.dataset, args.output_root) + stats_path = write_stats(results, args.dataset, args.output_root, args.action_mode) print(json.dumps({"results": results, "stats_path": str(stats_path) if stats_path else None}, indent=2))