diff --git a/.env.template b/.env.template deleted file mode 100644 index 431883d8b..000000000 --- a/.env.template +++ /dev/null @@ -1,13 +0,0 @@ -# .env template - -# Path for logs -LOG_FOLDER= - -# Your HPC account code -NYU_HPC_ACCOUNT= - -# NYU ID -USERNAME= - -SINGULARITY_IMAGE= -OVERLAY_FILE= \ No newline at end of file diff --git a/.gitignore b/.gitignore index d19bef1b1..9aabc7121 100644 --- a/.gitignore +++ b/.gitignore @@ -27,9 +27,15 @@ data/raw/* data/processed/validation/* data/processed/training/* data/processed/testing/* -data/processed/sampled/* +data/processed/validation_interactive/* +data/processed/pop_play/* data/processed/hand_designed/* -analyze/figures/* +figures/ +checkpoints/ +figures_data/ +data/other/* +wosac/ +data/processed/validation_random/* # Logging /wandb @@ -252,6 +258,10 @@ examples/experimental/logs/* # Sbatch scripts *.sh +# Dataset +wosac/ +other/ + # Videos videos/ output_videos_larger_dataset/ diff --git a/baselines/ppo/config/ppo_base_puffer.yaml b/baselines/ppo/config/ppo_base_puffer.yaml index 9f985667a..8a83715cb 100644 --- a/baselines/ppo/config/ppo_base_puffer.yaml +++ b/baselines/ppo/config/ppo_base_puffer.yaml @@ -8,38 +8,46 @@ model_cpt: null environment: # Overrides default environment configs (see pygpudrive/env/config.py) name: "gpudrive" - num_worlds: 75 # Number of parallel environments - k_unique_scenes: 75 # Number of unique scenes to sample from + num_worlds: 100 # Number of parallel environments + k_unique_scenes: 100 # Number of unique scenes to sample from max_controlled_agents: 64 # Maximum number of agents controlled by the model. Make sure this aligns with the variable kMaxAgentCount in src/consts.hpp ego_state: true road_map_obs: true partner_obs: true norm_obs: true - remove_non_vehicles: true # If false, all agents are included (vehicles, pedestrians, cyclists) + add_reference_pos_xy: false + remove_non_vehicles: false # If false, all agents are included (vehicles, pedestrians, cyclists) lidar_obs: false # NOTE: Setting this to true currently turns of the other observation types - reward_type: "weighted_combination" + reward_type: "weighted_combination" # Options: "weighted_combination", "reward_conditioned" collision_weight: -0.75 off_road_weight: -0.75 goal_achieved_weight: 1.0 + init_mode: all_non_trivial + + # If reward_type is "reward_conditioned", the following parameters are used + condition_mode: random + collision_weight_lb: -3.0 + collision_weight_ub: 0.01 + goal_achieved_weight_lb: 1.0 + goal_achieved_weight_ub: 3.0 + off_road_weight_lb: -3.0 + off_road_weight_ub: 0.0 + dynamics_model: "classic" collision_behavior: "ignore" # Options: "remove", "stop", "ignore" + goal_behavior: "remove" # Options: "remove", "stop", "ignore" dist_to_goal_threshold: 2.0 polyline_reduction_threshold: 0.1 # Rate at which to sample points from the polyline (0 is use all closest points, 1 maximum sparsity), needs to be balanced with kMaxAgentMapObservationsCount sampling_seed: 42 # If given, the set of scenes to sample from will be deterministic, if None, the set of scenes will be random obs_radius: 50.0 # Visibility radius of the agents action_space_steer_disc: 13 action_space_accel_disc: 7 - # Versatile Behavior Diffusion (VBD): This will slow down training - use_vbd: false - vbd_model_path: "gpudrive/integrations/vbd/weights/epoch=18.ckpt" - init_steps: 11 - vbd_trajectory_weight: 0.1 # Importance of distance to the vbd trajectories in the reward function - vbd_in_obs: false + init_steps: 0 wandb: entity: "" project: "gpudrive" - group: "test" + group: "" mode: "online" # Options: online, offline, disabled tags: ["ppo", "ff"] @@ -53,7 +61,7 @@ train: compile_mode: "reduce-overhead" # # # Data sampling # # # - resample_scenes: false + resample_scenes: true resample_dataset_size: 10_000 # Number of unique scenes to sample from resample_interval: 2_000_000 sample_with_replacement: true @@ -61,8 +69,8 @@ train: # # # PPO # # # torch_deterministic: false - total_timesteps: 1_000_000_000 - batch_size: 131_072 + total_timesteps: 2_000_000_000 + batch_size: 262_144 minibatch_size: 8192 learning_rate: 3e-4 anneal_lr: false @@ -88,14 +96,14 @@ train: num_parameters: 0 # Total trainable parameters, to be filled at runtime # # # Checkpointing # # # - checkpoint_interval: 400 # Save policy every k iterations + checkpoint_interval: 500 # Save policy every k iterations checkpoint_path: "./runs" # # # Rendering # # # render: false # Determines whether to render the environment (note: will slow down training) - render_3d: true # Render simulator state in 3d or 2d - render_interval: 1 # Render every k iterations - render_k_scenarios: 10 # Number of scenarios to render + render_3d: false # Render simulator state in 3d or 2d + render_interval: 10 # Render every k iterations + render_k_scenarios: 1 # Number of scenarios to render render_format: "mp4" # Options: gif, mp4 render_fps: 15 # Frames per second zoom_radius: 50 diff --git a/baselines/ppo/config/ppo_guided_autonomy.yaml b/baselines/ppo/config/ppo_guided_autonomy.yaml new file mode 100644 index 000000000..ad1c4a543 --- /dev/null +++ b/baselines/ppo/config/ppo_guided_autonomy.yaml @@ -0,0 +1,131 @@ +mode: "train" +use_rnn: false +eval_model_path: null +baseline: false +data_dir: data/processed/wosac/validation_interactive/json +continue_training: false +model_cpt: null + +environment: # Overrides default environment configs (see pygpudrive/env/config.py) + name: "gpudrive" + num_worlds: 10 # Number of parallel environments + k_unique_scenes: 1 # Number of unique scenes to sample from + max_controlled_agents: 32 # Maximum number of agents controlled by the model. Make sure this aligns with the variable kMaxAgentCount in src/consts.hpp + ego_state: true + road_map_obs: true + partner_obs: true + norm_obs: true + add_previous_action: true + + # Guidance through expert suggestions + guidance: true # If true, the agent will be guided by expert suggestions + guidance_mode: "log_replay" # Options: "log_replay", "vbd_amortized", "vbd_online" + add_reference_pos_xy: true # If true, a reference path is added to the ego observation + add_reference_speed: true # If true, the reference speeds are added to the ego observation + add_reference_heading: true # If true, the reference heading are added to the ego observation + smoothen_trajectory: true # If true, the velocities and headings are smoothed + guidance_dropout_prob: 0.0 # Probability of out guidance points + + # Reward function + reward_type: "guided_autonomy" + collision_weight: -0.1 + off_road_weight: -0.1 + guidance_speed_weight: 0.005 + guidance_heading_weight: 0.005 + smoothness_weight: 0.0001 + + init_mode: wosac_train + dynamics_model: "classic" + remove_non_vehicles: false + collision_behavior: "ignore" + goal_behavior: "ignore" + polyline_reduction_threshold: 0.1 # Rate at which to sample points from the polyline (0 is use all closest points, 1 maximum sparsity), needs to be balanced with kMaxAgentMapObservationsCount + sampling_seed: 42 # If given, the set of scenes to sample from will be deterministic, if None, the set of scenes will be random + obs_radius: 50.0 # Visibility radius of the agents + view_cone_half_angle: 3.14159 # -> 360° total view field + view_occlude_objects: false + action_space_steer_disc: 13 + action_space_accel_disc: 7 + action_space_head_tilt_disc: 1 + vehicle_steer_range: [-1.57, 1.57] # pi/2 = 1.57, pi/3 = 1.05 + vehicle_accel_range: [-4.0, 4.0] + head_tilt_action_range: [-0.7854, 0.7854] # radians (±45°) + init_steps: 0 # Warmup steps + goal_achieved_weight: 0.0 + +wandb: + entity: "" + project: "humanlike" + group: "" + mode: "online" # Options: online, offline, disabled + tags: ["ppo", "ff"] + +train: + exp_id: guidance_logs # Set dynamically in the script if needed + seed: 42 + cpu_offload: false + device: "cuda" # Dynamically set to cuda if available, else cpu + bptt_horizon: 1 + compile: false + compile_mode: "reduce-overhead" + + # # # Data sampling # # # + resample_scenes: false + resample_dataset_size: 10_000 # Number of unique scenes to sample from + resample_interval: 5_000_000 + sample_with_replacement: true + shuffle_dataset: true + file_prefix: "" + + # # # PPO # # # + torch_deterministic: false + total_timesteps: 4_000_000_000 + batch_size: 65536 + minibatch_size: 8192 + learning_rate: 3e-4 + anneal_lr: true + gamma: 1.0 + gae_lambda: 0.95 + update_epochs: 4 + norm_adv: true + clip_coef: 0.2 + clip_vloss: false + vf_clip_coef: 0.2 + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + target_kl: null + + # # # Logging # # # + log_window: 100 + track_realism_metrics: true # Log human-like metrics + track_n_worlds: 3 # Number of worlds to track + + # # # Network # # # + network: + embed_dim: 256 # Embedding of the input features + dropout: 0.01 + class_name: "Agent" + num_parameters: 0 # Total trainable parameters, to be filled at runtime + + # # # Checkpointing # # # + checkpoint_interval: 200 # Save policy every k iterations + checkpoint_path: "./runs" + + # # # Rendering # # # + render: true # Determines whether to render the environment (note: will slow down training) + render_3d: false # Render simulator state in 3d or 2d + render_interval: 10 # Render every k iterations + render_every_t: 5 # Render every k timesteps + render_k_scenarios: 1 # Number of scenarios to render + render_agent_idx: [0] # Agent observations to render + render_format: "mp4" # Options: gif, mp4 + render_fps: 5 # Frames per second + zoom_radius: 100 + plot_guidance_pos_xy: true + +vec: + backend: "native" # Only native is currently supported + num_workers: 1 + env_batch_size: 1 + zero_copy: false diff --git a/baselines/ppo/config/ppo_population.yaml b/baselines/ppo/config/ppo_population.yaml new file mode 100644 index 000000000..2c3d29513 --- /dev/null +++ b/baselines/ppo/config/ppo_population.yaml @@ -0,0 +1,114 @@ +mode: "train" +use_rnn: false +eval_model_path: null +baseline: false +data_dir: data/processed/pop_play +continue_training: false +model_cpt: null + +environment: # Overrides default environment configs (see pygpudrive/env/config.py) + name: "gpudrive" + num_worlds: 10 # Number of parallel environments + k_unique_scenes: 10 # Number of unique scenes to sample from + max_controlled_agents: 64 # Maximum number of agents controlled by the model. Make sure this aligns with the variable kMaxAgentCount in src/consts.hpp + ego_state: true + road_map_obs: true + partner_obs: true + norm_obs: true + remove_non_vehicles: false # If false, all agents are included (vehicles, pedestrians, cyclists) + lidar_obs: false # NOTE: Setting this to true currently turns of the other observation types + reward_type: "reward_conditioned" # Options: "weighted_combination", "reward_conditioned", "guided_autonomy" + collision_weight: -0.75 + off_road_weight: -0.75 + goal_achieved_weight: 1.0 + init_mode: all_non_trivial + + # If reward_type is "reward_conditioned", the following parameters are used + randomize_rewards: true + condition_mode: random # Options: random, fixed + collision_weight_lb: -3.0 + collision_weight_ub: 0.0 + goal_achieved_weight_lb: 1.0 + goal_achieved_weight_ub: 3.0 + off_road_weight_lb: -3.0 + off_road_weight_ub: 0.0 + + dynamics_model: "classic" + collision_behavior: "ignore" # Options: "remove", "stop", "ignore" + dist_to_goal_threshold: 2.0 + polyline_reduction_threshold: 0.1 # Rate at which to sample points from the polyline (0 is use all closest points, 1 maximum sparsity), needs to be balanced with kMaxAgentMapObservationsCount + sampling_seed: 42 # If given, the set of scenes to sample from will be deterministic, if None, the set of scenes will be random + obs_radius: 50.0 # Visibility radius of the agents + action_space_steer_disc: 13 + action_space_accel_disc: 7 + init_steps: 0 # Warmup steps + +wandb: + entity: "" + project: "kshotagents" + group: "debug_mini" + mode: "online" # Options: online, offline, disabled + tags: ["ppo", "ff"] + +train: + exp_id: # Set dynamically in the script if needed + seed: 42 + cpu_offload: false + device: "cuda" # Dynamically set to cuda if available, else cpu + bptt_horizon: 1 + compile: false + compile_mode: "reduce-overhead" + + # # # Data sampling # # # + resample_scenes: false + resample_dataset_size: 500 # Number of unique scenes to sample from + resample_interval: 2_000_000 + sample_with_replacement: false + shuffle_dataset: false + + # # # PPO # # # + torch_deterministic: false + total_timesteps: 2_000_000_000 + batch_size: 131072 + minibatch_size: 8192 + learning_rate: 3e-4 + anneal_lr: true + gamma: 0.99 + gae_lambda: 0.95 + update_epochs: 4 + norm_adv: true + clip_coef: 0.2 + clip_vloss: false + vf_clip_coef: 0.2 + ent_coef: 0.001 + vf_coef: 0.5 + max_grad_norm: 0.5 + target_kl: null + log_window: 1000 + + # # # Network # # # + network: + embed_dim: 64 # Embedding of the input features + dropout: 0.01 + class_name: "Agent" + num_parameters: 0 # Total trainable parameters, to be filled at runtime + + # # # Checkpointing # # # + checkpoint_interval: 250 # Save policy every k iterations + checkpoint_path: "./runs" + + # # # Rendering # # # + render: false # Determines whether to render the environment (note: will slow down training) + render_3d: false # Render simulator state in 3d or 2d + render_interval: 50 # Render every k iterations + render_k_scenarios: 1 # Number of scenarios to render + render_format: "mp4" # Options: gif, mp4 + render_fps: 20 # Frames per second + zoom_radius: 100 + plot_guidance_pos_xy: true + +vec: + backend: "native" # Only native is currently supported + num_workers: 1 + env_batch_size: 1 + zero_copy: false diff --git a/baselines/ppo/ppo_guided_autonomy.py b/baselines/ppo/ppo_guided_autonomy.py new file mode 100644 index 000000000..c4c33b071 --- /dev/null +++ b/baselines/ppo/ppo_guided_autonomy.py @@ -0,0 +1,337 @@ +""" +This implementation is adapted from the demo in PufferLib by Joseph Suarez, +which in turn is adapted from Costa Huang's CleanRL PPO + LSTM implementation. +Links +- PufferLib: https://github.com/PufferAI/PufferLib/blob/dev/demo.py +- Cleanrl: https://github.com/vwxyzjn/cleanrl/blob/master/cleanrl/ppo.py +""" + +import os +from typing import Optional +from typing_extensions import Annotated +import yaml +from datetime import datetime +import torch +import numpy as np +import wandb +from box import Box + +from gpudrive.integrations.puffer import ppo +from gpudrive.env.env_puffer import PufferGPUDrive +from gpudrive.networks.agents import Agent +from gpudrive.env.dataset import SceneDataLoader + +import pufferlib +from rich.console import Console + +import typer +from typer import Typer + +app = Typer() + + +def get_model_parameters(policy): + """Helper function to count the number of trainable parameters.""" + params = filter(lambda p: p.requires_grad, policy.parameters()) + return sum([np.prod(p.size()) for p in params]) + + +def load_config(config_path): + """Load the configuration file.""" + with open(config_path, "r") as f: + config = Box(yaml.safe_load(f)) + return pufferlib.namespace(**config) + + +def make_agent(env, config): + """Create a policy based on the environment.""" + + if config.continue_training: + print("Loading checkpoint...") + # Load checkpoint + saved_cpt = torch.load( + f=config.model_cpt, + weights_only=False, + ) + + # Create policy architecture from saved checkpoint + agent = Agent( + config=saved_cpt["config"], + embed_dim=saved_cpt["model_arch"]["embed_dim"], + action_dim=saved_cpt["action_dim"], + ) + + # Load the model parameters + agent.load_state_dict(saved_cpt["parameters"]) + return agent + + return Agent( + config=config.environment, + embed_dim=config.train.network.embed_dim, + action_dim=env.single_action_space.n, + ) + + +def train(args, vecenv): + """Main training loop for the PPO agent.""" + policy = make_agent(env=vecenv.driver_env, config=args).to( + args.train.device + ) + + args.train.network.num_parameters = get_model_parameters(policy) + args.train.env = args.environment.name + + args.wandb = init_wandb(args, args.train.exp_id, id=args.train.exp_id) + args.train.__dict__.update(dict(args.wandb.config.train)) + + data = ppo.create(args.train, vecenv, policy, wandb=args.wandb) + while data.global_step < args.train.total_timesteps: + try: + ppo.evaluate(data) # Rollout + ppo.train(data) # Update policy + except KeyboardInterrupt: + ppo.close(data) + os._exit(0) + except Exception as e: + print(f"An error occurred: {e}") # Log the error + Console().print_exception() + os._exit(1) # Exit with a non-zero status to indicate an error + + ppo.evaluate(data) + ppo.close(data) + + +def init_wandb(args, name, id=None, resume=True): + wandb.init( + id=id or wandb.util.generate_id(), + project=args.wandb.project, + entity=args.wandb.entity, + group=args.wandb.group, + mode=args.wandb.mode, + tags=args.wandb.tags, + config={ + "environment": dict(args.environment), + "train": dict(args.train), + "vec": dict(args.vec), + }, + name=name, + save_code=True, + resume=False, + ) + + return wandb + + +@app.command() +def run( + config_path: Annotated[ + str, typer.Argument(help="The path to the default configuration file") + ] = "baselines/ppo/config/ppo_guided_autonomy.yaml", + *, + # fmt: off + # Dataset options + data_dir: Annotated[Optional[str], typer.Option(help="The path to the dataset")] = None, + # Environment options + num_worlds: Annotated[Optional[int], typer.Option(help="Number of parallel envs")] = None, + max_controlled_agents: Annotated[Optional[int], typer.Option(help="Number of controlled agents")] = None, + k_unique_scenes: Annotated[Optional[int], typer.Option(help="The number of unique scenes to sample")] = None, + collision_weight: Annotated[Optional[float], typer.Option(help="The weight for collision penalty")] = None, + off_road_weight: Annotated[Optional[float], typer.Option(help="The weight for off-road penalty")] = None, + guidance_speed_weight: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, + guidance_heading_weight: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, + add_reference_pos_xy: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + add_reference_speed: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + add_reference_heading: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + add_previous_action: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + smoothen_trajectory: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + guidance_dropout_prob: Annotated[Optional[float], typer.Option(help="The dropout probability for the guidance")] = None, + + action_space_steer_disc: Annotated[Optional[int], typer.Option(help="Discretization for steer action")] = None, + action_space_accel_disc: Annotated[Optional[int], typer.Option(help="Discretization for acceleration action")] = None, + action_space_head_tilt_disc: Annotated[Optional[int], typer.Option(help="Discretization for head tilt action")] = None, + + vehicle_steer_range: Annotated[Optional[list[float]], typer.Option(help="The vehicle steer range, e.g. --vehicle-steer-range -1.57 --vehicle-steer-range 1.57")] = None, + vehicle_accel_range: Annotated[Optional[list[float]], typer.Option(help="The vehicle accel range, e.g. --vehicle-accel-range -4.0 --vehicle-accel-range 4.0")] = None, + head_tilt_action_range: Annotated[Optional[list[float]], typer.Option(help="The head tilt action range, e.g. --head-tilt-action-range -0.7854 --head-tilt-action-range 0.7854")] = None, + head_tilt_actions: Annotated[Optional[list[float]], typer.Option(help="A list of specific head tilt actions to use.")] = None, + + view_cone_half_angle: Annotated[Optional[float], typer.Option(help="The half angle for the view cone")] = None, + remove_occluded_agents: Annotated[Optional[int], typer.Option(help="Whether to occlude objects in view; 0 or 1")] = None, + + smoothness_weight: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, + dist_to_goal_threshold: Annotated[Optional[float], typer.Option(help="The distance threshold for goal-achieved")] = None, + randomize_rewards: Annotated[Optional[int], typer.Option(help="If reward_type == reward_conditioned, choose the condition_mode; 0 or 1")] = 0, + sampling_seed: Annotated[Optional[int], typer.Option(help="The seed for sampling scenes")] = None, + obs_radius: Annotated[Optional[float], typer.Option(help="The radius for the observation")] = None, + collision_behavior: Annotated[Optional[str], typer.Option(help="The collision behavior; 'ignore' or 'remove'")] = None, + remove_non_vehicles: Annotated[Optional[int], typer.Option(help="Remove non-vehicles from the scene; 0 or 1")] = None, + vbd_model_path: Annotated[Optional[str], typer.Option(help="Path to VBD model checkpoint")] = None, + init_steps: Annotated[Optional[int], typer.Option(help="Environment warmup steps")] = 0, + + # Train options + seed: Annotated[Optional[int], typer.Option(help="The seed for training")] = None, + learning_rate: Annotated[Optional[float], typer.Option(help="The learning rate for training")] = None, + anneal_lr: Annotated[Optional[int], typer.Option(help="Whether to anneal the learning rate over time; 0 or 1")] = None, + cpu_offload: Annotated[Optional[int], typer.Option(help="Whether to offload the buffer to cpu")] = None, + resample_scenes: Annotated[Optional[int], typer.Option(help="Whether to resample scenes during training; 0 or 1")] = None, + resample_interval: Annotated[Optional[int], typer.Option(help="The interval for resampling scenes")] = None, + resample_dataset_size: Annotated[Optional[int], typer.Option(help="The size of the dataset to sample from")] = None, + total_timesteps: Annotated[Optional[int], typer.Option(help="The total number of training steps")] = None, + ent_coef: Annotated[Optional[float], typer.Option(help="Entropy coefficient")] = None, + update_epochs: Annotated[Optional[int], typer.Option(help="The number of epochs for updating the policy")] = None, + batch_size: Annotated[Optional[int], typer.Option(help="The batch size for training")] = None, + minibatch_size: Annotated[Optional[int], typer.Option(help="The minibatch size for training")] = None, + gamma: Annotated[Optional[float], typer.Option(help="The discount factor for rewards")] = None, + vf_coef: Annotated[Optional[float], typer.Option(help="Weight for vf_loss")] = None, + # Wandb logging options + project: Annotated[Optional[str], typer.Option(help="WandB project name")] = None, + entity: Annotated[Optional[str], typer.Option(help="WandB entity name")] = None, + group: Annotated[Optional[str], typer.Option(help="WandB group name")] = None, + render: Annotated[Optional[int], typer.Option(help="Whether to render the environment; 0 or 1")] = None, +): + """Run PPO training with the given configuration.""" + # fmt: on + + # Load default configs + config = load_config(config_path) + + if data_dir is not None: + config.data_dir = data_dir + + if config.environment.reward_type == "reward_conditioned": + if bool(randomize_rewards): + config.environment.condition_mode = "random" + config.train.exp_id = "random_weights" + else: + config.environment.condition_mode = ( + "fixed" # Use the same type for every agent + ) + config.train.exp_id = "fixed_weights" + + # Override configs with command-line arguments + env_config = { + "num_worlds": num_worlds, + "max_controlled_agents": max_controlled_agents, + "k_unique_scenes": k_unique_scenes, + "collision_weight": collision_weight, + "off_road_weight": off_road_weight, + "smoothness_weight": smoothness_weight, + "guidance_speed_weight": guidance_speed_weight, + "guidance_heading_weight": guidance_heading_weight, + "dist_to_goal_threshold": dist_to_goal_threshold, + "sampling_seed": sampling_seed, + "obs_radius": obs_radius, + "view_cone_half_angle": view_cone_half_angle, + "remove_occluded_agents": None if remove_occluded_agents is None else bool(remove_occluded_agents), + "collision_behavior": collision_behavior, + "guidance_dropout_prob": guidance_dropout_prob, + "action_space_steer_disc": action_space_steer_disc, + "action_space_accel_disc": action_space_accel_disc, + "action_space_head_tilt_disc": action_space_head_tilt_disc, + "vehicle_steer_range": vehicle_steer_range, + "vehicle_accel_range": vehicle_accel_range, + "head_tilt_action_range": head_tilt_action_range, + "head_tilt_actions": head_tilt_actions, + "remove_non_vehicles": None + if remove_non_vehicles is None + else bool(remove_non_vehicles), + "vbd_model_path": vbd_model_path, + "init_steps": init_steps, + "add_previous_action": None + if add_previous_action is None + else bool(add_previous_action), + "add_reference_pos_xy": None + if add_reference_pos_xy is None + else bool(add_reference_pos_xy), + "add_reference_speed": None + if add_reference_speed is None + else bool(add_reference_speed), + "add_reference_heading": None + if add_reference_heading is None + else bool(add_reference_heading), + "smoothen_trajectory": None + if smoothen_trajectory is None + else bool(smoothen_trajectory), + } + config.environment.update( + {k: v for k, v in env_config.items() if v is not None} + ) + + train_config = { + "seed": seed, + "learning_rate": learning_rate, + "anneal_lr": None if anneal_lr is None else bool(anneal_lr), + "resample_scenes": None + if resample_scenes is None + else bool(resample_scenes), + "resample_interval": resample_interval, + "resample_dataset_size": resample_dataset_size, + "total_timesteps": total_timesteps, + "ent_coef": ent_coef, + "cpu_offload": None if cpu_offload is None else bool(cpu_offload), + "update_epochs": update_epochs, + "batch_size": batch_size, + "minibatch_size": minibatch_size, + "render": None if render is None else bool(render), + "gamma": gamma, + "vf_coef": vf_coef, + } + config.train.update( + {k: v for k, v in train_config.items() if v is not None} + ) + + wandb_config = { + "project": project, + "entity": entity, + "group": group, + } + config.wandb.update( + {k: v for k, v in wandb_config.items() if v is not None} + ) + + datetime_ = datetime.now().strftime("%m_%d_%H_%M_%S_%f")[:-3] + + if config["train"]["resample_scenes"]: + if config["train"]["resample_scenes"]: + dataset_size = config["train"]["resample_dataset_size"] + config["train"][ + "exp_id" + ] = f'{config["train"]["exp_id"]}__R_{dataset_size}__{datetime_}' + else: + dataset_size = str(config["environment"]["k_unique_scenes"]) + config["train"][ + "exp_id" + ] = f'{config["train"]["exp_id"]}__S_{dataset_size}__{datetime_}' + + config["environment"]["dataset_size"] = dataset_size + config["train"]["device"] = config["train"].get( + "device", "cpu" + ) # Default to 'cpu' if not set + if torch.cuda.is_available(): + config["train"]["device"] = "cuda" # Set to 'cuda' if available + + # Make dataloader + train_loader = SceneDataLoader( + root=config.data_dir, + batch_size=config.environment.num_worlds, + dataset_size=config.train.resample_dataset_size + if config.train.resample_scenes + else config.environment.k_unique_scenes, + sample_with_replacement=config.train.sample_with_replacement, + shuffle=config.train.shuffle_dataset, + file_prefix=config.train.file_prefix, + ) + + # Make environment + vecenv = PufferGPUDrive( + data_loader=train_loader, + **config.environment, + **config.train, + ) + + train(config, vecenv) + + +if __name__ == "__main__": + + app() diff --git a/baselines/ppo/ppo_pufferlib.py b/baselines/ppo/ppo_pufferlib.py index 587fb96c9..142222d1e 100644 --- a/baselines/ppo/ppo_pufferlib.py +++ b/baselines/ppo/ppo_pufferlib.py @@ -161,19 +161,17 @@ def run( # fmt: off # Environment options num_worlds: Annotated[Optional[int], typer.Option(help="Number of parallel envs")] = None, + max_controlled_agents: Annotated[Optional[int], typer.Option(help="Number of controlled agents")] = None, k_unique_scenes: Annotated[Optional[int], typer.Option(help="The number of unique scenes to sample")] = None, collision_weight: Annotated[Optional[float], typer.Option(help="The weight for collision penalty")] = None, off_road_weight: Annotated[Optional[float], typer.Option(help="The weight for off-road penalty")] = None, goal_achieved_weight: Annotated[Optional[float], typer.Option(help="The weight for goal-achieved reward")] = None, dist_to_goal_threshold: Annotated[Optional[float], typer.Option(help="The distance threshold for goal-achieved")] = None, + randomize_rewards: Annotated[Optional[int], typer.Option(help="If reward_type == reward_conditioned, choose the condition_mode; 0 or 1")] = 0, sampling_seed: Annotated[Optional[int], typer.Option(help="The seed for sampling scenes")] = None, obs_radius: Annotated[Optional[float], typer.Option(help="The radius for the observation")] = None, collision_behavior: Annotated[Optional[str], typer.Option(help="The collision behavior; 'ignore' or 'remove'")] = None, remove_non_vehicles: Annotated[Optional[int], typer.Option(help="Remove non-vehicles from the scene; 0 or 1")] = None, - use_vbd: Annotated[Optional[bool], typer.Option(help="Use VBD model for trajectory predictions")] = False, - vbd_model_path: Annotated[Optional[str], typer.Option(help="Path to VBD model checkpoint")] = None, - vbd_trajectory_weight: Annotated[Optional[float], typer.Option(help="Weight for VBD trajectory deviation penalty")] = 0.1, - vbd_in_obs: Annotated[Optional[bool], typer.Option(help="Include VBD predictions in the observation")] = False, init_steps: Annotated[Optional[int], typer.Option(help="Environment warmup steps")] = 0, # Train options seed: Annotated[Optional[int], typer.Option(help="The seed for training")] = None, @@ -201,9 +199,20 @@ def run( # Load default configs config = load_config(config_path) + if config.environment.reward_type == "reward_conditioned": + if bool(randomize_rewards): + config.environment.condition_mode = "random" + config.train.exp_id = "random_weights" + else: + config.environment.condition_mode = ( + "fixed" # Use the same type for every agent + ) + config.train.exp_id = "fixed_weights" + # Override configs with command-line arguments env_config = { "num_worlds": num_worlds, + "max_controlled_agents": max_controlled_agents, "k_unique_scenes": k_unique_scenes, "collision_weight": collision_weight, "off_road_weight": off_road_weight, @@ -215,10 +224,6 @@ def run( "remove_non_vehicles": None if remove_non_vehicles is None else bool(remove_non_vehicles), - "use_vbd": use_vbd, - "vbd_model_path": vbd_model_path, - "vbd_trajectory_weight": vbd_trajectory_weight, - "vbd_in_obs": vbd_in_obs, "init_steps": init_steps, } config.environment.update( diff --git a/data/processed/examples/tfrecord-00000-of-01000_325.json b/data/processed/examples/tfrecord-00000-of-01000_325.json index bb197d440..fe47b1a5e 100644 --- a/data/processed/examples/tfrecord-00000-of-01000_325.json +++ b/data/processed/examples/tfrecord-00000-of-01000_325.json @@ -1 +1,156743 @@ -{"name": "tfrecord-00000-of-01000_325.json", "scenario_id": "ef3a8f65142f41ac", "objects": [{"position": [{"x": -8330.69921875, "y": 8096.3125, "z": -38.52962875366211}, {"x": -8329.8330078125, "y": 8095.95556640625, "z": -38.500244512748395}, {"x": -8328.87109375, "y": 8095.533203125, 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480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480, 480]}}, "metadata": {"sdc_track_index": 110, "objects_of_interest": [], "tracks_to_predict": [{"track_index": 7, "difficulty": 1}, {"track_index": 4, "difficulty": 1}, {"track_index": 10, "difficulty": 1}, {"track_index": 20, "difficulty": 1}]}} diff --git a/data_utils/detect_parked.py b/data_utils/detect_parked.py new file mode 100644 index 000000000..7a3750e7e --- /dev/null +++ b/data_utils/detect_parked.py @@ -0,0 +1,338 @@ +import os +import json +import logging +import psutil +import argparse +import math +from pathlib import Path +import numpy as np +from multiprocessing import Pool, cpu_count +from tqdm import tqdm +import trimesh + +logging.basicConfig(level=logging.INFO) + +def _filter_small_segments(segments, min_length=1e-6): + """Filter out segments that are too short.""" + valid_segments = [] + for segment in segments: + start, end = segment + length = np.linalg.norm(np.array(end) - np.array(start)) + if length >= min_length: + valid_segments.append(segment) + return valid_segments + + +def _generate_mesh(segments, height=2.0, width=0.2): + """Generate a mesh from line segments.""" + segments = np.array(segments, dtype=np.float64) + starts, ends = segments[:, 0, :], segments[:, 1, :] + directions = ends - starts + lengths = np.linalg.norm(directions, axis=1, keepdims=True) + unit_directions = directions / lengths + + # Create the base box mesh with the height along the z-axis + base_box = trimesh.creation.box(extents=[1.0, width, height]) + base_box.apply_translation([0.5, 0, 0]) # Align box's origin to its start + z_axis = np.array([0, 0, 1]) + angles = np.arctan2( + unit_directions[:, 1], unit_directions[:, 0] + ) # Rotation in the XY plane + + rectangles = [] + lengths = lengths.flatten() + + for i, (start, length, angle) in enumerate(zip(starts, lengths, angles)): + # Copy the base box and scale to match segment length + scaled_box = base_box.copy() + scaled_box.apply_scale([length, 1.0, 1.0]) + + # Apply rotation around the z-axis + rotation_matrix = trimesh.transformations.rotation_matrix( + angle, z_axis + ) + scaled_box.apply_transform(rotation_matrix) + + # Translate the box to the segment's starting point + scaled_box.apply_translation(start) + + rectangles.append(scaled_box) + + # Concatenate all boxes into a single mesh + mesh = trimesh.util.concatenate(rectangles) + return mesh + + +def _create_agent_box_mesh(position, heading, length, width, height): + """Create a box mesh for an agent at a given position and orientation. + + Args: + position (list): [x, y, z] position + heading (float): yaw angle in radians + length (float): length of the box + width (float): width of the box + height (float): height of the box + + Returns: + trimesh.Trimesh: Box mesh positioned and oriented correctly + """ + # Create box centered at origin + box = trimesh.creation.box(extents=[length, width, height]) + + # Rotate box to align with heading + z_axis = np.array([0, 0, 1]) + rotation_matrix = trimesh.transformations.rotation_matrix(heading, z_axis) + box.apply_transform(rotation_matrix) + + # Move box to position + box.apply_translation(position) + + return box + + +def calculate_trajectory_length(positions, valid_mask, start_idx, end_idx=90): + """ + Calculate the sum of valid trajectory segments from start_idx to end_idx. + + Args: + positions: List of position dictionaries with x, y, z coordinates + valid_mask: List of boolean values indicating valid timesteps + start_idx: Starting index for calculation + end_idx: Ending index for calculation + + Returns: + float: Sum of valid trajectory segments length + """ + # Limit end_idx to the maximum available index + end_idx = min(end_idx, len(positions) - 1) + + # Initialize total length + total_length = 0.0 + + # Iterate through positions from start_idx to end_idx + for i in range(start_idx, end_idx): + # Check if both current and next positions are valid + if valid_mask[i] and valid_mask[i + 1]: + # Calculate distance between consecutive valid positions + current_pos = np.array([positions[i]['x'], positions[i]['y'], positions[i]['z']]) + next_pos = np.array([positions[i + 1]['x'], positions[i + 1]['y'], positions[i + 1]['z']]) + + segment_length = np.linalg.norm(next_pos - current_pos) + total_length += segment_length + + return total_length + + +def process_scene(args): + """Process a single scene file to detect parked vehicles.""" + filepath, init_steps, threshold = args + try: + with open(filepath, 'r') as f: + scene = json.load(f) + + # Initialize counters for this scene + valid_vehicles = 0 + colliding_vehicles = 0 + parked_vehicles = 0 + moving_vehicles = 0 + + # Extract road data for collision checking + roads = scene['roads'] + edge_segments = [] + + # Collect road edge segments for collision checking + for road in roads: + if road["type"] == "road_edge": + edge_vertices = [[r["x"], r["y"], r["z"]] for r in road["geometry"]] + edge_segments.extend([ + [edge_vertices[i], edge_vertices[i + 1]] + for i in range(len(edge_vertices) - 1) + ]) + + # Generate road edge mesh + edge_segments = _filter_small_segments(edge_segments) + edge_mesh = _generate_mesh(edge_segments) + + # Create collision managers + road_collision_manager = trimesh.collision.CollisionManager() + road_collision_manager.add_object("road_edges", edge_mesh) + vehicle_collision_manager = trimesh.collision.CollisionManager() + + # First, collect all valid vehicles at init_steps + valid_vehicle_objects = [] + for obj in scene['objects']: + # Check if object is a vehicle and valid at init_steps + if (obj['type'] == 'vehicle' and + init_steps < len(obj['valid']) and + obj['valid'][init_steps]): + + valid_vehicles += 1 + valid_vehicle_objects.append(obj) + + # Create vehicle box at init_steps + position = [ + obj['position'][init_steps]['x'], + obj['position'][init_steps]['y'], + obj['position'][init_steps]['z'] + ] + heading = obj['heading'][init_steps] + vehicle_box = _create_agent_box_mesh( + position, + heading, + obj['length'], + obj['width'], + obj['height'] + ) + vehicle_collision_manager.add_object(str(obj['id']), vehicle_box) + + # Check for collisions with other vehicles + _, vehicle_collision_pairs = vehicle_collision_manager.in_collision_internal(return_names=True) + + # Check for collisions with road edges + _, road_collision_pairs = vehicle_collision_manager.in_collision_other( + road_collision_manager, return_names=True + ) + + # Combine all colliding vehicle IDs + colliding_vehicle_ids = set() + + # Add vehicles that collide with each other + for v1, v2 in vehicle_collision_pairs: + colliding_vehicle_ids.add(v1) + colliding_vehicle_ids.add(v2) + + # Add vehicles that collide with road edges + for v_id, _ in road_collision_pairs: + colliding_vehicle_ids.add(v_id) + + colliding_vehicles = len(colliding_vehicle_ids) + + # Process each colliding vehicle to determine if parked or moving + for obj in valid_vehicle_objects: + if str(obj['id']) in colliding_vehicle_ids: + # Calculate trajectory length from init_steps to 90 or last timestep + trajectory_length = calculate_trajectory_length( + obj['position'], + obj['valid'], + init_steps, + min(90, len(obj['valid']) - 1) + ) + + # Classify as parked or moving based on threshold + if trajectory_length < threshold: + parked_vehicles += 1 + else: + moving_vehicles += 1 + + return filepath, (valid_vehicles, colliding_vehicles, parked_vehicles, moving_vehicles) + + except Exception as e: + logging.error(f"Error processing {filepath}: {e}") + return filepath, None + + +def process_directory(args): + """Process all JSON files in directory.""" + input_dir = Path(args.input_dir) + num_workers = args.num_workers + init_steps = args.init_steps + threshold = args.threshold + + # Get all JSON files + json_files = list(input_dir.glob("*.json")) + if not json_files: + logging.error(f"No JSON files found in {input_dir}") + return + + logging.info(f"Found {len(json_files)} JSON files to process") + + # Calculate batch size based on available memory + mem_info = psutil.virtual_memory() + available_memory = mem_info.available / (1024**3) # Convert to GB + usable_memory = int(available_memory * 0.9) # Use 90% of available memory + batch_size = min(1000 * usable_memory, len(json_files)) + + # Initialize counters using numpy int64 to handle large numbers + total_processed = np.int64(0) + total_valid_vehicles = np.int64(0) + total_colliding_vehicles = np.int64(0) + total_parked_vehicles = np.int64(0) + total_moving_vehicles = np.int64(0) + + # Process files in batches + for i in range(0, len(json_files), int(batch_size)): + batch = json_files[i:i + int(batch_size)] + + # Process batch in parallel + with Pool(num_workers) as pool: + results = list(tqdm( + pool.imap(process_scene, [(str(f), init_steps, threshold) for f in batch]), + total=len(batch), + desc=f"Processing batch {i//int(batch_size) + 1}" + )) + + # Count results + for filepath, counts in results: + if counts is not None: + valid_vehicles, colliding_vehicles, parked_vehicles, moving_vehicles = counts + total_processed += 1 + total_valid_vehicles += valid_vehicles + total_colliding_vehicles += colliding_vehicles + total_parked_vehicles += parked_vehicles + total_moving_vehicles += moving_vehicles + + # Calculate percentages using float64 for precision + parked_percentage = (float(total_parked_vehicles) / float(total_colliding_vehicles) * 100) if total_colliding_vehicles > 0 else 0.0 + moving_percentage = (float(total_moving_vehicles) / float(total_colliding_vehicles) * 100) if total_colliding_vehicles > 0 else 0.0 + + logging.info(f"Processing complete!") + logging.info(f"Total files processed: {total_processed:,d}") + logging.info(f"Total vehicles valid at t={init_steps}: {total_valid_vehicles:,d}") + logging.info(f"Total vehicles in collision at t={init_steps}: {total_colliding_vehicles:,d}") + logging.info(f"Total parked vehicles: {total_parked_vehicles:,d} ({parked_percentage:.2f}%)") + logging.info(f"Total moving vehicles: {total_moving_vehicles:,d} ({moving_percentage:.2f}%)") + + # Save results to a JSON file for future reference + results = { + "total_files_processed": int(total_processed), + "total_valid_vehicles": int(total_valid_vehicles), + "total_colliding_vehicles": int(total_colliding_vehicles), + "total_parked_vehicles": int(total_parked_vehicles), + "total_moving_vehicles": int(total_moving_vehicles), + "parked_percentage": float(parked_percentage), + "moving_percentage": float(moving_percentage) + } + + with open('parked_vehicle_results.json', 'w') as f: + json.dump(results, f, indent=4) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Analyze vehicle parking behavior in JSON files" + ) + parser.add_argument( + "input_dir", + help="Directory containing JSON files to process" + ) + parser.add_argument( + "--num_workers", + type=int, + default=cpu_count(), + help="Number of worker processes (default: number of CPU cores)" + ) + parser.add_argument( + "--init_steps", + type=int, + default=10, + help="Initial timestep to check for vehicle validity and collisions (default: 10)" + ) + parser.add_argument( + "--threshold", + type=float, + default=1.0, + help="Threshold for trajectory length to classify a vehicle as moving (default: 0.2)" + ) + + args = parser.parse_args() + process_directory(args) \ No newline at end of file diff --git a/data_utils/process_waymo_files.py b/data_utils/process_waymo_files.py index 8c405c913..c8f55f91a 100644 --- a/data_utils/process_waymo_files.py +++ b/data_utils/process_waymo_files.py @@ -168,6 +168,7 @@ def _init_tl_object(mapstate: scenario_pb2.DynamicMapState) -> Dict[int, Any]: "x": lane_state.stop_point.x, "y": lane_state.stop_point.y, "z": lane_state.stop_point.z, + "lane_id": lane_state.lane, } return returned_dict @@ -327,20 +328,16 @@ def waymo_to_scenario( # Construct the traffic light states tl_dict = defaultdict( - lambda: {"state": [], "x": [], "y": [], "z": [], "time_index": []} + lambda: {"state": [], "x": [], "y": [], "z": [], "time_index": [], "lane_id": []} ) all_keys = ["state", "x", "y", "z"] - i = 0 - for dynamic_map_state in protobuf.dynamic_map_states: + for i, dynamic_map_state in enumerate(protobuf.dynamic_map_states): traffic_light_dict = _init_tl_object(dynamic_map_state) - # there is a traffic light but we don't want traffic light scenes so just return - if len(traffic_light_dict) > 0: - return - for id, value in traffic_light_dict.items(): + for lane_id, value in traffic_light_dict.items(): for key in all_keys: - tl_dict[id][key].append(value[key]) - tl_dict[id]["time_index"].append(i) - i += 1 + tl_dict[lane_id][key].append(value[key]) + tl_dict[lane_id]["time_index"].append(i) + tl_dict[lane_id]["lane_id"].append(lane_id) # Construct the map states roads = [] @@ -630,9 +627,11 @@ def process_data(args): datasets = ["validation"] elif args.dataset == "testing": datasets = ["testing"] + elif args.dataset == "validation_interactive": + datasets = ["validation_interactive"] else: raise ValueError( - "Invalid dataset name. Must be one of: 'all', 'train', 'validation', or 'testing'" + "Invalid dataset name. Must be one of: 'all', 'train', 'validation', 'testing', or 'validation_interactive'." ) for dataset in datasets: @@ -685,7 +684,7 @@ def process_data(args): ) parser.add_argument( "--id_as_filename", - default=False, + default=True, action="store_true", help="Use the unique scenario id as the filename", ) diff --git a/data_utils/wosac_dataset.py b/data_utils/wosac_dataset.py new file mode 100644 index 000000000..911c9254f --- /dev/null +++ b/data_utils/wosac_dataset.py @@ -0,0 +1,269 @@ +import os +# Force JAX to use CPU only +os.environ["JAX_PLATFORMS"] = "cpu" + +import tensorflow as tf +import glob +import argparse +import random +import json +import pickle # Added for loading pickle files +import multiprocessing +from tqdm import tqdm +from functools import partial +from waymo_open_dataset.protos import scenario_pb2 + +def extract_scene_from_tfrecord(tfrecord_path, scene_id, output_path): + """ + Extract a specific scene from a TFRecord file based on its ID. + + Args: + tfrecord_path (str): Path to the TFRecord file + scene_id (str): ID of the scene to extract + output_path (str): Path to save the extracted scene + + Returns: + bool: True if scene was found and extracted, False otherwise + """ + dataset = tf.data.TFRecordDataset(tfrecord_path, compression_type="") + found = False + + for tf_data in dataset: + tf_data_bytes = tf_data.numpy() + scenario = scenario_pb2.Scenario() + scenario.ParseFromString(bytes(tf_data_bytes)) + + # Check if this is the scene we're looking for + if scenario.scenario_id == scene_id: + with tf.io.TFRecordWriter(output_path) as file_writer: + file_writer.write(tf_data_bytes) + found = True + break + + return found + +def process_single_scene(json_file, dataset, data_dir, tfrecord_dir, json_save_dir, tfrecord_save_dir): + """ + Process a single scene file. + + Args: + json_file (str): Path to the JSON file + dataset (str): Name of the dataset + data_dir (str): Base directory containing JSON files + tfrecord_dir (str): Directory containing TFRecord files + json_save_dir (str): Directory to save processed JSON files + tfrecord_save_dir (str): Directory to save processed TFRecord files + + Returns: + tuple: (json_file, success, message) + """ + try: + # Extract prefix and suffix from filename + filename = os.path.basename(json_file) + name_parts = os.path.splitext(filename)[0].split('_', 1) # Split on the first underscore only + if len(name_parts) != 2: + return json_file, False, f"Invalid filename format: {filename}, expected _.json" + + prefix, suffix = name_parts + + # Find corresponding TFRecord file + tfrecord_path = os.path.join(tfrecord_dir, dataset, f"{dataset}.{prefix}") + + if not os.path.exists(tfrecord_path): + return json_file, False, f"TFRecord file not found: {tfrecord_path}" + + # Copy the JSON file to the output directory with new name + json_output_path = os.path.join(json_save_dir, f"{suffix}.json") + + # Copy the JSON file content + with open(json_file, 'r') as f_in: + json_data = json.load(f_in) + + with open(json_output_path, 'w') as f_out: + json.dump(json_data, f_out) + + # Extract the scene from the TFRecord file + tfrecord_output_path = os.path.join(tfrecord_save_dir, f"{suffix}.tfrecords") + found = extract_scene_from_tfrecord(tfrecord_path, suffix, tfrecord_output_path) + + if not found: + # Remove the JSON file if the TFRecord extraction failed + os.remove(json_output_path) + return json_file, False, f"Scene {suffix} not found in TFRecord file: {tfrecord_path}" + + return json_file, True, "Successfully processed" + + except Exception as e: + return json_file, False, f"Error processing {json_file}: {str(e)}" + +def find_json_by_suffix(data_path, suffix): + """ + Find a JSON file with a specific suffix in a directory. + + Args: + data_path (str): Directory path to search in + suffix (str): Suffix to look for + + Returns: + str or None: Path to the JSON file if found, None otherwise + """ + json_files = glob.glob(os.path.join(data_path, '*.json')) + + for json_file in json_files: + filename = os.path.basename(json_file) + name_parts = os.path.splitext(filename)[0].split('_', 1) + if len(name_parts) == 2 and name_parts[1] == suffix: + return json_file + + return None + +def process(dataset, num_scenes, data_dir, tfrecord_dir, save_dir, num_workers, scene_ids_pkl=None): + """ + Process a specific dataset, selecting random scenes and extracting their TFRecords. + + Args: + dataset (str): Name of the dataset to process + num_scenes (int): Number of scenes to randomly select + data_dir (str): Directory containing JSON files + tfrecord_dir (str): Directory containing TFRecord files + save_dir (str): Directory to save processed files + num_workers (int): Number of worker processes to use + scene_ids_pkl (str): Path to pickle file containing scene IDs + """ + # Set up paths + data_path = os.path.join(data_dir, dataset) + + # Create output directories + json_save_dir = os.path.join(save_dir, f"{dataset}", "json") + tfrecord_save_dir = os.path.join(save_dir, f"{dataset}", "tfrecord") + os.makedirs(json_save_dir, exist_ok=True) + os.makedirs(tfrecord_save_dir, exist_ok=True) + + selected_files = [] + + # If pickle file with scene IDs is provided, use those IDs instead of random selection + if scene_ids_pkl: + try: + with open(scene_ids_pkl, 'rb') as f: + scene_ids = pickle.load(f) + + print(f"Loaded {len(scene_ids)} scene IDs from {scene_ids_pkl}") + + # Find corresponding JSON files for each scene ID + found_files = [] + not_found_ids = [] + + for suffix in scene_ids: + json_file = find_json_by_suffix(data_path, suffix) + if json_file: + found_files.append(json_file) + else: + not_found_ids.append(suffix) + + selected_files = found_files + + print(f"Found {len(selected_files)} matching JSON files, {len(not_found_ids)} scene IDs not found") + if not_found_ids and len(not_found_ids) < 10: + print(f"IDs not found: {', '.join(not_found_ids)}") + elif not_found_ids: + print(f"First 5 IDs not found: {', '.join(not_found_ids[:5])}, and {len(not_found_ids) - 5} more") + + except Exception as e: + print(f"Error loading scene IDs from {scene_ids_pkl}: {str(e)}") + return + else: + # Use random selection as before + json_files = glob.glob(os.path.join(data_path, '*.json')) + n_files = len(json_files) + + if n_files == 0: + print(f"No JSON files found in {data_path}") + return + + print(f"Found {n_files} files in {dataset} dataset") + num_to_select = min(num_scenes, n_files) + selected_files = random.sample(json_files, num_to_select) + + if not selected_files: + print(f"No files to process for {dataset}") + return + + print(f"Processing {len(selected_files)} files from {dataset} using {num_workers} workers") + + # Create a partial function with fixed arguments + process_func = partial( + process_single_scene, + dataset=dataset, + data_dir=data_dir, + tfrecord_dir=tfrecord_dir, + json_save_dir=json_save_dir, + tfrecord_save_dir=tfrecord_save_dir + ) + + # Create a pool of workers and process the files + # Adjust number of workers to not exceed CPU count + num_workers = min(num_workers, multiprocessing.cpu_count(), len(selected_files)) + + # If only one worker, process sequentially (avoiding multiprocessing overhead) + if num_workers == 1: + results = [] + for json_file in tqdm(selected_files, desc=f"Processing {dataset}"): + results.append(process_func(json_file)) + else: + # Use multiprocessing for parallel processing + with multiprocessing.Pool(num_workers) as pool: + results = list(tqdm( + pool.imap(process_func, selected_files), + total=len(selected_files), + desc=f"Processing {dataset}" + )) + + # Count successes and failures + successes = sum(1 for _, success, _ in results if success) + failures = len(results) - successes + + print(f"Finished processing {dataset}: {successes} succeeded, {failures} failed") + + # Print some failures if there are any (limit to 5 to avoid flooding console) + if failures > 0: + print("Some failures occurred:") + failure_count = 0 + for _, success, message in results: + if not success: + print(f" - {message}") + failure_count += 1 + if failure_count >= 5 and failures > 5: + print(f" ... and {failures - 5} more failures") + break + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--data_dir', type=str, default='data/processed/') + parser.add_argument('--save_dir', type=str, default='data/processed/wosac/') + parser.add_argument('--tfrecord_dir', type=str, default='data/raw/') + parser.add_argument('--dataset', type=str, default='validation') + parser.add_argument('--num_scenes', type=int, default=1000) + parser.add_argument('--num_workers', type=int, default=multiprocessing.cpu_count()) + parser.add_argument('--scene_ids_pkl', type=str, default=None, help='Path to pickle file containing scene IDs to process') + args = parser.parse_args() + + os.makedirs(args.save_dir, exist_ok=True) + + print(f'Processing data from {args.data_dir} and Saving to {args.save_dir}') + + if args.scene_ids_pkl: + print(f'Using scene IDs from {args.scene_ids_pkl}') + else: + print(f'Selecting {args.num_scenes} random scenes per dataset with {args.num_workers} workers') + + if args.dataset == 'all' or args.dataset == 'training': + process('training', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) + + if args.dataset == 'all' or args.dataset == 'testing': + process('testing', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) + + if args.dataset == 'all' or args.dataset == 'validation': + process('validation', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) + + if args.dataset == 'all' or args.dataset == 'validation_interactive': + process('validation_interactive', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) \ No newline at end of file diff --git a/examples/eval/README.md b/examples/eval/README.md new file mode 100644 index 000000000..e8558304f --- /dev/null +++ b/examples/eval/README.md @@ -0,0 +1,41 @@ +## Waymo Open Sim Agent Challenge (WOSAC) evaluation + + +## Requirements +Prerequisite to run the eval +``` +pip install --no-deps waymo-open-dataset-tf-2-12-0==1.6.6 +``` + +Requirement to process the data +``` +pip install --no-deps git+https://github.com/waymo-research/waymax.git@main#egg=waymo-waymax +``` + +You also need +``` +pip install tensorflow==2.13.0 +pip install scikit-learn +pip install tensorflow-probability==0.21.0 +pip install --upgrade typing-extensions +``` + + +## Dataset +Extract TF example from raw waymo TF example dataset using +``` +python examples/eval/extract_dataset.py --data_dir XXXX --save_dir xxxx --dataset [train/val/val_interactive] +``` + +e.g. + +``` +python examples/eval/extract_dataset.py --data_dir data/raw --save_dir data/processed/wosac --dataset all +``` + + +## Evaluation +Run eval with +``` +python run_wosac_eval.py +``` diff --git a/examples/eval/extract_dataset.py b/examples/eval/extract_dataset.py new file mode 100644 index 000000000..b85911652 --- /dev/null +++ b/examples/eval/extract_dataset.py @@ -0,0 +1,137 @@ +import os +# Force JAX to use CPU only +os.environ["JAX_PLATFORMS"] = "cpu" + +import tensorflow as tf +import glob +import argparse +# import pickle +from tqdm import tqdm +from waymo_open_dataset.protos import scenario_pb2 + + +# from waymax import dataloader +# from waymax.config import DataFormat +import functools + +MAX_NUM_OBJECTS = 64 +MAX_POLYLINES = 256 +MAX_TRAFFIC_LIGHTS = 16 +CURRENT_INDEX = 10 +NUM_POINTS_POLYLINE = 30 + +def tf_preprocess(serialized: bytes) -> dict[str, tf.Tensor]: + """ + Preprocesses the serialized data. + + Args: + serialized (bytes): The serialized data. + + Returns: + dict[str, tf.Tensor]: The preprocessed data. + """ + womd_features = dataloader.womd_utils.get_features_description( + include_sdc_paths=False, + max_num_rg_points=30000, + num_paths=None, + num_points_per_path=None, + ) + womd_features['scenario/id'] = tf.io.FixedLenFeature([1], tf.string) + + deserialized = tf.io.parse_example(serialized, womd_features) + parsed_id = deserialized.pop('scenario/id') + deserialized['scenario/id'] = tf.io.decode_raw(parsed_id, tf.uint8) + return dataloader.preprocess_womd_example( + deserialized, + aggregate_timesteps=True, + max_num_objects=None, + ) + +def tf_postprocess(example: dict[str, tf.Tensor]): + """ + Postprocesses the example. + + Args: + example (dict[str, tf.Tensor]): The example to be postprocessed. + + Returns: + tuple: A tuple containing the scenario ID and the postprocessed scenario. + """ + scenario = dataloader.simulator_state_from_womd_dict(example) + scenario_id = example['scenario/id'] + return scenario_id, scenario + +def data_process( + data_dir: str, + save_dir: str, +): + """ + Process the Waymax dataset and save the processed data. + + Args: + data_dir (str): Directory path of the Waymax dataset. + save_dir (str): Directory path to save the processed data. + """ + dataset = tf.data.TFRecordDataset( + data_dir, compression_type="" + ) + + os.makedirs(save_dir, exist_ok=True) + + for tf_data in dataset: + tf_data = tf_data.numpy() + scenario = scenario_pb2.Scenario() + scenario.ParseFromString(bytes(tf_data)) + scenario_id = scenario.scenario_id + + scenario_filename = os.path.join(save_dir, scenario_id+'.tfrecords') + + # check if file exists + if os.path.exists(scenario_filename): + continue + + # Remove the .as_posix() method call since scenario_filename is a string + with tf.io.TFRecordWriter(scenario_filename) as file_writer: + file_writer.write(tf_data) + + +if __name__ == '__main__': + # add arguments + parser = argparse.ArgumentParser() + parser.add_argument('--data_dir', type=str, default='/data/Dataset/Waymo/V1_2_tf') + parser.add_argument('--save_dir', type=str, default='/data/Dataset/Waymo/VBD') + parser.add_argument('--dataset', type=str, default='all') + parser.add_argument('--num_workers', type=int, default=1) # Change default to 1 + args = parser.parse_args() + + os.makedirs(args.save_dir, exist_ok=True) + + print(f'Processing data from {args.data_dir} and Saving to {args.save_dir}') + + def process(dataset): + """ + Process a specific dataset and save the processed data. + + Args: + dataset (str): Name of the dataset to process. + """ + data_path = os.path.join(args.data_dir, dataset+'/*') + data_files = glob.glob(data_path) + save_dir = os.path.join(args.save_dir, dataset+'_extracted') + n_files = len(data_files) + print(f'Processing {n_files} files in {data_path} dataset') + os.makedirs(save_dir, exist_ok=True) + print(f'Saving to {save_dir}') + + # Process files one by one instead of using multiprocessing + for data_file in tqdm(data_files): + data_process(data_file, save_dir) + + if args.dataset == 'all' or args.dataset == 'train': + process('training') + + if args.dataset == 'all' or args.dataset == 'val': + process('validation') + + if args.dataset == 'all' or args.dataset == 'val_interactive': + process('validation_interactive') \ No newline at end of file diff --git a/examples/eval/notebooks/00_playground.ipynb b/examples/eval/notebooks/00_playground.ipynb new file mode 100644 index 000000000..99fb030cb --- /dev/null +++ b/examples/eval/notebooks/00_playground.ipynb @@ -0,0 +1,566 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "017087fc", + "metadata": {}, + "outputs": [], + "source": [ + "import pickle\n", + "\n", + "with open('/home/emerge/gpudrive/examples/eval/figures_data/test_scenario_ids.pkl', 'rb') as f:\n", + " data = pickle.load(f)" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "25236f84", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "['f021d1f198f7eeb2',\n", + " '3df7ab4e939ff08f',\n", + " '8a0bd53bbbc0d58b',\n", + " '1e6c4c92050bff70',\n", + " '2ecf5725e7f0f609',\n", + " '1ea69f2511d624f7',\n", + 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2, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "data" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "cefb2c10", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/01_wosac_analysis.ipynb b/examples/eval/notebooks/01_wosac_analysis.ipynb new file mode 100644 index 000000000..a41539a10 --- /dev/null +++ b/examples/eval/notebooks/01_wosac_analysis.ipynb @@ -0,0 +1,6786 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 134, + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "import os\n", + "import glob\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (5, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Helper functions" + ] + }, + { + "cell_type": "code", + "execution_count": 112, + "metadata": {}, + "outputs": [], + "source": [ + "def display_wosac_table(csv_file):\n", + " \n", + " df = pd.read_csv(csv_file)\n", + " df = df.set_index(\"AGENT POLICY\")\n", + " \n", + " def heatmap_best_bold(s):\n", + " higher_better_cols = [col for col in df.columns if '(↑)' in col]\n", + " lower_better_cols = [col for col in df.columns if '(↓)' in col]\n", + " \n", + " styles = pd.DataFrame('', index=df.index, columns=df.columns)\n", + " \n", + " # For higher-better columns (green)\n", + " for col in higher_better_cols:\n", + " max_val = df[col].max()\n", + " min_val = df[col].min()\n", + " range_val = max_val - min_val\n", + " \n", + " for idx in df.index:\n", + " val = df.loc[idx, col]\n", + " if range_val > 0:\n", + " norm_val = (val - min_val) / range_val\n", + " styles.loc[idx, col] = f'background-color: rgba(0, 255, 0, {norm_val * 0.5})'\n", + " if val == max_val:\n", + " styles.loc[idx, col] += '; font-weight: bold'\n", + " \n", + " # For lower-better columns (pastel red)\n", + " for col in lower_better_cols:\n", + " min_val = df[col].min()\n", + " max_val = df[col].max()\n", + " range_val = max_val - min_val\n", + " \n", + " for idx in df.index:\n", + " val = df.loc[idx, col]\n", + " if range_val > 0:\n", + " norm_val = 1 - ((val - min_val) / range_val)\n", + " # Using pastel red (255, 180, 180)\n", + " styles.loc[idx, col] = f'background-color: rgba(255, 180, 180, {norm_val * 0.5})'\n", + " if val == min_val:\n", + " styles.loc[idx, col] += '; font-weight: bold'\n", + " \n", + " return styles\n", + " \n", + " # Format the numbers without modifying the dataframe\n", + " styled_df = df.style.apply(heatmap_best_bold, axis=None).format(precision=3)\n", + " \n", + " return styled_df\n", + "\n", + "def create_radar_chart(data_dir='examples/eval/figures_data'):\n", + " csv_files = glob.glob(os.path.join(data_dir, \"*.csv\"))\n", + " \n", + " if not csv_files:\n", + " raise FileNotFoundError(f\"No CSV files found in {data_dir}\")\n", + " \n", + " most_recent_file = max(csv_files, key=os.path.getctime)\n", + " df = pd.read_csv(most_recent_file)\n", + " df = df.set_index(\"AGENT POLICY\")\n", + " \n", + " key_metrics = [\n", + " \"COMPOSITE METRIC (↑)\", \n", + " \"LINEAR SPEED (↑)\", \n", + " \"ANG. SPEED (↑)\",\n", + " \"COLLISION (↑)\",\n", + " \"TTC (↑)\", \n", + " \"OFFROAD (↑)\"\n", + " ]\n", + " \n", + " radar_df = df[key_metrics].copy()\n", + " for col in radar_df.columns:\n", + " if '(↑)' in col:\n", + " radar_df[col] = (radar_df[col] - radar_df[col].min()) / (radar_df[col].max() - radar_df[col].min())\n", + " else:\n", + " radar_df[col] = 1 - ((radar_df[col] - radar_df[col].min()) / (radar_df[col].max() - radar_df[col].min()))\n", + " \n", + " categories = [col.replace(' (↑)', '').replace(' (↓)', '') for col in key_metrics]\n", + " N = len(categories)\n", + " \n", + " fig = plt.figure(figsize=(6, 5))\n", + " ax = plt.subplot(111, polar=True)\n", + " \n", + " angles = [n / float(N) * 2 * np.pi for n in range(N)]\n", + " angles += angles[:1]\n", + " \n", + " top_policies = df.sort_values(\"COMPOSITE METRIC (↑)\", ascending=False).head(5).index\n", + " \n", + " colors = plt.cm.tab10(np.linspace(0, 1, len(top_policies)))\n", + " \n", + " for i, policy in enumerate(top_policies):\n", + " values = radar_df.loc[policy].values.flatten().tolist()\n", + " values += values[:1]\n", + " \n", + " ax.plot(angles, values, 'o-', linewidth=2, color=colors[i], label=policy)\n", + " ax.fill(angles, values, alpha=0.1, color=colors[i])\n", + " \n", + " plt.xticks(angles[:-1], categories, size=12)\n", + " \n", + " ax.set_rlabel_position(0)\n", + " plt.yticks([0.25, 0.5, 0.75], [\"0.25\", \"0.5\", \"0.75\"], color=\"grey\", size=10)\n", + " plt.ylim(0, 1)\n", + " \n", + " plt.legend(loc='upper right', bbox_to_anchor=(0.1, 0.1))\n", + " plt.title('Key Metrics Comparison (Normalized)', size=15, y=1.1)\n", + " \n", + " return fig\n", + "\n", + "\n", + "def df_to_clean_latex(df, caption=\"\", label=\"\", scaling=0.99, precision=3, oracle_row_name=\"LOGGED ORACLE\", short_version=False):\n", + " \"\"\"\n", + " Convert a DataFrame to a clean LaTeX table with alternating row colors and the best values bolded.\n", + " Can also create a shortened version with aggregated metrics.\n", + " \n", + " Parameters:\n", + " -----------\n", + " df : pandas.DataFrame\n", + " The DataFrame to convert\n", + " caption : str\n", + " Table caption\n", + " label : str\n", + " Table reference label\n", + " scaling : float\n", + " Scaling factor for table width (0-1)\n", + " precision : int\n", + " Number of decimal places for numerical values\n", + " oracle_row_name : str\n", + " Name of the oracle row to exclude from best value determination and place at bottom\n", + " short_version : bool\n", + " Whether to create a shortened version with aggregated metrics\n", + " \n", + " Returns:\n", + " --------\n", + " str : LaTeX code for the table\n", + " \"\"\"\n", + " # Make a copy to avoid modifying the original\n", + " df_copy = df.copy()\n", + " \n", + " # If short_version is True, create the aggregated metrics\n", + " if short_version:\n", + " # Create aggregated metrics\n", + " df_copy[\"Kinematic metrics (↑)\"] = (\n", + " df_copy[\"LINEAR SPEED (↑)\"] \n", + " + df_copy[\"LINEAR ACCEL. (↑)\"]\n", + " + df_copy[\"ANG. SPEED (↑)\"]\n", + " + df_copy[\"ANG. ACCEL. (↑)\"]\n", + " ) / 4\n", + "\n", + " df_copy[\"Interactive metrics (↑)\"] = (\n", + " df_copy[\"COLLISION (↑)\"] \n", + " + df_copy[\"TTC (↑)\"]\n", + " + df_copy[\"DIST. TO OBJ. (↑)\"]\n", + " ) / 3\n", + " \n", + " df_copy[\"Map-based metrics (↑)\"] = (\n", + " df_copy[\"DIST. TO ROAD EDGE (↑)\"] \n", + " + df_copy[\"OFFROAD (↑)\"]\n", + " ) / 2\n", + " \n", + " # Keep only the desired columns\n", + " columns = [\n", + " \"COMPOSITE METRIC (↑)\",\n", + " \"Kinematic metrics (↑)\",\n", + " \"Interactive metrics (↑)\",\n", + " \"Map-based metrics (↑)\",\n", + " ]\n", + " df_copy = df_copy[columns]\n", + " \n", + " # Identify columns by their improvement direction\n", + " higher_better_cols = [col for col in df_copy.columns if '(↑)' in col]\n", + " lower_better_cols = [col for col in df_copy.columns if '(↓)' in col]\n", + " neutral_cols = [col for col in df_copy.columns if '(↑)' not in col and '(↓)' not in col]\n", + " \n", + " # Get column headers without the arrows for LaTeX\n", + " clean_columns = [col.replace('(↑)', '$\\\\uparrow$').replace('(↓)', '$\\\\downarrow$') for col in df_copy.columns]\n", + " \n", + " # Move oracle row to the bottom if it exists\n", + " oracle_index = None\n", + " df_without_oracle = df_copy.copy()\n", + " \n", + " # Find oracle row with case-insensitive match\n", + " for idx in df_copy.index:\n", + " if oracle_row_name.lower() in str(idx).lower():\n", + " oracle_index = idx\n", + " oracle_row = df_copy.loc[idx].copy()\n", + " df_without_oracle = df_without_oracle.drop(idx)\n", + " break\n", + " \n", + " # Calculate best values for each column (excluding oracle row)\n", + " best_values = {}\n", + " for col in df_copy.columns:\n", + " try:\n", + " numeric_values = pd.to_numeric(df_without_oracle[col], errors='coerce')\n", + " \n", + " if col in higher_better_cols:\n", + " best_values[col] = numeric_values.max()\n", + " elif col in lower_better_cols:\n", + " best_values[col] = numeric_values.min()\n", + " else:\n", + " best_values[col] = None # No best value for neutral columns\n", + " except:\n", + " best_values[col] = None\n", + " \n", + " # Start building LaTeX table\n", + " latex_code = []\n", + " latex_code.append(\"\\\\begin{table}[htbp]\")\n", + " latex_code.append(\"\\\\centering\")\n", + " latex_code.append(f\"\\\\caption{{{caption}}}\")\n", + " latex_code.append(f\"\\\\label{{{label}}}\")\n", + " \n", + " # Add code for alternating row colors\n", + " latex_code.append(\"\\\\definecolor{lightgray}{gray}{0.95}\") # Define light gray color\n", + " latex_code.append(\"\\\\rowcolors{2}{white}{lightgray}\") # Start with white for first row after header\n", + " \n", + " latex_code.append(f\"\\\\resizebox{{{scaling}\\\\textwidth}}{{!}}{{\")\n", + " \n", + " # Table environment\n", + " latex_code.append(\"\\\\begin{tabular}{l\" + \"c\" * len(df_copy.columns) + \"}\")\n", + " latex_code.append(\"\\\\toprule\")\n", + " \n", + " # Header row\n", + " header = \"Method & \" + \" & \".join(clean_columns) + \" \\\\\\\\\"\n", + " latex_code.append(header)\n", + " latex_code.append(\"\\\\midrule\")\n", + " \n", + " # Process regular rows first (excluding oracle)\n", + " for i, idx in enumerate(df_without_oracle.index):\n", + " row = [idx] # Start with index\n", + " \n", + " for col in df_copy.columns:\n", + " val = df_without_oracle.loc[idx, col]\n", + " \n", + " # Format value\n", + " try:\n", + " val_numeric = float(val)\n", + " cell_text = f\"{val_numeric:.{precision}f}\"\n", + " except (ValueError, TypeError):\n", + " cell_text = str(val)\n", + " \n", + " # Check if this is the best value (needs to be numeric)\n", + " is_best = False\n", + " if best_values[col] is not None:\n", + " try:\n", + " val_numeric = float(val)\n", + " # Round both values to avoid floating point comparison issues\n", + " rounded_val = round(val_numeric, precision+2)\n", + " rounded_best = round(best_values[col], precision+2)\n", + " \n", + " if rounded_val == rounded_best:\n", + " is_best = True\n", + " except (ValueError, TypeError):\n", + " pass\n", + " \n", + " # Format the cell\n", + " if is_best:\n", + " cell = f\"\\\\textbf{{{cell_text}}}\"\n", + " else:\n", + " cell = cell_text\n", + " \n", + " row.append(cell)\n", + " \n", + " latex_code.append(\" & \".join(row) + \" \\\\\\\\\")\n", + " \n", + " # Add a midrule before oracle row if it exists\n", + " if oracle_index is not None:\n", + " latex_code.append(\"\\\\midrule\")\n", + " \n", + " # Process oracle row\n", + " row = [oracle_index]\n", + " \n", + " for col in df_copy.columns:\n", + " val = oracle_row[col]\n", + " \n", + " # Format value\n", + " try:\n", + " val_numeric = float(val)\n", + " cell_text = f\"{val_numeric:.{precision}f}\"\n", + " except (ValueError, TypeError):\n", + " cell_text = str(val)\n", + " \n", + " row.append(cell_text)\n", + " \n", + " latex_code.append(\" & \".join(row) + \" \\\\\\\\\")\n", + " \n", + " # Complete table\n", + " latex_code.append(\"\\\\bottomrule\")\n", + " latex_code.append(\"\\\\end{tabular}\")\n", + " latex_code.append(\"}\") # Close resizebox\n", + " latex_code.append(\"\\\\end{table}\")\n", + " \n", + " return \"\\n\".join(latex_code)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Settings" + ] + }, + { + "cell_type": "code", + "execution_count": 113, + "metadata": {}, + "outputs": [], + "source": [ + "FILE = \"examples/eval/figures_data/wosac/wosac_table_2025-05-13-15-39.csv\"" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Make tables" + ] + }, + { + "cell_type": "code", + "execution_count": 114, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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AGENT POLICYREPLAN RATE (Hz)LINEAR SPEED (↑)LINEAR ACCEL. (↑)ANG. SPEED (↑)ANG. ACCEL. (↑)DIST. TO OBJ. (↑)COLLISION (↑)TTC (↑)DIST. TO ROAD EDGE (↑)OFFROAD (↑)COMPOSITE METRIC (↑)ADE (↓)MINADE (↓)COLLISION RATE (↓)OFFROAD RATE (↓)
0Logged oracle-0.4760000.478000.5780000.694000.4760001.0000000.8830000.7150001.0000000.8190000.0000000.0000000.0280000.111000
1VBD0.1250.3590000.366000.4200000.522000.3680000.9340000.8150000.6510000.8790000.7200002.2570001.4740000.0360000.152000
2Guided self-play (ours)100.4904980.397340.3630430.492920.3013460.6574330.8186670.6681720.7678710.6388761.4300061.4300060.1363590.219048
3Random agent100.0020000.116000.0140000.034000.0000000.0000000.7350000.1480000.1910000.14400050.73900050.7060001.0000000.613000
\n", + "
" + ], + "text/plain": [ + " AGENT POLICY REPLAN RATE (Hz) LINEAR SPEED (↑) \\\n", + "0 Logged oracle - 0.476000 \n", + "1 VBD 0.125 0.359000 \n", + "2 Guided self-play (ours) 10 0.490498 \n", + "3 Random agent 10 0.002000 \n", + "\n", + " LINEAR ACCEL. (↑) ANG. SPEED (↑) ANG. ACCEL. (↑) DIST. TO OBJ. (↑) \\\n", + "0 0.47800 0.578000 0.69400 0.476000 \n", + "1 0.36600 0.420000 0.52200 0.368000 \n", + "2 0.39734 0.363043 0.49292 0.301346 \n", + "3 0.11600 0.014000 0.03400 0.000000 \n", + "\n", + " COLLISION (↑) TTC (↑) DIST. TO ROAD EDGE (↑) OFFROAD (↑) \\\n", + "0 1.000000 0.883000 0.715000 1.000000 \n", + "1 0.934000 0.815000 0.651000 0.879000 \n", + "2 0.657433 0.818667 0.668172 0.767871 \n", + "3 0.000000 0.735000 0.148000 0.191000 \n", + "\n", + " COMPOSITE METRIC (↑) ADE (↓) MINADE (↓) COLLISION RATE (↓) \\\n", + "0 0.819000 0.000000 0.000000 0.028000 \n", + "1 0.720000 2.257000 1.474000 0.036000 \n", + "2 0.638876 1.430006 1.430006 0.136359 \n", + "3 0.144000 50.739000 50.706000 1.000000 \n", + "\n", + " OFFROAD RATE (↓) \n", + "0 0.111000 \n", + "1 0.152000 \n", + "2 0.219048 \n", + "3 0.613000 " + ] + }, + "execution_count": 114, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "df_wosac_long = pd.read_csv(FILE)\n", + "\n", + "df_wosac_long.head()" + ] + }, + { + "cell_type": "code", + "execution_count": 120, + "metadata": {}, + "outputs": [], + "source": [ + "# radar_fig = create_radar_chart(data_dir='../figures_data')\n", + "# plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 121, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + "
 REPLAN RATE (Hz)LINEAR SPEED (↑)LINEAR ACCEL. (↑)ANG. SPEED (↑)ANG. ACCEL. (↑)DIST. TO OBJ. (↑)COLLISION (↑)TTC (↑)DIST. TO ROAD EDGE (↑)OFFROAD (↑)COMPOSITE METRIC (↑)ADE (↓)MINADE (↓)COLLISION RATE (↓)OFFROAD RATE (↓)
AGENT POLICY               
Logged oracle-0.4760.4780.5780.6940.4761.0000.8830.7151.0000.8190.0000.0000.0280.111
VBD0.1250.3590.3660.4200.5220.3680.9340.8150.6510.8790.7202.2571.4740.0360.152
Guided self-play (ours)100.4900.3970.3630.4930.3010.6570.8190.6680.7680.6391.4301.4300.1360.219
Random agent100.0020.1160.0140.0340.0000.0000.7350.1480.1910.14450.73950.7061.0000.613
\n" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "table_formatted = display_wosac_table(csv_file=FILE)\n", + "display(table_formatted);\n" + ] + }, + { + "cell_type": "code", + "execution_count": 122, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "DETAILED TABLE:\n", + "\\begin{table}[htbp]\n", + "\\centering\n", + "\\caption{Per-component WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.}\n", + "\\label{tab:wosac-detailed}\n", + "\\definecolor{lightgray}{gray}{0.95}\n", + "\\rowcolors{2}{white}{lightgray}\n", + "\\resizebox{0.99\\textwidth}{!}{\n", + "\\begin{tabular}{lccccccccccccccc}\n", + "\\toprule\n", + "Method & REPLAN RATE (Hz) & LINEAR SPEED $\\uparrow$ & LINEAR ACCEL. $\\uparrow$ & ANG. SPEED $\\uparrow$ & ANG. ACCEL. $\\uparrow$ & DIST. TO OBJ. $\\uparrow$ & COLLISION $\\uparrow$ & TTC $\\uparrow$ & DIST. TO ROAD EDGE $\\uparrow$ & OFFROAD $\\uparrow$ & COMPOSITE METRIC $\\uparrow$ & ADE $\\downarrow$ & MINADE $\\downarrow$ & COLLISION RATE $\\downarrow$ & OFFROAD RATE $\\downarrow$ \\\\\n", + "\\midrule\n", + "VBD & 0.125 & 0.359 & 0.366 & \\textbf{0.420} & \\textbf{0.522} & \\textbf{0.368} & \\textbf{0.934} & 0.815 & 0.651 & \\textbf{0.879} & \\textbf{0.720} & 2.257 & 1.474 & \\textbf{0.036} & \\textbf{0.152} \\\\\n", + "Guided self-play (ours) & 10.000 & \\textbf{0.490} & \\textbf{0.397} & 0.363 & 0.493 & 0.301 & 0.657 & \\textbf{0.819} & \\textbf{0.668} & 0.768 & 0.639 & \\textbf{1.430} & \\textbf{1.430} & 0.136 & 0.219 \\\\\n", + "Random agent & 10.000 & 0.002 & 0.116 & 0.014 & 0.034 & 0.000 & 0.000 & 0.735 & 0.148 & 0.191 & 0.144 & 50.739 & 50.706 & 1.000 & 0.613 \\\\\n", + "\\midrule\n", + "Logged oracle & - & 0.476 & 0.478 & 0.578 & 0.694 & 0.476 & 1.000 & 0.883 & 0.715 & 1.000 & 0.819 & 0.000 & 0.000 & 0.028 & 0.111 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "}\n", + "\\end{table}\n", + "\n", + "\n", + "SHORT TABLE:\n", + "\\begin{table}[htbp]\n", + "\\centering\n", + "\\caption{Per-category WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.}\n", + "\\label{tab:wosac-short}\n", + "\\definecolor{lightgray}{gray}{0.95}\n", + "\\rowcolors{2}{white}{lightgray}\n", + "\\resizebox{0.99\\textwidth}{!}{\n", + "\\begin{tabular}{lcccc}\n", + "\\toprule\n", + "Method & Composite Metric $\\uparrow$ & Kinematic Metrics $\\uparrow$ & Interactive Metrics $\\uparrow$ & Map-Based Metrics $\\uparrow$ \\\\\n", + "\\midrule\n", + "VBD & \\textbf{0.720} & 0.417 & \\textbf{0.706} & \\textbf{0.765} \\\\\n", + "Guided self-play (ours) & 0.639 & \\textbf{0.436} & 0.592 & 0.718 \\\\\n", + "Random agent & 0.144 & 0.042 & 0.245 & 0.169 \\\\\n", + "\\midrule\n", + "Logged oracle & 0.819 & 0.556 & 0.786 & 0.857 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "}\n", + "\\end{table}\n" + ] + } + ], + "source": [ + "def display_wosac_tables(csv_file, detailed_caption=\"Detailed Performance Metrics\", \n", + " detailed_label=\"tab:detailed\", short_caption=\"Aggregated Performance Metrics\", \n", + " short_label=\"tab:short\", precision=3):\n", + " \"\"\"\n", + " Generate both detailed and short versions of the WOSAC metrics table.\n", + " \n", + " Parameters:\n", + " -----------\n", + " csv_file : str\n", + " Path to the CSV file with the metrics\n", + " detailed_caption : str\n", + " Caption for the detailed table\n", + " detailed_label : str\n", + " Label for the detailed table\n", + " short_caption : str\n", + " Caption for the short table\n", + " short_label : str\n", + " Label for the short table\n", + " precision : int\n", + " Number of decimal places for numerical values\n", + " \n", + " Returns:\n", + " --------\n", + " tuple : (detailed_latex_code, short_latex_code)\n", + " \"\"\"\n", + " \n", + " df = pd.read_csv(csv_file)\n", + " df = df.set_index(\"AGENT POLICY\")\n", + " \n", + " detailed_latex = df_to_clean_latex(\n", + " df, \n", + " caption=detailed_caption,\n", + " label=detailed_label,\n", + " precision=precision,\n", + " oracle_row_name=\"LOGGED ORACLE\",\n", + " short_version=False\n", + " )\n", + " \n", + " # Generate short table\n", + " # First, create the aggregated metrics\n", + " df_short = df.copy()\n", + " df_short[\"Kinematic metrics (↑)\"] = (\n", + " df_short[\"LINEAR SPEED (↑)\"] \n", + " + df_short[\"LINEAR ACCEL. (↑)\"]\n", + " + df_short[\"ANG. SPEED (↑)\"]\n", + " + df_short[\"ANG. ACCEL. (↑)\"]\n", + " ) / 4\n", + "\n", + " df_short[\"Interactive metrics (↑)\"] = (\n", + " df_short[\"COLLISION (↑)\"] \n", + " + df_short[\"TTC (↑)\"]\n", + " + df_short[\"DIST. TO OBJ. (↑)\"]\n", + " ) / 3\n", + " \n", + " df_short[\"Map-based metrics (↑)\"] = (\n", + " df_short[\"DIST. TO ROAD EDGE (↑)\"] \n", + " + df_short[\"OFFROAD (↑)\"]\n", + " ) / 2\n", + " \n", + " # Keep only the desired columns\n", + " columns = [\n", + " \"COMPOSITE METRIC (↑)\",\n", + " \"Kinematic metrics (↑)\",\n", + " \"Interactive metrics (↑)\",\n", + " \"Map-based metrics (↑)\",\n", + " ]\n", + " # Make lower case for column names\n", + " df_short = df_short[columns]\n", + " \n", + " new_columns = [col.split('(')[0].strip().title() + (' (↑)' if '(↑)' in col else '') for col in columns]\n", + " df_short.columns = new_columns\n", + " \n", + " # Generate the short table\n", + " short_latex = df_to_clean_latex(\n", + " df_short, \n", + " caption=short_caption,\n", + " label=short_label,\n", + " precision=precision,\n", + " oracle_row_name=\"LOGGED ORACLE\",\n", + " short_version=False # Already shortened the DataFrame\n", + " )\n", + " \n", + " return detailed_latex, short_latex\n", + "\n", + "# Generate both tables\n", + "detailed_table, short_table = display_wosac_tables(\n", + " csv_file=\"examples/eval/figures_data/wosac/wosac_table_2025-05-13-15-39.csv\",\n", + " detailed_caption=\"Per-component WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.\",\n", + " detailed_label=\"tab:wosac-detailed\",\n", + " short_caption=\"Per-category WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.\",\n", + " short_label=\"tab:wosac-short\"\n", + ")\n", + "\n", + "print(\"DETAILED TABLE:\")\n", + "print(detailed_table)\n", + "print(\"\\n\\nSHORT TABLE:\")\n", + "print(short_table)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### WOSAC distributions score distributions" + ] + }, + { + "cell_type": "code", + "execution_count": 123, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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scenario_idmetametricaverage_displacement_errorlinear_speed_likelihoodlinear_acceleration_likelihoodangular_speed_likelihoodangular_acceleration_likelihooddistance_to_nearest_object_likelihoodcollision_indication_likelihoodtime_to_collision_likelihooddistance_to_road_edge_likelihoodoffroad_indication_likelihoodmin_average_displacement_errortraffic_light_violation_likelihoodsimulated_collision_ratesimulated_offroad_rate
03f5c25d7205f8dff0.8135391.1986340.3288270.4326710.8656040.8532030.3675220.9990020.5544430.9575270.9990021.1986340.9990020.0000000.000000
183b48014b261a04b0.5948550.9727850.7840310.6857690.4263800.3475770.0966630.0998670.9888890.9888890.9990020.9727850.9990020.3333330.666667
2210b4bd10918f4070.8165010.9854200.3701360.3872730.3843360.6862800.2856520.9990020.9888890.9638810.9990020.9854200.9990020.0000000.000000
348f180b621e549ba0.5691162.6708190.4272280.3634330.2489690.7013630.2843690.9990020.8687350.4530820.1776062.6708190.9990020.0000000.250000
45eea5080e97ee2cf0.5479780.4942650.7263530.5968200.2103280.3348260.1972850.0630080.8366750.7142550.9990020.4942650.9990020.0000000.200000
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" + ], + "text/plain": [ + " scenario_id metametric average_displacement_error \\\n", + "0 3f5c25d7205f8dff 0.813539 1.198634 \n", + "1 83b48014b261a04b 0.594855 0.972785 \n", + "2 210b4bd10918f407 0.816501 0.985420 \n", + "3 48f180b621e549ba 0.569116 2.670819 \n", + "4 5eea5080e97ee2cf 0.547978 0.494265 \n", + "\n", + " linear_speed_likelihood linear_acceleration_likelihood \\\n", + "0 0.328827 0.432671 \n", + "1 0.784031 0.685769 \n", + "2 0.370136 0.387273 \n", + "3 0.427228 0.363433 \n", + "4 0.726353 0.596820 \n", + "\n", + " angular_speed_likelihood angular_acceleration_likelihood \\\n", + "0 0.865604 0.853203 \n", + "1 0.426380 0.347577 \n", + "2 0.384336 0.686280 \n", + "3 0.248969 0.701363 \n", + "4 0.210328 0.334826 \n", + "\n", + " distance_to_nearest_object_likelihood collision_indication_likelihood \\\n", + "0 0.367522 0.999002 \n", + "1 0.096663 0.099867 \n", + "2 0.285652 0.999002 \n", + "3 0.284369 0.999002 \n", + "4 0.197285 0.063008 \n", + "\n", + " time_to_collision_likelihood distance_to_road_edge_likelihood \\\n", + "0 0.554443 0.957527 \n", + "1 0.988889 0.988889 \n", + "2 0.988889 0.963881 \n", + "3 0.868735 0.453082 \n", + "4 0.836675 0.714255 \n", + "\n", + " offroad_indication_likelihood min_average_displacement_error \\\n", + "0 0.999002 1.198634 \n", + "1 0.999002 0.972785 \n", + "2 0.999002 0.985420 \n", + "3 0.177606 2.670819 \n", + "4 0.999002 0.494265 \n", + "\n", + " traffic_light_violation_likelihood simulated_collision_rate \\\n", + "0 0.999002 0.000000 \n", + "1 0.999002 0.333333 \n", + "2 0.999002 0.000000 \n", + "3 0.999002 0.000000 \n", + "4 0.999002 0.000000 \n", + "\n", + " simulated_offroad_rate \n", + "0 0.000000 \n", + "1 0.666667 \n", + "2 0.000000 \n", + "3 0.250000 \n", + "4 0.200000 " + ] + }, + "execution_count": 123, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "df_dist = pd.read_csv(\"examples/eval/figures_data/wosac/score_distribution_2025-05-13-15-39.csv\")\n", + 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "sns.regplot(data=df_dist, x='metametric', y='simulated_collision_rate')" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/eval/notebooks/02_guidance_data_analyis.ipynb b/examples/eval/notebooks/02_guidance_data_analyis.ipynb new file mode 100644 index 000000000..d64b6a382 --- /dev/null +++ b/examples/eval/notebooks/02_guidance_data_analyis.ipynb @@ -0,0 +1,17626 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "ae958675", + "metadata": {}, + "outputs": [], + "source": [ + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "937797aa", + "metadata": {}, + "outputs": [], + "source": [ + "MS = 9\n", + " \n", + "def plot_agent_guidance_info(guidance_obs, center_agent_idx):\n", + " \n", + " agent_guidance = guidance_obs[center_agent_idx, :, :]\n", + " mask = agent_guidance[:, 0] != -1.0\n", + " \n", + " time_steps = np.arange(agent_guidance.shape[0])\n", + " \n", + " fig, axes = plt.subplots(1, 3, figsize=(9.5, 3))\n", + " \n", + " axes[0].scatter(agent_guidance[:, 0][mask], agent_guidance[:, 1][mask], marker='o', s=MS, color='g') \n", + " axes[0].set_xlabel(r'Suggested $x$')\n", + " axes[0].set_ylabel(r'Suggested $y$')\n", + " #axes[0].legend()\n", + " axes[0].grid(True, alpha=0.3)\n", + " \n", + " axes[1].scatter(time_steps[mask], agent_guidance[:, 2][mask], marker='o', color='b', s=MS)\n", + " axes[1].set_xlabel('Time')\n", + " axes[1].set_ylabel('Suggested speed')\n", + " axes[1].grid(True, alpha=0.3)\n", + " \n", + " axes[2].scatter(time_steps[mask], agent_guidance[:, 3][mask], marker='o', color='#bc6c25', s=MS)\n", + " axes[2].set_xlabel('Time')\n", + " axes[2].set_ylabel('Suggested heading (rad)')\n", + " axes[2].grid(True, alpha=0.3)\n", + " \n", + " #fig.suptitle(f\"Agent's {center_agent_idx} normalized guidance information\")\n", + " \n", + " plt.tight_layout()\n", + " plt.subplots_adjust(top=0.85, bottom=0.15)\n", + " \n", + " return fig" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "db3838a5", + "metadata": {}, + "outputs": [], + "source": [ + "DATASET = \"data/processed/wosac/validation_json_100\"\n", + "FIGURES_DIR = \"examples/eval/figures\"\n", + "DATA_FOLDER = \"examples/eval/figures_data/\"" + ] + }, + { + "cell_type": "markdown", + "id": "2aaa50e1", + "metadata": {}, + "source": [ + "### Checking guidance data" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "dce673ef", + "metadata": {}, + "outputs": [], + "source": [ + "# Load npy array from the file\n", + "FOLDER = \"examples/eval/figures_data/guidance/\"\n", + "\n", + "ref_log_replay = np.load(f\"{FOLDER}reference_log_replay.npy\")\n", + "ref_vbd_amortized = np.load(f\"{FOLDER}reference_vbd_amortized.npy\")\n", + "ref_vbd_online = np.load(f\"{FOLDER}reference_vbd_online.npy\")" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "c216b641", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "((204, 91, 6), (204, 91, 6), (210, 91, 6))" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# Should all be 91 \n", + "\n", + "# Controlled agent elements for 10 scenarios\n", + "ref_log_replay.shape, ref_vbd_amortized.shape, ref_vbd_online.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "id": "a706660b", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-13T12:11:29.847343\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "for agent_idx in range(3):\n", + " \n", + " valid = ref_log_replay[agent_idx, :, -1].astype( bool)\n", + "\n", + " fig, axs = plt.subplots(1, 3, figsize=(12, 4))\n", + " axs[0].set_title(f\"Global position (x, y); agent {agent_idx}\")\n", + " axs[0].plot(ref_log_replay[agent_idx, :, 0][valid], ref_log_replay[agent_idx, :, 1][valid], color='b')\n", + " #axs[0].plot(ref_vbd_online[agent_idx, :, 0], ref_vbd_online[agent_idx, :, 1], color='g', alpha=0.5)\n", + " axs[0].plot(ref_vbd_amortized[agent_idx, :, 0], ref_vbd_amortized[agent_idx, :, 1], color='r')\n", + " axs[0].set_xlabel(\"x\")\n", + " axs[0].set_ylabel(\"y\")\n", + "\n", + " axs[1].set_title(f\"Global velocity (x, y); agent {agent_idx}\")\n", + " axs[1].plot(ref_log_replay[agent_idx, :, 2][valid], ref_log_replay[agent_idx, :, 3][valid], color='b')\n", + " axs[1].plot(ref_vbd_online[agent_idx, :, 2], ref_vbd_online[agent_idx, :, 3], color='g')\n", + " axs[1].plot(ref_vbd_amortized[agent_idx, :, 2], ref_vbd_amortized[agent_idx, :, 3], color='r')\n", + " axs[2].set_xlabel(r\"$v_x$\")\n", + " axs[2].set_ylabel(r\"$v_y$\")\n", + "\n", + " axs[2].set_title(f\"Global heading; agent {agent_idx}\")\n", + " axs[2].plot(ref_log_replay[agent_idx, :, 4][valid], color='b', label=\"log_replay\")\n", + " axs[2].plot(ref_vbd_online[agent_idx, :, 4], color='g', label=\"vbd_online\")\n", + " axs[2].plot(ref_vbd_amortized[agent_idx, :, 4], color='r', label=\"vbd_amortized\")\n", + " axs[2].set_ylabel(r\"$\\theta$\")\n", + "\n", + " plt.tight_layout()\n", + "\n", + " fig.legend(loc=\"center right\", facecolor=\"white\", bbox_to_anchor=(1.12, 0.5))\n", + " plt.show()" + ] + }, + { + "cell_type": "markdown", + "id": "abac4ce3", + "metadata": {}, + "source": [ + "### Dataset stats" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "59043fd6", + "metadata": {}, + "outputs": [], + "source": [ + "valid_guidance_points = ref_log_replay[:, :, 5].sum(axis=-1)\n", + "valid_guidance_points.shape\n", + "\n", + "# Some trajectories, while valid, are just parked cars\n", + "# Detect these by checking for zero velocity trajectories\n", + "valid_and_non_zero = ((ref_log_replay[:, :, 2] != 0) & (ref_log_replay[:, :, 5] == 1)).sum(axis=1)" + ] + }, + { + "cell_type": "code", + "execution_count": 32, + "id": "4708aa7f", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-13T12:13:25.272889\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 2, figsize=(9, 3.5), sharey=True)\n", + "\n", + "fig.suptitle(f\"Distribution of guidance points per episode; A = {ref_log_replay.shape[0]} (50 scenarios)\")\n", + "\n", + "sns.histplot(valid_guidance_points, bins=10, stat='percent', ax=axs[0])\n", + "axs[0].grid(True, alpha=0.2)\n", + "axs[0].set_xlabel(\"Guidance points per episode.\")\n", + "mean_value = valid_guidance_points.mean()\n", + "axs[0].axvline(x=mean_value, color='purple', linestyle='--')\n", + "axs[0].text(mean_value-3, axs[0].get_ylim()[1]*0.95, r'$\\mu$', color='purple', \n", + " fontsize=14, ha='center', va='center')\n", + "\n", + "sns.histplot(valid_and_non_zero, bins=10, stat='percent', ax=axs[1])\n", + "axs[1].grid(True, alpha=0.2)\n", + "axs[1].set_xlabel(r\"$\\bf{Nonzero}$ guidance points per episode.\")\n", + "mean_value_nonzero = valid_and_non_zero.mean()\n", + "axs[1].axvline(x=mean_value_nonzero, color='purple', linestyle='--')\n", + "axs[1].text(mean_value_nonzero-3, axs[1].get_ylim()[1]*0.95, r'$\\mu$', color='purple', fontsize=14, ha='center', va='center')\n", + "\n", + "plt.tight_layout()\n", + "sns.despine()\n", + "plt.savefig(f\"{FIGURES_DIR}/guidance_points_distribution.pdf\", dpi=300, bbox_inches=\"tight\")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "2cd9d59d", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "markdown", + "id": "09f01b81", + "metadata": {}, + "source": [] + }, + { + "cell_type": "markdown", + "id": "c0ea8a40", + "metadata": {}, + "source": [ + "### Make guidance figs" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "id": "ee3b198a", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['data/processed/wosac/validation_json_100/5d710aa0c524f747.json']\n" + ] + } + ], + "source": [ + "GUIDANCE_MODE = \"log_replay\"\n", + "GUIDANCE_DROPOUT = 0.99\n", + "GUIDANCE_DROPOUT_MODE = \"avg\"\n", + "\n", + "env_config = EnvConfig(\n", + " reward_type=\"guided_autonomy\",\n", + " guidance=True,\n", + " guidance_mode=GUIDANCE_MODE,\n", + " add_reference_heading=True,\n", + " add_reference_speed=True,\n", + " add_reference_pos_xy=True,\n", + " init_mode=\"wosac_train\",\n", + " smoothen_trajectory=False,\n", + " dynamics_model=\"delta_local\",\n", + " guidance_dropout_prob=GUIDANCE_DROPOUT,\n", + " guidance_dropout_mode=GUIDANCE_DROPOUT_MODE,\n", + " init_steps=0,\n", + ")\n", + "render_config = RenderConfig()\n", + "\n", + "train_loader = SceneDataLoader(\n", + " root=DATASET,\n", + " batch_size=1,\n", + " dataset_size=100,\n", + " sample_with_replacement=False,\n", + " shuffle=True,\n", + " file_prefix=\"\",\n", + " \n", + ")\n", + "\n", + "env = GPUDriveTorchEnv(\n", + " config=env_config,\n", + " data_loader=train_loader,\n", + " max_cont_agents=32, \n", + " device=\"cpu\",\n", + ")\n", + "\n", + "print(env.data_batch)\n", + "\n", + "obs = env.reset(env.cont_agent_mask)\n", + "expert_actions, _, _, _ = env.get_expert_actions()\n", + "\n", + "# for time_step in range(env.init_steps, 20):\n", + "# print(f\"Step: {env.step_in_world[0, 0, 0].item()}\")\n", + "\n", + "# # Step the environment\n", + "# expert_actions, _, _, _ = env.get_expert_actions()\n", + "# env.step_dynamics(expert_actions[:, :, time_step, :])\n", + "\n", + "# obs = env.get_obs(env.cont_agent_mask)\n", + "# rew = env.get_rewards()\n", + " \n", + "\n", + "# # Save for analysis\n", + "# reference_traj = torch.cat([\n", + "# env.reference_trajectory.pos_xy,\n", + "# env.reference_trajectory.vel_xy,\n", + "# env.reference_trajectory.yaw,\n", + "# env.reference_trajectory.valids,\n", + "# ], dim=-1)\n", + "# reference_traj_np = reference_traj[env.cont_agent_mask].numpy()\n", + "\n", + "# np.save(f\"reference_{GUIDANCE_MODE}.npy\", reference_traj_np)" + ] + }, + { + "cell_type": "code", + "execution_count": 14, 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" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "CENTER_AGENT_IDX = 0\n", + "\n", + "fig = env.vis.plot_agent_observation(\n", + " env_idx=0,\n", + " agent_idx=CENTER_AGENT_IDX,\n", + " figsize=(10, 10),\n", + " trajectory=env.reference_path[CENTER_AGENT_IDX, :, :],\n", + " # step_reward=env.guidance_reward[\n", + " # 0, 1\n", + " # ].item(),\n", + " # route_progress=env.route_progress[1],\n", + ")\n", + "\n", + "plt.savefig(\n", + " os.path.join(FIGURES_DIR, f\"agent_observation_{CENTER_AGENT_IDX}_{GUIDANCE_MODE}_dropout_{GUIDANCE_DROPOUT}_{GUIDANCE_DROPOUT_MODE}.pdf\"),\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "id": "b4020148", + "metadata": {}, + "outputs": [ + { + "ename": "NameError", + "evalue": "name 'plot_agent_guidance_info' is not defined", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[1], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m fig \u001b[38;5;241m=\u001b[39m \u001b[43mplot_agent_guidance_info\u001b[49m(env\u001b[38;5;241m.\u001b[39mguidance_obs, center_agent_idx\u001b[38;5;241m=\u001b[39m\u001b[38;5;241m1\u001b[39m);\n\u001b[1;32m 3\u001b[0m plt\u001b[38;5;241m.\u001b[39msavefig(\n\u001b[1;32m 4\u001b[0m os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39mjoin(FIGURES_DIR, \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124magent_guidance_info_\u001b[39m\u001b[38;5;132;01m{\u001b[39;00mCENTER_AGENT_IDX\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m_\u001b[39m\u001b[38;5;132;01m{\u001b[39;00mGUIDANCE_MODE\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m.pdf\u001b[39m\u001b[38;5;124m\"\u001b[39m),\n\u001b[1;32m 5\u001b[0m dpi\u001b[38;5;241m=\u001b[39m\u001b[38;5;241m300\u001b[39m,\n\u001b[1;32m 6\u001b[0m bbox_inches\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mtight\u001b[39m\u001b[38;5;124m\"\u001b[39m,\n\u001b[1;32m 7\u001b[0m )\n", + "\u001b[0;31mNameError\u001b[0m: name 'plot_agent_guidance_info' is not defined" + ] + } + ], + "source": [ + "fig = plot_agent_guidance_info(env.guidance_obs, center_agent_idx=1);\n", + "\n", + "plt.savefig(\n", + " os.path.join(FIGURES_DIR, f\"agent_guidance_info_{CENTER_AGENT_IDX}_{GUIDANCE_MODE}.pdf\"),\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "82ac8a30", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/03_qualitative_samples.ipynb b/examples/eval/notebooks/03_qualitative_samples.ipynb new file mode 100644 index 000000000..d2489dd5a --- /dev/null +++ b/examples/eval/notebooks/03_qualitative_samples.ipynb @@ -0,0 +1,11515 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "id": "104c55cd", + "metadata": {}, + "source": [ + "### Qualitative analysis\n", + "\n", + "- What kind of trajectories does VBD generate?\n", + "- Can an RL agent correct for unrealistic trajectories?\n" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "992178d9", + "metadata": {}, + "outputs": [], + "source": [ + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "import mediapy\n", + "import dataclasses\n", + "from pathlib import Path\n", + "from tqdm import tqdm\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "import madrona_gpudrive\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.datatypes.observation import GlobalEgoState\n", + "from gpudrive.datatypes.info import Info\n", + "\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "from gpudrive.utils.checkpoint import load_agent\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "markdown", + "id": "60eb9f03", + "metadata": {}, + "source": [ + "### Helper functions" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "03617bca", + "metadata": {}, + "outputs": [], + "source": [ + "def rollout(\n", + " env: GPUDriveTorchEnv,\n", + " sim_agent: torch.nn.Module,\n", + " init_steps: int,\n", + " num_envs: int,\n", + " max_agents: int,\n", + " device: str,\n", + " render_simulator_states: bool = False,\n", + " render_agent_pov: bool = False,\n", + " render_every_n_steps: int = 5,\n", + " save_videos: bool = True,\n", + " video_dir: str = \"videos\",\n", + " video_format: str = \"gif\",\n", + "):\n", + " \"\"\"Rollout agent in the environment and return the scenario rollouts.\"\"\"\n", + "\n", + " if save_videos:\n", + " os.makedirs(video_dir, exist_ok=True)\n", + "\n", + " # Storage\n", + " env_ids = list(range(num_envs))\n", + " simulator_state_frames = {env_id: [] for env_id in range(num_envs)}\n", + " agent_observation_frames = {env_id: [] for env_id in range(num_envs)}\n", + "\n", + " _ = env.reset()\n", + "\n", + " # Zero out actions for parked vehicles\n", + " info = Info.from_tensor(\n", + " env.sim.info_tensor(),\n", + " backend=env.backend,\n", + " device=env.device,\n", + " )\n", + " control_mask_all = env.cont_agent_mask.clone()\n", + " zero_action_mask = (info.off_road == 1) | (\n", + " info.collided_with_vehicle == 1\n", + " ) & (info.type == int(madrona_gpudrive.EntityType.Vehicle))\n", + " control_mask = control_mask_all & ~zero_action_mask\n", + "\n", + " next_obs = env.reset(control_mask)\n", + "\n", + " # Get scenario ids\n", + " scenario_ids_dict = env.get_scenario_ids()\n", + " scenario_ids = list(scenario_ids_dict.values())\n", + "\n", + " pos_x_list = []\n", + " pos_y_list = []\n", + " heading_list = []\n", + " done_list = [env.get_dones()]\n", + "\n", + " for time_step in range(env.episode_len - init_steps):\n", + "\n", + " # Predict actions\n", + " action, _, _, _ = sim_agent(next_obs)\n", + "\n", + " action_template = torch.zeros(\n", + " (num_envs, max_agents), dtype=torch.int64, device=device\n", + " )\n", + " action_template[control_mask] = action.to(device)\n", + "\n", + " # Step\n", + " env.step_dynamics(action_template)\n", + "\n", + " # Render\n", + " if render_simulator_states and time_step % render_every_n_steps == 0:\n", + " sim_states = env.vis.plot_simulator_state(\n", + " env_indices=env_ids,\n", + " zoom_radius=100,\n", + " time_steps=[time_step] * len(env_ids),\n", + " plot_guidance_pos_xy=True,\n", + " )\n", + " for idx in range(num_envs):\n", + " simulator_state_frames[idx].append(\n", + " img_from_fig(sim_states[idx])\n", + " )\n", + "\n", + " if render_agent_pov and time_step % render_every_n_steps == 0:\n", + " agent_obs = env.vis.plot_agent_observation(\n", + " env_idx=0,\n", + " agent_idx=0,\n", + " figsize=(10, 10),\n", + " trajectory=env.reference_path[0, :, :].to(\"cpu\"),\n", + " )\n", + " agent_observation_frames[idx].append(img_from_fig(agent_obs))\n", + "\n", + " # Get next observation\n", + " next_obs = env.get_obs(control_mask)\n", + " done = env.get_dones()\n", + " \n", + " states = GlobalEgoState.from_tensor(\n", + " env.sim.absolute_self_observation_tensor(),\n", + " backend=env.backend,\n", + " device=env.device,\n", + " )\n", + " \n", + " pos_xy = states.pos_xy\n", + " heading = states.rotation_angle\n", + " vel_xy = states.vel_xy\n", + " \n", + " pos_x_list.append(pos_xy[:, 0])\n", + " pos_y_list.append(pos_xy[:, 1])\n", + " heading_list.append(heading)\n", + " done_list.append(done)\n", + " _ = done_list.pop()\n", + "\n", + " if save_videos:\n", + " for idx in range(num_envs):\n", + " scenario_id = scenario_ids_dict[idx]\n", + " if (\n", + " render_simulator_states\n", + " and len(simulator_state_frames[idx]) > 0\n", + " ):\n", + " mediapy.write_video(\n", + " f\"{video_dir}/sim_state_env_{idx}_{scenario_id}.{video_format}\",\n", + " np.array(simulator_state_frames[idx]),\n", + " fps=8,\n", + " codec=video_format,\n", + " )\n", + "\n", + " if render_agent_pov and len(agent_observation_frames[0]) > 0:\n", + " scenario_id = scenario_ids_dict[0]\n", + " mediapy.write_video(\n", + " f\"{video_dir}/agent_0_{scenario_id}.{video_format}\",\n", + " np.array(agent_observation_frames[0]),\n", + " fps=8,\n", + " codec=video_format,\n", + " )\n", + "\n", + " # Generate Scenario\n", + " pos_x_stack = torch.stack(pos_x_list, dim=-1).cpu().numpy()\n", + " pos_y_stack = torch.stack(pos_y_list, dim=-1).cpu().numpy()\n", + " heading_stack = torch.stack(heading_list, dim=-1).cpu().numpy()\n", + " done_stack = torch.stack(done_list, dim=-1).cpu().numpy()\n", + " control_mask = control_mask.cpu().numpy()\n", + " \n", + " return pos_x_stack, pos_y_stack, heading_stack, done_stack, control_mask" + ] + }, + { + "cell_type": "markdown", + "id": "b8f13883", + "metadata": {}, + "source": [ + "### Settings" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "885c023a", + "metadata": {}, + "outputs": [], + "source": [ + "DATA_FOLDER = \"data/processed/wosac/validation_json_3\"\n", + "FIGURES_FOLDER = \"examples/eval/figures\"" + ] + }, + { + "cell_type": "markdown", + "id": "bd75f099", + "metadata": {}, + "source": [ + "### Make environment" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "d5b19c53", + "metadata": {}, + "outputs": [], + "source": [ + "# Settings\n", + "MAX_AGENTS = 64\n", + "NUM_ENVS = 3\n", + "DEVICE = \"cpu\" \n", + "NUM_ROLLOUTS = 1\n", + "INIT_STEPS = 0\n", + "DATASET_SIZE = 100\n", + "RENDER = False\n", + "\n", + "# Create data loader\n", + "val_loader = SceneDataLoader(\n", + " root=DATA_FOLDER,\n", + " batch_size=NUM_ENVS,\n", + " dataset_size=DATASET_SIZE,\n", + " sample_with_replacement=False,\n", + " shuffle=False,\n", + " file_prefix=\"\",\n", + ")\n", + "\n", + "# Load agent\n", + "agent = load_agent(\n", + " path_to_cpt=\"checkpoints/model_guidance_log_replay__S_3__05_02_18_49_49_637_000500.pt\",\n", + ").to(DEVICE)\n", + "\n", + "# Override default environment settings to match those the agent was trained with\n", + "default_config = EnvConfig()\n", + "config_dict = {\n", + " field.name: getattr(agent.config, field.name)\n", + " for field in dataclasses.fields(EnvConfig)\n", + " if hasattr(agent.config, field.name)\n", + " and getattr(agent.config, field.name)\n", + " != getattr(default_config, field.name)\n", + "}\n", + "\n", + "env_config = dataclasses.replace(default_config, **config_dict)\n", + "\n", + "# Make environment\n", + "env = GPUDriveTorchEnv(\n", + " config=env_config,\n", + " data_loader=val_loader,\n", + " max_cont_agents=MAX_AGENTS,\n", + " device=DEVICE,\n", + ")" + ] + }, + { + "cell_type": "markdown", + "id": "44ccb33f", + "metadata": {}, + "source": [ + "### Rollouts" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "(\n", + " pos_x_stack, \n", + " pos_y_stack, \n", + " heading_stack, \n", + " done_stack, \n", + " control_mask\n", + ") = rollout(\n", + " env=env,\n", + " sim_agent=agent,\n", + " init_steps=INIT_STEPS,\n", + " num_envs=NUM_ENVS,\n", + " max_agents=MAX_AGENTS,\n", + " device=DEVICE,\n", + " render_simulator_states=RENDER,\n", + " render_agent_pov=RENDER,\n", + " save_videos=RENDER,\n", + ")" + ] + }, + { + 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" + ] + }, + "execution_count": 13, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "env.vis.figsize = (8, 8)\n", + "\n", + "# Plot simulator state with the stacked trajectories\n", + "_ = env.reset()\n", + "img = env.vis.plot_simulator_state(\n", + " env_indices=[1], \n", + " #agent_positions=trajs['agent_positions'], # Pass stacked trajectories directly\n", + " zoom_radius=70,\n", + " multiple_rollouts=True,\n", + " line_alpha=0.1, \n", + " line_width=1.0, \n", + " #weights=trajs['collision_weights'], \n", + " #colorbar=True, \n", + " plot_guidance_pos_xy=True,\n", + ")[0]\n", + "\n", + "img" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "9503a695", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "e5af51cf", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/04_guidance_density.ipynb b/examples/eval/notebooks/04_guidance_density.ipynb new file mode 100644 index 000000000..c5a3cdfc6 --- /dev/null +++ b/examples/eval/notebooks/04_guidance_density.ipynb @@ -0,0 +1,9627 @@ +{ + "cells": [ + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 57, +======= + "execution_count": 2, +>>>>>>> dev + "id": "a8c62c27", + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "import os\n", + "import glob\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (5, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 60, +======= + "execution_count": 12, +>>>>>>> dev + "id": "459ad191", + "metadata": {}, + "outputs": [], + "source": [ + "FILES = [\n", +<<<<<<< HEAD + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.00_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.01_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.25_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.50_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.75_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_1.00_2025-05-14-20.csv\", \n", + "]\n", + "densities = [0.0, 0.01, 0.25, 0.5, 0.75, 1.0]\n", +======= + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.01_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.20_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.50_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.80_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_1.00_2025-05-14-15.csv\", \n", + "]\n", + "densities = [0.01, 0.2, 0.5, 0.8, 1.0]\n", +>>>>>>> dev + "\n", + "# Load dataframes from files and merge into a single dataframe\n", + "dfs = []\n", + "for idx, file in enumerate(FILES):\n", + " df = pd.read_csv(file)\n", + " df[\"guidance_density\"] = densities[idx]\n", + " dfs.append(df)\n", +<<<<<<< HEAD + "df = pd.concat(dfs, ignore_index=True)\n", + "\n", + "ORDER = [1.0, 0.75, 0.5, 0.25, 0.01, 0.0]" +======= + "df = pd.concat(dfs, ignore_index=True)" +>>>>>>> dev + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 61, +======= + "execution_count": 13, +>>>>>>> dev + "id": "9cdae638", + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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scenario_idmetametricaverage_displacement_errorlinear_speed_likelihoodlinear_acceleration_likelihoodangular_speed_likelihoodangular_acceleration_likelihooddistance_to_nearest_object_likelihoodcollision_indication_likelihoodtime_to_collision_likelihooddistance_to_road_edge_likelihoodoffroad_indication_likelihoodmin_average_displacement_errortraffic_light_violation_likelihoodsimulated_collision_ratesimulated_offroad_rateguidance_density
018aa438fe00f01ca0.7839602.3950370.3142010.3746560.5452790.5268710.1293610.9990020.9548060.7608460.9990022.3950370.9990020.00.0000.0
113d80264125ba0b40.7512251.9119070.4151800.3710000.3683490.4494210.3724910.9990020.4012110.8841150.9990021.9119070.9990020.00.1250.0
2159a8e178d2ed73a0.8675041.4721780.4275340.6377510.7966290.6492860.8048710.9990020.7231080.7939090.9990021.4721780.9990020.00.0000.0
3194921d60eb9f3ca0.7658691.5699210.5425380.6555020.2567040.3373130.1184100.9990020.9888890.3217090.9990021.5699210.9990020.00.0000.0
418aa438fe00f01ca0.7775472.5077690.2705210.3338340.5225200.4613510.1170170.9990020.9888890.7618730.9990022.5077690.9990020.00.0000.0576d4027d09828d40.4815543.0653350.3133620.3227880.2950490.2714370.2693050.0315750.4855350.7668740.9990023.0653350.9990020.5000000.0000000.01
12d0dd05d08b638970.8171400.8072260.8264940.6526990.2762260.3106190.3974790.9990020.9888890.5149960.9990020.8072260.9990020.0000000.5000000.01
23af805166fa9ab440.7921701.2212770.5590100.2569830.1746970.1401810.4240510.9990020.9555520.9643070.9990021.2212770.9990020.0000000.5000000.01
358c46ba6a925e1600.3947771.1362220.4695190.3297800.2874130.3921520.4300140.3723340.5818190.8384870.1387711.1362220.9990020.1428570.2857140.01
4576d4027d09828d40.7211672.6742770.3144090.3134060.1912640.2494660.3990800.9990020.3837570.8000940.9990022.6742770.9990020.0000000.0000000.01
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" + ], + "text/plain": [ + " scenario_id metametric average_displacement_error \\\n", +<<<<<<< HEAD + "0 18aa438fe00f01ca 0.783960 2.395037 \n", + "1 13d80264125ba0b4 0.751225 1.911907 \n", + "2 159a8e178d2ed73a 0.867504 1.472178 \n", + "3 194921d60eb9f3ca 0.765869 1.569921 \n", + "4 18aa438fe00f01ca 0.777547 2.507769 \n", + "\n", + " linear_speed_likelihood linear_acceleration_likelihood \\\n", + "0 0.314201 0.374656 \n", + "1 0.415180 0.371000 \n", + "2 0.427534 0.637751 \n", + "3 0.542538 0.655502 \n", + "4 0.270521 0.333834 \n", + "\n", + " angular_speed_likelihood angular_acceleration_likelihood \\\n", + "0 0.545279 0.526871 \n", + "1 0.368349 0.449421 \n", + "2 0.796629 0.649286 \n", + "3 0.256704 0.337313 \n", + "4 0.522520 0.461351 \n", + "\n", + " distance_to_nearest_object_likelihood collision_indication_likelihood \\\n", + "0 0.129361 0.999002 \n", + "1 0.372491 0.999002 \n", + "2 0.804871 0.999002 \n", + "3 0.118410 0.999002 \n", + "4 0.117017 0.999002 \n", + "\n", + " time_to_collision_likelihood distance_to_road_edge_likelihood \\\n", + "0 0.954806 0.760846 \n", + "1 0.401211 0.884115 \n", + "2 0.723108 0.793909 \n", + "3 0.988889 0.321709 \n", + "4 0.988889 0.761873 \n", + "\n", + " offroad_indication_likelihood min_average_displacement_error \\\n", + "0 0.999002 2.395037 \n", + "1 0.999002 1.911907 \n", + "2 0.999002 1.472178 \n", + "3 0.999002 1.569921 \n", + "4 0.999002 2.507769 \n", + "\n", + " traffic_light_violation_likelihood simulated_collision_rate \\\n", + "0 0.999002 0.0 \n", + "1 0.999002 0.0 \n", + "2 0.999002 0.0 \n", + "3 0.999002 0.0 \n", + "4 0.999002 0.0 \n", + "\n", + " simulated_offroad_rate guidance_density \n", + "0 0.000 0.0 \n", + "1 0.125 0.0 \n", + "2 0.000 0.0 \n", + "3 0.000 0.0 \n", + "4 0.000 0.0 " + ] + }, + "execution_count": 61, +======= + "0 576d4027d09828d4 0.481554 3.065335 \n", + "1 2d0dd05d08b63897 0.817140 0.807226 \n", + "2 3af805166fa9ab44 0.792170 1.221277 \n", + "3 58c46ba6a925e160 0.394777 1.136222 \n", + "4 576d4027d09828d4 0.721167 2.674277 \n", + "\n", + " linear_speed_likelihood linear_acceleration_likelihood \\\n", + "0 0.313362 0.322788 \n", + "1 0.826494 0.652699 \n", + "2 0.559010 0.256983 \n", + "3 0.469519 0.329780 \n", + "4 0.314409 0.313406 \n", + "\n", + " angular_speed_likelihood angular_acceleration_likelihood \\\n", + "0 0.295049 0.271437 \n", + "1 0.276226 0.310619 \n", + "2 0.174697 0.140181 \n", + "3 0.287413 0.392152 \n", + "4 0.191264 0.249466 \n", + "\n", + " distance_to_nearest_object_likelihood collision_indication_likelihood \\\n", + "0 0.269305 0.031575 \n", + "1 0.397479 0.999002 \n", + "2 0.424051 0.999002 \n", + "3 0.430014 0.372334 \n", + "4 0.399080 0.999002 \n", + "\n", + " time_to_collision_likelihood distance_to_road_edge_likelihood \\\n", + "0 0.485535 0.766874 \n", + "1 0.988889 0.514996 \n", + "2 0.955552 0.964307 \n", + "3 0.581819 0.838487 \n", + "4 0.383757 0.800094 \n", + "\n", + " offroad_indication_likelihood min_average_displacement_error \\\n", + "0 0.999002 3.065335 \n", + "1 0.999002 0.807226 \n", + "2 0.999002 1.221277 \n", + "3 0.138771 1.136222 \n", + "4 0.999002 2.674277 \n", + "\n", + " traffic_light_violation_likelihood simulated_collision_rate \\\n", + "0 0.999002 0.500000 \n", + "1 0.999002 0.000000 \n", + "2 0.999002 0.000000 \n", + "3 0.999002 0.142857 \n", + "4 0.999002 0.000000 \n", + "\n", + " simulated_offroad_rate guidance_density \n", + "0 0.000000 0.01 \n", + "1 0.500000 0.01 \n", + "2 0.500000 0.01 \n", + "3 0.285714 0.01 \n", + "4 0.000000 0.01 " + ] + }, + "execution_count": 13, +>>>>>>> dev + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "df.head()" + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 69, +======= + "execution_count": 52, +>>>>>>> dev + "id": "ba2b2530", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " 2025-05-14T22:16:21.320193\n", +======= + " 2025-05-14T17:27:14.234935\n", +>>>>>>> dev + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " >>>>>> dev + "L 0 6 \n", + "\" style=\"stroke: #262626; stroke-width: 1.25\"/>\n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " >>>>>> dev + "L -6 0 \n", + "\" style=\"stroke: #262626; stroke-width: 1.25\"/>\n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + "\n" + ], + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.barplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", +<<<<<<< HEAD + " order=ORDER,\n", +======= + " order=[1.0, 0.8, 0.5, 0.01],\n", +>>>>>>> dev + " errorbar=\"sd\",\n", + ")\n", + "axs.bar_label(axs.containers[0], fontsize=10)\n", + "sns.despine()" + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 70, +======= + "execution_count": null, +>>>>>>> dev + "id": "458c0799", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", +<<<<<<< HEAD + "\n", +======= + "\n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " 2025-05-14T22:16:24.169365\n", +======= + " 2025-05-14T17:27:15.688787\n", +>>>>>>> dev + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "pal = sns.color_palette(\"light:b_r\", as_cmap=False)\n", + "#pal = sns.light_palette(\"seagreen\", reverse=True, as_cmap=False)\n", + "\n", + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.boxplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", + " palette=pal,\n", + ")\n", + "\n", + "sns.swarmplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", + " size=5, color=\".3\", alpha=0.7,\n", + ")\n", + "sns.despine()\n", + "axs.grid(True, axis='y', alpha=0.5)\n", + "fig.savefig(\n", + " \"examples/eval/figures_data/wosac/log_replay_guidance_density.pdf\",\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 54, + "id": "fc2c6573", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-14T17:27:15.806500\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", +======= + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + "\n" + ], + "text/plain": [ +<<<<<<< HEAD + "
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" +>>>>>>> dev + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ +<<<<<<< HEAD + "pal = sns.color_palette(\"light:b_r\", as_cmap=False)\n", + "#pal = sns.light_palette(\"seagreen\", reverse=True, as_cmap=False)\n", + "\n", + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.boxplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=ORDER,\n", + " palette=pal,\n", + ")\n", + "\n", + "sns.stripplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=ORDER,\n", + " size=5, color=\".3\", alpha=0.7,\n", + ")\n", + "sns.despine()\n", + "axs.grid(True, axis='y', alpha=0.5)\n", + "fig.savefig(\n", + " \"examples/eval/figures_data/wosac/log_replay_guidance_density.pdf\",\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" +======= + "g = sns.catplot(\n", + " data=df, x=\"guidance_density\", y=\"metametric\", capsize=.2, palette=pal, errorbar=\"sd\",\n", + " kind=\"point\", height=4, aspect=1.7, order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", + ")\n", + "g.despine(left=True)\n", + "g.ax.grid(True, axis='y', alpha=0.3)" +>>>>>>> dev + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 68, +======= + "execution_count": 22, +>>>>>>> dev + "id": "e439cbc6", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " 2025-05-14T22:14:36.912047\n", +======= + " 2025-05-14T17:14:45.000413\n", +>>>>>>> dev + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " >>>>>> dev + "L 0 6 \n", + "\" style=\"stroke: #262626; stroke-width: 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.violinplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", +<<<<<<< HEAD + " order=ORDER,\n", +======= + " order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", +>>>>>>> dev + ")\n", + "\n", + "sns.despine()\n", + "axs.grid(True, alpha=0.5)\n", + "# fig.savefig(\n", + "# \"examples/eval/figures_data/wosac/log_replay_guidance_density.pdf\",\n", + "# dpi=300,\n", + "# bbox_inches=\"tight\",\n", + "# )" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "13eb0fe2", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "0faa1e7c", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/obtain_guidance_data.py b/examples/eval/notebooks/obtain_guidance_data.py new file mode 100644 index 000000000..dcbd405e7 --- /dev/null +++ b/examples/eval/notebooks/obtain_guidance_data.py @@ -0,0 +1,67 @@ +import importlib +import gpudrive + +importlib.reload(gpudrive) +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.env.config import EnvConfig, RenderConfig +from gpudrive.env.dataset import SceneDataLoader +import torch +import numpy as np +from gpudrive.datatypes.observation import LocalEgoState + +if __name__ == "__main__": + + GUIDANCE_MODE = "log_replay" + DATASET = "data/processed/wosac/validation_interactive/json" # Ensure VBD trajectory structures are in here + SAVE_PATH = "examples/eval/figures_data/guidance/" + + env_config = EnvConfig( + dynamics_model="classic", + reward_type="guided_autonomy", + guidance=True, + guidance_mode=GUIDANCE_MODE, + add_reference_heading=True, + add_reference_speed=True, + add_reference_pos_xy=True, + init_mode="wosac_eval", + smoothen_trajectory=False, + ) + render_config = RenderConfig() + + train_loader = SceneDataLoader( + root=DATASET, + batch_size=1, + dataset_size=100, + sample_with_replacement=False, + shuffle=False, + file_prefix="", + ) + + env = GPUDriveTorchEnv( + config=env_config, + data_loader=train_loader, + max_cont_agents=32, + device="cpu", + ) + + obs = env.reset(env.cont_agent_mask) + + # Save for analysis + reference_traj = torch.cat( + [ + env.reference_trajectory.pos_xy, + env.reference_trajectory.vel_xy, + env.reference_trajectory.yaw, + env.reference_trajectory.valids, + env.agent_types, + ], + dim=-1, + ) + reference_traj_np = ( + reference_traj[env.cont_agent_mask].detach().cpu().numpy() + ) + + np.save( + f"{SAVE_PATH}reference_{GUIDANCE_MODE}.npy", reference_traj_np + ) + print(f"Saved reference trajectory for {GUIDANCE_MODE} mode.") diff --git a/examples/eval/notebooks/variability_in_dataset.ipynb b/examples/eval/notebooks/variability_in_dataset.ipynb new file mode 100644 index 000000000..7e301058f --- /dev/null +++ b/examples/eval/notebooks/variability_in_dataset.ipynb @@ -0,0 +1,1716 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 14, + "id": "0fa8c70e", + "metadata": {}, + "outputs": [], + "source": [ + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "id": "7d2f76fa", + "metadata": {}, + "outputs": [], + "source": [ + "DATASET = \"data/processed/wosac/validation_json_100\"\n", + "FIGURES_DIR = \"examples/eval/figures\"\n", + "DATA_FOLDER = \"examples/eval/figures_data/\"" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "id": "6933650b", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91, 6)" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "ref_log_replay = np.load(f\"{DATA_FOLDER}reference_log_replay_smooth.npy\")\n", + "\n", + "ref_log_replay.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "7301cdce", + "metadata": {}, + "outputs": [], + "source": [ + "valid_guidance_points = ref_log_replay[:, :, 5].sum(axis=-1)\n", + "valid_guidance_points.shape\n", + "\n", + "# Some trajectories, while valid, are just parked cars\n", + "# Detect these by checking for zero velocity trajectories\n", + "valid_and_non_zero = ((ref_log_replay[:, :, 2] != 0) & (ref_log_replay[:, :, 5] == 1)).sum(axis=1)" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "id": "1f401802", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-08T10:12:01.098569\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 2, figsize=(9, 3.5), sharey=True)\n", + "\n", + "#fig.suptitle(f\"Distribution of guidance points per agent; A = {ref_log_replay.shape[0]}\")\n", + "\n", + "sns.histplot(valid_guidance_points, bins=10, stat='percent', ax=axs[0])\n", + "axs[0].grid(True, alpha=0.2)\n", + "axs[0].set_xlabel(\"Guidance points per agent\")\n", + "mean_value = valid_guidance_points.mean()\n", + "axs[0].axvline(x=mean_value, color='purple', linestyle='--')\n", + "axs[0].text(mean_value-3, axs[0].get_ylim()[1]*0.95, r'$\\mu$', color='purple', \n", + " fontsize=14, ha='center', va='center')\n", + "\n", + "sns.histplot(valid_and_non_zero, bins=10, stat='percent', ax=axs[1])\n", + "axs[1].grid(True, alpha=0.2)\n", + "axs[1].set_xlabel(r\"Guidance points per agent (nonzero excluded)\")\n", + "mean_value_nonzero = valid_and_non_zero.mean()\n", + "axs[1].axvline(x=mean_value_nonzero, color='purple', linestyle='--')\n", + "axs[1].text(mean_value_nonzero-3, axs[1].get_ylim()[1]*0.95, r'$\\mu$', color='purple', fontsize=14, ha='center', va='center')\n", + "\n", + "plt.tight_layout()\n", + "sns.despine()\n", + "plt.savefig(f\"{FIGURES_DIR}/guidance_points_distribution.pdf\", dpi=300, bbox_inches=\"tight\")" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "cf5219a6", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91, 6)" + ] + }, + "execution_count": 31, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "ref_log_replay.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 33, + "id": "f3cbb779", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91, 2)" + ] + }, + "execution_count": 33, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# Modalities\n", + "ref_log_replay[:, :, :2].shape" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "eecede8a", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(389141, 2)" + ] + }, + "execution_count": 34, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "ref_log_replay[:, :, :2].shape" + ] + }, + { + "cell_type": "code", + "execution_count": 24, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91)" + ] + }, + "execution_count": 24, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "is_valid = ref_log_replay[:, :, 5] == 1\n", + "\n", + "is_valid.shape" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "83686132", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/process.py b/examples/eval/process.py new file mode 100644 index 000000000..ce0f4a42a --- /dev/null +++ b/examples/eval/process.py @@ -0,0 +1,93 @@ +if __name__ == "__main__": + + import os + import shutil + from pathlib import Path + + # Define the source folder paths + validation_folder = "data/processed/wosac/validation" + validation_extracted_folder = "data/processed/wosac/validation_extracted" + + # Define the destination folder paths + validation_json_folder = "validation_json" + validation_tfrecord_folder = "validation_tfrecord" + + # Create destination folders if they don't exist + os.makedirs(validation_json_folder, exist_ok=True) + os.makedirs(validation_tfrecord_folder, exist_ok=True) + + # Check if source folders exist + if not os.path.exists(validation_folder): + print(f"Error: Folder '{validation_folder}' does not exist.") + exit(1) + + if not os.path.exists(validation_extracted_folder): + print(f"Error: Folder '{validation_extracted_folder}' does not exist.") + exit(1) + + # Get all files and extract base names (without extension) + validation_files = {} + validation_extracted_files = {} + + # Process validation folder (json files) + for filename in os.listdir(validation_folder): + if filename.endswith('.json'): + base_name = Path(filename).stem # Gets filename without extension + validation_files[base_name] = filename + + # Process validation_extracted folder (tfrecords files) + for filename in os.listdir(validation_extracted_folder): + if filename.endswith('.tfrecords'): + base_name = Path(filename).stem # Gets filename without extension + validation_extracted_files[base_name] = filename + + # Find matches + matches = set(validation_files.keys()) & set(validation_extracted_files.keys()) + + print(f"Total matches found: {len(matches)}") + + # Check if we have at least 500 matches + if len(matches) < 500: + print(f"Warning: Only {len(matches)} matches found, less than requested 500") + files_to_copy = sorted(matches) + else: + # Take first 500 matches (sorted alphabetically for consistency) + files_to_copy = sorted(matches)[:500] + print(f"Copying first 500 matches out of {len(matches)}") + + # Copy matching files + copied_count = 0 + for base_name in files_to_copy: + try: + # Copy json file + json_src = os.path.join(validation_folder, validation_files[base_name]) + json_dst = os.path.join(validation_json_folder, validation_files[base_name]) + shutil.copy2(json_src, json_dst) + + # Copy tfrecords file + tf_src = os.path.join(validation_extracted_folder, validation_extracted_files[base_name]) + tf_dst = os.path.join(validation_tfrecord_folder, validation_extracted_files[base_name]) + shutil.copy2(tf_src, tf_dst) + + copied_count += 1 + if copied_count % 50 == 0: # Progress update every 50 files + print(f"Copied {copied_count} files...") + + except Exception as e: + print(f"Error copying files for {base_name}: {e}") + + print(f"\nSuccessfully copied {copied_count} matching files:") + print(f"JSON files in: {validation_json_folder}") + print(f"TFRecord files in: {validation_tfrecord_folder}") + + # Write a summary file + with open("copied_files_summary.txt", 'w') as f: + f.write(f"Copied Files Summary\n") + f.write(f"===================\n\n") + f.write(f"Total matches found: {len(matches)}\n") + f.write(f"Files copied: {copied_count}\n\n") + f.write("Copied files:\n") + for base_name in files_to_copy: + f.write(f" {validation_files[base_name]} <-> {validation_extracted_files[base_name]}\n") + + print(f"Summary written to: copied_files_summary.txt") \ No newline at end of file diff --git a/examples/eval/rollout_test.py b/examples/eval/rollout_test.py new file mode 100644 index 000000000..6a38c64b1 --- /dev/null +++ b/examples/eval/rollout_test.py @@ -0,0 +1,170 @@ +import numpy as np +import mediapy as media +import wandb +import torch + +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.env.config import EnvConfig +from gpudrive.env.dataset import SceneDataLoader +from gpudrive.visualize.utils import img_from_fig +from gpudrive.utils.checkpoint import load_agent + +def test_rollout(focus_agents=[0, 1], render=False, agent=None): + run = wandb.init(project="humanlike_tests", group="rollout_tests") + + env_config = EnvConfig( + guidance=True, + guidance_mode="vbd_amortized", # Options: "log_replay", "vbd_amortized" + add_reference_pos_xy=True, + add_reference_speed=True, + add_reference_heading=True, + add_previous_action=True, + reward_type="guided_autonomy", + init_mode="wosac_train", + dynamics_model="classic", # "state", #"classic", + smoothen_trajectory=True, + smoothness_weight=0.0, + collision_weight=-0.02, + off_road_weight=-0.0, + guidance_heading_weight=0.005, + guidance_speed_weight=0.0005, + guidance_dropout_prob=0.99, + guidance_dropout_mode="avg", # Options: "max", "avg" + ) + + # Create data loader + train_loader = SceneDataLoader( + root="data/processed/wosac/validation_json_1", + batch_size=1, + dataset_size=100, + sample_with_replacement=False, + shuffle=False, + file_prefix="", + ) + + # Make env + env = GPUDriveTorchEnv( + config=env_config, + data_loader=train_loader, + max_cont_agents=32, # Number of agents to control + device="cuda", + ) + + control_mask = env.cont_agent_mask + + # Rollout + next_obs = env.reset(mask=control_mask) + + sim_frames = [] + agent_obs_frames = {i: [] for i in focus_agents} + cum_reward = np.zeros((env.num_worlds, env.max_cont_agents)) + + expert_actions, _, _, _ = env.get_expert_actions() + + for time_step in range(env.init_steps, env.episode_len): + print(f"Step: {env.step_in_world[0, 0, 0].item()}") + + # Step + if agent is not None: # Rollout with pre-trained agent + control_mask = env.cont_agent_mask + action, _, _, _ = agent(next_obs) + action_template = torch.zeros( + (1, 32), dtype=torch.int64, device='cuda' + ) + action_template[control_mask] = action.to('cuda') + + env.step_dynamics(action_template) + + else: + env.step_dynamics(expert_actions[:, :, time_step, :]) + + next_obs = env.get_obs(control_mask) + reward = env.get_rewards() + done = env.get_dones() + info = env.get_infos() + + # for agent_idx in focus_agents: + # cum_reward[agent_idx] += reward[0, agent_idx].item() + + cum_reward += reward.cpu().numpy() + + if render: + if time_step % 5 == 0 or time_step > env.episode_len - 3: + sim_states, agent_obs = env.render( + focus_agent_idx=focus_agents + ) + sim_frames.append(img_from_fig(sim_states[0])) + for i in focus_agents: + agent_obs_frames[i].append(img_from_fig(agent_obs[i])) + + # Log reward magnitudes + for agent_idx in focus_agents: + agent_key = f"agent_{agent_idx}" + wandb.log( + { + f"{agent_key}/R_combined": reward[0, agent_idx].item(), + f"{agent_key}/R_jerk": env.smoothness_penalty[ + 0, agent_idx + ].item(), + f"{agent_key}/R_collision": env.base_rewards[ + 0, agent_idx + ].item(), + f"{agent_key}/R_speed_heading": env.speed_heading_reward[ + 0, agent_idx + ].item(), + f"{agent_key}/R_route": env.route_reward[ + 0, agent_idx + ].item(), + f"{agent_key}/R_cumulative": cum_reward[ + 0, agent_idx + ].item(), + }, + step=env.step_in_world[0, 0, 0].item(), + ) + + avg_cum_reward = cum_reward[env.cont_agent_mask.cpu().numpy()].mean() + + print( + f"Avg cumulative rewards N = {env.cont_agent_mask.sum()}: {avg_cum_reward}" + ) + if render: + for agent_idx in focus_agents: + agent_key = f"agent_{agent_idx}" + agent_obs_arr = np.array(agent_obs_frames[agent_idx]) + wandb.log( + { + f"{agent_key}/render": wandb.Video( + np.moveaxis(agent_obs_arr, -1, 1), + fps=5, + format="mp4", + ) + } + ) + + sim_frames_arr = np.array(sim_frames) + wandb.log( + { + "sim/render": wandb.Video( + np.moveaxis(sim_frames_arr, -1, 1), + fps=5, + format="mp4", + ) + } + ) + + env.close() + run.finish() + + +if __name__ == "__main__": + + + # load policy + CPT_PATH = ( + "checkpoints/model_guidance_logs__S_1__05_12_18_44_58_857_000100.pt" + ) + #agent = load_agent(path_to_cpt=CPT_PATH).to("cuda") + agent = None + + + test_rollout(focus_agents=[0, 1, 2, 3, 4], render=True, agent=agent) diff --git a/examples/eval/run_wosac_eval.py b/examples/eval/run_wosac_eval.py new file mode 100644 index 000000000..3a94e8cfa --- /dev/null +++ b/examples/eval/run_wosac_eval.py @@ -0,0 +1,412 @@ +import torch +import dataclasses +import os +import sys +import mediapy +import logging +import numpy as np +from time import perf_counter +from tqdm import tqdm +from pathlib import Path +from box import Box +import yaml + +from gpudrive.env.config import EnvConfig +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.env.dataset import SceneDataLoader +from gpudrive.datatypes.observation import GlobalEgoState +from gpudrive.datatypes.metadata import Metadata +from gpudrive.datatypes.info import Info +from gpudrive.utils.checkpoint import load_agent +from gpudrive.visualize.utils import img_from_fig +import madrona_gpudrive + +# WOSAC +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) +from waymo_open_dataset.protos import sim_agents_submission_pb2 +from eval.wosac_eval_origin import WOSACMetrics + +# Configure logging +logging.basicConfig(level=logging.INFO) +logger = logging.getLogger("WOSAC evaluation") +# Suppress excessive logging +logging.getLogger("tensorflow").setLevel(logging.ERROR) + + +def get_state(env): + """Obtain raw agent states.""" + avg_z_pos = Metadata.from_tensor( + metadata_tensor=env.sim.metadata_tensor(), + backend=env.backend, + device=env.device, + ).avg_z + ego_state = GlobalEgoState.from_tensor( + env.sim.absolute_self_observation_tensor(), + backend=env.backend, + device=env.device, + ) + mean_xy = env.sim.world_means_tensor().to_torch()[:, :2] + mean_x = mean_xy[:, 0].unsqueeze(1) + mean_y = mean_xy[:, 1].unsqueeze(1) + return ( + ego_state.pos_x + mean_x, + ego_state.pos_y + mean_y, + avg_z_pos, # ego_state.pos_z + ego_state.rotation_angle, + ego_state.id, + ) + + +def rollout( + env: GPUDriveTorchEnv, + sim_agent: torch.nn.Module, + init_steps: int, + num_envs: int, + max_agents: int, + device: str, + render_simulator_states: bool = False, + render_agent_pov: bool = False, + render_every_n_steps: int = 5, + save_videos: bool = True, + video_dir: str = "videos", + video_format: str = "gif", + guidance_mode: str = "vbd_online", +): + """Rollout agent in the environment and return the scenario rollouts.""" + # Storage + env_ids = list(range(num_envs)) + simulator_state_frames = {env_id: [] for env_id in range(num_envs)} + agent_observation_frames = {env_id: [] for env_id in range(num_envs)} + + start_env_rollout = perf_counter() + + # Zero out actions for parked vehicles + info = Info.from_tensor( + env.sim.info_tensor(), + backend=env.backend, + device=env.device, + ) + + zero_action_mask = (info.off_road == 1) | ( + info.collided_with_vehicle == 1 + ) & (info.type == int(madrona_gpudrive.EntityType.Vehicle)) + control_mask = env.cont_agent_mask.clone() + + next_obs = env.reset(mask=control_mask) + + # Guidance logging + num_guidance_points = env.valid_guidance_points + guidance_densities = num_guidance_points / env.reference_traj_len + print( + f"Avg guidance points per agent: {num_guidance_points.cpu().numpy().mean():.2f} which is {guidance_densities.mean().item()*100:.2f} % of the trajectory length (mode = {env.config.guidance_dropout_mode}) \n" + ) + + # Get scenario ids + scenario_ids_dict = env.get_scenario_ids() + scenario_ids = list(scenario_ids_dict.values()) + + pos_x_list = [] + pos_y_list = [] + pos_z_list = [] + heading_list = [] + done_list = [env.get_dones()] + + # Get initial states + pos_x, pos_y, pos_z, heading, _ = get_state(env) + + for time_step in range(env.episode_len - init_steps): + + # Predict actions + action, _, _, _ = sim_agent(next_obs) + + action_template = torch.zeros( + (num_envs, max_agents), dtype=torch.int64, device=device + ) + action_template[control_mask] = action.to(device) + + # Find the integer key for the "do nothing" action (zero steering, zero acceleration) + # Check using env.action_key_to_values[DO_NOTHING_ACTION_INT] + DO_NOTHING_ACTION_INT = [ + key + for key, value in env.action_key_to_values.items() + if abs(value[0]) == 0.0 + and abs(value[1]) == 0.0 + and abs(value[2]) == 0.0 + ][0] + action_template[zero_action_mask] = DO_NOTHING_ACTION_INT + + # Step + env.step_dynamics(action_template) + + # Render + if render_simulator_states and time_step % render_every_n_steps == 0: + sim_states = env.vis.plot_simulator_state( + env_indices=env_ids, + zoom_radius=100, + time_steps=[time_step] * len(env_ids), + plot_guidance_pos_xy=True, + ) + for idx in range(num_envs): + simulator_state_frames[idx].append( + img_from_fig(sim_states[idx]) + ) + + if render_agent_pov and time_step % render_every_n_steps == 0: + agent_obs = env.vis.plot_agent_observation( + env_idx=0, + agent_idx=0, + figsize=(10, 10), + trajectory=env.reference_path[0, :, :].to("cpu"), + ) + agent_observation_frames[idx].append(img_from_fig(agent_obs)) + + # Get next observation + next_obs = env.get_obs(control_mask) + # NOTE(dc): Make sure to decouple the obs from the reward function + reward = env.get_rewards() + done = env.get_dones() + + pos_x, pos_y, pos_z, heading, id = get_state(env) + + pos_x_list.append(pos_x) + pos_y_list.append(pos_y) + pos_z_list.append(pos_z) + heading_list.append(heading) + done_list.append(done) + _ = done_list.pop() + + if save_videos: + for idx in range(num_envs): + scenario_id = scenario_ids_dict[idx] + if ( + render_simulator_states + and len(simulator_state_frames[idx]) > 0 + ): + mediapy.write_video( + f"{video_dir}/{guidance_mode}_sim_state_env_{idx}_{scenario_id}.{video_format}", + np.array(simulator_state_frames[idx]), + fps=8, + codec=video_format, + ) + + if render_agent_pov and len(agent_observation_frames[0]) > 0: + scenario_id = scenario_ids_dict[0] + mediapy.write_video( + f"{video_dir}/{guidance_mode}_agent_0_{scenario_id}.{video_format}", + np.array(agent_observation_frames[0]), + fps=8, + codec=video_format, + ) + + # Generate Scenario + pos_x_stack = torch.stack(pos_x_list, dim=-1).cpu().numpy() + pos_y_stack = torch.stack(pos_y_list, dim=-1).cpu().numpy() + pos_z_stack = torch.stack(pos_z_list, dim=-1).cpu().numpy() + heading_stack = torch.stack(heading_list, dim=-1).cpu().numpy() + done_stack = torch.stack(done_list, dim=-1).cpu().numpy() + id = id.cpu().numpy() + control_mask = control_mask.cpu().numpy() + + logging.info( + f"Policy rollout took: {perf_counter() - start_env_rollout:.2f} s (Render = {render_simulator_states}; {len(env.data_batch)} scenarios)." + ) + + start_ground_truth_ext = perf_counter() + + # scenario_rollouts = [] + joint_scenes = {} + # scenario_rollout_masks = [] + for i, scenario_id in enumerate(scenario_ids): + # control_mask_i = id[i] != 0 + control_mask_i = control_mask[i] + # scenario_rollout_masks.append(done_stack[i, control_mask_i] == 0) + pos_x_i = pos_x_stack[i, control_mask_i] + pos_y_i = pos_y_stack[i, control_mask_i] + pos_z_i = pos_z_stack[i, control_mask_i] + heading_i = heading_stack[i, control_mask_i] + id_i = id[i, control_mask_i] + + simulated_trajectories = [] + for a, obj_i_a in enumerate(id_i): + simulated_trajectories.append( + sim_agents_submission_pb2.SimulatedTrajectory( + center_x=pos_x_i[a], + center_y=pos_y_i[a], + center_z=pos_z_i[a], + heading=heading_i[a], + object_id=int(obj_i_a), + ) + ) + # joint_scene = sim_agents_submission_pb2.JointScene( + # simulated_trajectories=simulated_trajectories + # ) + + joint_scenes[scenario_id] = sim_agents_submission_pb2.JointScene( + simulated_trajectories=simulated_trajectories + ) + + # scenario_rollouts.append( + # sim_agents_submission_pb2.ScenarioRollouts( + # joint_scenes=[joint_scene], + # scenario_id=scenario_id, + # ) + # ) + + logging.info( + f"Ground truth extraction took: {perf_counter() - start_ground_truth_ext:.2f} s ({len(env.data_batch)} scenarios)." + ) + + return joint_scenes + + # return scenario_ids, scenario_rollouts, scenario_rollout_masks + + +def load_config(config_path): + """Load the configuration file.""" + with open(config_path, "r") as f: + config = Box(yaml.safe_load(f)) + return config + + +if __name__ == "__main__": + + # Settings + MAX_AGENTS = ( + madrona_gpudrive.kMaxAgentCount + ) # TODO: Set to 128 for real eval + NUM_ENVS = 200 + DEVICE = "cuda" # where to run the env rollouts + NUM_ROLLOUTS_PER_BATCH = 1 + NUM_DATA_BATCHES = 1 + INIT_STEPS = 10 + DATASET_SIZE = 1000 + RENDER = False + LOG_DIR = "examples/eval/figures_data/wosac/" + GUIDANCE_MODE = ( + "vbd_online" # Options: "vbd_amortized", "vbd_online", "log_replay" + ) + GUIDANCE_DROPOUT_MODE = "avg" # Options: "max", "avg", "remove_all" + GUIDANCE_DROPOUT_PROB = 0.99 + SMOOTHEN_TRAJECTORY = True + + DATA_JSON = "data/processed/wosac/validation_interactive/json" + DATA_TFRECORD = "data/processed/wosac/validation_interactive/tfrecord" + + CPT_PATH = "checkpoints/model_guidance_logs__R_10000__05_14_16_54_46_975_002200.pt" + + # Create data loader + val_loader = SceneDataLoader( + root=DATA_JSON, + batch_size=NUM_ENVS, + dataset_size=DATASET_SIZE, + sample_with_replacement=False, + shuffle=True, + file_prefix="", + seed=10, + ) + + # Load agent + agent = load_agent(path_to_cpt=CPT_PATH).to(DEVICE) + + # config = load_config("baselines/ppo/config/ppo_guided_autonomy.yaml") + # config = config.environment + + config = agent.config + + # Override default environment settings to match those the agent was trained with + # TODO(dc): Clean this up + env_config = EnvConfig( + ego_state=config.ego_state, + road_map_obs=config.road_map_obs, + partner_obs=config.partner_obs, + reward_type=config.reward_type, + guidance_speed_weight=config.guidance_speed_weight, + guidance_heading_weight=config.guidance_heading_weight, + smoothness_weight=config.smoothness_weight, + norm_obs=config.norm_obs, + add_previous_action=config.add_previous_action, + guidance=config.guidance, + add_reference_pos_xy=config.add_reference_pos_xy, + add_reference_speed=config.add_reference_speed, + add_reference_heading=config.add_reference_heading, + dynamics_model=config.dynamics_model, + collision_behavior=config.collision_behavior, + goal_behavior=config.goal_behavior, + polyline_reduction_threshold=config.polyline_reduction_threshold, + remove_non_vehicles=config.remove_non_vehicles, + lidar_obs=False, + obs_radius=config.obs_radius, + action_space_steer_disc=config.action_space_steer_disc, + action_space_accel_disc=config.action_space_accel_disc, + init_mode="wosac_eval", + init_steps=INIT_STEPS, + guidance_mode=GUIDANCE_MODE, + guidance_dropout_prob=GUIDANCE_DROPOUT_PROB, + guidance_dropout_mode=GUIDANCE_DROPOUT_MODE, + smoothen_trajectory=SMOOTHEN_TRAJECTORY, + ) + + # Make environment + env = GPUDriveTorchEnv( + config=env_config, + data_loader=val_loader, + max_cont_agents=MAX_AGENTS, + device=DEVICE, + ) + + wosac_metrics = WOSACMetrics( + save_table_with_baselines=True, + log_dir=LOG_DIR, + guidance_mode=GUIDANCE_MODE, + guidance_density=1.0 - GUIDANCE_DROPOUT_PROB, + ) + + for _ in tqdm(range(NUM_DATA_BATCHES)): + joint_scene_list = [] + for _ in range(NUM_ROLLOUTS_PER_BATCH): + joint_scene = rollout( + env=env, + sim_agent=agent, + init_steps=INIT_STEPS, + num_envs=NUM_ENVS, + max_agents=MAX_AGENTS, + device=DEVICE, + render_simulator_states=RENDER, + render_agent_pov=RENDER, + save_videos=RENDER, + guidance_mode=GUIDANCE_MODE, + ) + joint_scene_list.append(joint_scene) + + # Construct scenario rollouts + scenario_ids = joint_scene_list[0].keys() + scenario_rollouts = [] + for scenario_id in scenario_ids: + scenario_rollouts.append( + sim_agents_submission_pb2.ScenarioRollouts( + joint_scenes=[ + joint_scene[scenario_id] + for joint_scene in joint_scene_list + ], + scenario_id=scenario_id, + ) + ) + + tf_record_paths = [ + os.path.join(DATA_TFRECORD, f"{scenario_id}.tfrecords") + for scenario_id in scenario_ids + ] + + wosac_metrics.update( + tf_record_paths, + scenario_rollouts, + ) + + # Swap batch of scenarios + env.swap_data_batch() + + # Aggregate results + results = wosac_metrics.compute() + + for key, value in results.items(): + print(f"{key}: {value}") diff --git a/examples/eval/wosac_eval.py b/examples/eval/wosac_eval.py new file mode 100644 index 000000000..d064d1ad6 --- /dev/null +++ b/examples/eval/wosac_eval.py @@ -0,0 +1,341 @@ +from pathlib import Path +from typing import Dict, List, Optional + +import tensorflow as tf + +# import waymo_open_dataset.wdl_limited.sim_agents_metrics.metrics as wosac_metrics +import wosac_metrics.metrics as wosac_metrics +import pandas as pd +import numpy as np +import datetime + +from google.protobuf import text_format +from torch import Tensor, tensor +from torchmetrics import Metric +from waymo_open_dataset.protos import ( + scenario_pb2, + sim_agents_metrics_pb2, + sim_agents_submission_pb2, +) + + +class WOSACMetrics(Metric): + """ + Validation metrics based on ground truth trajectories, using waymo_open_dataset api. + https://waymo.com/open/challenges/2025/sim-agents/ + """ + + def __init__( + self, + prefix: str = "", + ego_only: bool = False, + baselines_df: Optional[pd.DataFrame] = None, + save_table_with_baselines: bool = True, + ) -> None: + super().__init__() + self.is_mp_init = False + self.prefix = prefix + self.ego_only = ego_only + self.wosac_config = wosac_metrics.load_metrics_config() + self.save_table_with_baselines = save_table_with_baselines + + # Initialize baseline df if not provided + if baselines_df is None: + self.baselines_df = self._create_baselines_df() + else: + self.baselines_df = baselines_df + + self.timestamp = datetime.datetime.now().strftime("%Y-%m-%d %H") + + self.field_names = [ + "metametric", + "average_displacement_error", + "linear_speed_likelihood", + "linear_acceleration_likelihood", + "angular_speed_likelihood", + "angular_acceleration_likelihood", + "distance_to_nearest_object_likelihood", + "collision_indication_likelihood", + "time_to_collision_likelihood", + "distance_to_road_edge_likelihood", + "offroad_indication_likelihood", + "min_average_displacement_error", + "simulated_collision_rate", + "simulated_offroad_rate", + ] + for k in self.field_names: + self.add_state(k, default=tensor(0.0), dist_reduce_fx="sum") + self.add_state( + "scenario_counter", default=tensor(0.0), dist_reduce_fx="sum" + ) + tf.config.set_visible_devices([], "GPU") + + def _create_baselines_df(self) -> pd.DataFrame: + """Create a DataFrame with baseline metrics based on the provided table.""" + columns = [ + "AGENT POLICY", + "REPLAN RATE (Hz)", + "LINEAR SPEED (↑)", + "LINEAR ACCEL. (↑)", + "ANG. SPEED (↑)", + "ANG. ACCEL. (↑)", + "DIST. TO OBJ. (↑)", + "COLLISION (↑)", + "TTC (↑)", + "DIST. TO ROAD EDGE (↑)", + "OFFROAD (↑)", + "COMPOSITE METRIC (↑)", + "ADE (↓)", + "MINADE (↓)", + "COLLISION RATE (↓)", + "OFFROAD RATE (↓)", + ] + + data = [ + # Logged Oracle values + [ + "Logged oracle", + "-", + 0.476, + 0.478, + 0.578, + 0.694, + 0.476, + 1.000, + 0.883, + 0.715, + 1.000, + 0.819, + 0.000, + 0.000, + 0.028, + 0.111, + ], + # Versatile Behavior Diffusion + [ + "VBD", + 0.125, + 0.359, + 0.366, + 0.420, + 0.522, + 0.368, + 0.934, + 0.815, + 0.651, + 0.879, + 0.720, + 2.257, + 1.474, + 0.036, + 0.152, + ], + ] + + # Other rows from the table can be added as needed + data.extend( + [ + [ + "Random agent", + 10, + 0.002, + 0.116, + 0.014, + 0.034, + 0.000, + 0.000, + 0.735, + 0.148, + 0.191, + 0.144, + 50.739, + 50.706, + 1.000, + 0.613, + ], + ] + ) + + return pd.DataFrame(data, columns=columns) + + @staticmethod + def _compute_scenario_metrics( + config, + scenario_file, + scenario_rollout, + ego_only, + scenario_rollouts_mask=None, + ) -> sim_agents_metrics_pb2.SimAgentMetrics: + scenario = scenario_pb2.Scenario() + for data in tf.data.TFRecordDataset( + [scenario_file], compression_type="" + ): + scenario.ParseFromString(bytes(data.numpy())) + break + if ego_only: + for i in range(len(scenario.tracks)): + if i != scenario.sdc_track_index: + for t in range(91): + scenario.tracks[i].states[t].valid = False + while len(scenario.tracks_to_predict) > 1: + scenario.tracks_to_predict.pop() + scenario.tracks_to_predict[ + 0 + ].track_index = scenario.sdc_track_index + + return wosac_metrics.compute_scenario_metrics_for_bundle( + config, + scenario, + scenario_rollout, + scenario_rollouts_mask=scenario_rollouts_mask, + ) + + def update( + self, + scenario_files: List[str], + scenario_rollouts: List[sim_agents_submission_pb2.ScenarioRollouts], + scenario_rollout_masks=None, + ) -> None: + + if scenario_rollout_masks is None: + scenario_rollout_masks = [None] * len(scenario_rollouts) + pool_scenario_metrics = [] + for _scenario, _scenario_rollout, _scenario_mask in zip( + scenario_files, scenario_rollouts, scenario_rollout_masks + ): + try: + pool_scenario_metrics.append( + self._compute_scenario_metrics( + self.wosac_config, + _scenario, + _scenario_rollout, + self.ego_only, + # scenario_rollouts_mask=_scenario_mask + ) + ) + except Exception as e: + print( + f"Error processing scenario {_scenario_rollout.scenario_id}" + ) + print(e) + + for scenario_metrics in pool_scenario_metrics: + self.scenario_counter += 1 + self.metametric += scenario_metrics.metametric + self.average_displacement_error += ( + scenario_metrics.average_displacement_error + ) + self.linear_speed_likelihood += ( + scenario_metrics.linear_speed_likelihood + ) + self.linear_acceleration_likelihood += ( + scenario_metrics.linear_acceleration_likelihood + ) + self.angular_speed_likelihood += ( + scenario_metrics.angular_speed_likelihood + ) + self.angular_acceleration_likelihood += ( + scenario_metrics.angular_acceleration_likelihood + ) + self.distance_to_nearest_object_likelihood += ( + scenario_metrics.distance_to_nearest_object_likelihood + ) + self.collision_indication_likelihood += ( + scenario_metrics.collision_indication_likelihood + ) + self.time_to_collision_likelihood += ( + scenario_metrics.time_to_collision_likelihood + ) + self.distance_to_road_edge_likelihood += ( + scenario_metrics.distance_to_road_edge_likelihood + ) + self.offroad_indication_likelihood += ( + scenario_metrics.offroad_indication_likelihood + ) + self.min_average_displacement_error += ( + scenario_metrics.min_average_displacement_error + ) + self.simulated_collision_rate += ( + scenario_metrics.simulated_collision_rate + ) + self.simulated_offroad_rate += ( + scenario_metrics.simulated_offroad_rate + ) + + def compute(self) -> Dict[str, Tensor]: + metrics_dict = {} + for k in self.field_names: + metrics_dict[k] = getattr(self, k) / self.scenario_counter + + mean_metrics = sim_agents_metrics_pb2.SimAgentMetrics( + scenario_id="", **metrics_dict + ) + final_metrics = wosac_metrics.aggregate_metrics_to_buckets( + self.wosac_config, mean_metrics + ) + + out_dict = { + f"{self.prefix}/wosac/realism_meta_metric": final_metrics.realism_meta_metric, + f"{self.prefix}/wosac/kinematic_metrics": final_metrics.kinematic_metrics, + f"{self.prefix}/wosac/interactive_metrics": final_metrics.interactive_metrics, + f"{self.prefix}/wosac/map_based_metrics": final_metrics.map_based_metrics, + f"{self.prefix}/wosac/min_ade": final_metrics.min_ade, + f"{self.prefix}/wosac/scenario_counter": self.scenario_counter, + } + for k in self.field_names: + out_dict[f"{self.prefix}/wosac_likelihood/{k}"] = metrics_dict[k] + + if self.save_table_with_baselines: + self._add_current_method_to_baselines(metrics_dict, final_metrics) + + table_name = f"wosac_table_{self.timestamp}.csv" + self.baselines_df.to_csv(table_name, index=False) + print(f"Saved df to {table_name}") + + return out_dict + + def _add_current_method_to_baselines(self, metrics_dict, final_metrics): + """Add the current method's metrics to the baselines dataframe.""" + new_row = { + "AGENT POLICY": "Guided self-play (ours)", + "REPLAN RATE (Hz)": 10, + "LINEAR SPEED (↑)": metrics_dict["linear_speed_likelihood"].item(), + "LINEAR ACCEL. (↑)": metrics_dict[ + "linear_acceleration_likelihood" + ].item(), + "ANG. SPEED (↑)": metrics_dict["angular_speed_likelihood"].item(), + "ANG. ACCEL. (↑)": metrics_dict[ + "angular_acceleration_likelihood" + ].item(), + "DIST. TO OBJ. (↑)": metrics_dict[ + "distance_to_nearest_object_likelihood" + ].item(), + "COLLISION (↑)": metrics_dict[ + "collision_indication_likelihood" + ].item(), + "TTC (↑)": metrics_dict["time_to_collision_likelihood"].item(), + "DIST. TO ROAD EDGE (↑)": metrics_dict[ + "distance_to_road_edge_likelihood" + ].item(), + "OFFROAD (↑)": metrics_dict[ + "offroad_indication_likelihood" + ].item(), + "COMPOSITE METRIC (↑)": final_metrics.realism_meta_metric, + "ADE (↓)": metrics_dict["average_displacement_error"].item(), + "MINADE (↓)": metrics_dict[ + "min_average_displacement_error" + ].item(), + "COLLISION RATE (↓)": metrics_dict[ + "simulated_collision_rate" + ].item(), + "OFFROAD RATE (↓)": metrics_dict["simulated_offroad_rate"].item(), + } + + self.baselines_df = pd.concat( + [self.baselines_df, pd.DataFrame([new_row])], ignore_index=True + ) + + # Optional: Sort the dataframe by a performance metric, such as COMPOSITE METRIC + self.baselines_df = self.baselines_df.sort_values( + by="COMPOSITE METRIC (↑)", ascending=False + ) diff --git a/examples/eval/wosac_eval_origin.py b/examples/eval/wosac_eval_origin.py new file mode 100644 index 000000000..88398f467 --- /dev/null +++ b/examples/eval/wosac_eval_origin.py @@ -0,0 +1,420 @@ +import itertools +import multiprocessing as mp +import os +import datetime +import pandas as pd +import numpy as np +from pathlib import Path +from typing import Dict, List, Optional + +import tensorflow as tf +import waymo_open_dataset.wdl_limited.sim_agents_metrics.metrics as wosac_metrics +from waymo_open_dataset.utils.sim_agents import submission_specs + +from google.protobuf import text_format +from torch import Tensor, tensor +from torchmetrics import Metric +from waymo_open_dataset.protos import ( + scenario_pb2, + sim_agents_metrics_pb2, + sim_agents_submission_pb2, +) +import csv + + +class WOSACMetrics(Metric): + """ + validation metrics based on ground truth trajectory, using waymo_open_dataset api + """ + + def __init__( + self, + challenge_type=None, + prefix: str = "", + ego_only: bool = False, + baselines_df: Optional[pd.DataFrame] = None, + save_table_with_baselines: bool = True, + log_dir: Optional[str] = None, + guidance_mode: Optional[str] = "", + guidance_density: Optional[float] = 1.0, + ) -> None: + super().__init__() + self.is_mp_init = False + self.prefix = prefix + self.ego_only = ego_only + self.save_table_with_baselines = save_table_with_baselines + + if challenge_type is None: + self.challenge_type = submission_specs.ChallengeType.SIM_AGENTS + else: + self.challenge_type = challenge_type + + self.wosac_config = load_metrics_config(self.challenge_type) + self.guidance_mode = guidance_mode + self.guidance_density = guidance_density + + # Initialize baseline df if not provided + if baselines_df is None: + self.baselines_df = self._create_baselines_df() + else: + self.baselines_df = baselines_df + + self.timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H") + + self.field_names = [ + "metametric", + "average_displacement_error", + "linear_speed_likelihood", + "linear_acceleration_likelihood", + "angular_speed_likelihood", + "angular_acceleration_likelihood", + "distance_to_nearest_object_likelihood", + "collision_indication_likelihood", + "time_to_collision_likelihood", + "distance_to_road_edge_likelihood", + "offroad_indication_likelihood", + "min_average_displacement_error", + "traffic_light_violation_likelihood", + "simulated_collision_rate", + "simulated_offroad_rate", + ] + for k in self.field_names: + self.add_state(k, default=tensor(0.0), dist_reduce_fx="sum") + self.add_state( + "scenario_counter", default=tensor(0.0), dist_reduce_fx="sum" + ) + tf.config.set_visible_devices([], "GPU") + + if log_dir is not None: + # Get data and time for the current run as filename + log_dir = Path(log_dir) + self.log_file_path = ( + log_dir + / f"score_dist_{self.guidance_mode}_density_{self.guidance_density:.2f}_{self.timestamp}.csv" + ) + self.log_aggregate_table_path = ( + log_dir + / f"wosac_agg_{self.guidance_mode}_density_{self.guidance_density:.2f}_{self.timestamp}.csv" + ) + log_dir.mkdir(parents=True, exist_ok=True) + self.log_file = csv.writer(open(self.log_file_path, "w")) + # Add header to the log file + all_rows = self.field_names.copy() + all_rows.insert(0, "scenario_id") + self.log_file.writerow(all_rows) + + else: + self.log_file = None + + def _create_baselines_df(self) -> pd.DataFrame: + """Create a DataFrame with baseline metrics based on the provided table.""" + columns = [ + "AGENT POLICY", + "REPLAN RATE (Hz)", + "LINEAR SPEED (↑)", + "LINEAR ACCEL. (↑)", + "ANG. SPEED (↑)", + "ANG. ACCEL. (↑)", + "DIST. TO OBJ. (↑)", + "COLLISION (↑)", + "TTC (↑)", + "DIST. TO ROAD EDGE (↑)", + "OFFROAD (↑)", + "COMPOSITE METRIC (↑)", + "ADE (↓)", + "MINADE (↓)", + "COLLISION RATE (↓)", + "OFFROAD RATE (↓)", + ] + + data = [ + # Logged Oracle values + [ + "Logged oracle", + "-", + 0.476, + 0.478, + 0.578, + 0.694, + 0.476, + 1.000, + 0.883, + 0.715, + 1.000, + 0.819, + 0.000, + 0.000, + 0.028, + 0.111, + ], + # Versatile Behavior Diffusion + [ + "VBD", + 0.125, + 0.359, + 0.366, + 0.420, + 0.522, + 0.368, + 0.934, + 0.815, + 0.651, + 0.879, + 0.720, + 2.257, + 1.474, + 0.036, + 0.152, + ], + ] + + # Other rows from the table can be added as needed + data.extend( + [ + [ + "Random agent", + 10, + 0.002, + 0.116, + 0.014, + 0.034, + 0.000, + 0.000, + 0.735, + 0.148, + 0.191, + 0.144, + 50.739, + 50.706, + 1.000, + 0.613, + ], + ] + ) + + return pd.DataFrame(data, columns=columns) + + @staticmethod + def _compute_scenario_metrics( + config, + scenario_file, + scenario_rollout, + ego_only, + scenario_rollouts_mask=None, + ) -> sim_agents_metrics_pb2.SimAgentMetrics: + scenario = scenario_pb2.Scenario() + for data in tf.data.TFRecordDataset( + [scenario_file], compression_type="" + ): + scenario.ParseFromString(bytes(data.numpy())) + break + if ego_only: + for i in range(len(scenario.tracks)): + if i != scenario.sdc_track_index: + for t in range(91): + scenario.tracks[i].states[t].valid = False + while len(scenario.tracks_to_predict) > 1: + scenario.tracks_to_predict.pop() + scenario.tracks_to_predict[ + 0 + ].track_index = scenario.sdc_track_index + + return wosac_metrics.compute_scenario_metrics_for_bundle( + config, + scenario, + scenario_rollout, # scenario_rollouts_mask=scenario_rollouts_mask + ) + + def update( + self, + scenario_files: List[str], + scenario_rollouts: List[sim_agents_submission_pb2.ScenarioRollouts], + scenario_rollout_masks=None, + ) -> None: + + if scenario_rollout_masks is None: + scenario_rollout_masks = [None] * len(scenario_rollouts) + pool_scenario_metrics = [] + for _scenario, _scenario_rollout, _scenario_mask in zip( + scenario_files, scenario_rollouts, scenario_rollout_masks + ): + try: + scenario_result = self._compute_scenario_metrics( + self.wosac_config, + _scenario, + _scenario_rollout, + self.ego_only, + # scenario_rollouts_mask=_scenario_mask + ) + pool_scenario_metrics.append(scenario_result) + + if self.log_file is not None: + # Log the scenario metrics to the file + result_to_log = [ + _scenario_rollout.scenario_id, + scenario_result.metametric, + scenario_result.average_displacement_error, + scenario_result.linear_speed_likelihood, + scenario_result.linear_acceleration_likelihood, + scenario_result.angular_speed_likelihood, + scenario_result.angular_acceleration_likelihood, + scenario_result.distance_to_nearest_object_likelihood, + scenario_result.collision_indication_likelihood, + scenario_result.time_to_collision_likelihood, + scenario_result.distance_to_road_edge_likelihood, + scenario_result.offroad_indication_likelihood, + scenario_result.min_average_displacement_error, + scenario_result.traffic_light_violation_likelihood, + scenario_result.simulated_collision_rate, + scenario_result.simulated_offroad_rate, + ] + self.log_file.writerow(result_to_log) + except Exception as e: + print( + f"Error processing scenario {_scenario_rollout.scenario_id}" + ) + print(e) + + for scenario_metrics in pool_scenario_metrics: + self.scenario_counter += 1 + self.metametric += scenario_metrics.metametric + self.average_displacement_error += ( + scenario_metrics.average_displacement_error + ) + self.linear_speed_likelihood += ( + scenario_metrics.linear_speed_likelihood + ) + self.linear_acceleration_likelihood += ( + scenario_metrics.linear_acceleration_likelihood + ) + self.angular_speed_likelihood += ( + scenario_metrics.angular_speed_likelihood + ) + self.angular_acceleration_likelihood += ( + scenario_metrics.angular_acceleration_likelihood + ) + self.distance_to_nearest_object_likelihood += ( + scenario_metrics.distance_to_nearest_object_likelihood + ) + self.collision_indication_likelihood += ( + scenario_metrics.collision_indication_likelihood + ) + self.time_to_collision_likelihood += ( + scenario_metrics.time_to_collision_likelihood + ) + self.distance_to_road_edge_likelihood += ( + scenario_metrics.distance_to_road_edge_likelihood + ) + self.offroad_indication_likelihood += ( + scenario_metrics.offroad_indication_likelihood + ) + self.min_average_displacement_error += ( + scenario_metrics.min_average_displacement_error + ) + self.traffic_light_violation_likelihood += ( + scenario_metrics.traffic_light_violation_likelihood + ) + self.simulated_collision_rate += ( + scenario_metrics.simulated_collision_rate + ) + self.simulated_offroad_rate += ( + scenario_metrics.simulated_offroad_rate + ) + + def compute(self) -> Dict[str, Tensor]: + metrics_dict = {} + for k in self.field_names: + metrics_dict[k] = getattr(self, k) / self.scenario_counter + + mean_metrics = sim_agents_metrics_pb2.SimAgentMetrics( + scenario_id="", **metrics_dict + ) + final_metrics = wosac_metrics.aggregate_metrics_to_buckets( + self.wosac_config, mean_metrics + ) + + out_dict = { + f"{self.prefix}/wosac/realism_meta_metric": final_metrics.realism_meta_metric, + f"{self.prefix}/wosac/kinematic_metrics": final_metrics.kinematic_metrics, + f"{self.prefix}/wosac/interactive_metrics": final_metrics.interactive_metrics, + f"{self.prefix}/wosac/map_based_metrics": final_metrics.map_based_metrics, + f"{self.prefix}/wosac/min_ade": final_metrics.min_ade, + f"{self.prefix}/wosac/scenario_counter": self.scenario_counter, + } + for k in self.field_names: + out_dict[f"{self.prefix}/wosac_likelihood/{k}"] = metrics_dict[k] + + if self.save_table_with_baselines: + self._add_current_method_to_baselines(metrics_dict, final_metrics) + + self.baselines_df.to_csv( + self.log_aggregate_table_path, index=False + ) + print(f"Saved df to {self.log_aggregate_table_path}") + + return out_dict + + def _add_current_method_to_baselines(self, metrics_dict, final_metrics): + """Add the current method's metrics to the baselines dataframe.""" + new_row = { + "AGENT POLICY": "Guided self-play (ours)", + "REPLAN RATE (Hz)": 10, + "LINEAR SPEED (↑)": metrics_dict["linear_speed_likelihood"].item(), + "LINEAR ACCEL. (↑)": metrics_dict[ + "linear_acceleration_likelihood" + ].item(), + "ANG. SPEED (↑)": metrics_dict["angular_speed_likelihood"].item(), + "ANG. ACCEL. (↑)": metrics_dict[ + "angular_acceleration_likelihood" + ].item(), + "DIST. TO OBJ. (↑)": metrics_dict[ + "distance_to_nearest_object_likelihood" + ].item(), + "COLLISION (↑)": metrics_dict[ + "collision_indication_likelihood" + ].item(), + "TTC (↑)": metrics_dict["time_to_collision_likelihood"].item(), + "DIST. TO ROAD EDGE (↑)": metrics_dict[ + "distance_to_road_edge_likelihood" + ].item(), + "OFFROAD (↑)": metrics_dict[ + "offroad_indication_likelihood" + ].item(), + "COMPOSITE METRIC (↑)": final_metrics.realism_meta_metric, + "ADE (↓)": metrics_dict["average_displacement_error"].item(), + "MINADE (↓)": metrics_dict[ + "min_average_displacement_error" + ].item(), + "COLLISION RATE (↓)": metrics_dict[ + "simulated_collision_rate" + ].item(), + "OFFROAD RATE (↓)": metrics_dict["simulated_offroad_rate"].item(), + } + + self.baselines_df = pd.concat( + [self.baselines_df, pd.DataFrame([new_row])], ignore_index=True + ) + + # Optional: Sort the dataframe by a performance metric, such as COMPOSITE METRIC + self.baselines_df = self.baselines_df.sort_values( + by="COMPOSITE METRIC (↑)", ascending=False + ) + + +def load_metrics_config( + challenge_type: submission_specs.ChallengeType, +) -> sim_agents_metrics_pb2.SimAgentMetricsConfig: + """Loads the `SimAgentMetricsConfig` used for the challenge.""" + import waymo_open_dataset + + pyglib_resource = waymo_open_dataset.__path__[0] + if challenge_type == submission_specs.ChallengeType.SIM_AGENTS: + config_path = f"{pyglib_resource}/wdl_limited/sim_agents_metrics/challenge_2025_sim_agents_config.textproto" # pylint: disable=line-too-long + elif challenge_type == submission_specs.ChallengeType.SCENARIO_GEN: + config_path = f"{pyglib_resource}/wdl_limited/sim_agents_metrics/challenge_2025_scenario_gen_config.textproto" # pylint: disable=line-too-long + else: + raise ValueError(f"Unsupported {challenge_type=}") + with open(config_path, "r") as f: + config = sim_agents_metrics_pb2.SimAgentMetricsConfig() + text_format.Parse(f.read(), config) + return config diff --git a/data/raw/.gitkeep b/examples/eval/wosac_metrics/__init__.py similarity index 100% rename from data/raw/.gitkeep rename to examples/eval/wosac_metrics/__init__.py diff --git a/examples/eval/wosac_metrics/metric_features.py b/examples/eval/wosac_metrics/metric_features.py new file mode 100644 index 000000000..ac0dbb8a6 --- /dev/null +++ b/examples/eval/wosac_metrics/metric_features.py @@ -0,0 +1,437 @@ +# Copyright (c) 2024 Waymo LLC. All rights reserved. + +# This is licensed under a BSD+Patent license. +# Please see LICENSE and PATENTS text files. +# ============================================================================== +"""Simulation features used for sim agent metrics.""" + +from __future__ import annotations + +import collections +import dataclasses + +import tensorflow as tf + +from waymo_open_dataset.protos import scenario_pb2 +from waymo_open_dataset.protos import sim_agents_submission_pb2 +from waymo_open_dataset.utils import trajectory_utils +from waymo_open_dataset.utils.sim_agents import converters +from waymo_open_dataset.utils.sim_agents import submission_specs +from waymo_open_dataset.wdl_limited.sim_agents_metrics import interaction_features +from waymo_open_dataset.wdl_limited.sim_agents_metrics import map_metric_features +from waymo_open_dataset.wdl_limited.sim_agents_metrics import trajectory_features + + +@dataclasses.dataclass(frozen=True) +class MetricFeatures: + """Collection of features used to compute sim-agent metrics. + + These features may be a function of simulated data (e.g. dynamics and + collisions), logged data (e.g. displacement) and map features (e.g. offroad). + + This class can be used to represent both features coming from the original + Scenario and features from simulation. The samples dimension is set + accordingly depending on the source (n_samples=1 for log and n_samples=32 for + simulation). + + Some of the features are computed in 3D (x/y/z) to have better consistency + with the original data and making these metrics more suitable for future + updates. + + Attributes: + object_id: A tensor of shape (n_objects,), containing the integer IDs of all + the evaluated objects. The object_id tensor is not batched because all the + objects need to be consistent over samples for proper evaluation. + valid: Boolean tensor of shape (n_samples, n_objects, n_steps), identifying + which objects are valid over time. This is used to filter the features + when computing metrics. + average_displacement_error: Per-object average (over time) displacement + error compared to the logged trajectory. Shape: (n_samples, n_objects). + linear_speed: Linear speed in 3D computed as the 1-step difference between + trajectory points. Shape: (n_samples, n_objects, n_steps). + linear_acceleration: Linear acceleration in 3D computed as the 1-step + difference between speeds of objects. + Shape: (n_samples, n_objects, n_steps). + angular_speed: Angular speed computed as the 1-step difference in heading. + Shape: (n_samples, n_objects, n_steps). + angular_acceleration: Angular acceleration computed as the 1-step difference + in angular_speed. Shape: (n_samples, n_objects, n_steps). + distance_to_nearest_object: Signed distance (in meters) to the nearest + object in the scene. Shape: (n_samples, n_objects, n_steps). + collision_per_step: Boolean tensor indicating whether the object collided, + with any other object. Shape: (n_samples, n_objects, n_steps). + time_to_collision: Time (in seconds) before the object collides with the + object it is following (if it exists), assuming constant speeds. + Shape: (n_samples, n_objects, n_steps). + distance_to_road_edge: Signed distance (in meters) to the nearest road edge + in the scene. Shape: (n_samples, n_objects, n_steps). + offroad_per_step: Boolean tensor indicating whether the object went + off-road. Shape: (n_samples, n_objects, n_steps). + """ + object_id: tf.Tensor + valid: tf.Tensor + average_displacement_error: tf.Tensor + linear_speed: tf.Tensor + linear_acceleration: tf.Tensor + angular_speed: tf.Tensor + angular_acceleration: tf.Tensor + distance_to_nearest_object: tf.Tensor + collision_per_step: tf.Tensor + time_to_collision: tf.Tensor + distance_to_road_edge: tf.Tensor + offroad_per_step: tf.Tensor + +def joint_scene_to_trajectories( + joint_scene: sim_agents_submission_pb2.JointScene, + scenario: scenario_pb2.Scenario, + use_log_validity: bool = False, + validity_mask: tf.Tensor | None = None, + pad_z: bool = False, +) -> trajectory_utils.ObjectTrajectories: + """Converts a JointScene and the relative Scenario into `ObjectTrajectories`. + + Args: + joint_scene: A JointScene representing either logged or simulated data, + corresponding to the same scenario ID as the provided logged `scenario`. + scenario: The original scenario proto, used to infer static attributes (i.e. + object types and box dimensions) from the last step of history + (`CURRENT_TIME_INDEX` when 0-indexed). The history steps from this + scenario are also prepended to the returned `Trajectories`, resulting in a + total length of `submission_specs.N_FULL_SCENARIO_STEPS`. + use_log_validity: If True, copies the validity mask from the original + scenario instead of assuming all the steps are valid. This is used to + compute features for the logged scenario. + + Returns: + An `ObjectTrajectories` containing the trajectories of all simulated objects + in a scenario, with prepended history steps and inferred static dimensions + and object types. + """ + logged_trajectories_full = trajectory_utils.ObjectTrajectories.from_scenario( + scenario + ) + logged_trajectories_history = logged_trajectories_full.slice_time( + start_index=0, end_index=submission_specs.CURRENT_TIME_INDEX + 1 + ) + + # Extract states and object IDs from the simulated scene. + sim_ids, sim_x, sim_y, sim_z, sim_heading = [], [], [], [], [] + for simulated_trajectory in joint_scene.simulated_trajectories: + sim_x.append(simulated_trajectory.center_x) + sim_y.append(simulated_trajectory.center_y) + sim_z.append(simulated_trajectory.center_z) + sim_heading.append(simulated_trajectory.heading) + sim_ids.append(simulated_trajectory.object_id) + # Convert to tensors. + sim_x, sim_y, sim_z, sim_heading, sim_ids = map( + tf.convert_to_tensor, [sim_x, sim_y, sim_z, sim_heading, sim_ids]) + + # Align objects from the logged scenario to the simulated one. + logged_trajectories_history = ( + logged_trajectories_history.gather_objects_by_id(sim_ids)) + # Prepare the missing tensors: validity and box sizes. + if use_log_validity: + # When copying validity from the log, make sure objects are in the same + # order as `sim_ids`. + logged_trajectories_full = logged_trajectories_full.gather_objects_by_id( + sim_ids) + logged_trajectories_future = logged_trajectories_full.slice_time( + start_index=submission_specs.CURRENT_TIME_INDEX + 1 + ) + sim_valid = logged_trajectories_future.valid + elif validity_mask is not None: + sim_valid = validity_mask + else: + sim_valid = tf.fill(sim_x.shape, True) + + sim_length = tf.repeat( + logged_trajectories_history.length[:, -1, tf.newaxis], + sim_x.shape[-1], + axis=-1, + ) + sim_width = tf.repeat( + logged_trajectories_history.width[:, -1, tf.newaxis], + sim_x.shape[-1], + axis=-1, + ) + sim_height = tf.repeat( + logged_trajectories_history.height[:, -1, tf.newaxis], + sim_x.shape[-1], + axis=-1, + ) + if pad_z: + sim_z = tf.repeat( + tf.expand_dims(logged_trajectories_history.z[:, -1], axis=-1), + sim_x.shape[-1], + axis=-1, + ) + # Concatenate history and logged/simulated future. + return trajectory_utils.ObjectTrajectories( + x=tf.concat([logged_trajectories_history.x, sim_x], axis=-1), + y=tf.concat([logged_trajectories_history.y, sim_y], axis=-1), + z=tf.concat([logged_trajectories_history.z, sim_z], axis=-1), + heading=tf.concat( + [logged_trajectories_history.heading, sim_heading], axis=-1 + ), + length=tf.concat( + [logged_trajectories_history.length, sim_length], axis=-1 + ), + width=tf.concat([logged_trajectories_history.width, sim_width], axis=-1), + height=tf.concat( + [logged_trajectories_history.height, sim_height], axis=-1 + ), + valid=tf.concat([logged_trajectories_history.valid, sim_valid], axis=-1), + object_id=sim_ids, + object_type=logged_trajectories_history.object_type, + ) + +def compute_metric_features( + scenario: scenario_pb2.Scenario, + joint_scene: sim_agents_submission_pb2.JointScene, + use_log_validity: bool = False, + validity_mask: tf.Tensor | None = None, + eval_agent_ids: tf.Tensor | None = None, +) -> MetricFeatures: + """Computes features for a single scene. + + Args: + scenario: The `Scenario` loaded from WOMD. + joint_scene: Single sample of the predicted scene starting from scenario's + initial conditions. + use_log_validity: If True, copies the validity mask from the original + scenario instead of assuming all the steps are valid. This is used to + compute features for the logged scenario. + + Returns: + A `MetricFeatures` containing all the features. + """ + # Extract `ObjectTrajectories` object from the joint scene, prepending the + # history from the original scenario. These composite trajectories are used to + # compute dynamics features, which require a few steps of context. + simulated_trajectories = joint_scene_to_trajectories( + joint_scene, scenario, + use_log_validity=use_log_validity, + validity_mask=validity_mask, + pad_z= (not use_log_validity), + ) + + # print(simulated_trajectories.object_id) + # Extract `ObjectTrajectories` from the original scenario, used for + # log-comparison metrics (i.e. displacement error). These also need to be + # aligned to the simulated trajectories. + logged_trajectories = trajectory_utils.ObjectTrajectories.from_scenario( + scenario) + logged_trajectories = logged_trajectories.gather_objects_by_id( + simulated_trajectories.object_id) + # From the simulated trajectories, just select the subset of objects that + # needs evaluation. + if eval_agent_ids is None: + evaluated_sim_agent_ids = tf.convert_to_tensor( + submission_specs.get_evaluation_sim_agent_ids(scenario) + ) + else: + evaluated_sim_agent_ids = eval_agent_ids + + object_ids_available = simulated_trajectories.object_id + + # print("Before", evaluated_sim_agent_ids) + # Remove ids in the evaluated_sim_agent_ids that are not in the object_ids_available + evaluated_sim_agent_ids = tf.boolean_mask( + evaluated_sim_agent_ids, + tf.reduce_any( + evaluated_sim_agent_ids[:, tf.newaxis] == object_ids_available, + axis=1, + ), + ) + # print("After", evaluated_sim_agent_ids) + + # Ensure that all id are included in + evaluated_trajectories = simulated_trajectories.gather_objects_by_id( + evaluated_sim_agent_ids + ) + + # Re-order simulated trajectories, so that evaluated objects appear first, + # in a particular order. + non_evaluated_sim_agent_ids = set( + simulated_trajectories.object_id.numpy() + ) - set(evaluated_sim_agent_ids.numpy()) + reordered_all_simulated_agent_ids = tf.constant( + list(evaluated_sim_agent_ids.numpy()) + list(non_evaluated_sim_agent_ids) + ) + simulated_trajectories = simulated_trajectories.gather_objects_by_id( + reordered_all_simulated_agent_ids + ) + # Prune logged trajectories to those that will be evaluated. + evaluated_logged_trajectories = logged_trajectories.gather_objects_by_id( + evaluated_sim_agent_ids + ) + + # Validity bit mask. + if use_log_validity: + validity_mask = evaluated_logged_trajectories.valid + else: + validity_mask = evaluated_trajectories.valid + # Slice in time to reduce to `submission_specs.N_SIMULATION_STEPS` steps. + validity_mask = validity_mask[:, submission_specs.CURRENT_TIME_INDEX+1:] + + # Average displacement error (ADE) in 3D. Before averaging over time, the + # invalid states in the log need to be properly handled. + + displacement_error = trajectory_features.compute_displacement_error( + evaluated_trajectories.x, evaluated_trajectories.y, + evaluated_trajectories.z, evaluated_logged_trajectories.x, + evaluated_logged_trajectories.y, evaluated_logged_trajectories.z) + + valid_ade_steps = evaluated_logged_trajectories.valid & evaluated_trajectories.valid + + object_valid_steps = tf.reduce_sum( + tf.cast(valid_ade_steps, tf.float32), axis=1) + ade = tf.reduce_sum( + tf.where(valid_ade_steps, displacement_error, 0.0), + axis=1) / object_valid_steps + + # Kinematics-related features, i.e. speed and acceleration, both linear and + # angular. These feature are computed as finite differences of the objects + # position, which makes the first step invalid. We prepend the history steps + # so that this first simulation step has a valid difference too. + linear_speed, linear_accel, angular_speed, angular_accel = ( + trajectory_features.compute_kinematic_features( + evaluated_trajectories.x, + evaluated_trajectories.y, + evaluated_trajectories.z, + evaluated_trajectories.heading, + seconds_per_step=submission_specs.STEP_DURATION_SECONDS)) + # Removes the data corresponding to the history time interval. + linear_speed, linear_accel, angular_speed, angular_accel = ( + map(lambda t: t[:, submission_specs.CURRENT_TIME_INDEX+1:], + [linear_speed, linear_accel, angular_speed, angular_accel]) + ) + + # Collision and distances to objects. + evaluated_object_mask = tf.reduce_any( + # `evaluated_sim_agents` shape: (n_evaluated_objects,). + # `simulated_trajectories.object_id` shape: (n_objects,). + evaluated_sim_agent_ids[:, tf.newaxis] + == simulated_trajectories.object_id, + axis=0, + ) + # Interactive features are computed between all simulated objects, but only + # scored for evaluated objects. + distances_to_objects = ( + interaction_features.compute_distance_to_nearest_object( + center_x=simulated_trajectories.x, + center_y=simulated_trajectories.y, + center_z=simulated_trajectories.z, + length=simulated_trajectories.length, + width=simulated_trajectories.width, + height=simulated_trajectories.height, + heading=simulated_trajectories.heading, + valid=simulated_trajectories.valid, + evaluated_object_mask=evaluated_object_mask + )) + # Slice in time, as `simulated_trajectories` also include the history steps. + distances_to_objects = ( + distances_to_objects[:, submission_specs.CURRENT_TIME_INDEX+1:]) + # Shape: (n_evaluated_objects, n_steps). + is_colliding_per_step = tf.less( + distances_to_objects, interaction_features.COLLISION_DISTANCE_THRESHOLD) + + times_to_collision = ( + interaction_features.compute_time_to_collision_with_object_in_front( + center_x=simulated_trajectories.x, + center_y=simulated_trajectories.y, + length=simulated_trajectories.length, + width=simulated_trajectories.width, + heading=simulated_trajectories.heading, + valid=simulated_trajectories.valid, + evaluated_object_mask=evaluated_object_mask, + seconds_per_step=submission_specs.STEP_DURATION_SECONDS, + ) + ) + times_to_collision = times_to_collision[ + :, submission_specs.CURRENT_TIME_INDEX + 1 : + ] + + # Roadgraph features. + road_edges = [] + for map_feature in scenario.map_features: + if map_feature.HasField('road_edge'): + road_edges.append(map_feature.road_edge.polyline) + distances_to_road_edge = map_metric_features.compute_distance_to_road_edge( + center_x=simulated_trajectories.x, + center_y=simulated_trajectories.y, + center_z=simulated_trajectories.z, + length=simulated_trajectories.length, + width=simulated_trajectories.width, + height=simulated_trajectories.height, + heading=simulated_trajectories.heading, + valid=simulated_trajectories.valid, + evaluated_object_mask=evaluated_object_mask, + road_edge_polylines=road_edges, + ) + distances_to_road_edge = distances_to_road_edge[ + :, submission_specs.CURRENT_TIME_INDEX + 1 : + ] + is_offroad_per_step = tf.greater( + distances_to_road_edge, map_metric_features.OFFROAD_DISTANCE_THRESHOLD + ) + + # Pack into `MetricFeatures`, also adding a batch dimension of 1 (except for + # `object_id`). + return MetricFeatures( + object_id=evaluated_trajectories.object_id, + valid=validity_mask[tf.newaxis], + average_displacement_error=ade[tf.newaxis], + linear_speed=linear_speed[tf.newaxis], + linear_acceleration=linear_accel[tf.newaxis], + angular_speed=angular_speed[tf.newaxis], + angular_acceleration=angular_accel[tf.newaxis], + distance_to_nearest_object=distances_to_objects[tf.newaxis], + collision_per_step=is_colliding_per_step[tf.newaxis], + time_to_collision=times_to_collision[tf.newaxis], + distance_to_road_edge=distances_to_road_edge[tf.newaxis], + offroad_per_step=is_offroad_per_step[tf.newaxis], + ) + + +def compute_scenario_rollouts_features( + scenario: scenario_pb2.Scenario, + scenario_rollouts: sim_agents_submission_pb2.ScenarioRollouts, + scenario_rollouts_mask: tf.Tensor | None = None, +) -> tuple[MetricFeatures, MetricFeatures]: + """Computes the metrics features for both logged and simulated scenarios. + + Args: + scenario: The `Scenario` loaded from WOMD. + scenario_rollouts: The collection of joint scenes from simulation. + + Returns: + Two `MetricFeatures`, the first one from logged data with n_samples=1 and + the second from simulation with n_samples=`submission_specs.N_ROLLOUTS`. + """ + + # print("Sim") + # Aggregate the different parallel simulations. + features_fields = [field.name for field in dataclasses.fields(MetricFeatures)] + features_fields.remove('object_id') + sim_features = collections.defaultdict(list) + for joint_scene in scenario_rollouts.joint_scenes: + rollout_features = compute_metric_features(scenario, joint_scene, validity_mask=scenario_rollouts_mask) + # if tf.reduce_any(log_features.object_id != rollout_features.object_id): + # raise ValueError('Misaligned object IDs for evaluation.') + for field in features_fields: + sim_features[field].append(getattr(rollout_features, field)) + + # Concatenate and generate `MetricFeatures`. + for field in features_fields: + sim_features[field] = tf.concat(sim_features[field], axis=0) + # print("Log") + log_joint_scene = converters.scenario_to_joint_scene(scenario) + log_features = compute_metric_features( + scenario, log_joint_scene, use_log_validity=True, + eval_agent_ids=rollout_features.object_id + ) + + sim_features = MetricFeatures( + **sim_features, object_id=log_features.object_id) + return log_features, sim_features diff --git a/examples/eval/wosac_metrics/metrics.py b/examples/eval/wosac_metrics/metrics.py new file mode 100644 index 000000000..04cf404ab --- /dev/null +++ b/examples/eval/wosac_metrics/metrics.py @@ -0,0 +1,321 @@ +# Copyright (c) 2024 Waymo LLC. All rights reserved. + +# This is licensed under a BSD+Patent license. +# Please see LICENSE and PATENTS text files. +# ============================================================================== +"""Collection of metrics used to evaluate Sim Agents Challenge submissions.""" + +from typing import List + +from google.protobuf import text_format +import numpy as np +import tensorflow as tf + +# copybara removed file resource import +import waymo_open_dataset +from waymo_open_dataset.protos import scenario_pb2 +from waymo_open_dataset.protos import sim_agents_metrics_pb2 +from waymo_open_dataset.protos import sim_agents_submission_pb2 +from waymo_open_dataset.wdl_limited.sim_agents_metrics import estimators + +import sys +import os + +sys.path.append('examples/eval/wosac_metrics') +import metric_features + +# from waymo_open_dataset.wdl_limited.sim_agents_metrics import metric_features +from waymo_open_dataset.wdl_limited.sim_agents_metrics import trajectory_features + +_METRIC_FIELD_NAMES_BY_BUCKET = { + 'kinematic': [ + 'linear_speed', 'linear_acceleration', + 'angular_speed', 'angular_acceleration', + ], + 'interactive': [ + 'distance_to_nearest_object', 'collision_indication', + 'time_to_collision', + ], + 'map_based': [ + 'distance_to_road_edge', 'offroad_indication' + ] +} +_METRIC_FIELD_NAMES = ( + _METRIC_FIELD_NAMES_BY_BUCKET['kinematic'] + + _METRIC_FIELD_NAMES_BY_BUCKET['interactive'] + + _METRIC_FIELD_NAMES_BY_BUCKET['map_based'] +) + + +def load_metrics_config() -> sim_agents_metrics_pb2.SimAgentMetricsConfig: + """Loads the `SimAgentMetricsConfig` used for the challenge.""" + # pylint: disable=line-too-long + # pyformat: disable + config_path = '{pyglib_resource}/wdl_limited/sim_agents_metrics/challenge_2024_config.textproto'.format( + pyglib_resource=waymo_open_dataset.__path__[0] + ) + with open(config_path, 'r') as f: + config = sim_agents_metrics_pb2.SimAgentMetricsConfig() + text_format.Parse(f.read(), config) + return config + + +def compute_scenario_metrics_for_bundle( + config: sim_agents_metrics_pb2.SimAgentMetricsConfig, + scenario: scenario_pb2.Scenario, + scenario_rollouts: sim_agents_submission_pb2.ScenarioRollouts, + scenario_rollouts_mask: tf.Tensor = None, +) -> sim_agents_metrics_pb2.SimAgentMetrics: + """Computes the scenario-level metrics for the given bundle.""" + # Computes the metric features for log and sim. + log_features, sim_features = ( + metric_features.compute_scenario_rollouts_features( + scenario, scenario_rollouts, scenario_rollouts_mask=scenario_rollouts_mask) + ) + + # ==== Average Displacement Error ==== + # This metric is not included in the scoring meta-metric, but we report it + # to have a baseline comparison with existing Behaviour Prediction challenges. + # We report both ADE (averaged over simulations and objects) and minADE + # (averaged over objects, minimum over simulations). + average_displacement_error = tf.reduce_mean( + sim_features.average_displacement_error) + min_average_displacement_error = tf.reduce_min( + tf.reduce_mean(sim_features.average_displacement_error, axis=1)) + + # ==== Dynamics features ==== + # Compute the log-likelihoods of speed features (first derivatives). + # Note: For log_values we take only index=0 of the batch dimension to have + # shape (n_objects, n_steps), as specified by + # `log_likelihood_estimate_timeseries()`. + linear_speed_log_likelihood = estimators.log_likelihood_estimate_timeseries( + feature_config=config.linear_speed, + log_values=log_features.linear_speed[0], + sim_values=sim_features.linear_speed) + angular_speed_log_likelihood = estimators.log_likelihood_estimate_timeseries( + feature_config=config.angular_speed, + log_values=log_features.angular_speed[0], + sim_values=sim_features.angular_speed) + # Get the log speed (linear and angular) validity. Since this is computed by + # a delta between steps `i-1` and `i+1`, we verify that both of these are + # valid (logical and). + speed_validity, acceleration_validity = ( + trajectory_features.compute_kinematic_validity(log_features.valid[0]) + ) + # The score is computed as the sum of the log-likelihoods, filtered by + # validity. We exponentiate the result to get a score in the range [0,1]. + linear_speed_likelihood = tf.exp(_reduce_average_with_validity( + linear_speed_log_likelihood, speed_validity)) + angular_speed_likelihood = tf.exp(_reduce_average_with_validity( + angular_speed_log_likelihood, speed_validity)) + + # Similarly, we compute likelihoods for acceleration features. This time, + # we have to compute a double-step validity mask, because accelerations + # involve the validity of `i`, `i+1`, `i+2`. + linear_accel_log_likelihood = estimators.log_likelihood_estimate_timeseries( + feature_config=config.linear_acceleration, + log_values=log_features.linear_acceleration[0], + sim_values=sim_features.linear_acceleration) + angular_accel_log_likelihood = estimators.log_likelihood_estimate_timeseries( + feature_config=config.angular_acceleration, + log_values=log_features.angular_acceleration[0], + sim_values=sim_features.angular_acceleration) + linear_accel_likelihood = tf.exp(_reduce_average_with_validity( + linear_accel_log_likelihood, acceleration_validity)) + angular_accel_likelihood = tf.exp(_reduce_average_with_validity( + angular_accel_log_likelihood, acceleration_validity)) + + # Collision likelihood is computed by aggregating in time. For invalid objects + # in the logged scenario, we need to filter possible collisions in simulation. + # `sim_collision_indication` shape: (n_samples, n_objects). + sim_collision_indication = tf.reduce_any( + tf.where(log_features.valid, sim_features.collision_per_step, False), + axis=2) + log_collision_indication = tf.reduce_any( + tf.where(log_features.valid, log_features.collision_per_step, False), + axis=2) + + # Collision and distance to other objects. Again, aggregate over objects and + # timesteps by summing the log-probabilities. + collision_score = estimators.log_likelihood_estimate_scenario_level( + feature_config=config.collision_indication, + log_values=log_collision_indication[0], + sim_values=sim_collision_indication + ) + collision_likelihood = tf.exp(tf.reduce_mean(collision_score)) + + distance_to_objects_log_likelihood = ( + estimators.log_likelihood_estimate_timeseries( + feature_config=config.distance_to_nearest_object, + log_values=log_features.distance_to_nearest_object[0], + sim_values=sim_features.distance_to_nearest_object, + ) + ) + distance_to_obj_likelihood = tf.exp( + _reduce_average_with_validity( + distance_to_objects_log_likelihood, log_features.valid[0] + ) + ) + + ttc_log_likelihood = estimators.log_likelihood_estimate_timeseries( + feature_config=config.time_to_collision, + log_values=log_features.time_to_collision[0], + sim_values=sim_features.time_to_collision, + ) + ttc_likelihood = tf.exp( + _reduce_average_with_validity(ttc_log_likelihood, log_features.valid[0]) + ) + + # Off-road and distance to road edge. Again, aggregate over objects and + # timesteps by summing the log-probabilities. + # `sim_offroad_indication` shape: (n_samples, n_objects). + sim_offroad_indication = tf.reduce_any( + tf.where(log_features.valid, sim_features.offroad_per_step, False), + axis=2) + log_offroad_indication = tf.reduce_any( + tf.where(log_features.valid, log_features.offroad_per_step, False), + axis=2) + offroad_score = estimators.log_likelihood_estimate_scenario_level( + feature_config=config.offroad_indication, + log_values=log_offroad_indication[0], + sim_values=sim_offroad_indication, + ) + offroad_likelihood = tf.exp(tf.reduce_mean(offroad_score)) + + # `distance_to_road_edge_log_likelihood` shape: (n_objects, n_steps). + distance_to_road_edge_log_likelihood = ( + estimators.log_likelihood_estimate_timeseries( + feature_config=config.distance_to_road_edge, + log_values=log_features.distance_to_road_edge[0], + sim_values=sim_features.distance_to_road_edge, + ) + ) + distance_to_road_edge_likelihood = tf.exp( + _reduce_average_with_validity( + distance_to_road_edge_log_likelihood, log_features.valid[0] + ) + ) + + # ==== Simulated collision and offroad rates ==== + simulated_collision_rate = tf.reduce_sum( + # `sim_collision_indication` shape: (n_samples, n_objects). + tf.cast(sim_collision_indication, tf.int32) + ) / tf.reduce_sum(tf.ones_like(sim_collision_indication, dtype=tf.int32)) + simulated_offroad_rate = tf.reduce_sum( + # `sim_offroad_indication` shape: (n_samples, n_objects). + tf.cast(sim_offroad_indication, tf.int32) + ) / tf.reduce_sum(tf.ones_like(sim_offroad_indication, dtype=tf.int32)) + + # ==== Meta-metric ==== + likelihood_metrics = { + 'linear_speed_likelihood': linear_speed_likelihood.numpy(), + 'linear_acceleration_likelihood': linear_accel_likelihood.numpy(), + 'angular_speed_likelihood': angular_speed_likelihood.numpy(), + 'angular_acceleration_likelihood': angular_accel_likelihood.numpy(), + 'distance_to_nearest_object_likelihood': ( + distance_to_obj_likelihood.numpy() + ), + 'collision_indication_likelihood': collision_likelihood.numpy(), + 'time_to_collision_likelihood': ttc_likelihood.numpy(), + 'distance_to_road_edge_likelihood': ( + distance_to_road_edge_likelihood.numpy() + ), + 'offroad_indication_likelihood': offroad_likelihood.numpy(), + } + + metametric = _compute_metametric( + config, sim_agents_metrics_pb2.SimAgentMetrics(**likelihood_metrics)) + + return sim_agents_metrics_pb2.SimAgentMetrics( + scenario_id=scenario.scenario_id, + metametric=metametric, + average_displacement_error=average_displacement_error, + min_average_displacement_error=min_average_displacement_error, + simulated_collision_rate=simulated_collision_rate.numpy(), + simulated_offroad_rate=simulated_offroad_rate.numpy(), + **likelihood_metrics, + ) + + +def aggregate_scenario_metrics( + all_scenario_metrics: List[sim_agents_metrics_pb2.SimAgentMetrics] + ) -> sim_agents_metrics_pb2.SimAgentMetrics: + """Aggregates the per-scenario metrics over the whole dataset.""" + msg_fields = [field[0].name for field in all_scenario_metrics[0].ListFields()] + field_values = {field_name: [] for field_name in msg_fields} + for scenario_metrics in all_scenario_metrics: + for field_name in msg_fields: + field_values[field_name].append(getattr(scenario_metrics, field_name)) + # Remove the scenario ID field. + del field_values['scenario_id'] + # Average all the fields. + field_values = { + name: np.mean(values) for (name, values) in field_values.items()} + return sim_agents_metrics_pb2.SimAgentMetrics( + **field_values) + + +def aggregate_metrics_to_buckets( + config: sim_agents_metrics_pb2.SimAgentMetricsConfig, + metrics: sim_agents_metrics_pb2.SimAgentMetrics +) -> sim_agents_metrics_pb2.SimAgentsBucketedMetrics: + """Aggregates metrics into buckets for better readability.""" + bucketed_metrics = {} + for bucket_name, fields_in_bucket in _METRIC_FIELD_NAMES_BY_BUCKET.items(): + weighted_metric, weights_sum = 0.0, 0.0 + for field_name in fields_in_bucket: + likelihood_field_name = field_name + '_likelihood' + weight = getattr(config, field_name).metametric_weight + metric_score = getattr(metrics, likelihood_field_name) + weighted_metric += weight * metric_score + weights_sum += weight + if weights_sum == 0: + raise ValueError('The bucket\'s weight sum is zero. Check your metrics' + ' config.') + bucketed_metrics[bucket_name] = weighted_metric / weights_sum + + return sim_agents_metrics_pb2.SimAgentsBucketedMetrics( + realism_meta_metric=metrics.metametric, + kinematic_metrics=bucketed_metrics['kinematic'], + interactive_metrics=bucketed_metrics['interactive'], + map_based_metrics=bucketed_metrics['map_based'], + min_ade=metrics.min_average_displacement_error, + simulated_collision_rate=metrics.simulated_collision_rate, + simulated_offroad_rate=metrics.simulated_offroad_rate, + ) + + +def _reduce_average_with_validity( + tensor: tf.Tensor, validity: tf.Tensor) -> tf.Tensor: + """Returns the tensor's average, only selecting valid items. + + Args: + tensor: A float tensor of any shape. + validity: A boolean tensor of the same shape as `tensor`. + + Returns: + A float tensor of shape (1,), containing the average of the valid elements + of `tensor`. + """ + if tensor.shape != validity.shape: + raise ValueError('Shapes of `tensor` and `validity` must be the same.' + f'(Actual: {tensor.shape}, {validity.shape}).') + cond_sum = tf.reduce_sum(tf.where(validity, tensor, tf.zeros_like(tensor))) + valid_sum = tf.reduce_sum(tf.cast(validity, tf.float32)) + return cond_sum / valid_sum + + +def _compute_metametric( + config: sim_agents_metrics_pb2.SimAgentMetricsConfig, + metrics: sim_agents_metrics_pb2.SimAgentMetrics, +): + """Computes the meta-metric aggregation.""" + metametric = 0.0 + for field_name in _METRIC_FIELD_NAMES: + likelihood_field_name = field_name + '_likelihood' + weight = getattr(config, field_name).metametric_weight + metric_score = getattr(metrics, likelihood_field_name) + metametric += weight * metric_score + return metametric + + diff --git a/examples/experimental/config/eval_config.yaml b/examples/experimental/config/eval_config.yaml index 48202ab2b..41085195e 100644 --- a/examples/experimental/config/eval_config.yaml +++ b/examples/experimental/config/eval_config.yaml @@ -1,17 +1,17 @@ res_path: examples/experimental/dataframes # Store dataframes here -test_dataset_size: 10_000 # Number of test scenarios to evaluate on +test_dataset_size: 10000 # Number of test scenarios to evaluate on # Environment settings train_dir: data/processed/training test_dir: data/processed/validation -num_worlds: 50 # Number of parallel environments for evaluation +num_worlds: 100 # Number of parallel environments for evaluation max_controlled_agents: 64 # Maximum number of agents controlled by the model. ego_state: true road_map_obs: true partner_obs: true norm_obs: true -remove_non_vehicles: true # If false, all agents are included (vehicles, pedestrians, cyclists) +remove_non_vehicles: false # If false, all agents are included (vehicles, pedestrians, cyclists) lidar_obs: false # NOTE: Setting this to true currently turns of the other observation types reward_type: "weighted_combination" collision_weight: -0.75 @@ -24,8 +24,13 @@ polyline_reduction_threshold: 0.1 # Rate at which to sample points from the poly sampling_seed: 42 # If given, the set of scenes to sample from will be deterministic, if None, the set of scenes will be random obs_radius: 50.0 # Visibility radius of the agents init_roadgraph: False +init_mode: all_valid #all_non_trivial render_3d: True +# Reward conditioning +condition_mode: None +agent_type: None + # Number of discretizations in the action space # Note: Make sure that this equals the discretizations that the policy # has been trained with diff --git a/examples/experimental/config/reliable_agents_params.yaml b/examples/experimental/config/reliable_agents_params.yaml index 004e8e504..afb7404f5 100644 --- a/examples/experimental/config/reliable_agents_params.yaml +++ b/examples/experimental/config/reliable_agents_params.yaml @@ -19,4 +19,3 @@ obs_radius: 50.0 # Visibility radius of the agents action_space_steer_disc: 13 action_space_accel_disc: 7 init_mode: all_non_trivial -vbd_in_obs: false # If true, the VBD is included in the observation diff --git a/examples/experimental/get_model_performance.py b/examples/experimental/get_model_performance.py index 70443d852..c6b84b715 100644 --- a/examples/experimental/get_model_performance.py +++ b/examples/experimental/get_model_performance.py @@ -4,13 +4,13 @@ import numpy as np import os import logging + +from eval_utils import evaluate_policy + +from gpudrive.utils.env import make_env +from gpudrive.utils.config import load_config +from gpudrive.utils.checkpoint import load_policy from gpudrive.env.dataset import SceneDataLoader -from eval_utils import ( - load_config, - make_env, - load_policy, - evaluate_policy, -) import random import torch @@ -52,7 +52,6 @@ def set_seed(seed: int): path_to_cpt=model_config.models_path, model_name=model.name, device=eval_config.device, - env=env, ) # Create dataloaders for train and test sets diff --git a/examples/experimental/notebooks/04_reward_cond_agents.ipynb b/examples/experimental/notebooks/04_reward_cond_agents.ipynb new file mode 100644 index 000000000..d71ef81cb --- /dev/null +++ b/examples/experimental/notebooks/04_reward_cond_agents.ipynb @@ -0,0 +1,564 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 17, + "metadata": {}, + "outputs": [], + "source": [ + "import torch\n", + "import dataclasses\n", + "import mediapy\n", + "from huggingface_hub import PyTorchModelHubMixin\n", + "from huggingface_hub import ModelCard\n", + "from gpudrive.networks.late_fusion import NeuralNet\n", + "import matplotlib.pyplot as plt\n", + "from collections import defaultdict\n", + "import random\n", + "import torch\n", + "import random\n", + "import numpy as np\n", + "import pandas as pd\n", + "from tqdm import tqdm\n", + "\n", + "\n", + "from gpudrive.env.config import EnvConfig\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.utils.config import load_config\n", + "from gpudrive.utils.checkpoint import load_policy\n", + "from gpudrive.utils.rollout import rollout\n", + "\n", + "from PIL import Image" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{'mode': 'train', 'use_rnn': False, 'eval_model_path': None, 'baseline': False, 'data_dir': 'data/processed/training', 'continue_training': False, 'model_cpt': None, 'environment': {'name': 'gpudrive', 'num_worlds': 50, 'k_unique_scenes': 50, 'max_controlled_agents': 64, 'ego_state': True, 'road_map_obs': True, 'partner_obs': True, 'norm_obs': True, 'remove_non_vehicles': False, 'lidar_obs': False, 'reward_type': 'reward_conditioned', 'collision_weight': -0.75, 'off_road_weight': -0.75, 'goal_achieved_weight': 1.0, 'init_mode': 'all_non_trivial', 'condition_mode': 'random', 'collision_weight_lb': -3.0, 'collision_weight_ub': 0.01, 'goal_achieved_weight_lb': 1.0, 'goal_achieved_weight_ub': 3.0, 'off_road_weight_lb': -3.0, 'off_road_weight_ub': 0.0, 'dynamics_model': 'classic', 'collision_behavior': 'ignore', 'dist_to_goal_threshold': 2.0, 'polyline_reduction_threshold': 0.1, 'sampling_seed': 42, 'obs_radius': 50.0, 'action_space_steer_disc': 13, 'action_space_accel_disc': 7, 'use_vbd': False, 'vbd_model_path': 'gpudrive/integrations/vbd/weights/epoch=18.ckpt', 'init_steps': 11, 'vbd_trajectory_weight': 0.1, 'vbd_in_obs': False}, 'wandb': {'entity': '', 'project': 'kshotagents', 'group': 'reward_conditioned', 'mode': 'online', 'tags': ['ppo', 'ff']}, 'train': {'exp_id': 'PPO', 'seed': 42, 'cpu_offload': False, 'device': 'cuda', 'bptt_horizon': 1, 'compile': False, 'compile_mode': 'reduce-overhead', 'resample_scenes': True, 'resample_dataset_size': 10000, 'resample_interval': 2000000, 'sample_with_replacement': True, 'shuffle_dataset': False, 'torch_deterministic': False, 'total_timesteps': 2000000000, 'batch_size': 262144, 'minibatch_size': 8192, 'learning_rate': '3e-4', 'anneal_lr': False, 'gamma': 0.99, 'gae_lambda': 0.95, 'update_epochs': 4, 'norm_adv': True, 'clip_coef': 0.2, 'clip_vloss': False, 'vf_clip_coef': 0.2, 'ent_coef': 0.0001, 'vf_coef': 0.3, 'max_grad_norm': 0.5, 'target_kl': None, 'log_window': 1000, 'network': {'input_dim': 64, 'hidden_dim': 128, 'dropout': 0.01, 'class_name': 'NeuralNet', 'num_parameters': 0}, 'checkpoint_interval': 500, 'checkpoint_path': './runs', 'render': False, 'render_3d': True, 'render_interval': 1, 'render_k_scenarios': 10, 'render_format': 'mp4', 'render_fps': 15, 'zoom_radius': 50}, 'vec': {'backend': 'native', 'num_workers': 1, 'env_batch_size': 1, 'zero_copy': False}}\n" + ] + } + ], + "source": [ + "# Configs model has been trained with\n", + "config = load_config(\"/home/emerge/gpudrive/baselines/ppo/config/ppo_base_puffer\")\n", + "\n", + "print(config)\n", + "\n", + "num_envs = 4\n", + "device = \"cpu\"\n", + "max_agents = 64\n", + "\n", + "config.environment.reward_type = \"reward_conditioned\"\n", + "config.environment.condition_mode = \"fixed\"\n", + "config.environment.agent_type = torch.Tensor([-0.2, 1.0, -0.2])" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Load model from /home/emerge/gpudrive/examples/experimental/models/rew_conditioned_0321.pt\n" + ] + } + ], + "source": [ + "agent = load_policy(\n", + " model_name=\"rew_conditioned_0321\",\n", + " path_to_cpt=\"/home/emerge/gpudrive/examples/experimental/models\",\n", + " env_config=config.environment,\n", + " device=device\n", + ");" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "# Create data loader\n", + "train_loader = SceneDataLoader(\n", + " root='/home/emerge/gpudrive/data/processed/examples/',\n", + " batch_size=num_envs,\n", + " dataset_size=100,\n", + " sample_with_replacement=False,\n", + ")\n", + "\n", + "# Set params\n", + "config = config.environment\n", + "env_config = dataclasses.replace(\n", + " EnvConfig(),\n", + " norm_obs=config.norm_obs,\n", + " dynamics_model=config.dynamics_model,\n", + " collision_behavior=config.collision_behavior,\n", + " dist_to_goal_threshold=config.dist_to_goal_threshold,\n", + " polyline_reduction_threshold=config.polyline_reduction_threshold,\n", + " remove_non_vehicles=config.remove_non_vehicles,\n", + " lidar_obs=config.lidar_obs,\n", + " disable_classic_obs=config.lidar_obs,\n", + " obs_radius=config.obs_radius,\n", + " steer_actions = torch.round(\n", + " torch.linspace(-torch.pi, torch.pi, config.action_space_steer_disc), decimals=3 \n", + " ),\n", + " accel_actions = torch.round(\n", + " torch.linspace(-4.0, 4.0, config.action_space_accel_disc), decimals=3\n", + " ),\n", + " reward_type=config.reward_type,\n", + " condition_mode=config.condition_mode,\n", + " agent_type=config.agent_type,\n", + ")\n", + "\n", + "# Make env\n", + "env = GPUDriveTorchEnv(\n", + " config=env_config,\n", + " data_loader=train_loader,\n", + " max_cont_agents=1, #config.max_controlled_agents,\n", + " device=device,\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [], + "source": [ + "def run_multiple_rollouts(\n", + " env, \n", + " agent, \n", + " num_rollouts=2, \n", + " device='cpu',\n", + " sample_collision_weights=True,\n", + " sample_goal_weights=False,\n", + " sample_offroad_weights=False,\n", + " agent_type=None,\n", + "):\n", + " \"\"\"\n", + " Run multiple rollouts with different collision weights and store trajectories.\n", + " Stores agent positions as a tensor of shape [num_envs, num_rollouts, agents, steps, 2].\n", + " \n", + " Args:\n", + " env: The environment (can be batched with multiple environments)\n", + " agent: The policy\n", + " num_rollouts: Number of rollouts to perform\n", + " device: Device to run on\n", + " \n", + " Returns:\n", + " all_trajectories: Dictionary containing trajectories and weights\n", + " \"\"\"\n", + " \n", + " all_agent_positions = []\n", + " collision_weights = []\n", + " goal_weights = []\n", + " offroad_weights = []\n", + " all_goal_achieved = []\n", + " all_collided = []\n", + " all_off_road = []\n", + " all_episode_lengths = []\n", + " \n", + " print(f\"Running {num_rollouts} rollouts, sampling weights: collision={sample_collision_weights}, goal={sample_goal_weights}, offroad={sample_offroad_weights}\\n\")\n", + " \n", + " for i in tqdm(range(num_rollouts), desc=\"Processing rollouts\", unit=\"rollout\"):\n", + " \n", + " # Sample weights\n", + " if agent_type is not None:\n", + " agent_weights = agent_type\n", + " collision_weight = agent_weights[0].item()\n", + " goal_weight = agent_weights[1].item()\n", + " off_road_weight = agent_weights[2].item()\n", + " else:\n", + " if sample_collision_weights:\n", + " collision_weight = random.uniform(-3.0, 1.0)\n", + " else:\n", + " collision_weight = -3.0\n", + " if sample_goal_weights:\n", + " goal_weight = random.uniform(1.0, 3.0)\n", + " else:\n", + " goal_weight = 1.0\n", + " if sample_offroad_weights:\n", + " off_road_weight = random.uniform(-3.0, 1.0)\n", + " else:\n", + " off_road_weight = -3.0\n", + "\n", + " agent_weights = torch.Tensor([collision_weight, goal_weight, off_road_weight])\n", + " \n", + " # Run rollout with these weights\n", + " (\n", + " goal_achieved_count,\n", + " frac_goal_achieved,\n", + " collided_count,\n", + " frac_collided,\n", + " off_road_count,\n", + " frac_off_road,\n", + " not_goal_nor_crash_count,\n", + " frac_not_goal_nor_crash_per_scene,\n", + " controlled_agents_per_scene,\n", + " sim_state_frames,\n", + " agent_positions,\n", + " episode_lengths\n", + " ) = rollout(\n", + " env=env,\n", + " policy=agent,\n", + " device=device,\n", + " deterministic=False,\n", + " return_agent_positions=True,\n", + " set_agent_type=True,\n", + " agent_weights=agent_weights,\n", + " )\n", + " \n", + " # Store weights and positions\n", + " collision_weights.append(collision_weight)\n", + " goal_weights.append(goal_weight)\n", + " offroad_weights.append(off_road_weight)\n", + " all_agent_positions.append(agent_positions.clone().detach())\n", + " \n", + " # Store other metrics\n", + " all_goal_achieved.append(goal_achieved_count)\n", + " all_collided.append(collided_count)\n", + " all_off_road.append(off_road_count)\n", + " all_episode_lengths.append(episode_lengths)\n", + " \n", + " # Stack agent positions along a new dimension at position 1 (after num_envs)\n", + " # From list of [num_envs, num_agents, time_steps, 2] to tensor of [num_envs, num_rollouts, num_agents, time_steps, 2]\n", + " stacked_positions = torch.stack(all_agent_positions, dim=1)\n", + " \n", + " # Return organized data\n", + " all_trajectories = {\n", + " 'collision_weights': torch.tensor(collision_weights),\n", + " 'goal_weights': torch.tensor(goal_weights),\n", + " 'offroad_weights': torch.tensor(offroad_weights),\n", + " 'agent_positions': stacked_positions, # Shape: [num_envs, num_rollouts, num_agents, time_steps, 2]\n", + " 'goal_achieved': all_goal_achieved,\n", + " 'collided': all_collided,\n", + " 'off_road': all_off_road,\n", + " 'episode_lengths': all_episode_lengths\n", + " }\n", + " \n", + " return all_trajectories" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "# Define different agent types to compare\n", + "agent_configs = { # Collision, Goal, Off-road\n", + " 'Nominal': torch.tensor([-0.75, 1.0, -0.75], device=device),\n", + " 'Aggressive': torch.tensor([0.0, 2.0, 0.0], device=device),\n", + " 'Risk-averse': torch.tensor([-2.0, 0.5, -2.0], device=device),\n", + "}" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Running 50 rollouts, sampling weights: collision=True, goal=False, offroad=False\n", + "\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "Processing rollouts: 100%|██████████| 50/50 [01:25<00:00, 1.70s/rollout]\n" + ] + } + ], + "source": [ + "trajs = run_multiple_rollouts(\n", + " env=env,\n", + " agent=agent,\n", + " num_rollouts=50,\n", + " device='cpu',\n", + " sample_collision_weights=True,\n", + " sample_goal_weights=False,\n", + " sample_offroad_weights=False,\n", + " #agent_type=agent_configs['Risk-averse'],\n", + ");" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "metadata": {}, + "outputs": [ + { + "data": { + "image/jpeg": 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", + "text/plain": [ + "" + ] + }, + "execution_count": 12, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "env.vis.figsize = (8, 8)\n", + "\n", + "# Plot simulator state with the stacked trajectories\n", + "_ = env.reset(agent_type=torch.Tensor([-0.2, 1.0, -0.2]))\n", + "img = env.vis.plot_simulator_state(\n", + " env_indices=[1], \n", + " agent_positions=trajs['agent_positions'], # Pass stacked trajectories directly\n", + " zoom_radius=70,\n", + " multiple_rollouts=True,\n", + " line_alpha=0.5, \n", + " line_width=1.0, \n", + " weights=trajs['collision_weights'], \n", + " colorbar=True, \n", + ")[0]\n", + "\n", + "Image.fromarray(img_from_fig(img))" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Figure saved as effect_of_rew_cond.png\n" + ] + } + ], + "source": [ + "fig = img \n", + "filename = \"effect_of_rew_cond.png\"\n", + "fig.savefig(filename, dpi=300, bbox_inches='tight', pad_inches=0.1)\n", + "print(f\"Figure saved as {filename}\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Analyze diversity" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Collecting rollout data...\n", + " Rollout 1/2\n", + " Rollout 2/2\n" + ] + } + ], + "source": [ + "agent_configs = {\n", + " 'Nominal': torch.tensor([-0.5, 0.1, -0.5], device=device),\n", + "}\n", + "\n", + "print(\"Collecting rollout data...\")\n", + "collected_data = {}\n", + "\n", + "agent_weights = torch.Tensor([-0.2, 1.0, -0.2])\n", + "\n", + "\n", + "div_metrics = collect_rollout_data(\n", + " env, agent, agent_weights, device, 2\n", + ")\n", + "\n", + "#df = store_data_to_dataframe(list(agent_configs.keys()), collected_data)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "dict_keys(['situation_responses', 'entropy_values', 'logprob_values'])" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "div_metrics.keys()" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "torch.Size([5, 64, 91])" + ] + }, + "execution_count": 18, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "div_metrics['entropy_values'].shape" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Effect on human-replay interaction" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import seaborn as sns\n", + "\n", + "# Set up the styling\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "# Prepare the data for the plots\n", + "agents = ['Self-play', 'Population play']\n", + "\n", + "# Data for the first plot: controlling all agents\n", + "all_agents_rates = [0.5, 2.85]\n", + "all_agents_df = pd.DataFrame({\n", + " 'Agent': agents,\n", + " 'Collision Rate (%)': all_agents_rates\n", + "})\n", + "\n", + "# Data for the second plot: controlling single agent\n", + "single_agent_rates = [6.0, 9.50]\n", + "single_agent_df = pd.DataFrame({\n", + " 'Agent': agents,\n", + " 'Collision Rate (%)': single_agent_rates\n", + "})\n", + "\n", + "# Calculate relative increase as multiples (times increase) for the third plot\n", + "relative_increases = []\n", + "for i in range(len(agents)):\n", + " # Formula for X times increase: new_value / old_value\n", + " times_increase = single_agent_rates[i] / all_agents_rates[i]\n", + " relative_increases.append(times_increase)\n", + "\n", + "relative_df = pd.DataFrame({\n", + " 'Agent': agents,\n", + " 'Performance drop SP -> Human': relative_increases\n", + "})\n", + "\n", + "# Create 1x3 subplots\n", + "fig, axs = plt.subplots(1, 3, figsize=(12, 4))\n", + "\n", + "# Plot 1: Collision rates controlling all agents\n", + "sns.barplot(x='Agent', y='Collision Rate (%)', hue='Agent', data=all_agents_df, \n", + " palette='muted', legend=False, ax=axs[0])\n", + "axs[0].set_title('Controlling All Agents')\n", + "axs[0].set_ylim(0, max(all_agents_rates) * 1.2) # Add some space above bars\n", + "for i, v in enumerate(all_agents_rates):\n", + " axs[0].text(i, v + 0.1, f\"{v}%\", ha='center')\n", + "\n", + "# Plot 2: Collision rates controlling single agent\n", + "sns.barplot(x='Agent', y='Collision Rate (%)', hue='Agent', data=single_agent_df, \n", + " palette='pastel', legend=False, ax=axs[1])\n", + "axs[1].set_title('Control Single Agent \\n with Human Replays')\n", + "axs[1].set_ylim(0, max(single_agent_rates) * 1.2) # Add some space above bars\n", + "for i, v in enumerate(single_agent_rates):\n", + " axs[1].text(i, v + 0.3, f\"{v}%\", ha='center')\n", + "\n", + "# Plot 3: Times increase\n", + "sns.barplot(x='Agent', y='Performance drop SP -> Human', hue='Agent', data=relative_df, \n", + " palette='dark', legend=False, ax=axs[2])\n", + "axs[2].set_title('Rel. Increase in Collision Rates \\n (X times)', y=1.05)\n", + "for i, v in enumerate(relative_increases):\n", + " axs[2].text(i, v + 0.3, f\"{v:.1f}x\", ha='center')\n", + "\n", + "# Add annotation about risk averse agents\n", + "fig.text(0.5, 0.01, \n", + " \"Note: The Population play agent type is set to be risk averse.\", \n", + " ha='center', fontsize=10, style='italic')\n", + "\n", + "plt.tight_layout()\n", + "plt.subplots_adjust(bottom=0.2) # Make room for annotation\n", + "sns.despine()\n", + "plt.savefig('collision_rates_comparison.png', dpi=300)\n", + "\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/experimental/notebooks/05_getting_to_know_the_pop.ipynb b/examples/experimental/notebooks/05_getting_to_know_the_pop.ipynb new file mode 100644 index 000000000..2e181f503 --- /dev/null +++ b/examples/experimental/notebooks/05_getting_to_know_the_pop.ipynb @@ -0,0 +1,3210 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import numpy as np\n", + "import pandas as pd\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "# Set up the styling\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "=== Agent Type Comparison ===\n", + "\n", + "Policy Entropy by Agent Type (higher = more uncertain):\n", + "agent_type\n", + "Risk-averse 2.230663\n", + "Nominal 1.935405\n", + "Aggressive 1.706336\n", + "Name: mean, dtype: float64\n", + "\n", + "Average Log Probability (higher = more confident):\n", + "agent_type\n", + "Aggressive -1.715222\n", + "Nominal -1.939547\n", + "Risk-averse -2.238968\n", + "Name: logprob, dtype: float64\n", + "\n", + "Average Acceleration by Agent Type:\n", + "agent_type\n", + "Aggressive 3.117953\n", + "Nominal 2.036616\n", + "Risk-averse 0.085136\n", + "Name: acceleration, dtype: float64\n", + "\n", + "Average Steering by Agent Type (absolute value - measures turning intensity):\n", + "agent_type\n", + "Risk-averse 2.363364\n", + "Nominal 2.156945\n", + "Aggressive 2.056634\n", + "dtype: float64\n", + "\n", + "Average Goal Achievement Rate by Agent Type:\n", + "agent_type\n", + "Aggressive 1.000000\n", + "Nominal 0.966185\n", + "Risk-averse 0.756087\n", + "Name: frac_goal_achieved, dtype: float64\n", + "\n", + "Average Collision Rate by Agent Type:\n", + "agent_type\n", + "Nominal 0.132341\n", + "Aggressive 0.110032\n", + "Risk-averse 0.090811\n", + "Name: frac_collided, dtype: float64\n", + "\n", + "Variation Across Scenarios (higher = less consistent behavior):\n", + " acceleration steering\n", + "agent_type \n", + "Aggressive 0.361163 0.170644\n", + "Nominal 0.982940 0.419780\n", + "Risk-averse 1.228092 0.574757\n" + ] + } + ], + "source": [ + "from gpudrive.utils.diversity import compare_agent_types\n", + "\n", + "# Load the saved DataFrame\n", + "df = pd.read_csv(\"/home/emerge/gpudrive/agent_type_comparison_data.csv\")\n", + "\n", + "results = compare_agent_types(df)" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "dict_keys(['acceleration_distribution', 'steering_distribution', 'entropy_stats', 'action_diversity', 'avg_logprob', 'time_series', 'goal_rate', 'collision_rate'])" + ] + }, + "execution_count": 3, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "results.keys()" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "import numpy as np\n", + "import pandas as pd\n", + "import seaborn as sns\n", + "import matplotlib.pyplot as plt\n", + "\n", + "# Create a consistent color map for agent types\n", + "agent_colors = {\n", + " 'Aggressive': 'r',\n", + " 'Nominal': 'g',\n", + " 'Risk-averse': 'b'\n", + "}\n", + "\n", + "# Define the consistent order of agent types (Nominal in the middle)\n", + "agent_order = ['Aggressive', 'Nominal', 'Risk-averse']\n", + "\n", + "# Create figure with subplots - 3x2 to include acceleration and steering\n", + "fig, axes = plt.subplots(3, 2, figsize=(10, 8))\n", + "fig.suptitle('Agent Population Analysis | 50 scenes; measure at every time step; all agents controlled', fontsize=14, y=0.98)\n", + "\n", + "# 1. Policy Entropy by Agent Type (top left)\n", + "entropy_df = pd.DataFrame({\n", + " 'agent_type': results['entropy_stats'].index, \n", + " 'entropy': results['entropy_stats']['mean'].values\n", + "})\n", + "# Reorder according to our defined order instead of sorting\n", + "entropy_df = entropy_df.set_index('agent_type').reindex(agent_order).reset_index()\n", + "\n", + "colors = [agent_colors[agent] for agent in entropy_df['agent_type']]\n", + "sns.barplot(x='agent_type', y='entropy', data=entropy_df, \n", + " palette=colors, alpha=0.8, ax=axes[0, 0])\n", + "axes[0, 0].set_title('Policy Entropy', fontsize=12)\n", + "axes[0, 0].set_ylabel('Average Entropy', fontsize=10)\n", + "axes[0, 0].set_xlabel('Agent Type', fontsize=10)\n", + "axes[0, 0].grid(axis='y', alpha=0.3)\n", + "\n", + "# Add values on top of bars\n", + "for i, row in enumerate(entropy_df.itertuples()):\n", + " axes[0, 0].text(i, row.entropy + 0.01, f'{row.entropy:.3f}', \n", + " ha='center', fontsize=9)\n", + "\n", + "# 2. Agent Confidence via Log Probability (top right)\n", + "logprob_df = pd.DataFrame({'agent_type': results['avg_logprob'].index, \n", + " 'logprob': results['avg_logprob'].values})\n", + "# Reorder according to our defined order\n", + "logprob_df = logprob_df.set_index('agent_type').reindex(agent_order).reset_index()\n", + "\n", + "colors = [agent_colors[agent] for agent in logprob_df['agent_type']]\n", + "sns.barplot(x='agent_type', y='logprob', data=logprob_df, \n", + " palette=colors, alpha=0.8, ax=axes[0, 1])\n", + "axes[0, 1].set_title(f'Agent Confidence | $\\log(p(a_t)$', fontsize=12)\n", + "axes[0, 1].set_ylabel('Log Probability', fontsize=10)\n", + "axes[0, 1].set_xlabel('Agent Type', fontsize=10)\n", + "axes[0, 1].grid(axis='y', alpha=0.3)\n", + "\n", + "# Add values on top of bars\n", + "for i, row in enumerate(logprob_df.itertuples()):\n", + " y_offset = 0.05 if row.logprob < 0 else -0.05\n", + " axes[0, 1].text(i, row.logprob + y_offset, f'{row.logprob:.3f}', \n", + " ha='center', fontsize=9)\n", + "\n", + "# 3. Average Acceleration by Agent Type (middle left)\n", + "accel_df = df.groupby('agent_type')['acceleration'].mean().reset_index()\n", + "# Reorder according to our defined order\n", + "accel_df = accel_df.set_index('agent_type').reindex(agent_order).reset_index()\n", + "\n", + "colors = [agent_colors[agent] for agent in accel_df['agent_type']]\n", + "sns.barplot(x='agent_type', y='acceleration', data=accel_df, \n", + " palette=colors, alpha=0.8, ax=axes[1, 0])\n", + "axes[1, 0].set_title('Average Acceleration', fontsize=12)\n", + "axes[1, 0].set_ylabel('Acceleration', fontsize=10)\n", + "axes[1, 0].set_xlabel('Agent Type', fontsize=10)\n", + "axes[1, 0].grid(axis='y', alpha=0.3)\n", + "\n", + "# Add values on top of bars\n", + "for i, row in enumerate(accel_df.itertuples()):\n", + " axes[1, 0].text(i, row.acceleration + 0.1, f'{row.acceleration:.2f}', \n", + " ha='center', fontsize=9)\n", + "\n", + "# 4. Average Steering by Agent Type (middle right)\n", + "# Calculate average absolute steering angle\n", + "steering_df = df.groupby('agent_type').apply(lambda x: abs(x['steering']).mean()).reset_index()\n", + "steering_df.columns = ['agent_type', 'steering']\n", + "# Reorder according to our defined order\n", + "steering_df = steering_df.set_index('agent_type').reindex(agent_order).reset_index()\n", + "\n", + "colors = [agent_colors[agent] for agent in steering_df['agent_type']]\n", + "sns.barplot(x='agent_type', y='steering', data=steering_df, \n", + " palette=colors, alpha=0.8, ax=axes[1, 1])\n", + "axes[1, 1].set_title('Absolute Steering Angle', fontsize=12)\n", + "axes[1, 1].set_ylabel('Avg Absolute Steering', fontsize=10)\n", + "axes[1, 1].set_xlabel('Agent Type', fontsize=10)\n", + "axes[1, 1].grid(axis='y', alpha=0.3)\n", + "\n", + "# Add values on top of bars\n", + "for i, row in enumerate(steering_df.itertuples()):\n", + " axes[1, 1].text(i, row.steering + 0.1, f'{row.steering:.2f}', \n", + " ha='center', fontsize=9)\n", + "\n", + "# 5. Goal Achievement Rate (bottom left)\n", + "goal_df = pd.DataFrame({\n", + " 'agent_type': results['goal_rate'].index,\n", + " 'goal_rate': results['goal_rate'].values\n", + "})\n", + "# Reorder according to our defined order\n", + "goal_df = goal_df.set_index('agent_type').reindex(agent_order).reset_index()\n", + "\n", + "colors = [agent_colors[agent] for agent in goal_df['agent_type']]\n", + "sns.barplot(x='agent_type', y='goal_rate', data=goal_df, \n", + " palette=colors, alpha=0.8, ax=axes[2, 0])\n", + "axes[2, 0].set_title('Goal Achievement Rate', fontsize=12)\n", + "axes[2, 0].set_ylabel('Goal Rate', fontsize=10)\n", + "axes[2, 0].set_xlabel('Agent Type', fontsize=10)\n", + "axes[2, 0].grid(axis='y', alpha=0.3)\n", + "\n", + "# Add values on top of bars\n", + "for i, row in enumerate(goal_df.itertuples()):\n", + " axes[2, 0].text(i, row.goal_rate + 0.03, f'{row.goal_rate:.3f}', \n", + " ha='center', fontsize=9)\n", + "\n", + "\n", + "# 6. Collision Rate (bottom right)\n", + "\n", + "collision_df = pd.DataFrame({\n", + " 'agent_type': results['collision_rate'].index,\n", + " 'collision_rate': results['collision_rate'].values\n", + "})\n", + "# Reorder according to our defined order\n", + "collision_df = collision_df.set_index('agent_type').reindex(agent_order).reset_index()\n", + "\n", + "colors = [agent_colors[agent] for agent in collision_df['agent_type']]\n", + "sns.barplot(x='agent_type', y='collision_rate', data=collision_df, \n", + " palette=colors, alpha=0.8, ax=axes[2, 1])\n", + "axes[2, 1].set_title('Collision Rate', fontsize=12)\n", + "axes[2, 1].set_ylabel('Collision Rate', fontsize=10)\n", + "axes[2, 1].set_xlabel('Agent Type', fontsize=10)\n", + "axes[2, 1].grid(axis='y', alpha=0.3)\n", + "\n", + "# Adjust layout\n", + "plt.tight_layout()\n", + "#plt.subplots_adjust(top=0.95)\n", + "sns.despine()\n", + "plt.savefig('agent_population_analysis.pdf', dpi=300, bbox_inches='tight')" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/experimental/notebooks/debug.ipynb b/examples/experimental/notebooks/debug.ipynb new file mode 100644 index 000000000..e9baa772d --- /dev/null +++ b/examples/experimental/notebooks/debug.ipynb @@ -0,0 +1,26696 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [], + "source": [ + "# reload magic\n", + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "import torch\n", + "from PIL import Image\n", + "\n", + "from matplotlib import pyplot as plt\n", + "import seaborn as sns\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "import torch\n", + "\n", + "def plot_agent_guidance_info(guidance_obs, center_agent_idx):\n", + " \n", + " agent_guidance = guidance_obs[center_agent_idx, :, :]\n", + " \n", + " time_steps = np.arange(agent_guidance.shape[0])\n", + " \n", + " fig, axes = plt.subplots(1, 3, figsize=(10, 3), sharex=True, sharey=True)\n", + " \n", + " # Find where the one-hot encoding is 1 (next timestep indicator)\n", + " next_timestep_idx = np.where(agent_guidance[:, 3] == 1)[0][0]\n", + " \n", + " axes[0].plot(time_steps, agent_guidance[:, 0], label='x-position')\n", + " axes[0].plot(time_steps, agent_guidance[:, 1], label='y-position')\n", + " \n", + " axes[0].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 0], color='purple', marker='^', s=100, zorder=5, label='_nolegend_')\n", + " axes[0].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 1], color='purple', marker='^', s=100, zorder=5, label='_nolegend_')\n", + " \n", + " axes[0].set_xlabel('Time')\n", + " axes[0].set_ylabel('Suggested position (x,y)')\n", + " axes[0].legend()\n", + " axes[0].grid(True, alpha=0.3)\n", + " \n", + " axes[1].plot(time_steps, agent_guidance[:, 2])\n", + " \n", + "\n", + " axes[1].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 2], color='purple', marker='^', s=100, zorder=5)\n", + " \n", + " axes[1].set_xlabel('Time')\n", + " axes[1].set_ylabel('Suggested speed')\n", + " axes[1].grid(True, alpha=0.3)\n", + " \n", + " axes[2].plot(time_steps, agent_guidance[:, 4])\n", + " axes[2].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 4], color='purple', marker='^', s=100, zorder=5)\n", + " \n", + " axes[2].set_xlabel('Time')\n", + " axes[2].set_ylabel('Suggested heading (rad)')\n", + " axes[2].set_title('Heading')\n", + " axes[2].grid(True, alpha=0.3)\n", + " \n", + " fig.suptitle(f\"Agent's {center_agent_idx} normalized guidance information\")\n", + " \n", + " # Add a unified legend for the purple triangle\n", + " triangle_patch = plt.Line2D([0], [0], marker='^', color='w', markerfacecolor='purple')\n", + " fig.legend([triangle_patch], ['Next timestep indicator'], loc='lower center', bbox_to_anchor=(0.53, -0.15), facecolor='white')\n", + " \n", + " plt.tight_layout()\n", + " plt.subplots_adjust(top=0.85, bottom=0.15)\n", + " \n", + " return fig" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Make environment" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['/home/emerge/gpudrive/data/processed/wosac/debug/1ce3b38fe5cd2597.json']\n" + ] + } + ], + "source": [ + "env_config = EnvConfig(\n", + " dynamics_model=\"classic\",\n", + " reward_type=\"guided_autonomy\",\n", + " guidance=True,\n", + " add_reference_heading=True,\n", + " add_reference_speed=True,\n", + " add_reference_pos_xy=True,\n", + " init_mode=\"wosac_train\"\n", + ")\n", + "render_config = RenderConfig()\n", + "\n", + "train_loader = SceneDataLoader(\n", + " root=\"/home/emerge/gpudrive/data/processed/wosac/debug\",\n", + " batch_size=1,\n", + " dataset_size=100,\n", + " sample_with_replacement=False,\n", + " shuffle=False,\n", + " file_prefix=\"\",\n", + ")\n", + "\n", + "print(train_loader.dataset)\n", + "\n", + "env = GPUDriveTorchEnv(\n", + " config=env_config,\n", + " data_loader=train_loader,\n", + " max_cont_agents=64, \n", + " device=\"cpu\",\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Controllable agents: tensor([ 0, 1, 2, 3, 4, 5, 6, 7, 8, 10, 13, 14, 15, 17, 18, 19, 20, 21,\n", + " 22, 23, 24, 25, 26, 27, 29, 30, 32, 34, 35, 36, 37, 38, 39, 40, 42, 43,\n", + " 44, 47, 48, 49, 50])\n", + "Controlling agent 12 in env 0.\n" + ] + } + ], + "source": [ + "env_idx = 0\n", + "center_agent_idx = 12\n", + "\n", + "control_mask = env.cont_agent_mask\n", + "\n", + "print(f'Controllable agents: {torch.where(env.cont_agent_mask[env_idx, :])[0]}')\n", + "print(f'Controlling agent {center_agent_idx} in env {env_idx}.')" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Step env" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [], + "source": [ + "obs = env.reset(control_mask)\n", + "\n", + "expert_actions, _, _, _ = env.get_expert_actions()\n", + "\n", + "# for t in range(1):\n", + "# env.step_dynamics(expert_actions[:, :, t, :])\n", + "# obs = env.get_obs(control_mask)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Show agent guidance information \n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Show corresponding full agent views" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 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" + ] + }, + "execution_count": 9, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "sim_states = env.vis.plot_simulator_state(\n", + " env_indices=env_idx,\n", + " zoom_radius=100,\n", + " plot_guidance_pos_xy=True,\n", + " center_agent_indices=[center_agent_idx],\n", + ")\n", + "#Image.fromarray(img_from_fig(sim_states[0]))\n", + "sim_states[0]" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Verify indexing" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "obs = env.reset(control_mask)" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "torch.Size([91, 3])" + ] + }, + "execution_count": 6, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "traj_masked = env.reference_path[2, :, :]\n", + "\n", + "traj_masked.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "valid: tensor([True, True, True, True, True, True, True, True, True, True, True, True,\n", + " True, True, True, True, True, True, True, True, True, True, True, True,\n", + " True, True, True, True, True, True, True, True, True, True, True, True,\n", + " True, True, True, True, True, True, True, True, True, True, True, True,\n", + " True, True, True, True, True, True, True, True, True, True, True, True,\n", + " True, True, True, True, True, True, True, True, True, True, True, True,\n", + " True, True, True, True, True, True, True, True, True, True, True, True,\n", + " True, True, True, True, True, True, True])\n" + ] + }, + { + "data": { + "image/jpeg": 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", + "text/plain": [ + "" + ] + }, + "execution_count": 7, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "traj_masked = env.reference_path[2, :, :]\n", + "\n", + "agent_obs_masked = env.vis.plot_agent_observation(\n", + " env_idx=env_i,\n", + " agent_idx=agent_j,\n", + " figsize=(7, 7),\n", + " trajectory=traj_masked,\n", + ")\n", + "\n", + "Image.fromarray(img_from_fig(agent_obs_masked))" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": 41, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "torch.Size([10, 91, 1])" + ] + }, + "execution_count": 41, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "env.log_trajectory.valids.bool()[control_mask].shape" + ] + }, + { + "cell_type": "code", + "execution_count": 42, + "metadata": {}, + "outputs": [], + "source": [ + "#env.log_trajectory.pos_xy[env_i, agent_j]" + ] + }, + { + "cell_type": "code", + "execution_count": 43, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "%matplotlib inline\n", + "\n", + "#plt.scatter(traj[:, 0], traj[:, 1], label=\"trajectory\", alpha=0.3)\n", + "plt.scatter(traj_masked[:, 0], traj_masked[:, 1], label=\"trajectory\", alpha=0.3)\n", + "plt.legend()\n", + "plt.show()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [] + }, + { + "cell_type": "code", + "execution_count": 83, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "torch.Size([91, 2])" + ] + }, + "execution_count": 83, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "traj_masked.shape" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Plot agent observation with other traj" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [ + { + "data": { + "image/jpeg": 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", + "text/plain": [ + "" + ] + }, + "execution_count": 14, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "obs = env.reset()\n", + "\n", + "traj = env.local_reference_xy[env_i, agent_j, :]\n", + "\n", + "agent_obs = env.vis.plot_agent_observation(\n", + " env_idx=env_i,\n", + " agent_idx=agent_j,\n", + " figsize=(7, 7),\n", + " trajectory=traj,\n", + ")\n", + "Image.fromarray(img_from_fig(agent_obs))" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "torch.Size([91, 2])" + ] + }, + "execution_count": 15, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "traj.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 71, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "torch.Size([91, 2])" + ] + }, + "execution_count": 71, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "traj_masked.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "%matplotlib inline\n", + "\n", + "plt.scatter(traj[:, 0], traj[:, 1], label=\"trajectory\", alpha=0.3)\n", + "#plt.scatter(traj_masked[:, 0], traj_masked[:, 1], label=\"masked trajectory\", alpha=0.3)\n", + "plt.legend()\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "shapes: torch.Size([1, 64, 2]), torch.Size([1, 64]), torch.Size([1, 64, 91, 2])\n" + ] + } + ], + "source": [ + "from gpudrive.datatypes.trajectory import LogTrajectory, to_local_frame\n", + "\n", + "global_ego_states = (\n", + " env.sim.absolute_self_observation_tensor()\n", + " .to_torch()\n", + " .clone()\n", + ")\n", + "\n", + "X_global = global_ego_states[:, :, :2]\n", + "theta_global = global_ego_states[:, :, 7]\n", + "Y_global = env.log_trajectory.pos_xy\n", + "\n", + "print(f\"shapes: {X_global.shape}, {theta_global.shape}, {Y_global.shape}\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Ground-truth" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "torch.Size([91, 2])\n", + "tensor([[ 0.0000, 0.0000],\n", + " [-0.2891, 0.1440],\n", + " [-0.6191, 0.2827],\n", + " [-0.9414, 0.4409],\n", + " [-1.3057, 0.6079],\n", + " [-1.6631, 0.7720],\n", + " [-2.0215, 0.9507],\n", + " [-2.4121, 1.1333],\n", + " [-2.8125, 1.3320],\n", + " [-3.2266, 1.5381]])\n", + " \n", + " R = torch.Size([2, 2]) =\n", + "tensor([[-0.9079, 0.4191],\n", + " [-0.4191, -0.9079]])\n", + " \n", + " Y_local = torch.Size([91, 2]) =\n", + "tensor([[ 0.0000, 0.0000],\n", + " [ 0.3228, -0.0096],\n", + " [ 0.6806, 0.0028],\n", + " [ 1.0395, -0.0057],\n", + " [ 1.4402, -0.0047]])\n" + ] + } + ], + "source": [ + "# 1) Translate\n", + "Y_bar = Y_global[env_i, agent_j, :] - X_global[env_i, agent_j, :]\n", + "\n", + "print(Y_bar.shape)\n", + "print(Y_bar[:10])\n", + "print(\" \")\n", + "\n", + "# 2) Rotate\n", + "cos_yaw = torch.cos(theta_global[env_i, agent_j])\n", + "sin_yaw = torch.sin(theta_global[env_i, agent_j])\n", + "rotation_matrix = torch.tensor(\n", + " [[cos_yaw, sin_yaw], [-sin_yaw, cos_yaw]]\n", + ")\n", + "\n", + "print(f' R = {rotation_matrix.shape} =')\n", + "print(rotation_matrix)\n", + "\n", + "# 3) Transform\n", + "Y_local = torch.matmul(Y_bar, rotation_matrix.T)\n", + "\n", + "print(\" \")\n", + "print(f' Y_local = {Y_local.shape} =')\n", + "print(\n", + " Y_local[:5]\n", + ")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Batched" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "torch.Size([91, 2])\n", + "tensor([-1.3057, 0.6079])\n", + " \n", + " R = torch.Size([64, 2, 2]) =\n", + "tensor([[-0.9079, 0.4191],\n", + " [-0.4191, -0.9079]])\n", + " \n", + " Y_local = torch.Size([64, 91, 2]) =\n", + "tensor([[ 0.0000e+00, 0.0000e+00],\n", + " [ 3.2282e-01, -9.6245e-03],\n", + " [ 6.8063e-01, 2.8185e-03],\n", + " [ 1.0395e+00, -5.7459e-03],\n", + " [ 1.4402e+00, -4.6898e-03],\n", + " [ 1.8335e+00, -3.8388e-03],\n", + " [ 2.2338e+00, -1.5878e-02],\n", + " [ 2.6650e+00, -1.7957e-02],\n", + " [ 3.1118e+00, -3.0572e-02],\n", + " [ 3.5741e+00, -4.4107e-02]])\n" + ] + } + ], + "source": [ + "# 1) Translate\n", + "Y_bar_batched = Y_global[env_i] - X_global[env_i].unsqueeze(1)\n", + "\n", + "print(Y_bar.shape)\n", + "print(Y_bar[agent_j, :10])\n", + "\n", + "# 2) Rotate\n", + "cos_yaw = torch.cos(theta_global[env_i])\n", + "sin_yaw = torch.sin(theta_global[env_i])\n", + "R_batched = torch.stack(\n", + " [\n", + " torch.stack([cos_yaw, sin_yaw], dim=1),\n", + " torch.stack([-sin_yaw, cos_yaw], dim=1),\n", + " ],\n", + " dim=1,\n", + ") \n", + "\n", + "print(f' ')\n", + "print(f' R = {R_batched.shape} =')\n", + "print(R_batched[agent_j, :, :])\n", + "\n", + "# 3) Transform\n", + "Y_local_batched = torch.bmm(\n", + " Y_bar_batched, R_batched.transpose(1, 2)\n", + ")\n", + "\n", + "print(\" \")\n", + "print(f' Y_local = {Y_local_batched.shape} =')\n", + "print(\n", + " Y_local_batched[agent_j, :10]\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "True" + ] + }, + "execution_count": 8, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "torch.equal(\n", + " Y_local_batched[agent_j, :], Y_local[:]\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [], + "source": [ + "agent_obs = env.vis.plot_agent_observation(\n", + " env_idx=env_idx,\n", + " agent_idx=highlight_agent,\n", + " figsize=(10, 10),\n", + " trajectory=Y_local,\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [ + { + "data": { + "image/jpeg": 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j2ZjQG62FOxenhr6vaGBMCFC4x6Qj2QwSIAESIAEQ2LBhA5xkNAqEEaMvGXCXgBbuXJzqLliWRgK5CFC45yLDeBIgARIggegRGDlyZGNjo7YbYcToSwbcJUDh7i5PlkYCBQlQuBdExAQkQAIkQAKRIVBbWzt//nycYXF9fb0OR6YBkTIUu8p0dXVxV5lIdRqNjTYBLk6Ndv/RehIgARIggTQCWI169dVXL1my5IILLghqZSpcdKBoMX6QIUSahbG5xIw72gI/mbKystg0ig0hgTAToHAPc+/QNhIgARIgAScEMAfcr1+/uro6J5mLztPd3Y2dKCHccRRdWKgLgHAHaq5MDXUn0bh4EaBwj1d/sjUkQAIkQAJKQTdDPVdUVAQCQ6ouBUUL4Y65dq5MDeQxY6WlSYA+7qXZ72w1CZAACcSZAAQl1HNQghJV4wBfaPc4U1aKwj3e/cvWhZBAzH+nhJA4TSIBEiABEvCaQLAz7vCQgXDHVHTshTsWp6Irgxogef0UsXwSCCEBCvcQdgpNIgESIAEScE4Aollm3AN0lSkF1Y4eAmecKdydP6zMSQI2CVC42wTG5CRAAiRAAuEmkFgUGuQehbImFdodR7hRFWsdXWWKJcj8JGCTAIW7TWBMTgIkQAIkEG4C4icD0RzUjLu4ysTeTwZPgcy4c1eZcP9A0LpYEaBwj1V3sjEkQAIkQAKyFSN0c7DCPfbT7XjSOOPOHzcS8JkAhbvPwFkdCZAACZCAtwSgJjHnDeEeiO/1vn37du/ejfOOHTtaW1u9bWrQpXNxatA9wPpLjgCFe8l1ORtMAiRAAvEmEKCrDNbFQq9rvAgjRl/GL4AxEhoYyAApfjDZIhKwQoDC3QolpiEBEiABEogMgQBdZVC1GRNEbVqM+W4MwuLjTuEeg65kE6JCgMI9Kj1FO0mABEiABCwRCNBVJs2rPsAFspZIFZ1IhDsXpxYNkgWQgFUCFO5WSTEdCZAACZBAJAgE6CoDpd7Q0CCUEB4wYADOkYDmzEi6yjjjxlwk4JhApeOczEgCJEACJEACISQgM+7w30ib//bHVFRaV1eHc9++fcOu2pc8qJ79u+rsUBWVqrJaVVSpyqrEOWu4Gl9aUhU4J9KMPUQNm8jFqf48VKyFBDQBCneNggESIAESIIE4EPjggw+WL19eXV2NrV38bw/82qHXMWwIu2oHmudvU827nCP63J/0GMl5IcxJAiRghwCFux1aTEsCJEACJBB6An369Jk4cSLMrK2t9d/YKH19qa3Z4FNeqRoGGvPuHW2qs111tKvuLkvctrxHVxlLoJiIBNwjQOHuHkuWRAIkQAIkEAIChxxyyB//+MdADMF0O4Q7qo7GZ1Oh1HEMGac+8+teuLo6DREPBW/o+B41r8PLFqg3nzXSV1ZDuOP/XJzaix4vSMBLAhTuXtJl2SRAAiRAAqVEQFQ7nGQi4CcDdY5/OOCznnaUV6jqOuNf1mPtMonuKq/gjHtWQowkAe8IcFcZ79iyZBIgARIggdIigBl3HFDtEZhxh2+MHFiTauvATHzi6CqrDPALtbZMZmISiA0BzrjHpivZEBIgARIggYAJtLW1YaOVCEy3gxNcX+TAfjK2jp6M+zo6N23atHfvXrTaVgFMTAIk4JgAhbtjdMxIAiRAAiRAAr0IYDMZ7GYTjRl3cXCH+U5n3Pfsa33jjTeg2rdv396LAi9IgAQ8I0Dh7hlaFkwCJEACJFBiBKDacUSj0T0T51l83PM3oDM5vz50xKh77723paVl0KBB+XPwLgmQgFsEKNzdIslySIAESIAESCA6BHpc1W3PuPco/vKqmoHYR5IHCZCAjwS4ONVH2KyKBEiABEiABEJCoEd/G99MtXVoxZ+5HY2tcpiYBEjAPgEKd/vMmIMESIAESIAEok7AsY+7VvwVNhV/1InRfhIIAQEK9xB0Ak0gARIgARIgAZ8JOJ4414qfM+4+dxmrIwF83I0QSIAESIAESIAESo6A44lzUfxl5QrfaeJBAiTgLwEKd395szYSIAESIAESCAOB1MS5zW0qRPHb9YwPQ5NpAwlEnwCFe/T7kC0gARIgARIgAbsEnM+4J7aDtLv7u13zmJ4ESCAbAQr3bFQYRwIkQAIkQALxJuDYx72zwwBDB/d4Px5sXVgJULiHtWdoFwmQAAmQAAl4RyA1415lrxLxseGMuz1qTE0C7hCgcHeHI0shARIgARIggSgRSPm42xTu9HGPUjfT1rgRoHCPW4+yPSRAAiRAAiRQmEBqxt3mduziY1Nhc0lrYYOYggRIoDABCvfCjJiCBEiABEiABOJGwJmPe3eX6hIfd5tyP2742B4SCIYAhXsw3FkrCZAACZAACQRJIDXjbsdVRst9+rgH2Xmsu3QJULiXbt+z5SRAAiRAAqVLwJmPu5b73FWmdB8dtjxIAhTuQdJn3SRAAiRAAiQQDAHZ1RF1V9hxetEz7vwAUzDdxlpLnQCFe6k/AWw/CZAACZBAKRIocsadrjKl+NCwzcEToHAPvg9oAQmQAAmQQKQJdHV1tbe3d3Z2RqkVnYkPoMJiWxLcmdyPEhfaSgKhJsDtnELdPTSOBEiABEgg/ATa2tp2795dVlbWv3//ysqI/GHtSGwOA7i2vNW1j7stuR/+LqSFJBARAhH5/RIRmjSTBEiABEigBAlAsoteLy+Pznvs1Iw7fdxL8Jllk6NKgMI9qj1Hu0mABEiABEJCoLu7G5Id2j1Kwj21zNTOdpApuW8nV0j6iWaQQPQJULhHvw/ZAhIgARIgATOBfXvU7q2qq0t1dyt8MMj4ZlCXUt2JmMQl4o2YRHzWNNgyZcJ0VVNvLjVPGD7uuBsl1Q5znTm9aLlPV5k8DwRvkYBnBCjcPUPLgkmABEiABPwn8P6b6p/fU3oNpWMDxh2mPnmNldyYbodwl0l3K+nDkkZLcGc+7rZyhaXNtIMEIk8gOt54kUfNBpAACZAACXhPYM0rLqh2mLlhlUVbRbjDzT1qM+6JXWXKK1WZHSWg5b6t3d8tomQyEiCBQgQ4416IEO+TAAmQAAlEiABcX+SYeKRqHAL/FaXKjDPkqfGvLBkwYnrCEq/TvHC72rPNcLCxdsh0e/SEu0hwuxPn2sfdbkZrMJmKBEggPwEK9/x8eJcESIAESCBSBPT88fQz1X5TnZj+6sN2hTu0e0VFRdRm3NsNOHZd1VMz7lyc6uThYh4SKJIAhXuRAJmdBEiABEggTAS0cNdT73atkxKsZW9tbd2+fbvUUJM47NYWWPrkjLudvSBhq17SivW7PEiABHwnYMezzXfjWCEJkAAJkAAJ2CNg+MYkDsu+LunlSwmJjWLSb/W+hnf7jh07dBzCiNGXYQ+I00uFzfk7zriHvV9pX8wJ9PyCi3kz2TwSIAESIIHSIADPdTmca2gpAVtJFlDhnZ2dZqWOMGIiQ7kz8eVUuxPn9HGPTAfT0HgSoHCPZ7+yVSRAAiRQogRSrjJONbTlOXv4tZshY31qWoz5bujCsmOmbR/3hNxHY+xmDF37aRAJRJIAhXsku41GkwAJkAAJZCeQEu4F5suzZ0es5RKg1Pv376/LGTBgAGL0ZagDXZ0K/3DY3RwmNeNOH/dQ9zCNiysBm85tccXAdpEACZAACcSCwKvLlh0uDbHgpJ69xSnhXnhHyMrKyrq6OpTT2NgYpV1lxE8GdtudOE/5uFM/ZH98GEsCnhLgjLuneFk4CZAACZCArwS2bd+RrK+Qh3pOs1KuMoXn7LERJMqBfI+SaofF+suytn3cE5tIGm3mjHvOJ4g3SMA7AhTu3rFlySRAAiRAAn4TGDR4cLLKbqc+7vhgkxziTJK3BRDucI+JmGpHi1K7Otrcjl0rfrtT9Xkx8iYJkIBFAhTuFkExGQmQAAmQQAQItHf2+LcUP+OuLM24YzOZ6Al3x/rbseKPwLNDE0kgAgTooxaBTqKJJEACJEACFgl0poR7j4K3mFMn0z7uhbzkIdnFVSZ6wl37uL+9WN3yDcPTHf+wULWiOnFGuLonRsKVyZgVzyQ5RWUZru5WBkggFgQo3GPRjWwECZAACZBAgkC73knd8Yy7Fu6FSoBwxxFJVxn93aXWveqDt5w8O4VGNU7KZB4SIIFCBOgqU4gQ75MACZAACUSHQIeecbfgoZ69WXouuZCXfEfiEO2evajQxvYfrqaermr7JtaY9vj027K2po+t5ExMAiTgCgHOuLuCkYWQAAmQAAmEgkBHR8+a1ELz5TnNtbyrDL6TCleZSAp3NP7DXzT+4QCorg6FfR7hv26c21RHR+KcFk4keP0JtX29am1WNfU5AfIGCZCAZwQo3D1Dy4JJgARIgAR8J2BylXHq46563kUX8gbBDu7V1dUQ7tHzcTf3C94wiI+7OTJX+IjTct1hPAmQgA8EKNx9gMwqSIAESIAEfCJgCHcR3sXPuFvYVaaiosKnhrEaEiABElB6XoEsSIAESIAESCDiBDD53Z5ylXE646593B17yUccI80nARIILYGeF4KhNZCGkQAJkAAJkIA1AlgsCq/zZNrunoC1vKlUlneVSWVhiARIgAR8IUDh7gtmVkICJEACJOA9gfZ2fH+p56tJWsHbrTcl3J1Kf7s1Mj0JkAAJWCNA4W6NE1ORAAmQAAmEnkBbW1tKuDv2cU8J954xQOgbTgNJgARKhACFe4l0NJtJAiRAAvEnkJhx75kmd+4q07OvueM5+/iTZgtJgASCIUDhHgx31koCJEACJOA6Acy4d2i17Vi4633cVc8YwHVDWSAJkAAJOCJA4e4IGzORAAmQAAmEj0AvH3fHwl27yugxQPhaSotIgARKkwCFe2n2O1tNAiRAAjEkgBn3tvaOZMPo4x7DHmaTSKDUCVC4l/oTwPaTAAmQQGwIPP300w8+9LA05+01qx22S+/j7njO3mHFzEYCJEACBQhQuBcAxNskQAIkQAKRILBv376vfe1rbe3tYu0dt9+OGCeWa1cZCncn+EopzwdvqfdeU3xOSqnPA29rZeAW0AASIAESIAESKJ7Ahg0b9u7d29ldK0V1tLchZsKECbZL1sKdPu622ZVShrdeUnf93FDtYw9Vp39Z9R9eSo1nWwMjwBn3wNCzYhIgARIgARcJjBw5sr6+Xn9/qa6mBjFOyk/tKsN93J3wK4k8LbvVw39IzrWvXaZu+Ipa8gCn3kui64NuJIV70D3A+kmABEiABNwgUFtb++Mf/7isvEIKm3veuYhxUrD2ceeMuxN8pZHnsT+rvTuNpsr7mfZ96pH/Vf/6gdq1qTTaz1YGRoDCPTD0rJgESIAESMBdAoceeujpp58hZY4bO8Zh4dpVhr7LDgnGPdtbL6o3njIaWdNHXfp7dfipyQbD3/36L3PqPe7dH3D7KNwD7gBWTwIkQAIk4BYB7AZZVpGccVeO58sp3N3qj1iW09KkHr4u2bKTL1eDRqvTvqQ+/mPVMNiI5NR7LDs9TI2icA9Tb9AWEiABEiCBIgjgA0xKO7oopx7qKeHutIQimsCsYSfw2F+STjITj1QHz0pau9/U9Kl3w+v9QeX4YwJhp0D7AiNA4R4YelZMAiRAAiTgLgHMuKeUkvMZ97KkVTlKQC07d+7cvXt3V44E7jYqnKWtXbt2/fr1DjfcDGeTrFi1yuQkc+oVplEi3Gbqe029t7WoR/6o/vV9er1b4co01glQuFtnxZQkQAIkQAKhJoAZ9y7VI7sde6indpXpytrazs7Ojo4OyPesd0sk8uKLLz7nnHNuu+22Emmv0Uw4yTxicpJpGJSl7cmp9w8nb8HrnVPvWTAxyjkBCnfn7JiTBEiABEggVASMGXdtkGPhrp1tckyol5WVVVVVYcua8pTE17WWRABDl0MOOWTy5Mn77bdfSTRYGpnVSSaz/cbU+5Upr/fk1Ds2nNmcmZYxJGCXAIW7XWJMTwIkQAIkEFICmHHv1L4yOmDX2LKe5a05SuhOxEO+2y04Nukh3Pv37z9w4MABAwbEplEFGpLHSSZrzvSp91fVDV9WSx+i13tWWoy0ToDC3TorpiQBEiABEgg1Acy46w8wOf8ajlbkOebs4doO7V6y0+14AuApJAQqK0vj++u9nGQ+p7I6yWT+ZGROvWM7Guz1LhvAZ6ZnDAlYIEDhbgESk5AACZAACUSBgOHjrpV7DtlduB2pXWWy+LhDsMqa1BIX7oAAAqUi3B/t+dzSpKPUwTMLP0LmFJlT70/dbL7PMAnYIkDhbgsXE5MACZAACYSXQO8Z95S7uz2L9Yx7Nh93CHcc8JOhcAeBCr1rvj3EkUq96gW14mnDYnxuKW0nGYvtwNT7qV9SIw9IJq/vZzEfk5FAJgEK90wmjCEBEiABEogeAehpCPcOrbZ1wG5Tynt83LPtBC9+MhDuOOwWHJv0cJUBBxCI/4y74STzx2THnfw51Xegw05c9pjasNLIixKO+ZjDQpiNBJSicOdTQAIkQAIkEAcCWDGJAzPhycbkWFpauKlakWeT/hCsOFAIZ9xLwlWmGCcZ/ag1bVELrk9e4TOrtX31HQZIwC6B0lhWYpcK05MACZAACUSNgLGlTGen0vPl3Z0OW5Dbx721tXX79u1SbE3icFhFxLPJjDum22M+466dZCC1nTnJoKMxgHzoD6qt2ejzQ2YrfG+VBwkUQaBnZqKIIpiVBEiABEiABAInAD8ZCHf4XSctKX7GvffyVrji7NixQzcTYcToy5IKgDNeO8R8xr25SWETGDlOvrwoJ5l3FhvFwElmzmXJAvk/EnBKgMLdKTnmIwESIAESCBMBw8G9o6NML5fsLbttWJqace+ly6FWzUodYWOCvyQPmXGPuXB/7E+qeZfRvdhJ5qCZDvuZTjIOwTFbTgJ0lcmJhjdIgARIgAQiRGDdunXPPffcwNoKddpAw2zH0+Ep4d5rO8i0HVSwNDMtJkKsijQ1/sJ95fNqxTMGpWKdZH5PJ5kiHzZmTyNA4Z4GhJckQAIkQAKRJDB69OjLLrusbN8etWeB0YBsS0stNSy1vLWXcIdSx4dCtbcMwoixVGDsEsVcuMNJJrWTTBFOMq89qt5ZYnQ+nWRi9yMQYIMo3AOEz6pJgARIgARcIzB06NBLL71UQbj/T0K4O3eV6ZHjGdK/qqqqvr4eTjJ9+/aN+brMvN2ihXs83zm45STz+A1JitxJJu/jxJu2CNDH3RYuJiYBEiABEgg3gRyOLjaMTpXQy8cdJWBFJlQ7fLvjKVgtM4JwR1pAAArLmSKSkE4yEemokjUzdj9yJduTbDgJkAAJkAAIaPcVt33cUbbewb1knWTkEYNwB4EYvnPo5SRTxOeW6CTD30WeEaBw9wwtCyYBEiABEvCfQGq+vJeHug1DcpcA4Q7BGsNpZht0jKSxFe6P9uwkM/loddBJNqn0JMdOMiknmSv5uaUeLvy/OwTo4+4OR5ZCAiRAAiQQCgJadu/dqeD2gHl3OLsn/3UbK1Z1GIG0S4lBLjnWLlNHnWdulGwHWeLT7QAC4Y6tMHft2rVv377a2lozogiH0e9v9uwk8+Evpl7d2GoSnreH9E4yc9TEGbZyMzEJFCRA4V4QEROQAAmQAAlEh4D2ut62Tt39i6LsXr8iLbts5c4Z91deeeWmm27Cp2p///vfz58/f86cOWmgonfpiZPMpdHjQItDT4CuMqHvIhpIAiRAAiRgnQBm3AeNsZ48X8ouYwmmPuAn09raislmmXfX8aUWwCz7j3/8Y6h2NHz37t1z585FTOQhuOYkc30SxWl0kon8QxHOBnDGPZz9QqtIgARIgAQcEcDi1PN/qFY+p7o6DW8H6PjkvzKFyXgdloAxPa/jexLv2602v6PKK9V+U9MsgFsIJt1LfEuZDRs2NDc3CxmMYZqamhAzYcKENFZRukw5yTSoD19RnJNMi9HwQ+gkE6X+j5atFO7R6i9aSwIkQAIkUIhAv6FpvumFMli6Dw8ZbN9uKWmsE40cObKurq6lxVCocPdvaGhATIRb3Lwr9bmlU7CTzACHbUntJDNIzaGTjEOKzFaQAF1lCiJiAhIgARIgARIggSQBvHb45je/iW9R4RqqHT7u0V6f+uifFbQ7jsnHqCknJhtp93/GTjJ0krFLjemdEOCMuxNqzEMCJEACJEACJUtgypQp8+bNO+CAA774xS9GW7X3cpIpYieZB3+n2hJOMofCSWZ6yT4YbLgPBDjj7gNkVkECJEACJEAC8SGAFbr4+hI8ZKKt2t1yknn1EfXuUqN3+w5Ss+kkE5/nPJwtoXAPZ7/QKhIgARIgARIIKQEId1gW+S+npnaSKc5J5okbkv3EnWRC+sDGyiwK91h1JxtDAiRAAiRAAl4TiINwf/M59eazBqha7CRDJxmvHxmW7xoBCnfXULIgEiABEiABEigFAtgTE82M8Iw7nGQe/d9kTxWzkwydZErhcQ9ZGyncQ9YhNIcESIAESIAEwk1AvkIVYeGunWT2p5NMuB81WpdBgMI9AwkjSIAESIAESIAEchMQV5mofojK7CRzCp1kcncz74SSAIV7KLuFRpEACZAACZBAWAlEeMadTjJhfahol0UCFO4WQTEZCZAACZAACZCAQSDCwl1/bolOMnyWo0mAwj2a/UarSYAESIAESCAgAlEV7h3tauVzSWZVdclPJtll2N2tUp9bOpmfW7LLj+mLJEDhXiRAZicBEiABEiCBEiLQ3d3d3t6Oc/QWp1ZWqSknJLtq+RPqhq+o91613XOvPpz83FLDYDWHn1uyzY8ZiiRA4V4kQGYnARIgARIggRIi0JU4ysrKoifc0Utnfl2d8nlVVWN0WNNm9c/vq0f+aGPqfddm9cSNyc4+7Uuqpk8yzP+RgF8EKNz9Is16SIAESIAESCD6BLCJO6bby8vLIyncy8rVtI+oeb9TYw5JdsWSB9UNX7Y09Z7mJDNhevQ7ky2IHgEK9+j1GS0mARIgARIggaAIwMEdc+5RFe5Crf9w9alr1MmfS069Yx7dmHr/3wJT73CSEdcaOskE9fCxXqUo3PkUkAAJkAAJkAAJWCUgwh2uMlHdx10aiqn36Weqz/7WNPX+QGLq/bXsIHo5yVxJJ5nslBjrPQEKd+8ZswYSIAESIIEoE8AEM/xDcES5Ea7ZHocZdw1jwIiMqffvZZl6NzvJHHaKmjBNF8AACfhMoNLn+lgdCZAACZAACbhOYPny5XfffXe/fv0uu+yy2tpad8vHJipNTU2YY+7fv38kHbtdxbF58+ZFixahyJ07d7pacECFydQ7HNYf/K1at9wwYskD6u1F6oyvqLGHJm0yO8nMnheQoayWBAwCnHHnc0ACJEACJBB5AmvWrLn//vvnz5+P2XHXGyNuIfAMgWO364VHrsC+ffsec8wx06ZNGzhwYOSMz2mwMfX+U5PX+yb1j6vUowmv912bTDvJ0EkmJ0Le8IdAGdaG+1MTayEBEiABEiABjwgsXrz4T3/60/Dhw3/0ox9BZ7tbS1tbW3NzM1R7Q0OD64W7aypLK5bAjg9SU+8oq99Q1bRVdSdGg3CSOf3LxZbP/CRQHAFOHhTHj7lJgARIgARCQACO15DU8GPxQlhjhgvFQri7WPjbb7+9ZMmS9evXhwAeTTARSJ9635xU7bV9FZ1kTJwYDIoAhXtQ5FkvCZAACZCAawREuFdVVblWoqkgeTXtompH2a+99tpzzz0H7W6qh8FwENAbzmDXSH1gup2fW9I0GAiOAIV7cOxZMwmQAAmQgEsEINxRkkcrR70Q7qMSx9ixY10CwGLcJoCp98v/qAaMTJY767NuV8DySMAJAe4q44Qa85AACZAACYSKADZ+wYx4hIQ7BgPwvamurg4VRhrTi0B5hfrc/6q3F6vBY3rF84IEgiNA4R4ce9ZMAiRAAiTgEgHt4+5Seb2KkRl3d7eUgcEoNtrfMOoFKb4X3LU9vn0bxZbRVSaKvUabSYAESIAEehGADsYHkrCz+L59+3rdcOMCW0y6vsukFEjh7kb/sAwSKCECFO4l1NlsKgmQAAnElQA+CXTDDTd8//vfHzZs2IIFC1xsJkYCe/bswXn79u2tra1ulSzfYaVwd4snyyGBEiFA4V4iHc1mkgAJkEBsCUBV/+IXv4CbO1q4e/fuuXPnujXvDm+WHTt2aHAIi9uMjnEcgHBHUe663zg2hhlJgASiQoDCPSo9RTtJgARIgASyE9iwYUNLS4vcgxpuampCTPakNmNlXlxnQuFpMfqWrQD8ZES4c8bdFjcmJgESoHDnM0ACJEACJBBtAiNHjqytrZU2YG+ZxsZGxLjSpDRhjcLTYpzVAuEu0+2ulObMBuYiARKIIgEK9yj2Gm0mARIgARJIEYBqv/LKK+XrSw0NDfPnz9c6PpXIUUiGATrrgAEDEKMvHQcw3Q7t7tYwwLEZzEgCJBA5AtwOMnJdRoNJgARIgATSCey///7z5s2bNm3axRdf7JZqlzowHqirq0MYE/luuaRzxj29/3hNAiRgjQBn3K1xYioSIAESIIEQE8B2kPj60ujRo91V7WgxfFpwRuFuqXaUJg7unHEP8QNF00ggpAQo3EPaMTSLBEiABEjAOgH5npF4y1jPZSUlhDsUNg4riS2m0a4yLg4GLFbNZCRAApEmQOEe6e6j8SRAAiRAAgYB7AUJhY15cddxyIy768IdxUK1c3Gq6/3FAkkg3gQo3OPdv2wdCZAACZQEAZlxj5Bw5+LUkngu2UgScJsAhbvbRFkeCZAACZCA7wTwcdO2tjYvPE/EH93dBkmZnHF3lypLI4FSIEDhXgq9zDaSAAmQQMwJPPPMM0uXLl2zZo3r7cR4AH44kNouliy7ysD9xouRhot2sigSIIGwEXDfHTBsLaQ9JEACJEAC8SYAHXzVVVft2LFjxowZrrcUG8NDtbu77FWGAXBwp3B3vb9YIAnEmwCFe7z7l60jARIggfgTgPw9+eSTPWpndXW16yVDuGO6nStTXQfLAkkg9gToKhP7LmYDSYAESIAEwkVAZtw53R6uXqE1JBAFAhTuUegl2kgCJEACJBAjAtpVJkZtYlNIgAT8IEDh7gdl1kECJEACJEACmgBdZTQKBkiABGwRoHC3hYuJSYAESIAESKBYAlhNiyLo414sR+YngdIjQOFeen3OFpMACZAACQRKgD7ugeJn5SQQYQIU7hHuPJpOAiRAAiQQRQIi3L34zmsUadBmEiAB6wQo3K2zYkoSIAESIAEScIEAZ9xdgMgiSKAkCVC4l2S3s9EkQAIkQALBEaCPe3DsWTMJRJsAhXu0+4/WkwAJkAAJRI5AR0dHd3c3F6dGruNoMAkEToDCPfAuoAEkQAIkQAKlRYAz7qXV32wtCbhHgMLdPZYsiQRIgARIgAQsEKCPuwVITEICJJCFAIV7FiiMIgESIAESIAHvCEC401XGO7wsmQRiTIDCPcady6aRAAmQAAmEjgAkO4V76HqFBpFARAhQuEeko2gmCZAACZBALAiIai8vL+fi1Fj0JxtBAr4SoHD3FTcrIwESIAESKHECEO5YnFpWVkbhXuJPAptPAg4IULg7gMYsJEACJEACJOCQAFQ7vGUiOuMO41tbWzH2cNh4ZiMBEiiOAIV7cfyYmwRIgARIgATsEIDqxT7ukL+yKaSdrMGn3b59+8knn3zsscfef//9wVtDC0ig9AhUll6T2WISIAESIAESCIzAmjVrXnzxRaj2ZcuWXXTRRZMmTQrMFPsVV1ZW7r///nv27Bk2bJj93MxBAiRQLAHOuBdLkPlJgARIgARIwCKB9vb2+fPny1x7W1vbrbfeihiLecOQDB4+Q4cOhWofMGBAGOyhDSRQagQo3Eutx9leEiABEiCBwAjs3r0bel1XD4cZxOjL8Acw5ICDPlbWQsGH31paSALxI8AfvPj1KVtEAiRAAiQQUgINDQ1VVVXauJqaGsToy/AHKNzD30e0MN4EKNzj3b9sHQmQAAnEn8CNN954/PHHn3feeeFvKlT7GWecIdPV1dXVF154oVnHh99+Cvfw9xEtjDcBLk6Nd/+ydSRAAiQQfwIDBw4cPHjwiBEjItHUUaNGTZs2DXPtp556arRUO/BSuEfiGaORMSbAGfcYdy6bRgIkQAIlQWDQoEFQ7ePGjYtEa7EdJD69lOYzEwnLYSSFe1R6inbGlQCFe1x7lu0iARIggVIhEK3lkvL1oogu7qRwL5UfKrYzrAQo3MPaM7SLBEiABEjAGgEIdyTEVifWkgecSoQ7Jt0DtsNR9RTujrAxEwm4RoDC3TWULIgESIAESCAQApET7hhjULgH8qiwUhKIOgEK96j3IO0nARIggVInEC3hjklrdBiFe6k/tWw/CTgiwF1lHGFjJhIgARIggdAQECnsuqtMR0fH3r170co+ffpUVrr255I+7qF5cGgICUSPgGu/iaLXdFpMAiRAAiQQCwIeLU5FsdDuOONwkZMIdxdHAi7aVrAo+rgXRMQEJOApAQp3T/GycBIgARIgAc8JiLB2fcYdG7+IvHZ3BxjOuHv+QMS4AhlDRmQddoz7IcCmUbgHCJ9VkwAJkAAJuEDAI+Gui3V3SEAfdxe6vNSK6OpUb72kljyo3ntVTZyhPvo9VcY1iqX2ECTbS+Feoh3PZpMACZBAbAhohR2JFmHGHQZzcWokOit4I3dvU68+Yvzbsy1pzJqF6u0lauL04G2jBUEQoHAPgjrrJAESIAEScI8A5rDhjL5t27Z9+/bV1ta6V7AnJYmrTHSFe3t7+86dO9va2sKP2pP+86dQuMSsXaaWPKBWvai6jW2Ieh2Ip3DvRaSELviqpYQ6m00lARIggVgSWLJkyY033vijH/1o2LBhCxYsCHkbZcbdXb9535r8wgsvAPUf/vCH0aNHhx+1b1jcrGjfHrXwPvXXL6l/fk+tfD6p2uEYM/lodf4PVcNgoy5Muu/a5GalLCs6BMrkDWN0DKalJEACJEACJJAigFn2gQMHtrS0IArO6A0NDZs2bXJlMhhTy9gOEgobZbro5v7EE09gxnr69Oljx45NNSMKIaAePHiwbJEJexsbG91CHYXWe2/jpjVq8YNqxVOqvTVVWZ/+6rAPqyNOVY1DjMjnb1PP3GoEjvmYOuliI+DusX2Dat2rhk/Cz5K7BbM0twjQVcYtkiyHBEiABEggAAIbNmwQ1Y66MRXV1NSEmAkTJgRgioUqYaFsMRlFVxmA1aodbQ05agu9EY4kHW3qzWeNhacbVvYyaMwhauoZav+jVUVVKv6wU9Rz/1RdHeq1R9Vxn1KVplupRPZDTVvUimeNMcOmt43Msy9VR55jvxTm8IMAhbsflFkHCZAACZCARwRGjhxZV1dnnnFHjEd1FV+s9pOJonAHWHyLSrS7vNwIM+riO8vzEta+rta8opY9plp2p+qqrlOHzFZHnK6GZHsh03eA2v9Y9eYzqnmXWvW8OuikVEYHoeYmtfI59cZTav0bvXLDV2fGWdy4pheT0FxQuIemK2gICZAACZCAfQLwivnOd75z9dVXw7MFPi3z5893xU/GviGWcmAdLQ6o3igKd4C99tprv/71r0cCtaX+CCqR9ngxGzBkvJp2hqHFod3zHNNON4Q7DkzSOxPurc1q9UvqjWfUu0sUNpo0H1W1qn2fatqs3n9TjT7IfIfhkBCgcA9JR9AMEiABEiABhwQOO+ywSy+9dNy4cV/72tdcVO2yBgwiG4dDyzKyRXrGHa2Ba/4ll1zSr1+/a665xkXUGZziHoHVpfqoqFQHHGd4xYw60JJn+eiD1eCxautaY5p88ztq6H66pAKBjnb19iK14mm1+mUF/xzzMXC0OuhE49/7K9W/f23cQTIKdzOi0IQp3EPTFTSEBEiABEjAEQEobExgDx06NPxSUoQ7RgIR3VUGrwvwNVksUQ0/akePkl+ZPnqV+t1Fyco++1s1aLSNijGMhMp/9H+NLJh0P/WKAnkxp46dJd94Wq16wVh4aj6w4HXKCWrKiYb6l9FpfX9VWW3I+jefU3MuV+UV5uQMh4EAhXsYeoE2kAAJkAAJOCegp8adF5EjZ2K23bXpdlQC4R5dVxnYD+NxjuioI0cnBxFd30+Nn2p4quDALLgt4Y4sB89UT95k+LTAPX3mZ1RNfZY2YPf3Rfcb31vdtl7t3dErQV2jOvB4Y37dmOPvvS04isKXWbENJXzo331VTZjWK2OYL4z3CQsVvleFFQJZgYTZeDu2UbjbocW0JEACJEAC4SPgnXB3va0y4473AzhcL9yHAmXUQeHuAuqTL1d/TUyWY9bc7kpQCFNo96UPqbYWtfxJwzM+7cCa1zuuToszXOcnH2Po9XGHK/jn5DrgNw/hjgPeMuEX7vhS1fsr1OtPGDvzyPuE9SvUOd/M1bgYxOfuuRg0jk0gARIgARIoAQIyDeyiJ7oww3hAhgQuIuSMu4swo10UZtkhoN97Ve3YYMxt7zfVXnOmnm4Idxz4iirCacswxhzaq7T9jzH8YSYeqapqesVnvZgwXVXXq7Zmw7Xmw1+0lCVrOV5H4k0CBi1vPKl2be5VFTbbwW459Y29ImN00fsVSYwaxqaQAAmQAAmUCAHIa4+8xl0fDGCMAWsxY80Z9xJ5OPM1E4JbDky62z3glT5qipHJWKW6PD13dW0qBuL7vO8avjFWVDuywcf9gGON7JjOhxtP2I69Ow0XoFu+YbyveOG2lGpH6waNMYyFT7/suhM2y12yh8LdJZAshgRIgARIICACMi/uusiW1rhbbAwWpwILXWXcedInHaX6DjSKwjYvTVttl6k9ZLLq/k9ekyzQgfjG9Lwc8KEPyYGvya54Rt3xE/WHz6jH/qw+eCtpF3z0sVrgzK+rK29RZ/9nMhIz8fE96CoT375ly0iABEigNAh4KtzdRQjhjgIhfCOqfbk41c3nAY7mh5+qnvuHwkLSVx9WJ1xgr/D9P6Tq/2qsIl35gtqzQ+HbTOZjzMGq7yC1Z5t6e7Hxgae6BvPNAuFxhyksn0XJ2LYSjuM1fQqk9+42yGBLHAhxuN3jDYD5GDZBHTTTcNmXwQ9u4S0E9sLf8q7xDdrtG9TAkebksQlzxj02XcmGkAAJkECJEvBIuEux7jKFcMcUfkT9ZICCwt3d50Ed/uHkvi6vPqI6O+wVXlmlDjvFyNLVoV57ND0vdnKccnzyriw2TU+R+9rIe4Jxu7NdrXoxdzov77y7VD15s/rjZeqf31fLFqRUe8NgdfRH1bzfq8/8Rh11bkq1iy0Hz0raFN9Jdwp3Lx87lk0CJEACJOA9AXEcd9enRayGdpfC3WqEzLhHWriDc0RfF7jViW6W0zDI2OkFB3ZsfMu+RD7iVKXKjOxYqJr2DVRE6u+qYn8Yu0fKW8Z+Xrt1paW/6Wvq2rPVv36gXrpT7e7xIMKWOIeerOD/88W/qpmXqCFj0zIlLzEBL0CwaBUbzsTxoHCPY6+yTSRAAiRQSgQ8mgZub29vaWnZs2fPpk2bWltbXSEaA+EODhTurjwMyUKmFbFEtd8wY9t1HBC45q+xStHDJqoBCXeRta8bG5zbOkYeoPoNNXJg35u0beBtleMg8aa3U5kw94/NcM7+puHCfsZXFHx40jaeTyVNhDAQQhocOzeq999MuxmPSwr3ePQjW0ECJEACpUvgueeee/nll1980f6EZW5mmGuHZJf7CO/YsQPn3Mmt3sEYI9KuMtpH32qDma4ggbGHqYGjjFRw5sYWMXYPfEVVDuwLmXZgj8jkxHm3sc25rUPnhZc5vqLq53Hcp1K1fekm9bHvG347FrfEQc6DZyazY9I9jgeFexx7lW0iARIggVIi8LGPfWzevHnnnHOOi40WhaoLhGpPi9G3bAU4424LV0kkhkQuZl/ICVMV5t1xvLPE2BI+7TBcRxKHA2+ZYjxt0sywdfmhjyeTY3Idwwa7x/7HGjta4ljxrOGjH7uDwj12XcoGkQAJkECJEZgzZ84XvvCFmTNnutjuNDd0t6bJoz5j7ZFXkosdF8miDpmd1Jr4Amja3ikF2wN1O/W0ZKqlD6cnx2eesPsKDuyfmCnr01P3vh4yTg0eZ0TB52TXpt73vLyCe8wxHzUqgGqH+LZ74LOy0O449u1WaxbZzR3+9BTu4e8jWkgCJEACJOA3ASj1Pn36SK0IDxgwAOfijeCMe/EMY1hCbV9jZ0Mc+F6pg63TDz1FVVQZ2V97TGG/87SjmGWmByX2lkGB2EPdzyO1OcwTTqoVmMi5/Ekn2cOdh8I93P1D60iABEiABAIiUFlZWVdX19DQMGzYsJqaGlesiLpwX758+VtvvbVq1SpXaLCQFAGzt4zd1RT1jerA44yiMMec6csuGzvi7htP295opRjRn2qb/dDgsckXBRtXq23rbeff7whjH3oca15W+5IrVWwXEtYMFO5h7RnaRQIkQAIkEDQBzLLDZ8aVuXZpiriapPnhBN1KG/UPHjwYw5iBAwfayMOkVggMn6hG7G8k3PyO8f0gu0dqieqD6Vkbh6jRBxmR29cbhds6+g9X2F4GB75qtGWtrazFJk5Nuj9puyhjH/qEcz+2xvd5Za1tW21noHC3jYwZSIAESIAESoeAi6od0NatW7d582bsURNRgFdeeeUtt9zyH//xHxG1P9RmT8u9P0xBuyGv8d1QHB+sUpilTjuKWWZaTN40M2xdQnnLzo9wd3GwRPWQWcnaljtytrFlqr+JKdz95c3aSIAESIAESpjAoEGDMF3dt2/fEmbApucgcODxqrbBuAd3l+ZdORLliDa2ptG6P2PS/YDjFCahccBV3a4IhhOOCGjsS2PXhyeHsZai+w5Q4w83UjZtVutXWMpiToQ97AeNMSLWv+HrylqzDd6EKdy94cpSSYAESIAEIk4AW0DicLcR2Prmox/96GGHJb4R427RLC3qBLCJ4WEnG42AgweWmdo9MDVeXW9kwvLWNMduOMGPP8K41bTF9meJ+gxQYw818uKTRpjO9/NIecvYnzXHSObgk5LGLn/KT6u9rovC3WvCLJ8ESIAESIAESIAELBA4Qm/s+JDq6rSQwZSkulYdOtu47mhTrz9uupEI6g3dsUTV7qG9ZRzktVuXOf3kY1RVrREBP3U0yu6R2lvmCV/fFdi102Z6CnebwJicBEiABEigZAjAwd1dH/eSIceGOiIwYITab5qRE/um44NKdo8jTk/mWPJgulSddHRyq3j44WBG39ax/zGqotLIgbx2hxO2KkpLjKGI7MjeuletWZh2s/Blv6FqzMFGsu3vZ/H7L5w/pCko3EPaMTSLBEiABEiABEig5AgUs0R18JikWwuk6nuv9UKHzxJNOsqIaWlS773a61bBC2wzP3GGkWrvDrX29YLJ3Uxw8Mxkac7WmKacbZ5006pAy6JwDxQ/KycBEiABEggrAS983MPaVtoVGgITpits4IgDX/108L1S837waW3Sm7Jjmando5i8dusypx93mOo70IgADQw57B4HfCj5aSo02e57Brt1+ZWewt0v0qyHBEiABEiABEiABPITwPYvR5yaSNKtlj6UP22Wu/ALx3JSHG+9qHZv65UAQ4KaPkbMqhezfGC1V9KMi4lHquo6I3bl86qjPeO2ZxF6R/Yu7Mj+rO1q8K5g0pFGLuzS8+5S29lDmYHCPZTdQqNIgARIgATCQYA+7uHoh1Ky4rBTVHnCp/zVR22rZDijH57Q/dj28dWHe1GrrEq6jLe12HYZr6pRGBLggLv5O4t6Fev1Rcpb5kknVaW8ZexvTeOkPs/zULh7jpgVkAAJkAAJRJQAVXtEOy7aZmPK/IBjjSbAOWTlc7bbcviHkzuvv/pIun+I3ltmhf0dErW3jM97y+DDUoPHGRDef1Pt+MA2jQnTVF2Dkeutl1Rrs+3s4ctA4R6+PqFFJEACJEACISBAH/cQdEKpmpDna0oFkTQOVpMT61D3bFerX+6VHDuy9+lvxMBlHHPntg58Dqmu0ciBMjFn79th7Mg+M1kbtqi3e1RUqQNPMDJhQ8lVL9jNHcL0FO4h7BSaRAIkQAIkEBYCnHQPS0+UlB2jD+qZZl6hNr9ju+kp3f9Ar7xwGRcV29lueLrbOuCEg6+o4oACxuy1n4exkXyZUSH2lnHwTTSt+5c/6afVHtVF4e4RWBZLAiRAAiQQYQKcbo9w58XAdEwzTzs92Q5sym73wGYsA0YambAp5Lb1vXJPSUw/I8rB7HVQ3jJ4hzDuUKMVcJXZsLJXc6xcjDxAYYN8HKDRtNVKjjCnoXAPc+/QNhIgARIggQIEFi5cePLJJ5933nnvvGN/YrJA2bxNAsEROGhmciMXzBPbdc4uK1e59oWEiu03zGgVVCz2Zbd1jJ6iGgYbOd5dopqbbGUtNjFoyPHGk8mA9f9hFJTM3q0cOPdbr8iXlBTuvmBmJSRAAiRAAt4QwNR4Y2NjVVVVnz59vKmBpZJAEATwySTx8WjfZ7iI2D0OnZP8VOrrj6u2fanchoo90bjEtjNv2lz5ivGATNjj+6kOVs2mjLAfwo7sldVGthXPKPj52D0OhrNN4oi+twyFu93OZ3oSIAESIIEQEaisrBw4cOCwYcPcFe4YD3R2dnYljhC1lqaUFAE9a774Adu+3djCXDxbsAg17YtLU3pUrIP9YQx388SRVqbX/WJ8+fVoo5KW3eqdJbZrg+PQyAONXFvec7JmwHZ9HmagcPcQLosmARIgARLwmsBTTz11yy23/P73vx85cuSCBQvcqk4kO85Q8G6VyXJIwB6BIeMVVqni2LZOrVtuIy/Wj77+hNq0JpkFs9TmY8hYNWScEbHhTbVzo/lO4TA2Zxw42ki27g3VtKVwehdTHDIzWRia5uCIyxJVCncHnc8sJEACJEACoSCwb9++q666qr3deHW+e/fuuXPnIsYVyzCRP2jQoMGDB9fW1rpSIAshAScE9KS7xSWqEOJP3Kiu+6z6969TU8vi1G6uXi8zTdP05jRZw9rTRsFf3P6nTLOWaTFy/FRV389Ii/0o9+2xmCmVbMrxyc9aYVUuXH0ie1C4R7braDgJkAAJlDyBDRs2NDc3CwZMjTc1NSGm5KkQQIwI7P+hpFpd9bzasyNnw6BEV7+ibv+x+tPn1ct3Gf4kcmBm/cNfVB/+fHpGvbeMA4+XlOh/Or1YT6+xH6WYDR/3lc/brgqb0E+cbuTC9vZrl9nOHpoMFO6h6QoaQgIkQAIkYJMA3GPq6uokEzZcxypVxNgsg8lJIMQEKqsUvoSKA9L8tUeyGLp3p3rhdkOv33m1ensR1pwaacorFZzRL/iF+uxvje1l8BGitKP/8JTPN9y+bR0DR6rhk4wccMVJ22vSVjkOEh88K5lp+ZMOcvfsLZPYD95J/lDkoXAPRTfQCBIgARIgAQcE4Mfy+c9/HlvKIG9DQ8P8+fPp2eIAI7OEmsDhpyY/P7T04ZSPB5ZerH9D3fdLdd089fT/qabNySY0DlUnXayuuEGd9Q3DPx6eLbkO2VsGdx1Muge1RBUDhoGjjAate92Jh/2kI1VNHyP7yhd67bRjREXmoHCPTFfRUBIgARIggUwC48aN+8xnPoP1qZs2bZozZ05mAsaQQLQJ9BuqoDhx7N6q1rxi7OkOf/cbv6L+9m3jI0pdHYnWlakJ09VHv68+/yd1zMdUn/6JyLwnfAYV2zviwN4ydldgH3h8ciwBF3m7efMaVeAmxiHFrDHFhpIHHGdUgR02V79UoK6w3qZwD2vP0C4SIAESIAELBBYvXgy/9v79+3Ou3QKtYpM8/PDDl1xyyRe/+MViC2J+WwT0EtXH/mIsPH3kj8a2hnLUNaij5xp6/fwfGvq+vMJqwX0GKHxgFceuTbY/R9owSI09xMi7/f3U3jXGtfeHnuyHt4yDMUORW9N4376CNVC4F0TEBCRAAiRAAiEl0NbWhi1lsD61o0PmHUNqZ2zM2rVr1/r163HGJvexaVQEGrLfVAWvdBzYgbGtJWkwNib/yNfVFTeqmZ9J3rXbEi2C7e4tg+Whg8cma3OwGbxdO83pwUFvkbnpbfMdS2HkbRxipHx3qe0Px1qqwPNElZ7XwApIgARIgARIwBsC1dXV//jHP7wpm6VmIXDEEUccdNBBffv23bNnT79+ib35sqRilNsE4NMy/Sy14C9GuVU1xsJTzMEPm1hsNfsfox6+zvgQ6ZvPqNnzCs/WY4EsHOvhn4NNXfSGjFvXFmuG3fzwloEZOPBB2eE2IYAksmM5Lz4ciyHHkefYrTzw9BTugXcBDSABEiABEiCBaBDAvj0VFRVYTrB582YKd1/7bPqZqrrOkJvwTZcVlsVXj3KwQ+KqFxW2psEOieOPyF4kPFI2rjZkLvQ99lI0H7UNasZZ5gg/wvCwf+zPqrPDWFY767OFxxtpNh2UEO6IhLMNhXsaHF6SAAmQAAmQAAnEhsCiRYuuu+46uCfddttt99xzD1cD+9ezWJd52MnuVzflJEO444AuzxTu2O0R8SueUjs+6FV1Va2afLTChu77HZFlr8leST24qO2rJh6pVr1gjDfg8YJVubaOAcMNzyJ8qQrbWeJ1gfb5sVVIcIk54x4ce9ZMAiRAAiRAAtEhgK/SfupTn5Lv1O7duxffqcXUO9cER6cDs1k6cYYxkQ+/eehgfKoJ28bjgCc9vN7hErP5nV55sD38hGmGXp90lKoO9IvC2NAdBuPArLlF4Y73BhtWGunx3kB/oOqDtyjce3UxL0iABEiABEiABOJBALv37N69W7dFvlM7YcIEHcNA9AjAYx6e7q8/oVr3Gi7j2FwSU+ziQZ5qTJkad6ih1/c/VmETmzAcEOuYd4ef/VsvGqMOjD3yHHhdAL3+xpPp7w0w7z720Dz5wnmLM+7h7BdaRQIkQAIkQALhIoCv0sLHHXpdzOJ3asPVPY6tgSKHcMfx0O/Tyxgx2dDr8CnH/o+hOvBmAFYtfUi1txpT74fMzmJdS5N681n1+pNqw5u97mI3d/j5YM4erkEV0ZPB0bO4F31ekAAJkAAJkAAJ+EIAXjH4Nu1ZZ53V0tIiYfrJ+ALe40rGHa7qGhVkrj4GjVH4ruqUE9SAkToudAFsDgPhjgOz6Wbh3tGm1iw03h6sWdTzdSqxPfHeAHod7w1q6kPXHMsGUbhbRsWEJEACJEACJFDaBLAa9c4778R3avfff3+uTI3Js4BZ5xMvNPaFxAbnEOvYa3LIeIW1sCE/Rk1JrjF97zW1e5vqO8Dw8DFc2J8z3H7Mx+Bx6pCZCstwGweboyMapnCPaMfRbBIgARIoaQLvvffezTfffOqppx555JHl5eUlzcLfxm/ZsmXVqlUbN27ER68qK6ki/KXvUW1HnKYO/7BSZRHQ65oAhhbY2PH5fxpbZP77N4b/etNmfdMI9B1o+PkcMisa45Bepue74I9cPjq8RwIkQAIkEE4CL7744gMPPPD444/fcccdgwfHYSItnJwzrTruuOMwUho3blzmLcZEmAC+TBS5A94yEO443ns1ZTu2qoQzDG6NO8z2Fu+pUsIbonAPb9/QMhIgARIggVwEtm/fjq94HnzwwVTtuRB5FD8xcXhUOIslARsEBo5UcJh5f4WRBQOP8YcbS04nHxPwVpU2GuAkKYW7E2rMQwIkQAIkECABbB8OVxn4aZx00kkBmsGqSYAEAiZw9n+ql+9W/YYaXjFwcy+Bg8K9BDqZTSQBEiCBeBHA9zvXrVs3adKkAw88MF4tY2tIgATsEMCC2pMvt5Mh8mkp3CPfhWwACZAACZQUgcceewzf7Gxtba2rqzvxxBO5t0lJ9T4bSwIlTqCsG9+A5UECJEACJEACUSCwb9++IUOG7NmzR4zFN4DgNsPdxKPQdbSRBEjABQIRXETsQqtZBAmQAAmQQCQJbNiwQat2NABf8URMJFtCo0mABEjAPgEKd/vMmIMESIAESCAgAsOGDauurpbKy8rKMOM+cuTIgGxhtQqDqK6uLoIgARLwjQCFu2+oWREJkAAJkECxBN5///0zzzyzqqoKBTU0NMyfP59+MsUydZQf23F+85vfPOuss1544QVHBTATCZCAEwIU7k6oMQ8JkAAJkEAgBJYtWzZ06NBrrrlm9erV8G7nytRAegGV9u3bd82aNRg7vfPOO0HZwHpJoAQJULiXYKezySRAAiQQSQJwzLjrrrvg1z516lR8BYhz7QH2IhyWvvCFL4waNWrlypVvvPEGFg0HaAyrJoHSIUDhXjp9zZaSAAmQQLQJvP322/LppREjRkS7JR5bD7/zHTt2wJsFm2Z6V9X06dN37tx57bXX4vu1WHuwYMEC7+piySRAAkKA20HySSABEiABEogMgc7OzsWLFx955JGRsTgIQyHcIamx3TMcWmpqajwyAbPsAwYM0HPt3JrTI84slgTMBDjjbqbBMAmQAAmQQKgJVFRUULUX7CHst1NZWQlW5eUe/pXHRpxatcMkbs1ZsF+YgASKJ+Dhj3TxxrEEEiABEiABEiABBwQw3Y55d0+/sYiNOLE4VdvGrTk1CgZIwDsCFO7esWXJJEACJEACJBAAgba2tubmZji4b9u2zTs3dywOxlrh+vp6tBBrVf/5z39yuXAAnc0qS4xAZYm1l80lARIgARIggTgTwCw7VqbqFiKMlaNwntExLgawHSd2lfnpT38q/vQulsyiSIAEshLgjHtWLIwkARIgARIggUgSwPpds4cMwojxriWjR48eO3bsm2++ed111/Erqt5xZskkIAQo3PkkkAAJkAAJkEB8CGBNqnl+HWHEeNq8/ffff/z48Z/+9Kc9rYWFkwAJgAC3g+RjQAIkQAIkEFICGzdu/PWvf/31r399+PDhITUxlGbBrx2buItpAwcO9G5HyFC2nkaRQJwJcMY9zr3LtpEACZBAdAlgheUtt9zy9NNPX3HFFeZtB6PbIt8sh1Lv06cPzv3796dq9w07KyIBHwhwcaoPkFkFCZAACZCAPQJ79+7985///M4770ydOvWII47gdiX28CnV0dEB13ZPvdvtmsT0JEACxROgcC+eIUsgARIgARJwk8Bjjz129tlnt7S0YJPBH/zgB5dffrmbpZdGWfhmKpaleu3dnpUllqh6+uGnrJUykgRKhAB93Euko9lMEiABEogGAXjFDBo0CNuQi7n4xM/mzZs54x6NzlPq8ccfv/nmm6+++mpM+eMLTey4qHQc7YwKAfq4R6WnaCcJkAAJlASBRx55RKt2NHj37t0bNmwoiZZHv5Hvv/8+JPvSpUuxz8zEiROxf/yCBQui3yy2gARCRIDCPUSdQVNIgARIoMQJvPXWW88//3xlZdKNE1sZNjY2YuK2xLFEpfmjRo264IIL3njjDflca1NT09y5c7mwOCrdRzsjQYDCPRLdRCNJgARIIP4EFi1a9Kc//Wnbtm2f/exn4SGDBuM8f/58ultEqO9nzZoFJxltMLQ7X5hoGgyQQPEE6ONePEOWQAIkQAIk4AKBL33pSy+//PJxxx33rW99C7uPQ/DRSdoFrP4Wgfn1oUOHwsFJqq2vr8dIjEMvfzuBtcWZAGfc49y7bBsJkAAJRIjAz372s6OOOuqss84SvT5hwgQKvgh1n5iKLrvrrruwpw0u4fKEnfjZiZHrRBocZgKccQ9z79A2EiABEiABEogeAcy7P/fcc0ceeSSWKETPelpMAiEmUEi4d7arze+q8gpVUakqqtLPiOdBAiRAAiRAAiQQPgLYCB8CGlu5B66esVABzjPnn3/+xo0b6f4UvieFFkWJQF7hDtX+1y+pnRtzNqisvJeUr6xS5ZUq7ZxF8WcMAFJDAtMto5wqvGkzDRgSdzlayNkfvEECJEACJEACSQLQym1tbfBXgXDH/jxBcVmxYsWll16K2pcsWYKBBIyBjp8zZ05Q9rBeEog0gbxfTt3yXj7VjnZ3d6mONuOfn0faaMHCwKBr7bLybesMGz/+Y7XfVD+NZV0kQAIkQAJpBFauXPn73/8eS1EPPPDAtFu8dJFAXV0dPmIKyY5PqAYo3OHjPmXKFDi7y24zskfkpk2b6PvuYl+zqNIhkHfGff0b6m/fNlgMGaeGT1KdHQpz8AXPHe2qK7UVVKhQvjt8xvhLfhAqk9w1BpMZ3IfBXaQsjQRIwC0C+AW1ePFiqHZMwT777LNHHHHEdddd51bhLCeTAPQ6Jt2h3WtqaqCSA9Tu6PS0QdqaNWuw+DjTZsaQAAnkJ5B3xh0aXY6JM9RJl+QvqNfd7u7e+j5N7qdd9h4PiO7HOWOQsHTxwvrqqj611RVl3ZWqG+cKlQgY4S7E9LIh28X1t/5jfMco/AorLy/HrzCc5cgTxockpk2bdvzxx2crz5M4vNn84IMPsCQf7zdhmByoqSdovO7UYQT0JT40/dGPfhS/pmP/IpLjE0+ePBZKAl4S+Ne//oXd2eF1XVVVdcYZZ8yYMQOzsF5WyLKNvxTQ7mCOA+EBAwbgz18gXMaNG4c/TJhrl9qrq6v5Ua1AOoKVxoBAfuHenmwhfNBtHVCT8FDHP1ePL//uhEGDBg0fPgC/iaRgLVsTl93QuZXQ9BD0ZaoKJpR179u755GHHvjfcw87ckx/pHn5vW3vPvlk//5GWAqREnSBOh4BCcMnb8+ePX4K93fffXfevHmHHHII7OzdQOO3MKySc1oAryB/+ctfQvQjHr8cP/KRj3zzm9/EH0gklvQSkLPkNYdXr16NWZk///nPuOXPAVOvv/56/DZHn2L4hOVTPcOo1P+zRmKiDn/+MT7Bl1n+/ve/z549W2dAemmsP01gLSRAAlYIrF+//tFHH/3CF74gv6Da29txiXeD/fr1s5KdaRwTwJ+25uZmyY7wjh07hg0bFsgvScz3w68dX1HFnyf8YUJY/GR27tyJjd7x14fvih33MjOWGoH8wr1nxh1+5CE4/t//+3+Yh8acAX7I9YFfRnnCmJr9n7/fvej9nSLcd7Wri087Db81smZBZGZpmzdvxjecU63v6lTvLFZ7d6quLsPF3/jXrRCZCiciU3e7Eim7Ewk6U+H0BIlyUEhX18g9Tb88qk9D381VlduwzT6kepnqLi9T5ao7EVblZd0Sb8SUqUGVnWLe2wcO/tdrGySMz01Di2OGA5f4NY126V/W5ksJI83atWshfyWvP+e9e/dCuE+cOFHGUWIn7Ml/dHZ24t06/vAjPbQ73jB87Wtf0+MT5NUiPhkoKxtZ3lxbDi/PclVevuGDTe0d7V//+n8oXIJd8qwDEmm+zIxJdELW7NnA4aFCtDO2fLGQjSjjokTglVdewZ6A2Ehk3bp1otrFeqhJfJSHwt3rvsQvTHMV+EOAGLzLNUf6FsZqVPi1pwn0q6++emHiwCMR+3fFvqFmRfEmkPcHGM4qctidcfeG2Zlnnumg4Pvuu++D678jGX/9uz8ce+b5tgr56le/2iv9U7eol+/qFeP2RV+ljh6Gt5kYNfUMnKxVMbixj07Yp0+fK6+8Eq8j8ZsakTjrw3ypwxDuSKCz+xCAyB4yZAjelmLGHepW/sBoI2UQpS91ALM1otrFQkgB/BnA1LtOgHiULHcROH/gztmNe5X+4zUgcefWb0kCl8+Gms8Q+t3dTXv2VFRUlpVXGHwxiMJArOeM635de8WMf42/AG8McODPKs6vvfYa/qThjxmmo37+858fffTREq8TGEl7EqeFUSAGM0H9ebZLleMTu8QilP63v/0tfrfg/SH8m/Eky+wvfjDxM0tPCR/6Eb8ZzLWAfFqM+a4PYcyym/3aMaJ78cUXX3rpJfn9j1/v55577pYtW2Qy3gd7WAUJRJFA3sWpy59U9//KaNXJn1PTnYjmkBDpvPu/KlY+axjzuT+pASOKsurv31HrlhdVgrPMWhRiXjwZNqaQjfDeHVLkG+PmHPv5H+B3XxTnLUR5Q6/Lgd/jPcHU/xGJP/xTp06F85I0GeMTeM6YX6GkZZ+26K/1+7Y7Q+5zrivXjZUagQItveGGG/QQBQ28+OKL5R0C/vRmDZjjsQ4MzwBK8K0J8NT629/+hndTeCGGSmGM+cgTgz/b2FoEr1/wMg3vUvCte50xTy5Jg0p37dq13377+fZnnmMMeaKsc4BLzK9+9auvfOUrmG195plnxFMiir+gpOFRPOPt6/btyd+BAwcODMrHPSs6/LrG7w38cjPfve2227DduzmGYRIgATMBizPueZOZywtluAIuKHIU/+oAQlmOD39BVdYYutnwMIEjS0JDp6tqzK1WJG+JY0Z6gsQELXamT2rxnnLkMpm4x3MjWXHG/x77i1p0H2IPOuHUTZs+n/YiMiN1SCNEillxKbn77rvNf/6xMUW+Jr1xq9qH725XqxlnGU5Nxj/xStKB3pdKuzb1JEBMr4x5LuVWrwR4l7B3z25MoRuvAeCwpA2Am1MiXN2V3E31mGOOgV6XAxNRWrWjdQhD6+gXCzI4gb5HQM6QsBKQGMhZvGzJh8Xte3j1gblVaGi8P4El6E3UYD5nvURj4S4lLcVgDDs9X3755XhRIBnTsmRGIsurr776u9/9bvr06S426NZbb33iiScwhJD3GDjLu47XX3/9F7/4BRb5Yeb4xz/+MT4JKQn0m5D33nvvgMThojEFi7KuoQsWZTHBggUL5AcQD+Qf/vAHTKXDGQZvzy644ILMEk455RSQBDHcyuopkZmFMe4SgFKHSxKeWzyuoVLtaCZ+4UOj4+Uw5puk1Yj50Ic+ZCaA32mSUiL9f+DNxjBMAmEgkFeR611lite7wbZVb09Z/HpZLdwPnqWq64JtVrJ26Hs5urvSXkSGwjy3jbD351/GbFW19rZFcs9m9E1D/tJ+f7GxZKLf0AsvvFAnxB+n//7v/4YTv4hgKKSf/exn+KOLv2Gi7KHUkxq/szMzDOcE3yahtc0QB1j3NnToUNiMA/Fy1oHMSyyVSxufoC2Yek/LkpZR/pAjDRLLQAVhF4+33noLryywATbKxGhBakdd+h0IXvt897vfxQppiAzclQPhpUuXfuxjH4N0L9KYa665Bg/AQQcdpEcOOqAHCRKzaNEirPzB+wq8esLA6YQTTtApMwPIC8Nwhql2LcTqUizTx+sU+CjjQYV5KAHPJ8ZamC7FiAX9nlW4I5modqmxFH5B2WXrQ3o8xvhJQb/L2YcarVeBR0IvWsWj8p//+Z+9FpUphdURX/ziF0899dSDDz4YOzd8/etfx4idL22sE2bK+BHIL9y1j3veZOGngs0l5Sh+la0W7noWP/Dmh9Akj5nY+PMv3WRfqXjcAlPxifkk45WL6TD/MYNq1zswiBozJcwehObLfsOzWPzFxW6kuvgeNZuU7/oSAaTRl5gFxIty6D/JiJb+6Ec/kklBnUYC5lw6BvIR7rBpm0NrGxwHsJwAvklwy8bQSA+KsENr2hgD7xYwVtHjKFiFXoOecFyvzoidzuHegNcmEoOSEZCzDuAStt18881iFbQ79my57LLLYDlUGiRa5hmRTz/9NHasuuSSS3RdFgN4BYGBAd5ugTkOnQu1Y8yALpDhlo5nIFQE8DOFw8GAzZ9W5J+LwcpVbBGB913YmvnGG2+UBx4z9GeddRYeS6h8zBfgsffHVNZCAmEgkFeRh2xxqnNeesa9+FcHPQsfjf1hQnJoVZr4Ax8So8JihjDpLYvDYpvYkcPC/H/MwtWEDGugGnFkRJsidm1W69/oU1n91E2/+fb3f7h5Z5OqqvvtH/80YmCjwusROI9ZOyZNmmQtoY1U2GIcR1oGqNWf/vSn5ncgP/jBD6DUJRlkNOYyoZ5d8VCCbwlEOXZK1aMC/XbFHMCgRUSM2IAwzJAvZYo9KEQCchYLzbI7rY15LsePH4/GDh48GCtK77zzToy4JLG8C4J2z5OXtwInEFrJrsng6TIvWtXxCGBYiJc58MVavny5+YHHQ4jBJJoGWf/vf/9bXiiZM9oN40cjoo6mdlvK9FEnkF+49+xqUrzeDZaTizPuIVTJWpWGZywRbHeba08OZvKKSHN6/8PyTiCbzM3zx8x/M92ssWW3uv5K1W5M3E5V6uGLcUocr12v8A8HfuFAvlfVGN5oOBvhWlWdiEkGEjFZEkga5KpOe4khNTg+oy/0C33zOxApEKMUvAxxZbodBX7jG9+wYid0xl/+8hftHAyrfvKTn2DqMZfch+iZNWuWs/UAeAsBvQ7hDp2E9znmRSZU7VY6i2kcE4CHDA5kxwOPNRX6BR3eIYwZMwZqHs+8RdWOF3p4dYYXR5mOZJjO///+v/8PgwEMfb///e/jxyQtzfvvv4+lvTNnznTcEC8ycrDhBdXwl5lXuLuod4MlIa8OZA1okZZoldyttxgsssSis6dMCs1LgKLb5FoBuWWxa1UUWVCOGfciSw119s1vi2rPaaTx1eR2tS/pQpMzWf4bWvEnxwCi9RNnjAEwUnr1EdWnv5p4lJpzaf6S5G7Y3oGYxxLi8otZyfwNOeyww/InyHUXbxLgxR5ODrlsZnzMCOCBv+uuu8yDRixjxcIS2WPUSmPffvttrPs3+9XIi0G8m9Kr5KHdf/jDH8KjDMIdr6pQLM44sO4F7wS8EO5XXHEFzMDaGIyK5cBlT9D4f9qljlm2bJksl9eDDZ0rLUvWSyyFwhvLyZMnW0HHNKEikFe4u+hhEmyjZZVt8Q7uaIWecQ/P9DaFe56nKwKy2PjbYOjI0jnaW5NtHT9VjTxAtbcoxGACHv/aEme51GEZfdnlYxSCinbly9fWohbeY1G4o5ywvQMJaiwRNg75upj3YkQg84E/9thjrbfv9NNPx4da4fdldjlDOHMFy3B8oX3AAHMyOORgxt16XdZTQkCbE0NkY5yAc1qk+RIJYFvWwQaSGeOMRAk460vJjmLlwCWWm2MUhC+sy62Qn+Hph7X46AK8WsT4RN6HpAXQNNdbEc53GnmFe8xm3N1x+OlZROhMTLj+WKFAPZYIj0leNNNZmRGYcU+8J/HgN44zYH7kgiKXY8I0deQ5BWrE356OthzKXiv+VgUJrtV/cgAA4a4je4YKBSqL3m1q6Oj1GS0ugkAxD/ynPvWprDVDnMGLxryC5dvf/jYqSksM7ZgW48olvv8NAYpVtihfH9DcOoxA2iViMJAwe/wjjMEGdK3OlZYFl9D6MBgBOdDACPm5wXh8DgKvCNBMGXsAWlogq5pHpNb35rCO1IHMu+Ztu/7nf/5H7xGss2QGdCF6gOTKQ5JWSF7hHrcZdzcWnodQJesZd29+raQ9MRG7TM64uz8Qd41DBN4JuNbWZEEJ73YjDCeWggeGNIbTC74l3Fgwbc4EGL8lZX1iah8jh/VvqCdvMtIPHpszF2+QQBwJiLaz6BceRwDpbYKEzbOCRaeGStNhFwPYWNZBaRhspC2XzzrYMJcsel0re7gYZQ5OzOlDFcanQkQKQ8GjCbot5gAMRho564BcIpnE6DQSgzNidFguEYMqUJF52y7sSQoHKvhZ4TEQS/IHcBcHdLyW8mnhXHdhA76bjk8I5/FszCvcUzPubkhewAjqEB93V1xltEoWvRVUi8z1pkzyZD7AXFX0wuGXxeF/J+B6r2vhDl9zfw78jGCdq/nDC109a1T2m+aPCayFBMJAAAIIU8vQENjMVEuZMBgWrA2ZTjjB2lOwdouDDXM5Wm5KZIRUOwyGH/+f//xn7DuM9Tai3XGWQ0Q2wnkCDu5u3bo17Z0GpDb2vYWwzjVyMN+SMYAwlx80/eOmA2gXwjqlBFApvJimTJniVLinZtzz6nvzoxHOcNLH3Y3hhx5zh2d6OyXcE97S4eyCoKwKvywO/9DC9b7Twt3KjLvrtUuBYbDBo6axWBLITUBrEQRc2b00d1URuwMhm2tLynC2JHKDjWIwQjTj2xrFlGA3L95ppG3bdfXVV8uwwTwMMIddGTlgeTT2CsPGu3kMzqvI9Yx78R8czWOCD7c8mXEPzfR2CMcSPvSpxSrCL4uTFobYmcciauvJjDWjiSNI4d5jQzWccHiQQKkQwMwlmgrVDl2CAF79m+f/SoVCXNoZucFGhMCb32nItl346J4/9n/5y1/OX1Fe4a5n3MvzJstfQxjuujjjrhcRhnHGveftfxiYh8WGxFsI3Wthscpkh7wTUKUk3PXiVMNzPaCDM+5ug8dsE75fM3r06HwFL39SwTepvojlCvlK573CBDBzCe0Ohxl8LwwHMmBFI/ZEL5yTKUigxAiE9p1GXkUejxl3CCMZgbjj416RfHRDtI97j+ZLSsAS+9nK39yQu8rIdDuaoP2d8jcnHne1aPbNxz2TW2rw4JeffaYNMYqBEHzyySdXr16NrbXxgZssLdu61vjqFg486t+6O0sCRvlFAFPsMt0uFe7YsWPYsGGcd/cLP+uJEoFwvtPIK9zjMeOe2ALJeFJc2Q5S+6VoyRX4QxhCkwJnog0IuauMHmuF+Z2AhulWQAv3IF1lDD8B4wjQBjEg+ue33nrrlltuwVdsIP7wQRysqcK0bqpZmABadL968sZkDJ75999Uow5MJWDIXwLwyjVXiCVxiOEmM2YmDJNAmAnkFe6mGfcVK1ZgKTq+zIdfzVYO/OK2kiwzjfuwxMEd5VoW7vD/Q2Oxz7/5E2tJw/TMqJZc7ltss0RtUni8d2y2wMPkkZlx73lt4iGL0BQdCh93Cnd3ngcspcKmaaIFIQHxcUqEk8Idw+a3XlJP3KB2buxV2St3q1Hf7hXDCx8JYEsZ/OWVLSyk2l4DLR8tYVUkQAIOCOQV7jLjDl1YXvHmm29icxz9SW39M48AfgWg4rRz2mVmgqwxBeV+wQSoN+2oaGuelACzt7Vt8zvvpN3NvFy3bt29996LN79YPnzeeeftt99+5jTYiEj2pmlrxVcekxuLmhMkqvL3pIV7eMYS/gLIV5sMZjSifEmDuKe7LLQWekEFH0uSI8DZbj144OLU4rr4oYceMs/gyqyH8Y3Jze+oBX9Va5f1FF+m9j9GrXrBuFz5vNqw0vhoLo8gCOAPFj4LCg8Z+TuOv3T4eweXgCBsYZ0kQAK2CeQV7jLjnnANx6Ja/EbGr2P8qJsPLEhCnYgpeM6aMi0jfqHoFpjDEpkWY76UcnRec6CmbY8I952797766qtyS6dHQMqRMy4XLlwopuJ32e2333700UdjfgK5JMFBH2wYnyhi8cKFu/q+r+N1IQg4GF2g2eVlxj8joLpxLlPdeNmMM5CUw0gj0hxO3EqkqXv/7YaESU27du3bvBkG5D/SzENj0cDYvidNusqAaCgPMQ+mmV0LQmmpm0Zp0VxV7WaxtspKDR6MTTZ4OCZwwAEHvPLKK/IbFb95oAIbKrrUQ39Qrz2q9Lh0zCFqzmVq2AS1+N/q0T8ZdUHTX/hf+K3quF5mLIYAVqPCrx3eTa2JA6tU8XpZ/tIVUyzzkgAJ+EAgr3AXJxNsyXLH1XMg32ur1O4NhsMJwjhjj8jyyu6Kym7sOZM4I4y5eVwm/pkDFV06vqy8q7yyC1o08aoOv+4tHtCXFlOakyFXdXOVetsgWVVbV3Dggde+otoFPcIYrsivM4nv7NkE8oD1z3SUV+Evk6GnE8Iaw5ekvE4LGOIscUvijSyG7DbndeXP19trVr+3w1BC+POZ/2xOgI0gxowZc/LJJ0uTY3VOkE+0yBXAHrDRygZPhHtHPl8v92pxXpL4uGNLmQDfM6QGD9xPw15PYkYDvwz1BO1BBx109tlnP/DAA3jq6qorv3jkyKobrlRtzclC+w1Tsz6r9j82qdGPOE0tfkBtW2fMuK94Wh10kr26mdo9AvgrIHtBokOxzwxVu3toWRIJeEsgr3CXP6vQFmteyWUF5IZDxYHCZQCQ84yxAUYCibMeLfRKrIcQiYFEMk11r2IxumjaohYa5g8dPnLoiSemNcSs8hHGrzB8swpnSYbZo9mzZ2M2WiereekDtd14+Ttg35a0ogK/7Og7GH9NYSosyXqWVpjvIgYTLviLG7jx3hhgoDCOD1apa882ZCKGNMY/CSReaehLzHkbD7w5gSllWkZcGikT5UhGc4ypIgz09uzZW4nvJBvDWmPhh64dr2bwYWWZc+7o6mpNbM0m70NgMlLqI/PSaFSOAzt73HrrrehWTKpdeOGFkybJC6ccqQOJTgr3QF/Nh2GBbCDwHVWKXxH4Jgh+XWzatOnll1/GQ3XCCSfoko455pjp06bte/2pvi/fXvb60mQ8vlN77MfVjLNUpem9SnmFmn2puv1HRponb1aTj1EBbgmaNLSk/4e/bv3798evnZKmwMaTQKQI5BXu0z5irCvqSKpYl9uF8QBK9qjwrLZCOWUcoo10NGYgLrroIrPugS+gvmsEpp6sVj2tmnf1ikxewKklIf4gzvD3yVBvZmGXuEwm6B3fKzIjo/ErFcsMdHZRfhWJmLLuRBXdeIMxbMLhBxzXrYwlRwUPTJjpNNu3b8e3r7M1JxZxtX3Vvj3JluCR61HyvrUNnddoobLtO3YufOopJDQ/kAhLjBSgLyWNPutciEHPPvroo3gDjkhod6waPOOMM/C3WRKbU2bNbjeZ/L2XXBju4oX7/vvvX9jtSrZiDNDBXamu1pakVAlwS0rp19Cfly9f/q9//QvaHd2N/sUz9u677x533HEptbf5naoFf60yu7Mfdoo64QLVt/cvT2nphGlqwgz19kK1e6t6+S513CdDDyDmBqb6MeYNZfNIICYEsmjZVMumnaEOP0XB0x0+M3CY0WfEYN2qEW+K1Hd7RUqCtJTmXNnCKQtcDTUMslIcJpOuuuqqnLvKDN1PXXGjwnRdcla1R1LLpZUKXE1jKDtj7tc4DE98+wc8He1nikgOdMppV6olD6j2toS7LdyTDA8l09l8KfHmGFP6hGtTekb3MGxsGC+jKRSJMZUULIMrHTbfglaWeAQkvcRArItql7sIr127VrwadEq5leesDUhLkxavL6VquJlhEDh+/PjCwt2XGXfMEOPtGR5vNB/SBJ4AOEsAC9AHvv3WuMQPzBur3560/4FyC+e0Jgd+Cbmc83eRx8Zhq28IdGC855578HCiNpxXrVp17rnnDh8+PFn53p3qmb9ld2fPY97seerdJaqrU710pzr0ZNU4OE9a3iIBEiABEjATyCvckdDwP5FtVMy5vAxDtcioIPOcb2yQbQCg02OM0W+omnq6Rbsx727sipDrMNx1+ua6yfhwETjgQwr/PDpyjgFSir+rq7N1XwtUtiG0u7u6IVa6ceqECIIQ6sarD6ih2r5j+wwcm5DsUMNph5HPdODSLPH1HUkGnYf5UZxxiQMaGi7I0KxpyUSH6UgEkNh8qcOZ8XliZGofCfId8qoNKTz2kcCmGcuWLYNrBxzepDkYYMgYA4spv1RvbGXd0V32t3/8C5PHYrnIdww/kOWss87K1wqb9zBUQLGDBw8WA9LOmZcS895779199914lQF75s6dKztcoWZzehls6BgdwJgN/Y6MNi1NJV+0aBFW8+OVozwtcgPhiRMnGr8e8UsVuzo+/y+ll/n2H264s8P7pWdUmSorLTRotJp6hlp0n8JKg6dvUWf+R9p9XpIACZAACeQiUEi458rnXTx+6fs/WvCuOSw5xgSM1yxoXr5XHZjCrbPiK+MepYsvvtjs6+W1j7uW+NgTEGKx8LfT9apQ+EB7eWD4DR+wQYMGQb9CbsI8MVUWoFeXGVPI7d2Gc9GePXvM4n7nzp1Yq+euaRhNvfPOO5j+F2EtheuwDiBeK28YBm9ynBEJ7X7bbbel7XBlLkSXoAMYKqDrZ86cKckcnCdPnoyRDwCCpAwFUThANfTta+zq+MSNqd3Z0ZUf+riafraxY4HFAx4yy59U+3YbZ/hkcmtIi9x8SYYfFtlnBm+r9BPlS82shARIoDCB8An3wjYzBQmQQE4CBXy9cuZzeAN/1+VPu9X5Xb0qFFuL/PvXxodL9T9sqV5VZ8zEIwau58n4mmQY60bsHCNHjsR6FZ0Dqh0iGAe8ieBCU5UQ7m2qHEr0+OOPx7w1bkGv4Lxt27bC3j66XGsBCCAc+KabJIcxOp8OpwVy7XCFZJJSzihHB3QYMZDaorZ1RXYDQ4cO/fjHP47J9QkTJshQEKzmnTmr6s4f99qdHe7sJ16g+gywV35dgzr+U+qxPxu5uDWkPXaep8bPCA78OKAmDMXxA44wfsDlJ93z6lkBCZBAXgK9Pp+WNyVvkgAJkEDRBHZvU9d91kkpeBFnSHno+B5xn9T3CaGf0vqZul+nT25AiY13Rt/xn7VlXVu7anae/3OvX0roxmrBrQO4hXDWS8yy/+pXv8JZskM0f/WrX8WIImv6zBLgKQQvF7dWsGAMsGfz+/1evbd82QKYnGzR2EONLWKwO7uzA6uhbvyqsTUkjrO+wa0hnVH0IheeOowb8VBBqeOMMGpBGE9U4VdqXhjke5mfu/tzT7z7RGtna01Fzazxs/58bmKE6bsZrJAEshKgcM+KhZEkQAKeEbjr58kvaHpWQ86CZTof512bkaZ76ISyz/4mZ+Kgb4RlZ0+4s8Mf3Zk7e36Gby9Obg3ZMFhd/kevlz3kt4V3zQSg1yHfMe8OnxkdD+2e5u6lb8UpcNh1h21p3lKLuYDEsa9935D6Ia9d8Vqc2si2RJoAhXuku4/Gk0A0CWCPTixqhL87PGfwDxtEGoHEZTKcuMyTRs/7FgNg3OHqk1cXU4DXeTHVHdSuMkbT4NLz1osZ7uyfUNOxO7tld/b8jG7/ibE1JI7jP82tIfOj8v8uhDsWVZvrxQJrrHkwx8QsjLn2+1bfp1W7tA7a/axJZ3HePWZ9Hd3m0Mc9un1Hy0kgsgSwvz7+OT4gKPEJiOy6X48HWnuNDZLDg56hAi6r643PA4X7KLDDlafGb3pbPX59L3d27A6M3dnturPnNxJbQ76z2NiklVtD5gcVxF04aKVVi01CsSAE/u5p8bG5hIdMmmpH0xCD+Ni0kQ2JOgEK96j3IO0ngdIjgL2nDKeXGmuftyo9PkW2eO8OY3f2Vx91zZ09jz3YGvLA49SKZ4xh2Au3qVOvyJOWt3wmAN8YrE7Gegl4zqBq6HjMwSOyL3YWiukBv/aKyizDEsTHtMVsVvQIULhHr89oMQmQAAl4QsBwZ79XPX+bk93ZHRi0c6N68ia18vlk1l2bHJTBLJ4SwGpU+LVjVxlMtGOVKhzfXd8s1VP77RaO1aj4umRmLsRnRjKGBAIhQOEeCHZWSgIkQAJhIuCDO7u5ua3N6sU71Cv3GB/klgMfpZ5zuTkJwyEhgCl22SC1T58+UO3yza+Q2Oa6GdhDJpePu+t1sUAScEaAi1OdcWMuEiABEogLgSzu7B9WJ3zaZXd2oYWPB7/+uHr6/9TenUl89f3UiRepQ+com1v1x4V+HNoB33cspMb0PCQ+lD1ca6K79Tt3lYnDExnrNlC4x7p72TgSIAESyEMAe/jg+0ev9XZnn3OZwvy3F8e6143qME6Qo6JSzThHHXu+qqn3ojaW6RuBXbt2QbhjLTWm56Ham5ubpWq4yEdx63fu4+7bk8OKHBCgcHcAjVlIgARIIBYEnrhRvXxXsiX9h6tZ89Tko/GtHffblubOjgr2/5Ca9RmFSnlEn8CePXswxQ7Vjm8PywebdJv69euHeMh3Kz42kZ6q101mgAQ8JUAfd0/xsnASIAESCDGByp79/oZPUhdc69ru7OYWG+7styfc2XvW/Bnu7JcpfHiVR1wIyD4zUO3y1VVzs+BFI2tbs069IwsSQ9njwJY1soMNws6+0krdbyZPGmYaXoSDIkzh7kVvskwS8JjAnu1q9zYFd+GuDuPc2am6EU4EjMi0f0jT1ZMYgUQWIyYjLwpBUchuBCRX78Qtu1Vrz5cU/9+9HjeSxXtPAJ9SWnS/0acb16it7ynIdxcPPEh0Z3eRZ0ZRXusGlJ9RJ36XdCEe0+eZM+iIgTqH7DZnxKbvuJTlrZmlwcdG7iIXpu0lAWLw4ScMBqD4cc6VF0Ifh95sHr46ugSdC9Z2dHQ0NDRkWptpjHcxsA0vIsSVyLtaUDIwSvkYQWkaaL5vn81C3wF4bW1trl7ztPkOCoe1eIpgrUaXVghalBYjl+hTfB1Pwg4I48mUxztr4fkjKdzz8+FdEggfgVUvqLuvNb5Zw4MEiiRQ32h8rxQfWsKXaOF9/umfu+Yns/Z19bg9d3b8gcRfMui8XH9Bi2yrd9lhNgoXs7P+mc+MzIxBCZmRmTE6WVadqtuYJ6NOI4HMlDpGB8xZtBTOOoMOCJgsT5s4R5Zcuhm3UDjOEjBXBOmZNV6nAQGkESNxNrvoQLNiAxwYgxKgzLI2RJfjQ0DUIYxx99nObJd+CM00oC+FhuOWZlaUqyikRGOhg3HkShOqeFiLJRl5xlS52l4kYTwMFO6hehJoDAl4SeCtl/1T7WXlqhz/Ko0dP/APc6h6xt3LJrJs/whMO0MteVDt2KDWv6FWPqcOPL7YquHO/sRNalXP7uwoLuHO3lzdWI6J2ra2rOVDgRWcvsKfWOTFpoRZSwgwEpbjz7AolVx/5tPMK5hMKzDJaBZ8yItLvQAUCaBT6+t7LfCVNLkqTSvNnAy38tgmGfMkQFEQ9LL1ux6D5VLtSIzeRJlIAICY+DRbgllb9Hier7TiFpjLXLKMnczZcUuKRfk4zLf8D8NU2InDoiX5CRe0HzDT0sCAPL2QllgundmAXDjs1pXVAH8iYao+rNeYSVgKQQkWuzjzibVeezSGRNbbw5QkEH8C+o/QwbNUn/4KW3OUQVWXJwP4GrmI7PQzxLeW4D0BJDbyVigJpPJKYtwt78UT/jP/PdeIGX1Qr3heRJdARZWaPU/deY3RAgjuSUcp7fhut1F53dn3btmSph70Xzj8pbcyfQUZhywhFO7glJAr2V+p62aacWZGmmPMYcmVFpOpGzTbtJTIbiXGejKkhOaABhXDsp5Ro8UJV6hzXYL+SiuyW/FxxywyDskO/nv37sVZLlGCDAl04cEG4M+jXXp8sCSTBnyHMh8DHywJfxXol0GDBtm1E4QxcjY/b/CW8Y0whbvd/mJ6EgiaAHS2HEed69W2fbmaqKvG1DuP2BCYeKQaf4R6d6lq2mysIsX+jHYPPA/LFqhnbk3tzo4h5QkXmndnlxkp6Esp2/xHLlOGSmJzGrsW+Zkes934Ey5Ny7Q5Mwa2ZUZmxuRpQqYy81On5lfteczOfytzqj5/evNd0Etz0bHF01xUDMKk4XUnBkuYwt3r/mX5JOA2gR7pYziu+Hxgsh9z8HCv979qn1taUtWhW2dfqm78qtGz+KApvoXUd6ANAJnu7Eeeo45J3509z7RWsNNXNlqaI6mfk6liQrC6IQcGF6LRLotT9ZmVFaP7M0uLegxpeN2DARKmcPe6c1k+CbhNAM4tcsBxxf8DnjkdbRTu/oP3tsYh49QRpxrO7m0txmdNz/iqpepyuLPb3Z09rjLUEkOniQLUDU5N9jxfMbrfc+N8r4A0vEYeFGEKd697luWTgNsEIJ3lCGRjGfGWCWTM4DZIlteLwPEXqDeeNhYfL3tcTftIga0h4c7+wu1q4T3GtqFyGLuzX67GHtKrTMsXlKGWUaUSBqUbUhYwRAIk4DuB3ivPfK+eFZIACdgmgDWmcmjNZLuIIjKIcA9kzFCE1cxamIBsDWmkS2wN2bPOLz0jvKRefUT95QvqpTuTqh3u7KddqS75lWPVLlWIDMU5vUZekwAJkAAJ9BDombrruY7c//FVtm3btmHFNBYz4Td+1gONSouPXDPFYNnw38FW/xFtL83OTkC7ygTiaM4Z9+y9EovYgltDwp19wV/U5neSrcXLn2zu7LFgwUaQAAmQQBgJRF64r1+//pFHHhk1ahRWtECdg3HmOTMyTcfrLDpesmAwIAEdn5nS2S0H5b/77rvz58/HbsdYCHX++edPmDAhT9XabAR4xI2AdpXJ2KzXj5aKcA9kzOBH80q7jjxbQxru7DcqfPxLH4nd2e26s+vcDJAACZAACTggEHnhLpvYY1MCfYACwsJCInXYfEskOGIkgJQ6RtLrW/rSVkAK1JYgb1qMviX1ms+6ah2J7dJeeukl2TQN2v0f//jHsccei93HdAKxzXyJsFzKuwgpUyLlnBmj71q/JSm9GOGgZ/GGATt8Od5kALbF89CuMl097sV+tpPC3U/a/teVuTWk2+7s/reJNZIACZBAbAhEXriPGzfu3HPPxVcYoB0hhbMe6C1zPC6hgBGTFq9jRB+bs+hbaZFymVZOwfLTCpHs+qwDulLE4JNyYhXCOBDG90rw6QpzGnMYaeQSAZHvRrbEkXaJuLQYXOq8yTw9/8u8lSuljtcBqUXXZb40h7U9aOCWLVs+/elP9+vXr6d+/j9BAN8xlaPoaW8nzlcU7vF+DM1bQ2L5KT7GBF/2vTuTjYY7+4kXqUNmGx/t4kECJEACJOA7gR4F4HvFblUI8Tpy5Ei3SvO/HOjatAM2pMXgEgLrtddew1y7WAhvmZNOOglT0cGOQGyNcKRd+qwDaJ00SgL6jMJxyFy+JOA5SUBrpoRwf/bZZ7du3QpvMYx/zIe8ackTs2HDhkcffRSPFj6ncvrpp48ZMwaJC+bqY3xqVXV3duzYvr2xsTEq70OcDFFK9oHTW0O271OPX5/EQHf2kn0e2HASIIEwEYi8cA8TTCe2iK6ykvOiiy669dZbMfWOfdMuvPDCoUOHWskVkjSQ4+YDVqVdQqMjxhyPUQo+Ya2/aB2ShoTCjN7CHaodrybwIFm3DagBfNGiRTgjF0Tt/fffP3XqVK3aESkF6udTX57Ysq8B3zxvb/vXv/6Fl10jRoywXm/xKV9//XWMWuXj0tpaCehLmIqw+fKdd97529/+hidKfnYmTZpUvCUxL0FvDSntPOBDauZn6M4e805n80iABKJAgMI9Cr2UsBFq46qrrtq9e3cUd5XR+s8W7iFDhthKXyqJewv3/fbbb+DAgYMHD9ZjIRkF6UuR6WmXGBSJahdoCEPU4v0VLpFSzjpgvuzCl1Mh6w13rS5R87j07XjxxRcxxw/vKf1E5QqIbTjDTryUwBlGYtx70003zZo1Cy8ZJCPOZpVvlvs6vqmpqaOj44QTTvCtmUVW5MLrBWwNedqX1IO/U4PGGJLd6e7sRTaE2UmABEiABNIIULinAQn1JdQGJFqoTaRxPhDoLdwPP/xwB3VC273wwguYhIY6h3jFNPZpp50GTSz6HjJXAvqsY+o3PaL2bStX3fCu8f9pxOgCR58+fdBksS0zoG2WW9gxVlS7UMKiZ7ygkCEKYtB2iZczLpFdx8jlzp07kctn4b5p0yZ0EPwAYaoMJ/Q5TwAGr1u37t5770XPok8/+tGPyvZTspBdZ0QyHLqZ2QMHHq8OOA6Ast9lLAmQAAmQQBAEKNyDoM46SaAYAr2Fu7OSMAiEw5U4X0HhIYwYFCV6DjovZ7FVNUay7u4J+41Xidn3nCk9uAGHMT2EgMLWYQlkvcQQZfny5TiLOWjmjBkz0ECdPS1XZjz4yO5VHjQoZ5G7du16//33US9GU+gU83ACefSlDiBSki1cuBAtwiW0O9yZjjnmGClBEiANDoQh4uXAJQJyRmDt2rWHHHLIlClTkIaq3YDAgwRIgATCRIDCPUy9QVtIwAoBN4Q76jGcr7773d1NOxvq66sqylVLk8JqV2g+7DKJQGcnlqAmA0Z8z7+25qSNiEEu3w+IS7t1Xnzxxeb1IZHwcYdHHLbMGj58OMYY5mEJwnKYBxiIEQXf3NyMsOaDMLyDcCl3cdYHIg0Jb5pQRxh3MdOPZcq6BAZIgARIgARCRYDCPVTdQWNIwAIBLdxff1xtWJmS1FpbI9DZobohwXsCuEQYMRLoSVnV3eXc9QoCMfe8vIVm+JckiutDsOr3zDPPtMgIglu0O2T6kiVLMNcuGfGuYObMmSL9JYE+64DkxaUcWA4e6X26LBJjMhIgARKIKAEK94h2HM0uYQL4vKUcG1cr/Avk6DdMVfaYEYgBNiuN9/oQTJaLdxO8YtK2n8KqZVuokk4ytvIwMQnEkYALi7zjiIVtCpxAuutk4AbRABIggQIE9u1Rf70i9U2cXKkxMZ/zXyV8nBN3EwFs0Y3N2eHXjvQ6kMyLBIhHYgkk0uCjPNgfsF+UNiTNBSmW8RQcsexWNsoBgT179mxPfHECI1vDMyz3LlJpha9evTpy/nVpTeBlXAlQuMe1Z9muWBPoaFc7NqTrckN/J+S4BEzuy7FmwcaRAAmQQHYC+FrFSy+9hGUbsgIbwh3pEgK+VwB35RBlD7cxfJwOm8BKoXiRdfbZZ8sib3MyKUfHSF6JxGgBC1SGDRuW3azwxXK0H74+yWkRXWVyouENEggvAbip4POWPEiABEiABHITwBIOUdIImA/kkEtzVqSUS6wV0aodMQjjI27mz1yYcyGMovRZAvgu9WGHHeazcMf36bC4HGtUpMk4Y1Chw+ZAWrzsIQvtjlUx+Kwevg0iidOSITIzJg1F+C9jMEShcA//Y0YLSYAESIAESIAEbBM46KCDMN1eX1+PSXRR6rIIW4d1wJwA2s68hyzm2vfff39o1sy8kst8RoG4xAet/f/s93vvvbd+/Xp4BwETzMgKS9qLW1Dhcoa1+ivaWNd+xx13HHXUUdqzyJxSZ9GRYIIPZWzcuBFyf9CgQYj354DNixcvbmxslG96yDADVWcNIB52yl0guuuuu/RnLmSIojPqBuYKgB6KktKQK6iDwj0o8qyXBEiABEiABEjAQwKQ7DgcVFDkHrKzZs1yUGmRWbASHS8HsCGVDB5Eo2eeoXpxoC7cwrmlpUUupXaE5fMRuDQnk3J0LrmEwIVwxy605hcUUo6nZ1iI79MNGDBAOld0NmpMC6RdItcrr7wijZLPXBx99NEYlYmpaYkzS0MMxkX4pN3MmTMlS1BnCvegyLNeEiABEiABEiCBMBIocg/ZQCZlIUMtojSreUhYzF7jLHnhLTN79mzMuJvTQOyaLxHWMRDucOjv16+fxapdSQaRjRcafRMHjJEyCwbwIkVUu6RHGK2WniqYF1mQBj5UGpQrDXFWCBenOuPGXCRAAiRAAiRAAiQQeQKR3kIHehoH+iB/AAmguX/1q19p5Y0hyle+8hXMuKdlzFPatm3bBg4cGPiXLijcI/8jxwaQAAmQAAmQAAmQgGMCMViyaaXtkR6i6AZSuGsUDJAACZAACZAACZAACcSWQAyGKBTusX062TASIAESIAESIAESIIE4ETC2yOFBAiRAAiRAAiRAAiRAAiQQcgIU7iHvIJpHAiRAAiRAAiRAAiRAAgYBCnc+ByRAAiRAAgETwE4O2Apa9nMI2BRWTwIkQAIhJsB93EPcOTSNBEiABGJBQLZPzvzEiTQOuyPv2LEDqh0J8FGVmpqaWDSajSABEiAB9wlwcar7TFkiCZAACZCAmUBTUxM2c6iqqpJIUfBax+/evducGF8y17d0QD74gi+umFOWbBiDHHwGUr5LX7IQ2HASKE0CnHEvzX5nq0mABEjAPwIy4y5nXStEOQQoDh0jAfPnDLVwh05FyrAJd7j37N27F99wke8vamvREHM47TLPLSsp5QWFpOQLCnDgQQIlRYDCvaS6m40lARIggQAI1NfXQ3abvwOv9ToC+Gq62aba2lpIW3MC3DXHmBMHG8ZQBMMMnNE0GJymyMU2aYjc0o0ym501lyTIegtDBV0yvjaPwYw5Wa4wsphvpV1auYVmwn70jtSedsYtxy8BismbZkYgl1G3PxBorNQxAQp3x+iYkQRIgARIwBIBfF08Tzp8RTyiPu7Q62gaXFayjkmkyVB1uu06rAP6lg6Yb5nDkiDtrQUi4YNkrl0kuGQ0y3HE5Lo039JhKUFbhQB0Oc5ZhbtepYAE/fv3BxO8i0B1ufodrlOwGdyQHin37NmDAA4MQhCJFtXV1eXKKymLOaN8ZM+Epss0g5LIzBidWLcdafgCRGNhwDsCqVmNPHXgKYcPYkNDg/ZQzJOYt0iABEiABEjAFgHIRMfztbYqCklisyw2h2Ge+dIclluI2bZtm7kVGPZAMmam1Gny3CpYnTmBeCuhOim5paUF2gCqAGMJCHFdHQJ4wQI5DgkOEW+O1+GtW7eKcIdtKEfHIwDJjmKh4BEwx7sYxigRNsPBSZeZR5dLGkmQNZmVFRq5Kkor0HwJgLDQu9GLNimuATxacf2VUomG4VmRI2v/rV69+tZbb8WYEiv9L7zwwkmTJmVNxkgSIAESIAEScEYAf4PMQspZIRHKhfZqa81hHZkn4OkLCrPcgbqFhtYe/GkDANyCmxAiM18CIBKNSktvbhHkvgj3zLwyDS9ncxZ3w2nMM03NjIEBkst8yxwWC/UKjUyDkdhcr/lSyjGXD+EOSjEQ7gAiAzwNxAxBIgvGFEyAcsxp4v0apOzhhx+W1uKnCAEcOoAwHqZHHnkED5DAxQ/wmWeeiYcpkTA9sY5EQBeCuYEhQ4aMHz9eSuA5kwCeab7QyMTCGBIgARIggawE8KfZi9lELDbAbLTUKMsS8OcJs+b4o59pBmbKZUYPt3bu3GlOgD/6ogegBMzxmWE0ZNOmTSJbcRe5hg0bhnNmShdjIGlQo9k2bYDUknaJyLQYfYmAJiZ5gQv26wR2C9TpoXcxWxq21dhinq0z5A2ek/zD8oI9XjABTDKn0c5XYiocRsx30xJLmrQEjtPIWDSrR5lUVPy5srm5GU8YDm20DqB04NaqHZcIv/vuu/ICC1kQI4kljEsdQFiODz74YMKECVER7k888cSuXbtGjBgB46VpFs8amsX0unzwWbBggYxHTz755NGjR+tb5qIyI813LYZ1MnQrahwzZgyKjffBQVG8+5etI4HSJIBf5vmVkEUsEBmiYvG3GyMBs8cLtIGsEpY/T5kFQgmIGMAtiGDoVxQCw+Dnbd02SW/OK3+nMqtzMca6eVYq9fQFiBUDQp4GzwYOMNf6UAfyWJ6WJu1SZ8wan/kaB88wbJBckqXgY4ZkaWnSYszlSFjKx88R6vJWuB9zzDFoJGqVwxxGDFq7fPlynMUgoD/wwANhE26lpUzLru/KXLKmHPIA3g9g5iCtt7TNiEczM89IIJE6pQSyRprTgNLChQtxRiQg4+3H9OnT9eOlU6JSHUbAfIkq9K2CYZ0AgxPMrFx22WU6b5gD6JRnn3121KhR8lkWtMJ8wHLzpQ4jfsOGDUAKsJguOv3008eOHSt307LIpWDX2RHAfBL+LGFLaSTgQQIkQALxI4Dfe/gbjV93cE2Rv0TmNuIXIOJxmCOzhvHLGTPlzl4CFJM3qzE+R0bdfq9x9Ukc5lrMGkbiHcRkZkFREokzZifNNeJJxkOuE5hvZZZTZEzmz5G5OlfClcOHD89f0MUXX1w6Pu6TJ0/GG5ZBgwaBiX4C8ofzJ8uVV3JhVy9zHyOMJ1xeUObPaK5Up0RADrmbJ4xfxJnDg57cofs/hhnr1q2T94bmpukG4gcyMx5/QhYvXix4od3vv//+qVOn6r9A8jMsZ5SDgDksMdD9eFN0yimnhI4IDUoQQLfSx4zPAgkUSQC/FfHbErNy+KNg3pcTvxIhSfUvxoK1IKXjmexi8hY0zIcEUbffB0TmKjIfqswYc3oH4QBfg5hFnQPLrWRJrarOlRqrUa+66qoS+QN5+OGH5+LgRTyUB+aSIUmhO/HgYhnK7Nmzs3oTZq0duXDglvmcdmm+pcOoEb+ps5YZwkh4p8GrByNMkEETdCskbD5L2yUmc1AEvPJiV5egWemA+RYiXf9tgjLDebz11lt4FMeNGwfIaLU+8Ldch82BXPFIk+uWW/FiBhfNh/NBolUhJABnGExA4rcffgYzzYMXNeLlFs4+e61k2sMYEiieQICvQeRHqfgm5Ckhy1RlntS85ToB6g/XkUqBGBT99Kc/NQ+Kvvvd78qEkFnra6WeFolLSH/8qcu1nZlHZgdV7KuvvvrMM89gdYd+KQFLIJFz2SO3hJ45TZ4Y3JJcaee0S10v4nPdQlFPP/20HnzCZrwYQedKFvzelEDaOVc8kuW65Va8WGIGxTAJeEoAPyOyPg1n/BrEgRkQK363yIifLPxM4aH11EIWTgIk4IwAhbszbm7m4ht/N2mayuKgyASjQHDLli1r1qyRvSDwlxsH3vdJIPOc61aueClNXiAiDFOynrNGSuK0W5g+fO2118xNOuKIIzDFgpg8agO3pBxzRik/a4wklgLTzmmXul7E57olYwB85xKJP/axj6XVyEsScJEA1ufobV7E3QU/fZiGgB+mi7WwKBIggUAIZP9LFogprJQEXCfAQZHrSIspMJeytxuPbr3hhhtwFmPg3nPBBRdgjjBXOZDguW7lipcsuIsqRMFnPWeNlCyZt6DpIaeg4C+55JJiMDIvCWQlgEcOk+WYXMe6IHMC+PvifZT5ZZr5LsMkQALRIkDhHq3+orUkEASBthb15rOquZcayGGHhdfrFpJg6jxH+cnoD1q6/vLkspZWY6tjTz8MBzGUS9xnjc8aqQuRedDDDjssf+t4lwTsEsAsO5aWYnCIh828xhTl4E2a42Wjds1gehIgAa8JULh7TZjlk0D0CTz2F7XovrA1o3PmZ3dNPgmeu9bXc4etCbSHBNwiALGOPSQg0PHjgIAuFlLeh08a6eoYIAES8JpA4V1lvLaA5ZMACYSdwJZ3Q2hhxfb18AEIoWE0iQT8J4Bds7D2FC+gINxxcHMY/7uANZKAPwQo3P3hzFpIIBYEzv6Wqsz7S8NYepr/KJSi9+fGspTVtEU9fn2WeEaRQAkTwNoJvH0SAJDvjj+HVMII2XQSiAaBvH+Do9EEWkkCJOAXgUlHqipj85Ygjy1rg6yddZNAcASwggJrsjGhDpme3wp4yNCvPT8i3iWBiBIo8MMf0VbRbBIgARIgARKIEwGodqxAbWpqwjlO7WJbSIAEbBGgcLeFi4lJgARIgARIwFcCItnxSThMt2OuHWfE+GpBSVYGzvjwAs7xbn2JNDNOnUhXmTj1JttCAiRAAiQQKwLmrylh+WmfPn2wDrWgq0ysEBTRmObm5uXLlw8YMAD+RdgoEyXpszlgDkuaDz744IknnsB3Z+FxdNJJJ2HNgM4ro6bMLDrmvffeO+CAA/zc9RWfvsYX9MaOHQsXKdiJsxwIy6OiL3vuJJNJM6HdwWfOnDmjR49Oy56ZETGSBp8LwLKKUaNG4ZJHVgIAiy2eXN/6jMI9K21GkgAJkAAJkECQBCAE8TUl/Q1UmII9H/v37y/KKUjLolP3nj17XnzxRexkjzEPeAKdnHULJEYuNVhI84ULF4pAh3aHgp8xY0b+wZK5HHyIeujQoboKHwJbt27dtGmT3W9smZsJifnII49Mnz5dN1PGIdp4fakpbd68eeTIkVER7mvXrt2wYcPw4cNhPw40UwLms+NITckc8O7b7RTuZs4MkwAJkAAJkEDwBKAXodpxpJmCb6Ny1WkakzyXeDtRV1eHKU+8qUAyqDQ5ZwZ0PG7BK0lUu5SM8KBBg/r27avT6EDWclCXTF1Ldh/OUM8wcsSIEagLCltEtjRBX6YFcJnZTLQRuHQhUo5k1GdpDi5lB1IfWudKFZDRb775piDSTdDdhxiE0y6tRyJjmugH/EcffRQ/rSiktbX15ptv/shHPoKf3EQl6YntRlK4Sw/yTAIkQAIkQAKhIAD3GPh4iBQwG4Q/8HZnVc3ZSzCMFxSXXXaZ3YZj+vnpp5/GqAnyFMyhUI899lg4k1gs56CDDrKY0q1kByYOu6VlNnPWrFn5mwkgqEVEPMaWgGO30qDSYzSF8RucpsR4nPXARlpkPutmIjItmfmWDgsHMw2IdVHt0l6wggMVBkWSBZHmxDpSEssZkTiQDGcdLzEU7hoIAyRAAiRAAiQQPAHMzMlfa6gN+HjAW0b+YEN2mP/eB29oTC2AeL3wwgtvvfVWyC+odoTzy9mIYnDQTHn85BytMeTRicPcU/iZynVArGfeyhqJZFnjMerD4goMjaRG/ERPmTIFxLImzhqZtWSkRIG9tLy5SQyTAAmQQJLAP65Sa5cZ4f+4PQT7uL+nbviyYcxhp6jTEwHjggcJxIoAJCP+zItXDP6EY/YOl1TtfvYxVJcXKwv9bIKVukqkmVZQuJvGCx93GU5wxt3dnmJpJEACvhGIzFta34iwotgQwNdPdVug10XB6xgGfCCACemBAwf6UFGwVZRIM/2HPGnSpKuuusrdsR9+FRi/DfxvDGskARKIKoHoeDRGlTDtJgESIAESiAUBjwZF/ABTLJ4ONoIESIAESCCCBMRpNYKG02QSIIFgCFC4B8OdtZIACZAACZQ4Aaj2pqYm7M5e4hzYfBIgAesEKNyts2JKEiABEiABEnCHANaZYdtHrDrFR4KwW5w7hbIUEiCBuBOgj3vce5jtIwESIAESCBkBzLXj8zeyVwwcYbFle8gMpDkkQAIhJUDhHtKOoVkkQAIkQAKxJADfmB07dkjT8FGY+vp67BQRy5ayUSRAAq4T4CjfdaQskARIgARIgASyE8Bcu1btSIHd4rKnYywJkAAJZCPAGfdsVBhHAiRgJiBfX0LM87epyszvfuedLMx3M989fBLabEIqvHdnKswQCUSKAPza4SGTZjIcZrhNexoTXpIACeQiQOGeiwzjSYAEMgi8cFtGFCNIgAQsEcBcu6xGNaeGk0y0Ph1vNp5hdwnwE7nu8oxraRTutnsWOwDg9y8+a2d8wMp0oCC5sl2itQz8LrE1TkxVMgTGHlwyTWVDI08AfzV27doFZQaZDr92/B1BGH8yBgwYgHPkmxevBmCPTjQIr0F011gJIIvdZGZsra2t8KHST4X507nmZAyTAIW77Wfgqaee2rx584gRI+RHNO2My6wHqtHxsoGAviwYQN6NGzc+8cQT0O7Yf+Dkk08eNWpUwVySQNeLShGjLwtml5Ry5o4H4FDSx6x5ascGg8CEaaqsIgeK7hzxpuhuC2mUlTRKNQ5VwyaYimaQBMJOAL914RVTlzj69OkjW8rIr+Wwm15i9mF3TghoHGg3zrqPdFhuIV4CgkcnM9PKFanjdUBGC1Lj9u3b+/Xrh1v6bmYAKTMj88SY05stZDhyBHo9dpGzPhCD77nnni1btgwdOhQ/sfqHVgI46x8b2GYOa1OzRspd3NIFSna5xFTNwoULcZZkkNHTp0/XYtqcRRsgtei6EDCHpfCCZyRobm7etGnTRRddhH0PpPYYn/HLGpAxHya4NDGvm8x3KV4TZvkkEAYC+PWCWVXo9jAYQxvyEJD3IbLwIO0vrOTSkRLQl7pMKzH4E4Nk8ocGz0bad7hqa2vNf+UlmRQrGXVdcktfSiBXpI7XAaTH3z40FoPJtELiegmMkR42c8bd9pN51FFH4Qesb9++6HscyC8BB2eLecU5RxuKn3D8gMlvf10pIpFAzmKVFJ7/LNmlZMmVFgPh3tbWJglif163bt0jjzwyevTo6upqNBa/1/ShL/MH5Pes5MqTEgn0XbxLwTsc+b05a9askSNH6lsIOCjQnD3NEvMlasRjPHz48KisiuPwBj3LI9IE8ONM1R6JHsTfd+t26j+4yKLDeQK5kqUJd7OrTK7SdLy2VsdkBnQa/CHAXfkzJAH8dtV3oxIALjRBrw+R5ojx+cMxcEmicLf9lMJJxnae4jLgh+rpp5+GgJafMcjK2bNnw2cms1Qk0Afu6nDBABJD9OtkOi+WUsEvU4RsZnUxiwFnQMaeD4JaWpf2KwCIMmOQEpFpt3R2xOsEaZFgrt+lQEkvWLBgxowZKAoHUkqBkl0y6nNmpCTW5WcNSLG4hQCauW3btksvvTQ8wh0EnnvuuYEDB+KvJiSOPmDt+vXr7733XnQQHsW5c+dOmDBB35UA0iCg+TBAAiRAAv4Q0L9XUZ05bLd2/Oqz6+Ou/xDkCcCMPHflFn55hucPgUVu+BMG2lq4m3Pl6gWJx0yoJEbb4ZLU2NiIS3MWHdYBcwL8nYL6ClYUUbibuzukYTwlF1544a233oqRIh4XhLOqdnm2zI9aSNsTVrMw/Txz5sz+/fvjdwF+pOWAsQUDSGAlGdLoVyKSJfNdCvwa4ZXkuEAxA+eCgRA+J3i8ly1bhr9eZgKwEzQWLVok6DCmuu2224455hizRxPS4Jf41q1b4dOF98vSfJ5JgARIIEIEMMU+bNgwWy4c+te4DjhrbxR/baLJcugmy99NXOpAWjjzEjH4m5I56YMSUDju4pDS5BJhzB8BF4W7wOE5H4FJkyZdddVV+FQHtiPIpdrz5ec9CwQw8j700EMtJHQtCX4FPP744zLBj98L+F1wwgknOOtf/ELBAcsKBiQBqsarRmd1udb+3gWBAEZNItwh03HgbxiSwF8LYZ0WYUh8/JGThsgZadJeNOv03gXeffddrCfDcheMIjIP/DHQv/pt2YCu4U+6LWJMTALxIIDfGJGb+Q6KPP5YpFWNvwUSowO4TAvjMu0vhdl7TSfWgcwS8AcIv+3Tqvb5kjPuPgN3Xh00FjSN8/zMGT4C6FOL71IK2o7f+DgKJgtzAky0g4bZQvz2xG9JDGwWL16Ms9zC8AYvRvCrE7f0AeGOt8w+z4K8/vrr8OHBixqQF5medsbf4ExBnxaDNMiFSEm8du3aO+64A41FW0Bj8uTJZiAMkwAJkAAJgAB+bTrj4MAlyVlF3uUyXkN7VzpLJgESKEiAM6wFEa1evVpcxTDRDjmLF1AFs/iQ4OGHH8baYix6wfhBxhjmsxiQGE9lGVDJL145Sxr8HcLlSy+9hNIkL9T8rFmzMLrTsh5pbA0GkDHqwzkf+pFVkAAJlBQB/Ka15ZIUNjgU7mHrEdpDAiSQhUA4hzcy5Y+/AXkOLGZCMkmgwwjoGPwVwYE0eG+Axcrmxh9++OEYq+RR/5IXCaDpM8+IhHaXA5vYDho0CL5Y5vIZJgESIAESiBYBuspEq79oLQmUKIFwuopBGePALLjjXhHJLiIezpevvfYa/GTebDvkmeZT2lRN/St9MF3fLR+lMv6nnThRoSxpSAZ67pneoPaklgn/zq5OKPja+21Y2lCrrj5bfWy6jSxMSgIkQAIk4CkBzrh7ipeFkwAJkIANAuIU9PtNV2zrGmojm2dJDxyuVvzYs9JZMAmQAAmQgE0CFO42gTE5CZAACXhJAE5B475b8UETfF/UiH5e1pS37A92qa5uNaq/Wn9t3nS8SQIkQAIk4CMB5294fTSSVZEACZBAqRCAU5DslwDVHqBoHv3/1Ps7S4U520kCJEACUSHgcD+dqDSPdpIACZAACZAACZAACZBAPAhQuMejH9kKEiABEvCPAL48dfXVV7/44ov+VcmaSIAESIAEsIc9IZAACZAACZCALQL//Oc/f/CDHxx77LEf+tCH7rnnHr33vK1CmJgESIAESMAuAfq42yXG9CRAAiQQagIbd2/cuGdje1f7rn27sE1kv7p+VeVV5aq8S3XlijQnkHB754FKVbd3tm3cvR2tlQJ1snd3vCsIXnr5pXPPPXfU2FGfvfKz8y6Zt9/Q/UKNhsaRAAmQQMQJULhHvANpPgmQAAmYCCzfvHx3224o7Hd2vNPc3qzK1PbW7ZDvTa1NjbWNCGRGThwwcdW2VZJAhzu6JkG4o+DH330cuQ4YfEB5WblOpj/I2tVpfOf1/XXvX/Ota/7np/9z/rzzL5x3Yd8BfWHA8L7DcUsr/oKXwxuG6yGHZEeMqWUMkgAJkAAJKAp3PgQkQAIkEBMCEL6i2rc2b4VAryw3fsNvaNqAbzENqR+iA+ZIJIMcb+1ora2sNYfl801d3V1tHW1Q/ygQuZBAku1p29MLWeK7T7t37b7xf278vz/83zmfOueCyy94o/ENrfg7uzvNA4DMy3d3vfvS+y8N6zvMmNQvK0cCxKzctrJfTT+8JdA6PlPZW4npZSovSCAvgXB+pDmvybxZWgS4j3tp9TdbSwIkEH4CshWjgz3Ul36wFJIXDbz7obuvufSaolr66XWq72i1Z736+xi75eATrfhQ6/lfPv+Mz54xou+IwfWDofs/2P0BBgBZL1E+EqzbtW5MvzFILNWt2b4GLwF0DOT7pj2bRNlLAosxDdUNBw892KK+z0xmt+1MHwYCHR0d69evr6+vr6mpwdshfeA7xzqsAxIpZssX0FpbW5HxwgsvnDRpUhia46kNHKh4iteLwiu9KJRlkgAJkAAJ+E8AWhbT1agXutn/2s01lqmyivKKyrLKbc3boMVxlun/rJfIiHjM5ctdXMobA3MM/PW37N2CGK3srcRgqh6vIJ5656maqhrzXH7m7P62lm2oV95X6Cl/RGYV/UiZVeJnjURiHj4TaGtr+/e//z148OA+ffpAoKN2kekSyDzL3e7u7ieffLKz0/jZgXa/6aabTj311MrKSi3xETBLf3NY0uzevRsZTzjhBJTg57Fv3z4YgwEzKoUlcpZAfjNKaqASmyEKhXv+p5p3SYAESCAyBKBNZcb9kKMO+b+l/yd2v7vzXcjocf3H6QDizeG1u9aO7TdWEuvwV24esGOvGjBs4G8T5ch4AJ4zkuzJO5+8/urrJWw+l5WXQT2c9+nzjvzokSPGjsCtju4O49zVISVkvdQJ5C4utdA3x5h1vKQpGINk0PeYqof+RliOTMUPbgAC3TaiwbBZjlyiP5fER64idX9Pzfx/sQTQlRCyciCsD5QrYQnos9QHzS2qXS4R3rBhQ21trVxaOe/atSsQ4X7rrbf2SxwwUut1reARCRT6lo5HAxcsWCBN1gMV/PzqBJkBcyEYpezYsQNr0xHp27Fz584VK1ZgSIYP1aFSsVBqzxPGrXXr1j3wwAPQ7sh4xhlnjB1r/MbLk0W3CGlaWlowFJw8ebKODDZA4R4sf9ZOAiRAAq4RwAJQuIZDcQ6qHwTXFJnk7lvdVxzWdQD16TCU8X4D9oOPOxKbw2JTRVk5NLfh4tLHULRSJpL1qe7Ty2jM8XWrPv36fPiCD3/qM5+aMGrCyq0rReVj0h0pUXieS51AEuNSC/20GK3jdZr8MUiGMQDsNx9ps/tyC2oeAbNwx2Wm6M8l8YvX/TK0yDVnnyve3C6GNQE4unz84x/HZDlkKPYq1cIdgbRLfQvxUHVvvPEGzlIOFN5hhx2GErLmyloOskABazN8C8Bm1Nvc3AxTpVIdwGWmPMVdRCKLqHbJgjAGKkAnWSSN3Mp63rNnD2R01lveRW7ZsmXRokXDhg1D5+apxdx8JMPl4sWL0WUIg9V99903depU9Ky5BDOltHgMUdBYCnczFoZJgARIgARcIIBtWDAfjHlf+JNAdGItKTTryMaRUNXwF5dAWiS2msFOMuJQbg5jkh4GYZq8urIa2cVBBWXK5jPQ/WIupti7u7pHjx390cs/esCsAwb1GzRhwATckpGDVvz5LyW9+LhLsSL0IcplwIBIidE63mIMkmEMgLxSrJxlVGBW/JIsTd8jMlP0IzKXxMctx7ofXQZpLn2HsUGar47eKSgtHjXmEvS54pGlFA6oukGDBjlo6cUXX4zZayjaaPm4n3TSSXWJQwQrzpkB0EiLhIRdvnx51oGKObE5rEtAJL7C5r9wR7/A/al///4y4w4zcIhV5nBaDKbMRbVLGoSrq6sBLC2v3DWXI2E8D+bqzMkCCff6dRaIBayUBEiABEjALQLaJxvz6IbEtLaP+/6D9tcbvUtYi93Z42fDNtnVUSdb2r1UDJ4+Y/oFX7zg2DnH1lTWoDq4kku84dcOr/EexZ//Eln61fbb17EPZ8kOoQ8dj4GEDBgQKTFYqyoJLMYYicuMvDoXApljAIk0p5FwpuhHPCIzJX7WSOu6H2L99c2v960xttHUZiAMQf/aB681dzZnxjsT+ig8l6bPFZ8nizY1NgGsRr3qqqsww9rQ0BAqrZaf8EEHHZQ/Qa67kRuowMXls5/9bK7m5IrH4ATz9HB3EUEP1Y7VC9K/aRJfl6DjEcC7CBz6VuABCvfAu4AGkAAJkICbBDDvXvwO6FWJ18hVFdVSVFqBE6+YWN9ef8oppxx99NFm083iz6z4oTvzX47qN+qY0cfo7MP6DKutqNXDAFSRpuwtxmC17rh+4zCoMBuZOQaQ0vSf6lTiDNGPW3pIk0qWI9K67kdRGBpNqZtiLhNhcFuxdcWkQZMy4x0IfXRirsn7XPGoN88t3NVdBlPhqZX2nOS/m9aokFxCzw0cODAkxnhtRkQHKnaxoE+xR5D5XYp4BNktJyTpuR1kSDqCZpAACZBAkoDj7SBdJBgGGzJln7MYLT2FT9Z9JLFrJO7K6lKdDK7/EP3m2W7cgsKGxE/ziskauXzLcoxA9EsDKRbe/wjgg1Zyqc9vbnnzwCH4Wm36sWzzskOHHpoeq9SKLSumDEkX+ki2etvqTKGP+IqyCr0EwlwaaNRX1KdN6iMB4sf3G4+ArJpIy4Jb5mGA3EUW2XxTLjOxm+9mdqW5ijx389wyl8AwCaQRwLx75N6lpDVBLiMz4x4b4lm7gZEkQAIkQAJpBCAN02ZwncVo9yEoS6jwtNl9iZGKzKIQyRCZqT7H9x8PO9MkftbIzMl+ZMSrg8ypfRgGiZ/WfLmsqzA8cTMPWYSQGd/S2ZIZiRhUgdFF2iAE8YjJNamP9JIgrUBkkVtmCJISMWAIbjjnuaupZnrto5w8d/PcEiPNPZj5BgBp8ifIf1eq4DmiBGLzLsVX4X7PPfdgTcDQoUOxejfzwKOQGSkxGzdufOqpp/BJBaw4mTVr1qhRoxCP9NjhSBJk5jXf3bZtG9YgDxkyBJGRODhKiUQ30UgSIIGoELCi+NGWzGSZoh9pkNKs8ETiZ43UQlNAQT1nlfiYisYcdta57SmDp2SdDrcr9KG2UTuEslhiPufR+kiWNUueYQA0vSHccwwSilH8MCbPYAB3Ne2s44GCCQpmN3e6g1EBDOBBAsUT8FW4Y4tTCHeobcw3iPJOa4BEymyEDiPLwoULcUZiaHdsOzpjxgwpRGfXWSQgZ9yVQrDD0aGHHuqzcMdWozjGjx8PG3DoMYZcyjkzEjHvv//+Qw89BO2O0eFHPvKRcePG5c9iLgoNxxIK7Dubf6ckzS3wAIcogXcBDQghgfd3GkbhDH+VoI4PjN0ReRgEMtW89Uhbul/vKiPcIY7Ft0QLSnO8XaGP0QVEs2zzL+Xoc65JfZmez5olzzAAZqPkXIOEIhW/mKQtRwAxyaFC3jl+pITszqP7899Fdt0LzkYFYnPx0r9gCVIRzzEm4KtwP+SQQ6As8ZUAqHCtsBHQB0BLWGS6hLF9plxKNyDc2NiITxnrXDqQll3nggK29Q0FV/p769ateFEgAhoWSpkQ2TpsrkWagLuQ3ebdRu+9995p06Zl/SACsiO9nHUAmxZ98MEH+CDC8OHGnJA/B77Z9vbbb6NbsVIbAw8csAdHWiDtEglK6ptt/vQFa4kZAVHwATaqoTbAymNStXXdn0vl54q3JfTlRYGtSX1offRB1ix5hgGirXF2XfHDmFzT/7iVZ45f2p4/QYG7eUW/UXuhBEhTvPQvWIJYgrZggIQu4GsBAInf4atwhwZ1QBCTso8//rjs4wO1B3V44oknQosXLErUMJJhnh6qsWB6dxNAOu/duxdePTADQwgxRp/TYvQlPqCgxxuwB2FIfxl1IC9ipAQJ6Et9C8IdjZVL3PXn2L59OzoIHlBip6HZTSMKcxj2JG4a4w0Y+fTTT8sWSzBbf1w6U99LTFo8ngd8sw1PVN++yf2k/Wls5GrhO43IdZnZ4FH9zVd+h6Harz7b70pLvL6sKh9MssbnEvS54lGIA62fNYtI4Vya3jC451tg5g6FmixG8aOoXIMB3Mozxy825E+Q/25+WY/yCycopOwLSv+CCWBGQWVfMIGwKjivXzCBwWT3xvxDCKmLZ7sEfBXudo2T9NDoeh8fqHaErah25NUaEbmcVV1MLnxky8F3tiCzXnrppbTdRuXLbSLZcdYqX8dIAPHICH+kAQMGFGO5g7zyTkM4a6tQjpiKgDlSwhDr5o1REZaPS+OuaH0xA2HEpJmEGEzz453GAQccEBXhjjcheC8xYsQIPQJB08xheVzlnCvenCZrOA0U32mkAYnKZfefomIp7QyYQFZBD5tyxefS9LniUVSuW7mGAaLp8991pvhhTJ6Meeb4pZPyJ8h/N7+sR/kFExRW9rlXBQjSwiUUPTYQUAXFfcEEKMdKGovK3mIyMb4UzhEQ7uiGEtlqFC01j1Lky212nXxGjhzp84OLuXZ8xEF0pCh1PbQwB8xhKG8MUbAGAGexFg3Hx6UhWHELR1rizEu8zUBeu3B8JmOubv369XCC0uuqcQvNxBnczOe0S/OtgmGR+1r0A9pjjz2m32ncfPPNp59+Ol7gZCp+nSXzFmLy383MgvQYlaF2NBY28yABEggVAahAEYJpVuWKR7Jct3Jpeik5112UlmcWP//dfBlzz/GLPXleAhhtzJs9v6xH9oIJCir74hMUVvaFxgZoCFRynpUAVhJYTGNF2aMoi8msiHu30sCqYI9oCHcwgrArkW8iRG6UAi2Iw8FzHLlvtjloo86CryvjU3zyDCfGJsnxCRKIgs9/hg6WlPmTQUYjmZzT3mnAh2rdunXanUkbJgXqSx3IGm+ORNhcnSh4qR3fwcawat68ebq0kAewkAbjDbwyQitkoGLRYDQzHhsDW2wvk5FAGoFcml6S5bqbS9NLrjx389zKr/hRcv4EBe7mlfVG4YUSFFT2xScoXvqjIe6o/0IjhILDA3kSLCazIu7dSqMNAygAR6+h6/HwSLz5bGWcgPRWkqWlcaK3zJZFINzdpV68Q33wliqrUOX4hw97VxqBisQlIiVg3DL/QxqkRIwEEll0AmSR0pJ58yZOaClboEpklBK5IYqtTkxLjJXZONIioX1tHfrNQ9ZcaXehKZcvX46zVIrB1cEHH5zmdoVy0nLpknPFmxOgZFxmnlELsqc1NsyX9913HwzGxlMyFIF2lxXhCOBAZNbLTZs2yTa1+IE9+eSTR48erdNLINel7gUMFZwNesMMk7aRgBUC0DpZ5Y7kzXM3z608sl6KzZ8gz11UmmeyH4UXTlBI2ReU/gUTFC/90RBX1H/BQgoOD6S/rCSzIu7dSiNWuTgGcFZUCQj3915TT98quIM59x+uzvuOGrpfMLWHu9YSGaLk6gQ9S50rQZHxnr7T0Ao+MyCuMkUa72d2DG8g3LE0XNoi8h0GpAVwKQMV3EJ6vU0tsj/88MPTp0+HUpcSJK/0b9YzEGHZw5lnngm572dLWRcJxJtAHlkvDc+fIM/dPLJeSs6foLCyD8HYAA1xRf0XLKSgshekVpJZEveF3gCgOivlGMkKuRJZTGMxWdbqSkC4794GQEEeOzeq159Qsyncg+yE0qzb03caokezgoVfUNb40EZioyoIbpiNMxS5PvJcwkMGyXSLEO7Tpw88kcx5kR0JcNYH7koYwh3OSzq748C7776L9R7oaCyJwfiBfjuOSTIjCRQkkEfWS978CfIre5RQZILixwawoeC8fsEEVgopqOyFp5VkVsS9W2lglRV9byVNMUWVgHDv7PnrOPMz6sDjVFcn5spUV4cR6ES4U3X3BIxb8g93e9KkAvpuIoC8yKgLMQpEFsSY8u7boza/Yzx/iOdBAkEQ8O+dBkQqftY6241/HW2Jc8+lEYP4NuzMmkyQjJH4RBYdkyWQyCVlogoUNWiU+tgPVeNgt4jiQ2l2i4JKfrz3NrWzZ88GbSkH6lwUvA6kXUK4YyXA4MHFNgGz/tgXFUufsaPUK6+8AqvgfnPRRRdBytttEdOTAAl4TSC/skftRSYoUvqLAUU6BVkqpJDjkHSElUGCFXHvVhpY5eIYwHFRJSDcIa/lqO+n+g1Lhv353/o31N++bVQF53geJBAtArs2q6UPquamhAQXOd6jsFPaGjI6odERo0fIPjRzy3tqxTPq6PN8qCpXFdDoebapxesIOLLjyJUd8a5sAIVdg7AjKibdFy1ahLEBioWCxw5CF1xwAab/4YdDH/o8XcBbJBA/AkVKfwApXv0XLKTgywHpFyvJrIh7t9LAKhfHAI6LKgHhjqlxOSp8b6yeaM/79ztpHv9HAqEi8Oj/qjULg7eookrhX2XijB9h/Ew1bTGsamsO3DZPPZEstu4Tn/gEXPPfe+89TLfrLHDCefnll7FVDnzox44dq+MZIAESIAErBIpX/6glfyEFhwdiZ8FklsR9ofUDYm3+Vw1ij4tjAMdF+a5lpel+nrV6xj4wPh96DtL/qn1uKauLH4FdCX2ctV3YaslQ0pWGpDZUdXUynJTXWmfnDWg5rnNlianE+tBeJqx9Xf3ju0YM5vhDcPjniZS7sfX19eLjDvcbSYVZdvjr4yNl+H5z7ny8QwIkQAJBEsiv7LVlBZMVFPcoyq00bo0TYJLjokpAuGtXGf+nvRNvro2Hj64yBgUekSIAPW0cZeryP/aW6VWqrDywluj3ZvB059FDwOy3Ix9ug9f+tm3b5GPGPan4fxIgARKIJ4GC4h7NdiuNW2MAmOSsqBIQ7tpVxn/1HOCYIZ4/m2yVjwSSErlb9R8WopFncjgRlhl3H/ujQFWZfjvDhvm7pKeAgbxNAiRAAjEh4NYYADgcFBXczJlv3RcGVxn/xwy+4WVFcSUAxxU5QjW3HU6rwvEMiN8OzhbNcWU/Sot1MRkJkAAJkIArBEpJuAfoKkMfd1eeVhbiJwEtkcPhTZ5sejit8rNf3Kvr2Wefveeee7CG1b0iWRIJkAAJkIC3BEpJuPs/7Z1ylSkBlyRvH1SW7juBcDqlYCGsHKEaTvjeOcVXiN3fV6xYgfPzzz+/atUqbABffJksgQRIgARIwGsCJSAotauM/8Jd7ypTXgIDJK8fVZbvM4GKUEpkzri79BjgO69Tp07Fl1axBzwU/AcffAAv+REjRpTzl5VLhFkMCZAACXhBgMLdC6o9ZeoxA11lepDw/5EhUNnzyyFcPu6htCoynZoyFBvOHHPMMdgycs2aNevWrdu+ffuSJUvwBdYJEybgu1ENDQ3WfeVThTJEAiRAAiTgMYGev4IeVxNk8Vo9+z/j3m18yNA49B52cskzCYSfQDjntsPpwBP+3sxhIb6uevDBB48aNQreMps3b8bU+7333osvsELWX3TRRZiDz5GP0SRAAiRAAsEQKAEXjgCFO11lgnmqWasbBFLCvcON4lwqA99+kkP/cLlUcCkX079//yOPPPKwww5bvXo1VDtQtLW13XLLLZiPL2UsbDsJkAAJhJBAKQj3Htnh/4x7aszQozZC+AjQJBLISkAL9462rPeDicSHVMWwUFkVDAs3ay0rK+vbt2+n/uqFUliu+tRTT23atKm7u9vNmlgWCZAACZBAEQQ8Ee6Yp3n77bfDMluT+nypJ+o5X2NTVVcU0UfMSgJBEAitU4oId+4q4/ZDAb92fHUVCl4KxipV7BS5cOHCxYsXYw2r27WxPBIgARIgAScEcmrZn/zkJ/glvt9+++lS9S90HcAtHdaB11577b/+679aWlrq6uq+/e1v4/WrOZk5rLOYI/F34tRTTz322GMR6c7R0vMnp6tDYQocX2vv+cuky8fCrPvuuw+NxU4LsEofSKDDEkiLeeGFF770pS9hWwZMVl133XXHH388kuk0jTu29ceFUtt27GzdsMFcFCJx2draClATJ06M0E4OGKhs2LBh5MiR8I5NNI6nmBLQM+5hk8gYUeAdQNisiv5TgNWoF1544a233orfS/jlf/bZZ+OHfevWrWvXrt2yZYvsQoNfdNFvKFtAAiRAAhEmkFO4v/jii5WVldhkQBqHt6UiSc2BzHbjU3w33HCDbAkMSXrNNdfMmzcP5aSllHevKFC/hNXhV155ZejQoW4K97cXJmu//spkANodq0XhOdPzr09H55yt28rfreour+jqVp3dZXDzhMbv7FZdiXMibETKJc7419HVvWPZ8u+fMBaBjq6u1bf8tPGNIxMlSMryA2ua+yfE7fy773mzfQFqF4ZyxiVWg8Gp9Mknn/RZuP/ud79btmzZ9OnTYQmqxlkOHdYBxOswAsh17bXXyqjsqquuOuKII8x3e4rplcUc+c4774wZM+a4445LdkQU/le6AxU94x6qXWXwzCRn3Htc4KLwFEXFRqxGxc815tdlVxn4u+NPALad2bhxI35T4TfzAQccEJW20E4SIAESCJhAS5N66Dq19b2EGWWpWePk9DFixMCst5L3enKlLtMltW4kVB02FtAz7lphZwaQRUdCiZo/5IHw+PHjhwwZIsXqZJkBXcjOnTvHjh2rzfAkgM1eejvI1ig1ui9QwJXTnhqYddz43hbu6n2ZvOrGUCFxyMIvBIUA+MCpFNo3mc6v/+FvMDaRkO3eIKwzq0Wk7iN9F6Zef/31elT24x//WEZlOqUOIIsO6wAily9fPmPGDJ+FO5Q35g4POuggvCVAu0BbDh3WAcTrsATeeOONX//61zJQ+da3vnX44Yen5c3MohMgF3bZO+ecc7DyTzMMeaDXKCXMM+7gGLbhRMi71rJ5+LUwcOBASY6HGb+Nhw8f/txzz+ENG1W7ZYpMSAIkQAJKrXhGrXredRA5hfvVV1/toDL84f/pT3+KCRvINUgfTNt87Wtfs+VT8fnPf95BvfmyYBsKOMngGDZBVdUqbEYB4Q6fGQngjDBiJNDV2Y3Lrs4yvZNjvqIt3cMc/LmXf7Wzrh+Y4EAeCeAMF1J46QCUpYLcSzRz5szRo0dPmTJFLMFwIi2Ay8xILFNLG5WhkEGDBmWmzJodkfCxQXr32mGpJNgMyKgaDgDIILRxhj04S0DHS4kSmfb66Gc/+5n59RGyS+LMAOIRuWvXLoyOsFmHz8L9H//4x0MPPQSvLRlC6DM259ZhHTBHLl269Ac/+EFzc3N9ff0vfvGLM0dX7pdo4dp33t7VOVBn0QFzXkTCYQz+FRgdCRYPzy75uPcapXhobuSLxgzOrFmz8OMQ+ZawASRAAiTgJ4F9e5O1VdWo5Pd8etb6GxIiEe7REtANPTHIlONWoricwt1Z06DR58+fP3fu3KamJqh2hG2pdmeVFsj1zfkFEvS+nRTRhrhP6PuEjjekf/JSAgm539W18OUXv3/VVW37Wvr17fOD73/viEMPMYYBvROXjTlk6BCP3yH0bkLBq/POO69gmswEmaOy//zP/wy+fzMN7R0DNfm5z30OY4zGxkYZY+AsB+R1T9AYuqRF4luSaQMVvIDCwEOnRPqsYYnctm0bhjrwDO5tjudXWBeONyr46UurCaMRxMA2iZeADFEQhiy76aabpL3Q7t/4xjf6Xnn+fsOMtM88+fize15GyrQDYt0cgy3AsR34n/70Jynfw7NJuMOL49lnnz3wwAPRyzKQ0GcdgJ06rAPwT/vEJz6BKQY8Ffg1NWfOHA8NjkXRmR6PsWgWG0ECJEAC3hFI/sFV53xLTTzSnWq6u10W7jALfwKhVyK/ftHwg0+4wuclPeOcyXeden7kG5u3jfpmGEdl2rjcAcwXQrjnvp/zDgYqmIE2vz766le/Gv6BylFHHYUmYVE4XJv0sEQHckVi9WHaKKWypk6p3ShqQEPfwbWDIe6zHnq0A+mPcE6axd+Q12JwchPXssSIGi4cv/3tb6dOnQpZKaMIPZzQAcTrsAQAAR5Q0l5MMXzkIx/57ne/C+mPu1D2WtzLZWYk1mvCCQqvFnGr+GZZLIHvByyCYjISIAESCAuBnpkyN+0pK3NfuMM+iBt8N9tNQ0NcVkk1NiajMmuPU0QHKqckDmtNTKWCLoQCNo9SPvHpC9UDv0KK006Zc8qMcyDKs4h+RLW3dre3dXe0bd30QX11pdqy1tjvRf5BZCMAF4tUDG61ZcQgTU8WI72EO4yFKMmMCLcnHd5SJmP9eAdeaPTr12/EiBFQ5zKugJ1pAVxiUGGOxEIa8ygFPlRvvvkmykHZKEefzQFztZiYgHB3XbW//vrr2MvrmGOOgYs5HM3lwLATASwKFy8mtPc3v/nNiSeeaL6LMMzGwIOT4uZuYpgESIAEQkMg6czhij2eCHdXLGMh4STAgUo4+6VIqzJHKdVNG6XM8qdvKV/9UkKCJyS1WWRjZUjPMUoCT/Rce/3/2r7YFeqjiQOiXI8rZHSBsw6Yb0kkfIHuvvtuOOWLjfDpxzsZqF5JmSej3ML2iF6sW3j//fex7RJcd9AXGp6MOm688UYZacDmL37xi5dddhkEvfnlANYnYDUF1ovrjAyQAAmQAAnEkgCFeyy7lY1yjUDpDFTSX6c8eXMK4oaVqbAPIezWCkd2+YddKRGQs47BKvND5xibuiYOzDeLirVu2j333CNLccTHHcu1ref1KCU24MIeRPDXx1x+W1sblDoOBNLWWsgiUTyWGEWIexICcPhBSiuGYdRx//33460MXooCGj1wrEBjGhIgARJwQiDlKuPmjHuWXf+cGMc8JEACMSPwwu3q6f9LtQm7MxnquUdSV1Ynw2mSOl1kI311b9mdKMHIrqW5ucxEFQl/lVTV3oSiollh57Bhw8SLCSSw7BhLcqG5tbJHYOXKldi3Ed9VKIjqz4kDW7IOHjwYu1r9/ve/x/sHlHnXXXdh5FYwOxOQAAmQAAlYJfDsP9Rz/zASn/9DNWG61VyF0nHGvRAh3ieB0iQw/Uw16UhVXa/glFJda3xyOF5HVN6lwE69VZe8H9BfxtAdYn2HdUzMY4cl6H5Mvd98880Q/SgEo4IzzzzzzjvvHDBgAHaJ9cIRSJvKAAmQAAmUDIGeXWVcbTBn3F3FycJIgARIwAMCLr4fgFiH+80LL7zwyU9+0mzppz71KfjZz549+4c//KE5nmESIAESIAEnBJ79u3run0bG83+kJkxzUkK2PJxxz0aFcSRAAiQQJgIuvh/ALjTwqxk6dCjm7+EcL62sq6uD1/t7771nffI+THhoCwmQAAmEj4AnE+6Kwj18PU2LSIAESMBjApkeOPg8Kr6iNWbMmKw1Y8sd13fAzFoRI0mABEggLgR6lLurC7co3OPyeLAdJEACJGCHQPo+QkodfPDBuQr4+c9/jr0pv/KVr2CePlcaxpMACZAACXhNIG4LzrzmxfJJgARIIDYExAMH5/wtwkrW++6775VXXsEXZx9++OFt27a9/fbbcLvPn4t3SSC6BPB48yGPbveFxfLUdpBuWkTh7iZNlkUCJEAC8SMAZX/GGWdgPn7jxo3YQXLkyJETJ06El/yCBQvi11i2iATwYGMPVjzkOIfhIecoIvLPpKuuMtxVJvLPAxtAAiRAAj4Q2LFjx6OPPnrRRRfpjz3ho7PYoIbOMz7AZxVeE3j22WdffPFFbIeKLxtccsklLS0tUiNGrT/72c9wCxsuff7zny/GjHvvvfeJJ5449thjsVwEW7JaPC9cuPDrX/86vprcp0+f66677vjjj0deK9nxZbpirPU5r4sbZ/lseb7qnr5VvXCbkeATP1Hjj8iX0s49+rjbocW0JEACJFCqBLDL+4wZM7RqBwZInJ/+9Kf48BO++QoRX6pg2O7wEtByECbC4+vpp58+6aSTJk+enGkxNkjFpwymT5+OrZa0akcylLBo0aINGzasW7cuM5etmNdff/3ll1/GB4+xXERnlDDO0NlYAi5n3JV4fBcZ31uQ7yVDu1922WWf+9znKisrIfqRUo5c4Z07dy5fvvyWW27BKzJdnacB2P/Xv/4VX4oYNGhQj3WW/o9x0ZVXXokG9u3bF4MTfCHOUraeRMgIJr410w5D3dG9BlH6sSzoppi1Lgr3rFgYSQIkQAIkkE4Afxoxv64/41pdXQ01g0nEmpqauXPnpqfmNQkERACqF/ob3wP+0pe+hOElns+PfvSj+Frw888/j8uswh17pOI49NBDYfIdd9wBaSW2Y6fUT3ziExD9mIwvsjUoYevWrdOmTYMch8YteEaC7du3i2qXquV7yRgko4EoAQcCEpaAOQzhjrdkSFOk2dazwzx8mnn8+PFALblgj84OmY1w5hnNvOGGG+RjcPic86WXXnr55ZdDiGemzBXz1ltvQfH/3/+ZPvWta/UsgM1zr776akxb9OvXT8ZOmedzVt2R9Ef/1/ebqxpUGf5TrW1t27fvAJn3y8oGDhxUW1sDKuCSsDSRQtL1oDLdMhJ1dHZSuHvWqyyYBEiABOJFAPND5s+4/ulPf1qyZAmmJ/Hh1Xg1lK2JKoEHHngA66dHjRoFifyb3/xG5GBra+vtt98OET9ixAizlDQ3Euoch8RA2WMgCumPYSoeeOy/ZE7pOHxe4rCeHabih+umm27CUFlyNTQ0/OhHP8KnGCDHC+p+CPd33nlHa2jr9RaTEnPtgI8FMDA+7UCxiMk8Y3Qh3ST1IoymQYhnppQYKdZ8F68BkUWy+3bGA/baa6+hXrgwYUQBq8xnMeO8MalxS317shPrlOo/UL+fbFH7kk5ZFi03ZL5wtJiByUiABEiABEqcQNp7XkwKDhw4sMSZsPkhIQBXDUz6Yh4UT2naFCz8MeAJg6lcK6amPeRWsniUBqtjvRhFeGRtrmJFbWc9Y3CCSXrz4GTVqlV4SZI1cdZIaGg4/aPTc9XuRTxewvzud7876KCDINxhlbz90GcJXLD1/pruDqm9uawaAcQ3792LAObO5QUCXunA7QmDGolMJE7KfZmET8SnYlAXhXuCEk8kQAIkQAIkQAIRIQBhndU/GF7dcJI+7bTT8CmxE088UeQgFBLmqjdt2pQ1S/hbHJ5RhEes4jE4sQIHXYmtisTbMM9jKeMTPQwwDwzg0E/hbgU105AACZAACVglgNfH3/3ud6dOnfrJT37Sah6mI4G8BES8DhkyZM2aNfDRwowsPGHy5lClIwfzc4jE3dgPTnQvFP9YUrhrmAyQAAmQAAm4QAC+CpBWhx12GHabwe7vmPuM6EynCyxYhBsEoHXOPfdcrFzEeujTTz8dU5X4pMA999wDX+r8xZeOHMzPgXdDRaDIx5LCPVS9SWNIgARIIPIEsMkDtDscVR988EEsNYOXAvb3cGuFX+TpsAF2CODtDZYAfuhDH4LWkXzQ7j//+c8h2eH5zU1I7bBk2pgQoHCPSUeyGSRAAiQQHgK7du3CDh56P2zsEbFlyxbOu4eng8Jvyfr165988knMrMNtHTurmA1evXo1PmtqjmGYBEqHQHKLydJpMFtKAiRAAiTgNYFt27Zp1Y664OSASXevK2X5cSKA/WF+//vf4+0N9snWQz44yWCLRmw4GKeWsi0kYIsAhbstXExMAiRAAiRQmIB8qgkyS5JiDz5snYYJ1MI5mYIEEgTg1A69jpUSX/nKV+677z7odUTD7Qobq2sdT1QkUIIE6CpTgp3OJpMACZCA5wT05gnY53jGjBnwbfjLX/6Cjwt6XjEriAsB7M+tvx9U5Hq+uCBhO0iAH2DiM0ACJEACJOANAS228J15rCmUryF6UxVLjSoBbFYN0zmii2r/0W7fCXDG3XfkrJAESIAESIAESECppqYmbPk/bdq0efPmkQcJkIAVApa+/WulIKYhARIgARIgARIggYIE5FUMlixjw1B8UGnp0qWzZs3ab7/9CmZkAhIgAQp3PgPRJ3D9l9XW91R1nTruk6qmj6qqUVW1vc9yWaPKK6LfWraABGJCAPtzY+lhTBrDZlgmgMUP5513Hr76XlVVdcoppxx++OHYOZQbxVjmx4SlToCuMqX+BMSh/deebbUVFVW9NX2NGnOwOu5TqoIjWKsImY4EiicAt+Zf/epX2CDyq1/96sc//vHiC2QJUSGAufYhQ4Zgrl0Mrqmpwfht//33j4r9tJMEAidAvRJ4F9AAHwl0tiv827c7VeX6N9Tog9WEaakYhkiABDwm0NbWtnjx4gEDBixZsgST7gceeKDHFbL4UBDAgA2bOWrVDptaW1uxVWgojKMRJBARAvyBiUhH0UwrBM76hmpvVe37Ev9aVRsCraojESNhfcsItKpuYzcD1dpspWymIQEScIsA9uHGtu433njjypUr//a3v51xxhlTp07l5txu4Q1nOfBlx36g4iHT3t4OI7HNP/Zlx5b/4TSYVpFAOAlQuIezX2iVHQJ9+qu9O1XjEHXQSTayPf8v9czfjPTwiedBAiTgL4FBgwZdeOGF3/nOd6699tprrrkGAg6eM3PmzPHXCtbmH4EXXnjhscceO/jgg//jP/7juuuug4Ln15T8o8+aYkSA38KIUWeWbFMwd44DC1JtHZh0l4PC3RY3JiYBlwj079//9ttvl8lXyDgsWIQDtEtls5jQEfjUpz514oknYmz285//fPPmzZiA37RpE4dqoesnGhR6An7NuH/wltr+vho6Xg0czYWAoX8qImVgd7fhEoPDrv4WuW9ktKn4I4WHxpJAaAls2LBh79692jxo93Xr1k2ePFnHMBAnAhUVFf/93/8tH1qCW9SECRPi1Dq2hQR8I+CXcP/n91VbjydxfT8F34b6/sZZ/ukwArjLLT586/8YVITFpqrbaIdd/S1y30HGGEBjE0ggBATg3NzY2Ai93o3hN36Cq6oWLlw4ceJEfkQzBJ3jiQnsWU+wstASI+CXcNeqHXybdxn/1Hs5Udc1pGS9aPqxh6pRB+ZMzxulTMCxx4ueca+mj3spP0Bse2AEMO2KPUbmzp2Lz2fW1dXhEzzXX3/9jh07rrjiisBsYsUkQAIkEG4Cvvm4lyU51DaohsEF5tRbdqtt69TaZWrFM2rRferp/1O3fkttXB1ukrQuIAJaf9t2lenxprU7VR9QQ1ktCcSPAFyc4egs7s6jR4/G1PsJJ5wQv2aWWoswErv//vtLrdVsLwn4Q8CvGfexhxhCHMcX/2p84RIvRlv3GjuBNO80zvJPwpiMl3gtyIQEXOSHT/IHCmuJEgHHHi/YJlKOSs64R6nDaWvMCGh356uvvrqjo4ObA0a9fzs7O3/5y18++OCDq1at+trXvkb3mKh3KO0PGwG/hDu0OI7K6qQjclmZqu1r/Bs0OieRthZDwT/3T7X8CSMNfGZ4kEAmgZSrjM01pinFX51ZKmNIgAR8JjB06FCfa2R1rhNoaWm54YYbsGnM2LFjzR9acr0iFkgCJUvAL+GO2XQcWIoKyW7xwMQ8/pX1OPMgLw8SyCSg38zYdpWRTSRrUs9YZuGMIQESIAESsEYA27Sfc845zc3NWGeMHfq/973vcbrdGjmmIgEbBHpksY0s9pN2dii4reNwMGsuih95Kdztgy+JHCnhbnPGXabq6eBeEk8JG0kCJOAtAezBL6od1WBv/l//+tdtbW3eVsnSSaAkCfgi3I09ZBKHA/EtPjaYd8dWMzxIIJOAY1eZpHCng3smU8aQAAmQgD0CmG7HXLvOg10+sU+/vmSABEjALQL+CPedSXMdC3ds7q59ZtxqOsuJB4GUcLcpwWWqnjPu8XgM2IqYEuC3VCPRsViH+uyzz8JDRqwtKyvDDv1cZxyJvqORkSPgi3CXWXOwsesqg81nZLbegeKPXFfQYGcEUq4ydoQ7Hq2kcLeTy5mFzEUCJGCfwMqVKy+77LJLL720q6vLfm7m8I/AK6+88pvf/Gbbtm2XXHJJQ4Pxbhxn7NCP/YL8M4I1kUDJEPBXuNvV3/v2qK4Ooy/sKv6S6T82VKVm3O38keiA86Wj762SOAmQgC8Eli1bhnlczN2uWLHClwpZiUMC2LL9pZdeqqio+MlPfoL9ZGRXfuzQ77A4ZiMBEshLwJddZRwvMNVT9XYVf94282asCDgT7s7m6WMFjo0hgVATOPfcc+Ek/cYbb8B5GnO3o0aN4gxuODvsBz/4QU1NzYc+9KERI0bAwgkTJoTTTlpFAvEgEO4Zd8eKPx6dw1ZYIaAleLUdpxdnct+KPUxDAiTgBoHKysrZs2dv2bLlm9/85qRJk4YNG7ZgwQI3CmYZLhPAXPt3v/vdmTNnulwuiyMBEshGwF/hbtfjRc+4282YramMiycBLdxtLTNNCXc7cj+eBNkqEggpAczdPvDAA9hbEPY1NTXNnTuXa1VD2lU0iwRIwC8C/gp3ux4vWrjbzegXPtYTPIGUBLfj4+5M7gffWlpAAiVEYOPGjWalDu3OHQZLqPvZVBIggWwEfBHu4vFSUalq+mSzIXccXWVys+GdJIGUcLczd+4sF6GTAAn4SAD7CcouJVInwtxh0Ef8OaviPj850fAGCXhPwBfhLhPncHcpK7PXIs642+NVkqlTc+e2hHtrEpYtB5uSBMxGk0BQBLAa9a677urTx5jxwR7h//3f/831qUH1hbneP/zhD1deeeX7779vjmSYBEjAHwLeC/euTtWy22iMA3cXLdzp4+7P4xDFWlJz57ZcZfYl21plR+5HkQ9tJoEoE8CuglifevXVV19wwQXYF7KtDRu58giSwKZNm1588cWXX375l7/8ZZB2sG4SKFUC3gv3libVnfh8hgPhnnSVKVP1jaXaQWx3IQIy444P61YkP9pXKEPifmqe3o7ct1Q0E5EACbhJoK6u7rTTTsPu4NgsfMmSJW4WzbJsEsDGPvvtt9/f//73pUuXTp8+3WZuJicBEnCBgPfCvZhZ86SPTaMqr3ChrSwilgREgmPi3JYjlrN5+lgCZKNIIPQEpk2b9vGPf/zGG288+uijQ29sbA3EQmFsrt/S0oIWYqufK664wrx0OLbNZsNIIGQEvP8AU/OuZJPtzrjjo/RJ4d4/ZNBoTpgIiAS366qeEu50lQlTb9IWEshGoLy8HE7V2e4wzj8C69ev37Nnj65PNvnh55Y0EAZIwB8CPs642xXubc2q09i+V/Xp5w8L1hJJAknhblN/t+nFqTYzRpIRjSYBEiCBYglgd87q6moppaysrLGxkZv8FMuU+UnAPgEfhbvdBabF+NjYB8EcUSWgXWVsNaBDC3f6uNsCx8QkQAKlSGDr1q1wbT/llFNkYx9szTl//nxu8lOKjwLbHDQBH1xldibbaHfGXQt3uxmDZup3/eteV2+9rMrLVXmlwmb5+KcDWK9pvkzFI03iVmWVahhszzvc7+blrQ97FnUkdplw7ipD4Z6XMG+SAAmQgFLPPPPMwoULBw4c+Nprr1VUVGCunaqdzwUJBELAe+HuWH87zhgIyKAq3bdH3f5jpfdIcWDGuMPVJ34SVe2uG+5cuNNVxsFDwywkQAKlReC8886DWF+2bNnkyZNLq+VsLQmEjICPwt2uq4xe1Wo3Y8gQe2vO7m1FqXYY996ravdW1TjEWzs9Kj3l8WJTf6d83Dnj7lHfsFgSIIFYEcCWPtzVJ1Y9ysZEk4D3wl32Ysc223V97SHijLsVXp0dyVSTjlLTz1S4lH9d7aqzU3XJJcKJQPIS4UTMu0sNyW4cNr9om6wyBP8rfsa9msI9BP1IE0jAMoENGzbg6z8HH3wwp34tM2NCEiCB+BDwXriL/oafOrS7rSP59SVHn1y1VVGkE8vGO2hCv2Fq/BH2mnLnNUnhDj/4iB6pXR1t6u9URptT9REFRbNJIBYEOjo6Lrnkkh07dsybN4/CPRZdykaQAAnYI+CxYsM3U8Xjpd7+lo56xp2uMnn6FKsz5XAgvrXod5A3j0l+3mrbl6wNH2CydciSVgwmsWCXBwmQQEQIVFZWYmOTVatW9e/fPyIm00wSIAEScJOAzVlwu1Vj6aQoSwc7w2jhzn3c82DXrjLYQMbukRL99vParcuj9NpVxq7Hiyh+LGm19b1Vj1rBYkmABCwTmDp1Kr7HhL1N5BOelvMxIQmQAAnEgYDHwj0lvvvbpiWuMrV9lQNJaruyyGZICXf7M8fF5A0JMO3xUmlzxl0y2pX7IWk1zSCBEiawbt26m2666dprrx02bNiCBQtKmIQfTb/zzjv/9a9/NTc3+1EZ6yABErBAwL7as1BoKokW7g7cXSSvg4yp6ksghEWocjhwd0kK9zLbyw/Cw1XPuNt1lZGMdnOFp+G0hARKksC+ffu+9rWvtbcbv/d27949d+7cTZs2cUNxj56F7u7ue+65Z8WKFUuXLv35z3/uUS0slgRIwBYBv4S7XVcZeDLInKjdjLZaH4PEeta8vMJ2a8THHYo/uu4iesbd2T7udnPZRswMJEACbhLAljLQ67rEpqYmxEyYMEHHMOAiAQyKRowYgXHRWWed5WKxLIoESKAYAh67yjjeGcZxxmJgRDGvFu4OHIokr4Op+vCA0jPuGIS0NBlfUe3uLmwdnPtl0MIZ98KwmIIEQkQA3wBqbGzUBiGMGH3JgLsEXn31VTgmQbsfeeSR7pbM0kiABBwT8GvG3a7Hi/ax4Yx7/r5NCXf7XYlt3XFEW7j37Crz2J8V/uHARjGQ48a/WuMM33c4skvYOONftSrvWYxr1zPeqIAHCZBAYAQw+zt//vyzzz4bXtfV1dW33347/WQ86gysHzj33HPhm1RXV3fiiSfOmTPHo4pYLAmQgC0C9tWereId62+d0a7it2VeDBKL+EZDHGxrmJxx71GxUaTRMCjdauxA2tZi/LNycHGqFUpMQwJhIgAFuWTJEixO7dOnz/777x8m0+JjC/S6qHY0Cbv3cC1BfLqWLYk+AY+Fu2OPF8cZo98l9lpQzIy75HXgHG/PRC9TH3iCwpajm94xVkTAbcY4S6AnLPu15zJh9EG57jCeBEggtATGjx+PbzC9/vrrjz322GWXXRZaO7VhGGm0traOGzcObic6MswBrBzYs2ePtpBrCTQKBkggcAIeC3eZOIf3Ql3KK9FSm/WMO11l8vMq5iNKyRl3j5+B/PYXebeySs04O18ZmIBPCnqR8j1nrH7GR8HGHpIvL++RAAmEkgCcZKZPnz5jxoxjjjkmlAamG4VdWfbu3VtWVhYV4Y6VA/BBwrw7WgKzGxoauJYgvVN5TQIBEfBYtIn+rmtQdqd1tXCnq0z+JyP1ESX7XSluNg58bPKbFKq7GDRW1xn/eJAACcSIwFVXXRWh1owdO3bnzp1RUe0Ai/cD55133h133IGdN6Hasa6Aawki9LzR1HgTsK/2rPPA/h7i8eJg1lwLdwd5rVsYg5TaVUYvuLTeqBjMuFtvLFOSAAmQQBAEsBt6V1cXvvZaWenlH1xXm/bKK69gx55vfOMbn/70pydPnkzV7ipdFkYCRRHwcjvI1r1KpKGDWXPt4w5/Bh55CGjhbndzGAyrksI9yotT85DhLRIgARIIAQGodmh3OJxAu4fAHEsm/POf/4R7Dyw/9NBDqdotIWMiEvCLgJcTAMXMmkteeDhwp+38j4JjH3c4f6vElud2FX9+e3iXBEiABEjAREALd2h3U3Sog5hrv/vuuw888MBQW0njSKAkCXgp3Jt3JZFib771KxScXvDPorexCHf6yRR8KB3PuDvOWNAkJiABEiABEughoIV7hGbcpySOnhbw/yRAAiEi4ItwX/2ywj85MIMOzxkR8ZkBQ9nXG1+1bGs2kjvwsUlWUzL/c7yPu56qj/fi1JJ5ENhQEiCBcBLQwr2ioiKcFtIqEiCBCBHwUrgPGWd8xtJwyTAd2Jtv1ybjX66joiq1dyRn3HNR0vGOJ84dZ9RVM0ACJEACJFCIgBbuEZpxL9Qm3icBEgiMgJfCfeAodfl1au3rxt4ye3cpeL8YgcS/fbtzthgzwXu2Je/2HZAzGW8IAcf6W2fkjDufJRIgARLwjACFu2doWTAJlCIBL4U7eA4YafzLPKAa4QEvIh5qXgt6Le6bmwx3msNOyczKmF4EtP62u8ZU+9jYzdirel6QAAmQAAnkIyDCHdPtnHHPh4n3SIAErBHwWLjnMgJisWGQ8S/Xge8KYQE+PG145CfQ1Z68b3fi3LHiz28P75IACZAACZgIcMbdBINBEiCBYgkEJNwLmm33S6sFC4xrgs7OZMuwNsDWoRencsbdFjcmJgESIAE7BDo7OyO3j7ud9jEtCZCArwTCKtx9hRDlyhxPnOOdhhwU7lHuf9pOAiQQcgLRmnG/9957169fP3369KOPPjrkYGkeCZQmAQr3iPe7Y1d1rfjLbU7VRxwYzScBEogHgR/96EerVq069dRTL7nkkjC3KFrC/cEHH1y0aNGaNWso3MP8UNG2UiZA4R7x3tceL3adi7Rw54x7xB8Bmk8CpUlge+JoamoKefOjJdwPPvhgfOF11qxZIadK80igZAlQuEe860V/YxWvbeHes6qVwj3ijwDNJ4HSJACJCU08YcKEkDcfRoqFEMQhNxXm7dixY+fOnfX19eE3lRaSQGkSoHCPeL+LcHcgvh372EQcGM0nARKIBwHRwVj3GfLmiHCvrKwMv3B/+OGHr7766vb2dni633PPPXPmzAk5W5pHAiVIgPstRrzTRbjb3QsSjaarTMR7nuaTQIkTiJBwh3bft28fBHGYuwwWnn/++WLk3r17586di5gwG0zbSKA0CXDGPeL9LhPnDmbctXB3IPojzozmkwAJxIBAVIT7unXrFi9eDO3+0ksvXXjhhZMmTQon/A0bNuzenfqoORYPICb8nkjhhEmrSMA7Apxx946tLyU7dpXRwt2B6PelZayEBEiABPIQiIRwxwT2o48+Kt4ybW1tt956a2jn3UeOHNmnTx8NvLGxETH6kgESIIGQEKBwD0lHODVDdpVxIL5T29HwrYtT+MxHAiQQHIGOjo5du3aF3J0Dc9haqcMdv7W11TyrHRy8LDXX1tZee+21VVXGBsENDQ3z589HTJZ0jCIBEgiUAEVboPiLr1y+o2T3s6mol4tTi4fPEkiABAIisGDBgq997WtQ7XfeeefgwYNDu4wSChjLUjHGACe8IqiurkZMQMwKVztlypTPfOYzQ4YM+f73v0/VXpgXU5BAEAQ44x4EdRfrFI8XB37qnfxyqovdwKJIgAT8IwC9rpdOtrS06LB/FliuCRPYM2fOLC83/tRCtcPHXaa0LRfga0J8egmfTYVjD1W7r9xZGQnYIcAZdzu0QpjWBR93fjk1hP1Kk0iABHISwKJJ83eXQr6MctiwYTNmzBg0aNCxxx4bZtUO3HWJA68IcqLnDRIggaAJ8Ocz6B4opn5sYOx4V5muno3JHPjHF2Mz85IACZBAcQSwaBJLJ7V2D/kySkxgY8YdHjIhV+3okysTR3Gdw9wkQALeEqCrjLd8vS29GD91vauMAzcbb1vF0kmABEggHwE4cuilk5gj1uF8eYK719nZCe928ZYJzgrWTAIkEBMCnHGPckcWI751Xs64R/kRoO0kUJoEsBr1uuuue+KJJ0455ZTQrkyVrpFvu1K4l+aDylaTgOsEOOPuOlIfC0yJb/t+6qm8HLz52GWsigRIwCUCNTU1/fr1C7//CVxloN0p3F3qdhZDAqVOgMI9yk9ASnxX2G6GdrOhq4xtdsxAAiQQPIFIfIAJmOTrSxTuwT8xtIAEYkGAs61R7kYtvvfuUqtfVpDg8Hsx/lUZ59RlIkYuyyuwmbDR5pTo5zMQ5WeAtpNAqRKIinCHjzu6iMK9VJ9TtpsEXCZA0eYyUF+L018/3fCmuvMaq1WLsm9rSaZv2qKGTbCal+lIgARIIBwEINzhgiLz2eGwKLsV4ipTUWH/vWj28hhLAiRQ0gToKhPl7m8YrGr72m4A5tq1akdm6HgeJEACJBA1AlGZcaerTNSeLNpLAqEmQNEW6u4pYFxltbrkV2r1KwpT75Dj+Ifd2SWQvERkIqarMxEv4UTKrWuThdf0KVALb5MACZBA+AisSBzYDjJ8pvWySIS7DDN63eAFCZAACdgnQOFun1mocvQfrmacFSqLaAwJkAAJ+EBg9OjRkyZNGj9+vA91FVOFuMrQx70YhsxLAiSgCRg+gvqCARIgARIgARIgARcJLFiwYNeuXUceeeSYMWNcLJZFkQAJlCYB+riXZr+z1SRAAiRAAp4TwHQ7DvjJcHGq56xZAQmUBgEK99LoZ7aSBEiABEjAdwJ4p40Dwp2uMr6zZ4UkEE8CFO7x7Fe2igRIgARIIHACmG6ncA+8F2gACcSJABenxqk32RYSIAESIIEQEWhra9uxY0dHRwcCITKLppAACUSWAIV7ZLuOhpMACZAACYSbQHt7e3NzM4Q7jnBbSutIgASiQYC7ykSjn2glCZAACZAACZAACZBAiROgj3uJPwBsPgmQAAmQAAmoxP43XQRBAiQQcgIU7iHvIJpHAiRAAiRAAp4T+Pvf/47N5mfPng0F73llrIAESMApAfq4OyXHfCRAAiRAAiQQFwLDhg0bN27c0KFDuXNlXLqU7YgnAc64x7Nf2SoSIAESIAESsE6goaEBqp2fd7VOjClJIBACFO6BYGelJEACJEACJBAiAuIhwy+8hqhLaAoJZCNA4Z6NCuNIgARIgARIoJQIdHZ28guvpdThbGtUCVC4R7XnaDcJkAAJkAAJuEUAM+4U7m7BZDkk4B0BCnfv2LJkEiABEiABEogGAbrKRKOfaGXJE6BwL/lHgABIgARIgARKngBcZcCAW8qU/INAAGEnQOEe9h6ifSRAAiRAAiTgNQFxleHiVK85s3wSKJIAhXuRAJmdBEiABEiABCJPgDPuke9CNqA0CFC4l0Y/s5UkQAIkQAIkkJsAZ9xzs+EdEggRAQr3EHUGTSEBEiABEiCBQAhAuHd3d9PHPRD4rJQErBOgcLfOiilJgARIgARIIJ4E4CqDY9u2bfv27YtnC9kqEogFAQr3WHQjG0ECJEACJEACRRBYunTpDTfc8J3vfGfYsGELFiwooiRmJQES8JBAGV6NeVg8iyYBEiABEiABEgg3AcyyDxw4sKWlBWbiM0wNDQ2bNm2qra0Nt9W0jgRKkQBn3Eux19lmEiABEiABEtAENmzYIKodMZjOa2pqQoy+ywAJkEB4CFC4h6cvaAkJkAAJkAAJBEBg5MiRdXV1UjFm3BsbGxETgB2skgRIoBABCvdChHifBEiABEiABGJNAF4xX/3qV6uqqtBK+MnMnz+ffjKx7nA2LsIEKiNsO00nARIgARIgARJwg8CUKVPmzZt36KGHXnrppVTtbhBlGSTgCQHOuHuClYWSAAmQAAl4SuDiiy/+yEc+cscdd3haS+kUjr0gKyv///buJcaOq84DcD/t9qObJDJy7EkAo4ggZsEmkAhWQHiMhGZhVqMhIhKQTVggWMCKCGmGDCCFDQgiIsQCJBCMhdCsInkHmWTISIAgjIYhQozUwuMkxE/abcc9p2+5q+3u291VdU9Vnar67sK+t27VeXz/dvLr0+dWzx07dkxqH07RzbSLAoJ7F6tmzAQIEBi6wOzsbPgYZfhz6BCR5h9+AVNoiWckTs0QqEvAVpm6ZLVLgAABAvUJnDhxYt++fXfddVd9XQyq5bDi7jenDqriJttRASvuHS2cYRMgQGC4AiFihqAZ5m+FONYXQVhxD/eT4RnLUzsEahIQ3GuC1SwBAgQI1CUQUmbI7iFozsz4v1gc5IyUZxxNrRCoTcB/8mqj1TABAgQI1COQB3crxLGAs59gCO6xPLVDoCYBwb0mWM0SIECAQF0C2YZsK+4RfcP3QqE13whFJNUUgToEBPc6VLVJgAABAjUK5Ps6BM1Yyj6cGktSOwRqFRDca+XVOAECBAjEFwgpM2R3K+4RZa24R8TUFIH6BAT3+my1TIAAAQK1CGQr7u6CEhHXintETE0RqE/Afdzrs9UyAQIECNQiYI97dNbf//73Z86cOXv2bPSWNUiAQEQBK+4RMTVFgAABAk0I2OMeXfnixYuXL19eWVmJ3rIGCRCIKGDFPSKmpggQIECgCQF73KMr/+AHP4jepgYJEIguYMU9OqkGCRAgQKBegXyPu/uO1wutdQIEEhOw4p5YQQyHAAECBPYS6MpWmfPnz4ehHjx4cN++fXvNyfsECBDYW0Bw39vIGQQIECCQlEBXPpz64x//+NKlS+94xzseeOCBpAANhgCBjgoI7h0tnGETIEBguAJdWXE/evTouXPnbr/99uGWyswJEIgqILhH5dQYAQIECNQvEFbcr169Gm6Bsrq6Wn9v1XsIm2TCCA8cOFC9CVcSIEDgJgEfTr0Jw1MCBAgQ6ILAz372s29/+9tPPvnkW97yltOnTyc75PxDtMmO0MAIEOiWgODerXoZLQECBIYuEBbaH3300bDiHiAuXLhw8uRJdx8f+teE+RMYjIDgPphSmygBAgR6IbC8vBw+8ZlPJdy5JRzJX6bzZG1tLay4h/G4Z2U6RTESAl0XsMe96xU0fgIECAxL4Pjx44cOHcqz+9LSUjiSIEEI7mFU06NHc8O7/trU+ncLa1Oh9/UBZH+G/m8+suXl+jinDi5Nzc6vP/EgQCBhAcE94eIYGgECBAhsE1hYWHjiiSc+9alPhd0yi4uLp06dCke2nTXIA796eur0U1NXV6pM/uDrpv7xX6bu+Jsq17qGAIGmBAT3pqT1Q4AAAQKRBO67776HHnoorLt/+ctfTvaeLWHFPV90jzTvvZr5z3+rmNpDw5fPTf3+uan7T+7Vh/cJEGhTQHBvU1/fBAgQIFBBIOwdn5ubO3LkSLKpPUwqT+1hs0yFOVa55LX1D+xOTc9M3f23oyeh3+mwWWf05/ob689vvBwNKXt58dWp5f9aP//6tfU/PQgQSFhAcE+4OIZGgAABAuMEwn3cQxpO/EOfowX3G9vcx02ihmMhsofH/MLUP/xzidb/5z+m/vWf1s8fbcovcaFTCRBoXMBdZRon1yEBAgQITCbgbi27+o0+bLrrGbe+ufEDAcH9VhevCCQoILgnWBRDIkCAAIHdBEJwDyvus7Ozu53U9nstbJVZ3wZT/lHpovLduIIAgQgCgnsERE0QIECAQJMCYatM6K4TW2VGd4NsLBqPOiq9cL6RBEpf2GTN9UWAwLrAxj9XGgQIECBAoCMCHVpxD6LNfTg1+wZhbf23PpV4bH5bUXaPTYlOnEqAQBQBwT0Ko0YIECBAoDmBDq24B5Tmgnu4b0yVx8ZVcnsVPdcQaFRAcG+UW2cECBAgMLlAJ1bcwzTDOK9cuXLtWlO3Wcz2uJfd8ZLvjC+7VD95IbVAgEBJAbeDLAnmdAIECBBoW6ATK+5/+MMfnnnmmZDdf/Ob34RfF3XPPffUznYjgls5r11aBwTaErDi3pa8fgkQIECgokD6K+5Xr1790Y9+FMYZZri6uvq9730vHKk42xKXjTa9lM3t2d3f13spe2WJkTmVAIEoAoJ7FEaNECBAgEBzAmHFPdxsMeW7yly4cCHk9VwkbJgJR/KXdT2ptuK+scXdL2Cqqy7aJRBPQHCPZ6klAgQIEGhEIP0V98XFxX379uUY+/fvD0fyl/U+KbvHffMjrVbc662M1glMLiC4T26oBQIECBBoVCD9Pe7z8/Mf+chHsp8JhAT/0Y9+NByp3WjSD6cK7rWXSAcEJhTw4dQJAV1OgAABAk0LZCvuKW+VCSJvfOMb77///rC1/T3vec8dd9zRiFG266Vs/t7YK1N6qb6ROemEAIGbBKy434ThKQECBAh0QSD70Ofs7Gzigw3fWiwsLDSx1p5B5Dd2LOVS7apSXTiZAIFIAoJ7JEjNECBAgEBTAj//+c+fHz2a6rBKP+Hjs+Gy8NuXWvgFTKXWzvPgXuqqKiSuIUBgUgFbZSYVdD0BAgQINCzwoQ996A1veMO9997bcL+lugvBPc/upS6sfvLGnpfRjR03XxRusOwem8INO5EAgUgCgnskSM0QIECAQFMCfzd6NNVbxX7y1N7OinuJ3L5xqtxesdQuI9CcgK0yzVnriQABAgSGIzBacL+xW6ahWVfb9LJ51fqvi/IgQCBlAcE95eoYGwECBAh0VaCFFfc8gpf6HaibV3WV2rgJDEdAcB9Orc2UAAECBJoTaGHFPf9VSuU2vWxslSkV95uD1BMBApsCgvumhWcECBAgQKDDAptr52WSe36Vu8p0uPaGPhQBwX0olTZPAgQIEGhSoIWtMvn0KkbwMnE/78sTAgQaFBDcG8TWFQECBAgMRqCFrTLV1s6rXTWYOpoogaQEBPekymEwBAgQINATgTZW3CvtVhfce/IVZxqDEBDcB1FmkyRAgACBhgU6s+Kef6S1YSDdESBQXsAvYCpv5goCBAgQILCXwOrq6pUrV2ZmZrKl971Oj/J+vuJepjUr7mW0nEugXQHBvV1/vRMgQIBAPwVeffXVs2fP7tu3r7npbeb2ah8zrXZVc/PTEwECgruvAQIECBAgEF/g3nvvPXbsWGg3LLrHb318ixvJvdRdZTZX3Mc36igBAukICO7p1MJICBAgQKA/AgujR6Pz2YzgpdbON76vWLve6Gh1RoBAeYGNf67lr3QFAQIECBAgkJBAHtxL/Q7UjWX6qVJXJTRtQyEwIAHBfUDFNlUCBAgQ6LXARgYvteCe31Wm3FW9hjQ5AqkKCO6pVsa4CBAgQIBAKYGKK+4bcd+KeyltJxNoQ0Bwb0NdnwQIECBAoD6BirvVLbnXVxItE4gjILjHcdQKAQIECBBoWSBfcS+VwKc3kkCpe9G0PFXdExiowMY/14FO37QJECBAgEBvBCptetm8qFTe7w2aiRDokoDg3qVqGSsBAgQIENhRYHPFvVQEz5P7jg17gwCBRATcxz2RQhgGAQIECBCYUKBABF/fD7M2Ff688WRq6rVrN3q9tjph9y4nQKBuAcG9bmHtEyBAgACBRgTy3P7kI6P+QjoPf2cZPfy91+9X+u9/b2SUOiFAoLqA4F7dzpUECBAgQCAhgYXFG4N57WpCozIUAgTiCQju8Sy1RIAAAQIEWhS47++nzv/f1IVXRr9SaXoqbHlf3/We/Rn+Hn2q7caRm15ePj/18v+GUV+fnvW5txarp2sCRQSm19z+qYiTcwgQIECAQE8FHn744RdeeOHBBx/80pe+1NMpmhaBnghYce9JIU2DAAECBAhUE3j3u999+PDhBx54oNrlriJAoDEBPxZrjFpHBAgQIEAgRYHr16+HH7/PzIgEKVbHmAjcLOBf6c0anhMgQIAAgcEJhOAe5iy4D67wJtxBAcG9g0UzZAIECBAgEE9AcI9nqSUC9QoI7vX6ap0AAQIECCQukN2mwop74mUyPAJBQHD3ZUCAAAECBAYtkO1xn16/U6QHAQJJCwjuSZfH4AgQIECAQN0CtsrULax9ArEEBPdYktohQIAAAQKdFBDcO1k2gx6kgOA+yLKbNAECBAgQ2BAQ3Dck/E0gdQHBPfUKGR8BAgQIEKhVIHw4NTzsca8VWeMEoggI7lEYNUKAAAECBLoqYMW9q5Uz7uEJCO7Dq7kZEyBAgACBmwRCcA8r7m4HeROJpwQSFZhLdFyGRYAAAQIExgk899xz3//+95eWlr7whS/s27dv3CmOlROw4l7Oy9kE2hMQ3Nuz1zMBAgQIlBf485///Ktf/WpxcdEKcXm88VeMtrjb4z4ex1ECSQkI7kmVw2AIECBAYA+Bu++++61vfeudd945Ozu7x6neLiZgxb2Yk7MItC9gj3v7NTACAgQIECgukKdMd0EpjrbLmWG53R73XXy8RSApAcE9qXIYDAECBAjsIZAH9z3O83YxgXyfjK1HxcCcRaBNAcG9TX19EyBAgEBZgRDcw1q7lFnWbafz8+DuJxg7ETlOIB0BwT2dWhgJAQIECOwtYMV9b6MyZ2T7ZHwvVMbMuQRaExDcW6PXMQECBAhUELDiXgFtl0sE911wvEUgNQHBPbWKGA8BAgQI7CZgxX03nfLvCe7lzVxBoDUBwb01eh0TIECAQAUBK+4V0Ha5JOxxD++GrTLhsctp3iJAIAUBwT2FKhgDAQIECBQVyIKmD6cW9drrvGzFPZyFdC8q7xNoX0Bwb78GRkCAAAECxQWsuBe3KnKmrTJFlJxDIBEBwT2RQhgGAQIECBQSCEEznGd5uBBWgZME9wJITiGQioDgnkoljIMAAQIEiggI7kWUip/jPu7FrZxJoHUBwb31EhgAAQIECJQQyIK7T1KWINv1VCvuu/J4k0BaAoJ7WvUwGgIECBDYXcCK++4+Zd8V3MuKOZ9AiwKCe4v4uiZAgACB0gKCe2myXS8Q3Hfl8SaBtAQE97TqYTQECBAgsLtACJphn4wPp+6uVPzd/D7uSIujOZNAWwKCe1vy+iVAgACBKgIhuF+7du3ll19eWVmpcr1rbhXIVtzDMR8buBXGKwIpCgjuKVbFmAgQIEBgJ4Ff/vKX3/nOdz7/+c8fPXr09OnTO53meEEBW2UKQjmNQAoCgnsKVTAGAgQIECgkEFbZv/rVr169ejWcfeHChZMnT1p3LwS380mC+8423iGQnIDgnlxJDIgAAQIEdhJYXl7+61//mr0bNmefP38+HNnpZMeLCOT3cbfHvQiXcwi0KyC4t+uvdwIECBAoIXD8+PEDBw5kF4Q92UtLS+FIieuduk0gX3G3x32bjQMEkhMQ3JMriQERIECAwE4CCwsLn/70p+fn58MJi4uLp06dCkd2OtnxIgJ5cLfiXoTLOQTaFZhrt3u9EyBAgACBUgJve9vbPv7xj4c/P/nJT0rtpejGnhyCe7hLz6uvvrq6ujr2BAcJEEhHwIp7OrUwEgIECBDYWyAEzbm5uWPHjknte2MVOOOZZ5556qmnnnzyyXvuucddegqAOYVAmwKCe5v6+iZAgACBsgL51o6yFzp/u0C4J8+jjz7qLj3bZRwhkKaA4J5mXYyKAAECBMYLhOAe3rAhe7xOyaPhnjyXLl3KL3KXnpzCEwJpCgjuadbFqAgQIEBgvIDgPt6l0tFwT55Dhw7ll7pLT07hCYE0BQT3NOtiVAQIECAwXiDbKmPFfbxOyaPhcwJf+9rXwmcGwnXu0lMSz+kEWhBwV5kW0HVJgAABApUFrLhXpht74Tvf+c6HH344JPjHH3/88OHDY89xkACBRASsuCdSCMMgQIAAgUICgnshpsInBc/w44s77rjj4MGDhS9yIgEC7QgI7u2465UAAQIEqgkI7tXcdroqeK6trYV3/ebUnYgcJ5COgOCeTi2MhAABAgT2FsiCpj3ue0sVOyOk9hDZZ2dnBfdiYM4i0KaA4N6mvr4JECBAoKxAFjQF97JuO52f/QRDat/Jx3ECSQkI7kmVw2AIECBAYA8BK+57AJV8O3iG1O4boZJsTifQjoDg3o67XgkQIECgmkC2QixoVtPbfhXP7SaOEEhWQHBPtjQGRoAAAQJjBATNMSgTHLL1aAI8lxJoWkBwb1pcfwQIECAwiUAI7lnWnKQR1+YC2TdC9rjnIJ4QSFlAcE+5OsZGgAABAlsFsuBuq8xWl6qv/QSjqpzrCLQgILi3gK5LAgQIEKgs8Itf/OJ3v/vdH//4x8otuPBmgRDcfTj1ZhDPCaQsMJfy4IyNAAECBAhsEXj7299+9uzZ48ePbznuZTUBe9yrubmKQCsCgnsr7DolQIAAgYoCjz32WMUrXTZOINt6ZI/7OBvHCCQnYKtMciUxIAIECBAg0JiAPe6NUeuIwOQCgvvkhlogQIAAAQJdFbDHvauVM+5BCgjugyy7SRMgQIAAgZGAPe6+EAh0SEBw71CxDJUAAQIECEQWsMc9MqjmCNQpILjXqattAgQIECCQtoA97mnXx+gI3CIguN/C4QUBAgQIEBiUgD3ugyq3yXZdQHDvegWNnwABAgQIVBcIe9zDxX4TbXVBVxJoUEBwbxBbVwQIECBAIDGBbKuM+7gnVhbDITBeQHAf7+IoAQIECBAYgoA97kOosjn2RkBw700pTYQAAQIECJQWENxLk7mAQHsCgnt79nomQIAAAQJtC7iPe9sV0D+BEgKCewkspxIgQIAAgZ4JhBX3LLv3bF6mQ6CXAoJ7L8tqUgQIECBAoJCArTKFmJxEIA0BwT2NOhgFAQIECBBoQ0Bwb0NdnwQqCgjuFeFcRoAAAQIEeiBgj3sPimgKwxEQ3IdTazMlQIAAAQJbBexx3yriNYGEBQT3hItjaAQIECBAoGYBW2VqBtY8gZgCgntMTW0RIECAAIFuCQju3aqX0Q5cQHAf+BeA6RMgQIDAoAXCHvcw/5kZeWDQXwYm3xUB/1C7UinjJECAAAEC8QXscY9vqkUCtQkI7rXRapgAAQIECCQvYKtM8iUyQAKbAoL7poVnBAgQIEBgaAKC+9Aqbr6dFhDcO10+gydAgAABAhMJvPDCCy+++OKf/vSniVpxMQECjQgI7o0w64QAAQIECCQpcGj02L9/f5KjMygCBG4RmM4+Tn7LMS8IECBAgAABAgQIEEhMwIp7YgUxHAIECBAgQIAAAQLjBAT3cSqOESBAgAABAgQIEEhMQHBPrCCGQ4AAAQIECBAgQGCcgOA+TsUxAgQIECBAgAABAokJCO6JFcRwCBAgQIAAAQIECIwTENzHqThGgAABAgQIECBAIDEBwT2xghgOAQIECBAgQIAAgXECgvs4FccIECBAgAABAgQIJCYguCdWEMMhQIAAAQIECBAgME5AcB+n4hgBAgQIECBAgACBxAQE98QKYjgECBAgQIAAAQIExgnMjTvoGAECBAgQSFHg2rVrKysrs7Oz+/fvn5mx9pRijYyJAIH6BPxXrz5bLRMgQIBAZIGnn376ve997wc+8IGXXnopctOaI0CAQPICVtyTL5EBEiBAgMCGwOtf//o3v/nNhw8fDivuG8f8TYAAgaEICO5DqbR5EiBAoAcCi4uLR44ced3rXjc/P9+D6ZgCAQIESgnYKlOKy8kECBAg0KbA2ujR5gj0TYAAgfYEBPf27PVMgAABAgQIECBAoLCA4F6YyokECBAgkIzA9PR0MmMxEAIECDQkILg3BK0bAgQIEJhcIOyUmbwRLRAgQKCjAoJ7Rwtn2AQIECBAgAABAsMSENyHVW+zJUCAAAECBAgQ6KiA4N7Rwhk2AQIEhisQNrjb4z7c8ps5gQELCO4DLr6pEyBAoGsCbgfZtYoZLwECMQUE95ia2iJAgAABAgQIECBQk4DgXhOsZgkQIECgRgFbZWrE1TQBAqkKCO6pVsa4CBAgQGCbgNtBbiNxgACBAQkI7gMqtqkSIECAAAECBAh0V0Bw727tjJwAAQIDFRjdVMZvTh1o9U2bwJAFBPchV9/cCRAgQIAAAQIEOiMguHemVAZKgAABAm4H6WuAAIEhCwjuQ66+uRMgQKB7Aq+99tpf/vKXlZWV7g3diAkQIDCZgOA+mZ+rCRAgQKBBgWefffa73/3uN77xjbvuuuv06dMN9qwrAgQItC8w7dZa7RfBCAgQIECggEBYZT9y5MilS5eyc5eWls6cObOwsFDgUqcQIECgDwJW3PtQRXMgQIDAEASWl5fz1B7me/78+XBkCBM3RwIECGQCgruvBAIECBDohsDx48cPHTqUjzWsuIcj+UtPCBAg0HsBwb33JTZBAgQI9EQg7Ip54okn5ufnw3wWFxdPnTpln0xPSmsaBAgUE5grdpqzCBAgQIBA+wL333//xz72sZDXH3/88cOHD7c/ICMgQIBAgwJW3BvE1hUBAgQITCwwOzt7++23HzhwYOKWNECAAIGOCQjuHSuY4RIgQIAAAQIECAxTQHAfZt3NmgABAp0UcAvjTpbNoAkQiCQguEeC1AwBAgQINCUwPXo01Zt+CBAgkIqA4J5KJYyDAAECBAgQIECAwC4CgvsuON4iQIAAgbQEwlYZu2XSKonRECDQoIDg3iC2rggQIECAAAECBAhUFRDcq8q5jgABAgTaEwi73NvrXM8ECBBoR0Bwb8ddrwQIECBAgAABAgRKCQjupbicTIAAAQJtCtjg3qa+vgkQaFtAcG+7AvonQIAAgZICbgdZEszpBAj0REBw70khTYMAAQIECBAgQKDfAoJ7v+trdgQIEOiVwOhukGu9mpLJECBAoLCA4F6YyokECBAgkICAfTIJFMEQCBBoR2CunW71SoAAAQIEygucO3fulVdemZvzP6/ydq4gQKD7Av7b1/0amgEBAgQGI7C8vPziiy++9NJLg5mxiRIgQGBTYNqttTYxPCNAgACBtAVWV1cvXrw4MzNz2223pT1SoyNAgEB8AcE9vqkWCRAgQIAAAQIECEQX8OHU6KQaJECAAAECBAgQIBBfQHCPb6pFAgQIECBAgAABAtEFBPfopBokQIAAAQIECBAgEF9AcI9vqkUCBAgQIECAAAEC0QUE9+ikGiRAgAABAgQIECAQX0Bwj2+qRQIECBAgQIAAAQLRBQT36KQaJECAAAECBAgQIBBfQHCPb6pFAgQIECBAgAABAtEFBPfopBokQIAAAQIECBAgEF9AcI9vqkUCBAgQIECAAAEC0QUE9+ikGiRAgAABAgQIECAQX0Bwj2+qRQIECBAgQIAAAQLRBQT36KQaJECAAAECBAgQIBBfQHCPb6pFAgQIECBAgAABAtEFBPfopBokQIAAAQIECBAgEF9AcI9vqkUCBAgQIECAAAEC0QUE9+ikGiRAgAABAgQIECAQX0Bwj2+qRQIECBAgQIAAAQLRBQT36KQaJECAAAECBAgQIBBfQHCPb6pFAgQIECBAgAABAtEFBPfopBokQIAAAQIECBAgEF9AcI9vqkUCBAgQINAJgc985jMf/vCHpsVrxwAAC7NJREFUv/71r3ditAZJgIDg7muAAAECBAgMVGB2djbMfGZGGBjoF4Bpd05grnMjNmACBAgQIEAgisCJEycuX74c/ozSmkYIEKhbwDfZdQtrnwABAgQIJCqwtrYWRjY9PZ3o+AyLAIFbBQT3Wz28IkCAAAECgxHIgrutMoMpuIl2XkBw73wJTYAAAQIECFQTuH79esjuVtyr6bmKQPMCgnvz5nokQIAAAQJJCNgqk0QZDIJAYQHBvTCVEwkQIECAQL8Ewop7mJCtMv2qqtn0WUBw73N1zY0AAQIECOwiYMV9FxxvEUhQQHBPsCiGRIAAAQIEmhAQ3JtQ1geBeAKCezxLLREgQIAAgU4JZB9OtVWmU0Uz2EELCO6DLr/JEyBAgMCQBay4D7n65t5FAcG9i1UzZgIECBAgEEFAcI+AqAkCDQoI7g1i64oAAQIECKQkYKtMStUwFgJ7Cwjuexs5gwABAgQI9FLAinsvy2pSPRYQ3HtcXFMjQIBA3wS++MUvPvjgg5/97Gf7NrGW5iO4twSvWwIVBQT3inAuI0CAAIHmBZaWlhYXF2+77bbmu+5lj7bK9LKsJtVjAcG9x8U1NQIECPRN4K7R401velPfJtbSfKy4twSvWwIVBQT3inAuI0CAAIHmBbIV4unp6ea77mWPgnsvy2pSPRYQ3HtcXFMjQIBA3wRC0Ayp3S8MilLXgBm+EQpN8YziqRECDQgI7g0g64IAAQIE4ghYIY7jOGolwwxP/QQjoqqmCNQqILjXyqtxAgQIEIgpYKtMRM0Q3MPDTzAikmqKQN0CgnvdwtonQIAAgWgCgmY0yqmp/LsgK+4RVTVFoFYBwb1WXo0TIECAQEyBENxDc4JmFNMMk2cUTI0QaEZAcG/GWS8ECBAgEEEgXySO0NbgmwjBPTxslRn8FwKALgkI7l2qlrESIEBg4AIhaAYBd0GJ8mWQfxfkJxhRPDVCoAEBwb0BZF0QIECAQByBLLgLmlE0M8zQFM8onhoh0ICA4N4Asi4IECBAII6A4B7HcdRKwAwPW2UikmqKQN0CgnvdwtonQIAAgWgCYXdHaMsKcRRQW2WiMGqEQJMCgnuT2voiQIAAgYkEwgpxuN4e94kQNy7OMMMr3whtkPibQOoCgnvqFTI+AgQIEMgFsqwpaOYgkzwJmOFhq8wkhq4l0LCA4N4wuO4IECBAoLpAvrujehOu3BDIMX0jtEHibwKpCwjuqVfI+AgQIEAgF1hdXT1//vy1a9fyI55UFgjL7dm1gntlQxcSaFhgruH+dEeAAAECBKoJnD59+nOf+9zKysqpU6d++tOfvu9976vWjqsygXzF3WcGfEkQ6IqAFfeuVMo4CRAgMGiBkNdPnjwZ/gwKly9fzp8PGmWyyY+2uK/vcbfiPhmkqwk0JyC4N2etJwIECBCoLLC8vBw2yeSXh+fhSP7SkwoCtspUQHMJgXYFBPd2/fVOgAABAoUEjh8/vrS0lJ8anocj+UtPKgjYKlMBzSUE2hUQ3Nv11zsBAgQIFBJYWFgIW9v3798fzj548GB4Ho4UutJJOwiEFferV6+eO3fuypUrO5ziMAECaQlM5z8pS2tcRkOAAAECBLYJfOUrX/n1r3/90EMPffCDH9z2pgPlBH74wx8GyZDdDx8+/JOf/MSHfcvxOZtAGwJW3NtQ1ycBAgQIVBKYm5sLm2SydfdKDbjohkD4mO8nPvGJkNrD64sXL/qwr68MAp0QENw7USaDJECAAIF1gXxbNo4JBcJHe0NezxvxYd+cwhMCKQsI7ilXx9gIECBA4BaBsL0z3LvQfcdvQan0Iny0N+yQyS/1Yd+cwhMCKQsI7ilXx9gIECBA4BaBENyz7H7LUS/KC4SP9n7rW9+an58Pl4YE78O+5QldQaAFAb85tQV0XRIgQIBANQFbZaq5jb3qXe961yOPPBK2uT/22GPurTmWyEECqQkI7qlVxHgIECBAYEeBbLndVpkdgcq8ETBnZ2cPHTp04MCBMtc5lwCB1gRslWmNXscECBAgUFZgfaPMaJt72Qudv10g//GFb4S24zhCIE0BwT3NuhgVAQIECIwRyLPmmPccKimQfxcUPu9b8lKnEyDQjoDg3o67XgkQIECggkC23G6FuALd9ksCZjgYUrvgvh3HEQJpCgjuadbFqAgQIEBgjEC+SDzmPYdKCmQ/vggX+UaopJzTCbQmILi3Rq9jAgQIECgrkC8Sl73Q+dsF8u+CrLhvx3GEQJoCgnuadTEqAgQIENgqEIJmWCQORwXNrTSVXuffBVlxr+TnIgItCAjuLaDrkgABAgQqCAiaFdB2uSTfKuMboV2UvEUgKQHBPalyGAwBAgQI7CiQbe0IbwuaOxqVeSPzDJg8y7A5l0CbAoJ7m/r6JkCAAIHiAvm9IAXN4mi7nOknGLvgeItAmgJ+c2qadTEqAgQIENgqsLq6+tvf/vbixYtnzpzZ+p7X5QVslSlv5goCLQsI7i0XQPcECBAgUFAgLLQfPXr04OhR8BKn7SJgq8wuON4ikKaA4J5mXYyKAAECBLYKhMT+zW9+c+tRr6sKZFtlwtW2HlUldB2BpgXscW9aXH8ECBAgQCAFgWyrTLgXpOCeQjmMgUARAcG9iJJzCBAgQIBA3wTCinuI7FJ73+pqPr0WENx7XV6TI0CAAAECOwiEFffwjt++tAOPwwRSFBDcU6yKMREgQIAAgboFrLjXLax9AtEFBPfopBokQIAAAQIdEMg+nGqrTAdKZYgENgQE9w0JfxMgQIAAgSEJ2CozpGqba08EBPeeFNI0CBAgQIBAKQFbZUpxOZlACgKCewpVMAYCBAgQINC0gK0yTYvrj8DEAoL7xIQaIECAAAECHRSwVaaDRTPkoQsI7kP/CjB/AgQIEBimgBX3YdbdrDstILh3unwGT4AAAQIEKgrY414RzmUE2hMQ3Nuz1zMBAgQIEGhPwFaZ9uz1TKCigOBeEc5lBAgQIECg0wK2ynS6fAY/TAHBfZh1N2sCBAgQGLqA4D70rwDz76CA4N7BohkyAQIECBCYWCBslQm/NnVmRhKYmFIDBJoS8M+1KWn9ECBAgACBlASsuKdUDWMhUEhAcC/E5CQCBAgQINAzAXeV6VlBTWcIAoL7EKpsjgQIECBAYKtA2CoTsrutMltdvCaQsIDgnnBxDI0AAQIECNQmYKtMbbQaJlCXgOBel6x2CRAgQIBAygLZVhkr7inXyNgIbBEQ3LeAeEmAAAECBAYhkP0CpnBjmUHM1iQJ9EJAcO9FGU2CAAECBAiUFLBVpiSY0wm0LyC4t18DIyBAgAABAs0LPPfcc88///yzzz7bfNd6JECgmsBctctcRYAAAQIECHRa4P3vf/+dd9554sSJTs/C4AkMSmA6+0nZoOZssgQIECBAgAABAgQ6J2CrTOdKZsAECBAgQIAAAQJDFBDch1h1cyZAgAABAgQIEOicgODeuZIZMAECBAgQIECAwBAFBPchVt2cCRAgQIAAAQIEOicguHeuZAZMgAABAgQIECAwRAHBfYhVN2cCBAgQIECAAIHOCQjunSuZARMgQIAAAQIECAxRQHAfYtXNmQABAgQIECBAoHMCgnvnSmbABAgQIECAAAECQxQQ3IdYdXMmQIAAAQIECBDonIDg3rmSGTABAgQIECBAgMAQBQT3IVbdnAkQIECAAAECBDonILh3rmQGTIAAAQIECBAgMEQBwX2IVTdnAgQIECBAgACBzgkI7p0rmQETIECAAAECBAgMUUBwH2LVzZkAAQIECBAgQKBzAoJ750pmwAQIECBAgAABAkMUENyHWHVzJkCAAAECBAgQ6JyA4N65khkwAQIECBAgQIDAEAUE9yFW3ZwJECBAgAABAgQ6JyC4d65kBkyAAAECBAgQIDBEAcF9iFU3ZwIECBAgQIAAgc4JCO6dK5kBEyBAgAABAgQIDFFAcB9i1c2ZAAECBAgQIECgcwKCe+dKZsAECBAgQIAAAQJDFPh/Y17KdRyJ4RwAAAAASUVORK5CYII=", + "text/plain": [ + "" + ] + }, + "execution_count": 11, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "agent_obs = env.vis.plot_agent_observation(\n", + " env_idx=env_idx,\n", + " agent_idx=highlight_agent,\n", + " figsize=(10, 10),\n", + " trajectory=Y_local_batched[agent_j, :]\n", + ")\n", + "\n", + "Image.fromarray(img_from_fig(agent_obs))" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/tutorials/08_multiple_policies.ipynb b/examples/tutorials/08_multiple_policies.ipynb index 7b7bbd13f..04614dda4 100644 --- a/examples/tutorials/08_multiple_policies.ipynb +++ b/examples/tutorials/08_multiple_policies.ipynb @@ -1,8 +1,15 @@ { "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Using multiple policies in the same environment" + ] + }, { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -16,42 +23,68 @@ "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", "from gpudrive.env.dataset import SceneDataLoader\n", "from gpudrive.utils.config import load_config \n", - "import sys\n", - "import imageio\n", - "import numpy as np\n", - "import os\n", - "from gpudrive.utils.multi_policy_rollout import multi_policy_rollout\n" + "\n", + "from gpudrive.utils.rollout import multi_policy_rollout" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Helper function" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "def create_policy_masks(env, num_sim_agents=2, num_worlds=10):\n", + " \"\"\"\n", + " Create policy masks for multiple agents across different worlds.\n", + " \n", + " Args:\n", + " env: The environment object containing agent mask information\n", + " num_sim_agents: Number of simultaneous agents to create policies for\n", + " num_worlds: Number of simulation worlds\n", + " \n", + " Returns:\n", + " Dictionary of policy masks with keys 'pi_1', 'pi_2', etc.\n", + " \"\"\"\n", + " # Initialize policy mask with zeros (same shape as cont_agent_mask)\n", " policy_mask = torch.zeros_like(env.cont_agent_mask, dtype=torch.int)\n", + " \n", + " # Get indices of controlled agents\n", " agent_indices = env.cont_agent_mask.nonzero(as_tuple=True)\n", "\n", + " # Assign policy numbers (1 to num_sim_agents) to each agent in a round-robin fashion\n", " for i, (world_idx, agent_idx) in enumerate(zip(*agent_indices)):\n", " policy_mask[world_idx, agent_idx] = (i % num_sim_agents) + 1\n", "\n", - " policy_masks = {f'pi_{int(policy.item())}': torch.zeros_like(env.cont_agent_mask, dtype=torch.bool,device=device) \n", - " for policy in policy_mask.unique() if policy.item() != 0}\n", - "\n", + " # Create a dictionary of empty boolean masks for each policy\n", + " policy_masks = {\n", + " f'pi_{int(policy.item())}': torch.zeros_like(\n", + " env.cont_agent_mask, \n", + " dtype=torch.bool,\n", + " device=env.cont_agent_mask.device # Use the same device as the mask\n", + " ) \n", + " for policy in policy_mask.unique() if policy.item() != 0\n", + " }\n", + "\n", + " # Fill in the boolean masks for each policy\n", " for p in range(1, num_sim_agents + 1):\n", " policy_masks[f'pi_{p}'] = (policy_mask == p).reshape(num_worlds, -1)\n", "\n", - " return policy_masks\n" + " return policy_masks" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ - "\n", "# Configs model has been trained with\n", "config = load_config(\"../../examples/experimental/config/reliable_agents_params\")\n", "max_agents = config.max_controlled_agents\n", @@ -61,25 +94,22 @@ "FPS = 5\n", "\n", "sim_agent1 = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S10_000_02_27\")\n", - "sim_agent2 = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S1000_02_27\")\n", - "\n", - "# Some other info\n", - "card = ModelCard.load(\"daphne-cornelisse/policy_S10_000_02_27\")\n", - "\n", - "\n", - "\n", - "\n", - "sim_agent1 = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S10_000_02_27\")\n", - "sim_agent2 = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S1000_02_27\")\n" + "sim_agent2 = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S1000_02_27\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Make environment" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ - "\n", "train_loader = SceneDataLoader(\n", " root='../../data/processed/examples',\n", " batch_size=NUM_ENVS,\n", @@ -111,8 +141,6 @@ " ),\n", ")\n", "\n", - "\n", - "\n", "env = GPUDriveTorchEnv(\n", " config=env_config,\n", " data_loader=train_loader,\n", @@ -121,61 +149,75 @@ ")" ] }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Rollout" + ] + }, { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "next_obs = env.reset()\n", "\n", - "\n", "control_mask = env.cont_agent_mask\n", "\n", - "policy_mask = create_policy_masks(env, 2,NUM_ENVS)\n", - "\n", - "policies_set = {'pi_1': (sim_agent1,policy_mask['pi_1']),\n", - " 'pi_2': (sim_agent2, policy_mask['pi_2'])\n", - " } \n", - " \n", + "# Create policy masks for 2 agents across NUM_ENVS worlds\n", + "policy_mask = create_policy_masks(env, num_sim_agents=2, num_worlds=NUM_ENVS)\n", "\n", + "# Define the policy set with agent models and their corresponding masks\n", + "policies_set = {\n", + " 'pi_1': (sim_agent1, policy_mask['pi_1']),\n", + " 'pi_2': (sim_agent2, policy_mask['pi_2'])\n", + "}\n", "\n", - "metrics,frames=multi_policy_rollout(\n", - "env,\n", - "policies_set, \n", - "device,\n", - "deterministic=False,\n", - "render_sim_state = True,\n", - "render_every_n_steps= 5\n", + "# Rollout with multiple policies\n", + "metrics, frames = multi_policy_rollout(\n", + " env=env,\n", + " policies=policies_set,\n", + " device=device,\n", + " deterministic=False,\n", + " render_sim_state=True,\n", + " render_every_n_steps=5\n", ")\n", "\n", - "\n", - "\n", - "\n", - "\n", - "\n", - "env.close()\n" + "env.close()" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "text/html": [ + "
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1
" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], "source": [ - "\n", - "mediapy.show_videos(frames, fps=15, width=500, height=500, columns=2, codec='gif')" + "mediapy.show_videos(frames, fps=10, width=500, height=500, columns=2, codec='gif')" ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [] } ], "metadata": { "kernelspec": { - "display_name": "gpudriveenv", + "display_name": "gpudrive", "language": "python", "name": "python3" }, @@ -189,7 +231,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.11" + "version": "3.11.9" } }, "nbformat": 4, diff --git a/gpudrive/datatypes/info.py b/gpudrive/datatypes/info.py index 3556294df..c0cca1a84 100644 --- a/gpudrive/datatypes/info.py +++ b/gpudrive/datatypes/info.py @@ -12,7 +12,9 @@ def __init__(self, info_tensor: torch.Tensor): """Initializes the ego state with an observation tensor.""" self.off_road = info_tensor[:, :, 0] self.collided = info_tensor[:, :, 1:3].sum(axis=2) + self.collided_with_vehicle = info_tensor[:, :, 1] self.goal_achieved = info_tensor[:, :, 3] + self.type = info_tensor[:, :, 4] @classmethod def from_tensor( diff --git a/gpudrive/datatypes/metadata.py b/gpudrive/datatypes/metadata.py index 147ab0efa..5b6b4a094 100644 --- a/gpudrive/datatypes/metadata.py +++ b/gpudrive/datatypes/metadata.py @@ -9,11 +9,11 @@ class Metadata: `MetaData` in src/types.hpp Attributes (all masks are 0/1 int of shape (NumWorlds, NumAgents)): - id: Unique ID of the agent (non-negative int). - isSdc: Whether agent is self-driving car (1/0, -1 padding). - isOfInterest: IDs of agents interested (1/0, -1 padding). - isModeled: Whether agent's trajectory needs to be predicted for WOSAC (1/0, -1 padding). + is_sdc: Whether agent is self-driving car (1/0, -1 padding). + objects_of_interest: IDs of agents interested (1/0, -1 padding). + tracks_to_predict: Whether agent's trajectory needs to be predicted for WOSAC (1/0, -1 padding). difficulty: Difficulty of the agent's trajectory to be predicted (0/1/2 if isModeled, 0 if !isModeled, -1 padding). + avg_z: Average z-coordinate (elevation) from the first 10 positions of the agent. """ def __init__(self, metadata_tensor: torch.Tensor): @@ -22,18 +22,21 @@ def __init__(self, metadata_tensor: torch.Tensor): self.objects_of_interest = metadata_tensor[:, :, 1] self.tracks_to_predict = metadata_tensor[:, :, 2] self.difficulty = metadata_tensor[:, :, 3] - + self.avg_z = metadata_tensor[:, :, 4] + @classmethod def from_tensor( - cls, metadata_tensor: madrona_gpudrive.madrona.Tensor, backend="torch" + cls, metadata_tensor: madrona_gpudrive.madrona.Tensor, + backend="torch", + device="cuda" ): """Creates a Metadata object from the metadata_tensor.""" if backend == "torch": - return cls(metadata_tensor.to_torch().clone()) + return cls(metadata_tensor.to_torch().clone().to(device)) elif backend == "jax": raise NotImplementedError("JAX backend not implemented yet.") @property def shape(self) -> tuple[int, ...]: """Shape (num_worlds, num_agents) of each metadata mask.""" - return self.is_sdc.shape \ No newline at end of file + return self.is_sdc.shape diff --git a/gpudrive/datatypes/observation.py b/gpudrive/datatypes/observation.py index 6aaaab864..b545b3a4e 100644 --- a/gpudrive/datatypes/observation.py +++ b/gpudrive/datatypes/observation.py @@ -23,6 +23,7 @@ class LocalEgoState: rel_goal_x: Relative x-coordinate to the goal. rel_goal_y: Relative y-coordinate to the goal. is_collided: Whether the agent is in collision with another object. + is_goal_reached: Whether the agent has reached its goal position. id: Unique identifier of the agent. """ @@ -37,7 +38,9 @@ def __init__(self, self_obs_tensor: torch.Tensor, mask=None): self.rel_goal_x = self_obs_tensor[:, 4] self.rel_goal_y = self_obs_tensor[:, 5] self.is_collided = self_obs_tensor[:, 6] - self.id = self_obs_tensor[:, 7] + self.is_goal_reached = self_obs_tensor[:, 7] + self.id = self_obs_tensor[:, 8] + self.steer_angle = self_obs_tensor[:, 9] else: self.speed = self_obs_tensor[:, :, 0] self.vehicle_length = self_obs_tensor[:, :, 1] * AGENT_SCALE @@ -46,7 +49,9 @@ def __init__(self, self_obs_tensor: torch.Tensor, mask=None): self.rel_goal_x = self_obs_tensor[:, :, 4] self.rel_goal_y = self_obs_tensor[:, :, 5] self.is_collided = self_obs_tensor[:, :, 6] - self.id = self_obs_tensor[:, :, 7] + self.is_goal_reached = self_obs_tensor[:, :, 7] + self.id = self_obs_tensor[:, :, 8] + self.steer_angle = self_obs_tensor[:, :, 9] @classmethod def from_tensor( @@ -84,6 +89,7 @@ def normalize(self): min_val=constants.MIN_REL_GOAL_COORD, max_val=constants.MAX_REL_GOAL_COORD, ) + self.steer_angle /= torch.pi / 3 @property def shape(self) -> tuple[int, ...]: @@ -115,6 +121,7 @@ def __init__(self, abs_self_obs_tensor: torch.Tensor): self.pos_x = abs_self_obs_tensor[:, :, 0] self.pos_y = abs_self_obs_tensor[:, :, 1] self.pos_z = abs_self_obs_tensor[:, :, 2] + self.pos_xy = abs_self_obs_tensor[:, :, :2] self.rotation_as_quaternion = abs_self_obs_tensor[:, :, 3:7] self.rotation_angle = abs_self_obs_tensor[:, :, 7] self.goal_x = abs_self_obs_tensor[:, :, 8] @@ -286,7 +293,7 @@ def shape(self) -> tuple[int, ...]: @dataclass class LidarObs: """Dataclass representing the scenario view through LiDAR sensors. - - Shape: (num_worlds, num_agents, 3, num_lidar_points, 4). + - Shape: (num_worlds, num_agents, 3, num_lidar_samples, 4). - Axis 2 represents the agent samples, road edge samples, and road line samples. - Axis 3 represents the lidar points per type, which can be configured in src/consts.hpp as `numLidarSamples`. - Axis 4 represents the depth, type and x, y, values of the lidar points. @@ -312,9 +319,14 @@ def from_tensor( elif backend == "jax": raise NotImplementedError("JAX backend not implemented yet.") + @property + def num_lidar_samples(self) -> int: + """Number of lidar samples per type.""" + return self.all_lidar_samples.shape[3] + @property def shape(self) -> tuple[int, ...]: - """Shape: (num_worlds, num_agents, 3, num_lidar_points, 4).""" + """Shape: (num_worlds, num_agents, 3, num_lidar_samples, 4).""" return self.all_lidar_samples.shape @@ -354,3 +366,144 @@ def one_hot_encode_bev_map(self): self.bev_segmentation_map.long(), num_classes=constants.NUM_MADRONA_ENTITY_TYPES, # From size of Madrona EntityType ) + + +@dataclass +class TrafficLightObs: + """ + A dataclass that represents traffic light information in the scenario. + + This data struct contains the time series of traffic light information. + It contains the state (unknown: 0, stop: 1, caution: 2, go: 3), position, and lane_ids. + + Initialized from tl_states_tensor (from Manager.trafficLightTensor()). + For details, see `TrafficLightState` in src/types.hpp. + Shape: (num_worlds, max_traffic_lights, num_timesteps * features). + + Attributes: + state: The state of each traffic light (0=unknown, 1=stop, 2=caution, 3=go) + pos_x: X-coordinate of the traffic light + pos_y: Y-coordinate of the traffic light + pos_z: Z-coordinate of the traffic light + time_index: Time index of the traffic light state + lane_id: Lane ID associated with the traffic light + valid_mask: Boolean mask indicating valid traffic lights + """ + + state: torch.Tensor + pos_x: torch.Tensor + pos_y: torch.Tensor + pos_z: torch.Tensor + time_index: torch.Tensor + lane_id: torch.Tensor + valid_mask: torch.Tensor + + def __init__( + self, + tl_states_tensor: torch.Tensor, + + ): + """Initializes the traffic light observation from a tensor.""" + traj_length = constants.LOG_TRAJECTORY_LENGTH + + # Calculate indices based on C++ struct layout: + # laneId (1) + state[traj_length] + x[traj_length] + y[traj_length] + z[traj_length] + timeIndex[traj_length] + numStates (1) + + lane_id_end_idx = 1 + state_end_idx = lane_id_end_idx + traj_length + pos_x_end_idx = state_end_idx + traj_length + pos_y_end_idx = pos_x_end_idx + traj_length + pos_z_end_idx = pos_y_end_idx + traj_length + time_index_end_idx = pos_z_end_idx + traj_length + + # Extract fields according to C++ struct layout + # See `TrafficLightState` in src/types.hpp for details + self.lane_id = tl_states_tensor[:, :, 0] # Single lane ID value + self.state = tl_states_tensor[ + :, :, lane_id_end_idx:state_end_idx + ] # state[traj_length] + self.pos_x = tl_states_tensor[ + :, :, state_end_idx:pos_x_end_idx + ].float() # x[traj_length] + self.pos_y = tl_states_tensor[ + :, :, pos_x_end_idx:pos_y_end_idx + ].float() # y[traj_length] + self.pos_z = tl_states_tensor[ + :, :, pos_y_end_idx:pos_z_end_idx + ].float() # z[traj_length] + self.time_index = tl_states_tensor[ + :, :, pos_z_end_idx:time_index_end_idx + ] # timeIndex[traj_length] + self.num_states = tl_states_tensor[ + :, :, time_index_end_idx + ] # Single numStates value + + # Create a valid mask based on numStates + # Traffic lights are valid if they have numStates > 0 + self.valid_mask = self.num_states > 0 + + @classmethod + def from_tensor( + cls, + tl_states_tensor: madrona_gpudrive.madrona.Tensor, + backend="torch", + device="cuda", + ): + """Creates a TrafficLightObs from a tensor. + + Args: + tl_states_tensor: The traffic light state tensor from the simulation + backend: Which backend to use ("torch" or "jax") + device: The device to place tensors on + + Returns: + A TrafficLightObs instance + """ + if backend == "torch": + tensor = tl_states_tensor.to_torch().clone().to(device) + obj = cls(tensor) + return obj + elif backend == "jax": + raise NotImplementedError("JAX backend not implemented yet.") + + def normalize(self): + """Normalizes the traffic light observation coordinates.""" + + # Normalize position coordinates + self.pos_x = normalize_min_max( + tensor=self.pos_x, + min_val=constants.MIN_REL_COORD, + max_val=constants.MAX_REL_COORD, + ) + self.pos_y = normalize_min_max( + tensor=self.pos_y, + min_val=constants.MIN_REL_COORD, + max_val=constants.MAX_REL_COORD, + ) + self.pos_z = normalize_min_max( + tensor=self.pos_z, + min_val=constants.MIN_Z_COORD, + max_val=constants.MAX_Z_COORD, + ) + def one_hot_encode_states(self): + """One-hot encodes the traffic light states. + + Converts the state values to one-hot encoded vectors with 4 classes: + 0: Unknown + 1: Stop + 2: Caution + 3: Go + """ + # Make sure values are in range 0-3 + state_clamped = torch.clamp(self.state, 0, 3) + # One-hot encode + self.state_onehot = torch.nn.functional.one_hot( + state_clamped, num_classes=4 + ) * self.valid_mask.unsqueeze(-1) + + return self.state_onehot + + @property + def shape(self) -> tuple[int, ...]: + """Shape: (num_worlds, max_traffic_lights, num_timesteps).""" + return self.state.shape diff --git a/gpudrive/datatypes/roadgraph.py b/gpudrive/datatypes/roadgraph.py index 729d8161a..d93a7b090 100644 --- a/gpudrive/datatypes/roadgraph.py +++ b/gpudrive/datatypes/roadgraph.py @@ -116,8 +116,8 @@ def restore_mean(self, mean_x, mean_y): def restore_xy(self): """Shifts x, y from the midpoint to the starting point of a segment, along the heading angle.""" - self.x -= self.segment_length * np.cos(self.orientation) - self.y -= self.segment_length * np.sin(self.orientation) + self.x -= self.segment_length * torch.cos(self.orientation) + self.y -= self.segment_length * torch.sin(self.orientation) # Get the dimensions num_worlds, num_road_points = self.x.shape diff --git a/gpudrive/datatypes/trajectory.py b/gpudrive/datatypes/trajectory.py index aeeffed79..c13a3c220 100644 --- a/gpudrive/datatypes/trajectory.py +++ b/gpudrive/datatypes/trajectory.py @@ -5,6 +5,46 @@ TRAJ_LEN = 91 # Length of the logged trajectory +def wrap_yaws(agent_headings: torch.Tensor) -> torch.Tensor: + """ + Wrap an array of angles to the range [-pi, pi] + """ + return ((agent_headings + torch.pi) % (2 * torch.pi)) - torch.pi + + +def to_local_frame( + global_pos_xy: torch.Tensor, + ego_pos: torch.Tensor, + ego_yaw: torch.Tensor, + device: str, +) -> torch.Tensor: + """ + Transform trajectory from global coordinates to ego-centric frame. + Args: + global_pos_xy: Shape (time_steps, 2) containing x,y coordinates in global frame + ego_pos: Shape (2,) containing ego x,y position + ego_yaw: Shape (1,) containing ego yaw angle in radians + Returns: + transformed_trajectory: Shape (time_steps, 2) in ego-centric frame + """ + # Step 1: Translate trajectory to be relative to ego position + translated = global_pos_xy - ego_pos + + # Step 2: Rotate trajectory to align with ego orientation + # Create rotation matrix + cos_yaw = torch.cos(ego_yaw).to(device) + sin_yaw = torch.sin(ego_yaw).to(device) + rotation_matrix = torch.tensor( + [[cos_yaw, sin_yaw], [-sin_yaw, cos_yaw]] + ).to(device) + + # Apply rotation matrix to the translated trajectory + # We need to transpose rotation_matrix for batch matrix multiplication + transformed_trajectory = torch.matmul(translated, rotation_matrix.T) + + return transformed_trajectory + + @dataclass class LogTrajectory: """A class to represent the logged human trajectories. Initialized from `expert_trajectory_tensor` (src/bindings.cpp). @@ -28,15 +68,23 @@ def __init__( self.vel_xy = raw_logs[:, :, 2 * TRAJ_LEN : 4 * TRAJ_LEN].view( num_worlds, max_agents, TRAJ_LEN, -1 ) - self.yaw = raw_logs[:, :, 4 * TRAJ_LEN: 5 * TRAJ_LEN].view( + self.yaw = raw_logs[:, :, 4 * TRAJ_LEN : 5 * TRAJ_LEN].view( num_worlds, max_agents, TRAJ_LEN, -1 ) - self.valids = raw_logs[:, :, 5 * TRAJ_LEN:6 * TRAJ_LEN].view( - num_worlds, max_agents, TRAJ_LEN, -1 - ).to(torch.int32) - self.inferred_actions = raw_logs[:, :, 6 * TRAJ_LEN: 16 * TRAJ_LEN].view( - num_worlds, max_agents, TRAJ_LEN, -1 + self.valids = ( + raw_logs[:, :, 5 * TRAJ_LEN : 6 * TRAJ_LEN] + .view(num_worlds, max_agents, TRAJ_LEN, -1) + .to(torch.int32) ) + self.inferred_actions = raw_logs[ + :, :, 6 * TRAJ_LEN : 16 * TRAJ_LEN + ].view(num_worlds, max_agents, TRAJ_LEN, -1) + + # Zero-out invalid timesteps + self.pos_xy = self.pos_xy * self.valids + self.vel_xy = self.vel_xy * self.valids + self.yaw = self.yaw * self.valids + self.ref_speed = self.comp_reference_speed() @classmethod def from_tensor( @@ -45,11 +93,14 @@ def from_tensor( num_worlds: int, max_agents: int, backend="torch", + device="cuda", ): """Creates an LogTrajectory from a tensor.""" if backend == "torch": return cls( - expert_traj_tensor.to_torch().clone(), num_worlds, max_agents + expert_traj_tensor.to_torch().clone().to(device), + num_worlds, + max_agents, ) # Pass the entire tensor elif backend == "jax": raise NotImplementedError("JAX backend not implemented yet.") @@ -59,7 +110,142 @@ def restore_mean(self, mean_x, mean_y): # Reshape for broadcasting: [num_worlds, agents, time_steps] mean_x_reshaped = mean_x.view(-1, 1, 1) mean_y_reshaped = mean_y.view(-1, 1, 1) - + # Apply to x and y coordinates self.pos_xy[:, :, :, 0] += mean_x_reshaped - self.pos_xy[:, :, :, 1] += mean_y_reshaped \ No newline at end of file + self.pos_xy[:, :, :, 1] += mean_y_reshaped + + def comp_reference_speed(self): + """Returns the average speed of the trajectory.""" + return torch.sqrt( + self.vel_xy[:, :, :, 0] ** 2 + self.vel_xy[:, :, :, 1] ** 2 + ).unsqueeze(-1) + + @property + def length(self): + """Returns the length of the trajectory.""" + return self.pos_xy.shape[2] + + +@dataclass +class VBDTrajectoryOnline: + """A class to represent the VBD predicted trajectories. + Initialized from VBD predictions. + Shape: (num_worlds, max_agents, traj_len, 5) + + Attributes: + trajectories: Tensor of shape (num_worlds, max_agents, traj_len, 5) containing + position (x, y), heading (yaw), and velocity (vx, vy) for each timestep. + """ + + def __init__( + self, vbd_traj_tensor: torch.Tensor, mean_pos_xy: torch.Tensor + ): + """Initializes the VBD trajectory with a tensor.""" + self.pos_x = vbd_traj_tensor[:, :, :, 0].unsqueeze(-1) + self.pos_y = vbd_traj_tensor[:, :, :, 1].unsqueeze(-1) + self.pos_xy = vbd_traj_tensor[:, :, :, :2] + self.yaw = wrap_yaws(vbd_traj_tensor[:, :, :, 2].unsqueeze(-1)) + self.vel_x = vbd_traj_tensor[:, :, :, 3].unsqueeze(-1) + self.vel_y = vbd_traj_tensor[:, :, :, 4].unsqueeze(-1) + self.vel_xy = vbd_traj_tensor[:, :, :, 3:5] + self.ref_speed = self.comp_reference_speed() + # Assumption: All timesteps are valid (correct) + self.valids = vbd_traj_tensor[:, :, :, 5].unsqueeze(-1).to( + torch.int32 + ) + + self.mean_pos_xy = mean_pos_xy + self.mean_x = mean_pos_xy[:, 0] + self.mean_y = mean_pos_xy[:, 1] + + @classmethod + def from_tensor( + cls, + vbd_predictions, + mean_pos_xy, + backend="torch", + device="cuda", + ): + """Creates a VBDTrajectory from a tensor.""" + if backend == "torch": + return cls( + vbd_predictions.clone().to(device), + mean_pos_xy.clone().to(device), + ) + elif backend == "jax": + raise NotImplementedError("JAX backend not implemented yet.") + + def comp_reference_speed(self): + """Returns the average speed of the trajectory.""" + return torch.sqrt(self.vel_x**2 + self.vel_y**2) + + @property + def length(self): + """Returns the length of the trajectory.""" + return self.pos_xy.shape[2] + + def demean_positions(self): + """ + In GPUDrive, we center everything at zero. By default, the VBD + predictions are not centered at zero, so we demean the predicted trajectory. + """ + # Reshape for broadcasting + mean_x_reshaped = self.mean_x.view(-1, 1, 1) + mean_y_reshaped = self.mean_y.view(-1, 1, 1) + + # Apply to x and y coordinates + self.pos_xy[..., 10:, 0] -= mean_x_reshaped + self.pos_xy[..., 10:, 1] -= mean_y_reshaped + + self.pos_x = self.pos_xy[..., 0].unsqueeze(-1) + self.pos_y = self.pos_xy[..., 1].unsqueeze(-1) + + +@dataclass +class VBDTrajectory: + """A class to represent the VBD predicted trajectories. + Initialized from `vbd_trajectory_tensor` (src/bindings.cpp). + Shape: (num_worlds, max_agents, traj_len, 6) + where traj_len is 91 + + Attributes: + trajectories: Tensor of shape (num_worlds, max_agents, traj_len, 6) containing + position (x, y), heading (yaw), velocity (vx, vy) and valid flag for each timestep. + """ + + def __init__(self, vbd_traj_tensor: torch.Tensor): + """Initializes the VBD trajectory with a tensor.""" + self.pos_x = vbd_traj_tensor[:, :, :, 0].unsqueeze(-1) + self.pos_y = vbd_traj_tensor[:, :, :, 1].unsqueeze(-1) + self.pos_xy = vbd_traj_tensor[:, :, :, :2] + self.yaw = wrap_yaws(vbd_traj_tensor[:, :, :, 2].unsqueeze(-1)) + self.vel_x = vbd_traj_tensor[:, :, :, 3].unsqueeze(-1) + self.vel_y = vbd_traj_tensor[:, :, :, 4].unsqueeze(-1) + self.vel_xy = vbd_traj_tensor[:, :, :, 3:5] + self.ref_speed = self.comp_reference_speed() + self.valids = vbd_traj_tensor[:, :, :, 5].unsqueeze(-1).to( + torch.int32 + ) + + @classmethod + def from_tensor( + cls, + vbd_traj_tensor: madrona_gpudrive.madrona.Tensor, + backend="torch", + device="cuda", + ): + """Creates a VBDTrajectory from a tensor.""" + if backend == "torch": + return cls(vbd_traj_tensor.to_torch().clone().to(device)) + elif backend == "jax": + raise NotImplementedError("JAX backend not implemented yet.") + + def comp_reference_speed(self): + """Returns the average speed of the trajectory.""" + return torch.sqrt(self.vel_x**2 + self.vel_y**2) + + @property + def length(self): + """Returns the length of the trajectory.""" + return self.pos_xy.shape[2] diff --git a/gpudrive/env/README.md b/gpudrive/env/README.md index 2febd2ade..4fb8ac3f8 100755 --- a/gpudrive/env/README.md +++ b/gpudrive/env/README.md @@ -59,10 +59,30 @@ For instance, with `dynamics_model: str = "classic"`, the default action space i ```Python # Action space (joint discrete) -head_tilt_actions: torch.Tensor = torch.Tensor([0]) -steer_actions: torch.Tensor = torch.round(torch.linspace(-1.0, 1.0, 13), decimals=3) -accel_actions: torch.Tensor = torch.round(torch.linspace(-3, 3, 7), decimals=3) +action_space_steer_disc: int = 13 +action_space_accel_disc: int = 7 +action_space_head_tilt_disc: int = 1 + +# Type-aware action space settings +use_type_aware_actions: bool = True # Toggles type-aware action mapping: if False, use vehicle ranges for all agents + +# Vehicle action ranges +vehicle_accel_range: Tuple[float, float] = (-4.0, 4.0) # m/s² +vehicle_steer_range: Tuple[float, float] = (-1.57, 1.57) # radians + +# Cyclist action ranges +cyclist_accel_range: Tuple[float, float] = (-2.5, 2.5) # m/s² +cyclist_steer_range: Tuple[float, float] = (-2.09, 2.09) # radians (±120°) + +# Pedestrian action ranges +pedestrian_accel_range: Tuple[float, float] = (-1.5, 1.5) # m/s² +pedestrian_steer_range: Tuple[float, float] = (-3.14, 3.14) # radians (±180°) + +# Head tilt action range +head_tilt_action_range: Tuple[float, float] = (-0.7854, 0.7854) # radians (±45°) ``` +The head tilt action is relevant when the view cone is not 360° (see below). + ### Continuous @@ -89,6 +109,19 @@ lidar_obs: bool = True # Use LiDAR data --- +### Restriced Observation Space + +By default, _every_ road segment and agent within a radius of 50m of the ego is observable and added to partner_obs and road_map_obs, respectively. + +The observation can be restriced in various ways: +- **smaller observation radius**: By default the radius is set to 50m. This can be changed using the `obs_radius` option. + +- **smaller view cone**: Instead of observing 360° around the vehicle, the view can be restricted to a cone using the `view_cone_half_angle` config parameter. By default the _half_ angle is set to $\pi = 180°$, i.e. a full 360° view. Using the head tilt action, the heading of the view angle can be changed (within the given range) without changing the heading of the vehicle (the direction of driving). Relevant parameters: `view_cone_half_angle`, `action_space_head_tilt_disc`, `head_tilt_action_range`. Specifying the range and discretization produces a linearly spaced interval. Alternatively, `head_tilt_actions` can be used to pass a list of angles directly. `action_space_head_tilt_disc` does not need to be specified in this case. + + +- **remove agents that are occluded**: Agents that are not technically not visible because they are hidden behind other agents are not added to partner_obs if `remove_occluded_agents = True`. This is determined by casting rays: If one ray hits the vehicle without occlusion, the agent is considered visible. By default, the 8 corners as well as the midpoints of each edge of the bounding box are checked. The number of sampled points on the edge of the bounding box can be set in `consts.hpp` + + ### Data Structures For detailed structures, refer to: diff --git a/gpudrive/env/base_env.py b/gpudrive/env/base_env.py index f67703abd..755883674 100755 --- a/gpudrive/env/base_env.py +++ b/gpudrive/env/base_env.py @@ -3,6 +3,7 @@ import madrona_gpudrive import abc + class GPUDriveGymEnv(gym.Env, metaclass=abc.ABCMeta): def __init__(self, backend="torch"): super().__init__() @@ -61,10 +62,12 @@ def _set_reward_params(self): if ( self.config.reward_type == "sparse_on_goal_achieved" or self.config.reward_type == "weighted_combination" - or self.config.reward_type == "distance_to_logs" + or self.config.reward_type == "guided_autonomy" or self.config.reward_type == "reward_conditioned" ): - reward_params.rewardType = madrona_gpudrive.RewardType.OnGoalAchieved + reward_params.rewardType = ( + madrona_gpudrive.RewardType.OnGoalAchieved + ) else: raise ValueError(f"Invalid reward type: {self.config.reward_type}") @@ -83,6 +86,8 @@ def _set_road_reduction_params(self, params): object: Updated parameters object with road reduction settings. """ params.observationRadius = self.config.obs_radius + params.viewConeHalfAngle = self.config.view_cone_half_angle + params.removeOccludedAgents = self.config.remove_occluded_agents if self.config.road_obs_algorithm == "k_nearest_roadpoints": params.roadObservationAlgorithm = ( madrona_gpudrive.FindRoadObservationsWith.KNearestEntitiesWithRadiusFiltering @@ -108,22 +113,28 @@ def _setup_environment_parameters(self): ) params = madrona_gpudrive.Parameters() - + params.polylineReductionThreshold = ( self.config.polyline_reduction_threshold ) params.rewardParams = self._set_reward_params() params.maxNumControlledAgents = self.max_cont_agents - if self.config.init_mode == "womd_tracks_to_predict": - # Bypasses all gpudrive initialization rules and directly reads from the tracks_to_predict + if self.config.init_mode == "wosac_eval": + # Bypasses all gpudrive initialization rules and directly reads from the tracks_to_predict # flag in the WOMD dataset metadata params.readFromTracksToPredict = True + params.isStaticAgentControlled = True + params.controlExperts = True + elif self.config.init_mode == "wosac_train": + params.readFromTracksToPredict = True + params.isStaticAgentControlled = True + params.controlExperts = False elif self.config.init_mode == "all_objects": params.isStaticAgentControlled = True params.initOnlyValidAgentsAtFirstStep = False params.IgnoreNonVehicles = False - elif self.config.init_mode == "all_valid": - params.isStaticAgentControlled = True + elif self.config.init_mode == "all_valid": + params.isStaticAgentControlled = True params.initOnlyValidAgentsAtFirstStep = True params.IgnoreNonVehicles = self.config.remove_non_vehicles elif self.config.init_mode == "all_non_trivial": @@ -132,7 +143,7 @@ def _setup_environment_parameters(self): params.IgnoreNonVehicles = self.config.remove_non_vehicles else: raise ValueError(f"Invalid init mode: {self.config.init_mode}") - + params.dynamicsModel = self.dynamics_model_dict[ self.config.dynamics_model ] @@ -155,6 +166,17 @@ def _setup_environment_parameters(self): self.config.partner_obs = False params = self._set_collision_behavior(params) params = self._set_road_reduction_params(params) + params = self._set_goal_behavior(params) + + if self.config.guidance and self.config.guidance_mode == "vbd_online": + self.init_steps = max(self.config.init_steps, 10) + print( + f"\n[Note] Guidance mode '{self.config.guidance_mode}' requires at least 10 initialization steps to provide sufficient scene context for the diffusion model. Automatically setting simulator time to t = {self.init_steps}. \n" + ) + else: + self.init_steps = getattr(self.config, "init_steps", 0) + + params.initSteps = self.init_steps return params @@ -217,19 +239,44 @@ def _set_collision_behavior(self, params): object: Updated parameters with collision behavior settings. """ if self.config.collision_behavior == "ignore": - params.collisionBehaviour = madrona_gpudrive.CollisionBehaviour.Ignore + params.collisionBehaviour = ( + madrona_gpudrive.CollisionBehaviour.Ignore + ) elif self.config.collision_behavior == "remove": params.collisionBehaviour = ( madrona_gpudrive.CollisionBehaviour.AgentRemoved ) elif self.config.collision_behavior == "stop": - params.collisionBehaviour = madrona_gpudrive.CollisionBehaviour.AgentStop + params.collisionBehaviour = ( + madrona_gpudrive.CollisionBehaviour.AgentStop + ) else: raise ValueError( f"Invalid collision behavior: {self.config.collision_behavior}" ) return params + def _set_goal_behavior(self, params): + """Configures the behavior when an agent reaches its goal. + + Args: + params (object): Parameters object to update based on goal behavior. + + Returns: + object: Updated parameters with goal behavior settings. + """ + if self.config.goal_behavior == "remove": + params.goalBehaviour = madrona_gpudrive.GoalBehaviour.Remove + elif self.config.goal_behavior == "stop": + params.goalBehaviour = madrona_gpudrive.GoalBehaviour.Stop + elif self.config.goal_behavior == "ignore": + params.goalBehaviour = madrona_gpudrive.GoalBehaviour.Ignore + else: + raise ValueError( + f"Invalid goal behavior: {self.config.goal_behavior}" + ) + return params + def close(self): """Destroy the simulator and visualizer.""" del self.sim diff --git a/gpudrive/env/config.py b/gpudrive/env/config.py index 4ef009996..c5b13dc0f 100755 --- a/gpudrive/env/config.py +++ b/gpudrive/env/config.py @@ -3,7 +3,7 @@ from dataclasses import dataclass from enum import Enum -from typing import Tuple, Optional +from typing import Tuple, Optional, Union, List import torch import madrona_gpudrive @@ -30,6 +30,20 @@ class EnvConfig: partner_obs: bool = True # Include partner vehicle info in observations bev_obs: bool = False # Include rasterized Bird's Eye View observations centered on ego vehicle norm_obs: bool = True # Normalize observations + add_previous_action: bool = True # Previous action time agent has taken + + # Guidance settings; these are used to direct the agent's behavior and + # will be included in the observations if set to True + guidance: bool = True + guidance_mode: str = "log_replay" # Options: "log_replay", "vbd_amortized", "vbd_online", "goals_only" + # Ways to guide the agent + add_reference_pos_xy: bool = True # (x, y) position time series + add_reference_speed: bool = True # speed time series + add_reference_heading: bool = True # heading time series + smoothen_trajectory: bool = True # Filters out the trajectory + guidance_pos_xy_radius: float = 1.0 # Tightness of the positions guidance + guidance_dropout_prob: float = 0.0 # Probability of dropping the points + guidance_dropout_mode: str = "max" # Options: "max", "avg", "remove_all" # Maximum number of controlled agents in the scene max_controlled_agents: int = madrona_gpudrive.kMaxAgentCount @@ -40,15 +54,11 @@ class EnvConfig: disable_classic_obs: bool = False # Disable classic observations lidar_obs: bool = False # Use LiDAR in observations - # Set the weights for the reward components - # R = a * collided + b * goal_achieved + c * off_road - collision_weight: float = 0.0 - goal_achieved_weight: float = 1.0 - off_road_weight: float = 0.0 - # Road observation algorithm settings road_obs_algorithm: str = "linear" # Algorithm for road observations obs_radius: float = 50.0 # Radius for road observations + view_cone_half_angle: float = torch.pi # Half-angle for view cone setting + remove_occluded_agents: bool = False # True: Vehicles are removed from observations if they are occluded by other vehicles polyline_reduction_threshold: float = ( 0.1 # Threshold for polyline reduction ) @@ -59,14 +69,29 @@ class EnvConfig: ) # Action space settings (if discretized) + # Type-aware action space settings + use_type_aware_actions: bool = True # Toggles type-aware action mapping: if False, use vehicle ranges for all agents + + # Vehicle action ranges + vehicle_accel_range: Tuple[float, float] = (-4.0, 4.0) # m/s² + vehicle_steer_range: Tuple[float, float] = (-1.57, 1.57) # radians + + # Cyclist action ranges + cyclist_accel_range: Tuple[float, float] = (-2.5, 2.5) # m/s² + cyclist_steer_range: Tuple[float, float] = (-2.09, 2.09) # radians (±120°) + + # Pedestrian action ranges + pedestrian_accel_range: Tuple[float, float] = (-1.5, 1.5) # m/s² + pedestrian_steer_range: Tuple[float, float] = (-3.14, 3.14) # radians (±180°) + + # Head tilt action range + head_tilt_action_range: Tuple[float, float] = (-0.7854, 0.7854) # radians (±45°) + head_tilt_actions: Optional[List[float]] = None + # Classic or Invertible Bicycle dynamics model - steer_actions: torch.Tensor = torch.round( - torch.linspace(-torch.pi, torch.pi, 13), decimals=3 - ) - accel_actions: torch.Tensor = torch.round( - torch.linspace(-4.0, 4.0, 7), decimals=3 - ) - head_tilt_actions: torch.Tensor = torch.Tensor([0]) + action_space_steer_disc: int = 13 + action_space_accel_disc: int = 7 + action_space_head_tilt_disc: int = 1 # Delta Local dynamics model dx: torch.Tensor = torch.round(torch.linspace(-2.0, 2.0, 20), decimals=3) @@ -89,25 +114,47 @@ class EnvConfig: vy: torch.Tensor = torch.round(torch.linspace(-10.0, 10.0, 10), decimals=3) # Collision behavior settings - collision_behavior: str = "remove" # Options: "remove", "stop", "ignore" + collision_behavior: str = "ignore" # Options: "remove", "stop", "ignore" # Scene configuration - remove_non_vehicles: bool = True # Remove non-vehicle entities from scene + remove_non_vehicles: bool = False # Remove non-vehicle entities from scene # Initialization steps: Number of steps to take before the episode starts init_steps: int = 0 + # Goal behavior settings + goal_behavior: str = "ignore" # Options: "stop", "ignore", "remove" + # Reward settings - reward_type: str = "sparse_on_goal_achieved" - # Alternatively, "weighted_combination", "distance_to_logs", "distance_to_vdb_trajs", "reward_conditioned" + reward_type: str = "guided_autonomy" + # Alternatively, "weighted_combination", "guided_autonomy", "reward_conditioned" + + # If reward_type is "guided_autonomy", the following parameters are used + guidance_speed_weight: float = ( + 0.005 # Importance of matching suggested speeds + ) + guidance_heading_weight: float = ( + 0.005 # Importance of matching suggested headings + ) + smoothness_weight: float = 0.0 + + # If reward_type is "reward_conditioned", the following parameters are used + # Weights for the reward components + collision_weight: float = -0.1 + goal_achieved_weight: float = 1.0 + off_road_weight: float = -0.1 condition_mode: str = "random" # Options: "random", "fixed", "preset" + # If condition_mode is "fixed", set the agent weights here + agent_type: Optional[Union[str, torch.Tensor]] = torch.Tensor( + [-0.75, 1.0, -0.75] + ) # weights for collision, goal_achieved, off_road # Define upper and lower bounds for reward components if using reward_conditioned collision_weight_lb: float = -1.0 collision_weight_ub: float = 0.0 goal_achieved_weight_lb: float = 1.0 - goal_achieved_weight_ub: float = 2.0 + goal_achieved_weight_ub: float = 3.0 off_road_weight_lb: float = -1.0 off_road_weight_ub: float = 0.0 @@ -134,15 +181,10 @@ class EnvConfig: agent_size_scale: float = madrona_gpudrive.vehicleScale # Initialization mode - init_mode: str = ( - "all_non_trivial" # Options: all_non_trivial, all_objects, all_valid - ) + init_mode: str = "all_non_trivial" # Options: all_non_trivial, all_objects, all_valid, wosac_eval, wosac_train - # VBD model settings - use_vbd: bool = False - vbd_model_path: str = None - vbd_trajectory_weight: float = 0.01 - vbd_in_obs: bool = False + # Versatile Behavior Diffusion (VBD) + vbd_model_path: str = "gpudrive/integrations/vbd/weights/epoch=18.ckpt" class SelectionDiscipline(Enum): diff --git a/gpudrive/env/constants.py b/gpudrive/env/constants.py index 29736ddb8..bf5937da4 100644 --- a/gpudrive/env/constants.py +++ b/gpudrive/env/constants.py @@ -1,4 +1,5 @@ import numpy as np +import madrona_gpudrive """Predefined constants for the environment.""" @@ -13,20 +14,30 @@ MAX_REL_AGENT_POS = 1000 MAX_ORIENTATION_RAD = 2 * np.pi +MAX_REF_POINT = 1000 + # Road graph constants MIN_RG_COORD = -1000 MAX_RG_COORD = 1000 -MAX_ROAD_LINE_SEGMENT_LEN = 100 +MAX_ROAD_LINE_SEGMENT_LEN = 200 MAX_ROAD_SCALE = 100 # Feature shape constants -EGO_FEAT_DIM = 6 +EGO_FEAT_DIM = 6 # Ego state base fields PARTNER_FEAT_DIM = 6 ROAD_GRAPH_FEAT_DIM = 13 +ROAD_GRAPH_TOP_K = madrona_gpudrive.kMaxAgentMapObservationsCount + # Dataset constants -LOG_TRAJECTORY_LEN = 91 +LOG_TRAJECTORY_LENGTH = 91 -#BEV observation constants +# BEV observation constants BEV_RASTERIZATION_RESOLUTION = 200 -NUM_MADRONA_ENTITY_TYPES = 11 \ No newline at end of file +NUM_MADRONA_ENTITY_TYPES = 11 + +# Action values +MAX_ACTION_VALUE = 4.0 + +# Invalid points +INVALID_ID = -1.0 diff --git a/gpudrive/env/env_puffer.py b/gpudrive/env/env_puffer.py index 811971cf6..1cc512b18 100644 --- a/gpudrive/env/env_puffer.py +++ b/gpudrive/env/env_puffer.py @@ -10,6 +10,7 @@ from gpudrive.env.env_torch import GPUDriveTorchEnv from gpudrive.datatypes.observation import ( LocalEgoState, + GlobalEgoState, ) from gpudrive.visualize.utils import img_from_fig @@ -18,6 +19,133 @@ from pufferlib.environment import PufferEnv from gpudrive import GPU_DRIVE_DATA_DIR +"""Metrics from + https://github.com/waymo-research/waymo-open-dataset/blob/master/src/waymo_open_dataset/wdl_limited/sim_agents_metrics/trajectory_features.py + implemented using numpy instead of tensorflow. +""" + + +def compute_displacement_error_np(pred_x, pred_y, ref_x, ref_y): + """NumPy version of compute_displacement_error function. + + Computes displacement error (in x,y) w.r.t. a reference trajectory. + + Args: + pred_x: The x-component of the predicted trajectories. + pred_y: The y-component of the predicted trajectories. + ref_x: The x-component of the reference trajectories. + ref_y: The y-component of the reference trajectories. + + Returns: + A float array with the same shape as all the arguments, containing + the 2D distance between the predicted trajectories and the reference + trajectories. + """ + # Stack coordinates along a new axis + pred_xy = np.stack([pred_x, pred_y], axis=-1) + ref_xy = np.stack([ref_x, ref_y], axis=-1) + + # Calculate Euclidean distance + return np.linalg.norm(pred_xy - ref_xy, ord=2, axis=-1) + + +def central_diff_np(t, pad_value): + """NumPy version of central_diff function. + + Computes central difference along the last axis. + """ + # Check if input is at least length 3 (needed for central diff) + if t.shape[-1] < 3: + result = np.full_like(t, pad_value) + return result + + # Create proper padding tensors + pad_shape = t.shape[:-1] + (1,) + pad_array = np.full(pad_shape, pad_value) + + # Compute central difference for middle elements + diff_t = (t[..., 2:] - t[..., :-2]) / 2 + + return np.concatenate([pad_array, diff_t, pad_array], axis=-1) + + +def central_logical_and_np(t, pad_value): + """NumPy version of central_logical_and function.""" + # Check if input is at least length 3 + if t.shape[-1] < 3: + result = np.full_like(t, pad_value) + return result + + pad_shape = t.shape[:-1] + (1,) + pad_array = np.full(pad_shape, pad_value) + diff_t = np.logical_and(t[..., :-2], t[..., 2:]) + return np.concatenate([pad_array, diff_t, pad_array], axis=-1) + + +def wrap_angle_np(angle): + """Wraps angles in the range [-pi, pi].""" + return (angle + np.pi) % (2 * np.pi) - np.pi + + +def compute_kinematic_features_np(x, y, heading, seconds_per_step): + """NumPy version of compute_kinematic_features function, for x,y only.""" + # Compute positions and displacement + batch_shape = x.shape[:-1] + time_steps = x.shape[-1] + + # For very short trajectories, just return placeholders + if time_steps < 3: + placeholder = np.full(x.shape, np.nan) + return placeholder, placeholder, placeholder, placeholder + + # Linear speed - compute displacement first then magnitude + dx = central_diff_np(x, pad_value=np.nan) + dy = central_diff_np(y, pad_value=np.nan) + + # Calculate displacement norm directly (avoid reshaping issues) + displacements = np.sqrt(dx**2 + dy**2) + linear_speed = displacements / seconds_per_step + + # Linear acceleration (scalar) + linear_accel = ( + central_diff_np(linear_speed, pad_value=np.nan) / seconds_per_step + ) + + # Angular speed and acceleration + dh_step = wrap_angle_np(central_diff_np(heading, pad_value=np.nan)) + angular_speed = dh_step / seconds_per_step + angular_accel = ( + central_diff_np(angular_speed, pad_value=np.nan) / seconds_per_step + ) + + return linear_speed, linear_accel, angular_speed, angular_accel + + +def compute_kinematic_validity_np(valid): + """NumPy version of compute_kinematic_validity function.""" + speed_validity = central_logical_and_np(valid, pad_value=False) + acceleration_validity = central_logical_and_np( + speed_validity, pad_value=False + ) + return speed_validity, acceleration_validity + + +def get_state(env, num_worlds): + ego_state = GlobalEgoState.from_tensor( + env.sim.absolute_self_observation_tensor(), + backend=env.backend, + device=env.device, + ) + glob_ego_pos_x = ego_state.pos_x + glob_ego_pos_y = ego_state.pos_y + return ( + glob_ego_pos_x[:num_worlds, :], + glob_ego_pos_y[:num_worlds, :], + ego_state.pos_z[:num_worlds, :], + ego_state.rotation_angle[:num_worlds, :], + ego_state.id[:num_worlds, :], + ) + def env_creator(name="gpudrive", **kwargs): return lambda: PufferGPUDrive(**kwargs) @@ -40,32 +168,59 @@ def __init__( dynamics_model="classic", action_space_steer_disc=13, action_space_accel_disc=7, + action_space_head_tilt_disc=1, + use_type_aware_actions=True, + vehicle_accel_range=(-4.0, 4.0), + vehicle_steer_range=(-1.57, 1.57), + cyclist_accel_range=(-2.5, 2.5), + cyclist_steer_range=(-2.09, 2.09), + pedestrian_accel_range=(-1.5, 1.5), + pedestrian_steer_range=(-3.14, 3.14), + head_tilt_action_range=(-0.7854, 0.7854), + head_tilt_actions=None, ego_state=True, road_map_obs=True, partner_obs=True, norm_obs=True, lidar_obs=False, bev_obs=False, + add_previous_action=False, + guidance=True, + add_reference_pos_xy=True, + add_reference_speed=True, + add_reference_heading=False, + smoothen_trajectory=False, reward_type="weighted_combination", + guidance_speed_weight=0.0, + guidance_heading_weight=0.0, + smoothness_weight=0.0, + condition_mode="random", collision_behavior="ignore", + goal_behavior="remove", + init_mode="all_non_trivial", collision_weight=-0.5, off_road_weight=-0.5, goal_achieved_weight=1, dist_to_goal_threshold=2.0, polyline_reduction_threshold=0.1, - remove_non_vehicles=True, + guidance_dropout_prob=0.0, + remove_non_vehicles=False, obs_radius=50.0, - use_vbd=False, - vbd_model_path=None, - vbd_trajectory_weight=0.1, + view_cone_half_angle=3.14159, + remove_occluded_agents=False, + track_realism_metrics=False, + track_n_worlds=2, render=False, render_3d=True, render_interval=50, + render_every_t=5, render_k_scenarios=3, + render_agent_idx=[0, 6], render_agent_obs=False, render_format="mp4", render_fps=15, zoom_radius=50, + plot_guidance_pos_xy=False, buf=None, **kwargs, ): @@ -89,20 +244,28 @@ def __init__( self.collision_weight = collision_weight self.off_road_weight = off_road_weight self.goal_achieved_weight = goal_achieved_weight + self.init_mode = init_mode + self.reward_type = reward_type + + # Expert guidance + self.guidance = guidance + self.add_reference_pos_xy = add_reference_pos_xy + self.add_reference_speed = add_reference_speed + self.add_reference_heading = add_reference_heading + self.guidance_dropout_prob = guidance_dropout_prob self.render = render self.render_interval = render_interval + self.render_every_t = render_every_t self.render_k_scenarios = render_k_scenarios + self.render_agent_idx = render_agent_idx self.render_agent_obs = render_agent_obs self.render_format = render_format self.render_fps = render_fps self.zoom_radius = zoom_radius - - # VBD - self.vbd_model_path = vbd_model_path - self.vbd_trajectory_weight = vbd_trajectory_weight - self.use_vbd = use_vbd - self.vbd_trajectory_weight = vbd_trajectory_weight + self.plot_guidance_pos_xy = plot_guidance_pos_xy + self.track_realism_metrics = track_realism_metrics + self.track_n_worlds = track_n_worlds # Total number of agents across envs, including padding self.total_agents = self.max_cont_agents_per_env * self.num_worlds @@ -117,28 +280,45 @@ def __init__( road_map_obs=road_map_obs, partner_obs=partner_obs, reward_type=reward_type, + guidance_speed_weight=guidance_speed_weight, + guidance_heading_weight=guidance_heading_weight, + smoothness_weight=smoothness_weight, + condition_mode=condition_mode, norm_obs=norm_obs, bev_obs=bev_obs, + add_previous_action=add_previous_action, + guidance=guidance, + guidance_dropout_prob=guidance_dropout_prob, + add_reference_pos_xy=add_reference_pos_xy, + add_reference_speed=add_reference_speed, + add_reference_heading=add_reference_heading, + smoothen_trajectory=smoothen_trajectory, dynamics_model=dynamics_model, collision_behavior=collision_behavior, + goal_behavior=goal_behavior, + init_mode=init_mode, dist_to_goal_threshold=dist_to_goal_threshold, polyline_reduction_threshold=polyline_reduction_threshold, remove_non_vehicles=remove_non_vehicles, lidar_obs=lidar_obs, disable_classic_obs=True if lidar_obs else False, obs_radius=obs_radius, - steer_actions=torch.round( - torch.linspace(-torch.pi, torch.pi, action_space_steer_disc), - decimals=3, - ), - accel_actions=torch.round( - torch.linspace(-4.0, 4.0, action_space_accel_disc), decimals=3 - ), - use_vbd=use_vbd, - vbd_model_path=vbd_model_path, - vbd_trajectory_weight=vbd_trajectory_weight, + action_space_steer_disc=action_space_steer_disc, + action_space_accel_disc=action_space_accel_disc, + action_space_head_tilt_disc=action_space_head_tilt_disc, + use_type_aware_actions=use_type_aware_actions, + vehicle_accel_range=vehicle_accel_range, + vehicle_steer_range=vehicle_steer_range, + cyclist_accel_range=cyclist_accel_range, + cyclist_steer_range=cyclist_steer_range, + pedestrian_accel_range=pedestrian_accel_range, + pedestrian_steer_range=pedestrian_steer_range, + head_tilt_action_range=head_tilt_action_range, + head_tilt_actions=head_tilt_actions, + view_cone_half_angle=view_cone_half_angle, + remove_occluded_agents=remove_occluded_agents, + **{k: v for k, v in kwargs.items() if hasattr(EnvConfig, k)} ) - render_config = RenderConfig( render_3d=render_3d, ) @@ -166,7 +346,7 @@ def __init__( super().__init__() # Reset the environment and get the initial observations - self.observations = self.env.reset(self.controlled_agent_mask) + self.observations = self.env.reset(mask=self.controlled_agent_mask) self.masks = torch.ones(self.num_agents, dtype=bool) self.actions = torch.zeros( @@ -181,6 +361,7 @@ def __init__( env_idx: True for env_idx in range(render_k_scenarios) } self.frames = {env_idx: [] for env_idx in range(render_k_scenarios)} + self.agent_frames = {agent_idx: [] for agent_idx in render_agent_idx} self.global_step = 0 self.iters = 0 @@ -210,6 +391,14 @@ def reset(self, seed=None): self.episode_returns = torch.zeros( self.num_agents, dtype=torch.float32 ).to(self.device) + self.human_like_rewards = torch.zeros( + (self.num_worlds, self.max_cont_agents_per_env), + dtype=torch.float32, + ).to(self.device) + self.internal_rewards = torch.zeros( + (self.num_worlds, self.max_cont_agents_per_env), + dtype=torch.float32, + ).to(self.device) self.agent_episode_returns = torch.zeros( (self.num_worlds, self.max_cont_agents_per_env), dtype=torch.float32, @@ -230,6 +419,19 @@ def reset(self, seed=None): dtype=torch.float32, ).to(self.device) + # Storage for computing realism metrics + if self.track_realism_metrics: + self.worlds_to_track = self.track_n_worlds + self.pos_xyz = torch.zeros( + (self.worlds_to_track, self.max_cont_agents_per_env, 91, 3), + dtype=torch.float32, + ).to(self.device) + + self.headings = torch.zeros( + (self.worlds_to_track, self.max_cont_agents_per_env, 91), + dtype=torch.float32, + ).to(self.device) + return self.observations, [] def step(self, action): @@ -252,11 +454,21 @@ def step(self, action): collision_weight=self.collision_weight, off_road_weight=self.off_road_weight, goal_achieved_weight=self.goal_achieved_weight, - world_time_steps=self.episode_lengths[:, 0].long(), ) + # Flatten rewards; only keep rewards for controlled agents reward_controlled = reward[self.controlled_agent_mask] - terminal = self.env.get_dones().bool() + + # Store human-like and internal rewards separately + if self.reward_type == "guided_autonomy": + self.human_like_rewards[ + self.live_agent_mask + ] += self.env.guidance_reward[self.live_agent_mask] + self.internal_rewards[ + self.live_agent_mask + ] += self.env.base_rewards[self.live_agent_mask] + + terminal = self.env.get_dones() self.render_env() if self.render else None @@ -280,6 +492,21 @@ def step(self, action): self.offroad_in_episode += info.off_road self.collided_in_episode += info.collided + if self.track_realism_metrics: # Log global states + batch_indices = torch.arange( + self.worlds_to_track, device=self.device + ) + pos_x, pos_y, pos_z, heading, ids = get_state( + self.env, num_worlds=self.worlds_to_track + ) + episode_time_steps = ( + self.episode_lengths[: self.worlds_to_track, 0].long() - 1 + ) + self.pos_xyz[ + batch_indices, :, episode_time_steps, : + ] = torch.stack([pos_x, pos_y, pos_z], dim=-1) + self.headings[batch_indices, :, episode_time_steps] = heading + # Mask used for buffer self.masks = self.live_agent_mask[self.controlled_agent_mask] @@ -299,7 +526,7 @@ def step(self, action): # Flatten terminal = terminal[self.controlled_agent_mask] - info_lst = [] + self.info_lst = [] if len(done_worlds) > 0: if self.render: @@ -339,8 +566,13 @@ def step(self, action): / num_finished_agents ) - total_collisions = self.collided_in_episode[done_worlds, :].sum() - total_off_road = self.offroad_in_episode[done_worlds, :].sum() + # Calculate human-likeness metrics for completed episodes + human_like_values = self.human_like_rewards[done_worlds, :][ + controlled_mask + ] + internal_reward_values = self.internal_rewards[done_worlds, :][ + controlled_mask + ] agent_episode_returns = self.agent_episode_returns[done_worlds, :][ controlled_mask @@ -352,19 +584,19 @@ def step(self, action): if num_finished_agents > 0: # fmt: off - info_lst.append( + self.info_lst.append( { - "mean_episode_reward_per_agent": agent_episode_returns.mean().item(), - "perc_goal_achieved": goal_achieved_rate.item(), - "perc_off_road": off_road_rate.item(), - "perc_veh_collisions": collision_rate.item(), - "total_controlled_agents": self.num_agents, - "control_density": self.num_agents / self.controlled_agent_mask.numel(), - "episode_length": self.episode_lengths[done_worlds, :].mean().item(), - "perc_truncated": num_truncated / num_finished_agents, - "num_completed_episodes": len(done_worlds), - "total_collisions": total_collisions.item(), - "total_off_road": total_off_road.item(), + "metrics/mean_episode_reward_per_agent": agent_episode_returns.mean().item(), + "metrics/mean_guidance_reward": human_like_values.mean().item(), + "metrics/mean_internal_reward": internal_reward_values.mean().item(), + "metrics/perc_goal_achieved": goal_achieved_rate.item(), + "metrics/perc_off_road": off_road_rate.item(), + "metrics/perc_collisions": collision_rate.item(), + "metrics/perc_truncated": num_truncated / num_finished_agents, + "train/num_completed_episodes": len(done_worlds), + "train/total_controlled_agents": self.num_agents, + "train/control_density": self.num_agents / self.controlled_agent_mask.numel(), + "train/episode_length": self.episode_lengths[done_worlds, :].mean().item(), } ) # fmt: on @@ -373,7 +605,9 @@ def step(self, action): self.last_obs = self.env.get_obs(self.controlled_agent_mask) # Asynchronously reset the done worlds and empty storage - self.env.reset(env_idx_list=done_worlds_cpu) + self.env.reset( + env_idx_list=done_worlds_cpu, mask=self.controlled_agent_mask + ) self.episode_returns[done_worlds] = 0 self.agent_episode_returns[done_worlds, :] = 0 self.episode_lengths[done_worlds, :] = 0 @@ -384,6 +618,17 @@ def step(self, action): ] self.offroad_in_episode[done_worlds, :] = 0 self.collided_in_episode[done_worlds, :] = 0 + self.human_like_rewards[done_worlds, :] = 0 + self.internal_rewards[done_worlds, :] = 0 + + if self.track_realism_metrics: + tracked_done_worlds = done_worlds.tolist() and list( + range(self.worlds_to_track) + ) + if len(tracked_done_worlds): + self.compute_realism_metrics(tracked_done_worlds) + self.pos_xyz[tracked_done_worlds, :] = 0 + self.headings[tracked_done_worlds, :] = 0 # Get the next observations. Note that we do this after resetting # the worlds so that we always return a fresh observation @@ -399,7 +644,7 @@ def step(self, action): self.rewards, self.terminals, self.truncations, - info_lst, + self.info_lst, ) def render_env(self): @@ -423,13 +668,32 @@ def render_env(self): ) time_steps = list(self.episode_lengths[envs_to_render, 0]) - if len(envs_to_render) > 0: + render_at_time = bool( + self.env.step_in_world[0, 0] % self.render_every_t == 0 + ) + + if len(envs_to_render) > 0 and render_at_time: sim_state_figures = self.env.vis.plot_simulator_state( env_indices=envs_to_render, time_steps=time_steps, zoom_radius=self.zoom_radius, + plot_guidance_pos_xy=self.plot_guidance_pos_xy, ) + for agent_idx in self.render_agent_idx: + agent_obs = self.env.vis.plot_agent_observation( + env_idx=0, + agent_idx=0, + figsize=(10, 10), + trajectory=self.env.reference_path[agent_idx, :, :].to( + "cpu" + ), + step_reward=self.env.guidance_reward[0, agent_idx].item(), + route_progress=self.env.route_progress[agent_idx].item(), + previous_actions=self.env.previous_action_value_tensor, + ) + self.agent_frames[agent_idx].append(img_from_fig(agent_obs)) + for idx, render_env_idx in enumerate(envs_to_render): self.frames[render_env_idx].append( img_from_fig(sim_state_figures[idx]) @@ -449,17 +713,21 @@ def resample_scenario_batch(self): self.reset() # Reset storage # Get info from new worlds - self.observations = self.env.reset(self.controlled_agent_mask) + self.observations = self.env.reset(mask=self.controlled_agent_mask) self.log_data_coverage() - def clear_render_storage(self): + def clear_render_storage(self, env_list_to_clear=None): """Clear rendering storage.""" - for env_idx in range(self.render_k_scenarios): + for env_idx in env_list_to_clear: self.frames[env_idx] = [] self.rendering_in_progress[env_idx] = False self.was_rendered_in_rollout[env_idx] = False + if env_list_to_clear is not None: + for agent_idx in self.render_agent_idx: + self.agent_frames[agent_idx] = [] + def log_video_to_wandb(self, render_env_idx, done_worlds): """Log arrays as videos to wandb.""" if ( @@ -477,8 +745,23 @@ def log_video_to_wandb(self, render_env_idx, done_worlds): ) } ) + for agent_idx in self.render_agent_idx: + agent_frames_array = np.array(self.agent_frames[agent_idx]) + self.wandb_obj.log( + { + f"vis/agent_obs/env_0_agent_{agent_idx}": wandb.Video( + np.moveaxis(agent_frames_array, -1, 1), + fps=self.render_fps, + format=self.render_format, + caption=f"global step: {self.global_step:,}", + ) + } + ) + # Reset rendering storage self.frames[render_env_idx] = [] + for agent_idx in self.render_agent_idx: + self.agent_frames[agent_idx] = [] self.rendering_in_progress[render_env_idx] = False self.was_rendered_in_rollout[render_env_idx] = True @@ -496,6 +779,10 @@ def log_data_coverage(self): # Update the cumulative set (coverage) self.cumulative_unique_files.update(new_idx) + guidance_density = ( + self.env.valid_guidance_points / self.env.reference_traj_len + ) + if self.wandb_obj is not None: self.wandb_obj.log( { @@ -509,6 +796,150 @@ def log_data_coverage(self): / len(set(self.file_to_index)) ) * 100, + "data/guidance_density_mean": guidance_density.mean().item(), + "data/guidance_density_dist": wandb.Histogram( + guidance_density.cpu().numpy() + ), }, step=self.global_step, ) + + def compute_realism_metrics(self, done_worlds): + """Compute realism metrics. + + Args: + done_worlds: List of indices of the worlds to track. + """ + + # [worlds, max_cont_agents] + control_mask = ( + self.controlled_agent_mask[done_worlds].detach().cpu().numpy() + ) + + if control_mask.sum() > 0: + # [batch, time, 1] + valid_mask = ( + self.env.reference_trajectory.valids[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + .squeeze(-1) + ).astype(bool) + + # Take human logs (ground-truth) + # Shape: [worlds, max_cont_agents, time, 2] -> [batch, time, 2] + ref_pos_xy_np = ( + self.env.reference_trajectory.pos_xy[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + ) + # Shape: [worlds, max_cont_agents, time, 1] -> [batch, time, 1] + ref_headings_np = ( + self.env.reference_trajectory.yaw[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + .squeeze(-1) + ) + + agent_headings_np = ( + self.headings[done_worlds].detach().cpu().numpy()[control_mask] + ) + agent_pos_xyz_np = ( + self.pos_xyz[done_worlds].detach().cpu().numpy()[control_mask] + ) + + # Extract x, y components (z is not informative) + agent_x_np = agent_pos_xyz_np[..., 0] + agent_y_np = agent_pos_xyz_np[..., 1] + + ref_x_np = ref_pos_xy_np[..., 0] + ref_y_np = ref_pos_xy_np[..., 1] + + # Step duration in seconds + seconds_per_step = 0.1 # Assuming 10Hz sampling rate + + # Compute the metrics for agent trajectories + ( + agent_linear_speed, + agent_linear_accel, + agent_angular_speed, + agent_angular_accel, + ) = compute_kinematic_features_np( + agent_x_np, agent_y_np, agent_headings_np, seconds_per_step + ) + + # Compute the metrics for reference trajectories + ( + ref_linear_speed, + ref_linear_accel, + ref_angular_speed, + ref_angular_accel, + ) = compute_kinematic_features_np( + ref_x_np, ref_y_np, ref_headings_np, seconds_per_step + ) + + # Check which time steps are valid + speed_valid, accel_valid = compute_kinematic_validity_np( + valid_mask + ) + + # Calculate absolute diffs between agent and reference trajectories + linear_speed_error = np.abs(agent_linear_speed - ref_linear_speed) + linear_accel_error = np.abs(agent_linear_accel - ref_linear_accel) + angular_speed_error = np.abs( + agent_angular_speed - ref_angular_speed + ) + angular_accel_error = np.abs( + agent_angular_accel - ref_angular_accel + ) + + # Calculate displacement error + displacement_error = compute_displacement_error_np( + agent_x_np, agent_y_np, ref_x_np, ref_y_np + ) + + # Apply validity masks + masked_speed_error = np.ma.array( + linear_speed_error, mask=~speed_valid + ) + masked_accel_error = np.ma.array( + linear_accel_error, mask=~accel_valid + ) + masked_angular_speed_error = np.ma.array( + angular_speed_error, mask=~speed_valid + ) + masked_angular_accel_error = np.ma.array( + angular_accel_error, mask=~accel_valid + ) + + # Compute MAEs + mean_linear_speed_error = masked_speed_error.mean() + mean_linear_accel_error = masked_accel_error.mean() + mean_angular_speed_error = masked_angular_speed_error.mean() + mean_angular_accel_error = masked_angular_accel_error.mean() + + self.info_lst.append( + { + "realism/kinematic_linear_speed_mae": mean_linear_speed_error, + "realism/kinematic_linear_accel_mae": mean_linear_accel_error, + "realism/kinematic_angular_speed_mae": mean_angular_speed_error, + "realism/kinematic_angular_accel_mae": mean_angular_accel_error, + "realism/mean_displacement_error": displacement_error[ + valid_mask + ].mean(), + "realism/kinematic_ref_linear_speed_dist": wandb.Histogram( + ref_linear_speed[speed_valid] + ), + "realism/kinematic_ref_linear_accel_dist": wandb.Histogram( + ref_linear_accel[accel_valid] + ), + "realism/kinematic_agent_linear_speed_dist": wandb.Histogram( + agent_linear_speed[speed_valid] + ), + "realism/kinematic_agent_linear_accel_dist": wandb.Histogram( + agent_linear_speed[accel_valid] + ), + }, + ) diff --git a/gpudrive/env/env_torch.py b/gpudrive/env/env_torch.py index b8481c911..831f61ee5 100755 --- a/gpudrive/env/env_torch.py +++ b/gpudrive/env/env_torch.py @@ -7,31 +7,42 @@ import mediapy as media import gymnasium -from gpudrive.datatypes.observation import ( - LocalEgoState, - GlobalEgoState, - PartnerObs, - LidarObs, - BevObs, -) - from gpudrive.env import constants from gpudrive.env.config import EnvConfig, RenderConfig from gpudrive.env.base_env import GPUDriveGymEnv -from gpudrive.datatypes.trajectory import LogTrajectory +from gpudrive.datatypes.trajectory import ( + LogTrajectory, + VBDTrajectory, + VBDTrajectoryOnline, + to_local_frame, +) from gpudrive.datatypes.roadgraph import ( LocalRoadGraphPoints, GlobalRoadGraphPoints, ) +from gpudrive.datatypes.observation import ( + LocalEgoState, + GlobalEgoState, + PartnerObs, + LidarObs, + BevObs, +) from gpudrive.datatypes.metadata import Metadata from gpudrive.datatypes.info import Info - from gpudrive.visualize.core import MatplotlibVisualizer from gpudrive.visualize.utils import img_from_fig from gpudrive.env.dataset import SceneDataLoader -from gpudrive.utils.geometry import normalize_min_max -from gpudrive.integrations.vbd.data_utils import process_scenario_data +from gpudrive.integrations.vbd.data.utils import process_scenario_data + +from gpudrive.utils.preprocess import smooth_scenario +import madrona_gpudrive + + +# Agent types +VEHICLE_AGENT = int(madrona_gpudrive.EntityType.Vehicle) +CYCLIST_AGENT = int(madrona_gpudrive.EntityType.Cyclist) +PEDESTRIAN_AGENT = int(madrona_gpudrive.EntityType.Pedestrian) class GPUDriveTorchEnv(GPUDriveGymEnv): @@ -56,22 +67,9 @@ def __init__( self.render_config = render_config self.backend = backend self.max_num_agents_in_scene = self.config.max_num_agents_in_scene - self.world_time_steps = torch.zeros( - self.num_worlds, dtype=torch.short, device=self.device - ) - # Initialize reward weights tensor if using reward_conditioned + # Initialize reward weights tensor to None initially self.reward_weights_tensor = None - if ( - hasattr(self.config, "reward_type") - and self.config.reward_type == "reward_conditioned" - ): - # Use default condition_mode from config or fall back to "random" - condition_mode = getattr(self.config, "condition_mode", "random") - agent_type = getattr(self.config, "agent_type", None) - self._set_reward_weights( - condition_mode=condition_mode, agent_type=agent_type - ) # Environment parameter setup params = self._setup_environment_parameters() @@ -82,6 +80,12 @@ def __init__( # Get the initial data batch (set of traffic scenarios) self.data_batch = next(self.data_iterator) + assert self.num_worlds == len( + self.data_batch + ), f"Number of scenarios in data_batch ({len(self.data_batch)}) \ + should equal number of worlds ({self.num_worlds}). \ + \n Please check your data loader configuration." + # Initialize simulator self.sim = self._initialize_simulator(params, self.data_batch) @@ -93,9 +97,25 @@ def __init__( ) self.episode_len = self.config.episode_len + self.step_in_world = ( + self.episode_len - self.sim.steps_remaining_tensor().to_torch() + ) + + self.setup_guidance() - # Initialize VBD model if used - self._initialize_vbd() + self.guidance_dropout_mask = self.create_guidance_dropout_mask() + + if self.config.reward_type == "reward_conditioned": + # Use default condition_mode from config or fall back to "random" + condition_mode = getattr(self.config, "condition_mode", "random") + self.agent_type = getattr(self.config, "agent_type", None) + self._set_reward_weights( + condition_mode=condition_mode, agent_type=self.agent_type + ) + + self.previous_action_value_tensor = torch.zeros( + (self.num_worlds, self.max_agent_count, 3), device=self.device + ) # Setup action and observation spaces self.observation_space = Box( @@ -111,79 +131,186 @@ def __init__( dtype=np.float32, ) + # Action space setup + self._cache_agent_types() self._setup_action_space(action_type) self.single_action_space = self.action_space - self.num_agents = self.cont_agent_mask.sum().item() # Rendering setup self.vis = MatplotlibVisualizer( sim_object=self.sim, controlled_agent_mask=self.cont_agent_mask, + reference_trajectory=self.reference_trajectory, goal_radius=self.config.dist_to_goal_threshold, - backend=self.backend, num_worlds=self.num_worlds, render_config=self.render_config, env_config=self.config, ) - def _initialize_vbd(self): - """ - Initialize the Versatile Behavior Diffusion (VBD) model and related - components. Link: https://arxiv.org/abs/2404.02524. + def setup_guidance(self): + """Configure the reference trajectory based on the guidance mode. - Args: - config: Configuration object containing VBD settings. + Returns: + reference_trajectory: The reference trajectory to guide the agent's + behavior. Shape: [num_worlds, max_agent_count, traj_len, feature_dim], where + features are assumed to be in the following order: [x, y, yaw, vx, vy] """ - self.use_vbd = self.config.use_vbd - self.vbd_trajectory_weight = self.config.vbd_trajectory_weight - - # Set initialization steps - ensure minimum steps for VBD - if self.use_vbd: - self.init_steps = max( - self.config.init_steps, 10 - ) # Minimum 10 steps for VBD - else: - self.init_steps = self.config.init_steps + self.guidance_mode = self.config.guidance_mode - if ( - self.use_vbd - and hasattr(self.config, "vbd_model_path") - and self.config.vbd_model_path - ): - self.vbd_model = self._load_vbd_model(self.config.vbd_model_path) + if self.guidance_mode == "vbd_amortized": + # Use pre-generated VBD model predictions as guidance + trajectory_tensor = self.sim.vbd_trajectory_tensor() + self.reference_trajectory = VBDTrajectory.from_tensor( + trajectory_tensor, self.backend, self.device + ) + elif self.guidance_mode == "vbd_online": + # Load pre-trained Versatile Behavior Diffusion (VBD) model + self.vbd_model = self._load_vbd_model( + model_path=self.config.vbd_model_path + ) - self.vbd_trajectories = torch.zeros( - ( - self.num_worlds, - self.max_agent_count, - self.episode_len - self.init_steps, - 5, - ), + self.init_steps = max(self.init_steps, 10) + print( + f"\n[Note] Guidance mode '{self.guidance_mode}' requires at least {self.init_steps} initialization steps to provide sufficient scene context for the diffusion model. Automatically setting simulator time to t = {self.init_steps}. \n" + ) + + # Construct scene context dict for the VBD model + scene_context = self.construct_context(init_steps=self.init_steps) + + print("Generating VBD predictions...\n") + + # Query the model online for the reference trajectory + predicted = self.vbd_model.sample_denoiser(scene_context) + + # Pad first 10 steps with logs + trajectory_tensor = self.sim.expert_trajectory_tensor() + log_trajectory = LogTrajectory.from_tensor( + trajectory_tensor, + self.num_worlds, + self.max_agent_count, + self.backend, + self.device, + ) + + reference_trajectory = torch.zeros( + self.num_worlds, + self.max_agent_count, + madrona_gpudrive.kTrajectoryLength, + 6, + ).to(self.device) + reference_trajectory[ + :, :, : self.init_steps + 1, :2 + ] = log_trajectory.pos_xy[:, :, : self.init_steps + 1] + reference_trajectory[ + :, :, : self.init_steps + 1, 2 + ] = log_trajectory.yaw[:, :, : self.init_steps + 1, 0] + reference_trajectory[ + :, :, : self.init_steps + 1, 3:5 + ] = log_trajectory.vel_xy[:, :, : self.init_steps + 1] + reference_trajectory[ + :, :, : self.init_steps + 1, 5 + ] = log_trajectory.valids[:, :, : self.init_steps + 1, 0] + + vbd_predictions = ( + predicted["denoised_trajs"].to(self.device).detach() + ) + + # Get the world means + world_means = ( + self.sim.world_means_tensor().to_torch()[:, :2].to(self.device) + ) + + # Add vbd predictions to the reference trajectory + for i in range(self.num_worlds): + # Get controlled agent indices for this world + valid_mask = scene_context["agents_id"][i] >= 0 + valid_world_indices = scene_context["agents_id"][i][valid_mask] + + reference_trajectory[ + i, valid_world_indices, self.init_steps + 1 :, :2 + ] = vbd_predictions[ + i, valid_world_indices, :, :2 + ] - world_means[ + i + ].view( + 1, 1, 2 + ) + reference_trajectory[ + i, valid_world_indices, self.init_steps + 1 :, 2:5 + ] = vbd_predictions[i, valid_world_indices, :, 2:5] + reference_trajectory[ + i, valid_world_indices, self.init_steps + 1 :, 5 + ] = 1 + + # Wrap predictions into a VBDTrajectoryOnline object + self.reference_trajectory = VBDTrajectoryOnline.from_tensor( + vbd_predictions=reference_trajectory, + mean_pos_xy=self.sim.world_means_tensor().to_torch()[:, :2], + backend=self.backend, device=self.device, - dtype=torch.float32, ) - self._generate_vbd_trajectories() - else: - self.vbd_model = None - self.vbd_trajectories = None + else: # Default option is "log_replay" + trajectory_tensor = self.sim.expert_trajectory_tensor() + self.reference_trajectory = LogTrajectory.from_tensor( + trajectory_tensor, + self.num_worlds, + self.max_agent_count, + self.backend, + self.device, + ) + + # Length of the guidance trajectory + self.reference_traj_len = self.reference_trajectory.length + + # Smooth the trajectory if specified + if self.config.smoothen_trajectory: + self.reference_trajectory = smooth_scenario( + self.reference_trajectory + ) + + # Initialize the reference trajectory positions that are already in reach + self.guidance_points_hit, _ = self.guidance_points_within_reach() def _load_vbd_model(self, model_path): - """Load the Versatile Behavior Diffusion (VBD) model from checkpoint.""" + """ + Load the Versatile Behavior Diffusion (VBD) weights from checkpoint. + """ from gpudrive.integrations.vbd.sim_agent.sim_actor import VBDTest model = VBDTest.load_from_checkpoint( model_path, torch.device(self.device) ) + model.reset_agent_length(self.max_cont_agents) + model.guidance_iter = 5 _ = model.eval() return model - def _generate_sample_batch(self, init_steps=10): - """Generate a sample batch for the VBD model.""" - means_xy = ( - self.sim.world_means_tensor().to_torch()[:, :2].to(self.device) - ) + def construct_context(self, init_steps=10): + """ + Construct a dictionary containing information from the first 10 steps (1s) of the scene. + + This context data is used for the pre-trained VBD model, which infers + the most likely trajectory for the next 80 steps based on this context. + + Args: + init_steps (int): Number of steps to use for context. Default is 10. + + Returns: + dict: Dictionary containing context information with the following keys: + - 'agents_history': Past agent positions and states + - 'agents_interested': Agents marked for trajectory prediction + - 'agents_type': Type classification of each agent + - 'agents_future': Ground truth future states (if available) + - 'traffic_light_points': Location and state of traffic signals + - 'polylines': Road network geometry representation + - 'polylines_valid': Validity flags for polyline segments + - 'relations': Interaction relationships between agents + - 'agents_id': Unique identifiers for each agent + - 'anchors': Reference points + """ + means_xy = self.sim.world_means_tensor().to_torch()[:, :2].to("cpu") # Get the logged trajectory and restore the mean log_trajectory = LogTrajectory.from_tensor( @@ -191,6 +318,7 @@ def _generate_sample_batch(self, init_steps=10): self.num_worlds, self.max_agent_count, backend=self.backend, + device="cpu", ) log_trajectory.restore_mean( mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] @@ -200,7 +328,7 @@ def _generate_sample_batch(self, init_steps=10): global_road_graph = GlobalRoadGraphPoints.from_tensor( roadgraph_tensor=self.sim.map_observation_tensor(), backend=self.backend, - device=self.device, + device="cpu", ) global_road_graph.restore_mean( mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] @@ -211,7 +339,7 @@ def _generate_sample_batch(self, init_steps=10): global_agent_obs = GlobalEgoState.from_tensor( abs_self_obs_tensor=self.sim.absolute_self_observation_tensor(), backend=self.backend, - device=self.device, + device="cpu", ) global_agent_obs.restore_mean( mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] @@ -219,28 +347,32 @@ def _generate_sample_batch(self, init_steps=10): metadata = Metadata.from_tensor( metadata_tensor=self.sim.metadata_tensor(), backend=self.backend, + device="cpu", ) - sample_batch = process_scenario_data( + context_dict = process_scenario_data( max_controlled_agents=self.max_cont_agents, - controlled_agent_mask=self.cont_agent_mask, + controlled_agent_mask=self.cont_agent_mask.cpu(), global_agent_obs=global_agent_obs, global_road_graph=global_road_graph, log_trajectory=log_trajectory, episode_len=self.episode_len, init_steps=init_steps, - raw_agent_types=self.sim.info_tensor().to_torch()[:, :, 4], + raw_agent_types=self.sim.info_tensor().to_torch().cpu()[:, :, 4], metadata=metadata, ) - return sample_batch - def _set_reward_weights( - self, env_idx_list=None, condition_mode="random", agent_type=None - ): + if self.device != "cpu": + # Move tensors to the specified device + for key in context_dict: + if isinstance(context_dict[key], torch.Tensor): + context_dict[key] = context_dict[key].to(self.device) + + return context_dict + + def _set_reward_weights(self, condition_mode="random", agent_type=None): """Set agent reward weights for all or specific environments. Args: - env_idx_list: List of environment indices to generate new weights for. - If None, all environments are updated. condition_mode: Determines how reward weights are sampled: - "random": Random sampling within bounds (default for training) - "fixed": Use predefined agent_type weights (for testing) @@ -249,12 +381,13 @@ def _set_reward_weights( If condition_mode is "preset", can be one of: "cautious", "aggressive", "balanced" If condition_mode is "fixed", should be a tensor of shape [3] with weight values """ + # Use weight sharing across environments for memory efficiency if self.reward_weights_tensor is None: self.reward_weights_tensor = torch.zeros( - self.num_worlds, - self.max_cont_agents, + self.cont_agent_mask.shape[1], # max_agent_count from mask 3, # collision, goal_achieved, off_road - device=self.device, + device="cpu", + dtype=torch.float16, ) # Read bounds for the three reward components @@ -264,7 +397,8 @@ def _set_reward_weights( self.config.goal_achieved_weight_lb, self.config.off_road_weight_lb, ], - device=self.device, + device="cpu", + dtype=torch.float16, ) upper_bounds = torch.tensor( @@ -273,7 +407,8 @@ def _set_reward_weights( self.config.goal_achieved_weight_ub, self.config.off_road_weight_ub, ], - device=self.device, + device="cpu", + dtype=torch.float16, ) bounds_range = upper_bounds - lower_bounds @@ -289,6 +424,7 @@ def _set_reward_weights( * 0.9, # Strong off-road penalty ], device=self.device, + dtype=torch.float16, ), "aggressive": torch.tensor( [ @@ -300,6 +436,7 @@ def _set_reward_weights( * 0.6, # Moderate off-road penalty ], device=self.device, + dtype=torch.float16, ), "balanced": torch.tensor( [ @@ -320,6 +457,7 @@ def _set_reward_weights( / 2, ], device=self.device, + dtype=torch.float16, ), "risk_taker": torch.tensor( [ @@ -330,20 +468,19 @@ def _set_reward_weights( * 0.4, # Low off-road penalty ], device=self.device, + dtype=torch.float16, ), } - - # Determine which environments to update - if env_idx_list is None: - env_idx_list = list(range(self.num_worlds)) - - env_indices = torch.tensor(env_idx_list, device=self.device) - num_envs = len(env_indices) + # Just get the max agents dimension from the controlled agent mask + max_agents = self.cont_agent_mask.shape[1] if condition_mode == "random": # Traditional random sampling within bounds random_values = torch.rand( - num_envs, self.max_cont_agents, 3, device=self.device + max_agents, + 3, + device="cpu", + dtype=torch.float16, ) scaled_values = lower_bounds + random_values * bounds_range @@ -354,13 +491,9 @@ def _set_reward_weights( f"Unknown agent_type: {agent_type}. Available types: {list(agent_presets.keys())}" ) - # Create a tensor with the preset weights for all agents in the specified environments + # CHANGED: Create a tensor with the preset weights for all agents, but no environment dimension preset_weights = agent_presets[agent_type] - scaled_values = ( - preset_weights.unsqueeze(0) - .unsqueeze(0) - .expand(num_envs, self.max_cont_agents, 3) - ) + scaled_values = preset_weights.unsqueeze(0).expand(max_agents, 3) elif condition_mode == "fixed": # Use custom provided weights @@ -369,23 +502,18 @@ def _set_reward_weights( "For condition_mode='fixed', agent_type must be a tensor of shape [3]" ) - custom_weights = agent_type.to(device=self.device) + custom_weights = agent_type.to(device="cpu", dtype=torch.float16) if custom_weights.shape != (3,): raise ValueError( f"agent_type tensor must have shape [3], got {custom_weights.shape}" ) - scaled_values = ( - custom_weights.unsqueeze(0) - .unsqueeze(0) - .expand(num_envs, self.max_cont_agents, 3) - ) + scaled_values = custom_weights.unsqueeze(0).expand(max_agents, 3) else: raise ValueError(f"Unknown condition_mode: {condition_mode}") - # Update the weights tensor for the specified environments - self.reward_weights_tensor[env_indices.cpu()] = scaled_values + self.reward_weights_tensor = scaled_values return self.reward_weights_tensor @@ -402,11 +530,15 @@ def reset( mask: Optional mask indicating which agents to return observations for env_idx_list: Optional list of environment indices to reset condition_mode: Determines how reward weights are sampled: - - "random": Random sampling within bounds (default for training) - - "fixed": Use predefined agent_type weights (for testing) - - "preset": Use a specific preset from agent_type parameter + - "random": Random sampling within bounds (default for training) + - "fixed": Use predefined agent_type weights (for testing) + - "preset": Use a specific preset from agent_type parameter agent_type: Specifies which preset weights to use or custom weights + + Returns: + obs: The initial observations. """ + # Reset the simulator state if env_idx_list is not None: self.sim.reset(env_idx_list) else: @@ -424,31 +556,54 @@ def reset( if condition_mode is not None else getattr(self.config, "condition_mode", "random") ) + use_agent_type = ( + agent_type if agent_type is not None else self.agent_type + ) self._set_reward_weights( - env_idx_list, condition_mode=mode, agent_type=agent_type + condition_mode=mode, agent_type=use_agent_type ) - self.world_time_steps.zero_() - - # Advance the simulator with log playback if warmup steps are provided - if self.init_steps > 0: - self.advance_sim_with_log_playback( - init_steps=self.init_steps, - # render_init=self.render_config.render_init, + # Reset smoothness tracking for reset environments + if env_idx_list is not None: + reset_mask = torch.zeros( + self.num_worlds, dtype=torch.bool, device=self.device ) + reset_mask[torch.tensor(env_idx_list, device=self.device)] = True + + # Zero out only the reset environments + self.previous_action_value_tensor[reset_mask] = 0.0 + # Reset the guidance points hit tensor for the reset environments + # TODO(dc): Fix for asynchronous resets + self.guidance_points_hit, _ = self.guidance_points_within_reach() + + else: + self.previous_action_value_tensor.zero_() + self.guidance_points_hit, _ = self.guidance_points_within_reach() + + # Dropout mask for guidance points + # Assumption: all worlds are reset at the same time + if self.config.guidance_dropout_prob > 0: + self.guidance_dropout_mask = self.create_guidance_dropout_mask() return self.get_obs(mask) def get_dones(self): - return ( + """ + Returns tensor indicating which agents have terminated. + """ + terminal = ( self.sim.done_tensor() .to_torch() .clone() .squeeze(dim=2) .to(torch.float) ) + return terminal.bool() def get_infos(self): + """ + Returns the info tensor for the current step. + """ return Info.from_tensor( self.sim.info_tensor(), backend=self.backend, @@ -457,27 +612,18 @@ def get_infos(self): def get_rewards( self, - collision_weight=-0.5, + collision_weight=-0.01, goal_achieved_weight=1.0, - off_road_weight=-0.5, - world_time_steps=None, - log_distance_weight=0.01, + off_road_weight=-0.01, ): - """Obtain the rewards for the current step. - By default, the reward is a weighted combination of the following components: - - collision - - goal_achieved - - off_road - - The importance of each component is determined by the weights. - """ + """Obtain the rewards for the current step.""" # Return the weighted combination of the reward components info_tensor = self.sim.info_tensor().to_torch().clone() off_road = info_tensor[:, :, 0].to(torch.float) - # True if the vehicle is in collision with another road object - # (i.e. a cyclist or pedestrian) + # True if the agent is in collision with another road object + # (i.e. a cyclist, pedestrian or vehicle) collided = info_tensor[:, :, 1:3].to(torch.float).sum(axis=2) goal_achieved = info_tensor[:, :, 3].to(torch.float) @@ -490,146 +636,482 @@ def get_rewards( + goal_achieved_weight * goal_achieved + off_road_weight * off_road ) - return weighted_rewards elif self.config.reward_type == "reward_conditioned": - # Extract individual weight components from the tensor - # Shape: [num_worlds, max_agents, 3] if self.reward_weights_tensor is None: self._set_reward_weights() - # Apply the weights in a vectorized manner - # Each index in dimension 2 corresponds to a specific weight: - # 0: collision, 1: goal_achieved, 2: off_road + # Compute the weighted rewards + collision_weights = ( + self.reward_weights_tensor[:, 0] + .expand(self.num_worlds, -1) + .to(self.device) + ) + goal_weights = ( + self.reward_weights_tensor[:, 1] + .expand(self.num_worlds, -1) + .to(self.device) + ) + off_road_weights = ( + self.reward_weights_tensor[:, 2] + .expand(self.num_worlds, -1) + .to(self.device) + ) + weighted_rewards = ( - self.reward_weights_tensor[:, :, 0] * collided - + self.reward_weights_tensor[:, :, 1] * goal_achieved - + self.reward_weights_tensor[:, :, 2] * off_road + collision_weights * collided + + goal_weights * goal_achieved + + off_road_weights * off_road ) return weighted_rewards - elif self.config.reward_type == "distance_to_vdb_trajs": - # Reward based on distance to VBD predicted trajectories - # (i.e. the deviation from the predicted trajectory) - weighted_rewards = ( - collision_weight * collided - + goal_achieved_weight * goal_achieved - + off_road_weight * off_road - ) + elif self.config.reward_type == "guided_autonomy": - agent_states = GlobalEgoState.from_tensor( - self.sim.absolute_self_observation_tensor(), - self.backend, - self.device, + step_in_world = self.step_in_world[:, 0, :].squeeze(-1) + + actual_agent_speed = ( + self.sim.self_observation_tensor().to_torch()[:, :, 0].clone() ) - agent_pos = torch.stack( - [agent_states.pos_x, agent_states.pos_y], dim=-1 + # 1. Get base rewards defined by user + self.base_rewards = ( + collision_weight * collided + off_road_weight * off_road ) - # Extract VBD positions at current time steps for each world - vbd_pos = [] - for i in range(self.num_worlds): - current_time = ( - self.world_time_steps[i].item() - self.init_steps + is_valid = self.reference_trajectory.valids.squeeze(-1) + + # 2. Route guidance (where to go) + # a) Get the reference trajectory positions + ( + points_within_reach, + distance_to_points, + ) = self.guidance_points_within_reach() + + if step_in_world[0].item() == 1: + # This is the first step, and we reward the agent for + # reaching the initial guidance points + new_hits = self.guidance_points_hit & is_valid + else: + # Find waypoints within reach that haven't been hit yet and are valid + potential_new_hits = ( + points_within_reach + & (~self.guidance_points_hit) + & is_valid + ).to(self.device) + + # Create a mask to handle cases where there are no potential hits + has_potential_hits = torch.any( + potential_new_hits, dim=2, keepdim=True + ) + + # Replace distances for non-potential hits with a large value + masked_distances = torch.where( + potential_new_hits.bool(), + distance_to_points, + torch.ones_like(distance_to_points) * 1e10, + ).to(self.device) + + # Find indices of closest waypoints for each agent + closest_indices = torch.argmin(masked_distances, dim=2) + + # Create a one-hot tensor marking only the closest waypoint for each agent + ( + batch_size, + num_agents, + num_waypoints, + ) = potential_new_hits.shape + batch_indices = ( + torch.arange(batch_size) + .view(-1, 1) + .repeat(1, num_agents) + .flatten() + .to(self.device) ) - # Make sure we don't exceed trajectory length - current_time = min( - current_time, self.vbd_trajectories.shape[2] - 1 + agent_indices = ( + torch.arange(num_agents).repeat(batch_size).to(self.device) ) - vbd_pos.append(self.vbd_trajectories[i, :, current_time, :2]) - vbd_pos_tensor = torch.stack(vbd_pos) - # Compute euclidean distance between agent and logs - dist_to_vbd = torch.norm(vbd_pos_tensor - agent_pos, dim=-1) + # Initialize new_hits tensor with zeros + new_hits = torch.zeros_like(potential_new_hits) - # Add reward based on inverse distance to logs - weighted_rewards += self.vbd_trajectory_weight * torch.exp( - -dist_to_vbd - ) + # Only set closest hits where there are potential hits + valid_agents = has_potential_hits.view(-1) - return weighted_rewards + # Efficiently set the closest point for each valid agent + if torch.any(valid_agents): + valid_batch_indices = batch_indices[valid_agents] + valid_agent_indices = agent_indices[valid_agents] + valid_closest_indices = closest_indices.view(-1)[ + valid_agents + ] - elif self.config.reward_type == "distance_to_logs": - # Reward based on distance to logs and penalty for collision - weighted_rewards = ( - collision_weight * collided - + goal_achieved_weight * goal_achieved - + off_road_weight * off_road + new_hits[ + valid_batch_indices, + valid_agent_indices, + valid_closest_indices, + ] = True + + # Update the guidance points hit tensor + self.guidance_points_hit = self.guidance_points_hit | new_hits + + # Count the number of new waypoints hit in this step + guidance_points_hit_count = new_hits.sum(dim=-1).float() + + # Reward agent for successfully reaching guidance points along the route + # Scale reward by 1/num_valid_points to ensure maximum attainable reward is 1.0 + # We do this for a consistent reward magnitude regardless of route length or density + self.route_reward = torch.clamp( + guidance_points_hit_count + / (self.reference_trajectory.valids.sum(axis=[2, 3]) + 1e-5), + min=0, + max=0.1, ) - log_trajectory = LogTrajectory.from_tensor( - self.sim.expert_trajectory_tensor(), - self.num_worlds, - self.max_agent_count, - backend=self.backend, + # We want agents that are parked to stay parked, and generally + # we want agents to don't go beyond their reference trajectory. + # To do this, add a penalty proportional to the agent position to + # the end position of the trajectory at the end of the episode + total_valid = self.reference_trajectory.valids.clone().sum( + axis=[2, 3] + ) + valid_hits_so_far = self.guidance_points_hit.clone().sum(dim=[-1]) + + # Handle the case where there are zero valid points + # If total_valid is 0, we consider the route 100% complete (progress = 1.0) + route_progress = torch.where( + total_valid > 0, + valid_hits_so_far / (total_valid + 1e-5), # Normal case + torch.ones_like( + valid_hits_so_far + ), # When agent has no valid points ) - # Index log positions at current time steps - log_traj_pos = [] - for i in range(self.num_worlds): - log_traj_pos.append( - log_trajectory.pos_xy[i, :, world_time_steps[i], :] + completed_route_mask = (route_progress >= 0.99).float() + + # b). Jerk penalty for completed routes + if torch.any(completed_route_mask > 0): + # Apply a penalty for jerk because we want agents to keep going straight + # when they have already passed the end of the route + # if they turn, the jerk penalty should cancel out the position bonus + if hasattr(self, "action_diff"): + acceleration_jerk = self.action_diff[:, :, 0] ** 2 + steering_jerk = self.action_diff[:, :, 1] ** 2 + + acceleration_penalty = 1.0 - torch.exp(-acceleration_jerk) + steering_penalty = 1.0 - torch.exp(-steering_jerk) + + jerk_penalty = -0.001 * ( + acceleration_penalty + steering_penalty + ) + + end_of_route_jerk = jerk_penalty * completed_route_mask + + self.route_reward += end_of_route_jerk + + self.guidance_reward = self.route_reward.clone() + + # 3. Speed and heading targets + if step_in_world[0] < self.reference_traj_len: + batch_idx = torch.arange(step_in_world.shape[0]) + + suggested_speed = self.reference_trajectory.ref_speed[ + batch_idx, :, step_in_world + ].squeeze(-1) + + suggested_heading = self.reference_trajectory.yaw[ + batch_idx, :, step_in_world + ].squeeze(-1) + + valid_points = ( + self.reference_trajectory.valids[ + batch_idx, :, step_in_world + ] + .squeeze(-1) + .bool() ) - log_traj_pos_tensor = torch.stack(log_traj_pos) - agent_state = GlobalEgoState.from_tensor( - self.sim.absolute_self_observation_tensor(), - self.backend, + actual_agent_heading = self.agent_states.rotation_angle + + # Compute distances + guidance_speed_error = ( + suggested_speed - actual_agent_speed + ) ** 2 + guidance_heading_error = ( + suggested_heading - actual_agent_heading + ) ** 2 + + guidance_speed_penalty = 1.0 - torch.exp( + -guidance_speed_error + 1e-8 + ) + guidance_heading_penalty = 1.0 - torch.exp( + -guidance_heading_error + 1e-8 + ) + + speed_heading_reward = ( + -self.config.guidance_speed_weight * guidance_speed_penalty + - self.config.guidance_heading_weight + * guidance_heading_penalty + ) + + speed_heading_reward[~valid_points] = 0.0 + + self.speed_heading_reward = speed_heading_reward.clone() + + self.guidance_reward += self.speed_heading_reward + + # 4. Penalty for action jerk + if hasattr(self, "action_diff"): + acceleration_jerk = ( + self.action_diff[:, :, 0] ** 2 + ) # First action component is acceleration + steering_jerk = ( + self.action_diff[:, :, 1] ** 2 + ) # Second action component is steering angle + + # Small jerks: penalty is close to x (approximately linear) + # Large jerks: penalty approaches 1.0 (saturates) + acceleration_penalty = 1.0 - torch.exp(-acceleration_jerk) + steering_penalty = 1.0 - torch.exp(-steering_jerk) + + self.smoothness_penalty = -self.config.smoothness_weight * ( + acceleration_penalty + steering_penalty + ) + else: + self.smoothness_penalty = torch.zeros_like(self.base_rewards) + + self.guidance_reward += self.smoothness_penalty + + # Combine + rewards = self.base_rewards + self.guidance_reward + + return rewards + + def create_guidance_dropout_mask(self): + """ + Create guidance dropout mask based on the specified dropout mode. + + Args: + mask: Optional pre-existing mask to modify + dropout_mode: Either "max" (default) or "avg" + - "max": dropout_prob represents the maximum dropout probability + - "avg": dropout_prob represents the average dropout probability + + Returns: + A boolean mask where True indicates keeping the point, False indicates dropping it + """ + dropout_prob = self.config.guidance_dropout_prob + num_controlled = self.cont_agent_mask.sum().item() + self.dropout_mode = self.config.guidance_dropout_mode + + if self.dropout_mode == "remove_all": + # If the mode is "remove_all", we want to drop all points + # so the agents receive no guidance + return torch.zeros( + (num_controlled, self.reference_traj_len), + device=self.device, + dtype=torch.bool, + ) + else: + # 1 if we want to keep the point, 0 if we want to drop it + guidance_dropout_mask = torch.ones( + (num_controlled, self.reference_traj_len), + device=self.device, + dtype=torch.bool, ) - agent_pos = torch.stack( - [agent_state.pos_x, agent_state.pos_y], dim=-1 + is_valid = ( + self.reference_trajectory.valids[self.cont_agent_mask] + .squeeze(-1) + .bool() ) - # compute euclidean distance between agent and logs - dist_to_logs = torch.norm(log_traj_pos_tensor - agent_pos, dim=-1) + if dropout_prob > 0.0: - # add reward based on inverse distance to logs - weighted_rewards += log_distance_weight * torch.exp(-dist_to_logs) + if self.dropout_mode == "max": + # Generate random dropout rates for each agent between 0 and dropout_prob + agent_dropout_probs = ( + torch.rand(num_controlled, device=self.device) + * dropout_prob + ) + elif self.dropout_mode == "avg": + # Use the same dropout probability for all agents (equal to dropout_prob) + agent_dropout_probs = torch.full( + (num_controlled,), dropout_prob, device=self.device + ) + else: + raise ValueError( + f"Unsupported dropout mode: {self.config.dropout_mode}" + ) - return weighted_rewards + for agent_idx in range(num_controlled): + agent_valid_mask = is_valid[agent_idx] + agent_valid_indices = torch.where(agent_valid_mask)[0] + + # Get agent-specific dropout probability + agent_dropout_prob = agent_dropout_probs[agent_idx] + + if ( + len(agent_valid_indices) > 2 + ): # Only apply dropout if we have more than 2 points + if self.dropout_mode == "max": + # Keep first and last points, apply dropout to middle points + middle_indices = agent_valid_indices[1:-1] + + # Generate random dropout mask for middle points + dropout = ( + torch.rand( + len(middle_indices), device=self.device + ) + < agent_dropout_prob + ) + + # Apply dropout to middle points (set to False for points to drop) + guidance_dropout_mask[ + agent_idx, middle_indices + ] = ~dropout + + elif self.dropout_mode == "avg": + # Calculate how many points to drop to achieve the desired average dropout rate + middle_indices = agent_valid_indices[ + :-1 + ] # All valid points except the last one + num_middle = len(middle_indices) + + # Number of points to drop to achieve the desired average + num_to_drop = int( + np.ceil( + (agent_dropout_prob.item() * num_middle) + ) + ) + + if num_to_drop > 0 and num_middle > 0: + # Randomly select points to drop + drop_indices = middle_indices[ + torch.randperm(num_middle)[:num_to_drop] + ] + guidance_dropout_mask[ + agent_idx, drop_indices + ] = False + + return guidance_dropout_mask + + else: + return guidance_dropout_mask + + def guidance_points_within_reach(self): + # Get actual agent positions + self.agent_states = GlobalEgoState.from_tensor( + self.sim.absolute_self_observation_tensor(), + self.backend, + self.device, + ) + + # Calculate Euclidean distance to all reference positions + # Output shape: [worlds, agents, reference_traj_len] + distances = torch.norm( + self.agent_states.pos_xy.unsqueeze(2) + - self.reference_trajectory.pos_xy, + dim=-1, + ) + + points_within_reach = ( + distances < self.config.dist_to_goal_threshold + ) & self.reference_trajectory.valids.bool().squeeze(-1) + + return points_within_reach, distances def step_dynamics(self, actions): if actions is not None: self._apply_actions(actions) self.sim.step() - not_done_worlds = ~self.get_dones().any( - dim=1 - ) # Check if any agent in world is done - self.world_time_steps[not_done_worlds] += 1 + + # Update time in worlds + self.step_in_world = ( + self.episode_len - self.sim.steps_remaining_tensor().to_torch() + ) def _apply_actions(self, actions): """Apply the actions to the simulator.""" - if ( self.config.dynamics_model == "classic" or self.config.dynamics_model == "bicycle" or self.config.dynamics_model == "delta_local" ): - if actions.dim() == 2: # (num_worlds, max_agent_count) - # Map action indices to action values if indices are provided + if actions.dim() == 2: actions = ( torch.nan_to_num(actions, nan=0).long().to(self.device) ) - action_value_tensor = self.action_keys_tensor[actions] + + # Choose mapping based on config + if ( + self.config.use_type_aware_actions + and self.config.dynamics_model == "classic" + ): + self.action_value_tensor = self._map_type_aware_actions( + actions + ) + else: + self.action_value_tensor = self.action_keys_tensor[actions] elif actions.dim() == 3: if actions.shape[2] == 1: actions = actions.squeeze(dim=2).to(self.device) - action_value_tensor = self.action_keys_tensor[actions] - else: # Assuming we are given the actual action values - action_value_tensor = actions.to(self.device) + if ( + self.config.use_type_aware_actions + and self.config.dynamics_model == "classic" + ): + self.action_value_tensor = ( + self._map_type_aware_actions(actions) + ) + else: + self.action_value_tensor = self.action_keys_tensor[ + actions + ] + else: + self.action_value_tensor = actions.to(self.device) else: raise ValueError(f"Invalid action shape: {actions.shape}") - else: - action_value_tensor = actions.to(self.device) + self.action_value_tensor = actions.to(self.device) + + if not hasattr(self, "previous_action_value_tensor"): + self.previous_action_value_tensor = ( + self.action_value_tensor.clone() + ) + + if ( + self.config.dynamics_model == "state" + and self.previous_action_value_tensor.shape + != self.action_value_tensor.shape + ): + self.previous_action_value_tensor = ( + self.action_value_tensor.clone() + ) + + self.action_diff = ( + self.action_value_tensor - self.previous_action_value_tensor + ) + self.previous_action_value_tensor = self.action_value_tensor.clone() + self._copy_actions_to_simulator(self.action_value_tensor) + + def _map_type_aware_actions(self, action_indices): + """Map action indices to type-specific action values.""" + action_values = self.action_keys_tensor[ + action_indices + ] # Start with default (vehicle ranges) + + # Override with type-specific actions + for agent_type in [CYCLIST_AGENT, PEDESTRIAN_AGENT]: + type_mask = self.agent_types == agent_type + if torch.any(type_mask): + type_action_tensor = self.type_action_tensors[agent_type] + action_values[type_mask] = type_action_tensor[ + action_indices[type_mask] + ] - # Feed the action values to gpudrive - self._copy_actions_to_simulator(action_value_tensor) + return action_values def _copy_actions_to_simulator(self, actions): """Copy the provided actions to the simulator.""" @@ -665,25 +1147,60 @@ def _set_discrete_action_space(self) -> None: self.config.dynamics_model == "classic" or self.config.dynamics_model == "bicycle" ): - self.steer_actions = self.config.steer_actions.to(self.device) - self.accel_actions = self.config.accel_actions.to(self.device) - self.head_actions = self.config.head_tilt_actions.to(self.device) + + # Use vehicle ranges for the base action space + self.steer_actions = torch.round( + torch.linspace( + self.config.vehicle_steer_range[0], + self.config.vehicle_steer_range[1], + self.config.action_space_steer_disc, + ), + decimals=3, + ).to(self.device) + self.accel_actions = torch.round( + torch.linspace( + self.config.vehicle_accel_range[0], + self.config.vehicle_accel_range[1], + self.config.action_space_accel_disc, + ), + decimals=3, + ).to(self.device) + if hasattr(self.config, "head_tilt_actions"): + self.head_actions = torch.tensor( + self.config.head_tilt_actions, + dtype=torch.float32, + device=self.device, + ) + self.action_space_head_tilt_disc = len(self.config.head_tilt_actions) + else: + self.head_actions = torch.round( + torch.linspace( + self.config.head_tilt_action_range[0], + self.config.head_tilt_action_range[1], + self.config.action_space_head_tilt_disc, + ), + decimals=3, + ).to(self.device) products = product( self.accel_actions, self.steer_actions, self.head_actions ) + + # If type-aware actions are enabled, setup the type-specific mappings + if self.config.use_type_aware_actions: + self._setup_type_aware_mappings() + elif self.config.dynamics_model == "state": self.x = self.config.x.to(self.device) self.y = self.config.y.to(self.device) self.yaw = self.config.yaw.to(self.device) self.vx = self.config.vx.to(self.device) self.vy = self.config.vy.to(self.device) - else: raise ValueError( f"Invalid dynamics model: {self.config.dynamics_model}" ) - # Create a mapping from action indices to action values + # Create standard action mapping (same for both cases) self.action_key_to_values = {} self.values_to_action_key = {} if products is not None: @@ -708,9 +1225,11 @@ def _set_discrete_action_space(self) -> None: ] ).to(self.device) - return Discrete(n=int(len(self.action_key_to_values))) + self.action_space = Discrete(n=int(len(self.action_key_to_values))) + return self.action_space else: - return Discrete(n=1) + self.action_space = Discrete(n=1) + return self.action_space def _set_continuous_action_space(self) -> None: """Configure the continuous action space.""" @@ -742,51 +1261,362 @@ def _set_continuous_action_space(self) -> None: ) return action_space - def _get_ego_state(self, mask=None) -> torch.Tensor: - """Get the ego state.""" + def _setup_type_aware_mappings(self): + """Setup type-specific action mappings.""" + steer_disc = self.config.action_space_steer_disc + accel_disc = self.config.action_space_accel_disc + + # Create type-specific action ranges + type_ranges = { + VEHICLE_AGENT: ( + self.config.vehicle_accel_range, + self.config.vehicle_steer_range, + ), # Vehicle + CYCLIST_AGENT: ( + self.config.cyclist_accel_range, + self.config.cyclist_steer_range, + ), # Cyclist + PEDESTRIAN_AGENT: ( + self.config.pedestrian_accel_range, + self.config.pedestrian_steer_range, + ), # Pedestrian + } - if not self.config.ego_state: - return torch.Tensor().to(self.device) + self.type_action_tensors = {} + + for agent_type, (accel_range, steer_range) in type_ranges.items(): + # Create discrete actions for this agent type + accel_values = torch.linspace( + accel_range[0], accel_range[1], accel_disc, device=self.device + ) + steer_values = torch.linspace( + steer_range[0], steer_range[1], steer_disc, device=self.device + ) + + # Create action tensor for this type + type_products = list( + product(accel_values, steer_values, self.head_actions) + ) + self.type_action_tensors[agent_type] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in type_products + ], + device=self.device, + ) - ego_state = LocalEgoState.from_tensor( - self_obs_tensor=self.sim.self_observation_tensor(), - backend=self.backend, - device=self.device, - mask=mask, - ) - if self.config.norm_obs: - ego_state.normalize() + + def _get_guidance(self, mask=None) -> torch.Tensor: + """Receive (expert) suggestions from pre-trained model or logs.""" + + if not self.config.guidance: + return torch.zeros(0, device=self.device) + + guidance = [] + guidance_orig = [] if mask is None: - if self.config.reward_type == "reward_conditioned": - return torch.stack( - [ - ego_state.speed, - ego_state.vehicle_length, - ego_state.vehicle_width, - ego_state.rel_goal_x, - ego_state.rel_goal_y, - ego_state.is_collided, - self.reward_weights_tensor[:, :, 0], - self.reward_weights_tensor[:, :, 1], - self.reward_weights_tensor[:, :, 2], - ] - ).permute(1, 2, 0) - else: - return torch.stack( + valid_timesteps_mask = self.reference_trajectory.valids.bool() + + if self.config.add_reference_speed: + reference_speed = ( + self.reference_trajectory.ref_speed.clone() + / constants.MAX_SPEED + ) + reference_speed[~valid_timesteps_mask] = constants.INVALID_ID + guidance.append(reference_speed) + + states = None + if ( + self.config.add_reference_pos_xy + or self.config.add_reference_heading + ): + states = GlobalEgoState.from_tensor( + self.sim.absolute_self_observation_tensor(), + self.backend, + self.device, + ) + + if self.config.add_reference_pos_xy: + glob_reference_xy = self.reference_trajectory.pos_xy + local_reference_xy = torch.empty_like(glob_reference_xy) + + # Transform reference path to be relative to current + # agent positions and heading + for world_idx in range(self.num_worlds): + for agent_idx in range(self.max_cont_agents): + local_reference_xy[ + world_idx, agent_idx, :, : + ] = to_local_frame( + global_pos_xy=glob_reference_xy[ + world_idx, agent_idx, :, : + ], + ego_pos=states.pos_xy[world_idx, agent_idx], + ego_yaw=states.rotation_angle[ + world_idx, agent_idx + ], + device=self.device, + ) + + local_ref_xy_orig = local_reference_xy.clone() + + # Normalize + local_reference_xy /= constants.MAX_REF_POINT + + # Set invalid steps to -1.0 + local_reference_xy[ + ~valid_timesteps_mask.expand_as(local_reference_xy) + ] = constants.INVALID_ID + + # Make unnormalized reference path available for plotting + self.reference_path = local_ref_xy_orig + + guidance.append(local_reference_xy) + + if self.config.add_reference_heading: + reference_headings = self.reference_trajectory.yaw.clone() + + # Transform headings to local coordinate frame + for world_idx in range(self.num_worlds): + for agent_idx in range(self.max_cont_agents): + # Subtract current agent heading to get relative heading + reference_headings[ + world_idx, agent_idx + ] -= states.rotation_angle[world_idx, agent_idx] + + # Normalize + reference_headings = ( + reference_headings / constants.MAX_ORIENTATION_RAD + ) + + # Set invalid timesteps to -1 + reference_headings[ + ~valid_timesteps_mask + ] = constants.INVALID_ID + guidance.append(reference_headings) + + return torch.cat(guidance, dim=-1).flatten(start_dim=2) + + else: + valid_timesteps_mask = self.reference_trajectory.valids.bool()[ + mask + ] + + states = None + if ( + self.config.add_reference_pos_xy + or self.config.add_reference_heading + ): + states = GlobalEgoState.from_tensor( + self.sim.absolute_self_observation_tensor(), + self.backend, + self.device, + ) + + if self.config.add_reference_speed: + reference_speed = self.reference_trajectory.ref_speed[ + mask + ].clone() + reference_speed[~valid_timesteps_mask] = constants.INVALID_ID + + reference_speed_normalized = ( + reference_speed / constants.MAX_SPEED + ) + guidance_orig.append(reference_speed) + guidance.append(reference_speed_normalized) + + if self.config.add_reference_pos_xy: + global_reference_xy = self.reference_trajectory.pos_xy.clone()[ + mask + ] + + # Translate all points to a local coordinate frame + translated = global_reference_xy - states.pos_xy[ + mask + ].unsqueeze(1) + + # Create batch of rotation matrices: [batch, 2, 2] + cos_yaw = torch.cos(states.rotation_angle[mask]) + sin_yaw = torch.sin(states.rotation_angle[mask]) + rotation_matrices = torch.stack( [ - ego_state.speed, - ego_state.vehicle_length, - ego_state.vehicle_width, - ego_state.rel_goal_x, - ego_state.rel_goal_y, - ego_state.is_collided, - ] - ).permute(1, 2, 0) + torch.stack([cos_yaw, sin_yaw], dim=1), + torch.stack([-sin_yaw, cos_yaw], dim=1), + ], + dim=1, + ) + + # Apply rotation to all points + local_reference_xy = torch.bmm( + rotation_matrices, translated.transpose(1, 2) + ).transpose(1, 2) + + local_reference_xy_orig = local_reference_xy.clone() + + # Normalize to [-1, 1] + local_reference_xy /= constants.MAX_REF_POINT + + # Set invalid timesteps to -1 + local_reference_xy[ + ~valid_timesteps_mask.expand_as(local_reference_xy) + ] = constants.INVALID_ID + + reference_path = local_reference_xy + + self.reference_path = local_reference_xy_orig + + guidance.append(reference_path) + guidance_orig.append(local_reference_xy_orig) + + if self.config.add_reference_heading: + reference_headings = self.reference_trajectory.yaw[ + mask + ].clone() + + # Translate headings to local coordinate frame by subtracting current global agent headings + reference_headings = ( + reference_headings + - states.rotation_angle[mask].view(-1, 1, 1) + ) + + # Normalize by 2pi to ensure values are in [-1, 1] + reference_headings_normalized = ( + reference_headings / constants.MAX_ORIENTATION_RAD + ) + + # Set invalid timesteps to -1 + reference_headings[ + ~valid_timesteps_mask + ] = constants.INVALID_ID + guidance.append(reference_headings_normalized) + guidance_orig.append(reference_headings) + + self.guidance_obs = torch.cat(guidance_orig, dim=-1) + # Apply dropout mask if specified + # Note: currently only supported for masked observations + if self.config.guidance_dropout_prob > 0 and hasattr( + self, "guidance_dropout_mask" + ): + self.guidance_obs[ + ~self.guidance_dropout_mask + ] = constants.INVALID_ID + self.reference_path[ + ~self.guidance_dropout_mask + ] = constants.INVALID_ID + + self.valid_guidance_points = torch.sum( + self.guidance_obs[:, :, 0] != constants.INVALID_ID, axis=1 + ) + + guidance = torch.cat(guidance, dim=-1) + + return guidance.flatten(start_dim=1) + + def _get_ego_state(self, mask=None) -> torch.Tensor: + """Get the ego state.""" + + if not self.config.ego_state: + return torch.Tensor().to(self.device) + + ego_state = LocalEgoState.from_tensor( + self_obs_tensor=self.sim.self_observation_tensor(), + backend=self.backend, + device=self.device, + mask=mask, + ) + + if self.config.norm_obs: + ego_state.normalize() + + base_fields = [ + ego_state.speed.unsqueeze(-1), + ego_state.vehicle_length.unsqueeze(-1), + ego_state.vehicle_width.unsqueeze(-1), + ego_state.steer_angle.unsqueeze(-1), + ] + + if mask is None: + + # TODO(dc): Make this one exactly the same as for the masked case + # New: Give agent sense of progress / history + # 1. Overall trajectory progress (percentage of valid points hit) + total_valid = self.reference_trajectory.valids.clone().sum( + axis=[2, 3] + ) + valid_hits_so_far = self.guidance_points_hit.clone().sum(dim=[-1]) + + # If total_valid is 0, we consider the route 100% complete (progress = 1.0) + self.route_progress = torch.where( + total_valid > 0, + valid_hits_so_far / (total_valid + 1e-5), # Normal case + torch.ones_like( + valid_hits_so_far + ), # When agent has no valid points + ) + + # 2. How much time do I have left to complete the route + normalized_time = self.step_in_world.clone() / self.episode_len + + base_fields.append(self.route_progress.unsqueeze(-1)) + base_fields.append(normalized_time) + + if self.config.add_previous_action: + normalized_prev_actions = ( + self.previous_action_value_tensor[:, :, :3] + / constants.MAX_ACTION_VALUE + ) + base_fields.append(normalized_prev_actions) + + if self.config.reward_type == "reward_conditioned": + full_fields = base_fields + [ + self.reward_weights_tensor.expand(self.num_worlds, -1) + ] + return torch.stack(full_fields).permute(1, 2, 0) + else: + return torch.cat(base_fields, dim=-1) else: + + # New: Give agent sense of progress + # 1. Overall trajectory progress + # Only increment route progress for visible points hit (those that + # are not dropped out) + total_valid = self.guidance_dropout_mask.sum(axis=1) + valid_hits_so_far = self.guidance_points_hit.clone()[mask] + visible_hits_so_far = ( + valid_hits_so_far * self.guidance_dropout_mask + ).sum(dim=-1) + + # Handle the case where there are zero valid points + # If total_valid is 0, we consider the route 100% complete (progress = 1.0) + self.route_progress = torch.where( + total_valid >= 1, + visible_hits_so_far / (total_valid + 1e-5), # Normal case + torch.ones_like( + visible_hits_so_far + ), # When agent has no valid points + ) + + # 2. How much time do I have left + normalized_time = self.step_in_world[mask] / self.episode_len + + base_fields.append(self.route_progress.unsqueeze(-1)) + base_fields.append(normalized_time) + + if self.config.add_previous_action: + normalized_prev_actions = ( + self.previous_action_value_tensor[:, :, :3][mask] + / constants.MAX_ACTION_VALUE + ) + base_fields.append(normalized_prev_actions) + if self.config.reward_type == "reward_conditioned": + _, agent_indices = torch.where(mask) + weights_for_masked_agents = self.reward_weights_tensor.to( + self.device + )[agent_indices] + return torch.stack( [ ego_state.speed, @@ -795,22 +1625,13 @@ def _get_ego_state(self, mask=None) -> torch.Tensor: ego_state.rel_goal_x, ego_state.rel_goal_y, ego_state.is_collided, - self.reward_weights_tensor[mask][:, 0], - self.reward_weights_tensor[mask][:, 1], - self.reward_weights_tensor[mask][:, 2], + weights_for_masked_agents[:, 0], + weights_for_masked_agents[:, 1], + weights_for_masked_agents[:, 2], ] ).permute(1, 0) else: - return torch.stack( - [ - ego_state.speed, - ego_state.vehicle_length, - ego_state.vehicle_width, - ego_state.rel_goal_x, - ego_state.rel_goal_y, - ego_state.is_collided, - ] - ).permute(1, 0) + return torch.cat(base_fields, dim=1) def _get_partner_obs(self, mask=None): """Get partner observations.""" @@ -930,267 +1751,27 @@ def _get_bev_obs(self, mask=None): else: return bev.bev_segmentation_map.flatten(start_dim=2) - def _get_vbd_obs(self, mask=None): - """ - Get ego-centric VBD trajectory observations for controlled agents using matrix operations. - - Args: - mask: Optional mask to filter agents - - Returns: - Tensor of ego-centric VBD trajectories - """ - if not self.use_vbd or self.vbd_model is None: - return torch.Tensor().to(self.device) - - # Get current agent positions and orientations - agent_state = GlobalEgoState.from_tensor( - abs_self_obs_tensor=self.sim.absolute_self_observation_tensor(), - backend=self.backend, - device=self.device, - ) - - # Initialize output tensor - traj_feature_dim = ( - self.vbd_trajectories.shape[2] * self.vbd_trajectories.shape[3] - ) - - if mask is not None: - # Count valid agents for output tensor size - valid_count = mask.sum().item() - ego_vbd_trajectories = torch.zeros( - (valid_count, traj_feature_dim), device=self.device - ) - - # Track which output index we're filling - out_idx = 0 - - # Process each world - for w in range(self.num_worlds): - # Get valid agent indices for this world - world_mask = mask[w] - agent_indices = torch.where(world_mask)[0] - - if len(agent_indices) == 0: - continue - - # Extract ego positions and yaws for these agents - ego_pos_x = agent_state.pos_x[w, agent_indices] - ego_pos_y = agent_state.pos_y[w, agent_indices] - ego_yaw = agent_state.rotation_angle[w, agent_indices] - - # Process each agent in this world - for i, agent_idx in enumerate(agent_indices): - # Get global trajectory for this agent - global_traj = self.vbd_trajectories[w, agent_idx] - - # Create 2D rotation matrix for this agent - cos_yaw = torch.cos(ego_yaw[i]) - sin_yaw = torch.sin(ego_yaw[i]) - rotation_matrix = torch.tensor( - [[cos_yaw, sin_yaw], [-sin_yaw, cos_yaw]], - device=self.device, - ) - - # Transform positions using matrix multiplication - pos_xy = global_traj[:, :2] - ego_pos = torch.tensor( - [ego_pos_x[i], ego_pos_y[i]], device=self.device - ).reshape(1, 2) - translated_pos = ( - pos_xy - ego_pos - ) # Broadcasting to subtract from all timesteps - rotated_pos = torch.matmul( - translated_pos, rotation_matrix.T - ) - - # Transform velocities (only rotation, no translation) - vel_xy = global_traj[:, 3:5] - rotated_vel = torch.matmul(vel_xy, rotation_matrix.T) - - # Create transformed trajectory - transformed_traj = torch.zeros_like(global_traj) - transformed_traj[:, :2] = rotated_pos - transformed_traj[:, 2] = ( - global_traj[:, 2] - ego_yaw[i] - ) # Adjust heading - transformed_traj[:, 3:5] = rotated_vel - - # Flatten and add to output - ego_vbd_trajectories[out_idx] = transformed_traj.reshape( - -1 - ) - out_idx += 1 - - if self.config.norm_obs: - traj_len = self.vbd_trajectories.shape[2] - ego_vbd_trajectories = self._normalize_vbd_obs( - ego_vbd_trajectories, traj_len - ) - - return ego_vbd_trajectories - - else: - # Without mask, process all agents in all worlds - ego_vbd_trajectories = torch.zeros( - (self.num_worlds, self.max_agent_count, traj_feature_dim), - device=self.device, - ) - - # Process each world - for w in range(self.num_worlds): - # Get controlled agent indices for this world - valid_mask = self.cont_agent_mask[w] - world_agent_indices = torch.where(valid_mask)[0] - - if len(world_agent_indices) == 0: - continue - - # Extract ego positions and yaws - ego_pos_x = agent_state.pos_x[w] - ego_pos_y = agent_state.pos_y[w] - ego_yaw = agent_state.rotation_angle[w] - - # Process each agent in this world - for agent_idx in world_agent_indices: - # Get global trajectory - global_traj = self.vbd_trajectories[w, agent_idx] - - # Create 2D rotation matrix for this agent - cos_yaw = torch.cos(ego_yaw[agent_idx]) - sin_yaw = torch.sin(ego_yaw[agent_idx]) - rotation_matrix = torch.tensor( - [[cos_yaw, sin_yaw], [-sin_yaw, cos_yaw]], - device=self.device, - ) - - # Transform positions - pos_xy = global_traj[:, :2] - ego_pos = torch.tensor( - [ego_pos_x[agent_idx], ego_pos_y[agent_idx]], - device=self.device, - ).reshape(1, 2) - translated_pos = pos_xy - ego_pos - rotated_pos = torch.matmul( - translated_pos, rotation_matrix.T - ) - - # Transform velocities - vel_xy = global_traj[:, 3:5] - rotated_vel = torch.matmul(vel_xy, rotation_matrix.T) - - # Create transformed trajectory - transformed_traj = torch.zeros_like(global_traj) - transformed_traj[:, :2] = rotated_pos - transformed_traj[:, 2] = ( - global_traj[:, 2] - ego_yaw[agent_idx] - ) - transformed_traj[:, 3:5] = rotated_vel - - # Flatten and add to output - ego_vbd_trajectories[ - w, agent_idx - ] = transformed_traj.reshape(-1) - - if self.config.norm_obs: - traj_len = self.vbd_trajectories.shape[2] - ego_vbd_trajectories = self._normalize_vbd_obs( - ego_vbd_trajectories, traj_len - ) - - return ego_vbd_trajectories - - def _normalize_vbd_obs(self, trajectories_flat, traj_len): - """ - Normalize flattened VBD trajectory values to be between -1 and 1, with clipping. - - Args: - trajectories_flat: Flattened tensor containing trajectory data - traj_len: Number of trajectory steps - - Returns: - Normalized flattened trajectories tensor - """ - # Get original shape for proper reshaping - original_shape = trajectories_flat.shape - - # Calculate feature dimension - feature_dim = 5 # x, y, yaw, vel_x, vel_y - - # Reshape to separate the features - if len(original_shape) == 2: # (num_agents, flattened_features) - traj_features = trajectories_flat.reshape( - -1, traj_len, feature_dim - ) - else: # (num_worlds, max_agents, flattened_features) - traj_features = trajectories_flat.reshape( - original_shape[0], original_shape[1], traj_len, feature_dim - ) - - # Normalize each feature - # x, y positions - traj_features[..., 0] = normalize_min_max( - tensor=traj_features[..., 0], - min_val=constants.MIN_REL_GOAL_COORD, - max_val=constants.MAX_REL_GOAL_COORD, - ) - traj_features[..., 1] = normalize_min_max( - tensor=traj_features[..., 1], - min_val=constants.MIN_REL_GOAL_COORD, - max_val=constants.MAX_REL_GOAL_COORD, - ) - - # Normalize yaw angle - traj_features[..., 2] = ( - traj_features[..., 2] / constants.MAX_ORIENTATION_RAD - ) - - # Normalize velocities - traj_features[..., 3] = traj_features[..., 3] / constants.MAX_SPEED - traj_features[..., 4] = traj_features[..., 4] / constants.MAX_SPEED - - # Clip all values to the [-1, 1] range - traj_features = torch.clamp(traj_features, min=-1.0, max=1.0) - - # Reshape back to original format - return traj_features.reshape(original_shape) - def get_obs(self, mask=None): - """Get observation: Combine different types of environment information into a single tensor. + """ + Get observation: Combine different types of environment information + into a single tensor. Returns: torch.Tensor: (num_worlds, max_agent_count, num_features) """ - # Base observations ego_states = self._get_ego_state(mask) partner_observations = self._get_partner_obs(mask) road_map_observations = self._get_road_map_obs(mask) + guidance_obs = self._get_guidance(mask) - if ( - self.use_vbd - and self.vbd_model is not None - and self.config.vbd_in_obs - ): - # Add ego-centric VBD trajectories - vbd_observations = self._get_vbd_obs(mask) - - obs = torch.cat( - ( - ego_states, - partner_observations, - road_map_observations, - vbd_observations, - ), - dim=-1, - ) - else: - obs = torch.cat( - ( - ego_states, - partner_observations, - road_map_observations, - ), - dim=-1, - ) + obs = torch.cat( + ( + ego_states, + partner_observations, + road_map_observations, + guidance_obs, + ), + dim=-1, + ) return obs @@ -1200,27 +1781,6 @@ def get_controlled_agents_mask(self): self.sim.controlled_state_tensor().to_torch().clone() == 1 ).squeeze(axis=2) - def advance_sim_with_log_playback(self, init_steps=0): - """Advances the simulator by stepping the objects with the logged human trajectories. - - Args: - init_steps (int): Number of warmup steps. - """ - if init_steps >= self.config.episode_len: - raise ValueError( - "The length of the expert trajectory is 91," - f"so init_steps = {init_steps} should be < than 91." - ) - - self.init_frames = [] - - self.log_playback_traj, _, _, _ = self.get_expert_actions() - - for time_step in range(init_steps): - self.step_dynamics( - actions=self.log_playback_traj[:, :, time_step, :] - ) - def remove_agents_by_id( self, perc_to_rmv_per_scene, remove_controlled_agents=True ): @@ -1273,7 +1833,10 @@ def remove_agents_by_id( ) # Reset static scenario data for the visualizer - self.vis.initialize_static_scenario_data(self.cont_agent_mask) + self.vis.initialize_static_scenario_data( + controlled_agent_mask=self.cont_agent_mask, + reference_trajectory=self.reference_trajectory, + ) def swap_data_batch(self, data_batch=None): """ @@ -1303,71 +1866,18 @@ def swap_data_batch(self, data_batch=None): self.cont_agent_mask.sum().item() ) - # Generate VBD trajectories for the new batch if VBD is enabled - if self.use_vbd and self.vbd_model is not None: - self._generate_vbd_trajectories() + # Receive guidance trajectories from the new batch of scenarios + self.setup_guidance() # Reset static scenario data for the visualizer - self.vis.initialize_static_scenario_data(self.cont_agent_mask) - - def _generate_vbd_trajectories(self): - """Generate and store trajectory predictions for all scenes using VBD model.""" - if not self.use_vbd or self.vbd_model is None: - return - - _ = self.reset() + self.vis.initialize_static_scenario_data( + controlled_agent_mask=self.cont_agent_mask, + reference_trajectory=self.reference_trajectory, + ) - # Generate sample batch using the limited mask - sample_batch = self._generate_sample_batch(init_steps=self.init_steps) + self.guidance_dropout_mask = self.create_guidance_dropout_mask() - # VBD model prediction - predictions = self.vbd_model.sample_denoiser(sample_batch) - vbd_trajectories = ( - predictions["denoised_trajs"].to(self.device).numpy() - ) - agent_indices = sample_batch["agents_id"] - - self.vbd_trajectories.zero_() - # Process each world separately - for world_idx in range(self.num_worlds): - world_agent_indices = agent_indices[world_idx] - - # Filter out negative indices (they're our padding) - valid_mask = ( - world_agent_indices >= 0 - ) # Boolean mask of valid indices - valid_agent_indices = world_agent_indices[ - valid_mask - ] # Filtered tensor - - if len(valid_agent_indices) > 0: - # Update vbd_trajectories(x, y, yaw, vel_x, vel_y) for this world's agents - self.vbd_trajectories[ - world_idx, valid_agent_indices, :, :2 - ] = torch.Tensor( - vbd_trajectories[ - world_idx, : len(valid_agent_indices), :, :2 - ] - ) - self.vbd_trajectories[ - world_idx, valid_agent_indices, :, :2 - ] -= self.sim.world_means_tensor().to_torch()[ - world_idx, :2 - ] # subtract mean - self.vbd_trajectories[ - world_idx, valid_agent_indices, :, 2 - ] = torch.Tensor( - vbd_trajectories[ - world_idx, : len(valid_agent_indices), :, 2 - ] - ) - self.vbd_trajectories[ - world_idx, valid_agent_indices, :, 3: - ] = torch.Tensor( - vbd_trajectories[ - world_idx, : len(valid_agent_indices), :, 3:5 - ] - ) + self._cache_agent_types() def get_expert_actions(self): """Get expert actions for the full trajectories across worlds. @@ -1384,6 +1894,7 @@ def get_expert_actions(self): self.num_worlds, self.max_agent_count, backend=self.backend, + device=self.device, ) if self.config.dynamics_model == "delta_local": @@ -1434,6 +1945,101 @@ def get_expert_actions(self): log_trajectory.yaw, ) + def _cache_agent_types(self): + """Cache agent types from info tensor.""" + info_tensor = self.sim.info_tensor().to_torch() + self.agent_types = info_tensor[ + :, :, 4 + ].long() # Shape: [num_worlds, max_agents] + + def _setup_type_aware_actions(self): + """Setup type-aware action mappings using predefined physical ranges.""" + # Create action tensors for each agent type using same discrete counts + self.type_action_tensors = {} + + steer_disc = self.config.action_space_steer_disc + accel_disc = self.config.action_space_accel_disc + + # Vehicle actions (type 0) + vehicle_accel = torch.linspace( + self.config.vehicle_accel_range[0], + self.config.vehicle_accel_range[1], + accel_disc, + device=self.device, + ) + vehicle_steer = torch.linspace( + self.config.vehicle_steer_range[0], + self.config.vehicle_steer_range[1], + steer_disc, + device=self.device, + ) + + # Cyclist actions (type 1) + cyclist_accel = torch.linspace( + self.config.cyclist_accel_range[0], + self.config.cyclist_accel_range[1], + accel_disc, + device=self.device, + ) + cyclist_steer = torch.linspace( + self.config.cyclist_steer_range[0], + self.config.cyclist_steer_range[1], + steer_disc, + device=self.device, + ) + + # Pedestrian actions (type 2) + pedestrian_accel = torch.linspace( + self.config.pedestrian_accel_range[0], + self.config.pedestrian_accel_range[1], + accel_disc, + device=self.device, + ) + pedestrian_steer = torch.linspace( + self.config.pedestrian_steer_range[0], + self.config.pedestrian_steer_range[1], + steer_disc, + device=self.device, + ) + + # Vehicle action tensor + vehicle_products = list( + product(vehicle_accel, vehicle_steer, self.head_actions) + ) + self.type_action_tensors[0] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in vehicle_products + ], + device=self.device, + ) + + # Cyclist action tensor + cyclist_products = list( + product(cyclist_accel, cyclist_steer, self.head_actions) + ) + self.type_action_tensors[1] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in cyclist_products + ], + device=self.device, + ) + + # Pedestrian action tensor + pedestrian_products = list( + product(pedestrian_accel, pedestrian_steer, self.head_actions) + ) + self.type_action_tensors[2] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in pedestrian_products + ], + device=self.device, + ) + + self._cache_agent_types() + def get_env_filenames(self): """Obtain the tfrecord filename for each world, mapping world indices to map names.""" @@ -1462,84 +2068,115 @@ def get_scenario_ids(self): return scenario_ids + def render(self, focus_env_idx=0, focus_agent_idx=[0, 1]): + """Quick rendering function for debugging.""" + + sim_states = self.vis.plot_simulator_state( + env_indices=[focus_env_idx], + zoom_radius=70, + time_steps=[self.step_in_world[0, 0, 0].item()], + plot_guidance_pos_xy=True, + ) + + agent_views = [] + for agent_idx in focus_agent_idx: + agent_obs = self.vis.plot_agent_observation( + env_idx=focus_env_idx, + agent_idx=agent_idx, + figsize=(10, 10), + trajectory=self.reference_path[agent_idx, :, :], + step_reward=self.guidance_reward[ + focus_env_idx, agent_idx + ].item(), + route_progress=self.route_progress[agent_idx], + previous_actions=self.previous_action_value_tensor # for head angle + ) + agent_views.append(agent_obs) + + return sim_states, agent_views + if __name__ == "__main__": + FOCUS_AGENTS = [0] #[0, 1, 2, 3, 4] + env_config = EnvConfig( - dynamics_model="delta_local", + guidance=True, + guidance_mode="log_replay", # Options: "log_replay", "vbd_amortized" + add_reference_pos_xy=True, + add_reference_speed=False, + add_reference_heading=False, + reward_type="guided_autonomy", + init_mode="wosac_train", + dynamics_model="classic", # "state", #"classic", + smoothen_trajectory=False, + add_previous_action=True, + guidance_dropout_prob=0.9, # 0.95, ) render_config = RenderConfig() # Create data loader train_loader = SceneDataLoader( - root="data/processed/examples", - batch_size=2, + root="data/processed/tl", + batch_size=1, dataset_size=100, - sample_with_replacement=True, + sample_with_replacement=False, shuffle=False, + file_prefix="", ) # Make env env = GPUDriveTorchEnv( config=env_config, data_loader=train_loader, - max_cont_agents=64, # Number of agents to control + max_cont_agents=32, # Number of agents to control device="cpu", ) control_mask = env.cont_agent_mask + print(f"Number of controlled agents: {control_mask.sum()}") + # Rollout - obs = env.reset() + obs = env.reset(mask=control_mask) sim_frames = [] - agent_obs_frames = [] + agent_obs_frames = {i: [] for i in FOCUS_AGENTS} expert_actions, _, _, _ = env.get_expert_actions() - env_idx = 0 - - for t in range(10): - print(f"Step: {t}") + for time_step in range(env.init_steps, env.episode_len): + print(f"Step: {env.step_in_world[0, 0, 0].item()}") # Step the environment - expert_actions, _, _, _ = env.get_expert_actions() - env.step_dynamics(expert_actions[:, :, t, :]) - - highlight_agent = torch.where(env.cont_agent_mask[env_idx, :])[0][ - -1 - ].item() - - # Make video - sim_states = env.vis.plot_simulator_state( - env_indices=[env_idx], - zoom_radius=50, - time_steps=[t], - center_agent_indices=[highlight_agent], - ) + # env.step_dynamics(expert_actions[:, :, time_step, :]) + env.step_dynamics(torch.zeros_like(control_mask)) - agent_obs = env.vis.plot_agent_observation( - env_idx=env_idx, - agent_idx=highlight_agent, - figsize=(10, 10), - ) + obs = env.get_obs(control_mask) + reward = env.get_rewards() + if time_step % 20 == 0 or time_step > env.episode_len - 3: + sim_states, agent_obs = env.render(focus_agent_idx=FOCUS_AGENTS) + sim_frames.append(img_from_fig(sim_states[0])) + for i in FOCUS_AGENTS: + agent_obs_frames[i].append(img_from_fig(agent_obs[i])) - sim_frames.append(img_from_fig(sim_states[0])) - agent_obs_frames.append(img_from_fig(agent_obs)) + print(f"R_t+1: {reward[0, 0]}") - obs = env.get_obs() - reward = env.get_rewards() done = env.get_dones() info = env.get_infos() - if done[0, highlight_agent].bool(): - break - env.close() media.write_video( - "sim_video.gif", np.array(sim_frames), fps=10, codec="gif" - ) - media.write_video( - "obs_video.gif", np.array(agent_obs_frames), fps=10, codec="gif" + "sim_video.gif", np.array(sim_frames), fps=5, codec="gif" ) + for focus_agent_idx in FOCUS_AGENTS: + agent_obs_frames[focus_agent_idx] = np.array( + agent_obs_frames[focus_agent_idx] + ) + media.write_video( + f"obs_video_env_{0}_agent_{focus_agent_idx}.gif", + np.array(agent_obs_frames[focus_agent_idx]), + fps=5, + codec="gif", + ) diff --git a/gpudrive/integrations/puffer/ppo.py b/gpudrive/integrations/puffer/ppo.py index bdc65ed45..beb8936aa 100644 --- a/gpudrive/integrations/puffer/ppo.py +++ b/gpudrive/integrations/puffer/ppo.py @@ -40,8 +40,6 @@ def create(config, vecenv, policy, optimizer=None, wandb=None): utilization = Utilization() msg = f"Model Size: {abbreviate(count_params(policy))} parameters" - if vecenv.use_vbd: - msg += f" | Using VBD" print_dashboard( config.env, utilization, 0, 0, profile, losses, {}, msg, clear=True ) @@ -113,11 +111,15 @@ def evaluate(data): and data.resample_buffer >= data.config.resample_interval and data.config.resample_dataset_size > data.vecenv.num_worlds ): - print(f"Resampling scenarios at global step {data.global_step}") + data.msg = f"Resampling scenarios at global step {data.global_step}" data.vecenv.resample_scenario_batch() data.resample_buffer = 0 - data.vecenv.clear_render_storage() + # Check if there are unfinished rendered episodes + render_envs_to_reset = [ + key for key, lst in data.vecenv.frames.items() if len(lst) == 0 + ] + data.vecenv.clear_render_storage(env_list_to_clear=render_envs_to_reset) config, profile, experience = data.config, data.profile, data.experience @@ -208,17 +210,20 @@ def evaluate(data): # Store the average across K done worlds across last N rollouts # ensure we are logging an unbiased estimate of the performance - if sum(data.infos["num_completed_episodes"]) > data.config.log_window: + if ( + sum(data.infos["train/num_completed_episodes"]) + > data.config.log_window + ): for k, v in data.infos.items(): try: - if "num_completed_episodes" in k: + if "train/num_completed_episodes" in k: data.stats[k] = np.sum(v) else: data.stats[k] = np.mean(v) # Log variance for goal and collision metrics if "goal" in k: - data.stats[f"std_{k}"] = np.std(v) + data.stats[f"{k}_std"] = np.std(v) except: continue @@ -383,6 +388,7 @@ def train(data): ): data.last_log_time = time.perf_counter() + data.wandb.log( { "performance/controlled_agent_sps": profile.controlled_agent_sps, @@ -393,14 +399,17 @@ def train(data): "performance/epoch": data.epoch, "performance/uptime": profile.uptime, "train/learning_rate": data.optimizer.param_groups[0]["lr"], - **{f"metrics/{k}": v for k, v in data.stats.items()}, + "train/advantages": data.wandb.Histogram(advantages_np), + "train/advantages_var": np.var(advantages_np), + "train/advantages_mean": np.mean(advantages_np), + **{f"{k}": v for k, v in data.stats.items()}, **{f"train/{k}": v for k, v in data.losses.items()}, } ) if bool(data.stats): data.wandb.log({ - **{f"metrics/{k}": v for k, v in data.stats.items()}, + **{f"{k}": v for k, v in data.stats.items()}, }) # fmt: on @@ -548,12 +557,14 @@ def __init__( obs_dtype = pufferlib.pytorch.numpy_to_torch_dtype_dict[obs_dtype] pin = device == "cuda" and cpu_offload + # TODO(ev) remove + pin = False self.obs = torch.zeros( batch_size, *obs_shape, dtype=obs_dtype, pin_memory=pin, - device=device if not pin else "cpu", + device=device if not cpu_offload else "cpu", ) self.actions = torch.zeros( batch_size, *atn_shape, dtype=int, pin_memory=pin @@ -665,6 +676,12 @@ def flatten_batch(self, advantages_np): self.b_values = self.b_values[b_flat] self.b_returns = self.b_advantages + self.b_values + if self.b_obs.max() > 1.0 or self.b_obs.min() < -1.0: + print( + f"Warning: The batch of observations contains features outside the range [-1, 1]." + f"Please check your observation normalization; min {self.b_obs.min()}, max {self.b_obs.max()}" + ) + class Utilization(Thread): def __init__(self, delay=1, maxlen=20): @@ -716,6 +733,7 @@ def save_checkpoint(data, save_checkpoint_to_wandb=True): "action_dim": data.uncompiled_policy.action_dim, "exp_id": config.exp_id, "num_params": config.network["num_parameters"], + "config": data.policy.config, } torch.save(state, model_path) @@ -736,11 +754,9 @@ def save_checkpoint(data, save_checkpoint_to_wandb=True): return model_path - def count_params(policy): return sum(p.numel() for p in policy.parameters() if p.requires_grad) - def seed_everything(seed, torch_deterministic): random.seed(seed) np.random.seed(seed) diff --git a/gpudrive/integrations/vbd/data/amortize.py b/gpudrive/integrations/vbd/data/amortize.py new file mode 100644 index 000000000..645b1f5ce --- /dev/null +++ b/gpudrive/integrations/vbd/data/amortize.py @@ -0,0 +1,259 @@ +""" +VBD Amortization Script + +This script adds pre-computed VBD trajectories to Waymo Open Dataset JSON files. +It uses a sliding window approach to generate trajectories in chunks. + +Usage: + python amortize.py + --model_path /path/to/vbd/model + --input_dir /path/to/input/json/files + --output_dir /path/to/output/json/files + --batch_size 8 + --window_size 10 + --total_steps 91 +""" + +import os +import json +import torch +import argparse +import numpy as np +from tqdm import tqdm +from pathlib import Path +from gpudrive.env.config import EnvConfig, RenderConfig +from gpudrive.env.dataset import SceneDataLoader +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.datatypes.trajectory import LogTrajectory +from gpudrive.datatypes.observation import GlobalEgoState +from gpudrive.integrations.vbd.sim_agent.sim_actor import VBDTest +import madrona_gpudrive + + +def load_vbd_model(model_path, device="cpu", max_cont_agents=64): + """Load the VBD model from a checkpoint""" + model = VBDTest.load_from_checkpoint(model_path, torch.device(device)) + model.reset_agent_length(max_cont_agents) + # Make sure model is in eval mode + _ = model.eval() + return model + + +def main(): + parser = argparse.ArgumentParser(description="VBD Amortization Script") + parser.add_argument( + "--model_path", + help="Path to the VBD model checkpoint", + default="gpudrive/integrations/vbd/weights/epoch=18.ckpt", + ) + parser.add_argument( + "--input_dir", + help="Directory containing input JSON files", + default="data/processed/wosac/validation/json", + ) + parser.add_argument( + "--output_dir", + help="Directory for output JSON files", + default="data/processed/validation/json", + ) + parser.add_argument( + "--batch_size", type=int, default=10, help="Batch size for processing" + ) + parser.add_argument( + "--window_size", type=int, default=10, help="Size of sliding window" + ) + parser.add_argument( + "--total_steps", + type=int, + default=91, + help="Total number of steps to generate", + ) + parser.add_argument( + "--num_scenes", + type=int, + default=100, + help="Number of scenes to process", + ) + args = parser.parse_args() + + # Always use CPU device + device = "cuda" + MAX_CONTROLLED_AGENTS = 32 + print(f"Loading VBD model on {device}...") + vbd_model = load_vbd_model(args.model_path, device, MAX_CONTROLLED_AGENTS) + + # Find all JSON files in the input directory + json_files = list(Path(args.input_dir).glob("**/*.json")) + + print(f"Found {len(json_files)} JSON files to process") + + # Init GPUDrive env + INIT_STEPS = 10 + env_config = EnvConfig( + init_steps=INIT_STEPS, # Warmup period + dynamics_model="state", # Use state-based dynamics model + dist_to_goal_threshold=1e-5, # Trick to make sure the agents don't disappear when they reach the goal + init_mode="wosac_eval", + max_controlled_agents=MAX_CONTROLLED_AGENTS, + goal_behavior="ignore", + ) + + # Make env + gpudrive_env = GPUDriveTorchEnv( + config=env_config, + data_loader=SceneDataLoader( + root=args.input_dir, + batch_size=args.batch_size, + dataset_size=args.num_scenes, + file_prefix="", + ), + render_config=RenderConfig(), + max_cont_agents=MAX_CONTROLLED_AGENTS, # Maximum number of agents to control per scene + device=device, + ) + + + for _ in range(int(args.num_scenes / args.batch_size)): + # Final VBD trajectories to write + output_trajectories = torch.zeros( + gpudrive_env.num_worlds, + gpudrive_env.max_agent_count, + madrona_gpudrive.kTrajectoryLength, + 6, + ) + + # Save init steps from logs + log_trajectory = LogTrajectory.from_tensor( + gpudrive_env.sim.expert_trajectory_tensor(), + num_worlds=gpudrive_env.num_worlds, + max_agents=gpudrive_env.max_agent_count, + device="cpu", + ) + + output_trajectories[:, :, : INIT_STEPS + 1, :2] = log_trajectory.pos_xy[ + :, :, : INIT_STEPS + 1 + ] + output_trajectories[:, :, : INIT_STEPS + 1, 2] = log_trajectory.yaw[ + :, :, : INIT_STEPS + 1, 0 + ] + output_trajectories[:, :, : INIT_STEPS + 1, 3:5] = log_trajectory.vel_xy[ + :, :, : INIT_STEPS + 1 + ] + output_trajectories[:, :, : INIT_STEPS + 1, 5] = log_trajectory.valids[ + :, :, : INIT_STEPS + 1, 0 + ] + + # Action tensor to step through simulation + predicted_actions = torch.zeros( + ( + gpudrive_env.num_worlds, + gpudrive_env.max_agent_count, + gpudrive_env.episode_len - INIT_STEPS, + 10, + ) + ) + + # World means for VBD outputs + world_means = ( + gpudrive_env.sim.world_means_tensor().to_torch()[:, :2].to("cpu") + ) + + # Generate VBD input + scene_context = gpudrive_env.construct_context( + init_steps=gpudrive_env.init_steps + ) + # Controlled agent mask + world_agent_indices = scene_context["agents_id"].to("cpu") + + # Generate VBD output + predictions = vbd_model.sample_denoiser(scene_context) + vbd_output = predictions["denoised_trajs"].to("cpu").detach() + + for i in range(gpudrive_env.num_worlds): + # Get controlled agent indices for this world + valid_mask = ( + world_agent_indices[i] >= 0 + ) # Boolean mask of valid indices + valid_world_indices = world_agent_indices[i][ + valid_mask + ] # Filtered tensor + + # Populate predicted actions + predicted_actions[i, valid_world_indices, :, :2] = vbd_output[ + i, valid_world_indices, :, :2 + ] - world_means[i].view(1, 1, 2) + predicted_actions[i, valid_world_indices, :, 3] = vbd_output[ + i, valid_world_indices, :, 2 + ] + predicted_actions[i, valid_world_indices, :, 4:6] = vbd_output[ + i, valid_world_indices, :, 3:5 + ] + + # Populate output trajectories + output_trajectories[ + i, valid_world_indices, INIT_STEPS + 1 :, :2 + ] = vbd_output[i, valid_world_indices, :, :2] - world_means[ + i + ].view( + 1, 1, 2 + ) + output_trajectories[ + i, valid_world_indices, INIT_STEPS + 1 :, 2:5 + ] = vbd_output[i, valid_world_indices, :, 2:] + output_trajectories[ + i, valid_world_indices, INIT_STEPS + 1 :, 5 + ] = 1.0 + + # Save to each file's json + index_to_id = GlobalEgoState.from_tensor( + gpudrive_env.sim.absolute_self_observation_tensor(), device="cpu" + ).id + + filenames = gpudrive_env.get_scenario_ids() + + for i in range(gpudrive_env.num_worlds): + filename = f"{filenames[i]}.json" + with open(f"{args.input_dir}/{filename}", "r") as f: + data = json.load(f) + + valid_mask = ( + world_agent_indices[i] >= 0 + ) # Boolean mask of valid indices + valid_world_indices = world_agent_indices[i][ + valid_mask + ] # Filtered tensor + + # Find object with correct id + for j in valid_world_indices: + id = index_to_id[i, j] + + for obj in data["objects"]: + if obj["id"] == id: + # Add VBD output to JSON + obj["vbd_trajectory"] = ( + output_trajectories[i, j].cpu().numpy().tolist() + ) + break + + # Write to output directory + output_file = os.path.join(args.output_dir, filename) + os.makedirs(os.path.dirname(output_file), exist_ok=True) + with open(output_file, "w") as f: + json.dump(data, f, indent=4) + + # Load next batch of scenes + try: + gpudrive_env.swap_data_batch() + except Exception as e: + print(f"Reached end of dataset: {e}") + break + + print("VBD amortization complete!") + + +if __name__ == "__main__": + main() + + """ + python gpudrive/integrations/vbd/data/amortize.py --input_dir data/processed/wosac/validation_json_100 --output_dir data/processed/wosac/validation_json_100 --batch_size 8 --window_size 10 --total_steps 91 + """ diff --git a/gpudrive/integrations/vbd/data_utils.py b/gpudrive/integrations/vbd/data/utils.py similarity index 96% rename from gpudrive/integrations/vbd/data_utils.py rename to gpudrive/integrations/vbd/data/utils.py index 54916875a..de37bb1bd 100644 --- a/gpudrive/integrations/vbd/data_utils.py +++ b/gpudrive/integrations/vbd/data/utils.py @@ -34,11 +34,11 @@ def filter_topk_roadgraph_points(global_road_graph, reference_points, topk): raise NotImplementedError("Not enough points in roadgraph.") elif topk < global_road_graph.num_points: - roadgraph_xy = np.asarray(global_road_graph.xy[0]) + roadgraph_xy = np.asarray(global_road_graph.xy[0].cpu()) distances = np.linalg.norm( reference_points[..., None, :] - roadgraph_xy, axis=-1 ) - valid_distances = np.where(global_road_graph.id > 0, distances, float("inf")) + valid_distances = np.where(global_road_graph.id.cpu() > 0, distances, float("inf")) top_idx = np.argpartition(valid_distances, topk, axis=-1)[..., :topk] # Gather the topk points by slicing along the indices @@ -189,7 +189,7 @@ def process_agents_vectorized(num_worlds, max_cont_agents, init_steps, global_ag agents_interested[w, i] = 0 continue - if metadata.isModeled[w, a] or metadata.isOfInterest[w, a]: + if metadata.tracks_to_predict[w, a] or metadata.objects_of_interest[w, a]: agents_interested[w, i] = 10 else: agents_interested[w, i] = 1 @@ -206,9 +206,9 @@ def process_agents_vectorized(num_worlds, max_cont_agents, init_steps, global_ag global_agent_obs.vehicle_width[w, a].repeat(init_steps + 1), global_agent_obs.vehicle_height[w, a].repeat(init_steps + 1), ], - ).numpy() + ).cpu().numpy() - mask = log_trajectory.valids[w, a, :init_steps+1].numpy() + mask = log_trajectory.valids[w, a, :init_steps+1].cpu().numpy() agents_history[w, i] *= mask agents_future[w, i] = torch.column_stack( @@ -219,9 +219,9 @@ def process_agents_vectorized(num_worlds, max_cont_agents, init_steps, global_ag log_trajectory.vel_xy[w, a, init_steps:, 0], log_trajectory.vel_xy[w, a, init_steps:, 1], ], - ).numpy() + ).cpu().numpy() - mask = log_trajectory.valids[w, a, init_steps:].numpy() + mask = log_trajectory.valids[w, a, init_steps:].cpu().numpy() agents_future[w, i] *= mask # Map agent types for all worlds at once (this is vectorized) @@ -261,11 +261,11 @@ def process_world_roadgraph(global_road_graph, world_idx, agents_history, agents sorted_map_ids.append(map_ids[j][i]) # Extract roadgraph properties - roadgraph_points_x = np.asarray(global_road_graph.x[world_idx]) - roadgraph_points_y = np.asarray(global_road_graph.y[world_idx]) - roadgraph_points_heading = np.asarray(global_road_graph.orientation[world_idx]) - roadgraph_points_types = np.asarray(global_road_graph.vbd_type[world_idx]) - road_graph_points_ids = np.asarray(global_road_graph.id[world_idx]) + roadgraph_points_x = np.asarray(global_road_graph.x[world_idx].cpu()) + roadgraph_points_y = np.asarray(global_road_graph.y[world_idx].cpu()) + roadgraph_points_heading = np.asarray(global_road_graph.orientation[world_idx].cpu()) + roadgraph_points_types = np.asarray(global_road_graph.vbd_type[world_idx].cpu()) + road_graph_points_ids = np.asarray(global_road_graph.id[world_idx].cpu()) # Build polylines polylines = [] @@ -400,7 +400,7 @@ def process_scenario_data( key: torch.from_numpy(value) for key, value in data_dict.items() } - torch_dict["anchors"] = torch.zeros(num_worlds, 32, 64, 2) # Batch-sized placeholder + torch_dict["anchors"] = torch.zeros(num_worlds, max_controlled_agents, 64, 2) # Batch-sized placeholder return torch_dict diff --git a/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb b/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb index 34af878ee..750851d8f 100644 --- a/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb +++ b/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb @@ -16,10 +16,14 @@ "name": "stderr", "output_type": "stream", "text": [ - "2025-03-25 15:24:52.394752: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:477] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", + "2025-04-30 14:32:10.285208: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:467] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", "WARNING: All log messages before absl::InitializeLog() is called are written to STDERR\n", - "E0000 00:00:1742930692.413969 56624 cuda_dnn.cc:8310] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", - "E0000 00:00:1742930692.419632 56624 cuda_blas.cc:1418] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n" + "E0000 00:00:1746037930.293583 687951 cuda_dnn.cc:8579] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", + "E0000 00:00:1746037930.295801 687951 cuda_blas.cc:1407] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", + "W0000 00:00:1746037930.302638 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", + "W0000 00:00:1746037930.302648 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", + "W0000 00:00:1746037930.302649 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", + "W0000 00:00:1746037930.302650 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n" ] } ], @@ -49,6 +53,7 @@ "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", "from gpudrive.env.dataset import SceneDataLoader\n", "from gpudrive.visualize.utils import img_from_fig\n", + "from gpudrive.integrations.vbd.sim_agent.sim_actor import VBDTest\n", "\n", "# Plotting\n", "sns.set(\"notebook\")\n", @@ -83,6 +88,24 @@ "MAX_CONTROLLED_OBJECTS = 32" ] }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "# Load VBD model\n", + "def load_vbd_model(model_path, device=\"cpu\"):\n", + " \"\"\"Load the VBD model from a checkpoint, forcing CPU usage.\"\"\"\n", + " # Force the model to be loaded on CPU\n", + " model = VBDTest.load_from_checkpoint(model_path, torch.device(device))\n", + " # Make sure model is in eval mode\n", + " _ = model.eval()\n", + " return model\n", + "\n", + "vbd_model = load_vbd_model(CKPT_PATH, device=\"cpu\")" + ] + }, { "cell_type": "markdown", "metadata": {}, @@ -92,14 +115,14 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 4, "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ - "Diffusion: 100%|██████████| 50/50 [00:17<00:00, 2.94it/s]\n" + "Diffusion: 100%|██████████| 50/50 [00:27<00:00, 1.84it/s]\n" ] } ], @@ -110,29 +133,32 @@ " dynamics_model=\"state\", # Use state-based dynamics model\n", " dist_to_goal_threshold=1e-5, # Trick to make sure the agents don't disappear when they reach the goal\n", " init_mode = 'all_non_trivial',\n", - " use_vbd=True,\n", " max_controlled_agents=32,\n", - " vbd_model_path=CKPT_PATH,\n", + " goal_behavior='ignore'\n", ")\n", " \n", - "scene_config = SceneConfig(batch_size=1, dataset_size=1, path=\"data/processed/training\", num_scenes=1)\n", "# Make env\n", "gpudrive_env = GPUDriveTorchEnv(\n", " config=env_config,\n", " data_loader = SceneDataLoader(\n", " root=\"data/processed/training\",\n", - " batch_size=scene_config.batch_size,\n", - " dataset_size=scene_config.dataset_size,\n", + " batch_size=2,\n", + " dataset_size=2,\n", " ),\n", " render_config=RenderConfig(resolution=(400, 400)),\n", " max_cont_agents=MAX_CONTROLLED_OBJECTS, # Maximum number of agents to control per scene\n", " device=\"cpu\",\n", ")\n", "gpudrive_sample_batch = gpudrive_env._generate_sample_batch()\n", + "predictions = vbd_model.sample_denoiser(gpudrive_sample_batch)\n", + "vbd_output = predictions[\"denoised_trajs\"].to(\"cpu\").detach()\n", "\n", "# Reset predictions tensor\n", "pred_trajs = torch.zeros((gpudrive_env.num_worlds, gpudrive_env.max_agent_count, env_config.episode_len-INIT_STEPS, 10))\n", "\n", + "# World means\n", + "world_means = gpudrive_env.sim.world_means_tensor().to_torch()[:, :2].to(\"cpu\")\n", + "\n", "# Fill pred_trajs correctly for each world\n", "for i in range(gpudrive_env.num_worlds):\n", " world_agent_indices = gpudrive_sample_batch['agents_id'][i]\n", @@ -142,9 +168,9 @@ " valid_agent_indices = world_agent_indices[valid_mask] # Filtered tensor\n", "\n", " # Use tensor indexing with valid agent indices\n", - " pred_trajs[i, valid_agent_indices, :, :2] = gpudrive_env.vbd_trajectories[i, valid_agent_indices, :, :2] # pos x, y\n", - " pred_trajs[i, valid_agent_indices, :, 3] = gpudrive_env.vbd_trajectories[i, valid_agent_indices, :, 2] # yaw\n", - " pred_trajs[i, valid_agent_indices, :, 4:6] = gpudrive_env.vbd_trajectories[i, valid_agent_indices, :, 3:5] # vel x, y\n", + " pred_trajs[i, valid_agent_indices, :, :2] = vbd_output[i, valid_agent_indices, :, :2] - world_means[i].view(1, 1, 2) # pos x, y\n", + " pred_trajs[i, valid_agent_indices, :, 3] = vbd_output[i, valid_agent_indices, :, 2] # yaw\n", + " pred_trajs[i, valid_agent_indices, :, 4:6] = vbd_output[i, valid_agent_indices, :, 3:5] # vel x, y\n", "\n", "# Now step through the simulation\n", "gpudrive_frames = []\n", @@ -152,15 +178,15 @@ " gpudrive_env.step_dynamics(pred_trajs[:, :, t, :])\n", " fig = gpudrive_env.vis.plot_simulator_state(\n", " time_steps=[t],\n", - " env_indices=[0],\n", - " zoom_radius=70,\n", + " env_indices=[0, 1],\n", + " zoom_radius=120,\n", " )[0]\n", " gpudrive_frames.append(img_from_fig(fig))" ] }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 5, "metadata": {}, "outputs": [ { @@ -178,39 +204,85 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "tensor([[ 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,\n", + " -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],\n", + " [ 0, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,\n", + " -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]],\n", + " dtype=torch.int32)" + ] + }, + "execution_count": 6, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "gpudrive_sample_batch['agents_id']" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "{0: 'tfrecord-00000-of-01000_401.json', 1: 'tfrecord-00002-of-01000_321.json'}" + ] + }, + "execution_count": 12, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "gpudrive_env.get_env_filenames()" + ] + }, + { + "cell_type": "code", + "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "torch.Size([1, 64, 80, 10]) torch.Size([1, 64, 80, 5])\n" + "torch.Size([2, 64, 80, 10]) torch.Size([2, 32, 80, 5])\n" ] } ], "source": [ - "print(pred_trajs.shape, gpudrive_env.vbd_trajectories.shape)" + "print(pred_trajs.shape, vbd_output.shape)" ] }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 8, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "tensor([32, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,\n", - " -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],\n", + "tensor([[ 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,\n", + " -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],\n", + " [ 0, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,\n", + " -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]],\n", " dtype=torch.int32)\n", - "tensor([32], dtype=torch.int32)\n" + "tensor([0, 0, 1], dtype=torch.int32)\n" ] } ], "source": [ - "world_agent_indices = gpudrive_sample_batch['agents_id'][0]\n", + "world_agent_indices = gpudrive_sample_batch['agents_id']\n", "valid_mask = world_agent_indices >= 0 # Boolean mask of valid indices\n", "valid_agent_indices = world_agent_indices[valid_mask] # Filtered tensor\n", "\n", @@ -227,7 +299,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 9, "metadata": {}, "outputs": [], "source": [ @@ -262,9 +334,21 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 10, "metadata": {}, - "outputs": [], + "outputs": [ + { + "ename": "TypeError", + "evalue": "'NoneType' object is not subscriptable", + "output_type": "error", + "traceback": [ + "\u001b[31m---------------------------------------------------------------------------\u001b[39m", + "\u001b[31mTypeError\u001b[39m Traceback (most recent call last)", + "\u001b[36mCell\u001b[39m\u001b[36m \u001b[39m\u001b[32mIn[10]\u001b[39m\u001b[32m, line 12\u001b[39m\n\u001b[32m 5\u001b[39m global_agent_obs = GlobalEgoState.from_tensor(\n\u001b[32m 6\u001b[39m abs_self_obs_tensor=gpudrive_env.sim.absolute_self_observation_tensor(),\n\u001b[32m 7\u001b[39m backend=gpudrive_env.backend,\n\u001b[32m 8\u001b[39m device=gpudrive_env.device,\n\u001b[32m 9\u001b[39m )\n\u001b[32m 11\u001b[39m \u001b[38;5;28;01mfor\u001b[39;00m agent_index \u001b[38;5;129;01min\u001b[39;00m valid_agent_indices:\n\u001b[32m---> \u001b[39m\u001b[32m12\u001b[39m vbd_trajectory = \u001b[43mgpudrive_env\u001b[49m\u001b[43m.\u001b[49m\u001b[43mvbd_trajectories\u001b[49m\u001b[43m[\u001b[49m\u001b[32;43m0\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43magent_index\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43m:\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43m:\u001b[49m\u001b[32;43m2\u001b[39;49m\u001b[43m]\u001b[49m\n\u001b[32m 13\u001b[39m pos_xy = torch.tensor([global_agent_obs.pos_x[\u001b[32m0\u001b[39m, agent_index], global_agent_obs.pos_y[\u001b[32m0\u001b[39m, agent_index]])\n\u001b[32m 14\u001b[39m yaw = torch.tensor(global_agent_obs.rotation_angle[\u001b[32m0\u001b[39m, agent_index])\n", + "\u001b[31mTypeError\u001b[39m: 'NoneType' object is not subscriptable" + ] + } + ], "source": [ "# plotting vbd trajectory as part of observation\n", "from gpudrive.datatypes.observation import GlobalEgoState\n", @@ -309,7 +393,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.8" + "version": "3.11.9" } }, "nbformat": 4, diff --git a/gpudrive/integrations/vbd/notebooks/04_step_vbd.ipynb b/gpudrive/integrations/vbd/notebooks/04_step_vbd.ipynb new file mode 100644 index 000000000..8ba504e98 --- /dev/null +++ b/gpudrive/integrations/vbd/notebooks/04_step_vbd.ipynb @@ -0,0 +1,276 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "id": "4ba8c301", + "metadata": {}, + "source": [ + "# Step using amortized VBD and visualize" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "id": "bcd58d7a", + "metadata": {}, + "outputs": [ + { + "ename": "RuntimeError", + "evalue": "module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000", + "output_type": "error", + "traceback": [ + "\u001b[31m---------------------------------------------------------------------------\u001b[39m", + "\u001b[31mRuntimeError\u001b[39m Traceback (most recent call last)", + "\u001b[31mRuntimeError\u001b[39m: module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000" + ] + }, + { + "ename": "RuntimeError", + "evalue": "module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000", + "output_type": "error", + "traceback": [ + "\u001b[31m---------------------------------------------------------------------------\u001b[39m", + "\u001b[31mRuntimeError\u001b[39m Traceback (most recent call last)", + "\u001b[31mRuntimeError\u001b[39m: module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000" + ] + } + ], + "source": [ + "import os\n", + "import torch\n", + "import mediapy\n", + "\n", + "from pathlib import Path\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive' not found\")\n", + "os.chdir(working_dir.parent)\n", + "\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.datatypes.trajectory import VBDTrajectory\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "import madrona_gpudrive" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "02325a7d", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "Smoothing guidance data: 100%|\u001b[34m██████████\u001b[0m| 1/1 [00:00<00:00, 158.12it/s]\n", + "Smoothing guidance data: 100%|\u001b[34m██████████\u001b[0m| 1/1 [00:00<00:00, 164.90it/s]\n", + "Smoothing guidance data: 100%|\u001b[34m██████████\u001b[0m| 1/1 [00:00<00:00, 61.80it/s]\n" + ] + } + ], + "source": [ + "#Init GPUDrive env\n", + "device = \"cpu\"\n", + "\n", + "env_config = EnvConfig(\n", + " dynamics_model=\"state\", # Use state-based dynamics model\n", + " dist_to_goal_threshold=1e-5, # Trick to make sure the agents don't disappear when they reach the goal\n", + " init_mode = 'wosac_eval',\n", + " max_controlled_agents=32,\n", + " goal_behavior='ignore',\n", + " guidance_mode='vbd_amortized'\n", + ")\n", + " \n", + "# Make env\n", + "gpudrive_env = GPUDriveTorchEnv(\n", + " config=env_config,\n", + " data_loader = SceneDataLoader(\n", + " root=\"data/processed/wosac/validation/json\",\n", + " batch_size=1,\n", + " dataset_size=1,\n", + " file_prefix=\"\"\n", + " ),\n", + " render_config=RenderConfig(),\n", + " max_cont_agents=32, # Maximum number of agents to control per scene\n", + " device=device,\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "cde65bde", + "metadata": {}, + "outputs": [], + "source": [ + "# Action tensor to step through simulation\n", + "predicted_actions = torch.zeros((gpudrive_env.num_worlds, gpudrive_env.max_agent_count, madrona_gpudrive.kTrajectoryLength, 10))\n", + "\n", + "vbd_trajectories = VBDTrajectory.from_tensor(\n", + " gpudrive_env.sim.vbd_trajectory_tensor(),\n", + " device=device,\n", + ")\n", + "\n", + "predicted_actions[:, :, :, 0] = vbd_trajectories.pos_x.squeeze(-1)\n", + "predicted_actions[:, :, :, 1] = vbd_trajectories.pos_y.squeeze(-1)\n", + "predicted_actions[:, :, :, 3] = vbd_trajectories.yaw.squeeze(-1)\n", + "predicted_actions[:, :, :, 4] = vbd_trajectories.vel_x.squeeze(-1)\n", + "predicted_actions[:, :, :, 5] = vbd_trajectories.vel_y.squeeze(-1)\n", + "\n", + "sim_state_frames = []\n", + "fig = gpudrive_env.vis.plot_simulator_state(\n", + " time_steps=[0],\n", + " env_indices=[0],\n", + " zoom_radius=120,\n", + " plot_guidance_pos_xy=True,\n", + ")[0]\n", + "# Save initial state\n", + "sim_state_frames.append(img_from_fig(fig))\n", + "\n", + "# Get expert actions\n", + "# expert_actions, _, _, _ = gpudrive_env.get_expert_actions()\n", + "# Step through simulation\n", + "for t in range(env_config.episode_len):\n", + " gpudrive_env.step_dynamics(predicted_actions[:, :, t, :])\n", + " fig = gpudrive_env.vis.plot_simulator_state(\n", + " time_steps=[t],\n", + " env_indices=[0],\n", + " zoom_radius=120,\n", + " plot_guidance_pos_xy=True,\n", + " )[0]\n", + " sim_state_frames.append(img_from_fig(fig))" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "b11881ea", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(tensor([ True, True, True, False, True, True, True, True, True, True,\n", + " True, True, True, True, True, False, False, False, False, False,\n", + " False, False, False, False, False, False, False, False, False, False,\n", + " False, False]),\n", + " 14)" + ] + }, + "execution_count": 4, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "controlled_agent_mask = gpudrive_env.cont_agent_mask[0, :]\n", + "controlled_agent_mask, controlled_agent_mask.sum().item()" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "bac07891", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "tensor([[[ -5.6777, 33.1743],\n", + " [ -6.0010, 33.1763],\n", + " [ -6.3291, 33.1802],\n", + " ...,\n", + " [-24.5342, 33.6284],\n", + " [-24.6396, 33.6313],\n", + " [-24.7119, 33.6333]],\n", + "\n", + " [[ -0.9980, 21.9150],\n", + " [ -1.0020, 22.0342],\n", + " [ -0.9746, 22.1816],\n", + " ...,\n", + " [ 1.0430, 32.8506],\n", + " [ 1.0645, 32.9722],\n", + " [ 1.0879, 33.0996]],\n", + "\n", + " [[-47.2080, 40.1299],\n", + " [-47.1768, 40.0386],\n", + " [-47.1357, 39.9395],\n", + " ...,\n", + " [-40.8311, 31.8291],\n", + " [-40.7695, 31.7153],\n", + " [-40.7090, 31.6021]],\n", + "\n", + " ...,\n", + "\n", + " [[ 0.0000, 0.0000],\n", + " [ 0.0000, 0.0000],\n", + " [ 0.0000, 0.0000],\n", + " ...,\n", + " [ 0.0000, 0.0000],\n", + " [ 0.0000, 0.0000],\n", + " [ 0.0000, 0.0000]],\n", + "\n", + " [[-78.5566, 33.8350],\n", + " [-78.4814, 33.9312],\n", + " [-78.4121, 34.0332],\n", + " ...,\n", + " [-76.4219, 41.7549],\n", + " [-76.3252, 41.8037],\n", + " [-76.2188, 41.8569]],\n", + "\n", + " [[ 4.9863, 42.4492],\n", + " [ 5.0293, 42.4150],\n", + " [ 4.9941, 42.2925],\n", + " ...,\n", + " [ 5.0830, 41.1494],\n", + " [ 5.0830, 41.1494],\n", + " [ 5.0830, 41.1494]]])" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "trajectories = vbd_trajectories.pos_xy[0, controlled_agent_mask]\n", + "trajectories" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "19a5bca6", + "metadata": {}, + "outputs": [], + "source": [ + "mediapy.write_video('gpudrive/integrations/vbd/viz/eval.gif', sim_state_frames, fps=20, codec=\"gif\")" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.8" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/gpudrive/integrations/vbd/viz/train.gif b/gpudrive/integrations/vbd/viz/train.gif deleted file mode 100644 index 7422d8dc6..000000000 Binary files a/gpudrive/integrations/vbd/viz/train.gif and /dev/null differ diff --git a/gpudrive/networks/agents.py b/gpudrive/networks/agents.py new file mode 100644 index 000000000..942ebb0a6 --- /dev/null +++ b/gpudrive/networks/agents.py @@ -0,0 +1,427 @@ +import torch +import torch.nn as nn + +import numpy as np + +from torch.distributions.categorical import Categorical + +import madrona_gpudrive +from gpudrive.env import constants + +TOP_K_ROAD_POINTS = madrona_gpudrive.kMaxAgentMapObservationsCount + + +def layer_init(layer, std=np.sqrt(2), bias_const=0.0): + torch.nn.init.orthogonal_(layer.weight, std) + torch.nn.init.constant_(layer.bias, bias_const) + return layer + + +class Agent(nn.Module): + """ + Actor-Critic agent with shared embedding networks and separate actor and critic heads. + Expects a single observation vector as input. + """ + + def __init__( + self, + config, + embed_dim, + action_dim, + act_func="tanh", + dropout=0.00, + top_k=3, # Max pooling features to keep + ): + super().__init__() + + self.config = config + self.act_func = nn.Tanh() if act_func == "tanh" else nn.ReLU() + self.dropout = dropout + self.action_dim = action_dim + self.top_k = top_k + + # Indices for unpacking the different observation modalities + self.ego_state_idx = constants.EGO_FEAT_DIM + if self.config["reward_type"] == "reward_conditioned": + self.ego_state_idx += 3 + if self.config["add_previous_action"]: + self.ego_state_idx += 3 + + self.max_controlled_agents = madrona_gpudrive.kMaxAgentCount + self.max_observable_agents = self.max_controlled_agents - 1 + self.partner_obs_idx = self.ego_state_idx + ( + constants.PARTNER_FEAT_DIM * self.max_observable_agents + ) + self.road_map_idx = self.partner_obs_idx + ( + constants.ROAD_GRAPH_TOP_K * constants.ROAD_GRAPH_FEAT_DIM + ) + + if self.config["guidance"]: + self.guidance_feature_dim = 0 + # One-hot encoding signalling the next time step + if self.config["add_reference_pos_xy"]: + self.guidance_feature_dim += ( + constants.LOG_TRAJECTORY_LENGTH * 2 + ) + if self.config["add_reference_speed"]: + # Assumption: Guidance traj is of length 91 + self.guidance_feature_dim += constants.LOG_TRAJECTORY_LENGTH + if self.config["add_reference_heading"]: + self.guidance_feature_dim += constants.LOG_TRAJECTORY_LENGTH + self.guidance_idx = self.road_map_idx + self.guidance_feature_dim + + # Shared embedding networks for both actor and critic + self.ego_embed = nn.Sequential( + layer_init(nn.Linear(self.ego_state_idx, 64)), + nn.LayerNorm(64), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(64, 64)), + ) + + self.partner_embed = nn.Sequential( + layer_init(nn.Linear(constants.PARTNER_FEAT_DIM, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + self.road_map_embed = nn.Sequential( + layer_init(nn.Linear(constants.ROAD_GRAPH_FEAT_DIM, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + self.guidance_embed = nn.Sequential( + layer_init(nn.Linear(self.guidance_feature_dim, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + # Critic network + self.critic = nn.Sequential( + layer_init(nn.Linear(((2 * top_k + 1) * embed_dim) + 64, 256)), + nn.LayerNorm(256), + self.act_func, + layer_init(nn.Linear(256, 64)), + nn.LayerNorm(64), + self.act_func, + layer_init(nn.Linear(64, 1), std=1.0), + ) + + # Actor network + self.actor = nn.Sequential( + layer_init(nn.Linear(((2 * top_k + 1) * embed_dim) + 64, 256)), + nn.LayerNorm(256), + self.act_func, + layer_init(nn.Linear(256, 64)), + nn.LayerNorm(64), + self.act_func, + layer_init(nn.Linear(64, action_dim), std=0.01), + ) + + @classmethod + def load_from_local_checkpoint( + cls, checkpoint_path, map_location="cpu", **kwargs + ): + """ + Loads an Agent model from a local .pt checkpoint file. + This is designed to work with checkpoints created by `baselines/ppo/ppo_guided_autonomy.py`. + + Args: + checkpoint_path (str): Path to the .pt file. + map_location (str or torch.device): Specifies how to remap storage locations. + Defaults to 'cpu'. + **kwargs: Additional arguments for the Agent constructor + (e.g., act_func, dropout, top_k). + These will override the default values in the constructor if provided. + """ + # Load the checkpoint file + # Setting weights_only=False can be a security risk. Only use with trusted checkpoints. + saved_cpt = torch.load( + checkpoint_path, map_location=map_location, weights_only=False + ) + + # Extract parameters for model instantiation from the checkpoint + config = saved_cpt["config"] + embed_dim = saved_cpt["model_arch"]["embed_dim"] + action_dim = saved_cpt["action_dim"] + + # Instantiate the model + model = cls( + config=config, + embed_dim=embed_dim, + action_dim=action_dim, + **kwargs, + ) + + # Load the state dict from the checkpoint file + if "parameters" in saved_cpt: + model.load_state_dict(saved_cpt["parameters"]) + elif "model_state_dict" in saved_cpt: + model.load_state_dict(saved_cpt["model_state_dict"]) + elif "state_dict" in saved_cpt: + model.load_state_dict(saved_cpt["state_dict"]) + else: + # Assume the checkpoint file directly contains the model's state_dict + model.load_state_dict(saved_cpt) + + model.eval() # Set the model to evaluation mode + return model + + def forward(self, x, action=None): + """Forward pass through the network. + Args: + x: Flattened observation vector of size [B, F]. + action (Optional): Actions to take of size [B, 1]. + If None, a new actions are sampled. + """ + # Unpack into modalities + ego_state, partner_obs, road_graph, guidance = self.unpack_obs(x) + + # Use shared embedding networks for both actor and critic + ego_embed = self.ego_embed(ego_state) + partner_embed = self.partner_embed(partner_obs) + road_embed = self.road_map_embed(road_graph) + guidance_embed = self.guidance_embed(guidance) + + # Take top k features from partner and road embeddings + partner_max_pool = torch.topk(partner_embed, k=self.top_k, dim=1)[ + 0 + ].flatten( + start_dim=1 + ) # partner_embed.max(dim=1) + road_max_pool = torch.topk(road_embed, k=self.top_k, dim=1)[0].flatten( + start_dim=1 + ) + + # Concatenate the embeddings + z = torch.cat( + [ego_embed, partner_max_pool, road_max_pool, guidance_embed], + dim=-1, + ) + + # Pass to the actor and critic networks + logits = self.actor(z) + probs = Categorical(logits=logits) + + if action is None: + action = probs.sample() + else: + # Reshape action from [B, 1] to [B] to match what Categorical expects + action = action.squeeze(-1) + + return ( + action, + probs.log_prob(action), + probs.entropy(), + self.critic(z), + ) + + def unpack_obs(self, obs_flat): + """Unpack the flattened observation into the ego state, visible simulator state.""" + + ego_state = obs_flat[:, : self.ego_state_idx] + partner_obs = obs_flat[:, self.ego_state_idx : self.partner_obs_idx] + roadgraph_obs = obs_flat[:, self.partner_obs_idx : self.road_map_idx] + guidance = obs_flat[:, self.road_map_idx :] + + road_objects = partner_obs.view( + -1, self.max_observable_agents, constants.PARTNER_FEAT_DIM + ) + road_graph = roadgraph_obs.view( + -1, TOP_K_ROAD_POINTS, constants.ROAD_GRAPH_FEAT_DIM + ) + + return ego_state, road_objects, road_graph, guidance + + +class SeparateActorCriticAgent(nn.Module): + """ " + Actor-Critic agent with separate actor and critic networks. + Expects a single observation vector as input. + """ + + def __init__( + self, + config, + embed_dim, + action_dim, + act_func="tanh", + dropout=0.00, + ): + super().__init__() + + self.config = config + self.act_func = nn.Tanh() if act_func == "tanh" else nn.ReLU() + self.dropout = dropout + self.action_dim = action_dim + + # Indices for unpacking the observation modalities + self.ego_state_idx = ( + 9 + if self.config["reward_type"] == "reward_conditioned" + else constants.EGO_FEAT_DIM + ) + if self.config[ + "add_reference_pos_xy" + ]: # Every agent receives a reference path + self.ego_state_idx += 91 * 2 + + self.max_controlled_agents = madrona_gpudrive.kMaxAgentCount + self.max_observable_agents = self.max_controlled_agents - 1 + self.partner_obs_idx = self.ego_state_idx + ( + constants.PARTNER_FEAT_DIM * self.max_observable_agents + ) + + # Actor's embedding networks + self.actor_ego_embed = nn.Sequential( + layer_init(nn.Linear(self.ego_state_idx, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + self.actor_partner_embed = nn.Sequential( + layer_init(nn.Linear(constants.PARTNER_FEAT_DIM, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + self.actor_road_map_embed = nn.Sequential( + layer_init(nn.Linear(constants.ROAD_GRAPH_FEAT_DIM, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + # Critic's embedding networks + self.critic_ego_embed = nn.Sequential( + layer_init(nn.Linear(self.ego_state_idx, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + self.critic_partner_embed = nn.Sequential( + layer_init(nn.Linear(constants.PARTNER_FEAT_DIM, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + self.critic_road_map_embed = nn.Sequential( + layer_init(nn.Linear(constants.ROAD_GRAPH_FEAT_DIM, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + + # Critic network + self.critic = nn.Sequential( + layer_init(nn.Linear(3 * embed_dim, 32)), + nn.LayerNorm(32), + self.act_func, + layer_init( + nn.Linear(32, 1), std=1.0 + ), + ) + + # Actor network + self.actor = nn.Sequential( + layer_init(nn.Linear(3 * embed_dim, 64)), + nn.LayerNorm(64), + self.act_func, + layer_init(nn.Linear(64, action_dim), std=0.01), + ) + + def get_value(self, x): + # Unpack into modalities + ego_state, partner_obs, road_graph = self.unpack_obs(x) + + # Embed each modality using critic's embedding networks + critic_ego_embed = self.critic_ego_embed(ego_state) + critic_partner_embed = self.critic_partner_embed(partner_obs) + critic_road_embed = self.critic_road_map_embed(road_graph) + + # Concatenate the embeddings + critic_x = torch.cat( + [critic_ego_embed, critic_partner_embed, critic_road_embed], dim=-1 + ) + + return self.critic(critic_x) + + def forward(self, x, action=None): + """Forward pass through the network. + Args: + x: Flattened observation vector of size [B, F]. + action (Optional): Actions to take of size [B, 1]. + If None, a new actions are sampled. + """ + # Unpack into modalities + ego_state, partner_obs, road_graph = self.unpack_obs(x) + + actor_ego_embed = self.actor_ego_embed(ego_state) + actor_partner_embed, _ = self.actor_partner_embed(partner_obs).max( + dim=1 + ) + actor_road_embed, _ = self.actor_road_map_embed(road_graph).max(dim=1) + actor_z = torch.cat( + [actor_ego_embed, actor_partner_embed, actor_road_embed], dim=-1 + ) + + critic_ego_embed = self.critic_ego_embed(ego_state) + critic_partner_embed, _ = self.critic_partner_embed(partner_obs).max( + dim=1 + ) + critic_road_embed, _ = self.critic_road_map_embed(road_graph).max( + dim=1 + ) + critic_z = torch.cat( + [critic_ego_embed, critic_partner_embed, critic_road_embed], dim=-1 + ) + + # Pass to the actor and critic networks + logits = self.actor(actor_z) + probs = Categorical(logits=logits) + + if action is None: + action = probs.sample() + else: + # Reshape action from [B, 1] to [B] to match what Categorical expects + action = action.squeeze(-1) + + return ( + action, + probs.log_prob(action), + probs.entropy(), + self.critic(critic_z), + ) + + def unpack_obs(self, obs_flat): + """Unpack the flattened observation into the ego state, visible simulator state.""" + + ego_state = obs_flat[:, : self.ego_state_idx] + partner_obs = obs_flat[:, self.ego_state_idx : self.partner_obs_idx] + roadgraph_obs = obs_flat[:, self.partner_obs_idx :] + + road_objects = partner_obs.view( + -1, self.max_observable_agents, constants.PARTNER_FEAT_DIM + ) + road_graph = roadgraph_obs.view( + -1, TOP_K_ROAD_POINTS, constants.ROAD_GRAPH_FEAT_DIM + ) + + return ego_state, road_objects, road_graph diff --git a/gpudrive/networks/late_fusion.py b/gpudrive/networks/late_fusion.py index aa14b3e36..207e5a22c 100644 --- a/gpudrive/networks/late_fusion.py +++ b/gpudrive/networks/late_fusion.py @@ -82,7 +82,8 @@ def __init__( act_func="tanh", max_controlled_agents=64, obs_dim=2984, # Size of the flattened observation vector (hardcoded) - config=None, # Optional config + config=None, # Optional config, + **kwargs, ): super().__init__() self.input_dim = input_dim @@ -95,11 +96,9 @@ def __init__( self.dropout = dropout self.act_func = nn.Tanh() if act_func == "tanh" else nn.GELU() - # Indices for unpacking the observation + # Ego state base fields self.ego_state_idx = constants.EGO_FEAT_DIM - self.partner_obs_idx = ( - constants.PARTNER_FEAT_DIM * self.max_controlled_agents - ) + if config is not None: self.config = Box(config) if "reward_type" in self.config: @@ -107,9 +106,12 @@ def __init__( # Agents know their "type", consisting of three weights # that determine the reward (collision, goal, off-road) self.ego_state_idx += 3 - self.partner_obs_idx += 3 + if "add_reference_pos_xy" in self.config: + self.ego_state_idx += 2 * 91 - self.vbd_in_obs = self.config.vbd_in_obs + self.partner_obs_idx = self.ego_state_idx + ( + constants.PARTNER_FEAT_DIM * self.max_observable_agents + ) # Calculate the VBD predictions size: 91 timesteps * 5 features = 455 self.vbd_size = 91 * 5 @@ -144,17 +146,6 @@ def __init__( pufferlib.pytorch.layer_init(nn.Linear(input_dim, input_dim)), ) - if self.vbd_in_obs: - self.vbd_embed = nn.Sequential( - pufferlib.pytorch.layer_init( - nn.Linear(self.vbd_size, input_dim) - ), - nn.LayerNorm(input_dim), - self.act_func, - nn.Dropout(self.dropout), - pufferlib.pytorch.layer_init(nn.Linear(input_dim, input_dim)), - ) - self.shared_embed = nn.Sequential( nn.Linear(self.input_dim * self.num_modes, self.hidden_dim), nn.Dropout(self.dropout), @@ -234,7 +225,6 @@ def unpack_obs(self, obs_flat): else: # Without VBD, all remaining elements are road graph observations roadgraph_obs = obs_flat[:, self.partner_obs_idx :] - road_objects = partner_obs.view( -1, self.max_observable_agents, constants.PARTNER_FEAT_DIM ) diff --git a/gpudrive/utils/checkpoint.py b/gpudrive/utils/checkpoint.py new file mode 100644 index 000000000..79ce39b70 --- /dev/null +++ b/gpudrive/utils/checkpoint.py @@ -0,0 +1,60 @@ +import torch + +from gpudrive.networks.late_fusion import NeuralNet +from gpudrive.networks.agents import Agent + + +def load_policy(path_to_cpt, model_name, device, env_config=None): + """Load a policy from a given path.""" + + # Load a trained model + saved_cpt = torch.load( + f=f"{path_to_cpt}/{model_name}.pt", + map_location=device, + weights_only=False, + ) + + print(f"Load model from {path_to_cpt}/{model_name}.pt") + + # Create policy architecture from saved checkpoint + policy = NeuralNet( + input_dim=saved_cpt["model_arch"]["input_dim"], + action_dim=saved_cpt["action_dim"], + hidden_dim=saved_cpt["model_arch"]["hidden_dim"], + config=env_config, + ).to(device) + + # Load the model parameters + policy.load_state_dict(saved_cpt["parameters"]) + + return policy.eval() + + +def load_agent(path_to_cpt, device="cuda"): + """ + Load a trained agent from checkpoint file and return it in evaluation mode. + + Args: + path_to_cpt: Path to the checkpoint file (.pt) + + Returns: + The loaded agent model set to evaluation mode + """ + # Load .pt checkpoint file + saved_cpt = torch.load( + f=path_to_cpt, + weights_only=False, + map_location=device, + ) + + # Create policy architecture from saved checkpoint + agent = Agent( + config=saved_cpt["config"], + embed_dim=saved_cpt["model_arch"]["embed_dim"], + action_dim=saved_cpt["action_dim"], + ) + + # Load the model parameters + agent.load_state_dict(saved_cpt["parameters"]) + + return agent.eval() diff --git a/gpudrive/utils/compatible.py b/gpudrive/utils/compatible.py new file mode 100644 index 000000000..e916536c7 --- /dev/null +++ b/gpudrive/utils/compatible.py @@ -0,0 +1,203 @@ +from tqdm import tqdm +import torch +import pandas as pd +import numpy as np +from pathlib import Path +import mediapy + +from gpudrive.utils.config import load_config +from gpudrive.utils.rollout import rollout +from gpudrive.utils.env import make_env +from gpudrive.utils.checkpoint import load_policy + +from gpudrive.env.dataset import SceneDataLoader + +RESULTS_DIR = "examples/experimental/dataframes" + + +def get_compatibility_scores( + env, + agent, + num_rollouts, + device, + identifier, + deterministic=False, + render_sim_state=False, + render_every_t=10, +): + """Evaluate policy in the environment.""" + + if env.config.reward_type == "reward_conditioned": + agent_weights = env.agent_type + set_agent_type = True + + print(f"Controlling {env.max_cont_agents} agents per scenario") + + res_dict = { + "scene": [], + "goal_achieved_count": [], + "goal_achieved_frac": [], + "collided_count": [], + "collided_frac": [], + "off_road_count": [], + "off_road_frac": [], + "other_count": [], + "other_frac": [], + "num_controlled": [], + "episode_lengths": [], + } + + pbar = tqdm( + range(num_rollouts), + desc="Rollout", + total=num_rollouts, + colour="green", + ) + + for rollout_idx in pbar: + pbar.set_description( + f"Rollout {rollout_idx + 1}/{num_rollouts}, Batch size: {env.num_worlds}" + ) + + # Update simulator with the new batch of data + env.swap_data_batch() + + # Rollout policy in the environments + ( + goal_achieved_count, + goal_achieved_frac, + collided_count, + collided_frac, + off_road_count, + off_road_frac, + other_count, + other_frac, + controlled_agents_in_scene, + sim_state_frames, + agent_positions, + episode_lengths, + ) = rollout( + env=env, + policy=agent, + device=device, + deterministic=deterministic, + render_sim_state=render_sim_state, + set_agent_type=set_agent_type, + agent_weights=agent_weights, + render_every_n_steps=render_every_t, + ) + + # Get names from env + scenario_to_worlds_dict = env.get_env_filenames() + + res_dict["scene"].extend(scenario_to_worlds_dict.values()) + res_dict["goal_achieved_count"].extend( + goal_achieved_count.cpu().numpy() + ) + res_dict["goal_achieved_frac"].extend(goal_achieved_frac.cpu().numpy()) + + res_dict["collided_count"].extend(collided_count.cpu().numpy()) + res_dict["collided_frac"].extend(collided_frac.cpu().numpy()) + + res_dict["off_road_count"].extend(off_road_count.cpu().numpy()) + res_dict["off_road_frac"].extend(off_road_frac.cpu().numpy()) + + res_dict["other_count"].extend(other_count.cpu().numpy()) + res_dict["other_frac"].extend(other_frac.cpu().numpy()) + res_dict["num_controlled"].extend( + controlled_agents_in_scene.cpu().numpy() + ) + res_dict["episode_lengths"].extend(episode_lengths.cpu().numpy()) + + # Convert to pandas dataframe + df_res = pd.DataFrame(res_dict) + df_res["Class"] = identifier + + print(f"\n Evaluated in {df_res.scene.nunique()} unique scenes.") + + return df_res, sim_state_frames, scenario_to_worlds_dict + + +if __name__ == "__main__": + + config = load_config( + "/home/emerge/gpudrive/baselines/ppo/config/ppo_population" + ) + EXP_ID = "rew_cond" + + # Set maximum number of agents that policy controls + + # Analysis settings + config.data_dir = "data/processed/training" + config.environment.num_worlds = 20 + config.dataset_size = 5000 + config.sample_with_replacement = True + config.num_rollouts = 1 + config.environment.max_controlled_agents = 64 # 1 + config.device = "cuda" + config.environment.reward_type = "reward_conditioned" + config.environment.condition_mode = "fixed" + config.environment.agent_type = torch.Tensor([-0.75, 1.0, -0.75]) + config.render = True + + agent = load_policy( + model_name="model_pop_play____R_10000__04_04_18_27_28_702_002500", + path_to_cpt="/home/emerge/gpudrive/examples/experimental/models", + env_config=config.environment, + device=config.device, + ) + + # Create data loader + train_loader = SceneDataLoader( + root=config.data_dir, + batch_size=config.environment.num_worlds, + dataset_size=config.dataset_size, + sample_with_replacement=True, + ) + + env = make_env(config.environment, train_loader, device=config.device) + + # Load sim agent trained through naive self-play + # agent = NeuralNet.from_pretrained( + # "daphne-cornelisse/policy_S10_000_02_27" + # ).to(config.device) + + df, frames, filenames = get_compatibility_scores( + env=env, + agent=agent, + num_rollouts=config.num_rollouts, + device=config.device, + identifier=f"{EXP_ID}_{config.environment.max_controlled_agents}", + render_sim_state=config.render, + render_every_t=2, + ) + df = df.dropna() + + df.to_csv( + f"{RESULTS_DIR}/compatibility_scores_{config.environment.max_controlled_agents}.csv", + index=False, + ) + + print(f"goal_achieved: {df['goal_achieved_frac'].mean()*100:.2f}") + print(f"collided: {df['collided_frac'].mean()*100:.2f}") + print(f"off_road: {df['off_road_frac'].mean()*100:.2f}") + + # Save videos + if config.render: + sim_state_arrays = {k: np.array(v) for k, v in frames.items()} + videos_dir = Path(f"videos/reward_conditioned") + videos_dir.mkdir(parents=True, exist_ok=True) + + for env_id, frames in sim_state_arrays.items(): + + filename = filenames[env_id] + video_path = videos_dir / f"{filename}.gif" + + mediapy.write_video( + str(video_path), + frames, + fps=5, + codec="gif", + ) + + print(f"Saved video to {video_path}") diff --git a/gpudrive/utils/diversity.py b/gpudrive/utils/diversity.py new file mode 100644 index 000000000..ea27c287b --- /dev/null +++ b/gpudrive/utils/diversity.py @@ -0,0 +1,476 @@ +import torch +import dataclasses +import mediapy +from huggingface_hub import PyTorchModelHubMixin +from huggingface_hub import ModelCard +from gpudrive.networks.late_fusion import NeuralNet +import matplotlib.pyplot as plt +from collections import defaultdict +import random +import torch +import random +import numpy as np +import pandas as pd +from tqdm import tqdm + + +from gpudrive.env.config import EnvConfig +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.visualize.utils import img_from_fig +from gpudrive.env.dataset import SceneDataLoader +from gpudrive.utils.config import load_config +from gpudrive.utils.checkpoint import load_policy +from gpudrive.utils.rollout import rollout + +from PIL import Image + + +def collect_rollout_for_agent_type( + env, agent, agent_type_name, agent_weights, device, num_rollouts=5 +): + """ + Collect rollout data for a specific agent type. + + Args: + env: The simulation environment + agent: The policy to be rolled out + agent_type_name: Name identifier for this agent type + agent_weights: Tensor of agent weights + device: The device to run on + num_rollouts: Number of rollouts to perform for this agent type + + Returns: + list: List of dictionaries containing rollout data for this agent type + """ + all_data = [] + + # Run multiple rollouts for this agent type + for i in tqdm( + range(num_rollouts), desc=f"Agent: {agent_type_name}", unit="rollout" + ): + # Run the rollout with the specified agent weights + rollout_results = rollout( + env=env, + policy=agent, + device=device, + deterministic=False, + render_sim_state=False, + return_agent_positions=False, + return_behavior_metrics=True, + set_agent_type=True, + agent_weights=agent_weights, + ) + + # Extract behavioral metrics from rollout (last element of returned tuple) + behavior_metrics = rollout_results[-1] + + # Extract goal and collision rates (these are earlier in the returned tuple) + goal_achieved_count = rollout_results[0] + frac_goal_achieved = rollout_results[1] + collided_count = rollout_results[2] + frac_collided = rollout_results[3] + + # Store data for this rollout + all_data.append( + { + "agent_type": agent_type_name, + "rollout_idx": i, + "weights": agent_weights.cpu().tolist(), + "entropy": behavior_metrics["entropy"], + "logprob": behavior_metrics["logprob"], + "actions": behavior_metrics["actions"], + "goal_achieved_count": goal_achieved_count, + "frac_goal_achieved": frac_goal_achieved, + "collided_count": collided_count, + "frac_collided": frac_collided, + } + ) + + return all_data + + +def collect_data_for_agent_types( + env, agent, agent_configs, device, num_rollouts_per_agent=5 +): + """ + Collect rollout data for all agent types in agent_configs. + + Args: + env: The simulation environment + agent: The policy to be rolled out + agent_configs: Dictionary mapping agent type names to their weight tensors + device: The device to run on + num_rollouts_per_agent: Number of rollouts to perform for each agent type + + Returns: + list: Combined list of dictionaries containing rollout data for all agent types + """ + all_agent_data = [] + + # Display overall progress information + print( + f"Collecting data for {len(agent_configs)} agent types, {num_rollouts_per_agent} rollouts each" + ) + + # Process each agent type + for agent_type_name, agent_weights in agent_configs.items(): + print( + f"\nAgent type: {agent_type_name}, weights: {agent_weights.cpu().tolist()}" + ) + + # Collect data for this agent type + agent_data = collect_rollout_for_agent_type( + env=env, + agent=agent, + agent_type_name=agent_type_name, + agent_weights=agent_weights, + device=device, + num_rollouts=num_rollouts_per_agent, + ) + + # Add to combined data + all_agent_data.extend(agent_data) + + print(f"Completed rollouts for all {len(agent_configs)} agent types") + return all_agent_data + + +def create_dataframe_from_rollouts(rollout_data): + """ + Convert rollout data to a pandas DataFrame with the specified columns. + + Args: + rollout_data: List of dictionaries containing rollout results + + Returns: + pd.DataFrame: DataFrame with agent behavior data + """ + rows = [] + + # Create a separate dataframe to store aggregated metrics per rollout + rollout_metrics = [] + + # Process each rollout + for data in rollout_data: + agent_type = data["agent_type"] + rollout_idx = data["rollout_idx"] + weights = data["weights"] + + # Get tensor data + entropy = data["entropy"] # Shape: [num_envs, max_agents, episode_len] + logprob = data["logprob"] # Shape: [num_envs, max_agents, episode_len] + actions = data[ + "actions" + ] # Shape: [num_envs, max_agents, episode_len, action_dim] + + # Get goal and collision metrics + goal_achieved_count = data["goal_achieved_count"] + frac_goal_achieved = data["frac_goal_achieved"] + collided_count = data["collided_count"] + frac_collided = data["frac_collided"] + + # Get dimensions + num_envs = actions.shape[0] + max_agents = actions.shape[1] + episode_len = actions.shape[2] + + # Store aggregated metrics for this rollout + for env_idx in range(num_envs): + rollout_metrics.append( + { + "agent_type": agent_type, + "rollout_idx": rollout_idx, + "scenario": env_idx, + "goal_achieved_count": goal_achieved_count[env_idx].item(), + "frac_goal_achieved": frac_goal_achieved[env_idx].item(), + "collided_count": collided_count[env_idx].item(), + "frac_collided": frac_collided[env_idx].item(), + "collision_weight": weights[0], + "goal_weight": weights[1], + "off_road_weight": weights[2], + } + ) + + # Create rows for all non-zero entries + for env_idx in range(num_envs): + for agent_idx in range(max_agents): + for time_step in range(episode_len): + # Skip if no action was taken (all zeros) + action_vec = actions[env_idx, agent_idx, time_step] + if ( + torch.all(action_vec == 0) + and entropy[env_idx, agent_idx, time_step] == 0 + ): + continue + + # Add row with specified columns + row = { + "agent_type": agent_type, + "scenario": env_idx, + "agent_idx": agent_idx, # Keep this in case you need it later + "timestep": time_step, + "entropy": entropy[ + env_idx, agent_idx, time_step + ].item(), + "acceleration": action_vec[0].item(), + "steering": action_vec[1].item(), + "logprob": logprob[ + env_idx, agent_idx, time_step + ].item(), + "rollout_idx": rollout_idx, + "collision_weight": weights[0], + "goal_weight": weights[1], + "off_road_weight": weights[2], + } + rows.append(row) + + # Create main DataFrame and metrics DataFrame + df = pd.DataFrame(rows) + metrics_df = pd.DataFrame(rollout_metrics) + + # Print summary + print(f"Created DataFrame with {len(df)} rows") + print(f"Number of unique agent types: {df['agent_type'].nunique()}") + print(f"Number of unique scenarios: {df['scenario'].nunique()}") + print(f"Maximum timestep: {df['timestep'].max()}") + + # Print more detailed statistics + print("\nRows per agent type:") + print(df.groupby("agent_type").size()) + + # Print goal and collision statistics + print("\nGoal Achievement Rate by Agent Type:") + print(metrics_df.groupby("agent_type")["frac_goal_achieved"].mean()) + + print("\nCollision Rate by Agent Type:") + print(metrics_df.groupby("agent_type")["frac_collided"].mean()) + + print("\nSample of DataFrame:") + print(df.head()) + + # Add the metrics to the main dataframe as a separate attribute + df.metrics = metrics_df + + return df + + +def compare_agent_types(df): + """ + Compare different agent types based on their behavior using the updated DataFrame structure. + + Args: + df: DataFrame containing agent behavior data with the columns: + agent_type, scenario, agent_idx, timestep, entropy, acceleration, steering, etc. + + Returns: + dict: Dictionary of analysis results + """ + results = {} + + # 1. Compare acceleration and steering distributions by agent type + accel_dist_by_agent = ( + df.groupby("agent_type")["acceleration"] + .value_counts(normalize=True) + .unstack() + .fillna(0) + ) + results["acceleration_distribution"] = accel_dist_by_agent + + steer_dist_by_agent = ( + df.groupby("agent_type")["steering"] + .value_counts(normalize=True) + .unstack() + .fillna(0) + ) + results["steering_distribution"] = steer_dist_by_agent + + # 2. Compare entropy (uncertainty) by agent type + entropy_by_agent = df.groupby("agent_type")["entropy"].agg( + ["mean", "std", "min", "max"] + ) + results["entropy_stats"] = entropy_by_agent + + # 3. Calculate action diversity based on unique combinations of acceleration and steering + df["action_combo"] = ( + df["acceleration"].astype(str) + "_" + df["steering"].astype(str) + ) + df_grouped = ( + df.groupby(["agent_type", "scenario", "timestep"])["action_combo"] + .nunique() + .reset_index() + ) + action_diversity = df_grouped.groupby("agent_type")["action_combo"].mean() + results["action_diversity"] = action_diversity + + # 4. Calculate additional metrics + # Average logprob by agent type (measure of confidence) + logprob_by_agent = df.groupby("agent_type")["logprob"].mean() + results["avg_logprob"] = logprob_by_agent + + # Distribution of steering and acceleration over time + time_series = df.groupby(["agent_type", "timestep"])[ + ["steering", "acceleration"] + ].mean() + results["time_series"] = time_series + + # 5. Goal and collision rate analysis + try: + # Try to load separate metrics file + metrics_df = pd.read_csv( + "/home/emerge/gpudrive/agent_type_metrics.csv" + ) + goal_rate = metrics_df.groupby("agent_type")[ + "frac_goal_achieved" + ].mean() + collision_rate = metrics_df.groupby("agent_type")[ + "frac_collided" + ].mean() + + results["goal_rate"] = goal_rate + results["collision_rate"] = collision_rate + except Exception as e: + print(f"Error loading metrics data: {e}") + print("Goal and collision rates won't be included in the results.") + + # Print summary of comparison + print("\n=== Agent Type Comparison ===") + print("\nPolicy Entropy by Agent Type (higher = more uncertain):") + print(entropy_by_agent["mean"].sort_values(ascending=False)) + + print("\nAverage Log Probability (higher = more confident):") + print(logprob_by_agent) + + # Acceleration and steering tendencies + print("\nAverage Acceleration by Agent Type:") + print( + df.groupby("agent_type")["acceleration"] + .mean() + .sort_values(ascending=False) + ) + + print( + "\nAverage Steering by Agent Type (absolute value - measures turning intensity):" + ) + print( + df.groupby("agent_type") + .apply(lambda x: abs(x["steering"]).mean()) + .sort_values(ascending=False) + ) + + # Goal and collision rates + if "goal_rate" in results: + print("\nAverage Goal Achievement Rate by Agent Type:") + print(results["goal_rate"].sort_values(ascending=False)) + + print("\nAverage Collision Rate by Agent Type:") + print(results["collision_rate"].sort_values(ascending=False)) + + # Analyze variation across scenarios + scenario_variation = ( + df.groupby(["agent_type", "scenario"])[["acceleration", "steering"]] + .mean() + .groupby("agent_type") + .std() + ) + print("\nVariation Across Scenarios (higher = less consistent behavior):") + print(scenario_variation) + + return results + + +if __name__ == "__main__": + + config = load_config( + "/home/emerge/gpudrive/baselines/ppo/config/ppo_base_puffer" + ) + + num_envs = 50 + device = "cpu" + max_agents = 64 + + config.environment.reward_type = "reward_conditioned" + config.environment.condition_mode = "fixed" + config.environment.agent_type = torch.Tensor([-0.2, 1.0, -0.2]) + + agent = load_policy( + model_name="model_pop_play____R_10000__04_04_18_27_28_702_002500", + path_to_cpt="/home/emerge/gpudrive/examples/experimental/models", + env_config=config.environment, + device=device, + ) + + # Create data loader + train_loader = SceneDataLoader( + root="/home/emerge/gpudrive/data/processed/training/", + batch_size=num_envs, + dataset_size=100, + sample_with_replacement=False, + ) + + # Set params + config = config.environment + env_config = dataclasses.replace( + EnvConfig(), + norm_obs=config.norm_obs, + dynamics_model=config.dynamics_model, + collision_behavior=config.collision_behavior, + dist_to_goal_threshold=config.dist_to_goal_threshold, + polyline_reduction_threshold=config.polyline_reduction_threshold, + remove_non_vehicles=config.remove_non_vehicles, + lidar_obs=config.lidar_obs, + disable_classic_obs=config.lidar_obs, + obs_radius=config.obs_radius, + steer_actions=torch.round( + torch.linspace( + -torch.pi, torch.pi, config.action_space_steer_disc + ), + decimals=3, + ), + accel_actions=torch.round( + torch.linspace(-4.0, 4.0, config.action_space_accel_disc), + decimals=3, + ), + reward_type=config.reward_type, + condition_mode=config.condition_mode, + agent_type=config.agent_type, + ) + + # Make env + env = GPUDriveTorchEnv( + config=env_config, + data_loader=train_loader, + max_cont_agents=max_agents, + device=device, + ) + + # Define different agent types to compare + agent_configs = { # Collision, Goal, Off-road + "Nominal": torch.tensor([-0.75, 1.0, -0.75], device=device), + "Aggressive": torch.tensor([0.0, 2.0, 0.0], device=device), + "Risk-averse": torch.tensor([-2.0, 0.5, -2.0], device=device), + } + + print( + f"Collecting rollout data for all agent types... N = {env.max_cont_agents}" + ) + + # Collect data for all agent types + all_rollout_data = collect_data_for_agent_types( + env=env, + agent=agent, + agent_configs=agent_configs, + device=device, + num_rollouts_per_agent=3, # Number of times we rollout in the same scenes + ) + + # Convert to DataFrame for analysis + df = create_dataframe_from_rollouts(all_rollout_data) + + # Analyze agent types + comparison_results = compare_agent_types(df) + + # Save the data + df.to_csv("agent_type_comparison_data.csv", index=False) + df.metrics.to_csv("agent_type_metrics.csv", index=False) + + print("\n Analysis done! Data saved to csv file.") diff --git a/gpudrive/utils/env.py b/gpudrive/utils/env.py new file mode 100644 index 000000000..79d656909 --- /dev/null +++ b/gpudrive/utils/env.py @@ -0,0 +1,52 @@ +import dataclasses +import torch + +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.env.config import EnvConfig, RenderConfig + + +def make_env(config, train_loader, device="cuda"): + """Make the environment with the given config.""" + + # Override any default environment settings + env_config = dataclasses.replace( + EnvConfig(), + ego_state=config.ego_state, + road_map_obs=config.road_map_obs, + partner_obs=config.partner_obs, + reward_type=config.reward_type, + norm_obs=config.norm_obs, + dynamics_model=config.dynamics_model, + collision_behavior=config.collision_behavior, + dist_to_goal_threshold=config.dist_to_goal_threshold, + polyline_reduction_threshold=config.polyline_reduction_threshold, + remove_non_vehicles=config.remove_non_vehicles, + lidar_obs=config.lidar_obs, + disable_classic_obs=True if config.lidar_obs else False, + obs_radius=config.obs_radius, + steer_actions=torch.round( + torch.linspace( + -torch.pi, torch.pi, config.action_space_steer_disc + ), + decimals=3, + ), + accel_actions=torch.round( + torch.linspace(-4.0, 4.0, config.action_space_accel_disc), + decimals=3, + ), + condition_mode=config.condition_mode, + agent_type=config.agent_type, + init_mode=config.init_mode, + ) + + render_config = RenderConfig() + + env = GPUDriveTorchEnv( + config=env_config, + data_loader=train_loader, + max_cont_agents=config.max_controlled_agents, + device=device, + render_config=render_config, + ) + + return env diff --git a/gpudrive/utils/generate_sbatch.py b/gpudrive/utils/generate_sbatch.py index 95850cca3..c15714fc2 100644 --- a/gpudrive/utils/generate_sbatch.py +++ b/gpudrive/utils/generate_sbatch.py @@ -5,7 +5,7 @@ import numpy as np import os import re -from typing import Dict +from typing import Dict, List, Optional from dotenv import load_dotenv # Load environment variables from .env file @@ -21,6 +21,8 @@ # Set to python file to run RUN_FILE = "baselines/ppo/ppo_pufferlib.py" +SUPPORTED_GPU_TYPES = ["rtx8000", "v100", "a100"] + # Default SLURM fields DEFAULT_SLURM_FIELDS = { "num_nodes": 1, @@ -41,6 +43,7 @@ "singularity_image": SINGULARITY_IMAGE, "overlay_file": OVERLAY_FILE, "run_file": RUN_FILE, + "exclude_nodes": [], # GPU types to exclude } # a template for the submit script @@ -58,11 +61,12 @@ #SBATCH --time={time_d}-{time_h}:{time_m}:{time_s} #SBATCH --nodes={num_nodes} #SBATCH --cpus-per-task={num_cpus} -#SBATCH --gres=gpu:{num_gpus} +#SBATCH --gres=gpu:{num_gpus}{gpu_type_str} #SBATCH --account={account} +{exclude_str} SINGULARITY_IMAGE={singularity_image} -OVERLAY_FILE=/scratch/{username}/{overlay_file} +OVERLAY_FILE={overlay_file} singularity exec --nv --overlay "${{OVERLAY_FILE}}:ro" \ "${{SINGULARITY_IMAGE}}" \ @@ -167,22 +171,23 @@ def _get_params_bash(params, values): def get_script( - fields: Dict = DEFAULT_SLURM_FIELDS, params: Dict = {}, param_order=None + fields: Dict = DEFAULT_SLURM_FIELDS, params: Dict = {}, param_order=None, exclude_nodes: List[str] = None ): """ returns a string of a SLURM submission script using the passed fields and which creates an array of jobs which sweep the given params - fields: dict of SLURM field names to their values. type is ignored - params: a dict of (param names, param value list) pairs. - The param name is the name of the bash variable created in - the submission script which will contain the param's current - value (for that SLURM job instance). param value list is - a list (or range instance) of the values the param should take, - to be run once against every other possible configuration of all params. - param_order: a list containing all param names which indicates the ordering - of the params in the sweep. The last param changes every - job number. If not supplied, uses an arbitrary order + fields: dict of SLURM field names to their values. type is ignored + params: a dict of (param names, param value list) pairs. + The param name is the name of the bash variable created in + the submission script which will contain the param's current + value (for that SLURM job instance). param value list is + a list (or range instance) of the values the param should take, + to be run once against every other possible configuration of all params. + param_order: a list containing all param names which indicates the ordering + of the params in the sweep. The last param changes every + job number. If not supplied, uses an arbitrary order + exclude_nodes: a list of GPU types to exclude (options: "rtx8000", "v100", "a100") """ assert isinstance(fields, dict) @@ -197,7 +202,7 @@ def get_script( # Check each field appears in the template for field in fields: - if ("{%s}" % field) not in TEMPLATE_SBATCH: + if ("{%s}" % field) not in TEMPLATE_SBATCH and field != "exclude_nodes": raise ValueError("passed field %s unused in template" % field) # Calculate total number of jobs (minus 1; SLURM is inclusive) @@ -225,14 +230,31 @@ def get_script( subs[key] = val if "job_name" not in subs: subs["job_name"] = "my_job" + + # Handle gpu_type if specified + gpu_type_str = "" + if subs.get("gpu_type") is not None: + gpu_type = subs["gpu_type"] + if gpu_type.lower() in SUPPORTED_GPU_TYPES: + gpu_type_str = f":{gpu_type}" + else: + raise ValueError(f"Unsupported GPU type: {gpu_type}. Supported types are: {', '.join(SUPPORTED_GPU_TYPES)}") + subs["gpu_type_str"] = gpu_type_str + + # Handle exclude_nodes parameter + exclude_str = "" + if exclude_nodes and len(exclude_nodes) > 0: + exclude_nodes_cmd = ",".join(exclusion_commands) + exclude_str = f"#SBATCH --exclude={exclude_nodes_cmd}" + subs["exclude_str"] = exclude_str return TEMPLATE_SBATCH.format(**subs) -def save_script(filename, file_path, fields, params, param_order=None): +def save_script(filename, file_path, fields, params, param_order=None, exclude_nodes=None): """Generate and save sbatch (.sh) submission script.""" - sbatch_script = get_script(fields, params, param_order) + sbatch_script = get_script(fields, params, param_order, exclude_nodes) if not file_path: os.makedirs(os.path.dirname(file_path), exist_ok=True) @@ -243,62 +265,42 @@ def save_script(filename, file_path, fields, params, param_order=None): if __name__ == "__main__": - group = "02_24_S10_000" - + group = "10k_dropout_v3" fields = { "time_h": 47, # Max time per job (job will finish if run is done before) "num_gpus": 1, # GPUs per job "max_sim_jobs": 30, # Max jobs at the same time - "memory": 70, + "memory": 80, "job_name": group, + "run_file": "baselines/ppo/ppo_guided_autonomy.py", } - + hyperparams = { - "group": [group], # Group name - "num_worlds": [800], - "resample_scenes": [1], # Yes - "k_unique_scenes": [800], + "group": [group], # Group name + "num_worlds": [700], + "data_dir": ["/scratch/kj2676/gpudrive/data/processed/training"], + "resample_scenes": [1], + "k_unique_scenes": [700], "resample_interval": [5_000_000], - "total_timesteps": [4_000_000_000], + "batch_size": [1], + "guidance_dropout_prob": [0.0, 0.95], + "off_road_weight": [-0.1, -0.01, 0.0], "resample_dataset_size": [10_000], - "batch_size": [524288], + "total_timesteps": [5_000_000_000], + "batch_size": [1048576], "minibatch_size": [16384], - "update_epochs": [4], - "ent_coef": [0.001, 0.003, 0.0001], + "ent_coef": [0.01], + "vf_coef": [0.5], + "update_epochs": [1], "render": [0], - #"seed": [42, 3], } + # NOTE: The exclusion part doesn't work atm, have to spefify the nodes manually + #exclude_nodes = ["v100", "rtx8000"] + save_script( file_path="examples/experimental/sbatch_scripts/", filename=f"sbatch_{group}.sh", fields=fields, params=hyperparams, - ) - - # hyperparams = { - # "group": [group], # Group name - # "num_worlds": [800], - # "resample_scenes": [1], # Yes - # "k_unique_scenes": [1000], # Sample in batches of 500 - # "resample_interval": [2_000_000], - # "total_timesteps": [3_000_000_000], - # "resample_dataset_size": [1000], - # "batch_size": [262_144, 524_288], - # "minibatch_size": [16_384], - # "update_epochs": [2, 4, 5], - # "ent_coef": [0.0001, 0.001, 0.003], - # "learning_rate": [1e-4, 3e-4], - # "gamma": [0.99], - # "render": [0], - # } - - # save_script( - # file_path="examples/experimental/sbatch_scripts/", - # filename=f"sbatch_{group}.sh", - # fields=fields, - # params=hyperparams, - # ) - - - + ) \ No newline at end of file diff --git a/gpudrive/utils/multi_policy_rollout.py b/gpudrive/utils/multi_policy_rollout.py deleted file mode 100644 index 20985eaad..000000000 --- a/gpudrive/utils/multi_policy_rollout.py +++ /dev/null @@ -1,195 +0,0 @@ -import torch -import pandas as pd -from gpudrive.visualize.utils import img_from_fig -from gpudrive.datatypes.observation import GlobalEgoState - -def multi_policy_rollout( - env, - policies, - device, - deterministic: bool = False, - render_sim_state: bool = False, - render_every_n_steps: int = 1, - zoom_radius: int = 100, - return_agent_positions: bool = False, - center_on_ego: bool = False, -): - """ - Perform a rollout of multiple policies in the environment. - - Args: - env: The simulation environment. - policies (dict): Dictionary of policies {policy_name: (policy_function,mask)}. - device: The device to execute computations on (CPU/GPU). - policy_masks (dict): Dictionary of policy masks {policy_name: mask_tensor}. - deterministic (bool): Whether to use deterministic policy actions. - return_agent_positions (bool): Whether to return agent positions. - - Returns: - policy_metrics: Dictionary of metrics corresponding to policies {policy_name: metrics(dict)} - metrics: { - 'goal_achieved', 'collided', 'off_road', 'off_road_count', 'collided_count', 'goal_achieved_count', 'frac_off_road', 'frac_collided', 'frac_goal_achieved' - } - - """ - - # Initialize storage - num_worlds = env.num_worlds - max_agent_count = env.max_agent_count - episode_len = env.config.episode_len - sim_state_frames = {env_id: [] for env_id in range(num_worlds)} - agent_positions = torch.zeros((num_worlds, max_agent_count, episode_len, 2)) - - # Reset environment - next_obs = env.reset() - policy_metrics = { - policy_name: { - "goal_achieved": torch.zeros((num_worlds, max_agent_count), device=device), - "collided": torch.zeros((num_worlds, max_agent_count), device=device), - "off_road": torch.zeros((num_worlds, max_agent_count), device=device), - } - for policy_name in policies - } - episode_lengths = torch.zeros(num_worlds) - - active_worlds = list(range(num_worlds)) - control_mask = env.cont_agent_mask - live_agent_mask = control_mask.clone() - - for time_step in range(episode_len): - print(f't: {time_step}') - - policy_live_masks = {name: mask & live_agent_mask for name, (policy_fn,mask) in policies.items()} - - - actions = {} - for policy_name, (policy_fn,policy_mask) in policies.items(): - live_mask = policy_live_masks[policy_name] - if live_mask.any(): - actions[policy_name], _, _, _ = policy_fn( - next_obs[live_mask], deterministic=deterministic - ) - - - combined_mask = torch.zeros_like(live_agent_mask, dtype=torch.bool) - for live_mask in policy_live_masks.values(): - combined_mask |= live_mask - assert torch.all(live_agent_mask == combined_mask), "Live agent mask mismatch!" - - action_template = torch.zeros((num_worlds, max_agent_count), dtype=torch.int64, device=device) - - # Assign actions based on policy masks - for policy_name, action in actions.items(): - live_mask = policy_live_masks[policy_name] - if action.numel() > 0: - action_template[live_mask] = action.to(dtype=action_template.dtype, device=device) - - # Step environment - env.step_dynamics(action_template) - - if render_sim_state and len(active_worlds) > 0: - - has_live_agent = torch.where( - live_agent_mask[active_worlds, :].sum(axis=1) > 0 - )[0].tolist() - - if time_step % render_every_n_steps == 0: - if center_on_ego: - agent_indices = torch.argmax(control_mask.to(torch.uint8), dim=1).tolist() - else: - agent_indices = None - - sim_state_figures = env.vis.plot_simulator_state( - env_indices=has_live_agent, - time_steps=[time_step] * len(has_live_agent), - zoom_radius=zoom_radius, - center_agent_indices=agent_indices, - policy_masks=policies - ) - for idx, env_id in enumerate(has_live_agent): - sim_state_frames[env_id].append( - img_from_fig(sim_state_figures[idx]) - ) - - - # Update observations and agent statuses - next_obs = env.get_obs() - dones = env.get_dones().bool() - infos = env.get_infos() - - for policy_name, live_mask in policy_live_masks.items(): - policy_metrics[policy_name]["off_road"][live_mask] += infos.off_road[live_mask] - policy_metrics[policy_name]["collided"][live_mask] += infos.collided[live_mask] - policy_metrics[policy_name]["goal_achieved"][live_mask] += infos.goal_achieved[live_mask] - - live_agent_mask[dones] = False - - # Process completed worlds - num_dones_per_world = (dones & control_mask).sum(dim=1) - total_controlled_agents = control_mask.sum(dim=1) - done_worlds = (num_dones_per_world == total_controlled_agents).nonzero(as_tuple=True)[0] - - for world in done_worlds: - if world in active_worlds: - active_worlds.remove(world) - episode_lengths[world] = time_step - - if return_agent_positions: - global_agent_states = GlobalEgoState.from_tensor(env.sim.absolute_self_observation_tensor()) - agent_positions[:, :, time_step, 0] = global_agent_states.pos_x - agent_positions[:, :, time_step, 1] = global_agent_states.pos_y - - if not active_worlds: - break - - controlled_per_scene = sum(mask.sum(dim=1).float() for policy_name,(policy_fn,mask) in policies.items()) - - - - metrics =compute_metrics(policy_metrics,policy_live_masks,controlled_per_scene) - - if render_sim_state: - return metrics, sim_state_frames - - return metrics - -def compute_metrics(policy_metrics,policy_live_masks,controlled_per_scene): - - for policy_name, live_mask in policy_live_masks.items(): - - policy_metrics[policy_name]['off_road_count'] = ( policy_metrics[policy_name]["off_road"] > 0).float().sum(axis=1) - policy_metrics[policy_name]['collided_count'] = (policy_metrics[policy_name]["collided"] > 0).float().sum(axis=1) - policy_metrics[policy_name]['goal_achieved_count'] = (policy_metrics[policy_name]['goal_achieved'] > 0).float().sum(axis=1) - - policy_metrics[policy_name]['frac_off_road'] = policy_metrics[policy_name]['off_road_count'] / controlled_per_scene - policy_metrics[policy_name]['frac_collided'] = policy_metrics[policy_name]['collided_count'] / controlled_per_scene - policy_metrics[policy_name]['frac_goal_achieved'] = policy_metrics[policy_name]['goal_achieved_count'] / controlled_per_scene - - - return policy_metrics - - -def create_data_table(data): - # Extract unique policies - policies = sorted(set(policy for pair in data.keys() for policy in pair)) - - # Create empty DataFrames - collisions_table = pd.DataFrame(index=policies, columns=policies) - off_roads_table = pd.DataFrame(index=policies, columns=policies) - goal_achieved_table = pd.DataFrame(index=policies, columns=policies) - - # Populate DataFrames - for (p1, p2), metrics in data.items(): - collisions_table.loc[p1, p2] = metrics['frac_collided'].item() - off_roads_table.loc[p1, p2] = metrics['frac_off_road'].item() - goal_achieved_table.loc[p1, p2] = metrics['frac_goal_achieved'].item() - - # Print Tables - print("Average Collisions Table:") - print(collisions_table, "\n") - - print("Average Off Roads Table:") - print(off_roads_table, "\n") - - print("Average Goal Achieved Table:") - print(goal_achieved_table, "\n") diff --git a/gpudrive/utils/preprocess.py b/gpudrive/utils/preprocess.py new file mode 100644 index 000000000..8069a3d11 --- /dev/null +++ b/gpudrive/utils/preprocess.py @@ -0,0 +1,136 @@ +import torch +import numpy as np +from tqdm import tqdm +from typing import Dict, Tuple, List, Union +from scipy.signal import savgol_filter +from scipy.interpolate import interp1d + +from gpudrive.datatypes.trajectory import ( + LogTrajectory, + VBDTrajectory, + VBDTrajectoryOnline, +) + + +def smooth_scenario( + reference_trajectory: Union[ + LogTrajectory, VBDTrajectory, VBDTrajectoryOnline + ], + window_size: int = 11, + polyorder: int = 3, +): + """ + Smooths the trajectory of a scenario by applying filtering and interpolation techniques. + + Args: + reference_trajectory: The trajectory to be smoothed. It can be of type LogTrajectory, VBDTrajectory, or VBDTrajectoryOnline. + The trajectory should contain the following attributes: + - vel_xy: A tensor of shape (num_worlds, num_agents, traj_len, 2) representing the velocity in x and y directions. + - yaw: A tensor of shape (num_worlds, num_agents, traj_len, 1) representing the yaw angle. + - valids: A tensor of shape (num_worlds, num_agents, traj_len, 1) representing the validity of each timestep. + window_size (int, optional): The size of the window used for smoothing. Defaults to 11. + polyorder (int, optional): The order of the polynomial used for smoothing. Defaults to 3. + + Returns: + the updated reference_trajectory object. + """ + original_valid = reference_trajectory.valids.bool().cpu().numpy() + + num_worlds, num_agents, num_timesteps = ( + original_valid.shape[0], + original_valid.shape[1], + original_valid.shape[2], + ) + + # Elements that we want to smooth + vel = np.concatenate( + [ + reference_trajectory.vel_xy.cpu().numpy(), + np.sin(reference_trajectory.yaw.cpu().numpy()), + np.cos(reference_trajectory.yaw.cpu().numpy()), + ], + axis=-1, + ) + + smoothed_vel_xy = np.zeros_like(reference_trajectory.vel_xy.cpu().numpy()) + smoothed_yaw = np.zeros_like(reference_trajectory.yaw.cpu().numpy()) + smoothed_valid = np.zeros_like(original_valid, dtype=bool) + + t = np.arange(num_timesteps) + + for world_idx in tqdm( + range(num_worlds), colour="blue", desc="Smoothing guidance data" + ): + for agent_idx in range(num_agents): + + # Extract raw data and valid mask + valid = original_valid[world_idx, agent_idx].squeeze(-1) + + t_valid = t[valid] + vel_valid = vel[world_idx, agent_idx][valid] + valid_idx = np.where(valid)[0] + + if valid.sum() <= window_size: + continue + + # Use zscore to filter out outliers + std = np.clip( + np.std(vel_valid, axis=-2, keepdims=True), + a_min=0.1, + a_max=None, + ) + mean = np.mean(vel_valid, axis=-2, keepdims=True) + z = np.abs((vel_valid - mean) / std) + filtered_idx = np.all(z < 4, axis=-1) + valid_idx = valid_idx[filtered_idx] + + if len(valid_idx) == 0: # skip if no valid data + continue + + first_valid_idx = valid_idx[0] + last_valid_idx = valid_idx[-1] + if (last_valid_idx - first_valid_idx) <= 3: + continue + + # Extract valid velocity data and interpolate + t_valid = t[valid_idx] + + vel_valid = vel[world_idx, agent_idx][valid_idx, :] + vel_interp = interp1d(t_valid, vel_valid, axis=0, kind="linear") + + t_interped = np.arange(first_valid_idx, last_valid_idx + 1) + vel_interped = vel_interp(t_interped) + + # Smooth the interpolated data + vel_smoothed = savgol_filter( + vel_interped, + min(last_valid_idx - first_valid_idx, window_size), + polyorder, + axis=0, + ) + + # Store + smoothed_vel_xy[world_idx, agent_idx][ + first_valid_idx : last_valid_idx + 1 + ] = vel_smoothed[:, :2] + smoothed_yaw[world_idx, agent_idx][ + first_valid_idx : last_valid_idx + 1 + ] = np.expand_dims( + np.arctan2(vel_smoothed[:, 2], vel_smoothed[:, 3]), axis=-1 + ) + smoothed_valid[world_idx, agent_idx][ + first_valid_idx : last_valid_idx + 1 + ] = True + + # Update the reference trajectory with smoothed velocity and yaw + reference_trajectory.vel_xy = torch.from_numpy(smoothed_vel_xy).to( + reference_trajectory.vel_xy.device + ) + reference_trajectory.yaw = torch.from_numpy(smoothed_yaw).to( + reference_trajectory.yaw.device + ) + reference_trajectory.valids = torch.from_numpy(smoothed_valid).to( + reference_trajectory.valids.device + ) + + return reference_trajectory diff --git a/gpudrive/utils/rollout.py b/gpudrive/utils/rollout.py new file mode 100644 index 000000000..03b562660 --- /dev/null +++ b/gpudrive/utils/rollout.py @@ -0,0 +1,472 @@ +import torch +import pandas as pd +import numpy as np + +from gpudrive.visualize.utils import img_from_fig +from gpudrive.datatypes.observation import GlobalEgoState + +import torch +import pandas as pd +import numpy as np + +from gpudrive.visualize.utils import img_from_fig +from gpudrive.datatypes.observation import GlobalEgoState + + +def rollout( + env, + policy, + device, + deterministic: bool = False, + render_sim_state: bool = False, + render_every_n_steps: int = 1, + return_agent_positions: bool = False, + return_behavior_metrics: bool = False, + set_agent_type: bool = False, + agent_weights: torch.Tensor = None, + center_on_ego: bool = False, + zoom_radius: int = 100, +): + """ + Perform a rollout of a policy in the environment. + + Args: + env: The simulation environment. + policy: The policy to be rolled out. + device: The device to execute computations on (CPU/GPU). + deterministic (bool): Whether to use deterministic policy actions. + render_sim_state (bool): Whether to render the simulation state. + render_every_n_steps (int): Render every N steps. + zoom_radius (int): Radius for zoom in visualization. + return_agent_positions (bool): Whether to return agent positions. + return_behavior_metrics (bool): Whether to collect behavioral metrics. + center_on_ego (bool): Whether to center visualization on ego vehicle. + set_agent_type (bool): Whether to set agent type during reset. + agent_weights (torch.Tensor): Agent weights tensor for condition_mode="fixed". + + Returns: + tuple: Averages for goal achieved, collisions, off-road occurrences, + controlled agents count, simulation state frames, and (if requested) behavioral metrics. + """ + # Initialize storage + sim_state_frames = {env_id: [] for env_id in range(env.num_worlds)} + num_worlds = env.num_worlds + max_agent_count = env.max_agent_count + episode_len = env.config.episode_len + agent_positions = torch.zeros( + (env.num_worlds, env.max_agent_count, episode_len, 2) + ) + + if return_behavior_metrics: + entropy_values = torch.zeros( + (num_worlds, max_agent_count, episode_len), device=device + ) + logprob_values = torch.zeros( + (num_worlds, max_agent_count, episode_len), device=device + ) + # Assumes the action space is 3-dimensional (dynamics_model = "classic") + action_history = torch.zeros( + (num_worlds, max_agent_count, episode_len, 3), device=device + ) + else: + entropy_values, logprob_values, action_history = None, None, None + + # Reset episode + if set_agent_type and agent_weights is not None: + # Pass agent_weights to reset when set_agent_type is True + next_obs = env.reset(condition_mode="fixed", agent_type=agent_weights) + else: + next_obs = env.reset() + + # Storage + goal_achieved = torch.zeros((num_worlds, max_agent_count), device=device) + collided = torch.zeros((num_worlds, max_agent_count), device=device) + off_road = torch.zeros((num_worlds, max_agent_count), device=device) + active_worlds = np.arange(num_worlds).tolist() + episode_lengths = torch.zeros(num_worlds) + + control_mask = env.cont_agent_mask + live_agent_mask = control_mask.clone() + + for time_step in range(episode_len): + + time_mask = torch.zeros(episode_len, dtype=torch.bool, device=device) + time_mask[time_step] = True + + # Get actions for active agents + if live_agent_mask.any(): + action, logprob, entropy, value = policy( + next_obs[live_agent_mask], deterministic=deterministic + ) + + # Insert actions into a template + action_template = torch.zeros( + (num_worlds, max_agent_count), dtype=torch.int64, device=device + ) + action_template[live_agent_mask] = action.to(device) + + if return_behavior_metrics: + mask = live_agent_mask.unsqueeze(2) & time_mask.unsqueeze( + 0 + ).unsqueeze(0) + entropy_values[mask] = entropy + logprob_values[mask] = logprob + + action_values = env.action_keys_tensor[action] + action_history[mask] = action_values + + # Step the environment + env.step_dynamics(action_template) + + # Render + if render_sim_state and len(active_worlds) > 0: + has_live_agent = torch.where( + live_agent_mask[active_worlds, :].sum(axis=1) > 0 + )[0].tolist() + + if time_step % render_every_n_steps == 0: + if center_on_ego: + agent_indices = torch.argmax( + control_mask.to(torch.uint8), dim=1 + ).tolist() + else: + agent_indices = None + + sim_state_figures = env.vis.plot_simulator_state( + env_indices=has_live_agent, + time_steps=[time_step] * len(has_live_agent), + zoom_radius=zoom_radius, + center_agent_indices=agent_indices, + ) + for idx, env_id in enumerate(has_live_agent): + sim_state_frames[env_id].append( + img_from_fig(sim_state_figures[idx]) + ) + + # Update observations, dones, and infos + next_obs = env.get_obs() + dones = env.get_dones().bool() + infos = env.get_infos() + + off_road[live_agent_mask] += infos.off_road[live_agent_mask] + collided[live_agent_mask] += infos.collided[live_agent_mask] + goal_achieved[live_agent_mask] += infos.goal_achieved[live_agent_mask] + + # Update live agent mask + live_agent_mask[dones] = False + + # Process completed worlds + num_dones_per_world = (dones & control_mask).sum(dim=1) + total_controlled_agents = control_mask.sum(dim=1) + done_worlds = (num_dones_per_world == total_controlled_agents).nonzero( + as_tuple=True + )[0] + + for world in done_worlds: + if world in active_worlds: + active_worlds.remove(world) + episode_lengths[world] = time_step + + if return_agent_positions: + global_agent_states = GlobalEgoState.from_tensor( + env.sim.absolute_self_observation_tensor() + ) + agent_positions[:, :, time_step, 0] = global_agent_states.pos_x + agent_positions[:, :, time_step, 1] = global_agent_states.pos_y + + if not active_worlds: # Exit early if all worlds are done + break + + # Aggregate metrics to obtain averages across scenes + controlled_per_scene = control_mask.sum(dim=1).float() + + # Counts + goal_achieved_count = (goal_achieved > 0).float().sum(axis=1) + collided_count = (collided > 0).float().sum(axis=1) + off_road_count = (off_road > 0).float().sum(axis=1) + not_goal_nor_crash_count = ( + torch.logical_and( + goal_achieved == 0, # Didn't reach the goal + torch.logical_and( + collided == 0, # Didn't collide + torch.logical_and( + off_road == 0, # Didn't go off-road + control_mask, # Only count controlled agents + ), + ), + ) + .float() + .sum(dim=1) + ) + + # Fractions per scene + frac_goal_achieved = goal_achieved_count / controlled_per_scene + frac_collided = collided_count / controlled_per_scene + frac_off_road = off_road_count / controlled_per_scene + frac_not_goal_nor_crash_per_scene = ( + not_goal_nor_crash_count / controlled_per_scene + ) + + # Prepare return values + base_metrics = ( + goal_achieved_count, + frac_goal_achieved, + collided_count, + frac_collided, + off_road_count, + frac_off_road, + not_goal_nor_crash_count, + frac_not_goal_nor_crash_per_scene, + controlled_per_scene, + sim_state_frames, + agent_positions, + episode_lengths, + ) + + # Return behavioral metrics if requested + if return_behavior_metrics: + behavior_metrics = { + "entropy": entropy_values, + "logprob": logprob_values, + "actions": action_history, + } + return base_metrics + (behavior_metrics,) + + return base_metrics + + +def multi_policy_rollout( + env, + policies, + device, + deterministic: bool = False, + render_sim_state: bool = False, + render_every_n_steps: int = 1, + zoom_radius: int = 100, + return_agent_positions: bool = False, + center_on_ego: bool = False, +): + """ + Perform a rollout of multiple policies in the environment. + + Args: + env: The simulation environment. + policies (dict): Dictionary of policies {policy_name: (policy_function,mask)}. + device: The device to execute computations on (CPU/GPU). + policy_masks (dict): Dictionary of policy masks {policy_name: mask_tensor}. + deterministic (bool): Whether to use deterministic policy actions. + return_agent_positions (bool): Whether to return agent positions. + + Returns: + policy_metrics: Dictionary of metrics corresponding to policies {policy_name: metrics(dict)} + metrics: { + 'goal_achieved', 'collided', 'off_road', 'off_road_count', 'collided_count', 'goal_achieved_count', 'frac_off_road', 'frac_collided', 'frac_goal_achieved' + } + + """ + + # Initialize storage + num_worlds = env.num_worlds + max_agent_count = env.max_agent_count + episode_len = env.config.episode_len + sim_state_frames = {env_id: [] for env_id in range(num_worlds)} + agent_positions = torch.zeros( + (num_worlds, max_agent_count, episode_len, 2) + ) + + # Reset environment + next_obs = env.reset() + policy_metrics = { + policy_name: { + "goal_achieved": torch.zeros( + (num_worlds, max_agent_count), device=device + ), + "collided": torch.zeros( + (num_worlds, max_agent_count), device=device + ), + "off_road": torch.zeros( + (num_worlds, max_agent_count), device=device + ), + } + for policy_name in policies + } + episode_lengths = torch.zeros(num_worlds) + + active_worlds = list(range(num_worlds)) + control_mask = env.cont_agent_mask + live_agent_mask = control_mask.clone() + + for time_step in range(episode_len): + + policy_live_masks = { + name: mask & live_agent_mask + for name, (policy_fn, mask) in policies.items() + } + + actions = {} + for policy_name, (policy_fn, policy_mask) in policies.items(): + live_mask = policy_live_masks[policy_name] + if live_mask.any(): + actions[policy_name], _, _, _ = policy_fn( + next_obs[live_mask], deterministic=deterministic + ) + + combined_mask = torch.zeros_like(live_agent_mask, dtype=torch.bool) + for live_mask in policy_live_masks.values(): + combined_mask |= live_mask + assert torch.all( + live_agent_mask == combined_mask + ), "Live agent mask mismatch!" + + action_template = torch.zeros( + (num_worlds, max_agent_count), dtype=torch.int64, device=device + ) + + # Assign actions based on policy masks + for policy_name, action in actions.items(): + live_mask = policy_live_masks[policy_name] + if action.numel() > 0: + action_template[live_mask] = action.to( + dtype=action_template.dtype, device=device + ) + + # Step environment + env.step_dynamics(action_template) + + if render_sim_state and len(active_worlds) > 0: + + has_live_agent = torch.where( + live_agent_mask[active_worlds, :].sum(axis=1) > 0 + )[0].tolist() + + if time_step % render_every_n_steps == 0: + if center_on_ego: + agent_indices = torch.argmax( + control_mask.to(torch.uint8), dim=1 + ).tolist() + else: + agent_indices = None + + sim_state_figures = env.vis.plot_simulator_state( + env_indices=has_live_agent, + time_steps=[time_step] * len(has_live_agent), + zoom_radius=zoom_radius, + center_agent_indices=agent_indices, + policy_masks=policies, + ) + for idx, env_id in enumerate(has_live_agent): + sim_state_frames[env_id].append( + img_from_fig(sim_state_figures[idx]) + ) + + # Update observations and agent statuses + next_obs = env.get_obs() + dones = env.get_dones().bool() + infos = env.get_infos() + + for policy_name, live_mask in policy_live_masks.items(): + policy_metrics[policy_name]["off_road"][ + live_mask + ] += infos.off_road[live_mask] + policy_metrics[policy_name]["collided"][ + live_mask + ] += infos.collided[live_mask] + policy_metrics[policy_name]["goal_achieved"][ + live_mask + ] += infos.goal_achieved[live_mask] + + live_agent_mask[dones] = False + + # Process completed worlds + num_dones_per_world = (dones & control_mask).sum(dim=1) + total_controlled_agents = control_mask.sum(dim=1) + done_worlds = (num_dones_per_world == total_controlled_agents).nonzero( + as_tuple=True + )[0] + + for world in done_worlds: + if world in active_worlds: + active_worlds.remove(world) + episode_lengths[world] = time_step + + if return_agent_positions: + global_agent_states = GlobalEgoState.from_tensor( + env.sim.absolute_self_observation_tensor() + ) + agent_positions[:, :, time_step, 0] = global_agent_states.pos_x + agent_positions[:, :, time_step, 1] = global_agent_states.pos_y + + if not active_worlds: + break + + controlled_per_scene = sum( + mask.sum(dim=1).float() + for policy_name, (policy_fn, mask) in policies.items() + ) + + metrics = compute_metrics( + policy_metrics, policy_live_masks, controlled_per_scene + ) + + if render_sim_state: + return metrics, sim_state_frames + + return metrics + + +def compute_metrics(policy_metrics, policy_live_masks, controlled_per_scene): + + for policy_name, live_mask in policy_live_masks.items(): + + policy_metrics[policy_name]["off_road_count"] = ( + (policy_metrics[policy_name]["off_road"] > 0).float().sum(axis=1) + ) + policy_metrics[policy_name]["collided_count"] = ( + (policy_metrics[policy_name]["collided"] > 0).float().sum(axis=1) + ) + policy_metrics[policy_name]["goal_achieved_count"] = ( + (policy_metrics[policy_name]["goal_achieved"] > 0) + .float() + .sum(axis=1) + ) + + policy_metrics[policy_name]["frac_off_road"] = ( + policy_metrics[policy_name]["off_road_count"] + / controlled_per_scene + ) + policy_metrics[policy_name]["frac_collided"] = ( + policy_metrics[policy_name]["collided_count"] + / controlled_per_scene + ) + policy_metrics[policy_name]["frac_goal_achieved"] = ( + policy_metrics[policy_name]["goal_achieved_count"] + / controlled_per_scene + ) + + return policy_metrics + + +def create_data_table(data): + # Extract unique policies + policies = sorted(set(policy for pair in data.keys() for policy in pair)) + + # Create empty DataFrames + collisions_table = pd.DataFrame(index=policies, columns=policies) + off_roads_table = pd.DataFrame(index=policies, columns=policies) + goal_achieved_table = pd.DataFrame(index=policies, columns=policies) + + # Populate DataFrames + for (p1, p2), metrics in data.items(): + collisions_table.loc[p1, p2] = metrics["frac_collided"].item() + off_roads_table.loc[p1, p2] = metrics["frac_off_road"].item() + goal_achieved_table.loc[p1, p2] = metrics["frac_goal_achieved"].item() + + # Print Tables + print("Average Collisions Table:") + print(collisions_table, "\n") + + print("Average Off Roads Table:") + print(off_roads_table, "\n") + + print("Average Goal Achieved Table:") + print(goal_achieved_table, "\n") diff --git a/gpudrive/utils/wosac.py b/gpudrive/utils/wosac.py new file mode 100644 index 000000000..02373bd3b --- /dev/null +++ b/gpudrive/utils/wosac.py @@ -0,0 +1,218 @@ +import wandb +import tensorflow as tf +import numpy as np +from waymo_open_dataset.wdl_limited.sim_agents_metrics.trajectory_features import ( + compute_displacement_error, + compute_kinematic_features, + compute_kinematic_validity, +) + + +def compute_realism_metrics(self, done_worlds): + """Compute realism metrics. + + Args: + done_worlds: List of indices of the worlds to track. + """ + + # [worlds, max_cont_agents] + control_mask = ( + self.controlled_agent_mask[done_worlds].detach().cpu().numpy() + ) + # [batch, time, 1] + valid_mask = ( + self.env.log_trajectory.valids[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + .squeeze(-1) + ) + + # Take human logs (ground-truth) + # Shape: [worlds, max_cont_agents, time, 2] -> [batch, time, 2] + ref_pos_xy_np = ( + self.env.log_trajectory.pos_xy[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + ) + ref_pos_z_np = np.zeros_like(ref_pos_xy_np[:, :, 0]) + # Shape: [worlds, max_cont_agents, time, 1] -> [batch, time, 1] + ref_headings_np = ( + self.env.log_trajectory.yaw[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + .squeeze(-1) + ) + + # Get agent information and convert to numpy + agent_headings_np = ( + self.headings[done_worlds].detach().cpu().numpy()[control_mask] + ) + agent_pos_xyz_np = ( + self.pos_xyz[done_worlds].detach().cpu().numpy()[control_mask] + ) + + # Extract x, y, z components + agent_x_np = agent_pos_xyz_np[..., 0] + agent_y_np = agent_pos_xyz_np[..., 1] + agent_z_np = agent_pos_xyz_np[..., 2] + + ref_x_np = ref_pos_xy_np[..., 0] + ref_y_np = ref_pos_xy_np[..., 1] + + # Convert to TensorFlow tensors + ref_x = tf.convert_to_tensor(ref_x_np, dtype=tf.float32) + ref_y = tf.convert_to_tensor(ref_y_np, dtype=tf.float32) + ref_z = tf.convert_to_tensor(ref_pos_z_np, dtype=tf.float32) + ref_heading = tf.convert_to_tensor(ref_headings_np, dtype=tf.float32) + + agent_x = tf.convert_to_tensor(agent_x_np, dtype=tf.float32) + agent_y = tf.convert_to_tensor(agent_y_np, dtype=tf.float32) + agent_z = tf.convert_to_tensor(agent_z_np, dtype=tf.float32) + agent_heading = tf.convert_to_tensor(agent_headings_np, dtype=tf.float32) + + valid_mask = tf.convert_to_tensor(valid_mask, dtype=tf.bool) + + # Step duration in seconds + seconds_per_step = 0.1 # Assuming 10Hz sampling rate + + speed_validity, accel_validity = compute_kinematic_validity(valid_mask) + + # Compute kinematic features for agents + ( + agent_speed, + agent_accel, + agent_angular_speed, + agent_angular_accel, + ) = compute_kinematic_features( + agent_x, agent_y, agent_z, agent_heading, seconds_per_step + ) + + # Compute kinematic features for reference trajectories + ( + ref_speed, + ref_accel, + ref_angular_speed, + ref_angular_accel, + ) = compute_kinematic_features( + ref_x, ref_y, ref_z, ref_heading, seconds_per_step + ) + + # Compute displacement error + displacement_error = compute_displacement_error( + agent_x, agent_y, agent_z, ref_x, ref_y, ref_z + ) + + # Compute additional metrics + speed_error = tf.abs(agent_speed - ref_speed) + accel_error = tf.abs(agent_accel - ref_accel) + angular_speed_error = tf.abs(agent_angular_speed - ref_angular_speed) + angular_accel_error = tf.abs(agent_angular_accel - ref_angular_accel) + + def masked_mean_no_nan_inf(tensor): + """Compute mean excluding NaN and Inf values.""" + # Create masks for non-NaN and non-Inf values + non_nan_mask = tf.math.logical_not(tf.math.is_nan(tensor)) + non_inf_mask = tf.math.logical_not(tf.math.is_inf(tensor)) + valid_values_mask = tf.logical_and(non_nan_mask, non_inf_mask) + + # Apply mask to tensor + masked_tensor = tf.boolean_mask(tensor, valid_values_mask) + + # If all values are filtered out, return 0.0 + if tf.size(masked_tensor) == 0: + return tf.constant(0.0, dtype=tf.float32) + + # Compute mean of valid values + return tf.reduce_mean(masked_tensor) + + def masked_mean_with_validity_no_inf(tensor, validity_mask): + """Compute mean excluding NaN and Inf values and applying validity mask.""" + # Create masks for non-NaN and non-Inf values + non_nan_mask = tf.math.logical_not(tf.math.is_nan(tensor)) + non_inf_mask = tf.math.logical_not(tf.math.is_inf(tensor)) + data_valid_mask = tf.logical_and(non_nan_mask, non_inf_mask) + + # Combine with validity mask + combined_mask = tf.logical_and(data_valid_mask, validity_mask) + + # Apply combined mask to tensor + masked_tensor = tf.boolean_mask(tensor, combined_mask) + + # If all values are filtered out, return 0.0 + if tf.size(masked_tensor) == 0: + return tf.constant(0.0, dtype=tf.float32) + + # Compute mean of valid values + return tf.reduce_mean(masked_tensor) + + metrics = { + "displacement_error": float( + masked_mean_no_nan_inf(displacement_error).numpy() + ), + "speed_error": float( + masked_mean_with_validity_no_inf( + speed_error, speed_validity + ).numpy() + ), + "accel_error": float( + masked_mean_with_validity_no_inf( + accel_error, accel_validity + ).numpy() + ), + "angular_speed_error": float( + masked_mean_with_validity_no_inf( + angular_speed_error, speed_validity + ).numpy() + ), + "angular_accel_error": float( + masked_mean_with_validity_no_inf( + angular_accel_error, accel_validity + ).numpy() + ), + "agent_speed": float( + masked_mean_with_validity_no_inf( + agent_speed, speed_validity + ).numpy() + ), + "agent_accel": float( + masked_mean_with_validity_no_inf( + agent_accel, accel_validity + ).numpy() + ), + "agent_angular_speed": float( + masked_mean_with_validity_no_inf( + agent_angular_speed, speed_validity + ).numpy() + ), + "agent_angular_accel": float( + masked_mean_with_validity_no_inf( + agent_angular_accel, accel_validity + ).numpy() + ), + "ref_speed": float( + masked_mean_with_validity_no_inf(ref_speed, speed_validity).numpy() + ), + "ref_accel": float( + masked_mean_with_validity_no_inf(ref_accel, accel_validity).numpy() + ), + "ref_angular_speed": float( + masked_mean_with_validity_no_inf( + ref_angular_speed, speed_validity + ).numpy() + ), + "ref_angular_accel": float( + masked_mean_with_validity_no_inf( + ref_angular_accel, accel_validity + ).numpy() + ), + } + + wandb_metrics = {} + for key, value in metrics.items(): + wandb_metrics[f"realism/{key}"] = value + wandb.log(wandb_metrics) + + del wandb_metrics diff --git a/gpudrive/visualize/color.py b/gpudrive/visualize/color.py index e249dadf8..f0cf2110c 100644 --- a/gpudrive/visualize/color.py +++ b/gpudrive/visualize/color.py @@ -12,6 +12,7 @@ 4: np.array([200, 200, 200]) / 255.0, # 'Crosswalk' (Light Gray) 5: np.array([0.85, 0.65, 0.13]), # 'SpeedBump' (Dark yellow) 6: np.array([255, 0, 0]) / 255.0, # 'StopSign' (Red) + 7: np.array([0.0, 0.0, 0.0]), # 'RoadEdge' (Black) } ROAD_GRAPH_TYPE_NAMES = { # 1-6 ; 0 is None (padding) @@ -24,15 +25,15 @@ } AGENT_COLOR_BY_STATE = { - "ok": "#4B77BE", # Controlled and doing fine + "ok": "#2a52be", # Controlled and doing fine "collided": "r", # Controlled and collided "off_road": "orange", # Controlled and off-road - "log_replay": "#c7c7c7", # Agents marked as expert controlled or static + "log_replay": "#787878", # Agents marked as expert controlled or static } REL_OBS_OBJ_COLORS = { - "ego": "#0066ff", - "ego_goal": "#0099cc", + "ego": "#2a52be", + "ego_goal": "#2a52be", "other_agents": "#ff884d", } -AGENT_COLOR_BY_POLICY= ['g','b','p'] \ No newline at end of file +AGENT_COLOR_BY_POLICY = ["g", "b", "p"] diff --git a/gpudrive/visualize/core.py b/gpudrive/visualize/core.py index f961f82a5..d03995a00 100644 --- a/gpudrive/visualize/core.py +++ b/gpudrive/visualize/core.py @@ -5,7 +5,8 @@ from typing import Tuple, Optional, List, Dict, Any, Union import seaborn as sns import matplotlib.pyplot as plt -from matplotlib.patches import Circle +from matplotlib.patches import Circle, Arc +from matplotlib.lines import Line2D from matplotlib.collections import LineCollection from mpl_toolkits.mplot3d import Axes3D from mpl_toolkits.mplot3d.art3d import Poly3DCollection, Line3DCollection @@ -22,9 +23,12 @@ LocalEgoState, GlobalEgoState, PartnerObs, + LidarObs, + TrafficLightObs, ) -from gpudrive.datatypes.trajectory import LogTrajectory +from gpudrive.datatypes.trajectory import LogTrajectory, VBDTrajectory from gpudrive.datatypes.control import ResponseType +from gpudrive.env import constants from gpudrive.visualize.color import ( ROAD_GRAPH_COLORS, ROAD_GRAPH_TYPE_NAMES, @@ -41,8 +45,8 @@ def __init__( self, sim_object, controlled_agent_mask, + reference_trajectory, goal_radius, - backend: str, num_worlds: int, render_config: Dict[str, Any], env_config: Dict[str, Any], @@ -53,15 +57,20 @@ def __init__( self.goal_radius = goal_radius self.num_worlds = num_worlds self.render_config = render_config - self.figsize = (15, 15) + self.figsize = (10, 10) self.env_config = env_config self.render_3d = render_config.render_3d - self.vehicle_height = ( - render_config.vehicle_height - ) # Default vehicle height - self.initialize_static_scenario_data(controlled_agent_mask) + self.vehicle_height = render_config.vehicle_height + self.initialize_static_scenario_data( + controlled_agent_mask=controlled_agent_mask, + reference_trajectory=reference_trajectory, + ) - def initialize_static_scenario_data(self, controlled_agent_mask): + def initialize_static_scenario_data( + self, + controlled_agent_mask, + reference_trajectory, + ): """ Initialize key information for visualization based on the current batch of scenarios. @@ -76,21 +85,24 @@ def initialize_static_scenario_data(self, controlled_agent_mask): backend=self.backend, device=self.device, ) - self.controlled_agent_mask = controlled_agent_mask + self.controlled_agent_mask = controlled_agent_mask.clone().to( + self.device + ) if isinstance(controlled_agent_mask, ArrayImpl): self.controlled_agent_mask = torch.from_numpy( np.array(controlled_agent_mask) ) - self.controlled_agent_mask = self.controlled_agent_mask.to(self.device) - - self.log_trajectory = LogTrajectory.from_tensor( - self.sim_object.expert_trajectory_tensor(), - self.num_worlds, - self.controlled_agent_mask.shape[1], - backend=self.backend, - ) + self.trajectory = reference_trajectory + try: + self.tl_obs = TrafficLightObs.from_tensor( + tl_states_tensor=self.sim_object.tl_state_tensor(), + backend=self.backend, + device=self.device, + ) + except AttributeError: + self.tl_obs = None def plot_simulator_state( self, @@ -98,10 +110,17 @@ def plot_simulator_state( time_steps: Optional[List[int]] = None, center_agent_indices: Optional[List[int]] = None, zoom_radius: int = 100, - plot_log_replay_trajectory: bool = False, + plot_guidance_pos_xy: bool = False, + plot_guidance_up_to_time: bool = False, agent_positions: Optional[torch.Tensor] = None, backward_goals: bool = False, - policy_masks: Optional[Dict[int,Dict[str,torch.Tensor]]] = None, + policy_masks: Optional[Dict[int, Dict[str, torch.Tensor]]] = None, + colorbar: bool = False, + multiple_rollouts: bool = False, + line_color="#1f77b4", + line_alpha: float = 0.3, + line_width: float = 1.0, + weights: Optional[Dict[str, torch.Tensor]] = None, ): """ Plot simulator states for one or multiple environments. @@ -112,18 +131,18 @@ def plot_simulator_state( center_agent_indices: Optional list of center agent indices for zooming. figsize: Tuple for figure size of each subplot. zoom_radius: Radius for zooming in around the center agent. - plot_log_replay_trajectory: If True, plots the log replay trajectory. + plot_guidance_pos_xy: If True, plots the waypoints from the human replays. agent_positions: Optional tensor to plot rolled out agent positions. backward_goals: If True, plots backward goals for controlled agents. policy_mask: dict - A dictionary that maps policies to world and specifies which agents are assigned to each policy. + A dictionary that maps policies to world and specifies which agents are assigned to each policy. For now maximum number of policies is 3 as there are only 3 colors in COLOR_AGENT_BY_POLICY The structure follows the format: {Policy Name: (Policy Function,mask) }, where: - Policy (str): The policy assigned to agents within the world. - Policy Function (Neural Network): The identifier for the simulation environment. - - - Mask (torch.Tensor): A boolean or index-based mask indicating which agents follow the given policy, for all worlds. + + - Mask (torch.Tensor): A boolean or index-based mask indicating which agents follow the given policy, for all worlds. """ if not isinstance(env_indices, list): env_indices = [env_indices] # Ensure env_indices is a list @@ -142,6 +161,12 @@ def plot_simulator_state( device=self.device, ) + self.multi_rollouts = multiple_rollouts + self.line_color = line_color + self.line_alpha = line_alpha + self.line_width = line_width + self.weights = weights + if backward_goals: # Get world means for coordinate transformation @@ -236,17 +261,14 @@ def plot_simulator_state( marker_scale = max(self.figsize) / 15 line_width_scale = max(self.figsize) / 15 - if policy_masks: - world_based_policy_mask = {} - - for policy_name, (fn,mask) in policy_masks.items(): + + for policy_name, (fn, mask) in policy_masks.items(): for world in range(mask.shape[0]): if world not in world_based_policy_mask: world_based_policy_mask[world] = {} - world_based_policy_mask[world][policy_name] = mask[world] - + world_based_policy_mask[world][policy_name] = mask[world] else: world_based_policy_mask = None @@ -254,19 +276,27 @@ def plot_simulator_state( for idx, (env_idx, time_step, center_agent_idx) in enumerate( zip(env_indices, time_steps, center_agent_indices) ): + # Create a completely new figure and axis for each environment to prevent carryover + plt.close( + "all" + ) # Close all existing figures first to prevent memory leaks - # Initialize figure and axes from cached road graph - fig, ax = plt.subplots( - figsize=self.figsize, - subplot_kw={"projection": "3d"} if self.render_3d else {}, - ) + # Initialize a new figure for each environment + fig = plt.figure(figsize=self.figsize) + + # Create a new axis with proper projection if self.render_3d: + ax = fig.add_subplot(111, projection="3d") ax.view_init(elev=30, azim=45) # Set default 3D view angle + else: + ax = fig.add_subplot(111) + + # Set up the figure and axis fig.subplots_adjust(left=0, right=1, bottom=0, top=1) - ax.clear() # Clear any existing content ax.set_aspect("equal", adjustable="box") - figs.append(fig) # Add the new figure - plt.close(fig) # Close the figure to prevent carryover + + # Add to figures list - use a copy to ensure it's detached from the current matplotlib state + figs.append(fig) # Get control mask and omit out-of-bound agents (dead agents) controlled = self.controlled_agent_mask[env_idx, :] @@ -289,13 +319,23 @@ def plot_simulator_state( marker_size_scale=marker_scale, ) - if plot_log_replay_trajectory: - self._plot_log_replay_trajectory( + if plot_guidance_pos_xy: + self._plot_reference_xy( ax=ax, control_mask=controlled_live, env_idx=env_idx, - log_trajectory=self.log_trajectory, + trajectory=self.trajectory, line_width_scale=line_width_scale, + plot_guidance_up_to_time=plot_guidance_up_to_time, + ) + + if self.tl_obs is not None: + self._plot_traffic_lights( + ax=ax, + env_idx=env_idx, + tl_obs=self.tl_obs, + time_step=time_step if time_step is not None else 0, + marker_size_scale=marker_scale, ) # Draw the agents @@ -315,122 +355,21 @@ def plot_simulator_state( ) if agent_positions is not None: - # First calculate the maximum valid trajectory length across all agents for this env_idx - max_valid_length = 0 - for agent_idx in range(agent_positions.shape[1]): - if controlled_live[agent_idx]: - trajectory = agent_positions[ - env_idx, agent_idx, :time_step, : - ] - valid_mask = ( - (trajectory[:, 0] != 0) - & (trajectory[:, 1] != 0) - & (torch.abs(trajectory[:, 0]) < OUT_OF_BOUNDS) - & (torch.abs(trajectory[:, 1]) < OUT_OF_BOUNDS) - ) - max_valid_length = max( - max_valid_length, valid_mask.sum().item() - ) - - # Create color palette - palette = sns.light_palette(AGENT_COLOR_BY_STATE["ok"]) - cmap = ListedColormap(palette) - norm = plt.Normalize(vmin=0, vmax=max_valid_length) - sm = plt.cm.ScalarMappable(cmap=cmap, norm=norm) - - for agent_idx in range(agent_positions.shape[1]): - if controlled_live[agent_idx]: - trajectory = agent_positions[ - env_idx, agent_idx, :time_step, : - ] - valid_mask = ( - (trajectory[:, 0] != 0) - & (trajectory[:, 1] != 0) - & (torch.abs(trajectory[:, 0]) < OUT_OF_BOUNDS) - & (torch.abs(trajectory[:, 1]) < OUT_OF_BOUNDS) - ) - # Get valid trajectory points - valid_trajectory = trajectory[valid_mask] - - if len(valid_trajectory) > 1: - points = valid_trajectory.cpu().numpy() - - if self.render_3d: - trajectory_height = 0.05 - segments_3d = [] - for i in range(len(points) - 1): - segment = np.array( - [ - [ - points[i][0], - points[i][1], - trajectory_height, - ], - [ - points[i + 1][0], - points[i + 1][1], - trajectory_height, - ], - ] - ) - segments_3d.append(segment) - - # Adjust color mapping to use actual position in the valid trajectory - t = np.linspace( - 0, len(segments_3d), len(segments_3d) - ) - colors = cmap(norm(t)) - colors[:, 3] = np.linspace( - 0.3, 0.9, len(segments_3d) - ) - - lc = Line3DCollection( - segments_3d, - colors=colors, - linewidth=5, - zorder=1, - ) - ax.add_collection3d(lc) - else: - segments = [] - for i in range(len(points) - 1): - segment = np.array( - [ - [points[i][0], points[i][1]], - [ - points[i + 1][0], - points[i + 1][1], - ], - ] - ) - segments.append(segment) - - # Adjust color mapping to use actual position in the valid trajectory - t = np.linspace( - 0, len(segments), len(segments) - ) - colors = cmap(norm(t)) - colors[:, 3] = np.linspace( - 0.3, 0.9, len(segments) - ) - - lc = LineCollection( - segments, - colors=colors, - linewidth=5, - zorder=1, - ) - ax.add_collection(lc) - - # Add the colorbar - try: - fig = ax.get_figure() - cbar_ax = fig.add_axes([0.92, 0.09, 0.02, 0.8]) - cbar = fig.colorbar(sm, cax=cbar_ax) - cbar.set_label("Timestep", fontsize=15 * marker_scale) - cbar.ax.tick_params(labelsize=12 * marker_scale) - except Exception as e: - print(f"Warning: Could not add colorbar: {e}") + self.plot_agent_trajectories( + ax=ax, + agent_positions=agent_positions, + env_idx=env_idx, + time_step=time_step, + controlled_live=controlled_live, + render_3d=self.render_3d, + colorbar=colorbar, + marker_scale=marker_scale, + multiple_rollouts=self.multi_rollouts, + line_color=self.line_color, + line_alpha=self.line_alpha, + line_width=self.line_width, + weights=self.weights, + ) # Determine center point for zooming if center_agent_idx is not None: @@ -444,6 +383,44 @@ def plot_simulator_state( center_x = 0 # Default center x-coordinate center_y = 0 # Default center y-coordinate + time_step = ( + self.env_config.episode_len + - self.sim_object.steps_remaining_tensor().to_torch()[ + env_idx, 0 + ] + ).item() + + # Add time step text to the figure + ax.text( + 0.05, # x position in axes coordinates (5% from left) + 0.95, # y position in axes coordinates (95% from bottom) + f"t = {time_step}", + transform=ax.transAxes, # Use axes coordinates + fontsize=15, + color="black", + ha="left", + va="top", + ) + + time_step = ( + self.env_config.episode_len + - self.sim_object.steps_remaining_tensor().to_torch()[ + env_idx, 0 + ] + ).item() + + # Add time step text to the figure + ax.text( + 0.05, # x position in axes coordinates (5% from left) + 0.95, # y position in axes coordinates (95% from bottom) + f"t = {time_step}", + transform=ax.transAxes, # Use axes coordinates + fontsize=15, + color="black", + ha="left", + va="top", + ) + # Set zoom window around the center ax.set_xlim(center_x - zoom_radius, center_x + zoom_radius) ax.set_ylim(center_y - zoom_radius, center_y + zoom_radius) @@ -462,28 +439,466 @@ def plot_simulator_state( ax.set_axis_off() - for fig in figs: + # Apply tight layout to current figure fig.tight_layout(pad=2, rect=[0.00, 0.00, 0.9, 1]) + # Close the figure to prevent memory leaks and cleanup + plt.close(fig) + return figs - def _plot_log_replay_trajectory( + def plot_agent_trajectories( + self, + ax, + agent_positions, + env_idx=0, + time_step=None, + controlled_live=None, + render_3d=False, + colorbar=True, + marker_scale=1, + line_color=None, + line_alpha=None, + line_width=None, + multiple_rollouts=True, + weights=None, + ): + """ + Plot agent trajectories on the given matplotlib axis. + + Parameters: + ----------- + ax : matplotlib.axes.Axes + The axis to plot on + agent_positions : torch.Tensor + Tensor of shape [env, rollouts, agent, time, 2] or + [rollouts, agent, time, 2] (legacy format) + env_idx : int, default=0 + Index of the environment to plot + time_step : int, optional + Current time step to plot trajectories up to. If None, uses all timesteps. + controlled_live : list or tensor, optional + Boolean mask indicating which agents are controlled and alive. + If None, assumes all agents are active. + render_3d : bool, default=False + Whether to render in 3D + colorbar : bool, default=True + Whether to add a colorbar + marker_scale : float, default=1 + Scale factor for markers and text + line_color : str, optional + Color for trajectory lines (only used for multiple rollouts mode without weights) + line_alpha : float, optional + Transparency of trajectory lines + line_width : float, optional + Width of trajectory lines + multiple_rollouts : bool, default=True + Whether agent_positions contains multiple rollouts + weights : list, optional + Used to color lines by the absolute magnitude of weights. + + Returns: + -------- + matplotlib.cm.ScalarMappable or None: Returns the color mapper + """ + import torch + import numpy as np + import matplotlib.pyplot as plt + import seaborn as sns + from matplotlib.colors import ListedColormap + from matplotlib.collections import LineCollection + + if render_3d: + try: + from mpl_toolkits.mplot3d.art3d import Line3DCollection + except ImportError: + print( + "Warning: 3D rendering requested but mplot3d not available. Falling back to 2D." + ) + render_3d = False + + if agent_positions is None: + return None + + # Determine shape format and extract appropriate data + if len(agent_positions.shape) == 5: # [env, rollouts, agent, time, 2] + # New format with environment dimension first + if env_idx >= agent_positions.shape[0]: + print( + f"Warning: env_idx {env_idx} out of range. Using env_idx=0" + ) + env_idx = 0 + + # Extract the specific environment data + positions_to_plot = agent_positions[ + env_idx + ] # Shape: [rollouts, agent, time, 2] + n_rollouts, n_agents, n_steps, _ = positions_to_plot.shape + + elif len(agent_positions.shape) == 4: # [rollouts, agent, time, 2] + # Legacy format without environment dimension + positions_to_plot = agent_positions + n_rollouts, n_agents, n_steps, _ = positions_to_plot.shape + print("Warning: Using legacy format without environment dimension") + else: + raise ValueError( + f"Unexpected shape for agent_positions: {agent_positions.shape}" + ) + + # Set defaults for multiple rollouts mode + line_color = line_color or "#1f77b4" # Default blue + line_alpha = 0.3 if line_alpha is None else line_alpha + line_width = 1 if line_width is None else line_width + + # If time_step is not provided, use all timesteps + if time_step is None: + time_step = n_steps + + # If controlled_live is not provided, assume all agents are active + if controlled_live is None: + controlled_live = [True] * n_agents + + # Setup for weight-based coloring + if weights is not None: + weight_values = np.array( + weights + ) # Use absolute values for coloring + + # Set up a colormap for weights + weight_cmap = plt.cm.coolwarm + weight_norm = plt.Normalize( + vmin=weight_values.min().item(), + vmax=weight_values.max().item(), + ) + weight_sm = plt.cm.ScalarMappable( + cmap=weight_cmap, norm=weight_norm + ) + + # Process each rollout and each agent + for rollout_idx in range(n_rollouts): + for agent_idx in range(n_agents): + if not controlled_live[agent_idx]: + continue + + # Get trajectory for this rollout and agent + trajectory = positions_to_plot[ + rollout_idx, agent_idx, :time_step, : + ] + + # Create valid mask + valid_mask = ( + (trajectory[:, 0] != 0) + & (trajectory[:, 1] != 0) + & (torch.abs(trajectory[:, 0]) < OUT_OF_BOUNDS) + & (torch.abs(trajectory[:, 1]) < OUT_OF_BOUNDS) + ) + + # Get valid trajectory points + valid_trajectory = trajectory[valid_mask] + + # Only proceed if we have at least 2 points + if len(valid_trajectory) > 1: + points = valid_trajectory.cpu().numpy() + + # Determine color based on weights or fixed color + if weights is not None: + # Use the weight value for this rollout + weight_value = weight_values[rollout_idx].item() + segment_color = weight_cmap(weight_norm(weight_value)) + else: + segment_color = line_color + + if render_3d: + trajectory_height = 0.05 + segments_3d = [] + for i in range(len(points) - 1): + segment = np.array( + [ + [ + points[i][0], + points[i][1], + trajectory_height, + ], + [ + points[i + 1][0], + points[i + 1][1], + trajectory_height, + ], + ] + ) + segments_3d.append(segment) + + # Create line collection for 3D + lc = Line3DCollection( + segments_3d, + colors=segment_color, + linewidths=line_width, + alpha=line_alpha, + zorder=1, + ) + ax.add_collection3d(lc) + else: + segments = [] + for i in range(len(points) - 1): + segment = np.array( + [ + [points[i][0], points[i][1]], + [points[i + 1][0], points[i + 1][1]], + ] + ) + segments.append(segment) + + # Create line collection for 2D + lc = LineCollection( + segments, + colors=segment_color, + linewidths=line_width, + alpha=line_alpha, + zorder=1, + ) + ax.add_collection(lc) + + # Add colorbar for weight-based coloring - outside the loops + if weights is not None and colorbar: + try: + fig = ax.get_figure() + # Create horizontal colorbar at the bottom + # Parameters: [left, bottom, width, height] + cbar_ax = fig.add_axes([0.15, 0.05, 0.7, 0.03]) + cbar = fig.colorbar( + weight_sm, cax=cbar_ax, orientation="horizontal" + ) + cbar.set_label( + f"Conditioning param value", fontsize=15 * marker_scale + ) + cbar.ax.tick_params(labelsize=12 * marker_scale) + except Exception as e: + print(f"Warning: Could not add colorbar: {e}") + + return weight_sm + + return None + + def _plot_reference_xy( self, ax: matplotlib.axes.Axes, env_idx: int, control_mask: torch.Tensor, - log_trajectory: LogTrajectory, + trajectory, line_width_scale: int = 1.0, + plot_guidance_up_to_time: bool = False, ): """Plot the log replay trajectory for controlled agents in either 2D or 3D.""" + if self.render_3d: + # Get trajectory points - make a clean copy to avoid reference issues + try: + trajectory_points = ( + trajectory.pos_xy[env_idx, control_mask, :, :] + .clone() + .numpy() + ) + + # Set a fixed height for trajectory visualization + trajectory_height = 0.05 # Small height above ground + + # Plot trajectories for each controlled agent + for agent_trajectory in trajectory_points: + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (agent_trajectory[:, 0] != 0) + & (agent_trajectory[:, 1] != 0) + & (np.abs(agent_trajectory[:, 0]) < OUT_OF_BOUNDS) + & (np.abs(agent_trajectory[:, 1]) < OUT_OF_BOUNDS) + ) + valid_points = agent_trajectory[valid_mask] + + if len(valid_points) > 1: + # Create segments for the trajectory + segments = [] + for i in range(len(valid_points) - 1): + segment = np.array( + [ + [ + valid_points[i, 0], + valid_points[i, 1], + trajectory_height, + ], + [ + valid_points[i + 1, 0], + valid_points[i + 1, 1], + trajectory_height, + ], + ] + ) + segments.append(segment) + + # Create line collection with fade effect + colors = np.zeros((len(segments), 4)) + colors[:, 1] = 0.9 # Green component + colors[:, 3] = np.linspace( + 0.2, 0.6, len(segments) + ) # Alpha gradient + + # Create a fresh line collection for each plot + lc = Line3DCollection( + segments, + colors=colors, + linewidth=2 * line_width_scale, + ) + ax.add_collection3d(lc) + + # Add points at trajectory positions - creating a new scatter object each time + ax.scatter3D( + valid_points[:, 0], + valid_points[:, 1], + np.full_like( + valid_points[:, 0], trajectory_height + ), + color="lightgreen", + s=10, + alpha=0.5, + zorder=0, + ) + except Exception as e: + print(f"Error plotting 3D reference trajectory: {e}") + else: + try: + + if plot_guidance_up_to_time: + # Get the time step for the current environment + time_step = ( + self.env_config.episode_len + - self.sim_object.steps_remaining_tensor().to_torch()[ + env_idx, 0 + ] + ).item() + + # Limit the trajectory to the specified time step + # Create a new scatter plot for this specific environment and control mask + pos_x_context = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, :time_step, 0 + ] + .cpu() + .numpy() + ) + pos_y_context = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, :time_step, 1 + ] + .cpu() + .numpy() + ) + + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (pos_x_context != 0) + & (pos_y_context != 0) + & (np.abs(pos_x_context) < OUT_OF_BOUNDS) + & (np.abs(pos_y_context) < OUT_OF_BOUNDS) + ) + + ax.scatter( + pos_x_context, + pos_y_context, + color="#f4a261", + linewidth=0.1 * line_width_scale, + alpha=0.7, + s=25, + zorder=0, + ) + + pos_x = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, time_step:, 0 + ] + .cpu() + .numpy() + ) + pos_y = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, time_step:, 1 + ] + .cpu() + .numpy() + ) + + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (pos_x != 0) + & (pos_y != 0) + & (np.abs(pos_x) < OUT_OF_BOUNDS) + & (np.abs(pos_y) < OUT_OF_BOUNDS) + ) + + # Apply mask if any valid points exist + if np.any(valid_mask): + pos_x = pos_x[valid_mask] + pos_y = pos_y[valid_mask] + + ax.scatter( + pos_x, + pos_y, + color="g", + s=25, + alpha=0.25, + zorder=0, + ) + + else: + pos_x = ( + trajectory.pos_xy.clone()[env_idx, control_mask, :, 0] + .cpu() + .numpy() + ) + pos_y = ( + trajectory.pos_xy.clone()[env_idx, control_mask, :, 1] + .cpu() + .numpy() + ) + + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (pos_x != 0) + & (pos_y != 0) + & (np.abs(pos_x) < OUT_OF_BOUNDS) + & (np.abs(pos_y) < OUT_OF_BOUNDS) + ) + + # Apply mask if any valid points exist + if np.any(valid_mask): + pos_x = pos_x[valid_mask] + pos_y = pos_y[valid_mask] + + # Create a fresh scatter plot + ax.scatter( + pos_x, + pos_y, + color="g", + s=25, + alpha=0.1, + zorder=0, + ) + except Exception as e: + print(f"Error plotting 2D reference trajectory: {e}") + + def _plot_vbd_trajectory( + self, + ax: matplotlib.axes.Axes, + env_idx: int, + control_mask: torch.Tensor, + vbd_trajectory: VBDTrajectory, + line_width_scale: int = 1.0, + ): + """Plot the VBD trajectory for controlled agents in either 2D or 3D.""" if self.render_3d: # Get trajectory points - trajectory_points = log_trajectory.pos_xy[ + trajectory_points = vbd_trajectory.pos_xy[ env_idx, control_mask, :, : ].numpy() # Set a fixed height for trajectory visualization - trajectory_height = 0.05 # Small height above ground + trajectory_height = 0.05 # Plot trajectories for each controlled agent for agent_trajectory in trajectory_points: @@ -541,14 +956,100 @@ def _plot_log_replay_trajectory( else: # Original 2D plotting ax.scatter( - log_trajectory.pos_xy[env_idx, control_mask, :, 0].numpy(), - log_trajectory.pos_xy[env_idx, control_mask, :, 1].numpy(), + vbd_trajectory.pos_xy[env_idx, control_mask, :, 0].numpy(), + vbd_trajectory.pos_xy[env_idx, control_mask, :, 1].numpy(), color="lightgreen", linewidth=0.35 * line_width_scale, alpha=0.35, zorder=0, ) + def _plot_traffic_lights( + self, + ax: matplotlib.axes.Axes, + env_idx: int, + tl_obs: "TrafficLightObs", + time_step: int = 0, + marker_size_scale: float = 1.0, + ): + """Plot traffic light states as colored dots. + + Args: + ax: Matplotlib axis to plot on + env_idx: Environment index + tl_obs: Traffic light observation object + time_step: Current time step + marker_size_scale: Scale factor for marker size + """ + + # Traffic light state colors + TL_STATE_COLORS = { + 0: "#C5C5C5", # Unknown - gray + 1: "r", # Stop - red + 2: "tab:orange", # Caution - orange + 3: "g", # Go - green + } + + # Get valid traffic lights for this environment + valid_mask = tl_obs.valid_mask[env_idx, :] + if not valid_mask.any(): + return + + # Clamp time_step to available data + max_time_idx = tl_obs.state.shape[2] - 1 + time_step = min(time_step, max_time_idx) + + # Get traffic light data for valid lights at current time step + valid_indices = torch.where(valid_mask)[0] + + for tl_idx in valid_indices: + # Get position (use first valid position if time series) + pos_x = tl_obs.pos_x[env_idx, tl_idx, time_step].item() + pos_y = tl_obs.pos_y[env_idx, tl_idx, time_step].item() + + # Skip if position is invalid (0,0 or out of bounds) + if ( + (pos_x == 0 and pos_y == 0) + or abs(pos_x) > 1000 + or abs(pos_y) > 1000 + ): + continue + + # Get current state + state = int(tl_obs.state[env_idx, tl_idx, time_step].item()) + state = max(0, min(3, state)) # Clamp to valid range + + color = TL_STATE_COLORS[state] + + if self.render_3d: + # Plot as elevated marker in 3D + height = 0.2 # Height above ground for visibility + ax.scatter3D( + [pos_x], + [pos_y], + [height], + color=color, + s=60 * marker_size_scale, + marker="o", + edgecolors="black", + linewidth=0.5, + alpha=0.8, + zorder=10, + ) + else: + # Plot as 2D marker + ax.scatter( + pos_x, + pos_y, + color=color, + s=30 * marker_size_scale, + marker="o", + edgecolors="black", + linewidth=0.5, + alpha=0.9, + zorder=10, + ) + def _get_endpoints(self, x, y, length, yaw): """Compute the start and end points of a road segment.""" center = np.array([x, y]) @@ -839,7 +1340,7 @@ def _plot_roadgraph( radius, height, facecolor="#c04000", - alpha=0.9, + alpha=0.7, ) else: for x, y in zip(x_coords, y_coords): @@ -850,7 +1351,7 @@ def _plot_roadgraph( facecolor="#c04000", edgecolor="none", linewidth=3.0, - alpha=0.9, + alpha=0.6, ) elif road_point_type == int(madrona_gpudrive.EntityType.CrossWalk): @@ -968,11 +1469,13 @@ def _plot_filtered_agent_bounding_boxes( alpha: Optional[float] = 1.0, as_center_pts: bool = False, label: Optional[str] = None, - plot_goal_points: bool = True, + plot_goal_points: bool = False, line_width_scale: int = 1.0, marker_size_scale: int = 1.0, extended_goals: Optional[Dict[str, torch.Tensor]] = None, - world_based_policy_mask : Optional[Dict[int,Dict[str,torch.Tensor]]] = None, + world_based_policy_mask: Optional[ + Dict[int, Dict[str, torch.Tensor]] + ] = None, ) -> None: """Plots bounding boxes for agents filtered by environment index and mask. @@ -1074,8 +1577,7 @@ def plot_agent_group_3d( zorder=5, ) - - def plot_agent_group_2d(bboxes, color,by_policy = False): + def plot_agent_group_2d(bboxes, color, by_policy=False): """Helper function to plot a group of agents in 2D""" if not by_policy: utils.plot_numpy_bounding_boxes( @@ -1089,15 +1591,16 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): ) else: num_policies = len(bboxes) - utils.plot_numpy_bounding_boxes_multiple_policy( - ax=ax, - bboxes_s=bboxes, - colors=color[:num_policies], - alpha=alpha, - line_width_scale=line_width_scale, - as_center_pts=as_center_pts, - label=label, - ) + utils.plot_numpy_bounding_boxes_multiple_policy( + ax=ax, + bboxes_s=bboxes, + colors=color[:num_policies], + alpha=alpha, + line_width_scale=line_width_scale, + as_center_pts=as_center_pts, + label=label, + ) + # Off-road agents bboxes_controlled_offroad = np.stack( ( @@ -1122,7 +1625,7 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): # Plot goals if plot_goal_points: for mask, color in [ - (is_ok_mask, AGENT_COLOR_BY_STATE["ok"]), + (is_ok_mask, "#f4a261"), # AGENT_COLOR_BY_STATE["ok"]), (is_offroad_mask, AGENT_COLOR_BY_STATE["off_road"]), (is_collided_mask, AGENT_COLOR_BY_STATE["collided"]), ]: @@ -1162,9 +1665,10 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): goal_x, goal_y, s=5 * marker_size_scale, - linewidth=1.5 * line_width_scale, + linewidth=2.0 * line_width_scale, c=color, marker="o", + zorder=3, ) for x, y in zip(goal_x, goal_y): circle = Circle( @@ -1173,6 +1677,8 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): color=color, fill=False, linestyle="--", + linewidth=3 * line_width_scale, + zorder=3, ) ax.add_patch(circle) @@ -1209,7 +1715,7 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): axis=1, ) - if not world_based_policy_mask: ## controlled by the same policy + if not world_based_policy_mask: ## controlled by the same policy # Living agents bboxes_controlled_ok = np.stack( ( @@ -1233,7 +1739,7 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): else: bboxes_controlled_ok = [] policy_mask = world_based_policy_mask[env_idx] - for policy_name,mask in policy_mask.items(): + for policy_name, mask in policy_mask.items(): bboxes = np.stack( ( @@ -1244,11 +1750,11 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): agent_states.rotation_angle[env_idx, mask].numpy(), ), axis=1, - ) + ) bboxes_controlled_ok.append(bboxes) plot_agent_group_2d( - bboxes_controlled_ok, AGENT_COLOR_BY_POLICY,by_policy=True + bboxes_controlled_ok, AGENT_COLOR_BY_POLICY, by_policy=True ) # Plot log replay agents log_replay = ( @@ -1292,61 +1798,19 @@ def plot_agent_group_2d(bboxes, color,by_policy = False): bboxes_static, AGENT_COLOR_BY_STATE["log_replay"] ) - def _plot_expert_trajectories( - self, - ax: matplotlib.axes.Axes, - env_idx: int, - expert_trajectories: torch.Tensor, - response_type: Any, - ) -> None: - """Plot expert trajectories. - Args: - ax: Matplotlib axis for plotting. - env_idx: Environment index to select specific environment agents. - expert_trajectories: The global state of expert from `LogTrajectory`. - """ - if self.vis_config.draw_expert_trajectories: - controlled_mask = self.controlled_agents[env_idx, :] - non_controlled_mask = ( - ~response_type.static[env_idx, :] - & response_type.moving[env_idx, :] - & ~controlled_mask - ) - mask = ( - controlled_mask - if self.vis_config.draw_only_controllable_veh - else controlled_mask | non_controlled_mask - ) - agent_indices = torch.where(mask)[0] - trajectories = expert_trajectories[env_idx][mask] - for idx, trajectory in zip(agent_indices, trajectories): - color = ( - AGENT_COLOR_BY_STATE["ok"] - if controlled_mask[idx] - else AGENT_COLOR_BY_STATE["log_replay"] - ) - for step in trajectory: - x, y = step[:2].numpy() - if x < OUT_OF_BOUNDS and y < OUT_OF_BOUNDS: - ax.add_patch( - Circle( - (x, y), - radius=0.3, - color=color, - fill=True, - alpha=0.5, - ) - ) - def plot_agent_observation( self, agent_idx: int, env_idx: int, figsize: Tuple[int, int] = (10, 10), trajectory: Optional[np.ndarray] = None, + step_reward: Optional[float] = None, + route_progress: Optional[float] = None, + head_angle: Optional[float] = 0.0, + previous_actions: Optional[torch.Tensor] = None ): """ - Plot observation from agent POV to inspect the information available + Plot observation from agent POV to inspect the information available to the agent. Args: agent_idx (int): Index of the agent whose observation is to be plotted. @@ -1355,30 +1819,47 @@ def plot_agent_observation( Should be of shape (N, 2) where N is the number of points and each point is an (x, y) coordinate. Defaults to None. """ - observation_ego = LocalEgoState.from_tensor( - self_obs_tensor=self.sim_object.self_observation_tensor(), - backend=self.backend, - device="cpu", - ) - observation_roadgraph = LocalRoadGraphPoints.from_tensor( - local_roadgraph_tensor=self.sim_object.agent_roadmap_tensor(), - backend=self.backend, - device="cpu", - ) + observation_ego = None + if self.env_config.ego_state: + observation_ego = LocalEgoState.from_tensor( + self_obs_tensor=self.sim_object.self_observation_tensor(), + backend=self.backend, + device="cpu", + ) - observation_partner = PartnerObs.from_tensor( - partner_obs_tensor=self.sim_object.partner_observations_tensor(), - backend=self.backend, - device="cpu", + observation_roadgraph = None + if self.env_config.road_map_obs: + observation_roadgraph = LocalRoadGraphPoints.from_tensor( + local_roadgraph_tensor=self.sim_object.agent_roadmap_tensor(), + backend=self.backend, + device="cpu", + ) + + observation_partner = None + if self.env_config.partner_obs: + observation_partner = PartnerObs.from_tensor( + partner_obs_tensor=self.sim_object.partner_observations_tensor(), + backend=self.backend, + device="cpu", + ) + + lidar_obs = ( + None # Note: Lidar obs are in global coordinates by default ) + if self.env_config.lidar_obs: + lidar_obs = LidarObs.from_tensor( + lidar_tensor=self.sim_object.lidar_tensor(), + backend=self.backend, + device="cpu", + ) - # Check if agent index is valid, otherwise return None - if observation_ego.id[env_idx, agent_idx] == -1: - return None, None + marker_scale = max(figsize) / 15 + line_width_scale = max(figsize) / 15 fig, ax = plt.subplots(figsize=figsize) - ax.clear() # Clear any previous plots + self._cleanup_axis(ax) + ax.set_aspect("equal", adjustable="box") # Plot roadgraph if provided @@ -1407,7 +1888,7 @@ def plot_agent_observation( x_points, y_points, c=[ROAD_GRAPH_COLORS[road_type]], - s=8, + s=8 * marker_scale, label=type_name, ) @@ -1434,28 +1915,28 @@ def plot_agent_observation( [y_start - width_dy, y_end - width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) ax.plot( [x_start + width_dx, x_end + width_dx], [y_start + width_dy, y_end + width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) ax.plot( [x_start - width_dx, x_start + width_dx], [y_start - width_dy, y_start + width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) ax.plot( [x_end - width_dx, x_end + width_dx], [y_end - width_dy, y_end + width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) # Plot partner agents if provided @@ -1486,11 +1967,16 @@ def plot_agent_observation( ].squeeze(), color=REL_OBS_OBJ_COLORS["other_agents"], alpha=1.0, + line_width_scale=line_width_scale * 2.0, ) if observation_ego is not None: + # Check if agent index is valid, otherwise return None + if observation_ego.id[env_idx, agent_idx] == -1: + return None, None + ego_agent_color = ( - "darkred" + "r" if observation_ego.is_collided[env_idx, agent_idx] else REL_OBS_OBJ_COLORS["ego"] ) @@ -1506,7 +1992,7 @@ def plot_agent_observation( orientation=0.0, color=ego_agent_color, alpha=1.0, - label="Ego agent", + line_width_scale=2.3, ) # Add an arrow for speed @@ -1518,59 +2004,191 @@ def plot_agent_observation( 0, # Arrow points to the right, proportional to speed head_width=1.0, head_length=1.1, - fc=REL_OBS_OBJ_COLORS["ego"], - ec=REL_OBS_OBJ_COLORS["ego"], + fc="k", + ec="k", + zorder=10, ) - ax.scatter( - observation_ego.rel_goal_x[env_idx, agent_idx], - observation_ego.rel_goal_y[env_idx, agent_idx], - s=5, - linewidth=1.5, - c=ego_agent_color, - marker="x", + if lidar_obs is not None: + num_lidar_samples = lidar_obs.num_lidar_samples * 3 + + ego_lidar_pos_xy = ( + lidar_obs.all_lidar_samples[env_idx, agent_idx, :, :, 2:4] + .flatten(end_dim=1) + .cpu() + .numpy() ) - circle = Circle( - ( - observation_ego.rel_goal_x[env_idx, agent_idx], - observation_ego.rel_goal_y[env_idx, agent_idx], + ego_lidar_entity_types = ( + lidar_obs.all_lidar_samples[env_idx, agent_idx, :, :, 1] + .flatten() + .cpu() + .numpy() + ) + + for lidar_sample_idx in range(num_lidar_samples): + ax.scatter( + ego_lidar_pos_xy[lidar_sample_idx, 0], + ego_lidar_pos_xy[lidar_sample_idx, 1], + s=2, + marker="o", + c="k", + alpha=0.5, + ) + + time_step = ( + self.env_config.episode_len + - self.sim_object.steps_remaining_tensor().to_torch()[ + env_idx, agent_idx + ] + ).item() + + ax.text( + 0.05, + 0.90, + r"$O_{t}$ for " + f"t = {time_step}", + transform=ax.transAxes, + fontsize=15, + color="black", + ha="left", + va="top", + bbox=dict(facecolor="white", alpha=1.0, edgecolor="none", pad=3), + ) + + if step_reward is not None: + reward_color = ( + "g" if step_reward > 0 else "r" if step_reward < 0 else "black" + ) + + ax.text( + 0.05, + 0.85, + r"$R_{t+1} = $" + f"{step_reward:.3f}", + transform=ax.transAxes, + fontsize=15, + color=reward_color, + ha="left", + va="top", + bbox=dict( + facecolor="white", alpha=1.0, edgecolor="none", pad=3 ), - radius=self.goal_radius, - color=ego_agent_color, - fill=False, - linestyle="--", ) - ax.add_patch(circle) - - observation_radius = Circle( - (0, 0), - radius=self.env_config.obs_radius, - color="#000000", - linewidth=0.8, - fill=False, - linestyle="-", + + if route_progress is not None: + ax.text( + 0.05, + 0.80, + f"Route progress = {route_progress:.2f}", + transform=ax.transAxes, + fontsize=15, + color="black", + ha="left", + va="top", + bbox=dict( + facecolor="white", alpha=1.0, edgecolor="none", pad=3 + ), ) - ax.add_patch(observation_radius) - plt.axis("off") if trajectory is not None and len(trajectory) > 0: + mask = trajectory[:, 0] != constants.INVALID_ID # Plot the trajectory as a line - ax.plot( - trajectory[:, 0], # x coordinates - trajectory[:, 1], # y coordinates - color='blue', # trajectory color - linestyle='-', # solid line - linewidth=1.0, # line width - marker='o', # circular markers at each point - markersize=1, # size of markers - alpha=0.7, # slight transparency - label='Trajectory' # label for legend + ax.scatter( + trajectory[:, 0][mask].cpu(), # x coordinates + trajectory[:, 1][mask].cpu(), # y coordinates + color="g", + linewidth=0.01 * line_width_scale, + marker="o", + alpha=0.6, + zorder=0, ) + # Draw a circle around every point in the trajectory + for i in range(trajectory.shape[0]): + if mask[i]: + # Draw a circle around the trajectory point + circle = Circle( + (trajectory[i, 0].cpu(), trajectory[i, 1].cpu()), + radius=self.env_config.guidance_pos_xy_radius, + color="#d4a373", + fill=False, + linestyle="--", + alpha=0.3, + ) + ax.add_patch(circle) + ax.set_xlim((-self.env_config.obs_radius, self.env_config.obs_radius)) ax.set_ylim((-self.env_config.obs_radius, self.env_config.obs_radius)) + + # Add V lines for view cone boundaries + # must be classic or bicycle to have head angle + if previous_actions is not None and \ + hasattr(self.env_config, 'dynamics_model') and \ + self.env_config.dynamics_model in ["classic", "bicycle"] and \ + previous_actions.ndim == 3 and \ + env_idx < previous_actions.shape[0] and \ + agent_idx < previous_actions.shape[1] and \ + previous_actions.shape[2] == 3: # Expected shape [worlds, agents, 3 (accel, steer, head)] + headAngle = previous_actions[env_idx, agent_idx, 2].item() + else: + headAngle = head_angle + + # Calculate angles for the arc and view cone lines, incorporating head_angle_to_use + angle1_rad = headAngle + self.env_config.view_cone_half_angle + angle2_rad = headAngle - self.env_config.view_cone_half_angle + + x1_rot = self.env_config.obs_radius * np.cos(angle1_rad) + y1_rot = self.env_config.obs_radius * np.sin(angle1_rad) + + x2_rot = self.env_config.obs_radius * np.cos(angle2_rad) + y2_rot = self.env_config.obs_radius * np.sin(angle2_rad) + + # Don't plot if view cone is 360° (just for aesthetics) + if self.env_config.view_cone_half_angle < 3.14: + ax.add_line(Line2D([0, x1_rot], [0, y1_rot], color="k", linewidth=1.0, linestyle="-")) + ax.add_line(Line2D([0, x2_rot], [0, y2_rot], color="k", linewidth=1.0, linestyle="-")) + + # Plot observation radius as an Arc + obs_arc = Arc((0,0), + width=2*self.env_config.obs_radius, + height=2*self.env_config.obs_radius, + angle=0, # Default orientation + theta1=np.degrees(angle2_rad), + theta2=np.degrees(angle1_rad), + color="k", + linestyle="-", + linewidth=1.0, + alpha=0.7) + ax.add_patch(obs_arc) + ax.set_xticks([]) ax.set_yticks([]) + plt.axis("off") return fig + + def _cleanup_axis(self, ax): + """Clean up all collections and artists from the axis.""" + if self.render_3d: + # Clean 3D collections + for collection in ax.collections[:]: + collection.remove() + + # Clean lines + for line in ax.lines[:]: + line.remove() + else: + # Clean 2D collections + for collection in ax.collections[:]: + collection.remove() + + # Clean patches + for patch in ax.patches[:]: + patch.remove() + + # Clean lines + for line in ax.lines[:]: + line.remove() + + # Clean texts + for text in ax.texts[:]: + text.remove() diff --git a/gpudrive/visualize/utils.py b/gpudrive/visualize/utils.py index 094c1d030..93839e09f 100644 --- a/gpudrive/visualize/utils.py +++ b/gpudrive/visualize/utils.py @@ -14,25 +14,26 @@ from gpudrive.visualize.color import ROAD_GRAPH_COLORS, ROAD_GRAPH_TYPE_NAMES + def img_from_fig(fig: matplotlib.figure.Figure) -> np.ndarray: """Returns a [H, W, 3] uint8 np image from fig.canvas.tostring_rgb().""" # Adjusted margins to better accommodate 3D plots fig.subplots_adjust( - left=0.0, # Reduce left margin + left=0.0, # Reduce left margin bottom=0.0, # Reduce bottom margin - right=1.0, # Extend to right edge - top=1.0, # Extend to top edge - wspace=0.0, - hspace=0.0 + right=1.0, # Extend to right edge + top=1.0, # Extend to top edge + wspace=0.0, + hspace=0.0, ) - + # Force render fig.canvas.draw() - + # Convert to numpy array data = np.frombuffer(fig.canvas.tostring_rgb(), dtype=np.uint8) img = data.reshape(fig.canvas.get_width_height()[::-1] + (3,)) - + plt.close(fig) return img @@ -133,7 +134,7 @@ def plot_numpy_bounding_boxes( [tl[1, :], tr[1, :], br[1, :], bl[1, :], tl[1, :]], color=color, zorder=4, - linewidth=1.7 * line_width_scale, + linewidth=2.0 * line_width_scale, alpha=alpha, label=label, ) @@ -158,6 +159,7 @@ def plot_bounding_box( orientation: Union[float, torch.Tensor], color: str, alpha: Optional[float] = 1.0, + line_width_scale: float = 1.5, label: Optional[str] = None, ) -> None: """Plots bounding boxes, supporting both single and multiple agents. @@ -223,7 +225,7 @@ def plot_bounding_box( color=color, alpha=alpha, linestyle="-", - linewidth=2, + linewidth=2 * line_width_scale, label=label if i == 0 else None, ) else: @@ -456,7 +458,7 @@ def plot_numpy_bounding_boxes_multiple_policy( label: String, represents the meaning of the color for different boxes. """ - for bboxes,color in zip(bboxes_s,colors): + for bboxes, color in zip(bboxes_s, colors): if bboxes.ndim != 2 or bboxes.shape[1] != 5: raise ValueError( ( @@ -515,4 +517,4 @@ def plot_numpy_bounding_boxes_multiple_policy( alpha=alpha, linewidth=1.5 * line_width_scale, label=label, - ) \ No newline at end of file + ) diff --git a/pyproject.toml b/pyproject.toml index c4894679e..383e9718b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -22,7 +22,7 @@ readme = "README.md" description = "A GPU-accelerated, multi-agent driving simulator" requires-python = ">=3.11" dependencies = [ - "numpy>=1.26.4", + "numpy>=1.23.0", "gymnasium", "pygame", "matplotlib==3.9", diff --git a/src/bindings.cpp b/src/bindings.cpp index 6b7414ddb..8196e4695 100755 --- a/src/bindings.cpp +++ b/src/bindings.cpp @@ -23,6 +23,7 @@ namespace madrona_gpudrive m.attr("kMaxAgentCount") = consts::kMaxAgentCount; m.attr("kMaxRoadEntityCount") = consts::kMaxRoadEntityCount; m.attr("kMaxAgentMapObservationsCount") = consts::kMaxAgentMapObservationsCount; + m.attr("kTrajectoryLength") = consts::kTrajectoryLength; m.attr("episodeLen") = consts::episodeLen; m.attr("numLidarSamples") = consts::numLidarSamples; m.attr("vehicleScale") = consts::vehicleLengthScale; @@ -49,8 +50,11 @@ namespace madrona_gpudrive .def(nb::init<>()) // Default constructor .def_rw("polylineReductionThreshold", &Parameters::polylineReductionThreshold) .def_rw("observationRadius", &Parameters::observationRadius) + .def_rw("viewConeHalfAngle", &Parameters::viewConeHalfAngle) + .def_rw("removeOccludedAgents", &Parameters::removeOccludedAgents) .def_rw("rewardParams", &Parameters::rewardParams) .def_rw("collisionBehaviour", &Parameters::collisionBehaviour) + .def_rw("goalBehaviour", &Parameters::goalBehaviour) .def_rw("maxNumControlledAgents", &Parameters::maxNumControlledAgents) .def_rw("IgnoreNonVehicles", &Parameters::IgnoreNonVehicles) .def_rw("roadObservationAlgorithm", &Parameters::roadObservationAlgorithm) @@ -59,13 +63,21 @@ namespace madrona_gpudrive .def_rw("enableLidar", &Parameters::enableLidar) .def_rw("disableClassicalObs", &Parameters::disableClassicalObs) .def_rw("isStaticAgentControlled", &Parameters::isStaticAgentControlled) - .def_rw("readFromTracksToPredict", &Parameters::readFromTracksToPredict); + .def_rw("readFromTracksToPredict", &Parameters::readFromTracksToPredict) + .def_rw("initSteps", &Parameters::initSteps) + .def_rw("controlExperts", &Parameters::controlExperts); // Define CollisionBehaviour enum nb::enum_(m, "CollisionBehaviour") - .value("AgentStop", CollisionBehaviour::AgentStop) - .value("AgentRemoved", CollisionBehaviour::AgentRemoved) - .value("Ignore", CollisionBehaviour::Ignore); + .value("AgentStop", CollisionBehaviour::AgentStop) + .value("AgentRemoved", CollisionBehaviour::AgentRemoved) + .value("Ignore", CollisionBehaviour::Ignore); + + // Define GoalBehaviour enum + nb::enum_(m, "GoalBehaviour") + .value("Remove", GoalBehaviour::Remove) + .value("Stop", GoalBehaviour::Stop) + .value("Ignore", GoalBehaviour::Ignore); nb::enum_(m, "DynamicsModel") .value("Classic", DynamicsModel::Classic) @@ -131,6 +143,8 @@ namespace madrona_gpudrive .def("set_maps", &Manager::setMaps) .def("world_means_tensor", &Manager::worldMeansTensor) .def("metadata_tensor", &Manager::metadataTensor) + .def("tl_state_tensor", &Manager::trafficLightTensor) + .def("vbd_trajectory_tensor", &Manager::vbdTrajectoryTensor) .def("map_name_tensor", &Manager::mapNameTensor) .def("deleteAgents", [](Manager &self, nb::dict py_agents_to_delete) { std::unordered_map> agents_to_delete; diff --git a/src/consts.hpp b/src/consts.hpp index 41d7a5282..b40e31325 100644 --- a/src/consts.hpp +++ b/src/consts.hpp @@ -8,9 +8,10 @@ namespace madrona_gpudrive { namespace consts { -inline constexpr madrona::CountT kMaxAgentCount = 64; +inline constexpr madrona::CountT kMaxAgentCount = 32; inline constexpr madrona::CountT kMaxRoadEntityCount = 10000; -inline constexpr madrona::CountT kMaxAgentMapObservationsCount = 200; +inline constexpr madrona::CountT kMaxAgentMapObservationsCount = 186; +inline constexpr madrona::CountT kMaxTrafficLightCount = 16; inline constexpr bool useEstimatedYaw = true; @@ -22,7 +23,7 @@ inline constexpr float worldLength = 40.f; // This factor rescales the length of the vehicles by a tiny amount // To account for the fact that noise occasionally puts vehicles into initial // collisions. This is a dataset artifact that we are handling here like this. -inline constexpr float vehicleLengthScale = 0.7f; +inline constexpr float vehicleLengthScale = 1.0f; // Each unit of distance forward (+ y axis) rewards the agents by this amount inline constexpr float rewardPerDist = 0.05f; @@ -31,7 +32,7 @@ inline constexpr float rewardPerDist = 0.05f; inline constexpr float slackReward = -0.005f; // Steps per episode -inline constexpr int32_t episodeLen = 91; +inline constexpr int32_t episodeLen = 90; // Number of lidar samples, arranged in circle around agent inline constexpr madrona::CountT numLidarSamples = 50; @@ -48,6 +49,10 @@ inline constexpr float lidarAngle = madrona::math::pi / 3; // The angle between // Bev observation constants inline constexpr int bev_rasterization_resolution = 200; +// Number of points to sample on each edge of a bounding box for occlusion checks. +// If set to 0, only corners of AABB are checked. If set to 1, midpoints of edges are also checked etc. +inline constexpr madrona::CountT kNumOcclusionEdgeSamples = 1; + // Time (seconds) per step inline constexpr float deltaT = 0.04f; diff --git a/src/dynamics.hpp b/src/dynamics.hpp index 41d98d8f2..ed2fead12 100755 --- a/src/dynamics.hpp +++ b/src/dynamics.hpp @@ -25,28 +25,26 @@ namespace madrona_gpudrive float speed = velocity.linear.length(); float yaw = utils::quatToYaw(rotation); - // Average speed - const float v{clipSpeed(speed + 0.5f * action.classic.acceleration * dt)}; - const float tanDelta{tanf(action.classic.steering)}; - // Assume center of mass lies at the middle of length, then l / L == 0.5. - const float beta{std::atan(0.5f * tanDelta)}; - const math::Vector2 d{polarToVector2D(v, yaw + beta)}; - const float w{v * std::cos(beta) * tanDelta / size.length}; - - // model.position += d * dt; - // model.heading = utils::AngleAdd(model.heading, w * dt); - // model.speed = clipSpeed(model.speed + action.acceleration * dt); - float new_yaw = utils::AngleAdd(yaw, w * dt); - float new_speed = clipSpeed(speed + action.classic.acceleration * dt); - position.x += d.x * dt; - position.y += d.y * dt; - position.z = 1; - rotation = Quat::angleAxis(new_yaw, madrona::math::up); + float x_dot = speed * cosf(yaw); + float y_dot = speed * sinf(yaw); + float theta_dot = speed * tanf(velocity.angular.z) / (0.8 * size.length); + float delta_dot = action.classic.steering; + // Update the yaw + float new_yaw = utils::AngleAdd(yaw, theta_dot * dt); + // Update the speed + float new_speed = speed + action.classic.acceleration * dt; velocity.linear.x = new_speed * cosf(new_yaw); velocity.linear.y = new_speed * sinf(new_yaw); - velocity.linear.z = 0; - velocity.angular = Vector3::zero(); - velocity.angular.z = w; + // Update the position + position.x = position.x + x_dot * dt; + position.y = position.y + y_dot * dt; + // Update the rotation + rotation = Quat::angleAxis(new_yaw, madrona::math::up); + // Update the angular velocity + velocity.angular.z = utils::AngleAdd(velocity.angular.z, delta_dot * dt); + // clip angular z between -pi/3 and pi/3 + velocity.angular.z = fmaxf(-madrona::math::pi / 3.0, fminf(velocity.angular.z, madrona::math::pi / 3.0)); + } inline void forwardBicycleModel(Action &action, Rotation &rotation, Position &position, Velocity &velocity) diff --git a/src/init.hpp b/src/init.hpp index 253e1d06e..a848e35a1 100755 --- a/src/init.hpp +++ b/src/init.hpp @@ -37,6 +37,7 @@ namespace madrona_gpudrive uint32_t id; MapVector2 mean; bool markAsExpert{false}; + float vbd_trajectories[consts::kTrajectoryLength][6]; // x, y, yaw, vx, vy, valid }; struct MapRoad @@ -54,10 +55,13 @@ namespace madrona_gpudrive { MapObject objects[MAX_OBJECTS]; MapRoad roads[MAX_ROADS]; + TrafficLightState trafficLightStates[consts::kMaxTrafficLightCount]; uint32_t numObjects; uint32_t numRoads; uint32_t numRoadSegments; + uint32_t numTrafficLights; + bool hasTrafficLights; MapVector2 mean; char mapName[32]; @@ -94,6 +98,12 @@ namespace madrona_gpudrive Ignore }; + enum class GoalBehaviour { + Remove, // Teleport to padding position + Stop, // Agent remains in place but is marked as done + Ignore, // Agent continues to exist in the scene but is marked as done + }; + enum class DynamicsModel : uint32_t { Classic, @@ -112,8 +122,11 @@ namespace madrona_gpudrive { float polylineReductionThreshold; float observationRadius; + float viewConeHalfAngle; + bool removeOccludedAgents; RewardParams rewardParams; CollisionBehaviour collisionBehaviour = CollisionBehaviour::AgentStop; // Default: AgentStop + GoalBehaviour goalBehaviour = GoalBehaviour::Remove; // Default to current behavior uint32_t maxNumControlledAgents = 10000; // Arbitrary high number to by default control all vehicles bool IgnoreNonVehicles = false; // Default: false FindRoadObservationsWith roadObservationAlgorithm{ @@ -123,7 +136,9 @@ namespace madrona_gpudrive bool enableLidar = false; bool disableClassicalObs = false; DynamicsModel dynamicsModel = DynamicsModel::Classic; - bool readFromTracksToPredict = false; // Default: false - for womd_tracks_to_predict initialization mode + bool readFromTracksToPredict = false; // Default: false - for wosac initialization mode + uint32_t initSteps = 0; + bool controlExperts = false; // Default: false - for wosac initialization mode }; struct WorldInit diff --git a/src/json_serialization.hpp b/src/json_serialization.hpp index 43cffb837..7da08fbb5 100644 --- a/src/json_serialization.hpp +++ b/src/json_serialization.hpp @@ -15,97 +15,265 @@ namespace madrona_gpudrive p.y = j.at("y").get(); } - void from_json(const nlohmann::json &j, MapObject &obj) + // Extract Z coordinate from position JSON + float extract_z_from_position(const nlohmann::json &j) { - obj.mean = {0,0}; - uint32_t i = 0; - for (const auto &pos : j.at("position")) - { - if (i < MAX_POSITIONS) + if (j.contains("z")) { + return j.at("z").get(); + } + return 0.0f; // Default z value if not provided + } + + void from_json(const nlohmann::json &j, TrafficLightState &tl_state) + { + // Set number of states to the size of the state array + size_t numStates = std::max(j.at("state").size(), static_cast(consts::kTrajectoryLength)); + tl_state.numStates = numStates; + static const std::unordered_map state_map = { + {"unknown", TLState::Unknown}, + {"stop", TLState::Stop}, + {"caution", TLState::Caution}, + {"go", TLState::Go} + }; + + // Process each timestep + for (size_t t = 0; t < numStates; t++) { + // Get the state string and convert to enum + if (t < j.at("state").size()) { + std::string state_str = j.at("state")[t]; + auto it = state_map.find(state_str); + TLState enum_state = (it != state_map.end()) ? it->second : TLState::Unknown; // ADD THIS LINE + tl_state.state[t] = static_cast(enum_state); // Cast enum to float + } else { + tl_state.state[t] = static_cast(TLState::Unknown); // Cast enum to float + } + + // Get the x,y,z positions in a more interpretable fashion + if(t < j.at("x").size()) { - from_json(pos, obj.position[i]); - obj.mean.x += (obj.position[i].x - obj.mean.x)/(i+1); - obj.mean.y += (obj.position[i].y - obj.mean.y)/(i+1); - ++i; + tl_state.x[t] = j.at("x")[t].get(); } else { - break; // Avoid overflow + tl_state.x[t] = -1000.0f; } - } - obj.numPositions = i; - j.at("width").get_to(obj.vehicle_size.width); - j.at("length").get_to(obj.vehicle_size.length); - j.at("height").get_to(obj.vehicle_size.height); - j.at("id").get_to(obj.id); - - i = 0; - for (const auto &h : j.at("heading")) - { - if (i < MAX_POSITIONS) + if(t < j.at("y").size()) + { + tl_state.y[t] = j.at("y")[t].get(); + } + else { - h.get_to(obj.heading[i]); - ++i; + tl_state.y[t] = -1000.0f; + } + if(t < j.at("z").size()) + { + tl_state.z[t] = j.at("z")[t].get(); } else { - break; // Avoid overflow + tl_state.z[t] = -1000.0f; + } + + // Get time index and lane id + if (t < j.at("time_index").size()) { + tl_state.timeIndex[t] = j.at("time_index")[t]; + } else { + tl_state.timeIndex[t] = -1; } } - obj.numHeadings = i; - i = 0; - for (const auto &v : j.at("velocity")) - { - if (i < MAX_POSITIONS) + tl_state.laneId = static_cast(j.at("lane_id")[0]); + + // Fill any remaining timesteps with default values + for (size_t t = numStates; t < consts::kTrajectoryLength; t++) { + tl_state.state[t] = static_cast(TLState::Unknown); + tl_state.timeIndex[t] = -1; + } + } + + void from_json(const nlohmann::json &j, MapObject &obj) + { + obj.mean = {0,0}; + uint32_t i = 0; + + float zPositions[10]; + + // Check if position array exists and process it + if (j.contains("position") && j.at("position").is_array()) { + for (const auto &pos : j.at("position")) { - from_json(v, obj.velocity[i]); - ++i; + if (i < MAX_POSITIONS) + { + from_json(pos, obj.position[i]); + obj.mean.x += (obj.position[i].x - obj.mean.x)/(i+1); + obj.mean.y += (obj.position[i].y - obj.mean.y)/(i+1); + + // Store z position separately + if (i < 10) + { + float z = extract_z_from_position(pos); + zPositions[i] = z; + } + + ++i; + } + else + { + break; // Avoid overflow + } } - else + } + obj.numPositions = i; + + // Check if required fields exist before accessing + if (j.contains("width")) { + j.at("width").get_to(obj.vehicle_size.width); + } else { + obj.vehicle_size.width = 0.0f; + } + + if (j.contains("length")) { + j.at("length").get_to(obj.vehicle_size.length); + } else { + obj.vehicle_size.length = 0.0f; + } + + if (j.contains("height")) { + j.at("height").get_to(obj.vehicle_size.height); + } else { + obj.vehicle_size.height = 0.0f; + } + + if (j.contains("id")) { + j.at("id").get_to(obj.id); + } else { + obj.id = 0; + } + + i = 0; + if (j.contains("heading") && j.at("heading").is_array()) { + for (const auto &h : j.at("heading")) { - break; // Avoid overflow + if (i < MAX_POSITIONS) + { + h.get_to(obj.heading[i]); + ++i; + } + else + { + break; // Avoid overflow + } } } - obj.numVelocities = i; + obj.numHeadings = i; i = 0; - for (const auto &v : j.at("valid")) - { - if (i < MAX_POSITIONS) + if (j.contains("velocity") && j.at("velocity").is_array()) { + for (const auto &v : j.at("velocity")) { - v.get_to(obj.valid[i]); - ++i; + if (i < MAX_POSITIONS) + { + from_json(v, obj.velocity[i]); + ++i; + } + else + { + break; // Avoid overflow + } } - else + } + obj.numVelocities = i; + + i = 0; + if (j.contains("valid") && j.at("valid").is_array()) { + for (const auto &v : j.at("valid")) { - break; // Avoid overflow + if (i < MAX_POSITIONS) + { + v.get_to(obj.valid[i]); + ++i; + } + else + { + break; // Avoid overflow + } } } obj.numValid = i; - - from_json(j.at("goalPosition"), obj.goalPosition); - std::string type = j.at("type"); - if(type == "vehicle") - obj.type = EntityType::Vehicle; - else if(type == "pedestrian") - obj.type = EntityType::Pedestrian; - else if(type == "cyclist") - obj.type = EntityType::Cyclist; - else + if (j.contains("goalPosition")) { + from_json(j.at("goalPosition"), obj.goalPosition); + } else { + obj.goalPosition = {0.0f, 0.0f}; + } + + if (j.contains("type")) { + std::string type = j.at("type"); + if(type == "vehicle") + obj.type = EntityType::Vehicle; + else if(type == "pedestrian") + obj.type = EntityType::Pedestrian; + else if(type == "cyclist") + obj.type = EntityType::Cyclist; + else + obj.type = EntityType::None; + } else { obj.type = EntityType::None; + } std::string markAsExpertKey = "mark_as_expert"; if (j.contains(markAsExpertKey)) { from_json(j.at("mark_as_expert"), obj.markAsExpert); } - // Initialize metadata fields to 0 - obj.metadata.isSdc = 0; - obj.metadata.isObjectOfInterest = 0; - obj.metadata.isTrackToPredict = 0; - obj.metadata.difficulty = 0; + // Initialize metadata fields to 0 + MetaData::zero(obj.metadata); + + // Calculate average z position from the first 10 positions + // Store in the avgZ field of map object + float avgZ = 0.0f; + float avg_count = 0.0f; + for (int zi = 0; zi < 10 && zi < obj.numValid; zi++) { + // Only consider valid z positions + if (zi < obj.numValid && obj.valid[zi]) { + avgZ += zPositions[zi]; + avg_count += 1; + } + } + if (avg_count == 0) { + avgZ = 0.0f; // Avoid division by zero + } + else + { + avgZ /= avg_count; // Calculate average + } + obj.metadata.avgZ = avgZ; + + // Initialize VBD trajectories to zeros + for (int i = 0; i < consts::kTrajectoryLength; i++) { + for (int j = 0; j < 6; j++) { + obj.vbd_trajectories[i][j] = 0.0f; + } + } + + // If VBD trajectories exist in the JSON, read them + if (j.contains("vbd_trajectory") && j.at("vbd_trajectory").is_array()) { + int vbd_idx = 0; + for (const auto &vbd_traj : j.at("vbd_trajectory")) { + if (vbd_idx < consts::kTrajectoryLength) { + if (!vbd_traj.is_null() && vbd_traj.is_array()) { + size_t traj_size = vbd_traj.size(); + if (traj_size > 0) obj.vbd_trajectories[vbd_idx][0] = vbd_traj.at(0).get(); + if (traj_size > 1) obj.vbd_trajectories[vbd_idx][1] = vbd_traj.at(1).get(); + if (traj_size > 2) obj.vbd_trajectories[vbd_idx][2] = vbd_traj.at(2).get(); + if (traj_size > 3) obj.vbd_trajectories[vbd_idx][3] = vbd_traj.at(3).get(); + if (traj_size > 4) obj.vbd_trajectories[vbd_idx][4] = vbd_traj.at(4).get(); + if (traj_size > 5) obj.vbd_trajectories[vbd_idx][5] = vbd_traj.at(5).get(); + } + } + vbd_idx++; + } + } } void from_json(const nlohmann::json &j, MapRoad &road, float polylineReductionThreshold = 0.0) @@ -127,7 +295,12 @@ namespace madrona_gpudrive else road.type = EntityType::None; - + // Check if geometry exists and is not empty + if (!j.contains("geometry") || j.at("geometry").empty()) { + road.numPoints = 0; + return; + } + std::vector geometry_points_; for(const auto &point: j.at("geometry")) { @@ -136,9 +309,16 @@ namespace madrona_gpudrive geometry_points_.push_back(p); } - const int64_t num_segments = j["geometry"].size() - 1; + const int64_t geometry_size = static_cast(geometry_points_.size()); + if (geometry_size == 0) { + road.numPoints = 0; + return; + } + + const int64_t num_segments = geometry_size - 1; const int64_t sample_every_n_ = 1; const int64_t num_sampled_points = (num_segments + sample_every_n_ - 1) / sample_every_n_ + 1; + if (num_segments >= 10 && (road.type == EntityType::RoadLane || road.type == EntityType::RoadEdge || road.type == EntityType::RoadLine)) { std::vector skip(num_sampled_points, false); // This list tracks the points that are skipped @@ -164,9 +344,19 @@ namespace madrona_gpudrive } if (k_2 >= num_sampled_points) break; - auto point1 = geometry_points_[k * sample_every_n_]; - auto point2 = geometry_points_[k_1 * sample_every_n_]; - auto point3 = geometry_points_[k_2 * sample_every_n_]; + + // Add bounds checking for geometry_points_ access + int64_t idx1 = k * sample_every_n_; + int64_t idx2 = k_1 * sample_every_n_; + int64_t idx3 = k_2 * sample_every_n_; + + if (idx1 >= geometry_size || idx2 >= geometry_size || idx3 >= geometry_size) { + break; + } + + auto point1 = geometry_points_[idx1]; + auto point2 = geometry_points_[idx2]; + auto point3 = geometry_points_[idx3]; float_t area = 0.5 * std::abs((point1.x - point3.x) * (point2.y - point1.y) - (point1.x - point2.x) * (point3.y - point1.y)); if (area < polylineReductionThreshold) { // If the area is less than the threshold, then we skip the middle point @@ -183,34 +373,43 @@ namespace madrona_gpudrive // Create the road lines k = 0; - skip[0] = false; - skip[num_sampled_points - 1] = false; + if (num_sampled_points > 0) { + skip[0] = false; + } + if (num_sampled_points > 1) { + skip[num_sampled_points - 1] = false; + } std::vector new_geometry_points; // This list stores the points that are not skipped while (k < num_sampled_points) { - if (!skip[k]) + int64_t idx = k * sample_every_n_; + if (idx < geometry_size && !skip[k]) { - new_geometry_points.push_back(geometry_points_[k * sample_every_n_]); // Add the point to the list if it is not skipped + new_geometry_points.push_back(geometry_points_[idx]); // Add the point to the list if it is not skipped } k++; } for (size_t i = 0; i < new_geometry_points.size(); i++) { - if(i==MAX_GEOMETRY) + if(i >= MAX_GEOMETRY) break; road.geometry[i] = new_geometry_points[i]; // Create the road lines } - road.numPoints = new_geometry_points.size(); + road.numPoints = std::min(new_geometry_points.size(), static_cast(MAX_GEOMETRY)); } else { for (int64_t i = 0; i < num_sampled_points ; ++i) { - if(i==MAX_GEOMETRY) + if(i >= MAX_GEOMETRY) break; - road.geometry[i] = geometry_points_[i * sample_every_n_]; + int64_t idx = i * sample_every_n_; + if (idx >= geometry_size) { + break; + } + road.geometry[i] = geometry_points_[idx]; } - road.numPoints = num_sampled_points; + road.numPoints = std::min(static_cast(num_sampled_points), static_cast(MAX_GEOMETRY)); } if (j.contains("id")) { @@ -285,14 +484,14 @@ namespace madrona_gpudrive std::string scenario_id = j.at("scenario_id").get(); std::strncpy(map.scenarioId, scenario_id.c_str(), sizeof(map.scenarioId)); - + auto mean = calc_mean(j); map.mean = {mean.first, mean.second}; map.numObjects = std::min(j.at("objects").size(), static_cast(MAX_OBJECTS)); const auto& metadata = j.at("metadata"); int sdc_index = metadata.at("sdc_track_index").get(); - + // Create id to object index mapping std::unordered_map idToObjIdx; size_t idx = 0; @@ -319,27 +518,27 @@ namespace madrona_gpudrive // Initialize SDC first if valid if (sdc_index >= 0 && sdc_index < j.at("objects").size()) { j.at("objects")[sdc_index].get_to(map.objects[0]); - map.objects[0].metadata.isSdc = 1; - + map.objects[0].metadata.isSdc = 1.0f; + // Set additional metadata if needed int sdc_id = map.objects[0].id; if (tracks_to_predict_indices.find(sdc_index) != tracks_to_predict_indices.end()) { - map.objects[0].metadata.isTrackToPredict = 1; + map.objects[0].metadata.isTrackToPredict = 1.0f; // Find and set difficulty for (const auto& track : metadata.at("tracks_to_predict")) { if (track.at("track_index").get() == sdc_index) { - map.objects[0].metadata.difficulty = track.at("difficulty").get(); + map.objects[0].metadata.difficulty = static_cast(track.at("difficulty").get()); break; } } } if (objects_of_interest_ids.find(sdc_id) != objects_of_interest_ids.end()) { - map.objects[0].metadata.isObjectOfInterest = 1; + map.objects[0].metadata.isObjectOfInterest = 1.0f; } - + idToObjIdx[sdc_id] = 0; idx = 1; - + // Remove SDC from sets to avoid double processing tracks_to_predict_indices.erase(sdc_index); objects_of_interest_ids.erase(sdc_id); @@ -348,25 +547,25 @@ namespace madrona_gpudrive // Initialize tracks_to_predict objects (excluding SDC) for (size_t i = 0; i < j.at("objects").size() && idx < map.numObjects; i++) { if (i == sdc_index) continue; // Skip SDC as it's already initialized - + if (tracks_to_predict_indices.find(i) != tracks_to_predict_indices.end()) { j.at("objects")[i].get_to(map.objects[idx]); - map.objects[idx].metadata.isTrackToPredict = 1; - + map.objects[idx].metadata.isTrackToPredict = 1.0f; + // Find and set difficulty for (const auto& track : metadata.at("tracks_to_predict")) { if (track.at("track_index").get() == static_cast(i)) { - map.objects[idx].metadata.difficulty = track.at("difficulty").get(); + map.objects[idx].metadata.difficulty = static_cast(track.at("difficulty").get()); break; } } - + // Check if also object of interest if (objects_of_interest_ids.find(map.objects[idx].id) != objects_of_interest_ids.end()) { - map.objects[idx].metadata.isObjectOfInterest = 1; + map.objects[idx].metadata.isObjectOfInterest = 1.0f; objects_of_interest_ids.erase(map.objects[idx].id); } - + idToObjIdx[map.objects[idx].id] = idx; idx++; } @@ -375,12 +574,12 @@ namespace madrona_gpudrive // Initialize objects_of_interest (excluding those already processed) for (size_t i = 0; i < j.at("objects").size() && idx < map.numObjects; i++) { if (i == sdc_index) continue; - + int obj_id = j.at("objects")[i].at("id").get(); if (objects_of_interest_ids.find(obj_id) != objects_of_interest_ids.end()) { j.at("objects")[i].get_to(map.objects[idx]); - map.objects[idx].metadata.isObjectOfInterest = 1; - + map.objects[idx].metadata.isObjectOfInterest = 1.0f; + idToObjIdx[map.objects[idx].id] = idx; idx++; } @@ -389,7 +588,7 @@ namespace madrona_gpudrive // Initialize all remaining objects for (size_t i = 0; i < j.at("objects").size() && idx < map.numObjects; i++) { if (i == sdc_index) continue; - + int obj_id = j.at("objects")[i].at("id").get(); if (idToObjIdx.find(obj_id) == idToObjIdx.end()) { // Check if not already processed j.at("objects")[i].get_to(map.objects[idx]); @@ -397,7 +596,7 @@ namespace madrona_gpudrive idx++; } } - + // Process roads map.numRoads = std::min(j.at("roads").size(), static_cast(MAX_ROADS)); size_t countRoadPoints = 0; @@ -411,5 +610,23 @@ namespace madrona_gpudrive ++idx; } map.numRoadSegments = countRoadPoints; + + // Process traffic light states if present + if (j.contains("tl_states")) { + const auto& tl_states = j.at("tl_states"); + map.numTrafficLights = std::max(tl_states.size(), static_cast(consts::kMaxTrafficLightCount)); + map.hasTrafficLights = (map.numTrafficLights > 0); + + size_t idx = 0; + for (auto &kv : tl_states.items()) + { + if (idx >= map.numTrafficLights) + break; + kv.value().get_to(map.trafficLightStates[idx++]); + } + } else { + map.numTrafficLights = 0; + map.hasTrafficLights = false; + } } } diff --git a/src/level_gen.cpp b/src/level_gen.cpp index e550efff1..ad3262984 100755 --- a/src/level_gen.cpp +++ b/src/level_gen.cpp @@ -31,11 +31,16 @@ static inline void resetAgentInterface(Engine &ctx, Entity agent_iface, EntityTy static inline void resetAgent(Engine &ctx, Entity agent) { auto agent_iface = ctx.get(agent).e; - auto xCoord = ctx.get(agent_iface).positions[0].x; - auto yCoord = ctx.get(agent_iface).positions[0].y; - auto xVelocity = ctx.get(agent_iface).velocities[0].x; - auto yVelocity = ctx.get(agent_iface).velocities[0].y; - auto heading = ctx.get(agent_iface).headings[0]; + + // Using warmup steps to reset + uint32_t initSteps = ctx.data().params.initSteps; + initSteps = std::min(initSteps, (uint32_t)consts::kTrajectoryLength - 1); + + auto xCoord = ctx.get(agent_iface).positions[initSteps].x; + auto yCoord = ctx.get(agent_iface).positions[initSteps].y; + auto xVelocity = ctx.get(agent_iface).velocities[initSteps].x; + auto yVelocity = ctx.get(agent_iface).velocities[initSteps].y; + auto heading = ctx.get(agent_iface).headings[initSteps]; ctx.get(agent) = Vector3{.x = xCoord, .y = yCoord, .z = 1}; ctx.get(agent) = Quat::angleAxis(heading, madrona::math::up); @@ -46,7 +51,7 @@ static inline void resetAgent(Engine &ctx, Entity agent) { } ctx.get(agent_iface) = getZeroAction(ctx.data().params.dynamicsModel); - resetAgentInterface(ctx, agent_iface, ctx.get(agent), ctx.get(agent)); + resetAgentInterface(ctx, agent_iface, ctx.get(agent), ctx.get(agent), consts::episodeLen - initSteps); #ifndef GPUDRIVE_DISABLE_NARROW_PHASE ctx.get(agent).hasCollided.store_release(0); @@ -99,15 +104,20 @@ static inline void populateExpertTrajectory(Engine &ctx, const Entity &agent, co } } -static inline bool isAgentStatic(Engine &ctx, Entity agent) { - auto agent_iface = ctx.get(agent).e; +static inline void populateVBDTrajectory(Engine &ctx, const Entity &agent, const MapObject &agentInit) { + const auto &agent_iface = ctx.get(agent).e; + auto &vbd_trajectory = ctx.get(agent_iface); - // Static agents are those that are not tracks to predict - if (ctx.data().params.readFromTracksToPredict and ctx.get(agent_iface).isTrackToPredict != -1) { - return false; + // Copy VBD trajectories from the map object + for (int i = 0; i < consts::kTrajectoryLength; i++) { + for (int j = 0; j < 6; j++) { + vbd_trajectory.trajectories[i][j] = agentInit.vbd_trajectories[i][j]; + } } - - // Original logic for other initialization modes +} + +static inline bool isAgentStatic(Engine &ctx, Entity agent) { + auto agent_iface = ctx.get(agent).e; bool isStatic = (ctx.get(agent).position - ctx.get(agent_iface).positions[0]).length() < consts::staticThreshold; return !ctx.data().params.isStaticAgentControlled and isStatic; } @@ -115,13 +125,28 @@ static inline bool isAgentStatic(Engine &ctx, Entity agent) { static inline bool isAgentControllable(Engine &ctx, Entity agent, bool markAsExpert = false) { auto agent_iface = ctx.get(agent).e; - // If readFromTracksToPredict is true, base controllability on isTrackToPredict flag + // If readFromTracksToPredict is true, control all valid objects if (ctx.data().params.readFromTracksToPredict) { - return ctx.data().numControlledAgents < ctx.data().params.maxNumControlledAgents && - ctx.get(agent_iface).isTrackToPredict != -1; + uint32_t initSteps = ctx.data().params.initSteps; + initSteps = std::min(initSteps, (uint32_t)consts::kTrajectoryLength - 1); + + if (ctx.get(agent_iface).valids[initSteps] == 0) { + return false; + } + else if (!ctx.data().params.controlExperts && markAsExpert) { + return false; + } + else { + return ctx.data().numControlledAgents < ctx.data().params.maxNumControlledAgents; + } } // Original logic for other initialization modes + if (ctx.data().params.controlExperts) { + return ctx.data().numControlledAgents < ctx.data().params.maxNumControlledAgents && + ctx.get(agent_iface).valids[0] && + ctx.get(agent) == ResponseType::Dynamic; + } return ctx.data().numControlledAgents < ctx.data().params.maxNumControlledAgents && ctx.get(agent_iface).valids[0] && ctx.get(agent) == ResponseType::Dynamic && @@ -143,16 +168,16 @@ static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) { ctx.get(agent) = agentInit.type; ctx.get(agent)= Goal{.position = Vector2{.x = agentInit.goalPosition.x - ctx.singleton().mean.x, .y = agentInit.goalPosition.y - ctx.singleton().mean.y}}; ctx.get(agent_iface) = AgentID{.id = static_cast(agentInit.id)}; + ctx.get(agent_iface) = agentInit.metadata; populateExpertTrajectory(ctx, agent, agentInit); + populateVBDTrajectory(ctx, agent, agentInit); //Applying custom rules ctx.get(agent) = isAgentStatic(ctx, agent) ? ResponseType::Static : ResponseType::Dynamic; ctx.get(agent_iface) = ControlledState{.controlled = isAgentControllable(ctx, agent, agentInit.markAsExpert)}; ctx.data().numControlledAgents += ctx.get(agent_iface).controlled; - ctx.get(agent_iface) = agentInit.metadata; - if (ctx.data().enableRender) { render::RenderingSystem::attachEntityToView(ctx, agent, @@ -352,6 +377,9 @@ void createCameraEntity(Engine &ctx) static inline bool shouldAgentBeCreated(Engine &ctx, const MapObject &agentInit) { + uint32_t initSteps = ctx.data().params.initSteps; + initSteps = std::min(initSteps, (uint32_t)consts::kTrajectoryLength - 1); + // When readFromTracksToPredict is enabled, we want to create all agents // This overrides all other rules except for the check against deleted agents if (ctx.data().params.readFromTracksToPredict) { @@ -365,6 +393,11 @@ static inline bool shouldAgentBeCreated(Engine &ctx, const MapObject &agentInit) } } + if (agentInit.valid[initSteps] == 0) + { + return false; + } + return true; } @@ -375,7 +408,7 @@ static inline bool shouldAgentBeCreated(Engine &ctx, const MapObject &agentInit) return false; } - if (ctx.data().params.initOnlyValidAgentsAtFirstStep && !agentInit.valid[0]) + if (ctx.data().params.initOnlyValidAgentsAtFirstStep && !agentInit.valid[initSteps]) { return false; } @@ -462,6 +495,20 @@ void createPersistentEntities(Engine &ctx) { other_agents.e[out_idx++] = other_agent; } } + + + for(CountT i = 0; i < map.numTrafficLights; i++) + { + auto &trafficLight = ctx.singleton().trafficLights[i]; + trafficLight = map.trafficLightStates[i]; + + for (size_t t = 0; t < consts::kTrajectoryLength-1; t++) { + trafficLight.x[t] -= ctx.singleton().mean.x; + trafficLight.y[t] -= ctx.singleton().mean.y; + trafficLight.z[t] -= ctx.singleton().mean.z; + } + } + } static void resetPersistentEntities(Engine &ctx) diff --git a/src/mgr.cpp b/src/mgr.cpp index e314735a4..cb31bd259 100755 --- a/src/mgr.cpp +++ b/src/mgr.cpp @@ -896,11 +896,35 @@ Tensor Manager::scenarioIdTensor() const { Tensor Manager::metadataTensor() const { return impl_->exportTensor( - ExportID::MetaData, TensorElementType::Int32, + ExportID::MetaData, TensorElementType::Float32, {impl_->numWorlds, consts::kMaxAgentCount, MetaDataExportSize} ); } +Tensor Manager::trafficLightTensor() const +{ + return impl_->exportTensor( + ExportID::TrafficLights, + TensorElementType::Float32, + { + impl_->numWorlds, + consts::kMaxTrafficLightCount, + TrafficLightsStateExportSize + } + ); +} + +Tensor Manager::vbdTrajectoryTensor() const { + return impl_->exportTensor( + ExportID::VBDTrajectory, TensorElementType::Float32, + { + impl_->numWorlds, + consts::kMaxAgentCount, + consts::kTrajectoryLength, + 6, + }); +} + void Manager::triggerReset(int32_t world_idx) { WorldReset reset { diff --git a/src/mgr.hpp b/src/mgr.hpp index d9613b61b..9ae71d4aa 100755 --- a/src/mgr.hpp +++ b/src/mgr.hpp @@ -70,9 +70,11 @@ class Manager { MGR_EXPORT madrona::py::Tensor expertTrajectoryTensor() const; MGR_EXPORT madrona::py::Tensor worldMeansTensor() const; MGR_EXPORT madrona::py::Tensor metadataTensor() const; + MGR_EXPORT madrona::py::Tensor trafficLightTensor() const; MGR_EXPORT madrona::py::Tensor deletedAgentsTensor() const; MGR_EXPORT madrona::py::Tensor mapNameTensor() const; MGR_EXPORT madrona::py::Tensor scenarioIdTensor() const; + MGR_EXPORT madrona::py::Tensor vbdTrajectoryTensor() const; madrona::py::Tensor rgbTensor() const; madrona::py::Tensor depthTensor() const; // These functions are used by the viewer to control the simulation diff --git a/src/sim.cpp b/src/sim.cpp index bcc0fe51e..7cdddcea1 100755 --- a/src/sim.cpp +++ b/src/sim.cpp @@ -59,7 +59,8 @@ void Sim::registerTypes(ECSRegistry ®istry, const Config &cfg) registry.registerComponent(); registry.registerComponent(); registry.registerComponent(); - + registry.registerComponent(); + registry.registerSingleton(); registry.registerSingleton(); registry.registerSingleton(); registry.registerSingleton(); @@ -83,7 +84,8 @@ void Sim::registerTypes(ECSRegistry ®istry, const Config &cfg) registry.exportSingleton((uint32_t)ExportID::DeletedAgents); registry.exportSingleton((uint32_t)ExportID::MapName); registry.exportSingleton((uint32_t)ExportID::ScenarioId); - + registry.exportSingleton((uint32_t)ExportID::TrafficLights); + registry.exportColumn( (uint32_t)ExportID::Action); registry.exportColumn( @@ -92,7 +94,6 @@ void Sim::registerTypes(ECSRegistry ®istry, const Config &cfg) (uint32_t)ExportID::AgentMapObservations); registry.exportColumn( (uint32_t)ExportID::MapObservation); - registry.exportColumn( (uint32_t)ExportID::PartnerObservations); registry.exportColumn( @@ -117,6 +118,8 @@ void Sim::registerTypes(ECSRegistry ®istry, const Config &cfg) (uint32_t)ExportID::Trajectory); registry.exportColumn( (uint32_t)ExportID::MetaData); + registry.exportColumn( + (uint32_t)ExportID::VBDTrajectory); } static inline void cleanupWorld(Engine &ctx) { @@ -166,23 +169,272 @@ inline void resetSystem(Engine &ctx, WorldReset &reset) } inline void collectSelfObsSystem(Engine &ctx, - const VehicleSize &size, - const Position &pos, - const Rotation &rot, - const Velocity &vel, - const Goal &goal, - const CollisionDetectionEvent& collisionEvent, - const AgentInterfaceEntity &agent_iface) + const VehicleSize &size, + const Position &pos, + const Rotation &rot, + const Velocity &vel, + const Goal &goal, + const CollisionDetectionEvent& collisionEvent, + const AgentInterfaceEntity &agent_iface) { auto &self_obs = ctx.get(agent_iface.e); self_obs.speed = vel.linear.length(); self_obs.vehicle_size = size; + + // Get the relative goal position auto goalPos = goal.position - pos.xy(); + + // For the agent's observation, convert the goal position to the agent's local frame self_obs.goal.position = rot.inv().rotateVec({goalPos.x, goalPos.y, 0}).xy(); auto hasCollided = collisionEvent.hasCollided.load_relaxed(); self_obs.collisionState = hasCollided ? 1.f : 0.f; self_obs.id = ctx.get(agent_iface.e).id; + + const Info& info = ctx.get(agent_iface.e); + self_obs.goalState = info.reachedGoal ? 1.f : 0.f; + self_obs.steerAngle = vel.angular.z; +} + +struct ViewField { + const Position& position; + const float heading; + const float viewRadius; + const float viewAngle; + const float headAngle; + + ViewField(const Position& position, const float heading, const float viewRadius, const float viewAngle, const float headAngle) + : position(position), heading(heading), viewRadius(viewRadius), viewAngle(viewAngle), headAngle(headAngle) {} +}; + +// Broad-phase filtering: Get dynamic objects that are potentially visible within the view field +inline CountT visibleCandidatesDynamic(Engine &ctx, + const ViewField &vf, + const OtherAgents &other_agents, + Entity self_entity, + Entity* candidates_buffer) { + CountT count = 0; + + // Simple radius-based broad phase filtering for now + for (CountT agentIdx = 0; agentIdx < ctx.data().numAgents - 1 && count < consts::kMaxAgentCount - 1; ++agentIdx) { + Entity other = other_agents.e[agentIdx]; + if (other == self_entity) continue; // Don't include self + + const Position &other_pos = ctx.get(other); + Vector2 relative_pos = (other_pos - vf.position).xy(); + + // Check if within view radius + if (relative_pos.length() <= vf.viewRadius) { + // Check if within view cone + Vector2 forward_dir = {cosf(vf.heading + vf.headAngle), sinf(vf.heading + vf.headAngle)}; + Vector2 normalized_relative_pos = relative_pos / relative_pos.length(); + float dot_product = normalized_relative_pos.dot(forward_dir); + float angle = acosf(fmaxf(-1.0f, fminf(1.0f, dot_product))); // clamp to [-1, 1] + + if (angle <= vf.viewAngle * 0.5f) { + candidates_buffer[count++] = other; + } + } + } + + return count; +} + +// Broad-phase filtering: Get static road objects that are potentially visible within the view field +inline CountT visibleCandidatesStatic(Engine &ctx, + const ViewField &vf, + Entity* candidates_buffer) { + CountT count = 0; + + // Simple radius-based broad phase filtering for roads + for (CountT roadIdx = 0; roadIdx < ctx.data().numRoads && count < consts::kMaxAgentMapObservationsCount; ++roadIdx) { + Entity road = ctx.data().roads[roadIdx]; + const Position &road_pos = ctx.get(road); + Vector2 relative_pos = (road_pos - vf.position).xy(); + + // Check if within view radius + if (relative_pos.length() <= vf.viewRadius) { + // Check if within view cone + Vector2 forward_dir = {cosf(vf.heading + vf.headAngle), sinf(vf.heading + vf.headAngle)}; + Vector2 normalized_relative_pos = relative_pos / relative_pos.length(); + float dot_product = normalized_relative_pos.dot(forward_dir); + float angle = acosf(fmaxf(-1.0f, fminf(1.0f, dot_product))); // clamp to [-1, 1] + + if (angle <= vf.viewAngle * 0.5f) { + candidates_buffer[count++] = road; + } + } + } + + return count; +} + +// Narrow-phase filtering: Check for occlusion using simple ray casting +inline void filterByOcclusion(Engine &ctx, + const ViewField &vf, + Span objects) { + auto &bvh = ctx.singleton(); + Vector3 observer_pos = {vf.position.x, vf.position.y, vf.position.z}; + + // Filter out occluded objects in-place + CountT write_idx = 0; + for (CountT read_idx = 0; read_idx < objects.size(); ++read_idx) { + Entity target = objects[read_idx]; + const Position &target_pos = ctx.get(target); + Vector3 target_pos_3d = {target_pos.x, target_pos.y, target_pos.z}; + + Vector3 ray_dir = (target_pos_3d - observer_pos).normalize(); + float target_distance = (target_pos_3d - observer_pos).length(); + + // Trace ray from observer to target + float hit_t; + Vector3 hit_normal; + Entity hit_entity = bvh.traceRay(observer_pos, ray_dir, &hit_t, &hit_normal, target_distance - 0.1f); + + // If we didn't hit something before reaching the target, it's not occluded + if (hit_entity == Entity::none() || hit_entity == target) { + objects[write_idx++] = target; + } + } + + // Update the effective size (though we can't change span size, caller needs to track this) + // This is handled by returning the new count +} + +inline CountT filterByOcclusionAll(Engine &ctx, + const ViewField &vf, // Contains observer's position + Span objects_to_filter // List of potential targets + ) +{ + using namespace madrona::math; + + Vector3 observer_pos_3d = {vf.position.x, vf.position.y, vf.position.z}; + + CountT visible_count = 0; + + for (CountT target_idx = 0; target_idx < objects_to_filter.size(); ++target_idx) { + Entity target_entity = objects_to_filter[target_idx]; + const Position& target_pos_comp = ctx.get(target_entity); + const Rotation& target_rot_comp = ctx.get(target_entity); + const VehicleSize& target_vehicle_size = ctx.get(target_entity); + + Vector3 target_world_center = {target_pos_comp.x, target_pos_comp.y, target_pos_comp.z}; + + float half_width = target_vehicle_size.width / 2.f; + float half_length = target_vehicle_size.length / 2.f; + float half_height = target_vehicle_size.height / 2.f; + + Vector3 local_corners[8] = { + {-half_width, -half_length, -half_height}, { half_width, -half_length, -half_height}, + {-half_width, half_length, -half_height}, { half_width, half_length, -half_height}, + {-half_width, -half_length, half_height}, { half_width, -half_length, half_height}, + {-half_width, half_length, half_height}, { half_width, half_length, half_height} + }; + + constexpr CountT num_points_to_check = 8 + 12 * consts::kNumOcclusionEdgeSamples; + madrona::math::Vector3 local_points_to_check[num_points_to_check]; + CountT point_idx = 0; + + for (int i = 0; i < 8; ++i) { + local_points_to_check[point_idx++] = local_corners[i]; + } + + // add points on edge to check if config is set + if constexpr (consts::kNumOcclusionEdgeSamples > 0) { + // sample uniformly along edge + auto add_edge_points = [&](const Vector3& start, const Vector3& end) { + for (CountT i = 1; i <= consts::kNumOcclusionEdgeSamples; ++i) { + float t = (float)i / (float)(consts::kNumOcclusionEdgeSamples + 1); + local_points_to_check[point_idx++] = start + t * (end - start); + } + }; + + // Edges along x + add_edge_points(local_corners[0], local_corners[1]); + add_edge_points(local_corners[2], local_corners[3]); + add_edge_points(local_corners[4], local_corners[5]); + add_edge_points(local_corners[6], local_corners[7]); + + // Edges along y + add_edge_points(local_corners[0], local_corners[2]); + add_edge_points(local_corners[1], local_corners[3]); + add_edge_points(local_corners[4], local_corners[6]); + add_edge_points(local_corners[5], local_corners[7]); + + // Edges along z + add_edge_points(local_corners[0], local_corners[4]); + add_edge_points(local_corners[1], local_corners[5]); + add_edge_points(local_corners[2], local_corners[6]); + add_edge_points(local_corners[3], local_corners[7]); + } + + bool is_visible = false; + + for (CountT i = 0; i < num_points_to_check; ++i) { // check all points + Vector3 target_point_world = target_world_center + target_rot_comp.rotateVec(local_points_to_check[i]); + + Vector3 vec_observer_to_target_point = target_point_world - observer_pos_3d; + float dist_to_target_point = vec_observer_to_target_point.length(); + + if (dist_to_target_point < 0.1f) { // add to visible if really close + is_visible = true; + break; // early return since one clear ray is enough + } + Vector3 normalized_ray_dir_to_target_point = vec_observer_to_target_point / dist_to_target_point; + + bool point_ray_occluded = false; + for (CountT occluder_idx = 0; occluder_idx < objects_to_filter.size(); ++occluder_idx) { + Entity potential_occluder_entity = objects_to_filter[occluder_idx]; + if (potential_occluder_entity == target_entity) { + continue; // Don't check occlusion against self + } + + const Position& occluder_pos_comp = ctx.get(potential_occluder_entity); + const Rotation& occluder_rot_comp = ctx.get(potential_occluder_entity); + const VehicleSize& occluder_vehicle_size = ctx.get(potential_occluder_entity); + + Diag3x3 occluder_dims_from_vehicle_size = { + occluder_vehicle_size.width, + occluder_vehicle_size.length, + occluder_vehicle_size.height + }; + + AABB local_aabb = { + {-0.5f, -0.5f, -0.5f}, + { 0.5f, 0.5f, 0.5f} + }; + + AABB world_occluder_aabb = local_aabb.applyTRS( + occluder_pos_comp, + occluder_rot_comp, + occluder_dims_from_vehicle_size + ); + + // inverse ray direction + Diag3x3 inv_ray_d = { + (normalized_ray_dir_to_target_point.x == 0.f) ? copysignf(FLT_MAX, normalized_ray_dir_to_target_point.x) : 1.f / normalized_ray_dir_to_target_point.x, + (normalized_ray_dir_to_target_point.y == 0.f) ? copysignf(FLT_MAX, normalized_ray_dir_to_target_point.y) : 1.f / normalized_ray_dir_to_target_point.y, + (normalized_ray_dir_to_target_point.z == 0.f) ? copysignf(FLT_MAX, normalized_ray_dir_to_target_point.z) : 1.f / normalized_ray_dir_to_target_point.z + }; + + float hit_t_occluder = 0.f; + if (world_occluder_aabb.rayIntersects(observer_pos_3d, inv_ray_d, 0.01f, dist_to_target_point - 0.01f, hit_t_occluder)) { + point_ray_occluded = true; + break; + } + } + if (!point_ray_occluded) { + is_visible = true; + break; + } + } + + if (is_visible) { + objects_to_filter[visible_count++] = target_entity; + } + } + + return visible_count; } inline void collectPartnerObsSystem(Engine &ctx, @@ -194,13 +446,37 @@ inline void collectPartnerObsSystem(Engine &ctx, if(ctx.data().params.disableClassicalObs) return; + // User config + // viewRadius (float), viewConeHalfAngle (float), removeOccludedAgents (bool; False = no filtering), + + // to write partner features into array auto &partner_obs = ctx.get(agent_iface.e); + // Get agent's heading from rotation + float heading = utils::quatToYaw(rot); + float viewRadius = ctx.data().params.observationRadius; + float viewAngle = ctx.data().params.viewConeHalfAngle * 2.0f; // Convert half-angle to full angle + const Action &action = ctx.get(agent_iface.e); + float headAngle = ctx.get(agent_iface.e).controlled ? action.classic.headAngle : 0.f; + + ViewField vf(pos, heading, viewRadius, viewAngle, headAngle); - CountT arrIndex = 0; CountT agentIdx = 0; - while(agentIdx < ctx.data().numAgents - 1) - { - Entity other = other_agents.e[agentIdx++]; + // broad phase: remove if not in view field + remove self + Entity objectsDynamicBuffer[consts::kMaxAgentCount - 1]; + CountT dynamicCount = visibleCandidatesDynamic(ctx, vf, other_agents, agent_iface.e, objectsDynamicBuffer); + Span objectsDynamic(objectsDynamicBuffer, dynamicCount); + + // narrow phase: raycast to get occlusion by other dynamic objects + if (ctx.data().params.removeOccludedAgents) { + dynamicCount = filterByOcclusionAll(ctx, vf, objectsDynamic); + } + // add observations to array partner_obs.obs based on filtered list + CountT arrIndex = 0; + for (CountT i = 0; i < dynamicCount; ++i) { + Entity other = objectsDynamicBuffer[i]; + // future optimization: k nearest maybe in case of many agents in view + if (arrIndex >= consts::kMaxAgentCount - 1) break; + const Position &other_position = ctx.get(other); const Velocity &other_velocity = ctx.get(other); const Rotation &other_rot = ctx.get(other); @@ -211,13 +487,8 @@ inline void collectPartnerObsSystem(Engine &ctx, float relative_speed = other_velocity.linear.length(); // Design decision: return the speed of the other agent directly Rotation relative_orientation = rot.inv() * other_rot; - float relative_heading = utils::quatToYaw(relative_orientation); - if(relative_pos.length() > ctx.data().params.observationRadius) - { - continue; - } partner_obs.obs[arrIndex++] = { .speed = relative_speed, .position = relative_pos, @@ -227,6 +498,8 @@ inline void collectPartnerObsSystem(Engine &ctx, .id = (float)ctx.get(ctx.get(other).e).id }; } + + // Zero out remaining entries while(arrIndex < consts::kMaxAgentCount - 1) { partner_obs.obs[arrIndex++] = PartnerObservation::zero(); } @@ -241,7 +514,26 @@ inline void collectMapObservationsSystem(Engine &ctx, return; auto &map_obs = ctx.get(agent_iface.e); + + // User config (some of it not implemented yet, but assume it will be): + // viewRadius (float), viewConeHalfAngle (float), removeOccludedAgents (bool; False = no filtering), + + // Get agent's heading from rotation + float heading = utils::quatToYaw(rot); + float view_radius = ctx.data().params.observationRadius; + float view_angle = ctx.data().params.viewConeHalfAngle * 2.0f; + const Action &action = ctx.get(agent_iface.e); + float headAngle = ctx.get(agent_iface.e).controlled ? action.classic.headAngle : 0.f; + ViewField vf(pos, heading, view_radius, view_angle, headAngle); + + // broad phase: remove if not in view field + remove self + Entity objectsStaticBuffer[consts::kMaxAgentMapObservationsCount]; + CountT staticCount = visibleCandidatesStatic(ctx, vf, objectsStaticBuffer); + + // Further filtering: narrow phase based on occlusion from dynamic objects + // But this would require removing the parallelism of the collectPartnerObsSystem and collectMapObservationsSystem + const auto alg = ctx.data().params.roadObservationAlgorithm; if (alg == FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering) { selectKNearestRoadEntities( @@ -252,9 +544,12 @@ inline void collectMapObservationsSystem(Engine &ctx, assert(alg == FindRoadObservationsWith::AllEntitiesWithRadiusFiltering); utils::ReferenceFrame referenceFrame(pos.xy(), rot); - CountT arrIndex = 0; CountT roadIdx = 0; - while(roadIdx < ctx.data().numRoads && arrIndex < consts::kMaxAgentMapObservationsCount) { - Entity road = ctx.data().roads[roadIdx++]; + CountT arrIndex = 0; + + for (CountT i = 0; i < staticCount; ++i) { + Entity road = objectsStaticBuffer[i]; + if (arrIndex >= consts::kMaxAgentMapObservationsCount) break; + auto roadPos = ctx.get(road); auto roadRot = ctx.get(road); @@ -264,26 +559,22 @@ inline void collectMapObservationsSystem(Engine &ctx, } map_obs.obs[arrIndex] = referenceFrame.observationOf( - roadPos, roadRot, ctx.get(road), ctx.get(road), static_cast(ctx.get(road).id), ctx.get(road)); + roadPos, roadRot, ctx.get(road), ctx.get(road), + static_cast(ctx.get(road).id), ctx.get(road)); arrIndex++; } + + // Zero out remaining entries while (arrIndex < consts::kMaxAgentMapObservationsCount) { map_obs.obs[arrIndex++] = MapObservation::zero(); } } -// Make the agents easier to control by zeroing out their velocity -// after each step. -inline void agentZeroVelSystem(Engine &, - Velocity &vel) -{ - vel.linear.x = 0; - vel.linear.y = 0; - vel.linear.z = 0; - vel.angular = Vector3::zero(); +inline void zeroVelocity(Velocity &velocity) { + velocity.linear = Vector3::zero(); + velocity.angular = Vector3::zero(); } - inline void movementSystem(Engine &e, const AgentInterfaceEntity &agent_iface, VehicleSize &size, @@ -292,49 +583,70 @@ inline void movementSystem(Engine &e, Velocity &velocity, CollisionDetectionEvent& collisionEvent, const ResponseType &responseType) { - if (collisionEvent.hasCollided.load_relaxed()) { - switch (e.data().params.collisionBehaviour) { + + if (responseType == ResponseType::Static) { + // Do nothing. The agent is static. + // Agent can only be static if isStaticAgentControlled is set to true. + // If agent is static, we dont want to teleport it away in case of collision or goal completion + return; + } + + if (collisionEvent.hasCollided.load_relaxed()) + { + switch (e.data().params.collisionBehaviour){ case CollisionBehaviour::AgentStop: + { e.get(agent_iface.e).v = 1; - agentZeroVelSystem(e, velocity); - break; + zeroVelocity(velocity); + return; + } case CollisionBehaviour::AgentRemoved: + { e.get(agent_iface.e).v = 1; position = consts::kPaddingPosition; - agentZeroVelSystem(e, velocity); - break; + zeroVelocity(velocity); + return; + } case CollisionBehaviour::Ignore: - // Reset collision state at the start of each timestep. + { // Reset collision state at the start of each timestep. // This ensures the collision state is only true if the agent collided in the current timestep. collisionEvent.hasCollided.store_relaxed(0); // Reset the collision state. - Info& info = e.get(agent_iface.e); + Info &info = e.get(agent_iface.e); info.collidedWithRoad = info.collidedWithVehicle = info.collidedWithNonVehicle = 0; break; + } } } - const auto &controlledState = e.get(agent_iface.e); + // Check if the agent is done + if (e.get(agent_iface.e).v) { + // This case only happens if the agent is done for reaching goal or episode end or ignoring collisions + if (e.get(agent_iface.e).reachedGoal) { + switch (e.data().params.goalBehaviour){ + case GoalBehaviour::Remove: + { + position = consts::kPaddingPosition; + zeroVelocity(velocity); + return; + } - if (responseType == ResponseType::Static) { - // Do nothing. The agent is static. - // Agent can only be static if isStaticAgentControlled is set to true. - return; - } + case GoalBehaviour::Stop: + { + zeroVelocity(velocity); + return; + } - if (e.get(agent_iface.e).v && responseType != ResponseType::Static) { - // Case: Agent has not collided but is done. - // This can only happen if the agent has reached goal or the episode has ended. - // In that case we teleport the agent. The agent will not collide with anything. - position = consts::kPaddingPosition; - velocity.linear.x = 0; - velocity.linear.y = 0; - velocity.linear.z = 0; - velocity.angular = Vector3::zero(); - return; + case GoalBehaviour::Ignore: + { + break; // We dont want to return here because the agent is still controlled + } + } + } } + const auto &controlledState = e.get(agent_iface.e); if (controlledState.controlled) { Action &action = e.get(agent_iface.e); switch (e.data().params.dynamicsModel) { @@ -398,7 +710,7 @@ inline void lidarSystem(Engine &ctx, Entity e, const AgentInterfaceEntity &agent auto traceRay = [&](int32_t idx, float offset, LidarSample *samples) { // float theta = 2.f * math::pi * ( - // float(idx) / float(consts::numLidarSamples)); + // float(idx) / float(consts::numLidarSamples)); float head_angle = ctx.get(agent_iface.e).controlled ? action.classic.headAngle : 0.f; float theta = consts::lidarAngle * (2 * float(idx) / float(consts::numLidarSamples) - 1) + head_angle; float x = cosf(theta); @@ -456,7 +768,7 @@ inline void collectBevObservationsSystem(Engine &ctx, const Position &pos, const Rotation &rot, const OtherAgents &other_agents, - const AgentInterfaceEntity &agent_iface) + const AgentInterfaceEntity &agent_iface) { if(ctx.data().params.disableClassicalObs) return; @@ -472,7 +784,7 @@ inline void collectBevObservationsSystem(Engine &ctx, } utils::ReferenceFrame referenceFrame(pos.xy(), rot); - + // Roads CountT roadIdx = 0; CountT arrIndex = 0; @@ -482,14 +794,14 @@ inline void collectBevObservationsSystem(Engine &ctx, auto roadPos = ctx.get(road); auto roadRot = ctx.get(road); const MapObservation &map_obs = referenceFrame.observationOf( - roadPos, - roadRot, - ctx.get(road), - ctx.get(road), - static_cast(ctx.get(road).id), + roadPos, + roadRot, + ctx.get(road), + ctx.get(road), + static_cast(ctx.get(road).id), ctx.get(road) - ); - + ); + auto dist = referenceFrame.distanceTo(roadPos); if (dist > ctx.data().params.observationRadius) continue; @@ -498,9 +810,9 @@ inline void collectBevObservationsSystem(Engine &ctx, float rel_yaw = map_obs.heading; auto new_scale = map_obs.scale; new_scale.d1 = std::max( //Ensure minimum segment width - map_obs.scale.d1, + map_obs.scale.d1, (2 * ctx.data().params.observationRadius / consts::bev_rasterization_resolution) - ); + ); rasterizer::rasterizeRotatedRectangle( bev_obs, @@ -514,13 +826,13 @@ inline void collectBevObservationsSystem(Engine &ctx, ); arrIndex++; } - + // Other agents CountT agentIdx = 0; while (agentIdx < ctx.data().numAgents - 1) { Entity other = other_agents.e[agentIdx++]; - + const Position &other_position = ctx.get(other); const Rotation &other_rot = ctx.get(other); const VehicleSize &other_size = ctx.get(other); @@ -533,7 +845,7 @@ inline void collectBevObservationsSystem(Engine &ctx, if(relative_pos.length() > ctx.data().params.observationRadius) continue; - + rasterizer::rasterizeRotatedRectangle( bev_obs, relative_pos, @@ -606,18 +918,19 @@ inline void doneSystem(Engine &ctx, done.v = 1; } - // An agent can be done early if it reaches the goal - if (done.v != 1 || info.reachedGoal != 1) - { - float dist = (position.xy() - goal.position).length(); - if (dist < ctx.data().params.rewardParams.distanceToGoalThreshold) - { - done.v = 1; - info.reachedGoal = 1; - } - } + // // An agent can be done early if it reaches the goal + // if (done.v != 1 || info.reachedGoal != 1) + // { + // float dist = (position.xy() - goal.position).length(); + // if (dist < ctx.data().params.rewardParams.distanceToGoalThreshold) + // { + // done.v = 1; + // info.reachedGoal = 1; + // } + // } } + void collisionDetectionSystem(Engine &ctx, const CandidateCollision &candidateCollision) { @@ -654,7 +967,7 @@ void collisionDetectionSystem(Engine &ctx, return false; }; - if (isInvalidExpertOrDone(candidateCollision.a) || + if (isInvalidExpertOrDone(candidateCollision.a) || isInvalidExpertOrDone(candidateCollision.b)) { return; @@ -842,7 +1155,7 @@ void setupRestOfTasks(TaskGraphBuilder &builder, const Sim::Config &cfg, // Progress, // OtherAgents, // EntityType, - // CollisionDetectionEvent, + // CollisionDetectionEvent,f // AgentInterfaceEntity // >>({clear_tmp}); @@ -862,7 +1175,7 @@ void setupRestOfTasks(TaskGraphBuilder &builder, const Sim::Config &cfg, Rotation, OtherAgents, AgentInterfaceEntity>>({clear_tmp}); - + auto collect_map_obs = builder.addToGraph( builder, {sort_agents}); @@ -945,7 +1258,7 @@ static void setupStepTasks(TaskGraphBuilder &builder, const Sim::Config &cfg) { Velocity, CollisionDetectionEvent, ResponseType - >>({}); + >>({}); setupRestOfTasks(builder, cfg, {moveSystem}, true); } @@ -1010,4 +1323,4 @@ Sim::Sim(Engine &ctx, // On the CPU it is a no-op. MADRONA_BUILD_MWGPU_ENTRY(Engine, Sim, Sim::Config, WorldInit); -} \ No newline at end of file +} diff --git a/src/sim.hpp b/src/sim.hpp index 16ddc2e81..b1084995f 100755 --- a/src/sim.hpp +++ b/src/sim.hpp @@ -41,7 +41,9 @@ enum class ExportID : uint32_t { DeletedAgents, MapName, ScenarioId, - NumExports + VBDTrajectory, + TrafficLights, + NumExports // NumExports should always be the last entry in this enum }; // Stores values for the ObjectID component that links entities to @@ -80,26 +82,26 @@ struct Sim : public madrona::WorldBase { const Config &cfg); // Sim::setupTasks is called during initialization to build - // the system task graph that will be invoked by the + // the system task graph that will be invoked by the // Manager class (src/mgr.hpp) for each step. static void setupTasks(madrona::TaskGraphManager &taskgraph_mgr, const Config &cfg); - const std::pair collisionPairs[20] = { - {EntityType::Pedestrian, EntityType::RoadEdge}, - {EntityType::Pedestrian, EntityType::RoadLine}, - {EntityType::Pedestrian, EntityType::RoadLane}, - {EntityType::Pedestrian, EntityType::CrossWalk}, - {EntityType::Pedestrian, EntityType::SpeedBump}, - {EntityType::Cyclist, EntityType::RoadEdge}, - {EntityType::Cyclist, EntityType::RoadLine}, - {EntityType::Cyclist, EntityType::RoadLane}, - {EntityType::Cyclist, EntityType::CrossWalk}, - {EntityType::Cyclist, EntityType::SpeedBump}, - {EntityType::Vehicle, EntityType::CrossWalk}, - {EntityType::Vehicle, EntityType::SpeedBump}, - {EntityType::Vehicle, EntityType::RoadLine}, - {EntityType::Vehicle, EntityType::RoadLane}}; + const std::pair collisionPairs[20] = { + {EntityType::Pedestrian, EntityType::RoadEdge}, + {EntityType::Pedestrian, EntityType::RoadLine}, + {EntityType::Pedestrian, EntityType::RoadLane}, + {EntityType::Pedestrian, EntityType::CrossWalk}, + {EntityType::Pedestrian, EntityType::SpeedBump}, + {EntityType::Cyclist, EntityType::RoadEdge}, + {EntityType::Cyclist, EntityType::RoadLine}, + {EntityType::Cyclist, EntityType::RoadLane}, + {EntityType::Cyclist, EntityType::CrossWalk}, + {EntityType::Cyclist, EntityType::SpeedBump}, + {EntityType::Vehicle, EntityType::CrossWalk}, + {EntityType::Vehicle, EntityType::SpeedBump}, + {EntityType::Vehicle, EntityType::RoadLine}, + {EntityType::Vehicle, EntityType::RoadLane}}; // The constructor is called for each world during initialization. // Config is global across all worlds, while WorldInit (src/init.hpp) diff --git a/src/types.hpp b/src/types.hpp index 0ac27d418..f18bf9683 100755 --- a/src/types.hpp +++ b/src/types.hpp @@ -64,7 +64,7 @@ namespace madrona_gpudrive NUM_TYPES = 21, }; - struct AgentID + struct AgentID { int32_t id; }; @@ -92,7 +92,7 @@ namespace madrona_gpudrive struct ResetMap { int32_t reset; - }; + }; struct DeletedAgents { int32_t deletedAgents[consts::kMaxAgentCount]; @@ -132,7 +132,7 @@ namespace madrona_gpudrive ClassicAction classic; DeltaAction delta; StateAction state; - + static inline Action zero() { return Action{ @@ -191,7 +191,9 @@ namespace madrona_gpudrive VehicleSize vehicle_size; Goal goal; float collisionState; + float goalState; float id; + float steerAngle; static inline SelfObservation zero() { return SelfObservation{ @@ -199,11 +201,13 @@ namespace madrona_gpudrive .vehicle_size = {0, 0, 0}, .goal = {.position = {0, 0}}, .collisionState = 0, - .id = -1}; + .goalState = 0, + .id = -1, + .steerAngle = 0}; } }; - const size_t SelfObservationExportSize = 8; // 1 + 3 + 2 + 1 + 1 + const size_t SelfObservationExportSize = 10; // 1 + 3 + 2 + 1 + 1 + 1 static_assert(sizeof(SelfObservation) == sizeof(float) * SelfObservationExportSize); @@ -310,7 +314,7 @@ namespace madrona_gpudrive { BevObservation obs[consts::bev_rasterization_resolution][consts::bev_rasterization_resolution]; }; - + const size_t BevObservationExportSize = 1; static_assert(sizeof(BevObservations) == BevObservationExportSize * sizeof(float) * consts::bev_rasterization_resolution * consts::bev_rasterization_resolution); @@ -360,6 +364,28 @@ namespace madrona_gpudrive static_assert(sizeof(Trajectory) == sizeof(float) * TrajectoryExportSize); + struct VBDTrajectory + { + // For each agent, store the full VBD trajectory (x, y, yaw, vx, vy, valid) + // The tensor has shape [traj_length, 6] + float trajectories[consts::kTrajectoryLength][6]; + + static inline void zero(VBDTrajectory& vbd_traj) + { + for (int i = 0; i < consts::kTrajectoryLength; i++) + { + for (int j = 0; j < 6; j++) + { + vbd_traj.trajectories[i][j] = 0.0f; + } + } + } + }; + + const size_t VBDTrajectoryExportSize = consts::kTrajectoryLength * 6; + + static_assert(sizeof(VBDTrajectory) == sizeof(float) * VBDTrajectoryExportSize); + struct Shape { int32_t agentEntityCount; @@ -411,24 +437,60 @@ namespace madrona_gpudrive const size_t ScenarioIdExportSize = 32; static_assert(sizeof(ScenarioId) == sizeof(char32_t) * ScenarioIdExportSize); - //Metadata struct : using agent IDs. + enum class TLState : int32_t + { + Unknown = 0, + Stop = 1, + Caution = 2, + Go = 3 + }; + + struct TrafficLightState + { + // Lane ID for this traffic light + float laneId = 0; + + // Arrays of state data for each timestep + float state[consts::kTrajectoryLength] = {}; + float x [consts::kTrajectoryLength] = {}; + float y [consts::kTrajectoryLength] = {}; + float z [consts::kTrajectoryLength] = {}; + float timeIndex[consts::kTrajectoryLength] = {}; + // Number of valid states + float numStates = 0; + }; + + // 1 (lane_id) + 5 (state, x, y, z, timeIndex) + 1 (numStates) = 6 + const size_t TrafficLightsStateExportSize = 1 + (consts::kTrajectoryLength) * 5 + 1; + static_assert(sizeof(TrafficLightState) == sizeof(float) * TrafficLightsStateExportSize); + + struct TrafficLights + { + TrafficLightState trafficLights[consts::kMaxTrafficLightCount]; + }; + + const size_t TrafficLightsExportSize = consts::kMaxTrafficLightCount * TrafficLightsStateExportSize; + static_assert(sizeof(TrafficLights) == sizeof(float) * TrafficLightsExportSize); + struct MetaData { - int32_t isSdc; - int32_t isObjectOfInterest; - int32_t isTrackToPredict; - int32_t difficulty; + float isSdc; + float isObjectOfInterest; + float isTrackToPredict; + float difficulty; + float avgZ; static inline void zero(MetaData& metadata) { - metadata.isSdc = -1; - metadata.isObjectOfInterest = -1; - metadata.isTrackToPredict = -1; - metadata.difficulty = -1; + metadata.isSdc = -1.0f; + metadata.isObjectOfInterest = -1.0f; + metadata.isTrackToPredict = -1.0f; + metadata.difficulty = -1.0f; + metadata.avgZ = 0.0f; } }; - const size_t MetaDataExportSize = 4; - static_assert(sizeof(MetaData) == sizeof(int32_t) * MetaDataExportSize); + const size_t MetaDataExportSize = 5; + static_assert(sizeof(MetaData) == sizeof(int32_t) * (MetaDataExportSize - 1) + sizeof(float)); struct AgentInterface : public madrona::Archetype< Action, @@ -447,9 +509,8 @@ namespace madrona_gpudrive Trajectory, AgentID, MetaData, - + VBDTrajectory, ControlledState // Drive Logic - > { }; diff --git a/test_scenario_ids.pkl b/test_scenario_ids.pkl new file mode 100644 index 000000000..9fae33556 Binary files /dev/null and b/test_scenario_ids.pkl differ