From d3b0e00d057b7030b186d26d08f68980a9c05f3e Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sat, 17 Aug 2024 16:05:33 +0800 Subject: [PATCH 01/13] add exchange hdf5 sequence --- data_process/test_convert_mujoco.ipynb | 105 +++++++++++++++++++++++-- 1 file changed, 98 insertions(+), 7 deletions(-) diff --git a/data_process/test_convert_mujoco.ipynb b/data_process/test_convert_mujoco.ipynb index 617b399..f5f2526 100644 --- a/data_process/test_convert_mujoco.ipynb +++ b/data_process/test_convert_mujoco.ipynb @@ -12,26 +12,105 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "DEBUG:h5py._conv:Creating converter from 7 to 5\n", + "DEBUG:h5py._conv:Creating converter from 5 to 7\n", + "DEBUG:h5py._conv:Creating converter from 7 to 5\n", + "DEBUG:h5py._conv:Creating converter from 5 to 7\n" + ] + } + ], "source": [ "import convert_all as crd" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 2, "metadata": {}, "outputs": [], + "source": [ + "#如果左右臂数据采集反了，交换前7个和后7个数据\n", + "import h5py\n", + "import os\n", + "\n", + "def print_hdf5_structure(hdf5_file_path):\n", + " with h5py.File(hdf5_file_path, 'r') as f:\n", + " def print_attrs(name, obj):\n", + " print(name)\n", + " f.visititems(print_attrs)\n", + "\n", + "def swap_data(hdf5_file_path):\n", + " with h5py.File(hdf5_file_path, 'r+') as f:\n", + " # 读取 action 和 qpos 数据\n", + " action_data = f['/action'][:]\n", + " qpos_data = f['observations/qpos'][:]\n", + " \n", + " # 交换 action 数据的前 7 个和后 7 个数据\n", + " action_data[:, :7], action_data[:, -7:] = action_data[:, -7:], action_data[:, :7].copy()\n", + " \n", + " # 交换 qpos 数据的前 7 个和后 7 个数据\n", + " qpos_data[:, :7], qpos_data[:, -7:] = qpos_data[:, -7:], qpos_data[:, :7].copy()\n", + " \n", + " # 将交换后的数据写回文件\n", + " f['/action'][:] = action_data\n", + " f['observations/qpos'][:] = qpos_data\n", + "# 文件路径模板\n", + "# file_template = '/home/qiuzhi/IMITATION_LEARNING/Imitate-All/demonstrations/hdf5/dual_put_two_cups_to_bowl/episode_{:02d}.hdf5'\n", + "\n", + "# # 遍历指定范围内的所有文件\n", + "# for episode in range(30, 50):\n", + "# hdf5_file_path = file_template.format(episode)\n", + "# if os.path.exists(hdf5_file_path):\n", + "# print(f\"Processing {hdf5_file_path}\")\n", + "# swap_data(hdf5_file_path)\n", + "# else:\n", + "# print(f\"File {hdf5_file_path} does not exist\")\n", + "# print_hdf5_structure(hdf5_file_path)\n", + "hdf5_file_path = '/home/qiuzhi/IMITATION_LEARNING/Imitate-All/demonstrations/hdf5/dual_put_two_cups_to_bowl/episode_40.hdf5'\n", + "swap_data(hdf5_file_path)" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "Data Converting: 0%| | 0/50 [00:00 5\u001b[0m data \u001b[38;5;241m=\u001b[39m \u001b[43mcrd\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mraw_to_dict\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m 6\u001b[0m \u001b[43m \u001b[49m\u001b[43mraw_dir\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 7\u001b[0m \u001b[43m \u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mrecords.json\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 8\u001b[0m \u001b[43m \u001b[49m\u001b[43mvideo_file_names\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mNone\u001b[39;49;00m\u001b[43m,\u001b[49m\n\u001b[1;32m 9\u001b[0m \u001b[43m \u001b[49m\u001b[43mflatten_mode\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mhdf5\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\n\u001b[1;32m 10\u001b[0m \u001b[43m \u001b[49m\u001b[43mname_converter\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m{\u001b[49m\n\u001b[1;32m 11\u001b[0m \u001b[43m \u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43m/obs/jq\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m:\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43m/observations/qpos\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\n\u001b[1;32m 12\u001b[0m \u001b[43m \u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43m/act\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m:\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43m/action\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\n\u001b[1;32m 13\u001b[0m \u001b[43m \u001b[49m\u001b[43m}\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 14\u001b[0m \u001b[43m \u001b[49m\u001b[43mpre_process\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mNone\u001b[39;49;00m\n\u001b[1;32m 15\u001b[0m \u001b[43m)\u001b[49m\n", + "File \u001b[0;32m~/IMITATION_LEARNING/Imitate-All/data_process/convert_all.py:336\u001b[0m, in \u001b[0;36mraw_to_dict\u001b[0;34m(raw_dir, state_file_names, video_file_names, flatten_mode, name_converter, pre_process, concatenater, key_filter)\u001b[0m\n\u001b[1;32m 332\u001b[0m data_flat\u001b[38;5;241m.\u001b[39mpop(key, \u001b[38;5;28;01mNone\u001b[39;00m)\n\u001b[1;32m 333\u001b[0m \u001b[38;5;66;03m# if raw_data.pop(key, None) is None:\u001b[39;00m\n\u001b[1;32m 334\u001b[0m \u001b[38;5;66;03m# print(f\"Key {key} is not found in {state_file}.\")\u001b[39;00m\n\u001b[1;32m 335\u001b[0m \u001b[38;5;66;03m# flatten the sub list\u001b[39;00m\n\u001b[0;32m--> 336\u001b[0m lenths \u001b[38;5;241m=\u001b[39m \u001b[43mflatten_sublist_in_flat_dict\u001b[49m\u001b[43m(\u001b[49m\u001b[43mdata_flat\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 337\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m key, value \u001b[38;5;129;01min\u001b[39;00m lenths\u001b[38;5;241m.\u001b[39mcopy()\u001b[38;5;241m.\u001b[39mitems():\n\u001b[1;32m 338\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m value \u001b[38;5;241m==\u001b[39m \u001b[38;5;241m0\u001b[39m:\n\u001b[1;32m 339\u001b[0m \u001b[38;5;66;03m# remove not used keys\u001b[39;00m\n\u001b[1;32m 340\u001b[0m \u001b[38;5;66;03m# print(f\"Remove not used key: {key}\")\u001b[39;00m\n", + "File \u001b[0;32m~/IMITATION_LEARNING/Imitate-All/data_process/convert_all.py:62\u001b[0m, in \u001b[0;36mflatten_sublist_in_flat_dict\u001b[0;34m(d)\u001b[0m\n\u001b[1;32m 60\u001b[0m trajs_lenth \u001b[38;5;241m=\u001b[39m {}\n\u001b[1;32m 61\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m key, traj \u001b[38;5;129;01min\u001b[39;00m d\u001b[38;5;241m.\u001b[39mitems():\n\u001b[0;32m---> 62\u001b[0m traj_lenth \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mlen\u001b[39;49m\u001b[43m(\u001b[49m\u001b[43mtraj\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 63\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m traj_lenth \u001b[38;5;241m>\u001b[39m \u001b[38;5;241m0\u001b[39m:\n\u001b[1;32m 64\u001b[0m point \u001b[38;5;241m=\u001b[39m traj[\u001b[38;5;241m0\u001b[39m]\n", + "\u001b[0;31mTypeError\u001b[0m: object of type 'int' has no len()" + ] + } + ], "source": [ "# get all low_dim data\n", - "task_name = \"mujoco_stack_cups\"\n", + "task_name = \"example_task\"\n", "raw_root_dir = \"../demonstrations/raw\"\n", "raw_dir = f\"{raw_root_dir}/{task_name}\"\n", "data = crd.raw_to_dict(\n", " raw_dir,\n", - " [\"obs_action.json\"],\n", + " [\"records.json\"],\n", " video_file_names=None,\n", " flatten_mode=\"hdf5\",\n", " name_converter={\n", @@ -44,9 +123,21 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": {}, - "outputs": [], + "outputs": [ + { + "ename": "NameError", + "evalue": "name 'data' 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[5], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;28mlen\u001b[39m(\u001b[38;5;28mlist\u001b[39m(\u001b[43mdata\u001b[49m\u001b[38;5;241m.\u001b[39mkeys())))\n\u001b[1;32m 2\u001b[0m \u001b[38;5;28mprint\u001b[39m(data\u001b[38;5;241m.\u001b[39mkeys())\n\u001b[1;32m 3\u001b[0m \u001b[38;5;28mprint\u001b[39m(data[\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m000\u001b[39m\u001b[38;5;124m'\u001b[39m]\u001b[38;5;241m.\u001b[39mkeys())\n", + "\u001b[0;31mNameError\u001b[0m: name 'data' is not defined" + ] + } + ], "source": [ "print(len(list(data.keys())))\n", "print(data.keys())\n", From ce4fc2abe95ebbc16c87be67cea06a30cb946c30 Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sun, 18 Aug 2024 16:16:46 +0800 Subject: [PATCH 02/13] update policy_maker --- policy_evaluate.py | 46 ++++++++++++++++++++++++++++++---------------- 1 file changed, 30 insertions(+), 16 deletions(-) diff --git a/policy_evaluate.py b/policy_evaluate.py index deacb35..f40860f 100644 --- a/policy_evaluate.py +++ b/policy_evaluate.py @@ -80,22 +80,27 @@ def eval_bc(config, ckpt_name, env: CommonEnv): policies: Dict[str, list] = {} if ensemble is None: logging.info("policy_config:", policy_config) - # if ensemble is not None: + # if ensemble is None: policy_config["max_timesteps"] = max_timesteps # TODO: remove this policy = make_policy(policy_config, "eval") policies["Group1"] = (policy,) else: - logging.info("ensemble config:", ensemble) - ensembler = ensemble.pop("ensembler") - for gr_name, gr_cfgs in ensemble.items(): - policies[gr_name] = [] - for index, gr_cfg in enumerate(gr_cfgs): - - policies[gr_name].append( - make_policy( - gr_cfg["policies"][index]["policy_class"], - ) - ) + logging.info("policy_config:", policy_config) + # if ensemble is not None: + policy_config["max_timesteps"] = max_timesteps # TODO: remove this + policy = make_policy(policy_config, "eval") + #policy group: + # logging.info("ensemble config:", ensemble) + # ensembler = ensemble.pop("ensembler") + # for gr_name, gr_cfgs in ensemble.items(): + # policies[gr_name] = [] + # for index, gr_cfg in enumerate(gr_cfgs): + + # policies[gr_name].append( + # make_policy( + # gr_cfg["policies"][index]["policy_class"], + # ) + # ) # add action filter # TODO: move to policy maker as wrappers @@ -124,12 +129,12 @@ def eval_bc(config, ckpt_name, env: CommonEnv): post_process = lambda a: a # evaluation loop - if hasattr(policy, "eval"): policy.eval() + if hasattr(policy, "eval"): policy.eval() #method from torch.nn.Module env_max_reward = 0 episode_returns = [] highest_rewards = [] policy_sig = inspect.signature(policy).parameters - for rollout_id in range(num_rollouts): + for rollout_id in range(num_rollouts): #start one evaluation # evaluation loop all_time_actions = torch.zeros( @@ -141,7 +146,7 @@ def eval_bc(config, ckpt_name, env: CommonEnv): qpos_list = [] action_list = [] rewards = [] - with torch.inference_mode(): + with torch.inference_mode():#禁用梯度计算 logging.info("Reset environment...") env.reset(sleep_time=1) logging.info(f"Current rollout: {rollout_id} for {ckpt_name}.") @@ -150,7 +155,7 @@ def eval_bc(config, ckpt_name, env: CommonEnv): break ts = env.reset() if hasattr(policy, "reset"): policy.reset() - try: + try: #start evaluation for t in tqdm(range(max_timesteps)): start_time = time.time() image_list.append(ts.observation["images"]) @@ -398,6 +403,15 @@ def eval_bc(config, ckpt_name, env: CommonEnv): help="time_stamp", required=False, ) + parser.add_argument( + "-ts_1", + "--time_stamp_1", + action="store", + type=str, + help="time_stamp_1", + required=False, + ) + # save parser.add_argument( "-sd", "--save_dir", action="store", type=str, help="save_dir", required=False From 5cd8f4037ae35fe1d7d3737ee13ec5afb8ff1ede Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Tue, 3 Sep 2024 15:26:59 +0800 Subject: [PATCH 03/13] add task config --- task_configs/dual_put_cups_to_bowl.py | 100 ++++++++++++++++++++++++++ task_configs/mujoco_stack_cups.py | 65 +++++++++++++++++ 2 files changed, 165 insertions(+) create mode 100755 task_configs/dual_put_cups_to_bowl.py create mode 100755 task_configs/mujoco_stack_cups.py diff --git a/task_configs/dual_put_cups_to_bowl.py b/task_configs/dual_put_cups_to_bowl.py new file mode 100755 index 0000000..fc9d75c --- /dev/null +++ b/task_configs/dual_put_cups_to_bowl.py @@ -0,0 +1,100 @@ +from policies.common.maker import post_init_policies +from task_configs.template import ( + get_task_name, + replace_task_name, + set_paths, + activator, + TASK_CONFIG_DEFAULT, +) + +# def policy_maker(config:dict, stage=None): +# from policies.act.act import ACTPolicy +# from policies.common.maker import post_init_policies +# import logging +# import torch +# # TODO: add stage param to the policy class for convenience and simplicity +# # that is, do the following in the policy class __init__ method. +# policy = ACTPolicy(config) +# post_init_policies([policy], stage, [config["ckpt_path"]]) +# return policy +def policy_maker(config:dict, stage=None): + from policies.act.act import ACTPolicy + from policies.traditionnal.cnnmlp import CNNMLPPolicy + # from policies.diffusion.diffusion_policy import DiffusionPolicy + import logging + import torch + policy = ACTPolicy(config) + post_init_policies([policy], stage, [config["ckpt_path"]]) + policy_1 = CNNMLPPolicy(config) + post_init_policies([policy], stage, [config["ckpt_path_1"]]) + + if stage == "train": + return policy + + elif stage == "eval": + if TASK_CONFIG_DEFAULT["eval"]["ensemble"] == None: + return policy + else: + ckpt_path = config["ckpt_path"] + assert ckpt_path is not None, "ckpt_path must exist for loading policy" + # TODO: all policies should load the ckpt (policy maker should return a class) + + policy.cuda() + policy.eval() + def ensemble_policy(*args, **kwargs): + actions = policy(*args, **kwargs) + actions_2 = policy_1(*args, **kwargs) + # average the actions + actions = (actions + actions_2) / 2 + return actions + return ensemble_policy + + +def environment_maker(config:dict): + from envs.make_env import make_environment + env_config = config["environments"] + # TODO: use env_config only + return make_environment(config) + +@activator(False) +def augment_images(image): + from task_configs.config_augmentation.image.basic import color_transforms_1 + return color_transforms_1(image) + +# auto replace the task name in the default paths accoring to the file name +TASK_NAME = get_task_name(__file__) +replace_task_name(TASK_NAME, stats_name="dataset_stats.pkl", time_stamp="now") +# but we also show how to set the whole paths manually +# DATA_DIR = f"./data/hdf5/{TASK_NAME}" +# CKPT_DIR = f"./my_ckpt/{TASK_NAME}/ckpt" +# STATS_PATH = f"./my_ckpt/{TASK_NAME}/dataset_stats.pkl" +# set_paths(DATA_DIR, CKPT_DIR, STATS_PATH) # replace the default data and ckpt paths + +chunk_size = 25 +joint_num = 7 +robot_num = 2 +TASK_CONFIG_DEFAULT["common"]["camera_names"] = ["0"] +TASK_CONFIG_DEFAULT["common"]["state_dim"] = joint_num * robot_num +TASK_CONFIG_DEFAULT["common"]["action_dim"] = joint_num * robot_num +TASK_CONFIG_DEFAULT["common"]["policy_config"]["temporal_agg"] = True +TASK_CONFIG_DEFAULT["common"]["policy_config"]["chunk_size"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["num_queries"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["kl_weight"] = 10 +TASK_CONFIG_DEFAULT["common"]["policy_config"]["policy_maker"] = policy_maker + +TASK_CONFIG_DEFAULT["train"]["num_episodes"] = "ALL" +TASK_CONFIG_DEFAULT["train"]["num_epochs"] = 8000 +TASK_CONFIG_DEFAULT["train"]["batch_size"] = 24 +TASK_CONFIG_DEFAULT["train"]["learning_rate"] = 3e-5 +TASK_CONFIG_DEFAULT["train"]["pretrain_ckpt_path"] = "" +TASK_CONFIG_DEFAULT["train"]["pretrain_epoch_base"] = "AUTO" + +TASK_CONFIG_DEFAULT["eval"]["robot_num"] = 2 +TASK_CONFIG_DEFAULT["eval"]["joint_num"] = joint_num +TASK_CONFIG_DEFAULT["eval"]["start_joint"] = "AUTO" +TASK_CONFIG_DEFAULT["eval"]["max_timesteps"] = 400 +TASK_CONFIG_DEFAULT["eval"]["ensemble"] = None +TASK_CONFIG_DEFAULT["eval"]["environments"]["environment_maker"] = environment_maker + +# final config +TASK_CONFIG = TASK_CONFIG_DEFAULT diff --git a/task_configs/mujoco_stack_cups.py b/task_configs/mujoco_stack_cups.py new file mode 100755 index 0000000..a1ac3cc --- /dev/null +++ b/task_configs/mujoco_stack_cups.py @@ -0,0 +1,65 @@ + +from email import policy +from task_configs.template import ( + get_task_name, + replace_task_name, + set_paths, + activator, + TASK_CONFIG_DEFAULT, +) + +def policy_maker(config:dict, stage=None): + from policies.act.act import ACTPolicy + from policies.traditionnal.cnnmlp import CNNMLPPolicy + from policies.common.maker import post_init_policies + policy=ACTPolicy(config) + post_init_policies([policy], stage, [config["ckpt_path"]]) + return policy + +def environment_maker(config:dict): + from envs.make_env import make_environment + env_config = config["environments"] + # TODO: use env_config only + return make_environment(config) + +@activator(False) +def augment_images(image): + from task_configs.config_augmentation.image.basic import color_transforms_1 + return color_transforms_1(image) + +# auto replace the task name in the default paths accoring to the file name +TASK_NAME = get_task_name(__file__) +replace_task_name(TASK_NAME, stats_name="dataset_stats.pkl", time_stamp="now") +# but we also show how to set the whole paths manually +# DATA_DIR = f"./data/hdf5/{TASK_NAME}" +# CKPT_DIR = f"./my_ckpt/{TASK_NAME}/ckpt" +# STATS_PATH = f"./my_ckpt/{TASK_NAME}/dataset_stats.pkl" +# set_paths(DATA_DIR, CKPT_DIR, STATS_PATH) # replace the default data and ckpt paths + +chunk_size = 25 +joint_num = 7 +TASK_CONFIG_DEFAULT["common"]["camera_names"] = ["0"] +TASK_CONFIG_DEFAULT["common"]["state_dim"] = joint_num +TASK_CONFIG_DEFAULT["common"]["action_dim"] = joint_num +TASK_CONFIG_DEFAULT["common"]["policy_config"]["temporal_agg"] = True +TASK_CONFIG_DEFAULT["common"]["policy_config"]["chunk_size"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["num_queries"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["kl_weight"] = 10 +TASK_CONFIG_DEFAULT["common"]["policy_config"]["policy_maker"] = policy_maker + +TASK_CONFIG_DEFAULT["train"]["num_episodes"] = "ALL" +TASK_CONFIG_DEFAULT["train"]["num_epochs"] = 8000 +TASK_CONFIG_DEFAULT["train"]["batch_size"] = 16 +TASK_CONFIG_DEFAULT["train"]["learning_rate"] = 2e-5 +TASK_CONFIG_DEFAULT["train"]["pretrain_ckpt_path"] = "" +TASK_CONFIG_DEFAULT["train"]["pretrain_epoch_base"] = "AUTO" + +TASK_CONFIG_DEFAULT["eval"]["robot_num"] = 1 +TASK_CONFIG_DEFAULT["eval"]["joint_num"] = joint_num +TASK_CONFIG_DEFAULT["eval"]["start_joint"] = "AUTO" +TASK_CONFIG_DEFAULT["eval"]["max_timesteps"] = 100 +TASK_CONFIG_DEFAULT["eval"]["ensemble"] = None +TASK_CONFIG_DEFAULT["eval"]["environments"]["environment_maker"] = environment_maker + +# final config +TASK_CONFIG = TASK_CONFIG_DEFAULT From 9ff19affe3660f80c7725e201c2938a791d5f999 Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Tue, 3 Sep 2024 23:19:36 +0800 Subject: [PATCH 04/13] add task config --- task_configs/mujoco_stack_cups.py | 76 +++++++++++++++++++++++++++++-- task_configs/stack_cups.py | 76 +++++++++++++++++++++++++++++++ 2 files changed, 147 insertions(+), 5 deletions(-) create mode 100755 task_configs/stack_cups.py diff --git a/task_configs/mujoco_stack_cups.py b/task_configs/mujoco_stack_cups.py index a1ac3cc..06bb893 100755 --- a/task_configs/mujoco_stack_cups.py +++ b/task_configs/mujoco_stack_cups.py @@ -1,5 +1,10 @@ +from concurrent.futures import ThreadPoolExecutor from email import policy +from multiprocessing import Pool + +import torch +from policies.common.maker import post_init_policies from task_configs.template import ( get_task_name, replace_task_name, @@ -8,13 +13,74 @@ TASK_CONFIG_DEFAULT, ) + def policy_maker(config:dict, stage=None): from policies.act.act import ACTPolicy from policies.traditionnal.cnnmlp import CNNMLPPolicy - from policies.common.maker import post_init_policies - policy=ACTPolicy(config) - post_init_policies([policy], stage, [config["ckpt_path"]]) - return policy + # from policies.diffusion.diffusion_policy import DiffusionPolicy + with torch.inference_mode():#禁用梯度计算 + policy = ACTPolicy(config) + post_init_policies([policy], stage, [config["ckpt_path"]]) + + if "ckpt_path_1" in config: + policy_1 = CNNMLPPolicy(config) + post_init_policies([policy_1], stage, [config["ckpt_path_1"]]) + + if stage == "train": + return policy + + elif stage == "eval": + if TASK_CONFIG_DEFAULT["eval"]["ensemble"] == None: + return policy + else: + ckpt_path = config["ckpt_path"] + assert ckpt_path is not None, "ckpt_path must exist for loading policy" + # TODO: all policies should load the ckpt (policy maker should return a class) + + policy.cuda() + policy.eval() + policy_1.cuda() + policy_1.eval() + + + # def ensemble_policy(*args, **kwargs): + # #TODO：转换为并行操作 + # actions = policy(*args, **kwargs) + # actions_2 = policy_1(*args, **kwargs) + # # average the actions + # actions = (actions + actions_2) / 2 + # return actions + + def run_policy(policy, *args, **kwargs): + with torch.no_grad(): # 禁用计算图跟踪 + a_hat = policy(*args, **kwargs) + a_hat = a_hat.clone() # 在更新之前克隆 + return policy.temporal_ensembler.update(a_hat) + + def ensemble_policy(*args, **kwargs): + with ThreadPoolExecutor(max_workers=2) as executor: + future_policy = executor.submit(run_policy, policy, *args, **kwargs) + + future_policy_1 = executor.submit(run_policy, policy_1, *args, **kwargs) + + actions = future_policy.result() + actions_2 = future_policy_1.result() + + # average the actions + actions = (actions + actions_2) / 2 + return actions + + # 定义 reset 方法 + def reset(): + if hasattr(policy, "reset"): + policy.reset() + if hasattr(policy_1, "reset"): + policy_1.reset() + + # 将 reset 方法绑定到 ensemble_policy 函数上 + ensemble_policy.reset = reset + + return ensemble_policy def environment_maker(config:dict): from envs.make_env import make_environment @@ -58,7 +124,7 @@ def augment_images(image): TASK_CONFIG_DEFAULT["eval"]["joint_num"] = joint_num TASK_CONFIG_DEFAULT["eval"]["start_joint"] = "AUTO" TASK_CONFIG_DEFAULT["eval"]["max_timesteps"] = 100 -TASK_CONFIG_DEFAULT["eval"]["ensemble"] = None +TASK_CONFIG_DEFAULT["eval"]["ensemble"] = True TASK_CONFIG_DEFAULT["eval"]["environments"]["environment_maker"] = environment_maker # final config diff --git a/task_configs/stack_cups.py b/task_configs/stack_cups.py new file mode 100755 index 0000000..2b9a729 --- /dev/null +++ b/task_configs/stack_cups.py @@ -0,0 +1,76 @@ +from task_configs.template import ( + replace_task_name, + TASK_CONFIG_DEFAULT, + set_paths, + activator, +) +from task_configs.config_augmentation.image.basic import color_transforms_2 + +def policy_maker(policy_class, policy_config): + print("custom policy_maker") + return None + +def policy_maker(config:dict, stage=None): + from policies.act.act import ACTPolicy + from policies.common.maker import post_init_policies + import logging + import torch + # TODO: add stage param to the policy class for convenience and simplicity + # that is, do the following in the policy class __init__ method. + policy = ACTPolicy(config) + post_init_policies([policy], stage, [config["ckpt_path"]]) + return policy + +def environment_maker(config:dict): + from envs.make_env import make_environment + env_config = config["environments"] + # TODO: use env_config only + return make_environment(config) + +@activator(False) +def augment_images(image): + return color_transforms_2(image) + +# replace the task name in the default paths when using the default paths such as this example +# auto replace by the file name +TASK_NAME = __file__.split("/")[-1].replace(".py", "") +replace_task_name(TASK_NAME, stats_name="dataset_stats.pkl", time_stamp="now") +# but we also show how to replace the paths manually +# DATA_DIR = f"./data/hdf5/{TASK_NAME}" +# CKPT_DIR = f"./my_ckpt/{TASK_NAME}/ckpt" +# STATS_PATH = f"./my_ckpt/{TASK_NAME}/dataset_stats.pkl" +# replace_paths(DATA_DIR, CKPT_DIR, STATS_PATH) # replace the default data and ckpt paths + + +chunk_size = 25 +joint_num = 7 + +TASK_CONFIG_DEFAULT["common"]["camera_names"] = ["0"] +TASK_CONFIG_DEFAULT["common"]["robot_num"] = 1 +TASK_CONFIG_DEFAULT["common"]["policy_config"]["temporal_agg"] = True + +TASK_CONFIG_DEFAULT["common"]["policy_config"]["policy_maker"] = policy_maker + +TASK_CONFIG_DEFAULT["common"]["state_dim"] = joint_num +TASK_CONFIG_DEFAULT["common"]["action_dim"] = joint_num +TASK_CONFIG_DEFAULT["common"]["policy_config"]["chunk_size"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["num_queries"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["kl_weight"] = 10 + + +TASK_CONFIG_DEFAULT["train"]["num_episodes"] = (200, 299) +TASK_CONFIG_DEFAULT["train"]["num_epochs"] = 7000 +TASK_CONFIG_DEFAULT["train"]["learning_rate"] = 2e-5 +TASK_CONFIG_DEFAULT["train"]["pretrain_ckpt_path"] = "/home/ghz/airbot_play/act/my_ckpt/stack_cups/20240621-022635/stack_cups/policy_best.ckpt" +TASK_CONFIG_DEFAULT["train"]["pretrain_epoch_base"] = "AUTO" +TASK_CONFIG_DEFAULT["train"]["batch_size"] = 16 + +TASK_CONFIG_DEFAULT["eval"]["robot_num"] = 1 +TASK_CONFIG_DEFAULT["eval"]["joint_num"] = joint_num +TASK_CONFIG_DEFAULT["eval"]["start_joint"] = "AUTO" +TASK_CONFIG_DEFAULT["eval"]["max_timesteps"] = 400 +TASK_CONFIG_DEFAULT["eval"]["ensemble"] = None +TASK_CONFIG_DEFAULT["eval"]["environments"]["environment_maker"] = environment_maker + +# final config +TASK_CONFIG = TASK_CONFIG_DEFAULT From ea3e1c6497cf98762008757887a13070a9b825cc Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Tue, 3 Sep 2024 23:20:15 +0800 Subject: [PATCH 05/13] add stack_cups config --- task_configs/stack_cups.py | 53 +++++++++++++++++++++++++++++++------- 1 file changed, 44 insertions(+), 9 deletions(-) diff --git a/task_configs/stack_cups.py b/task_configs/stack_cups.py index 2b9a729..6cdc7f9 100755 --- a/task_configs/stack_cups.py +++ b/task_configs/stack_cups.py @@ -1,3 +1,4 @@ +from policies.common.maker import post_init_policies from task_configs.template import ( replace_task_name, TASK_CONFIG_DEFAULT, @@ -6,20 +7,54 @@ ) from task_configs.config_augmentation.image.basic import color_transforms_2 -def policy_maker(policy_class, policy_config): - print("custom policy_maker") - return None def policy_maker(config:dict, stage=None): from policies.act.act import ACTPolicy - from policies.common.maker import post_init_policies - import logging - import torch - # TODO: add stage param to the policy class for convenience and simplicity - # that is, do the following in the policy class __init__ method. + from policies.traditionnal.cnnmlp import CNNMLPPolicy + # from policies.diffusion.diffusion_policy import DiffusionPolicy policy = ACTPolicy(config) post_init_policies([policy], stage, [config["ckpt_path"]]) - return policy + + if "ckpt_path_1" in config: + policy_1 = ACTPolicy(config) + post_init_policies([policy_1], stage, [config["ckpt_path_1"]]) + + if stage == "train": + return policy + + elif stage == "eval": + if TASK_CONFIG_DEFAULT["eval"]["ensemble"] == None: + return policy + else: + ckpt_path = config["ckpt_path"] + assert ckpt_path is not None, "ckpt_path must exist for loading policy" + # TODO: all policies should load the ckpt (policy maker should return a class) + + policy.cuda() + policy.eval() + policy_1.cuda() + policy_1.eval() + + + def ensemble_policy(*args, **kwargs): + #TODO：转换为并行操作 + actions = policy(*args, **kwargs) + actions_2 = policy_1(*args, **kwargs) + # average the actions + actions = (actions + actions_2) / 2 + return actions + + # 定义 reset 方法 + def reset(): + if hasattr(policy, "reset"): + policy.reset() + if hasattr(policy_1, "reset"): + policy_1.reset() + + # 将 reset 方法绑定到 ensemble_policy 函数上 + ensemble_policy.reset = reset + + return ensemble_policy def environment_maker(config:dict): from envs.make_env import make_environment From 75efdc7ede77f05f4217cc3904ddabb418c7e59a Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Wed, 4 Sep 2024 14:33:39 +0800 Subject: [PATCH 06/13] change to parallel --- policies/common/maker.py | 5 +- policy_evaluate.py | 74 +++++++----- task_configs/config_tools/basic_configer.py | 23 ++-- task_configs/dual_put_cups_to_bowl.py | 18 ++- task_configs/mujoco_stack_cups.py | 4 +- task_configs/stack_cups.py | 123 +++++++++++++------- 6 files changed, 156 insertions(+), 91 deletions(-) diff --git a/policies/common/maker.py b/policies/common/maker.py index 6c4ac4c..f28acbc 100644 --- a/policies/common/maker.py +++ b/policies/common/maker.py @@ -6,10 +6,11 @@ def make_policy( config, stage=None ): # TODO: remove this function and use the config file - policy_maker = config["policy_maker"] + policy_maker = config["policy_maker"] policy = policy_maker(config, stage) assert policy is not None, "Please use the make_policy function in the config file" - return policy + return policy + #now policy is a function def post_init_policies(policies: List[torch.nn.Module], stage, ckpt_paths) -> None: diff --git a/policy_evaluate.py b/policy_evaluate.py index f40860f..cea552e 100644 --- a/policy_evaluate.py +++ b/policy_evaluate.py @@ -52,7 +52,9 @@ def eval_bc(config, ckpt_name, env: CommonEnv): # remove other not general processing code outside in policy and env maker # 显式获得配置 ckpt_dir = config["ckpt_dir"] + stats_path = config["stats_path"] + save_dir = config["save_dir"] max_timesteps = config["max_timesteps"] camera_names = config["camera_names"] @@ -76,31 +78,37 @@ def eval_bc(config, ckpt_name, env: CommonEnv): ckpt_path = get_ckpt_path(ckpt_dir, ckpt_name, stats_path) policy_config["ckpt_path"] = ckpt_path + if "ckpt_dir_1" in config: + ckpt_dir_1 = config["ckpt_dir_1"] + stats_path_1 = config["stats_path_1"] + ckpt_path_1 = get_ckpt_path(ckpt_dir_1, ckpt_name, stats_path_1) + policy_config["ckpt_path_1"] = ckpt_path_1 # make and configure policies policies: Dict[str, list] = {} - if ensemble is None: - logging.info("policy_config:", policy_config) - # if ensemble is None: - policy_config["max_timesteps"] = max_timesteps # TODO: remove this - policy = make_policy(policy_config, "eval") - policies["Group1"] = (policy,) - else: - logging.info("policy_config:", policy_config) - # if ensemble is not None: - policy_config["max_timesteps"] = max_timesteps # TODO: remove this - policy = make_policy(policy_config, "eval") - #policy group: - # logging.info("ensemble config:", ensemble) - # ensembler = ensemble.pop("ensembler") - # for gr_name, gr_cfgs in ensemble.items(): - # policies[gr_name] = [] - # for index, gr_cfg in enumerate(gr_cfgs): - - # policies[gr_name].append( - # make_policy( - # gr_cfg["policies"][index]["policy_class"], - # ) - # ) + logging.info("policy_config:", policy_config) + # if ensemble is None: + policy_config["max_timesteps"] = max_timesteps # TODO: remove this + policy = make_policy(policy_config, "eval") + #move to policy maker + + # if ensemble is None: + # logging.info("policy_config:", policy_config) + # # if ensemble is None: + # policy_config["max_timesteps"] = max_timesteps # TODO: remove this + # policy = make_policy(policy_config, "eval") + # policies["Group1"] = (policy,) + # else: + # logging.info("ensemble config:", ensemble) + # ensembler = ensemble.pop("ensembler") + # for gr_name, gr_cfgs in ensemble.items(): + # policies[gr_name] = [] + # for index, gr_cfg in enumerate(gr_cfgs): + + # policies[gr_name].append( + # make_policy( + # gr_cfg["policies"][index]["policy_class"], + # ) + # ) # add action filter # TODO: move to policy maker as wrappers @@ -399,18 +407,19 @@ def eval_bc(config, ckpt_name, env: CommonEnv): "-ts", "--time_stamp", action="store", + nargs="+", #直接通过空格分隔的多个参数 type=str, help="time_stamp", required=False, ) - parser.add_argument( - "-ts_1", - "--time_stamp_1", - action="store", - type=str, - help="time_stamp_1", - required=False, - ) + # parser.add_argument( + # "-ts_1", + # "--time_stamp_1", + # action="store", + # type=str, + # help="time_stamp_1", + # required=False, + # ) # save parser.add_argument( @@ -424,7 +433,8 @@ def eval_bc(config, ckpt_name, env: CommonEnv): parser.add_argument( "-ft", "--filter", action="store", type=str, help="filter_type", required=False ) - + # environment + parser.add_argument('-et', "--environment", action='store', type=str, help='environment', required=False) args = parser.parse_args() args_dict = vars(args) # TODO: put unknown key-value pairs into args_dict diff --git a/task_configs/config_tools/basic_configer.py b/task_configs/config_tools/basic_configer.py index 50e31c2..f46ab4b 100644 --- a/task_configs/config_tools/basic_configer.py +++ b/task_configs/config_tools/basic_configer.py @@ -187,13 +187,22 @@ def get_all_config(args: dict, stage: str): elif stage == "eval": # 评估时需要将自动根据当前时间戳生成的ckpt_dir和stats_path替换为指定时间戳的路径(save_dir不需要替换) if args.get("time_stamp", None): - time_stamp = args["time_stamp"] - all_config["ckpt_dir"] = replace_timestamp( - all_config["ckpt_dir"], time_stamp - ) - all_config["stats_path"] = replace_timestamp( - all_config["stats_path"], time_stamp - ) + time_stamps = args["time_stamp"] + if len(time_stamps) > 0: + all_config["ckpt_dir"] = replace_timestamp(all_config["ckpt_dir"], time_stamps[0]) + all_config["stats_path"] = replace_timestamp(all_config["stats_path"], time_stamps[0]) + if len(time_stamps) > 1: + all_config["ckpt_dir_1"] = replace_timestamp(all_config["ckpt_dir"], time_stamps[1]) + all_config["stats_path_1"] = replace_timestamp(all_config["stats_path"], time_stamps[1]) + + # if args.get("time_stamp_1", None): + # time_stamp_1 = args["time_stamp_1"] + # all_config["ckpt_dir_1"] = replace_timestamp( + # all_config["ckpt_dir"], time_stamp_1 + # ) + # all_config["stats_path_1"] = replace_timestamp( + # all_config["stats_path"], time_stamp_1 + # ) # 检查路径（支持task_name/ts/task_name/ts两级嵌套和仅task_name/ts一级两种目录结构） stats_dir, stats_path = get_stats_path(all_config["stats_path"], all_config["task_name"]) all_config["stats_path"] = stats_path diff --git a/task_configs/dual_put_cups_to_bowl.py b/task_configs/dual_put_cups_to_bowl.py index fc9d75c..972750b 100755 --- a/task_configs/dual_put_cups_to_bowl.py +++ b/task_configs/dual_put_cups_to_bowl.py @@ -1,3 +1,4 @@ +from concurrent.futures import ThreadPoolExecutor from policies.common.maker import post_init_policies from task_configs.template import ( get_task_name, @@ -25,9 +26,11 @@ def policy_maker(config:dict, stage=None): import torch policy = ACTPolicy(config) post_init_policies([policy], stage, [config["ckpt_path"]]) - policy_1 = CNNMLPPolicy(config) - post_init_policies([policy], stage, [config["ckpt_path_1"]]) - + + if "ckpt_path_1" in config: + policy_1 = CNNMLPPolicy(config) + post_init_policies([policy_1], stage, [config["ckpt_path_1"]]) + if stage == "train": return policy @@ -41,12 +44,17 @@ def policy_maker(config:dict, stage=None): policy.cuda() policy.eval() + policy_1.cuda() + policy_1.eval() + def ensemble_policy(*args, **kwargs): + #TODO：转换为并行操作 actions = policy(*args, **kwargs) actions_2 = policy_1(*args, **kwargs) # average the actions actions = (actions + actions_2) / 2 return actions + return ensemble_policy @@ -76,7 +84,7 @@ def augment_images(image): TASK_CONFIG_DEFAULT["common"]["camera_names"] = ["0"] TASK_CONFIG_DEFAULT["common"]["state_dim"] = joint_num * robot_num TASK_CONFIG_DEFAULT["common"]["action_dim"] = joint_num * robot_num -TASK_CONFIG_DEFAULT["common"]["policy_config"]["temporal_agg"] = True +TASK_CONFIG_DEFAULT["common"]["policy_config"]["temporal_agg"] = False TASK_CONFIG_DEFAULT["common"]["policy_config"]["chunk_size"] = chunk_size TASK_CONFIG_DEFAULT["common"]["policy_config"]["num_queries"] = chunk_size TASK_CONFIG_DEFAULT["common"]["policy_config"]["kl_weight"] = 10 @@ -84,7 +92,7 @@ def augment_images(image): TASK_CONFIG_DEFAULT["train"]["num_episodes"] = "ALL" TASK_CONFIG_DEFAULT["train"]["num_epochs"] = 8000 -TASK_CONFIG_DEFAULT["train"]["batch_size"] = 24 +TASK_CONFIG_DEFAULT["train"]["batch_size"] = 16 TASK_CONFIG_DEFAULT["train"]["learning_rate"] = 3e-5 TASK_CONFIG_DEFAULT["train"]["pretrain_ckpt_path"] = "" TASK_CONFIG_DEFAULT["train"]["pretrain_epoch_base"] = "AUTO" diff --git a/task_configs/mujoco_stack_cups.py b/task_configs/mujoco_stack_cups.py index 06bb893..2d99b95 100755 --- a/task_configs/mujoco_stack_cups.py +++ b/task_configs/mujoco_stack_cups.py @@ -1,6 +1,4 @@ - from concurrent.futures import ThreadPoolExecutor -from email import policy from multiprocessing import Pool import torch @@ -52,7 +50,7 @@ def policy_maker(config:dict, stage=None): # return actions def run_policy(policy, *args, **kwargs): - with torch.no_grad(): # 禁用计算图跟踪 + with torch.inference_mode(): a_hat = policy(*args, **kwargs) a_hat = a_hat.clone() # 在更新之前克隆 return policy.temporal_ensembler.update(a_hat) diff --git a/task_configs/stack_cups.py b/task_configs/stack_cups.py index 6cdc7f9..ee8b855 100755 --- a/task_configs/stack_cups.py +++ b/task_configs/stack_cups.py @@ -1,3 +1,5 @@ +from concurrent.futures import ThreadPoolExecutor +import torch from policies.common.maker import post_init_policies from task_configs.template import ( replace_task_name, @@ -12,49 +14,86 @@ def policy_maker(config:dict, stage=None): from policies.act.act import ACTPolicy from policies.traditionnal.cnnmlp import CNNMLPPolicy # from policies.diffusion.diffusion_policy import DiffusionPolicy - policy = ACTPolicy(config) - post_init_policies([policy], stage, [config["ckpt_path"]]) - - if "ckpt_path_1" in config: - policy_1 = ACTPolicy(config) - post_init_policies([policy_1], stage, [config["ckpt_path_1"]]) - - if stage == "train": - return policy - - elif stage == "eval": - if TASK_CONFIG_DEFAULT["eval"]["ensemble"] == None: + with torch.inference_mode():#禁用梯度计算 + policy = ACTPolicy(config) + post_init_policies([policy], stage, [config["ckpt_path"]]) + + if "ckpt_path_1" in config: + policy_1 = ACTPolicy(config) + post_init_policies([policy_1], stage, [config["ckpt_path_1"]]) + if "ckpt_path_2" in config: + policy_2 = ACTPolicy(config) + post_init_policies([policy_2], stage, [config["ckpt_path_2"]]) + if "ckpt_path_3" in config: + policy_3 = ACTPolicy(config) + post_init_policies([policy_3], stage, [config["ckpt_path_3"]]) + if "ckpt_path_4" in config: + policy_4 = ACTPolicy(config) + post_init_policies([policy_4], stage, [config["ckpt_path_4"]]) + if "ckpt_path_5" in config: + policy_5 = ACTPolicy(config) + post_init_policies([policy_5], stage, [config["ckpt_path_5"]]) + + if stage == "train": return policy - else: - ckpt_path = config["ckpt_path"] - assert ckpt_path is not None, "ckpt_path must exist for loading policy" - # TODO: all policies should load the ckpt (policy maker should return a class) - - policy.cuda() - policy.eval() - policy_1.cuda() - policy_1.eval() - - - def ensemble_policy(*args, **kwargs): - #TODO：转换为并行操作 - actions = policy(*args, **kwargs) - actions_2 = policy_1(*args, **kwargs) - # average the actions - actions = (actions + actions_2) / 2 - return actions - - # 定义 reset 方法 - def reset(): - if hasattr(policy, "reset"): - policy.reset() - if hasattr(policy_1, "reset"): - policy_1.reset() - - # 将 reset 方法绑定到 ensemble_policy 函数上 - ensemble_policy.reset = reset - - return ensemble_policy + + elif stage == "eval": + if TASK_CONFIG_DEFAULT["eval"]["ensemble"] == None: + return policy + else: + ckpt_path = config["ckpt_path"] + assert ckpt_path is not None, "ckpt_path must exist for loading policy" + # TODO: all policies should load the ckpt (policy maker should return a class) + + policy.cuda() + policy.eval() + policy_1.cuda() + policy_1.eval() + + #串行推理 + # def ensemble_policy(*args, **kwargs): + # actions = policy(*args, **kwargs) + # actions_2 = policy_1(*args, **kwargs) + # # average the actions + # actions = (actions + actions_2) / 2 + # return actions + + #并行推理 + def run_policy(policy, *args, **kwargs): + with torch.inference_mode(): + a_hat = policy(*args, **kwargs) + #a_hat = a_hat.clone() # 在更新之前克隆 + return policy.temporal_ensembler.update(a_hat) + + + def ensemble_policy(*args, **kwargs): + with ThreadPoolExecutor(max_workers=len(config)-1) as executor: + futures = [] + for i in range(1, len(config)): + policy_name = f"policy_{i}" + if policy_name in globals(): + policy = globals()[policy_name] + future = executor.submit(run_policy, policy, *args, **kwargs) + futures.append(future) + + actions_sum = torch.zeros_like(futures[0].result()) + for future in futures: + actions_sum += future.result() + + actions_avg = actions_sum / len(futures) + return actions_avg + + # 定义 reset 方法 + def reset(): + if hasattr(policy, "reset"): + policy.reset() + if hasattr(policy_1, "reset"): + policy_1.reset() + + # 将 reset 方法绑定到 ensemble_policy 函数上 + ensemble_policy.reset = reset + + return ensemble_policy def environment_maker(config:dict): from envs.make_env import make_environment From 00644e60c1baab86db57e9775cba9b499e8d510d Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sun, 8 Sep 2024 16:34:52 +0800 Subject: [PATCH 07/13] add stage marking --- data_process/test_convert_airbot_play.ipynb | 556 ++++++++++++++++++++ video_marking_stage.py | 150 ++++++ 2 files changed, 706 insertions(+) create mode 100644 data_process/test_convert_airbot_play.ipynb create mode 100644 video_marking_stage.py diff --git a/data_process/test_convert_airbot_play.ipynb b/data_process/test_convert_airbot_play.ipynb new file mode 100644 index 0000000..fc9a579 --- /dev/null +++ b/data_process/test_convert_airbot_play.ipynb @@ -0,0 +1,556 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "The autoreload extension is already loaded. To reload it, use:\n", + " %reload_ext autoreload\n" + ] + } + ], + "source": [ + "%load_ext autoreload\n", + "%autoreload 2" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [], + "source": [ + "import convert_all as crd" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "Data Converting: 32%|███▏ | 16/50 [00:00<00:00, 156.69it/s]" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for key 'count' is not a list or tuple, but \n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "Data Converting: 100%|██████████| 50/50 [00:00<00:00, 144.02it/s]" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Warning: The value for key 'count' is not a list or tuple, but \n", + "Warning: The value for 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-1.579880952835083, 0.033121489278681866], [0.06275273114442825, -1.200312852859497, 1.1457618474960327, 1.5234225988388062, -0.9336614012718201, -1.576066255569458, 0.033121489278681866], [0.06389715522527695, -1.1728465557098389, 1.116388201713562, 1.5226596593856812, -0.9252689480781555, -1.571107029914856, 0.033121489278681866], [0.06466010212898254, -1.1423285007476807, 1.0854886770248413, 1.5207523107528687, -0.9138246774673462, -1.5642404556274414, 0.033121489278681866], [0.06504157930612564, -1.112191915512085, 1.0523003339767456, 1.5188448429107666, -0.9000915288925171, -1.5524147748947144, 0.033121489278681866], [0.06580453366041183, -1.0835813283920288, 1.019874930381775, 1.518463373184204, -0.8901731967926025, -1.5451667308807373, 0.033121489278681866], [0.06656748056411743, -1.054970622062683, 0.9901197552680969, 1.518463373184204, -0.8787289261817932, -1.5398260354995728, 0.033121489278681866], [0.06694895774126053, -1.0282673835754395, 0.962272047996521, 1.518463373184204, -0.8703364729881287, -1.5325779914855957, 0.033121489278681866], [0.06694895774126053, -1.0008010864257812, 0.9374761581420898, 1.517700433731079, -0.8592736721038818, -1.5257114171981812, 0.033121489278681866], [0.06656748056411743, -0.9744792580604553, 0.9138246774673462, 1.5173189640045166, -0.8531700372695923, -1.5203708410263062, 0.033121489278681866], [0.06694895774126053, -0.9500648379325867, 0.8932250142097473, 1.5173189640045166, -0.8424887657165527, -1.5180819034576416, 0.033121489278681866], [0.06694895774126053, -0.9294651746749878, 0.8730067610740662, 1.517700433731079, -0.838674008846283, -1.5150301456451416, 0.033121489278681866], [0.06694895774126053, -0.9138246774673462, 0.8539330363273621, 1.516937494277954, -0.8337147831916809, -1.512359857559204, 0.033121489278681866], [0.06656748056411743, -0.9000915288925171, 0.8325703740119934, 1.516174554824829, -0.8276112079620361, -1.511215329170227, 0.032873776825991546], [0.06694895774126053, -0.8871213793754578, 0.8100633025169373, 1.516174554824829, -0.8180742859840393, -1.510452389717102, 0.033121489278681866], [0.06694895774126053, -0.8745326995849609, 0.7883192300796509, 1.5165560245513916, -0.80663001537323, -1.5100709199905396, 0.033121489278681866], [0.06694895774126053, -0.8634698987007141, 0.770771324634552, 1.5165560245513916, -0.7990005612373352, -1.508926510810852, 0.033121489278681866], [0.06694895774126053, -0.8531700372695923, 0.7589455842971802, 1.5165560245513916, -0.7940413355827332, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.8424887657165527, 0.7509346008300781, 1.5165560245513916, -0.7925154566764832, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.8306630253791809, 0.7459754347801208, 1.5165560245513916, -0.7932783961296082, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.8173113465309143, 0.7429236173629761, 1.516937494277954, -0.7959487438201904, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.8020523190498352, 0.7406347990036011, 1.5165560245513916, -0.7982375621795654, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.7845044732093811, 0.7391088604927063, 1.516937494277954, -0.8005264401435852, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.7665750980377197, 0.7387273907661438, 1.516937494277954, -0.8012893795967102, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.7520790696144104, 0.7375829815864563, 1.516937494277954, -0.80357825756073, -1.508163571357727, 0.033121489278681866], [0.06694895774126053, -0.7413977384567261, 0.7375829815864563, 1.516937494277954, -0.8039597272872925, -1.5085450410842896, 0.033121489278681866], [0.06694895774126053, -0.7352941036224365, 0.7368200421333313, 1.516174554824829, -0.8070115447044373, -1.5100709199905396, 0.033121489278681866], [0.06694895774126053, -0.7307164072990417, 0.7368200421333313, 1.5150301456451416, -0.8070115447044373, -1.5165560245513916, 0.033121489278681866], [0.06694895774126053, -0.728427529335022, 0.7368200421333313, 1.514648675918579, -0.8077744841575623, -1.5196079015731812, 0.033121489278681866], [0.06694895774126053, -0.7265201807022095, 0.7368200421333313, 1.514648675918579, -0.8096818327903748, -1.5226596593856812, 0.033121489278681866], [0.06694895774126053, -0.725375771522522, 0.7368200421333313, 1.5142672061920166, -0.8119707107543945, -1.5260928869247437, 0.033121489278681866], [0.06694895774126053, -0.7242313027381897, 0.7368200421333313, 1.513885736465454, -0.8146410584449768, -1.5268558263778687, 0.033121489278681866], [0.06694895774126053, -0.7238498330116272, 0.7368200421333313, 1.513885736465454, -0.8184558153152466, -1.5280003547668457, 0.033121489278681866]]\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\n" + ] + } + ], + "source": [ + "# get all low_dim data (head&spine velocity control)\n", + "raw_dir = \"../demonstrations/raw/put_block_to_bowl\"\n", + "data = crd.raw_to_dict(\n", + " raw_dir,\n", + " [\"records.json\"],\n", + " video_file_names=None,\n", + " flatten_mode=\"hdf5\",\n", + " concatenater={\n", + " \"/observations/qpos\": (\n", + " \"/observations/pos_f\",\n", + " \"/observations/endpos_f\",\n", + "\n", + " ),\n", + " \"/action\": (\n", + " \"/observations/pos_t\",\n", + " \"/observations/endpos_t\",\n", + "\n", + " ),\n", + " },\n", + " key_filter=[\n", + " \"/observations/eef_pose_f\",\n", + " \"/observations/eef_pose_t\",\n", + " \"/observations/eff_f\",\n", + " \"/observations/eff_t\",\n", + " \"/observations/vel_f\",\n", + " \"/observations/vel_t\", \n", + " ],\n", + "\n", + " #eff_f是力反馈，endpos是末端夹爪位置，pos_f是臂的关节数据，eef是末端关节位姿（x,y,z加四元数）vel_t是电流值测定的力反馈，不太准所以不合适加入\n", + " # name_converter={\n", + " # \"//observations/eef_pose_f_left\": \"/observations/qpos\", #注意格式！！！key中有两个//！\n", + " # \"//observations/eef_pose_f_right\": \"/action\",\n", + " # }, #concatenater中已经包含改名的操作，所以这里不需要了\n", + "\n", + ")\n", + "print(data[\"0\"][\"/observations/qpos\"])\n", + "#此时返回的data是一个字典\n", + "# data = {\n", + "# \"1\": {\n", + "# \"/observations/qpos\": [\n", + "# [0, 1, 2],\n", + "# [3, 4, 5]\n", + "# ]\n", + "# },\n", + "# # 其他键值对...\n", + "#}" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Number of episodes: 50\n" + ] + } + ], + "source": [ + "ep_number = len(data)\n", + "print(f\"Number of episodes: {ep_number}\")" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['/observations/time', '/observations/qpos', '/action']\n", + "[-0.000572213320992887, -0.7661936283111572, 0.7032501697540283, 1.5363928079605103, -0.9649423956871033, -1.5764477252960205, 0.033121489278681866]\n", + "[-0.00019073777366429567, -0.7661936283111572, 0.7040131092071533, 1.5367742776870728, -0.9649423956871033, -1.576066255569458, 0.00048652418024396445]\n" + ] + } + ], + "source": [ + "print(list(data[\"0\"].keys()))\n", + "print(list(data[\"1\"][\"/observations/qpos\"][0]))\n", + "print(list(data[\"0\"][\"/action\"][0]))" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Max episode length: 200\n", + "All episodes: ['24', '13', '12', '44', '47', '19', '4', '40', '1', '8', '38', '46', '16', '10', '39', '23', '41', '43', '14', '5', '18', '9', '17', '28', '35', '45', '49', '11', '31', '48', '22', '0', '7', '6', '27', '34', '21', '29', '32', '2', '36', '33', '15', '25', '20', '37', '42', '30', '26', '3']\n", + "episode number: 50\n" + ] + } + ], + "source": [ + "import os\n", + "import cv2\n", + "from concurrent.futures import ThreadPoolExecutor\n", + "\n", + "# merge high_dim data and save\n", + "raw_dir\n", + "video_names = [\"0.avi\"]\n", + "target_dir = f\"../data/hdf5/put_block_to_bowl/\"\n", + "low_dim_data = data\n", + "name_converter = {\"0\": \"/observations/images/0\"}\n", + "target_namer = lambda i: f\"episode_{i}.hdf5\"\n", + "\n", + "compresser = crd.Compresser(\"jpg\", [int(cv2.IMWRITE_JPEG_QUALITY), 50], True)\n", + "\n", + "os.makedirs(target_dir, exist_ok=True)\n", + "\n", + "# get max episode length\n", + "episode_lens = []\n", + "for low_d in low_dim_data.values():\n", + " episode_lens.append(len(list(low_d.values())[0]))\n", + "max_pad_lenth = max(episode_lens)\n", + "\n", + "episode_names = list(low_dim_data.keys())\n", + "print(f\"Max episode length: {max_pad_lenth}\")\n", + "print(f\"All episodes: {episode_names}\")\n", + "print(f\"episode number: {len(episode_names)}\")" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "DEBUG:root:compressed_len_list: [[10631, 10629, 10640, 10646, 10632, 10617, 10648, 10595, 10604, 10603, 10523, 10501, 10514, 10550, 10627, 10634, 10648, 10605, 10575, 10564, 10637, 10697, 10702, 10716, 10737, 10805, 10819, 10844, 10881, 10816, 10699, 10796, 11175, 10967, 10860, 11168, 11032, 11358, 11249, 11398, 11620, 11860, 11976, 11980, 12201, 12233, 12166, 12632, 12542, 12583, 12434, 11923, 12115, 11778, 11690, 11466, 11315, 11219, 11076, 10897, 10789, 10827, 10812, 10816, 10784, 11088, 11069, 11377, 11298, 11588, 11867, 12016, 12137, 12586, 12615, 12837, 12758, 12485, 12599, 12981, 12864, 12656, 12605, 12380, 12079, 12071, 12046, 11604, 11361, 11399, 11424, 11837, 11895, 11760, 11768, 11670, 11632, 11693, 11741, 11763, 12379, 12686, 12788, 13158, 13639, 13530, 13701, 13453, 14250, 14422, 14280, 14263, 14152, 14431, 14391, 14560, 14586, 14700, 14566, 14499, 14585, 14513, 14383, 14969, 14939, 15742, 15626, 15737, 15820, 15849, 15595, 14662, 13785, 13936, 13708, 13689, 13990, 14081, 14255, 13676, 13749, 13553, 12852, 12505, 11414, 10781, 10622, 10574, 10585, 10747, 10929, 10959, 10944, 11178, 11305, 11422, 11493, 11743, 12044, 12311, 12311, 12279, 12335, 12546, 12343, 12145, 11969, 11604, 11347, 11538, 11491, 11251, 11348, 11180, 10965, 11059, 11202, 11252, 11428, 11306, 11101, 11068, 11173, 11319, 11437, 11404, 11308, 11253, 11002, 11005, 11051, 11049, 11031, 10948, 10994, 10967, 10906, 10842, 10804, 10737]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10437, 10462, 10434, 10462, 10443, 10458, 10418, 10449, 10424, 10352, 10375, 10399, 10387, 10342, 10394, 10378, 10372, 10440, 10464, 10466, 10458, 10452, 10458, 10461, 10508, 10549, 10711, 10710, 10631, 10765, 10825, 10926, 10907, 10968, 11057, 11191, 11258, 11309, 11474, 11468, 11422, 11544, 11487, 11500, 11426, 11159, 10834, 10598, 10576, 10608, 10540, 10405, 10397, 10434, 10614, 10569, 10533, 10442, 10763, 10786, 10757, 10644, 10860, 11130, 11162, 11335, 11574, 11800, 12076, 12043, 11907, 12451, 12948, 12656, 12542, 12322, 12066, 11981, 11861, 11687, 11581, 11630, 11306, 11645, 11669, 11740, 11991, 12224, 12449, 12651, 12902, 12807, 12980, 12927, 13259, 13275, 13657, 13762, 13692, 13644, 13574, 13488, 13460, 13567, 13587, 13872, 14296, 14381, 14423, 14415, 13755, 13902, 14248, 14628, 14764, 14131, 13935, 13660, 13225, 13394, 13361, 13654, 13381, 12543, 12156, 11591, 11622, 11576, 11387, 11323, 11417, 11545, 11767, 11712, 11465, 11307, 11390, 11821, 11744, 12171, 12385, 12682, 13225, 13688, 14562, 14544, 15109, 15608, 15153, 14737, 13714, 13224, 12469, 11977, 11744, 11407, 11070, 10806, 10739, 10719, 10617, 10492, 10611, 10947, 10914, 10946, 10954, 11076, 11071, 10961, 10914, 10973, 10700, 10597, 10575, 10690, 10739, 10643, 10687, 10785, 10820, 10834, 10858, 10900, 10878, 10857, 10885, 10844, 10849, 10856, 10866, 10860, 10862, 10876, 10858, 10898, 10880, 10884, 10868, 10929]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10448, 10436, 10467, 10441, 10437, 10407, 10474, 10443, 10451, 10427, 10378, 10364, 10356, 10390, 10373, 10342, 10424, 10460, 10457, 10475, 10512, 10560, 10625, 10558, 10469, 10558, 10575, 10579, 10595, 10609, 10770, 10772, 10852, 11042, 11143, 11457, 11645, 11803, 11653, 11808, 12015, 12121, 12337, 12398, 12396, 12337, 12382, 12316, 12281, 11995, 11873, 11586, 11678, 11341, 11050, 10590, 10584, 10358, 10409, 10518, 10936, 10830, 10790, 10494, 10605, 10852, 10989, 10817, 10751, 10943, 11219, 11289, 11638, 11560, 11819, 12010, 12149, 12031, 12005, 12539, 12723, 12678, 12597, 12590, 12512, 12357, 12299, 12154, 12079, 12065, 11970, 12002, 11389, 11233, 11109, 11574, 12003, 12217, 12471, 12187, 12598, 13031, 13426, 13452, 14006, 14118, 14725, 14428, 14397, 14274, 14316, 14286, 13930, 14493, 14254, 14771, 14515, 14700, 14528, 14522, 14682, 14650, 14809, 14760, 14923, 14792, 14981, 15019, 14836, 14635, 14439, 14823, 14685, 14084, 13446, 13504, 13189, 13359, 13438, 13684, 12934, 12447, 12701, 12529, 12898, 12902, 12883, 12838, 12756, 13054, 12697, 12459, 12728, 12449, 12438, 12649, 12831, 13335, 13973, 14337, 14300, 14737, 14702, 15319, 15875, 15808, 15055, 14844, 14221, 13629, 13278, 12450, 11910, 11688, 12015, 12283, 12188, 11516, 11291, 11175, 10946, 10848, 11092, 11018, 11062, 11003, 11015, 11012, 10915, 10963, 10947, 10982, 10865, 10869, 10862, 10886, 10764, 10766, 10707, 10663]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10475, 10464, 10491, 10495, 10487, 10462, 10483, 10514, 10544, 10496, 10510, 10502, 10476, 10379, 10488, 10483, 10422, 10412, 10513, 10573, 10566, 10582, 10635, 10684, 10823, 10887, 10857, 10808, 10780, 10845, 11130, 11215, 11414, 11683, 11784, 11973, 12099, 12074, 12083, 12625, 12668, 12647, 12623, 12553, 11712, 11304, 11015, 10846, 10760, 10519, 10518, 10507, 10768, 10976, 11235, 11254, 11471, 11778, 12105, 12176, 12246, 12306, 12097, 11909, 12425, 12493, 12156, 12072, 12195, 12116, 11951, 11860, 11707, 11866, 11654, 11791, 11533, 11650, 11782, 12302, 12334, 12570, 12592, 13002, 13220, 13377, 13843, 13886, 13921, 13924, 13007, 13083, 13217, 13600, 12916, 13497, 12879, 13054, 13758, 13485, 14206, 13660, 13770, 14351, 13899, 13511, 13177, 12803, 12763, 12863, 12879, 12985, 12772, 12287, 12318, 11946, 11654, 11200, 11346, 11299, 11272, 11390, 11772, 12095, 11394, 11065, 11174, 11573, 11423, 11618, 11717, 11913, 12198, 12742, 13499, 13137, 13956, 14864, 15176, 15323, 15289, 14184, 13733, 13087, 12329, 11756, 11619, 11327, 11222, 10933, 10903, 10945, 11098, 10891, 10712, 10683, 10684, 10604, 10516, 10560, 10787, 10824, 10718, 10657, 10600, 10614, 10512, 10572, 10686, 10623, 10656, 10622, 10637, 10645, 10630, 10706, 10724, 10736, 10734, 10726, 10736, 10754, 10754, 10736, 10722, 10735, 10692, 10647, 10643, 10596, 10593, 10568, 10565, 10574, 10565, 10517, 10488, 10483, 10428, 10415]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10361, 10348, 10351, 10351, 10339, 10350, 10301, 10278, 10267, 10300, 10337, 10293, 10323, 10312, 10317, 10302, 10297, 10287, 10231, 10303, 10311, 10306, 10260, 10290, 10431, 10437, 10537, 10479, 10585, 10540, 10668, 10704, 10756, 10864, 10944, 11057, 11218, 11430, 11694, 11516, 11457, 11583, 11627, 11603, 11540, 11458, 11311, 11138, 10836, 10775, 10624, 10501, 10389, 10307, 10383, 10393, 10634, 10643, 10415, 10419, 10596, 10672, 10714, 10705, 10738, 11027, 11250, 11220, 11165, 11493, 11768, 11568, 11983, 11879, 11978, 11663, 11937, 11994, 12270, 12423, 12357, 12128, 11919, 11436, 11027, 11194, 11352, 11352, 11130, 11188, 11192, 11211, 11190, 11296, 11322, 11513, 11970, 12245, 12331, 12447, 12706, 12984, 13191, 13364, 13414, 13840, 13967, 13878, 13960, 13769, 13626, 13788, 13480, 13594, 13506, 13896, 13786, 14177, 14034, 14088, 14260, 14167, 13884, 13684, 13845, 13906, 13723, 13211, 13235, 12872, 12824, 12741, 12856, 12914, 12733, 12728, 12500, 12692, 12750, 12859, 12963, 13118, 12905, 12658, 12368, 12233, 12212, 12100, 12015, 12012, 11982, 12119, 12047, 11891, 12072, 12108, 12575, 12510, 12914, 13099, 13598, 13679, 13684, 14149, 14184, 13288, 13580, 13164, 12992, 12700, 11867, 11585, 11246, 11288, 11739, 11490, 11159, 11052, 10515, 10413, 10731, 10670, 10398, 10270, 10519, 10646, 10379, 10436, 10526, 10445, 10478, 10471, 10677, 10769, 10698, 10621, 10706, 10696, 10686, 10588]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10331, 10334, 10296, 10269, 10313, 10289, 10238, 10231, 10298, 10321, 10312, 10316, 10321, 10326, 10357, 10423, 10520, 10462, 10635, 10687, 10763, 10814, 11192, 11277, 11303, 11456, 11824, 11920, 11197, 11191, 11007, 10936, 10678, 10528, 10600, 10575, 10653, 10639, 10814, 11045, 11109, 11470, 11571, 11785, 11908, 12220, 11995, 12067, 12390, 12693, 12489, 12352, 11995, 11720, 11543, 11439, 11014, 11138, 11374, 11076, 11122, 11059, 11276, 11391, 11552, 11862, 12178, 12143, 12620, 13117, 13417, 13527, 13424, 12864, 12746, 13070, 14109, 13244, 14086, 13512, 13615, 14214, 13710, 13560, 13599, 13581, 14113, 14032, 14158, 14177, 14165, 14137, 13885, 14034, 14085, 13953, 13929, 14232, 14153, 14250, 14075, 13986, 14866, 14307, 13891, 13017, 13731, 13584, 13613, 13258, 13484, 13290, 13452, 13478, 12750, 11839, 11189, 11188, 10936, 10903, 10829, 10942, 11071, 11204, 11245, 11222, 11020, 10828, 11155, 11063, 10896, 11111, 11136, 11469, 11962, 12571, 12701, 12932, 13121, 13374, 13483, 13750, 13458, 13713, 14280, 14243, 13922, 13992, 13848, 13677, 13528, 13045, 12709, 12347, 12071, 12344, 12199, 11692, 10841, 10542, 10477, 10674, 10730, 10655, 10489, 10697, 10688, 10718, 10812, 10825, 10962, 10883, 10998, 10925, 10980, 10989, 10760, 10795, 10728, 10745, 10752, 10814, 10802, 10841, 10775, 10807, 10811, 10766, 10767, 10761, 10724, 10725, 10686, 10745, 10714, 10760, 10716, 10719, 10739, 10716]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10477, 10474, 10457, 10453, 10428, 10451, 10499, 10451, 10464, 10374, 10405, 10416, 10466, 10523, 10483, 10492, 10496, 10470, 10479, 10470, 10492, 10487, 10446, 10455, 10520, 10512, 10507, 10530, 10605, 10652, 10646, 10720, 10735, 10841, 10867, 10871, 10943, 11106, 11412, 11522, 11798, 11779, 11920, 11995, 11730, 11463, 11607, 11575, 11489, 11377, 11233, 10973, 10741, 10508, 10409, 10481, 10506, 10516, 10465, 10548, 10676, 10760, 10762, 10793, 10793, 11075, 11083, 11197, 11232, 11443, 11477, 11706, 11834, 11825, 11810, 11782, 12047, 12512, 12561, 12235, 11862, 11620, 11513, 11305, 11441, 11355, 11230, 11250, 11335, 11402, 11278, 11319, 11618, 11747, 11906, 12435, 12736, 12849, 12937, 12914, 12820, 12949, 13152, 13364, 13536, 13567, 13824, 13534, 13628, 13750, 13765, 13751, 13755, 13869, 13976, 14233, 14113, 14396, 14203, 14627, 14601, 14399, 14087, 14574, 14527, 14470, 14251, 14112, 13509, 13735, 13543, 13563, 13172, 12929, 13074, 12637, 12821, 12839, 12496, 12232, 11684, 11082, 10653, 10582, 10711, 10781, 10956, 11309, 11009, 11066, 11196, 11593, 11402, 11141, 10968, 11007, 10917, 10997, 11394, 10967, 11414, 11063, 11352, 11498, 11343, 12095, 12483, 12987, 13440, 13798, 13884, 14214, 15172, 15231, 15174, 14922, 14421, 13844, 12891, 12377, 12498, 11817, 11486, 11121, 11082, 10996, 10927, 10853, 10966, 10957, 10958, 10836, 10548, 10554, 10616, 10759, 10620, 10921, 10782, 10845]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10453, 10426, 10479, 10413, 10427, 10463, 10422, 10417, 10317, 10372, 10424, 10416, 10449, 10438, 10341, 10364, 10319, 10366, 10352, 10421, 10412, 10469, 10536, 10549, 10505, 10580, 10636, 10699, 10748, 10855, 10819, 10958, 11126, 11196, 11480, 11504, 11355, 11642, 11608, 11549, 11509, 11289, 10967, 10683, 10508, 10464, 10367, 10387, 10460, 10401, 10373, 10459, 10614, 10784, 10696, 10633, 10714, 10892, 10908, 11001, 11089, 11214, 11232, 11456, 11552, 11847, 11856, 11821, 11752, 12197, 12223, 12173, 12237, 12602, 12484, 12243, 11989, 11587, 11551, 11564, 11536, 11487, 11436, 11441, 11459, 11488, 11498, 11667, 11844, 12292, 12336, 12583, 12696, 12900, 12913, 13111, 13415, 13465, 13796, 13794, 13727, 13754, 13886, 13887, 14057, 13868, 13912, 13687, 13566, 13554, 13834, 13910, 13846, 14046, 13774, 13943, 14115, 14108, 13553, 13150, 13059, 12515, 12691, 12383, 12160, 12290, 12283, 11881, 11658, 10853, 10952, 11033, 11387, 11057, 10872, 10884, 11104, 11283, 10797, 10617, 10777, 11002, 11174, 11475, 11537, 11360, 11179, 11411, 11247, 11267, 12126, 12186, 13242, 13788, 14553, 14273, 14136, 14810, 14854, 14324, 13662, 13226, 12195, 12010, 11222, 11126, 10881, 10803, 10702, 10494, 10547, 10435, 10584, 10932, 10652, 10613, 10932, 10732, 10781, 10908, 10758, 10947, 10817, 10922, 10795, 10820, 10804, 10728, 10555, 10540, 10387, 10427, 10416, 10393, 10372, 10377, 10361, 10379, 10384, 10363]]\n", + "DEBUG:root:compressed_len_list: [[10267, 10299, 10290, 10276, 10327, 10241, 10199, 10274, 10337, 10319, 10239, 10288, 10241, 10350, 10401, 10456, 10477, 10575, 10584, 10630, 10770, 11108, 11439, 11533, 11827, 11902, 12088, 12299, 12332, 12267, 11746, 11326, 11174, 10813, 10716, 10508, 10446, 10350, 10434, 10851, 10732, 10612, 10688, 10914, 11236, 11473, 11680, 11805, 11846, 12078, 12201, 12272, 12028, 12023, 12431, 12484, 12491, 12321, 12086, 11787, 11592, 11365, 11274, 11347, 11351, 11323, 11418, 11368, 11493, 11373, 11504, 11961, 12355, 12791, 12644, 12844, 13050, 13029, 13196, 13652, 13893, 13686, 13484, 13579, 13739, 14148, 14295, 14399, 14103, 14615, 14433, 14767, 14788, 14996, 15623, 15754, 15429, 14865, 14093, 14126, 13541, 13285, 13330, 13260, 13451, 13235, 12696, 12132, 11679, 11401, 11310, 11471, 11009, 10887, 10824, 11094, 11219, 11302, 11304, 11250, 11243, 11269, 11316, 11175, 11438, 11448, 11870, 12684, 12972, 13637, 14253, 14411, 15460, 15877, 15818, 15677, 15204, 14085, 13571, 12918, 12244, 11654, 11760, 11480, 11106, 10850, 10786, 10806, 10661, 10729, 10641, 10793, 10799, 10743, 10851, 10813, 10701, 10711, 10964, 11047, 10936, 10919, 10943, 11175, 11205, 10988, 10926, 10875, 10891, 10882, 10816, 10871, 10812, 10759, 10827, 10805, 10801, 10792, 10786, 10794, 10794, 10808, 10772, 10792, 10806, 10797, 10811, 10828, 10782, 10831, 10812, 10794, 10814, 10810, 10835, 10807, 10817, 10818, 10819, 10845]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10567, 10538, 10601, 10574, 10553, 10521, 10426, 10507, 10490, 10453, 10518, 10579, 10597, 10634, 10697, 10618, 10626, 10576, 10525, 10593, 10712, 10789, 10848, 10942, 11071, 11296, 11390, 11256, 11415, 12005, 12193, 11636, 11363, 11260, 10819, 10589, 10613, 10566, 10473, 10541, 10652, 10795, 10725, 10769, 10929, 11002, 11011, 11180, 11306, 11348, 11552, 11584, 11420, 11738, 11884, 12191, 12223, 11945, 11967, 11644, 11408, 11307, 11350, 11219, 11085, 10952, 10895, 10956, 11181, 11229, 11316, 11314, 11404, 11698, 11858, 12215, 12317, 12773, 13323, 13529, 13216, 12953, 12712, 13003, 13469, 13145, 13597, 13893, 13714, 14145, 13735, 13888, 14396, 14593, 15143, 14342, 14612, 14854, 14696, 13845, 13455, 13160, 13146, 12287, 12469, 12607, 12256, 11570, 10806, 10330, 10257, 10254, 10392, 10524, 10470, 10673, 10882, 11121, 10943, 10822, 10843, 11087, 11152, 11213, 11179, 11321, 11840, 12472, 13042, 13534, 13931, 14135, 14581, 15599, 15805, 15777, 15898, 15784, 14866, 13719, 12795, 11949, 11662, 11030, 10911, 10829, 10430, 10883, 11037, 11056, 10858, 10769, 10877, 10846, 10864, 10765, 10685, 10769, 10701, 10718, 10558, 10545, 10554, 10526, 10528, 10490, 10477, 10460, 10489, 10457, 10468, 10461, 10459, 10447, 10491, 10463, 10515, 10491, 10460, 10438, 10474, 10476, 10474, 10484, 10471, 10477, 10475, 10514, 10484, 10463, 10455, 10472, 10462, 10476, 10479, 10487, 10493, 10516, 10459, 10479]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10736, 10772, 10771, 10754, 10746, 10741, 10661, 10662, 10728, 10761, 10689, 10730, 10715, 10727, 10786, 10807, 10836, 10859, 10900, 10874, 10841, 10758, 10850, 10996, 11264, 11165, 11318, 11490, 11595, 11562, 11926, 12195, 12167, 12388, 12340, 12263, 12613, 12612, 12714, 12534, 12255, 12028, 12124, 11726, 11549, 11352, 11461, 11553, 11419, 11419, 11226, 11295, 11246, 11365, 11341, 11366, 11490, 11557, 11560, 11585, 11593, 11463, 11371, 11451, 11554, 11596, 11711, 11995, 12031, 12216, 12024, 12399, 12334, 12767, 12527, 12464, 12406, 12492, 12284, 12035, 11867, 11781, 11799, 11863, 11711, 11505, 11207, 11211, 11185, 11175, 11168, 11241, 11595, 11613, 11601, 11682, 11649, 11737, 11814, 12027, 12202, 12627, 13042, 12998, 13511, 13613, 13622, 13425, 13531, 13539, 13527, 13340, 13338, 13599, 13419, 13975, 13767, 14398, 14602, 15303, 15409, 14552, 14760, 15652, 14849, 15168, 16531, 16479, 15629, 14229, 14272, 13485, 13791, 13504, 13454, 13671, 13435, 13086, 12417, 10801, 10563, 10250, 10384, 10461, 10660, 10574, 10740, 10720, 10815, 10704, 10522, 10536, 10591, 10656, 10692, 10670, 10614, 10454, 10552, 10559, 10892, 11050, 11159, 11099, 10989, 11100, 11092, 10974, 11004, 10726, 10434, 10529, 10533, 10616, 10552, 10575, 10655, 10560, 10393, 10370, 10318, 10386, 10614, 10564, 10562, 10549, 10536, 10551, 10535, 10541, 10542, 10556, 10565, 10571, 10586, 10605, 10639, 10593, 10638, 10670]]\n", + "DEBUG:root:compressed_len_list: [[10710, 10728, 10735, 10757, 10690, 10648, 10717, 10695, 10572, 10632, 10592, 10674, 10693, 10709, 10708, 10717, 10739, 10738, 10757, 10822, 10858, 10891, 10918, 10876, 10910, 10856, 10927, 10845, 10872, 10945, 10793, 11004, 11333, 10992, 10971, 11075, 11132, 11319, 11087, 11291, 11072, 11306, 11367, 11366, 11530, 11774, 12050, 12072, 12157, 12297, 12534, 12360, 12556, 12708, 12807, 12847, 12619, 12161, 12272, 11934, 11756, 11326, 10954, 10575, 10433, 10495, 10535, 10536, 10507, 10552, 10580, 10717, 10746, 10801, 10893, 10928, 10993, 11045, 11105, 11137, 11172, 11409, 11593, 11891, 11875, 12049, 12155, 12338, 12590, 12733, 12497, 12686, 13426, 13164, 12970, 12870, 12629, 12592, 12324, 11843, 11595, 11668, 11833, 11670, 11589, 11552, 11612, 11695, 11391, 11099, 11103, 11158, 11371, 11396, 11506, 11662, 11725, 11665, 11881, 12064, 12433, 12821, 13353, 13826, 14072, 13716, 13620, 13701, 13902, 13768, 13680, 13610, 13635, 13725, 13626, 13654, 13734, 13438, 13900, 14630, 14865, 14935, 14998, 15258, 15175, 15202, 15202, 15097, 14548, 13968, 14023, 13758, 13813, 13669, 14200, 13883, 13569, 13208, 12629, 11509, 11036, 11150, 11038, 11129, 10959, 10723, 10546, 10505, 10562, 10522, 10588, 10594, 10570, 10645, 10639, 10696, 10832, 11099, 11114, 11569, 11714, 11912, 12149, 12083, 11824, 12238, 12258, 12004, 11951, 11775, 11641, 11525, 11204, 11026, 10862, 10920, 10904, 10708, 10708, 10775]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10382, 10365, 10343, 10350, 10346, 10338, 10343, 10356, 10354, 10367, 10343, 10269, 10253, 10265, 10239, 10342, 10253, 10262, 10310, 10278, 10303, 10300, 10294, 10325, 10315, 10389, 10438, 10505, 10544, 10595, 10667, 10795, 10878, 10915, 11066, 11447, 11696, 11881, 11882, 11760, 11678, 11876, 11890, 11628, 11566, 11400, 11273, 11143, 10993, 10640, 10405, 10287, 10479, 10794, 10475, 10400, 10487, 10793, 10981, 11101, 11194, 11511, 11639, 11851, 11940, 12286, 12203, 12343, 12285, 12243, 12249, 12440, 12331, 11933, 11886, 11614, 11415, 11354, 11125, 10833, 10842, 11083, 11162, 11122, 10993, 11110, 11147, 11222, 11327, 11475, 11607, 11828, 12120, 12212, 12455, 12958, 13284, 13528, 13947, 14284, 14425, 14735, 14943, 14696, 14310, 13956, 13750, 13603, 13491, 13942, 14337, 14294, 14706, 14596, 14468, 13997, 14091, 14479, 14411, 14182, 14435, 14336, 14482, 14305, 14592, 14383, 14068, 13761, 13926, 14051, 14139, 14342, 14314, 13941, 13919, 13944, 14120, 14048, 13419, 13460, 12597, 12692, 12560, 12640, 12720, 12415, 11992, 11340, 11516, 11236, 11074, 10993, 10931, 10825, 10869, 10855, 10773, 10919, 10975, 10868, 10778, 10838, 10897, 10952, 11214, 11675, 12169, 12312, 12387, 12515, 12672, 13327, 13728, 13850, 13688, 13399, 13326, 13230, 12809, 12326, 12084, 11329, 11206, 11303, 11003, 10698, 10402, 10746, 10671, 10621, 10726, 10646, 10917, 10703, 10744, 10883, 10785, 10830, 10852, 10846]]\n", + "DEBUG:root:compressed_len_list: [[10605, 10624, 10619, 10610, 10620, 10622, 10643, 10623, 10584, 10572, 10578, 10584, 10646, 10586, 10616, 10612, 10593, 10628, 10658, 10647, 10656, 10645, 10628, 10675, 10757, 10887, 10944, 11058, 11050, 11063, 11189, 11321, 11749, 12079, 12183, 12239, 12080, 12493, 12598, 12584, 12604, 12358, 11881, 11667, 11401, 10814, 10612, 10427, 10349, 10308, 10326, 10546, 10556, 10597, 10531, 10738, 10883, 10872, 10859, 10825, 10788, 10815, 10896, 11112, 11424, 11974, 11984, 12316, 12426, 12435, 12397, 12326, 12306, 12340, 11854, 11951, 12079, 12267, 12281, 12443, 12124, 12538, 13273, 13247, 13082, 12803, 12484, 12288, 11968, 11828, 11691, 11718, 11729, 11557, 11654, 11655, 11602, 11647, 11742, 11940, 12069, 11813, 11619, 11524, 11935, 12813, 12559, 13379, 12945, 13395, 13768, 13266, 13657, 14334, 14282, 14074, 13785, 14072, 14313, 14174, 13776, 13611, 13905, 14145, 13917, 13859, 13811, 14253, 14271, 14362, 14679, 14637, 14355, 14191, 14327, 14295, 13744, 13518, 12944, 13204, 12933, 13007, 13324, 13461, 13866, 13804, 13795, 14087, 14077, 13372, 12339, 11560, 11617, 11366, 11357, 11375, 11317, 11221, 11311, 11255, 11460, 11413, 11372, 11369, 11435, 11742, 12411, 12765, 13094, 13440, 13484, 13783, 14399, 14114, 14075, 14861, 14849, 15090, 14866, 14499, 14288, 14247, 13678, 13287, 13132, 12602, 12378, 12231, 12621, 12661, 12705, 12441, 12148, 12005, 11742, 11589, 11678, 11563, 11436, 10979]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10715, 10762, 10727, 10700, 10712, 10671, 10686, 10636, 10656, 10657, 10671, 10672, 10618, 10678, 10718, 10740, 10729, 10728, 10765, 10843, 10824, 10943, 10999, 11078, 10940, 10944, 11005, 11177, 11206, 11239, 11309, 11625, 11807, 11830, 11885, 12025, 12220, 12433, 12709, 12704, 12682, 12508, 11953, 11983, 11729, 11547, 11164, 10897, 10598, 10431, 10462, 10603, 10769, 10719, 10851, 10813, 11087, 11158, 11107, 11374, 11543, 11728, 11774, 12091, 12405, 12534, 12550, 12519, 12748, 12559, 12592, 12570, 12476, 12741, 12559, 12512, 12195, 12227, 12402, 12181, 11918, 11798, 11783, 11620, 11396, 11260, 11439, 11343, 11301, 11375, 11506, 11624, 11680, 11887, 12140, 12474, 12408, 12750, 12984, 13173, 13361, 13191, 13370, 13276, 13480, 13533, 13474, 13738, 13967, 14174, 14256, 14374, 14430, 14021, 14251, 14486, 15381, 15310, 15721, 15979, 16078, 16044, 15654, 14847, 14200, 13485, 13742, 13499, 13557, 13687, 13935, 14068, 13822, 13629, 12831, 12552, 12284, 11696, 11129, 10833, 10805, 10916, 11103, 11192, 11296, 11332, 11530, 11431, 11685, 11493, 11458, 11377, 11530, 11964, 12080, 11846, 11771, 11621, 11460, 11296, 11199, 10936, 10753, 10790, 10790, 10750, 10628, 10672, 10875, 10736, 10871, 10871, 10827, 10714, 10806, 10812, 10776, 10906, 10977, 10968, 10901, 10865, 10891, 10946, 10962, 10840, 10759, 10752, 10715, 10779, 10738, 10762, 10789, 10816, 10811, 10817, 10892, 10842, 10870, 10856]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10328, 10304, 10327, 10343, 10355, 10318, 10289, 10232, 10338, 10342, 10288, 10311, 10325, 10296, 10292, 10280, 10251, 10265, 10255, 10267, 10242, 10321, 10373, 10490, 10587, 10690, 10743, 10801, 10935, 10951, 11010, 11063, 11110, 11230, 11384, 11583, 11779, 12047, 11667, 11938, 12259, 11853, 11853, 11883, 11815, 11842, 11647, 11504, 11364, 11211, 11023, 10797, 10294, 10154, 10167, 10237, 10159, 10189, 10276, 10432, 10474, 10496, 10521, 10854, 11039, 11299, 11673, 11977, 11903, 12050, 12266, 12335, 12387, 12379, 12174, 12457, 12377, 12503, 12144, 12179, 11882, 11678, 11714, 11649, 11326, 11234, 10979, 10929, 10927, 11103, 11577, 12087, 12345, 12566, 13013, 13473, 13696, 14081, 13694, 13546, 13397, 13595, 13511, 13749, 13288, 13384, 13224, 13317, 13309, 13455, 13501, 13506, 13452, 13334, 13525, 13508, 13227, 12965, 12862, 12736, 12758, 12790, 13072, 12862, 13060, 12232, 11539, 11364, 11020, 11043, 10976, 10960, 10913, 10921, 10824, 10734, 10700, 10702, 10880, 10866, 10907, 10803, 11124, 11308, 11622, 12057, 12143, 12427, 12362, 12699, 12444, 12977, 12929, 13296, 13394, 13536, 13555, 12970, 12078, 11709, 11334, 10879, 10951, 10788, 10681, 10688, 10431, 10418, 10360, 10711, 10610, 10790, 10795, 10638, 10682, 10457, 10579, 10673, 10623, 10552, 10589, 10668, 10670, 10637, 10613, 10691, 10664, 10645, 10648, 10612, 10577, 10550, 10534, 10550, 10510, 10512, 10527, 10528, 10518, 10537]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10671, 10662, 10636, 10659, 10677, 10662, 10629, 10635, 10619, 10507, 10565, 10565, 10513, 10479, 10521, 10561, 10580, 10560, 10600, 10656, 10648, 10694, 10736, 10795, 10834, 10933, 10983, 11057, 11163, 11239, 11307, 11444, 11612, 11454, 11408, 11607, 11748, 11756, 11446, 11232, 11114, 11059, 10899, 10731, 10735, 10777, 10564, 10433, 10423, 10400, 10460, 10536, 10700, 10808, 10849, 10807, 11001, 11047, 11050, 11312, 11348, 11369, 11165, 11302, 11322, 11217, 11408, 11544, 11565, 11316, 11524, 11756, 11668, 11543, 11397, 11397, 11364, 11215, 10990, 10894, 10812, 10848, 10893, 11032, 11080, 11214, 11312, 11375, 11521, 11780, 12099, 12538, 12933, 12966, 13464, 13594, 13890, 14273, 13818, 13860, 13916, 13954, 14089, 13748, 13628, 13346, 13767, 13581, 13581, 13433, 13418, 13277, 13838, 14642, 15038, 15385, 15470, 15107, 15117, 15264, 14555, 14019, 13118, 12391, 12499, 12811, 12829, 13060, 13186, 13335, 12431, 11706, 11734, 11482, 11345, 11265, 10949, 10713, 10681, 10650, 10767, 10691, 10725, 10886, 10841, 11213, 11166, 11244, 11380, 11479, 11679, 11393, 12030, 12107, 11902, 11779, 11623, 11478, 11410, 11238, 11098, 10952, 10924, 10883, 10850, 10872, 10898, 10809, 10754, 10716, 10706, 10566, 10498, 10481, 10447, 10225, 10306, 10361, 10214, 10198, 10219, 10193, 10213, 10211, 10222, 10297, 10238, 10220, 10279, 10328, 10339, 10336, 10382, 10346, 10353, 10399, 10400, 10433, 10448, 10466]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10444, 10431, 10479, 10475, 10459, 10439, 10364, 10312, 10366, 10368, 10384, 10413, 10423, 10439, 10356, 10450, 10479, 10437, 10489, 10592, 10685, 10769, 10830, 10899, 11027, 11142, 11435, 11800, 11774, 11694, 12162, 12202, 12196, 12210, 11589, 11617, 11386, 11217, 10833, 10637, 10623, 10538, 10592, 10521, 10525, 10595, 10565, 10672, 10686, 10847, 10846, 10929, 11134, 11271, 11326, 11391, 11397, 11375, 11315, 11650, 11681, 11656, 11598, 11475, 11211, 11560, 11453, 11348, 11322, 11370, 11346, 11273, 11232, 11309, 11245, 11234, 11222, 11293, 11423, 11626, 11867, 12217, 11816, 11451, 11935, 12280, 13119, 12762, 12963, 11985, 12219, 12578, 13090, 13502, 13483, 14111, 14524, 14726, 15080, 15139, 15146, 15057, 15022, 14710, 14564, 14274, 14176, 14257, 14741, 15189, 15420, 15421, 15312, 15643, 15306, 15225, 15391, 15315, 15355, 15002, 14998, 13784, 13845, 13294, 13555, 13410, 12850, 12579, 11977, 11959, 11748, 11566, 11624, 10816, 11036, 10895, 11107, 11132, 11083, 10912, 10819, 10944, 11009, 10932, 10883, 10817, 10796, 10976, 11233, 11508, 11959, 12560, 12830, 13104, 13313, 13723, 14026, 14246, 14545, 14666, 14587, 15382, 15552, 14875, 14966, 14494, 14398, 13967, 12944, 12627, 12130, 11352, 11321, 11740, 12174, 12244, 11717, 11453, 11234, 11091, 10876, 10762, 10842, 10848, 10873, 10896, 10777, 10831, 10815, 10801, 10717, 10677, 10611, 10534, 10525, 10458, 10488, 10475, 10462, 10401]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10412, 10415, 10401, 10393, 10438, 10410, 10389, 10356, 10467, 10398, 10413, 10359, 10371, 10386, 10369, 10415, 10468, 10514, 10473, 10429, 10453, 10474, 10442, 10439, 10447, 10454, 10435, 10466, 10563, 10582, 10628, 10726, 10729, 10848, 10828, 10871, 10887, 10872, 10890, 10866, 10927, 11002, 10866, 10895, 10929, 10962, 10981, 10956, 10982, 10925, 11033, 10948, 11034, 11130, 11168, 11283, 11436, 11578, 11463, 11426, 11567, 11794, 11784, 11691, 11842, 11788, 11918, 11933, 11593, 10959, 10683, 10516, 10254, 10192, 10056, 10139, 10067, 10120, 10021, 10143, 10224, 10371, 10485, 10485, 10506, 10545, 10592, 10594, 10544, 10740, 10887, 11070, 11097, 11227, 11364, 11482, 11660, 11703, 11926, 11797, 12107, 12468, 12440, 12280, 12544, 12561, 12407, 12341, 12181, 11986, 11800, 11719, 11745, 11734, 11754, 11617, 11495, 11826, 11844, 12207, 12160, 12230, 12613, 13162, 13334, 13369, 13572, 13554, 13458, 13453, 13388, 13431, 13219, 13124, 13329, 13620, 13596, 13595, 13359, 13478, 13518, 13513, 13334, 13321, 13392, 13905, 14207, 14407, 14527, 14408, 14314, 14333, 14327, 14491, 14648, 14347, 14606, 14600, 14528, 14398, 14075, 13670, 13522, 12942, 13304, 13052, 13089, 12968, 12156, 11071, 10695, 10750, 10853, 11172, 11294, 11257, 11300, 11170, 11468, 11386, 11316, 11809, 12270, 12898, 13374, 13704, 13869, 14637, 15142, 15071, 14228, 14442, 13947, 13374, 12635, 12329, 11631, 11431, 11195, 11016]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10579, 10537, 10521, 10533, 10572, 10555, 10526, 10534, 10506, 10441, 10479, 10548, 10576, 10518, 10516, 10509, 10532, 10571, 10610, 10547, 10573, 10613, 10646, 10717, 10691, 10689, 10671, 10837, 10860, 10957, 11108, 11372, 11759, 11934, 12028, 12194, 12246, 12652, 12716, 12585, 12391, 12328, 11937, 12058, 12258, 12573, 12600, 12032, 11456, 11622, 11749, 11942, 11847, 11715, 11952, 12056, 12058, 12007, 11874, 11877, 11570, 11494, 12394, 12629, 12709, 12603, 12218, 11912, 11760, 11542, 11309, 11159, 11058, 11036, 11058, 11015, 11007, 11048, 10996, 11057, 11170, 11337, 11549, 11747, 12030, 12281, 12487, 12353, 12539, 12687, 13276, 13604, 13599, 13386, 13642, 13620, 13976, 14520, 14624, 14363, 13987, 14388, 15072, 15180, 15136, 14523, 14156, 14216, 14973, 15073, 15577, 15576, 14722, 14155, 14977, 14397, 15543, 14830, 14269, 13905, 13291, 13393, 13442, 12575, 13308, 12853, 13297, 13100, 12738, 12321, 12206, 12806, 12843, 13202, 13227, 13137, 13429, 13342, 13015, 12812, 12732, 13144, 13378, 13560, 13020, 12813, 12651, 13273, 13968, 14141, 14297, 13872, 14281, 15002, 15176, 15383, 15028, 15115, 14139, 14032, 13242, 12254, 12005, 12231, 12470, 11955, 11904, 12260, 12163, 11736, 11942, 11628, 11482, 11042, 10712, 10842, 10931, 10713, 10993, 10941, 10992, 10821, 10821, 10951, 10820, 10960, 10864, 10606, 10585, 10560, 10578, 10557, 10549, 10563, 10581, 10565, 10561, 10587, 10556, 10584]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10356, 10339, 10385, 10330, 10326, 10361, 10373, 10325, 10268, 10299, 10367, 10368, 10318, 10291, 10282, 10241, 10346, 10328, 10264, 10299, 10335, 10524, 10536, 10510, 10455, 10594, 10598, 10712, 10749, 10881, 10907, 10915, 10972, 11057, 11290, 11617, 11758, 11631, 11585, 11835, 11859, 11694, 11796, 11629, 11490, 11234, 11095, 11075, 10771, 10736, 10476, 10443, 10592, 10808, 10621, 10534, 10728, 11009, 10958, 10946, 10984, 11099, 11134, 11340, 11540, 11642, 11781, 11904, 11918, 11782, 12074, 12230, 11909, 11869, 11642, 11451, 11143, 11101, 11254, 11312, 11242, 11169, 11188, 11253, 11264, 11211, 11257, 11293, 11535, 11636, 11894, 12234, 12503, 12593, 12571, 12541, 12978, 13082, 13286, 13582, 14137, 14187, 14025, 13982, 14119, 13941, 13983, 13982, 14101, 13922, 14138, 14064, 14122, 14292, 14602, 14789, 14258, 14289, 14451, 14274, 13874, 13538, 13289, 13398, 13428, 13191, 13157, 12847, 12820, 12736, 12706, 12595, 12427, 12294, 12096, 11607, 11284, 11160, 11177, 11221, 11084, 10980, 10952, 11090, 11195, 11112, 10937, 10861, 10979, 11199, 11959, 12135, 12325, 12817, 12960, 13727, 14265, 14349, 14395, 13806, 13565, 13039, 12345, 11842, 11366, 10904, 10977, 10779, 10993, 10741, 10820, 10992, 10910, 10865, 10841, 11176, 11385, 11141, 10823, 10561, 10497, 10954, 10811, 10800, 10684, 10933, 10632, 10688, 10956, 10842, 10928, 10788, 10918, 10853, 10872, 10831, 10895, 10917, 10881, 10857]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10417, 10425, 10424, 10395, 10386, 10344, 10380, 10398, 10374, 10331, 10320, 10353, 10317, 10332, 10342, 10414, 10480, 10517, 10424, 10435, 10432, 10563, 10569, 10605, 10760, 10838, 10957, 10876, 11077, 11229, 11571, 11720, 11992, 11987, 11815, 12084, 12380, 12840, 12869, 12848, 12394, 12138, 11878, 11656, 11709, 11454, 11135, 10682, 10702, 10817, 10910, 10898, 10853, 10832, 10932, 11090, 11106, 11222, 11168, 11171, 11189, 11116, 11147, 11187, 11417, 11494, 11633, 11775, 11896, 12245, 12406, 12750, 12719, 12763, 12972, 13153, 12947, 12658, 12197, 11864, 11633, 11519, 11588, 11739, 11394, 11399, 11597, 11706, 11637, 11542, 11227, 11159, 11023, 11348, 11376, 11288, 11686, 11879, 12611, 13186, 13254, 13886, 13848, 14188, 14256, 13947, 14306, 13579, 13968, 13798, 13882, 13757, 14100, 14527, 14558, 14711, 14571, 14895, 14913, 14950, 14931, 14919, 14378, 13744, 13472, 13805, 14228, 14062, 13885, 14390, 13950, 13987, 14381, 14141, 14236, 13755, 13956, 13331, 13392, 13199, 13577, 13789, 13348, 13606, 13618, 13714, 13684, 13464, 12490, 11895, 11080, 11057, 10969, 10973, 11122, 11317, 11124, 10832, 10551, 10749, 10811, 10941, 11197, 11423, 11779, 12324, 12511, 12879, 12842, 12872, 13246, 14340, 14462, 14018, 13275, 12798, 12396, 12102, 11476, 11342, 11548, 12034, 12477, 12705, 12410, 12171, 11760, 11848, 11698, 11414, 10825, 10488, 10838, 10475, 10583, 10827, 10817, 10733, 10700, 10653]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10673, 10693, 10677, 10681, 10662, 10694, 10726, 10701, 10685, 10655, 10579, 10649, 10617, 10591, 10640, 10603, 10627, 10656, 10682, 10682, 10648, 10718, 10764, 10847, 10957, 11101, 11164, 11448, 11854, 12083, 12036, 12085, 12615, 12639, 13079, 13124, 13039, 12383, 11910, 11728, 11522, 11256, 11081, 10816, 10731, 10661, 10783, 10913, 10854, 10929, 11098, 11123, 10811, 10886, 11124, 10911, 11075, 11366, 11651, 11959, 12055, 12215, 12327, 12681, 12973, 13235, 13378, 13047, 13403, 13377, 13053, 12950, 12292, 12320, 11872, 11844, 11804, 11611, 11500, 11670, 11506, 11478, 11532, 11667, 11696, 11784, 11922, 11988, 12149, 12187, 11752, 11657, 12217, 12642, 13455, 13983, 14482, 14429, 14206, 13992, 14080, 14435, 14386, 14306, 13940, 14100, 13872, 13914, 13957, 13822, 13853, 14229, 14782, 14930, 14899, 13546, 13336, 13208, 13031, 13446, 13460, 13339, 13154, 13379, 12782, 12760, 12715, 12475, 12401, 11914, 11705, 11719, 11812, 12432, 12419, 12909, 12652, 13229, 13423, 13565, 14165, 14509, 14869, 14878, 14108, 13814, 13466, 12847, 12429, 11396, 11026, 11169, 11153, 11079, 11089, 10940, 10965, 11059, 11120, 11287, 10866, 10813, 10828, 10825, 11062, 11005, 11004, 11025, 11086, 10926, 10895, 10961, 10972, 10972, 10962, 10958, 10936, 10975, 10929, 10878, 10896, 10934, 10935, 10928, 10916, 10955, 10935, 10891, 10861, 10840, 10851, 10823, 10802, 10811, 10852, 10825, 10826, 10811, 10832, 10804]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10321, 10349, 10342, 10316, 10330, 10363, 10329, 10375, 10373, 10307, 10283, 10364, 10346, 10352, 10330, 10307, 10350, 10275, 10283, 10413, 10403, 10426, 10468, 10542, 10567, 10573, 10706, 10776, 10912, 10964, 11019, 11153, 11482, 11759, 11674, 11690, 11934, 12226, 12456, 12450, 12399, 11704, 11646, 11445, 11217, 11025, 10935, 10481, 10227, 10257, 10358, 10732, 10694, 10476, 10467, 10761, 10761, 10831, 11036, 11120, 11230, 11435, 11991, 12244, 12422, 12527, 12511, 12183, 12481, 12817, 12920, 12762, 12634, 12275, 12163, 11868, 11820, 11415, 11140, 11081, 11203, 11437, 11308, 11266, 11267, 11326, 11147, 10963, 11221, 10983, 11148, 11171, 11380, 11730, 12167, 12426, 13051, 13279, 13668, 13698, 13858, 13975, 13951, 13873, 13692, 13692, 13522, 13482, 13362, 13906, 13877, 14044, 14118, 14121, 13794, 13938, 14101, 13751, 13757, 13814, 13721, 13643, 12963, 12849, 12515, 12946, 12625, 13047, 12898, 13251, 13285, 12606, 12260, 12132, 12039, 11984, 11575, 11496, 11282, 11065, 10887, 10732, 10684, 10823, 10916, 10914, 10794, 10793, 11032, 11320, 11684, 11877, 11966, 12138, 12370, 12599, 12282, 12780, 13133, 13244, 13259, 12912, 12767, 12875, 12958, 12732, 12440, 12045, 11112, 10718, 10967, 10964, 11022, 10802, 10683, 10672, 10655, 10667, 10694, 10406, 10428, 10691, 10431, 10568, 10514, 10503, 10666, 10543, 10792, 10701, 10871, 10923, 10784, 10918, 10877, 10874, 10869, 10852, 10805, 10719]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10361, 10379, 10370, 10389, 10362, 10376, 10348, 10266, 10307, 10267, 10244, 10304, 10390, 10357, 10342, 10320, 10334, 10344, 10321, 10285, 10296, 10269, 10363, 10408, 10490, 10494, 10531, 10608, 10599, 10713, 10686, 10740, 10824, 10903, 10967, 11063, 11097, 11364, 11499, 11850, 12049, 12094, 11983, 12091, 12302, 12456, 12181, 12502, 12493, 12509, 12333, 11864, 11686, 11615, 11221, 10769, 10453, 10192, 10197, 10184, 10347, 10315, 10376, 10492, 10631, 10599, 10889, 11048, 11296, 11392, 11897, 11839, 12248, 12360, 12296, 12462, 12959, 13075, 13054, 12610, 12369, 12260, 12279, 11888, 11387, 11226, 11181, 11474, 11320, 11342, 11248, 11216, 11239, 11140, 11120, 11591, 12368, 12541, 12767, 13249, 13609, 13744, 13740, 13602, 13612, 13386, 13301, 13360, 13196, 13109, 13042, 12924, 12838, 13435, 13735, 13827, 13954, 14051, 14226, 14738, 14971, 15439, 15553, 15561, 15674, 15683, 15452, 14955, 13938, 13776, 13399, 13318, 13405, 13204, 13299, 13515, 13809, 13985, 13295, 13150, 13311, 13382, 13645, 13774, 13367, 12980, 12616, 12535, 12530, 12461, 12515, 13017, 12759, 12822, 12907, 13013, 13199, 13444, 13271, 13630, 14285, 14524, 14575, 14235, 14094, 13631, 13628, 13452, 13050, 13091, 13228, 13215, 13013, 12672, 12081, 11628, 11343, 11035, 11243, 11234, 11311, 11237, 11115, 11033, 10929, 11044, 11003, 10962, 10612, 10528, 10379, 10483, 10528, 10501, 10472, 10442, 10607, 10430, 10493, 10607]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10470, 10480, 10483, 10476, 10513, 10482, 10457, 10330, 10355, 10359, 10478, 10482, 10513, 10479, 10494, 10479, 10474, 10439, 10447, 10534, 10536, 10604, 10524, 10528, 10620, 10677, 10734, 10760, 10853, 10952, 11080, 11158, 11285, 11395, 11648, 11509, 11451, 11507, 11945, 11937, 11797, 11453, 11608, 11479, 11146, 10876, 10879, 10962, 11173, 11222, 11229, 11224, 11475, 11656, 11677, 11629, 11641, 11597, 11722, 11822, 11767, 11924, 11933, 11883, 11706, 12176, 12099, 12296, 12380, 12218, 11804, 11457, 11344, 11174, 11089, 10960, 10883, 10860, 10887, 10927, 11028, 11066, 11066, 11096, 11166, 11263, 11341, 11660, 12151, 12762, 13203, 13079, 13214, 13095, 13200, 13246, 13157, 13127, 13232, 13303, 13538, 13635, 13866, 14129, 14033, 14360, 14235, 14335, 14207, 14402, 13914, 13506, 12907, 12925, 13064, 13014, 13022, 13223, 13091, 13105, 12206, 11922, 11821, 11362, 10883, 11087, 11119, 11180, 11168, 11043, 10944, 10865, 10873, 11208, 11270, 11229, 11526, 11384, 11658, 11993, 12089, 12108, 12021, 12005, 12185, 12755, 13358, 13379, 13253, 13650, 13445, 13166, 12667, 12105, 12085, 11752, 11360, 10966, 10994, 11031, 10932, 10836, 10871, 10831, 10816, 11113, 10672, 10598, 10700, 10535, 10597, 10525, 10516, 10447, 10431, 10452, 10481, 10480, 10564, 10543, 10562, 10570, 10520, 10572, 10556, 10553, 10549, 10575, 10525, 10591, 10575, 10573, 10554, 10593, 10580, 10563, 10608, 10582, 10568, 10508]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10314, 10337, 10366, 10393, 10352, 10356, 10347, 10300, 10267, 10308, 10400, 10338, 10297, 10287, 10279, 10330, 10321, 10302, 10249, 10246, 10278, 10314, 10328, 10369, 10368, 10386, 10337, 10357, 10373, 10399, 10453, 10510, 10562, 10593, 10663, 10671, 10739, 10819, 10862, 11019, 11036, 11178, 11495, 11553, 11512, 11538, 11636, 11707, 11721, 11309, 11061, 10971, 10821, 10776, 10478, 10216, 10231, 10156, 10274, 10446, 10501, 10452, 10418, 10485, 10722, 10820, 10961, 11134, 11367, 11329, 11679, 11905, 11879, 11923, 11680, 11663, 11950, 12225, 12278, 12249, 11988, 11617, 11249, 10982, 11152, 10934, 10840, 10840, 10906, 10979, 11090, 11035, 11101, 11144, 11310, 11439, 11741, 12133, 12388, 12784, 12860, 13058, 13221, 13094, 13928, 14320, 14533, 14477, 13528, 13532, 13483, 14559, 14069, 14228, 13496, 13509, 13443, 13109, 13383, 13676, 13931, 13544, 14277, 14504, 14993, 15717, 15288, 15363, 15276, 15422, 15496, 14984, 14132, 13467, 12808, 12697, 13098, 13152, 13026, 12864, 12583, 12116, 11661, 11170, 11038, 11019, 10897, 10921, 10750, 10793, 10842, 10948, 11063, 10969, 10922, 11053, 11136, 11259, 11323, 11480, 11242, 11520, 11382, 11363, 11216, 11168, 10847, 10508, 10602, 10800, 10997, 10740, 10566, 10403, 10473, 10410, 10576, 10373, 10356, 10402, 10387, 10377, 10347, 10366, 10375, 10353, 10368, 10343, 10397, 10406, 10440, 10446, 10426, 10458, 10456, 10455, 10494, 10451, 10481, 10485]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10454, 10445, 10458, 10468, 10426, 10421, 10364, 10396, 10358, 10378, 10384, 10434, 10437, 10428, 10518, 10581, 10543, 10507, 10526, 10615, 10685, 10781, 10836, 10816, 10920, 11058, 11155, 11173, 11265, 11540, 11763, 12156, 12287, 12205, 12154, 12863, 12867, 12914, 11988, 11706, 11555, 11555, 11363, 11349, 11149, 11086, 11229, 11313, 11187, 11169, 11305, 11480, 11496, 11342, 11300, 11402, 11364, 11442, 11573, 11759, 11738, 11779, 11521, 12049, 12528, 12427, 12320, 12195, 11974, 11695, 11484, 11258, 11199, 10932, 10868, 10836, 10897, 11044, 11190, 11136, 11177, 11148, 11195, 11310, 11390, 11569, 11758, 12456, 13054, 13635, 13563, 13420, 13554, 13668, 13843, 14220, 14811, 14961, 15079, 15098, 14964, 14957, 14403, 14107, 14601, 14649, 14643, 14758, 14745, 14883, 14766, 14724, 14474, 14212, 14075, 14011, 14396, 14217, 14301, 14424, 14336, 14357, 13783, 13112, 12541, 12796, 12760, 12367, 12242, 12493, 12124, 11830, 10844, 10395, 10448, 10621, 10733, 11036, 11195, 11192, 11058, 11016, 11217, 11216, 11335, 12617, 12693, 13031, 14356, 13226, 12719, 12078, 11591, 11194, 11164, 10798, 10660, 10512, 10399, 10326, 10388, 10598, 10770, 10632, 10585, 10520, 10478, 10422, 10423, 10476, 10560, 10568, 10678, 10614, 10656, 10558, 10507, 10520, 10521, 10529, 10520, 10533, 10551, 10565, 10530, 10528, 10556, 10549, 10561, 10537, 10552, 10545, 10514, 10530, 10515, 10551, 10560, 10557, 10543, 10576]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10461, 10437, 10458, 10441, 10430, 10413, 10465, 10472, 10426, 10394, 10454, 10455, 10471, 10444, 10422, 10391, 10372, 10345, 10417, 10427, 10413, 10387, 10378, 10355, 10326, 10321, 10352, 10360, 10370, 10360, 10373, 10349, 10425, 10471, 10576, 10631, 10724, 10841, 10849, 10893, 10935, 10927, 10956, 10997, 11238, 11349, 11520, 11575, 11526, 11571, 11435, 11407, 11731, 11716, 11702, 11381, 11353, 11021, 10825, 10478, 10270, 10171, 10116, 10110, 10072, 9996, 9908, 10020, 10129, 10126, 10113, 10239, 10338, 10391, 10541, 10621, 10667, 10785, 11073, 11245, 11401, 11567, 11610, 11662, 11643, 11623, 11647, 11618, 11675, 11383, 11437, 11715, 11729, 11817, 11848, 11521, 11855, 11994, 11796, 11572, 11905, 11596, 11298, 11263, 11092, 11192, 10903, 10869, 10900, 11073, 11126, 11140, 11171, 11182, 11225, 11317, 11531, 11566, 11960, 12213, 12281, 12760, 13010, 13324, 13569, 13552, 13565, 13495, 13620, 13481, 13646, 13588, 13835, 14115, 14118, 14159, 13928, 13656, 13603, 13774, 13990, 14123, 13791, 13638, 13777, 13871, 13945, 13581, 12928, 13209, 12992, 12994, 13059, 12913, 13077, 12789, 12792, 12462, 11352, 11113, 10870, 10756, 10818, 10903, 10834, 10866, 10911, 10928, 11142, 11098, 10993, 10858, 10918, 10905, 11054, 11427, 11963, 12372, 12593, 12637, 12908, 12986, 13216, 13543, 13496, 13452, 14107, 14316, 14151, 13496, 13572, 13219, 13164, 13032, 12859, 12688, 11759, 11398, 11322, 11199]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10386, 10312, 10342, 10333, 10335, 10351, 10329, 10365, 10365, 10345, 10358, 10272, 10294, 10290, 10368, 10349, 10380, 10367, 10333, 10307, 10333, 10328, 10396, 10284, 10348, 10346, 10413, 10363, 10444, 10395, 10532, 10590, 10618, 10622, 10697, 10779, 10821, 10854, 10972, 10987, 11042, 11307, 11515, 11608, 11812, 11478, 11528, 11309, 11480, 11402, 11463, 11386, 11245, 11190, 11339, 11189, 11035, 10792, 10819, 10893, 10863, 10524, 10406, 10464, 10734, 10532, 10705, 10442, 10611, 10774, 10982, 10584, 10622, 11027, 10833, 11031, 10736, 10896, 11010, 10948, 10748, 11243, 11304, 11457, 11559, 11058, 11264, 11613, 11511, 11619, 11655, 11476, 11487, 11607, 11600, 11479, 11203, 11210, 11366, 11440, 11410, 11313, 11290, 11360, 11350, 11474, 11702, 12111, 12208, 12544, 12541, 13047, 13123, 13380, 13340, 13587, 13732, 13825, 13745, 13853, 13904, 13822, 13642, 13850, 13747, 13994, 13816, 13914, 14040, 14151, 14149, 13723, 13991, 14086, 13380, 13297, 13254, 13247, 12824, 12844, 12936, 12873, 13085, 12399, 11989, 11406, 10632, 10611, 10487, 10805, 10923, 11123, 10985, 10850, 10803, 10987, 10857, 10880, 10971, 10770, 11213, 11794, 11994, 12788, 12995, 13046, 13702, 14972, 15028, 14587, 14070, 13828, 13145, 12583, 12330, 11718, 11755, 11130, 11284, 10908, 10780, 10605, 10479, 10302, 10196, 10514, 10369, 10523, 10676, 10661, 10609, 10590, 10658, 10786, 10894, 10831, 10708, 10869, 10748, 10815]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10311, 10322, 10288, 10310, 10346, 10335, 10349, 10285, 10246, 10228, 10246, 10293, 10291, 10270, 10245, 10254, 10262, 10290, 10405, 10571, 10586, 10526, 10638, 10744, 10724, 10747, 10874, 10954, 11048, 11241, 11397, 11477, 11306, 11498, 11588, 11559, 11548, 11646, 11461, 11237, 11041, 10762, 10492, 10451, 10379, 10409, 10397, 10487, 10358, 10229, 10342, 10422, 10784, 10737, 10568, 10589, 10785, 10762, 10833, 10738, 10798, 10769, 10766, 10814, 11095, 11211, 11283, 11493, 11642, 11930, 11984, 12383, 12466, 12168, 12455, 12987, 12727, 12545, 12100, 11932, 11635, 11420, 11503, 11480, 11447, 11373, 11382, 11399, 11489, 11758, 12045, 12434, 12284, 12231, 12848, 13069, 13462, 12912, 13249, 13132, 13554, 13555, 13747, 13774, 13840, 13983, 13992, 14260, 13983, 14107, 13873, 14512, 14622, 14838, 14979, 14822, 14879, 14796, 15032, 14956, 14957, 14987, 14849, 14590, 14817, 14586, 14570, 14345, 15221, 15638, 15281, 15279, 15494, 15600, 15230, 14318, 14348, 14085, 13906, 13657, 13528, 13458, 13550, 13875, 13775, 13274, 12469, 12355, 12194, 12221, 12283, 11994, 11963, 11569, 11853, 12055, 11666, 11222, 11148, 11425, 12132, 12269, 12784, 12984, 13002, 13991, 14708, 14981, 15025, 14825, 14925, 14260, 13939, 13958, 13176, 13049, 11952, 11410, 11292, 11167, 11039, 10742, 10699, 10594, 10647, 10713, 10985, 11019, 11031, 11069, 11045, 11044, 11046, 11000, 11159, 11186, 10977, 10922, 10907, 10912]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10642, 10681, 10706, 10702, 10692, 10675, 10716, 10695, 10644, 10562, 10642, 10638, 10654, 10650, 10657, 10721, 10716, 10813, 10911, 10951, 10998, 11081, 11154, 11261, 11276, 11509, 11744, 12086, 12311, 12395, 12329, 12215, 13272, 13438, 13380, 12640, 12102, 12277, 11672, 11570, 11415, 11550, 11502, 11353, 11400, 11432, 11485, 11298, 11257, 11430, 11652, 11732, 11710, 11755, 11607, 11655, 11990, 12170, 12427, 12726, 13000, 13207, 13305, 13222, 13206, 13203, 13289, 13228, 12972, 13233, 13661, 13741, 13705, 13735, 13791, 13620, 13483, 13526, 13441, 13160, 13184, 12984, 13140, 13071, 12896, 12767, 12266, 12244, 12387, 12220, 11939, 12238, 11948, 11647, 11881, 12244, 13362, 13267, 14048, 13744, 13744, 14156, 13797, 14283, 13835, 13951, 13881, 13599, 13841, 13950, 13998, 14010, 14306, 14508, 14165, 14426, 14595, 14601, 13650, 13563, 13371, 13219, 13374, 13493, 13635, 13337, 13406, 12933, 12040, 11924, 11563, 11554, 11560, 11715, 11490, 11103, 11003, 11006, 11409, 11246, 11609, 12075, 12607, 13072, 13346, 14445, 14234, 14806, 15067, 15070, 15387, 13940, 13768, 12962, 12091, 11528, 11145, 11116, 10925, 11062, 11130, 10967, 10830, 10822, 10868, 11281, 11303, 11219, 11259, 11172, 11167, 11047, 11058, 11194, 11185, 11120, 11006, 11050, 11039, 11086, 10983, 11086, 11129, 11180, 11119, 11128, 11139, 11085, 11008, 10970, 10947, 10976, 10939, 10942, 10942, 10968, 10956, 10950, 10942, 10921]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10756, 10770, 10801, 10762, 10786, 10795, 10751, 10628, 10674, 10654, 10701, 10705, 10737, 10741, 10798, 10766, 10735, 10707, 10772, 10819, 10833, 10939, 10923, 10967, 10907, 10773, 10836, 11007, 11160, 11108, 11186, 11228, 11262, 11270, 11354, 11539, 11883, 12077, 12181, 12343, 12148, 12229, 12700, 12624, 12623, 12023, 12094, 11889, 11755, 11363, 11135, 11162, 10874, 10542, 10564, 10592, 10878, 10981, 10730, 10783, 10940, 11134, 11087, 10857, 10926, 11137, 11118, 11124, 11059, 10965, 11022, 11214, 11266, 11258, 11610, 11776, 11722, 11741, 11834, 12166, 12329, 12355, 12440, 12174, 12564, 12690, 12529, 12419, 12419, 12091, 11822, 11669, 11758, 11778, 11701, 11643, 11653, 11651, 11393, 11092, 11216, 11354, 11831, 12141, 12581, 12843, 12863, 13222, 13627, 13824, 13794, 13717, 13521, 13346, 13427, 13525, 13522, 13196, 13174, 13179, 13200, 13305, 13380, 13881, 14234, 14557, 15108, 15330, 16092, 16647, 16757, 16577, 15452, 14466, 14279, 13245, 13492, 13696, 13759, 13821, 13171, 11990, 11710, 11054, 10861, 10958, 10590, 10600, 10711, 10596, 10463, 10581, 10639, 10423, 10318, 10372, 10406, 10325, 10289, 10371, 10513, 10730, 10836, 10946, 11027, 11422, 11332, 11293, 11432, 11319, 11352, 11087, 11056, 10902, 10836, 10693, 10460, 10313, 10240, 10441, 10630, 10601, 11007, 11061, 10874, 10617, 10667, 11026, 11081, 11006, 10668, 10617, 10601, 10859, 10801, 10751, 10646, 10909, 10678, 10645]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10557, 10554, 10597, 10590, 10508, 10538, 10594, 10569, 10568, 10583, 10585, 10589, 10481, 10559, 10560, 10558, 10567, 10551, 10570, 10693, 10699, 10803, 10866, 10950, 11079, 11146, 11262, 11291, 11384, 11446, 11575, 11556, 11845, 11674, 11811, 11747, 11610, 11817, 11700, 11458, 11142, 10902, 10727, 10416, 10320, 10308, 10405, 10429, 10493, 10506, 10546, 10712, 10824, 10941, 11145, 11344, 11600, 11895, 12140, 12177, 12237, 12001, 12402, 12743, 12512, 12296, 11886, 11793, 11530, 11484, 11402, 11348, 11212, 11245, 11206, 11180, 11198, 11246, 11331, 11478, 11665, 12033, 12372, 12676, 12950, 13183, 13507, 13820, 13876, 13880, 13718, 13684, 13676, 13488, 13773, 13552, 13621, 13864, 13433, 13682, 13878, 14136, 14170, 14376, 14184, 13914, 14206, 14878, 14898, 14742, 13845, 13878, 13213, 13118, 12981, 12974, 13033, 13104, 12947, 11941, 10990, 10789, 10588, 10701, 10614, 10743, 10666, 10608, 10757, 10718, 10825, 11080, 11158, 11139, 11017, 11080, 11056, 11142, 11348, 11743, 12016, 12490, 12893, 13132, 13694, 14203, 15277, 15435, 14930, 14437, 14166, 13377, 12579, 12146, 11701, 11663, 12249, 11960, 11246, 10692, 10510, 10633, 11121, 10991, 11045, 10990, 10955, 10876, 10774, 10936, 10942, 10803, 10652, 10747, 10728, 10736, 10707, 10719, 10673, 10663, 10577, 10575, 10501, 10461, 10466, 10435, 10410, 10388, 10376, 10426, 10379, 10421, 10420, 10400, 10407, 10447, 10417, 10427, 10411, 10432]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10317, 10333, 10326, 10309, 10324, 10331, 10232, 10284, 10376, 10368, 10370, 10397, 10391, 10371, 10325, 10260, 10222, 10263, 10249, 10258, 10322, 10404, 10447, 10522, 10584, 10613, 10700, 10715, 10743, 10852, 10922, 11087, 11304, 11593, 11684, 11561, 11553, 11961, 11937, 11894, 11412, 11335, 11125, 10971, 10742, 10627, 10474, 10369, 10553, 10737, 10787, 10737, 10761, 10968, 11038, 11043, 11035, 11136, 11329, 11410, 11738, 11952, 11979, 11734, 11825, 11787, 11618, 11803, 12141, 11754, 11830, 12206, 12646, 12534, 12274, 12251, 12175, 11984, 11659, 11398, 11364, 11358, 11386, 11342, 11330, 11193, 11361, 11267, 11155, 11310, 11300, 11362, 11339, 11421, 11331, 11408, 11478, 11728, 11968, 12492, 12987, 13034, 13542, 13712, 14191, 14376, 14164, 14282, 13796, 12986, 12917, 13679, 13900, 13549, 13749, 14296, 13850, 14385, 13836, 13847, 13960, 13803, 13720, 13905, 13848, 13507, 13507, 13258, 13053, 13144, 13289, 13525, 13885, 13594, 13497, 13311, 13585, 13508, 13672, 13414, 13075, 12781, 12729, 12314, 12657, 12803, 12824, 12759, 12726, 12751, 12345, 12039, 11197, 10647, 10562, 10593, 10852, 11082, 11601, 11596, 11020, 11062, 11088, 11743, 11769, 11651, 11249, 11710, 11808, 11816, 11253, 11262, 11736, 12211, 12576, 12685, 13199, 12821, 12149, 11704, 11578, 11658, 11418, 11065, 10997, 11290, 11190, 11052, 10612, 10547, 10497, 10843, 10705, 10397, 10360, 10369, 10619, 10644, 10677, 10563]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10381, 10333, 10352, 10347, 10337, 10384, 10355, 10378, 10283, 10282, 10331, 10301, 10368, 10355, 10329, 10325, 10352, 10336, 10290, 10291, 10294, 10307, 10298, 10338, 10334, 10394, 10324, 10369, 10363, 10378, 10434, 10496, 10585, 10667, 10738, 10766, 10916, 10965, 11130, 11522, 11848, 11853, 11938, 12051, 11821, 11729, 12008, 12052, 11837, 11537, 11413, 11111, 10768, 10497, 10173, 10059, 10137, 10315, 10537, 10375, 10314, 10335, 10613, 10713, 10699, 10764, 10944, 11415, 11446, 11848, 12084, 12222, 12149, 12098, 11854, 12099, 12272, 12407, 12477, 12050, 12024, 11756, 11503, 11330, 11273, 11059, 10916, 11079, 11184, 11202, 11203, 11228, 11206, 11286, 11301, 11247, 11343, 11536, 11813, 12338, 12770, 12969, 13149, 13597, 13405, 14289, 14155, 14317, 13659, 13401, 13290, 13915, 14128, 13474, 14416, 13734, 13777, 14022, 13039, 13171, 13075, 13240, 13799, 13602, 13570, 13583, 13359, 13311, 13064, 13199, 13376, 13434, 13451, 13215, 13531, 13569, 13188, 12883, 12743, 12722, 12786, 12825, 13054, 12992, 13165, 13161, 12924, 12082, 11095, 10821, 10912, 10926, 10948, 10976, 10972, 10896, 10845, 11057, 11061, 11040, 11199, 11544, 12296, 12433, 12915, 13248, 13452, 13692, 14312, 14998, 14607, 14000, 13783, 13143, 12661, 12369, 12005, 11810, 11359, 11044, 11064, 11235, 10931, 11277, 10885, 10587, 10579, 10498, 10610, 10905, 10936, 10564, 10656, 10770, 10485, 10435, 10569, 10591, 10619, 10511]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10363, 10381, 10366, 10371, 10359, 10325, 10305, 10353, 10330, 10320, 10316, 10282, 10321, 10263, 10276, 10298, 10316, 10361, 10368, 10337, 10321, 10426, 10584, 10468, 10343, 10445, 10478, 10530, 10512, 10591, 10625, 10772, 10774, 10897, 10999, 11152, 11266, 11599, 11632, 11791, 11337, 11285, 11539, 11587, 11542, 11542, 11305, 11083, 10881, 10774, 10776, 10616, 10523, 10426, 10463, 10544, 10574, 10571, 10474, 10425, 10551, 10829, 10822, 10932, 10782, 11025, 11313, 11356, 11634, 11693, 11870, 12292, 12555, 12599, 12427, 12712, 13008, 13256, 13226, 13256, 12971, 12580, 12473, 12321, 12219, 11911, 11759, 11788, 11608, 11528, 11708, 11664, 11716, 11501, 11405, 11538, 11749, 12023, 11975, 12285, 12579, 13258, 13531, 13979, 14093, 14202, 14333, 14300, 14327, 14268, 14008, 13659, 14052, 14184, 13916, 13806, 13460, 13593, 13572, 13554, 13528, 13586, 13589, 13616, 14123, 14369, 14614, 14147, 14118, 14389, 14529, 13823, 13212, 12545, 12393, 13293, 12657, 12551, 13030, 12734, 12976, 12443, 12672, 12669, 13183, 13183, 13047, 12807, 12301, 12644, 12743, 11972, 11777, 11637, 11985, 12480, 12428, 12890, 13461, 13816, 13970, 13857, 13920, 14141, 15001, 15149, 15022, 15024, 14742, 13978, 13540, 12773, 12095, 11570, 10982, 11222, 11324, 11119, 10728, 10467, 10361, 10408, 10608, 10706, 10742, 10773, 10749, 10717, 10722, 10767, 10855, 10743, 10687, 10779, 10773, 10784, 10722, 10756, 10755, 10703]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10472, 10509, 10484, 10467, 10497, 10508, 10448, 10496, 10491, 10513, 10450, 10528, 10466, 10426, 10453, 10527, 10565, 10529, 10592, 10683, 10664, 10697, 10870, 10960, 11033, 11052, 11174, 11195, 11271, 11304, 11392, 11520, 11675, 11760, 12034, 12285, 12175, 12653, 12719, 12445, 12840, 12936, 12939, 12851, 12631, 12095, 11669, 11559, 11263, 11065, 10946, 11072, 11426, 11357, 10846, 10811, 10923, 11258, 11393, 11451, 11505, 11777, 12072, 12151, 12440, 12605, 12934, 12721, 12902, 13519, 12961, 12870, 12447, 12451, 12148, 11689, 11951, 11845, 11785, 11565, 11682, 11740, 11631, 11648, 11621, 11682, 11768, 12083, 12186, 12641, 12647, 13257, 13254, 13802, 13819, 13684, 13835, 13814, 13604, 13707, 13841, 13876, 14249, 13865, 14192, 14058, 14679, 14669, 15022, 14628, 15182, 15059, 15140, 14528, 14704, 13812, 14008, 13562, 13577, 13644, 13516, 13632, 13658, 13401, 12736, 12189, 11701, 11863, 12125, 11982, 12087, 12055, 11910, 11789, 11797, 12089, 12325, 12303, 12265, 12322, 12828, 13133, 13552, 13734, 14201, 14402, 14772, 15799, 16112, 16267, 16152, 15386, 15074, 14781, 14219, 13730, 13137, 12990, 12986, 13082, 13399, 14187, 13591, 14234, 13600, 13888, 13424, 13041, 12862, 12341, 12052, 11916, 11634, 11501, 11355, 11326, 11051, 10840, 11037, 11234, 11194, 11462, 11161, 11325, 11280, 11162, 11374, 11260, 11374, 11340, 11387, 11305, 11392, 11372, 11391, 11365, 11354, 11412, 11396, 11475]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10426, 10451, 10432, 10399, 10415, 10433, 10419, 10414, 10351, 10367, 10421, 10467, 10449, 10398, 10392, 10388, 10364, 10385, 10385, 10405, 10366, 10379, 10303, 10314, 10332, 10421, 10483, 10485, 10527, 10516, 10543, 10579, 10607, 10700, 10778, 10804, 10850, 10919, 11010, 11045, 11154, 11353, 11510, 11738, 11769, 11548, 11569, 11622, 11598, 11563, 11219, 11082, 10773, 10425, 10404, 10247, 10155, 10151, 10238, 10401, 10420, 10362, 10369, 10448, 10684, 10753, 11008, 11077, 11323, 11679, 11846, 12047, 12129, 12217, 12151, 12095, 12352, 12889, 12888, 12616, 12338, 11932, 11764, 11611, 11505, 11412, 11158, 11231, 11436, 11335, 11337, 11239, 11310, 11378, 11351, 11434, 11479, 11611, 11767, 11743, 12302, 12619, 13006, 13420, 13751, 13631, 13741, 14006, 13850, 13977, 14195, 13765, 13978, 13510, 14048, 14595, 14696, 14920, 14842, 15215, 15160, 15249, 15129, 15094, 15167, 15224, 15099, 15068, 15005, 14918, 14724, 15015, 15103, 15103, 14427, 14162, 13852, 13860, 13602, 13045, 13470, 13136, 13271, 13174, 12646, 12058, 11439, 11174, 11057, 11230, 10651, 10729, 10803, 11047, 11260, 11226, 10983, 10822, 10779, 10780, 10709, 10728, 10779, 10785, 10818, 11011, 11647, 12209, 12586, 12923, 13152, 13252, 14143, 14426, 14372, 13757, 13394, 13235, 12895, 12566, 11588, 11357, 10956, 10816, 10773, 10728, 10967, 10602, 10433, 10544, 10867, 10784, 10723, 10929, 10694, 11003, 10764, 10854, 10816, 10882]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10299, 10307, 10312, 10322, 10325, 10294, 10227, 10333, 10299, 10282, 10282, 10270, 10306, 10272, 10311, 10305, 10314, 10396, 10455, 10622, 10667, 10727, 10780, 10797, 10929, 11212, 11619, 11839, 11760, 11662, 12077, 12135, 12156, 12168, 12120, 12125, 12029, 11935, 11320, 11371, 11400, 11449, 11119, 11105, 11098, 10964, 11103, 11411, 11379, 11335, 11160, 11298, 11243, 11299, 11146, 11234, 11240, 11280, 11258, 11061, 11254, 11606, 11683, 11667, 11829, 11937, 11618, 11557, 11373, 11189, 11250, 11344, 11371, 11280, 11363, 11368, 11357, 11388, 11440, 11664, 11899, 12184, 12712, 12832, 12984, 13344, 13354, 13313, 12308, 12450, 12091, 12853, 12155, 12894, 12937, 12830, 13576, 12938, 13289, 13421, 13810, 14258, 13900, 13916, 14184, 14139, 14184, 14048, 14199, 13981, 13792, 14265, 14257, 14170, 13998, 13828, 13421, 13531, 13303, 13379, 13045, 13035, 13085, 12819, 13034, 12470, 12117, 11786, 11760, 11588, 11224, 10786, 10756, 10758, 10882, 10898, 11006, 11013, 10897, 11036, 11138, 11062, 11067, 11141, 11099, 11214, 11186, 11298, 11367, 11537, 11938, 12067, 12670, 13333, 13535, 13785, 14319, 14924, 14871, 15007, 15026, 15003, 14178, 13545, 12868, 12544, 12014, 11662, 11487, 11879, 12471, 12168, 12030, 11502, 11063, 11041, 10871, 11378, 11100, 11022, 10974, 10887, 10720, 10723, 10676, 10654, 10644, 10642, 10748, 10801, 10827, 10754, 10795, 10752, 10782, 10675, 10651, 10694, 10686, 10578]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10261, 10266, 10285, 10254, 10230, 10208, 10265, 10194, 10180, 10105, 10270, 10294, 10273, 10285, 10334, 10298, 10271, 10300, 10353, 10348, 10320, 10353, 10373, 10383, 10460, 10413, 10415, 10565, 10535, 10575, 10712, 10724, 10733, 10782, 10888, 10848, 10918, 10984, 11118, 11326, 11537, 11567, 11753, 12063, 12016, 12514, 12495, 12248, 11889, 11833, 11599, 11481, 11181, 10947, 10977, 10849, 10662, 10616, 10568, 10579, 10466, 10321, 10209, 10234, 10402, 10564, 10409, 10679, 10869, 11153, 11380, 11432, 11908, 12178, 12405, 12391, 12451, 12509, 12589, 12635, 12826, 12847, 12264, 12300, 12244, 12112, 12066, 11783, 11524, 11456, 11629, 11623, 11555, 11470, 11197, 11267, 11372, 11540, 11528, 11959, 12372, 12409, 12705, 13385, 13760, 13697, 14003, 13998, 13891, 13023, 13470, 13921, 15328, 14708, 15013, 14717, 14840, 15187, 14481, 14248, 14499, 14354, 14399, 14116, 14425, 14532, 14239, 14424, 14252, 14704, 14723, 14983, 15005, 14926, 14744, 14695, 14662, 14752, 14671, 14784, 14470, 14595, 14371, 14587, 14662, 14625, 14449, 14437, 14136, 13745, 13511, 13212, 13016, 13223, 12828, 13461, 13084, 13480, 13378, 12987, 12981, 12169, 11776, 11533, 11589, 11407, 11017, 10749, 10885, 11145, 11130, 11274, 11243, 11094, 11244, 11282, 11092, 11130, 10889, 11159, 11222, 11387, 12171, 12220, 12536, 12870, 13103, 13309, 12898, 13497, 13951, 14081, 13896, 13683, 13671, 13347, 12952, 12739, 12938, 12499]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10636, 10636, 10615, 10606, 10601, 10621, 10631, 10607, 10479, 10547, 10655, 10576, 10609, 10612, 10619, 10607, 10579, 10636, 10659, 10645, 10784, 10775, 10839, 10941, 10981, 11090, 11240, 11199, 11428, 11672, 11977, 12151, 12230, 11961, 12025, 12046, 12254, 12182, 11744, 11572, 11463, 11264, 10903, 10840, 10832, 10842, 10768, 10870, 10981, 10938, 10903, 10665, 10565, 10714, 11006, 11054, 10822, 10702, 10929, 11039, 10905, 11185, 11166, 11437, 11769, 12143, 12301, 12385, 12458, 12264, 12237, 12803, 12924, 12566, 12372, 12096, 11968, 11797, 11898, 11744, 11507, 11356, 11122, 11080, 11097, 11306, 11392, 11398, 11326, 11567, 11689, 12062, 12366, 12603, 12885, 13173, 13403, 13422, 13532, 13542, 13541, 13664, 13333, 13851, 13576, 13975, 13991, 14128, 14330, 13973, 14599, 15030, 15843, 15697, 16301, 16353, 16405, 15755, 15225, 14591, 14064, 13323, 13315, 13375, 13564, 13921, 13763, 13804, 13780, 13753, 13617, 13777, 13567, 13645, 12894, 12465, 11914, 11643, 11512, 11070, 11053, 11013, 10828, 10575, 10678, 10957, 11033, 10995, 11273, 11043, 11459, 11633, 11795, 12018, 12078, 12136, 12228, 12519, 12187, 13073, 13214, 13024, 12802, 12640, 12444, 12150, 11817, 11361, 11071, 10850, 11059, 10762, 10865, 10981, 10970, 10930, 11052, 11113, 11191, 11294, 11288, 11627, 11307, 11227, 11494, 11423, 11156, 11104, 11260, 11393, 11311, 11469, 11317, 11273, 11242, 11075, 10950, 11011, 11016, 10980]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10378, 10376, 10330, 10341, 10346, 10320, 10317, 10293, 10295, 10298, 10296, 10327, 10247, 10250, 10230, 10242, 10395, 10545, 10560, 10430, 10509, 10531, 10593, 10532, 10530, 10527, 10646, 10716, 10753, 10852, 10920, 11039, 11182, 11552, 11831, 12079, 12253, 11971, 12016, 11869, 11970, 12031, 11892, 11719, 11438, 11199, 11114, 10887, 10526, 10383, 10321, 10423, 10548, 10406, 10349, 10425, 10711, 10657, 10658, 10624, 10731, 10920, 10893, 11190, 11318, 11509, 11404, 11749, 11878, 12038, 12281, 12458, 12401, 12321, 12441, 12560, 12289, 12062, 11907, 11796, 11642, 11429, 11171, 11337, 11353, 11240, 11218, 11245, 11280, 11350, 11381, 11572, 11870, 12121, 12487, 12740, 12981, 13291, 13599, 13754, 14107, 13950, 13851, 14002, 13846, 13774, 13771, 13932, 13861, 14067, 14227, 14108, 14446, 14515, 14345, 14229, 14089, 13764, 13983, 14142, 14210, 14238, 14233, 14530, 14044, 14366, 14332, 14598, 14778, 14457, 14971, 14552, 14725, 14415, 14820, 14701, 14338, 14004, 13899, 13098, 13060, 13004, 12842, 12961, 13242, 13167, 13056, 12597, 12317, 12024, 12015, 12064, 11864, 11999, 11894, 11717, 11362, 11338, 11144, 11092, 11298, 11543, 11794, 11879, 12262, 12493, 12688, 13090, 13088, 13300, 13225, 12839, 13547, 13995, 14176, 14125, 14263, 14201, 13999, 13996, 13714, 13803, 13715, 12964, 13084, 12327, 11908, 11407, 11202, 11321, 11355, 11230, 10895, 10384, 10336, 11012, 10537, 10914, 10936, 10706]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10327, 10313, 10336, 10348, 10267, 10331, 10296, 10336, 10307, 10267, 10292, 10304, 10336, 10332, 10294, 10263, 10270, 10275, 10281, 10282, 10296, 10376, 10441, 10507, 10505, 10514, 10612, 10591, 10645, 10675, 10658, 10745, 10838, 10901, 11000, 11065, 11259, 11686, 11968, 11974, 12003, 12262, 12475, 12277, 12116, 12681, 12578, 11974, 11708, 11497, 11438, 11059, 10766, 10455, 10501, 10660, 10599, 10533, 10499, 10826, 10996, 11245, 11359, 11228, 11657, 11466, 11936, 11753, 12168, 12154, 12216, 12045, 12484, 12547, 12560, 12351, 12529, 12552, 12323, 12300, 11870, 11588, 11513, 11230, 11260, 11368, 11307, 11304, 11189, 11192, 11218, 11433, 11487, 11765, 12283, 12642, 13058, 13507, 14034, 13387, 13288, 13352, 13531, 14142, 13387, 13670, 13658, 13970, 14169, 13996, 14048, 13955, 13841, 13530, 13592, 13800, 13799, 13708, 13936, 14026, 13859, 13541, 13535, 13723, 13745, 13773, 13389, 13416, 12634, 12759, 12714, 12687, 12836, 12789, 13069, 13016, 12882, 12306, 11710, 11424, 11049, 10888, 11016, 10997, 10945, 10940, 10817, 10614, 10857, 10798, 10779, 11145, 11276, 11711, 12032, 12406, 12757, 13132, 13289, 13167, 13481, 14214, 14123, 13735, 13534, 13483, 13251, 12716, 12091, 11456, 10799, 10949, 11021, 10790, 10879, 10743, 10703, 10737, 10718, 10483, 10414, 10513, 10696, 10610, 10765, 10777, 10870, 11001, 10613, 10630, 10875, 10664, 10944, 10732, 10941, 10914, 10887, 10909, 10937, 10998]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10354, 10360, 10369, 10399, 10360, 10368, 10406, 10388, 10357, 10369, 10363, 10333, 10220, 10217, 10390, 10521, 10473, 10506, 10723, 10745, 10685, 10814, 10905, 10929, 10997, 11023, 11108, 11196, 11316, 11552, 11872, 11799, 12033, 11940, 11782, 11943, 11965, 11913, 11780, 11418, 11329, 11088, 10630, 10430, 10396, 10174, 10175, 10197, 10302, 10543, 10505, 10263, 10344, 10498, 10576, 10587, 10510, 10595, 10920, 11086, 11566, 11897, 12208, 12173, 12285, 12097, 12011, 12085, 12198, 12748, 12309, 12251, 12044, 11641, 11580, 11444, 11470, 11500, 11410, 11460, 11279, 11256, 11340, 11340, 11543, 11786, 12287, 12553, 12854, 13342, 13688, 14112, 13927, 14185, 13763, 13870, 13885, 13622, 13582, 13838, 13901, 13785, 14204, 14091, 14135, 13294, 13108, 13264, 14325, 13443, 13361, 14390, 13499, 14141, 13679, 13146, 13631, 13251, 13493, 13529, 13382, 13327, 13684, 13677, 12966, 12765, 12714, 12383, 12892, 12724, 12891, 13272, 13085, 13629, 13335, 13177, 12163, 12125, 12227, 12532, 12563, 12886, 12853, 11826, 11932, 12294, 12457, 12102, 11694, 11706, 11989, 11966, 12197, 12435, 12821, 13011, 13758, 13507, 13301, 13310, 13615, 13873, 13828, 13954, 13980, 14138, 14392, 13857, 13365, 12734, 11853, 11697, 11349, 11335, 11481, 11292, 11148, 10946, 11013, 11474, 11795, 11917, 11879, 11565, 11458, 11202, 11146, 10939, 10979, 10973, 10978, 10947, 10976, 10904, 10861, 10981, 10892, 10885, 10792, 10794]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10575, 10532, 10583, 10565, 10557, 10536, 10569, 10541, 10554, 10557, 10441, 10528, 10571, 10602, 10547, 10528, 10514, 10600, 10535, 10547, 10552, 10651, 10653, 10734, 10731, 10787, 10927, 11019, 11020, 11105, 11220, 11421, 11690, 11963, 11838, 12234, 12102, 12206, 12279, 12307, 12292, 12263, 11977, 11852, 11746, 11558, 11279, 10991, 10857, 10784, 10862, 10694, 10645, 10738, 11083, 11137, 11025, 10864, 10986, 11140, 11235, 11305, 11284, 11620, 11900, 11893, 12015, 12152, 12307, 12102, 11900, 12838, 12992, 13000, 12990, 12534, 12342, 12074, 11726, 11540, 11462, 11441, 11341, 11245, 11138, 10994, 10970, 10931, 10902, 10915, 10845, 10909, 10941, 10912, 11025, 11098, 11721, 11639, 12254, 12624, 12630, 13233, 13566, 14025, 14246, 13844, 14120, 14227, 14192, 14164, 14237, 14250, 14249, 13961, 14185, 14476, 14612, 14593, 14723, 14773, 14166, 14286, 13852, 14258, 14365, 14650, 14943, 14568, 14498, 14563, 14659, 14354, 13104, 13115, 13137, 13205, 13065, 13349, 13495, 13435, 13651, 13339, 13536, 12555, 11812, 10944, 10832, 10635, 11025, 11120, 11227, 11136, 11122, 11359, 11364, 11308, 11155, 11218, 11280, 11686, 12038, 12073, 12673, 13170, 13444, 13762, 13865, 14070, 14618, 14532, 14875, 14327, 13812, 12899, 12012, 11254, 10776, 10876, 10805, 10534, 10431, 10499, 10557, 10671, 10721, 10748, 10827, 10812, 10708, 10707, 10774, 10888, 10817, 10791, 10792, 10755, 10914, 10843, 10708, 10711]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10679, 10714, 10684, 10675, 10699, 10730, 10709, 10712, 10660, 10640, 10650, 10634, 10662, 10685, 10731, 10792, 10790, 10805, 10888, 10987, 11025, 11195, 11509, 11937, 12004, 12168, 12237, 13223, 13348, 13401, 13364, 13358, 13223, 12291, 12069, 12080, 11490, 11289, 10941, 10755, 10569, 10588, 10386, 10480, 10549, 10957, 11013, 10992, 11046, 11185, 11342, 11645, 12251, 12545, 12830, 12754, 12920, 12931, 12844, 12915, 12735, 12859, 12836, 12771, 12980, 12821, 12610, 12224, 11939, 12009, 11933, 11877, 11674, 11474, 11368, 11368, 11437, 11324, 11401, 11583, 11618, 11648, 11553, 11798, 11823, 12043, 12334, 12533, 12891, 13093, 13188, 13193, 13538, 12943, 13547, 13841, 14211, 15462, 14895, 15606, 15117, 14748, 15008, 14309, 14463, 14181, 14218, 14456, 14482, 15090, 15177, 14939, 14816, 15202, 15212, 14939, 14426, 14111, 14078, 13827, 13855, 13704, 13523, 13288, 12948, 12954, 12149, 12428, 12555, 12363, 12136, 12126, 11803, 11526, 11404, 11838, 11916, 11860, 12214, 12119, 12549, 12670, 12947, 13620, 13592, 14117, 14031, 14847, 14833, 15260, 15431, 15193, 14449, 14084, 13679, 13182, 12745, 12093, 11516, 11320, 11087, 10955, 11193, 11022, 10815, 10831, 10928, 11151, 11182, 11152, 11246, 11156, 11128, 10939, 11077, 11175, 11150, 11121, 11207, 11284, 11243, 11248, 11190, 11160, 11152, 11079, 11071, 10995, 10986, 10941, 10961, 10910, 10901, 10924, 10881, 10916, 10906, 10892, 10866, 10865]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10657, 10713, 10675, 10684, 10702, 10680, 10697, 10681, 10686, 10689, 10578, 10636, 10706, 10736, 10708, 10691, 10719, 10749, 10782, 10771, 10799, 10820, 10984, 11066, 11190, 11346, 11592, 11856, 11912, 12030, 12895, 13069, 13110, 13140, 13106, 13220, 12915, 12509, 11869, 11824, 11947, 11640, 11431, 11325, 11152, 11037, 10926, 10877, 10901, 11121, 11436, 11520, 11493, 11482, 11491, 11476, 11370, 11499, 11431, 11429, 11463, 11405, 11737, 12100, 12192, 12215, 12296, 12411, 12640, 12978, 13064, 13064, 12939, 13163, 13530, 13610, 13373, 13581, 13090, 12699, 12583, 12299, 12147, 11924, 11774, 11876, 11843, 11525, 11661, 11621, 11669, 11643, 11625, 11665, 11387, 11163, 11222, 11499, 11947, 12419, 12746, 12701, 13286, 13428, 13720, 13981, 14420, 14528, 14669, 15014, 14794, 14638, 14490, 14626, 14858, 14874, 15072, 15001, 15051, 14747, 14661, 15046, 15104, 14861, 15193, 15335, 14841, 14098, 14071, 13530, 13547, 13460, 13563, 13477, 13174, 12947, 12647, 13009, 12741, 12556, 12637, 12597, 12679, 12565, 12237, 11847, 11574, 11902, 11764, 12006, 11891, 11616, 12305, 12310, 12578, 13809, 13893, 14375, 14402, 15050, 14991, 15490, 16100, 16119, 15754, 15397, 14791, 14805, 14295, 14381, 13522, 12845, 12968, 12526, 12900, 13052, 13357, 13158, 12742, 12840, 13325, 13106, 13252, 13103, 12948, 13272, 13418, 12743, 12666, 12570, 12639, 12686, 12477, 12503, 12793, 12828, 12347, 12376, 12050, 11799]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10316, 10342, 10368, 10344, 10361, 10367, 10367, 10354, 10314, 10327, 10353, 10345, 10318, 10271, 10292, 10327, 10294, 10378, 10457, 10437, 10512, 10510, 10468, 10492, 10598, 10723, 10754, 10839, 10975, 11038, 11095, 11164, 11665, 11768, 11974, 11961, 12027, 11832, 12069, 12111, 12104, 11736, 11571, 11307, 11163, 10842, 10602, 10422, 10310, 10412, 10711, 10490, 10408, 10547, 10819, 10619, 11104, 11074, 11290, 11282, 11513, 11965, 11915, 12171, 11963, 12127, 12289, 12547, 12483, 12357, 11954, 11666, 11529, 11394, 11224, 11083, 11042, 11180, 11185, 11134, 11189, 11131, 11206, 11256, 11325, 11442, 11729, 12044, 12093, 12486, 12833, 13221, 13436, 13651, 13882, 13890, 13849, 13739, 13851, 13855, 13715, 13832, 13666, 13725, 13388, 13299, 13863, 13870, 13899, 13959, 13748, 13717, 13358, 13905, 14164, 13987, 14140, 14232, 13675, 13827, 12707, 12915, 12600, 12572, 12610, 12604, 12811, 12650, 12849, 12762, 11997, 10920, 10496, 10312, 10690, 10841, 11017, 10996, 10862, 10795, 10853, 10887, 10832, 10870, 10899, 10990, 11803, 12156, 12503, 12695, 13174, 13157, 13590, 14221, 14681, 14438, 14138, 14258, 14751, 13999, 13607, 12826, 11986, 12166, 12276, 11781, 12198, 11620, 11414, 10962, 10698, 10650, 10632, 10671, 10777, 10784, 10724, 10637, 10790, 10735, 10409, 10385, 10452, 10519, 10559, 10634, 10540, 10603, 10494, 10471, 10563, 10537, 10443, 10439, 10513, 10485, 10465, 10473, 10460, 10532]]\n", + "DEBUG:root:compressed_len\n", + "DEBUG:root:compressed_len_list: [[10325, 10363, 10378, 10338, 10352, 10349, 10384, 10357, 10216, 10251, 10348, 10367, 10373, 10363, 10382, 10391, 10321, 10292, 10255, 10355, 10384, 10409, 10441, 10517, 10581, 10700, 10713, 10805, 10926, 11022, 11210, 11465, 11635, 11600, 11764, 11890, 12029, 12026, 11920, 11751, 11514, 11498, 11519, 11495, 11426, 11440, 11426, 11646, 11783, 11776, 11801, 11911, 11838, 11829, 11819, 11795, 11780, 11748, 11745, 11857, 11950, 12144, 12279, 12319, 12310, 12219, 12301, 12565, 12511, 12218, 11862, 11620, 11426, 11422, 11236, 11176, 10984, 10835, 11109, 11245, 11176, 11118, 11307, 11484, 11639, 12036, 12182, 11944, 11700, 11854, 12824, 13165, 13238, 13313, 13492, 13790, 13988, 13689, 13794, 13533, 13581, 13614, 13838, 13741, 13909, 14097, 14089, 14077, 13916, 14115, 14146, 13978, 13955, 13470, 12896, 12957, 13126, 12894, 12997, 13021, 12807, 13050, 12836, 12797, 12780, 12491, 12450, 11802, 11731, 11526, 11467, 11590, 11671, 11539, 11226, 10815, 10787, 10876, 10947, 11000, 10879, 10813, 11070, 11253, 11697, 12090, 12117, 12205, 12561, 12907, 12923, 12934, 13520, 13558, 13191, 13109, 12963, 12984, 12481, 12158, 11465, 11341, 10911, 10851, 10726, 10624, 10587, 10423, 10370, 10403, 10484, 10653, 10638, 10491, 10553, 10715, 10720, 10572, 10480, 10530, 10555, 10496, 10429, 10439, 10440, 10434, 10407, 10425, 10399, 10400, 10402, 10397, 10385, 10390, 10387, 10413, 10414, 10419, 10410, 10372]]\n", + "DEBUG:root:compressed_len\n" + ] + } + ], + "source": [ + "# save all data\n", + "futures = []\n", + "with ThreadPoolExecutor(max_workers=25) as executor:\n", + "\n", + " def save_one(index, ep_name):\n", + " crd.merge_video_and_save(\n", + " low_dim_data[ep_name],\n", + " f\"{raw_dir}/{ep_name}\",\n", + " video_names,\n", + " crd.save_dict_to_hdf5,\n", + " name_converter,\n", + " compresser,\n", + " f\"{target_dir}/\" + target_namer(index),\n", + " max_pad_lenth,\n", + " )\n", + " data.pop(ep_name)\n", + "\n", + " for index, ep_name in enumerate(episode_names):\n", + " futures.append(executor.submit(save_one, index, ep_name))\n", + "#执行到这里，所有数据已经保存完毕" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# fix action\n", + "import json\n", + "import numpy as np\n", + "\n", + "for i in range(49, 50):\n", + " with open(f\"demonstrations/raw/mmk_pick_grape/{i}/low_dim.json\", \"r\") as f:\n", + " data = json.load(f)\n", + " action = data[\"action\"][\"spine\"][\"joint_position\"]\n", + " obs = data[\"observation\"][\"spine\"][\"joint_position\"]\n", + " # change action\n", + " delta = np.array(obs[1:]) - np.array(obs[:-1])\n", + " # > 0 -> 1, < 0 -> -1\n", + " action = np.sign(delta)\n", + " # 获取不为0的值的index\n", + " index_not0 = np.where(action != 0)\n", + " first_not0 = index_not0[0][0]\n", + " last_not0 = index_not0[0][-1]\n", + " # 从第一个不为0的值开始，到最后一个不为0的值结束，将中间的值设为1\n", + " action[first_not0:last_not0] = 1\n", + " action = action.tolist()\n", + " action.append(action[-1])\n", + " data[\"action\"][\"spine\"] = {\"joint_velocity\": action}\n", + " with open(f\"demonstrations/raw/mmk_pick_grape/{i}/low_dim.json\", \"w\") as f:\n", + " json.dump(data, f)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# rename\n", + "import json\n", + "\n", + "for i in range(50):\n", + " with open(f\"demonstrations/raw/mmk_pick_grape/{i}/low_dim.json\", \"r\") as f:\n", + " data = json.load(f)\n", + " data[\"action\"][\"head\"] = {\"joint_velocity\": data[\"action\"][\"head\"][\"joint_velocity\"][\"joint_position\"]}\n", + " with open(f\"demonstrations/raw/mmk_pick_grape/{i}/low_dim.json\", \"w\") as f:\n", + " json.dump(data, f)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Position Control" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# add head and spine to joint_position action\n", + "import json\n", + "\n", + "for i in range(58):\n", + " with open(f\"demonstrations/raw/mmk_pick_grape/{i}/low_dim.json\", \"r\") as f:\n", + " data = json.load(f)\n", + " obs_spine = data[\"observation\"][\"spine\"][\"joint_position\"]\n", + " obs_head = data[\"observation\"][\"head\"][\"joint_position\"]\n", + " data[\"action\"][\"head\"][\"joint_position\"] = obs_head[1:] + [obs_head[-1]]\n", + " data[\"action\"][\"spine\"][\"joint_position\"] = obs_spine[1:] + [obs_spine[-1]]\n", + " with open(f\"demonstrations/raw/mmk_pick_grape/{i}/low_dim.json\", \"w\") as f:\n", + " json.dump(data, f)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# get all low_dim data (head&spine position control)\n", + "import convert_all as crd\n", + "raw_dir = \"demonstrations/raw/mmk_pick_grape\"\n", + "data = crd.raw_to_dict(\n", + " raw_dir,\n", + " [\"low_dim.json\"],\n", + " video_file_names=None,\n", + " flatten_mode=\"hdf5\",\n", + " concatenater={\n", + " \"/observations/qpos\": (\n", + " \"/observation/arm/left/joint_position\",\n", + " \"/observation/eef/left/joint_position\",\n", + " \"/observation/arm/right/joint_position\",\n", + " \"/observation/eef/right/joint_position\",\n", + " \"/observation/head/joint_position\",\n", + " \"/observation/spine/joint_position\"\n", + " ),\n", + " \"/action\": (\n", + " \"/action/arm/left/joint_position\",\n", + " \"/action/eef/left/joint_position\",\n", + " \"/action/arm/right/joint_position\",\n", + " \"/action/eef/right/joint_position\",\n", + " \"/action/head/joint_position\",\n", + " \"/action/spine/joint_position\"\n", + " ),\n", + " },\n", + " key_filter=[\n", + " \"/observation/arm/left/joint_velocity\",\n", + " \"/observation/arm/right/joint_velocity\",\n", + " \"/observation/arm/left/joint_torque\",\n", + " \"/observation/arm/right/joint_torque\",\n", + " \"/action/head/joint_velocity\",\n", + " \"/action/spine/joint_velocity\"\n", + " ],\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "ep_number = len(data)\n", + "print(f\"Number of episodes: {ep_number}\")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# 将spine的observation和action[-120000, 0]缩放到[-2pi, 0]\n", + "import numpy as np\n", + "for i in range(ep_number):\n", + " qpos_obs = np.array(data[str(i)][\"/observations/qpos\"])\n", + " qpos_act = np.array(data[str(i)][\"/action\"])\n", + " qpos_obs[:, -1] = 2 * np.pi * qpos_obs[:, -1] / 120000\n", + " qpos_act[:, -1] = 2 * np.pi * qpos_act[:, -1] / 120000\n", + " data[str(i)][\"/observations/qpos\"] = qpos_obs.tolist()\n", + " data[str(i)][\"/action\"] = qpos_act.tolist()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "imitall", + "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": "3.8.10" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/video_marking_stage.py b/video_marking_stage.py new file mode 100644 index 0000000..e13129c --- /dev/null +++ b/video_marking_stage.py @@ -0,0 +1,150 @@ +import cv2 +import tkinter as tk +from tkinter import ttk +from threading import Thread +import os +import numpy as np +import json + +# 视频路径 +video_path = 'demonstrations/raw/stack_cups/0/0.avi' +json_path = 'demonstrations/raw/stack_cups/0/records.json' + +class VideoPlayer: + def __init__(self, root, video_path): + self.root = root + self.video_path = video_path + self.json_path = json_path + self.cap = cv2.VideoCapture(video_path) + self.frame_count = int(self.cap.get(cv2.CAP_PROP_FRAME_COUNT)) + self.fps = self.cap.get(cv2.CAP_PROP_FPS) + self.duration = self.frame_count / self.fps + + self.current_frame = 0 + self.is_playing = True + self.is_running = True + + # 初始化标记数组 + self.mark_array = np.zeros(self.frame_count, dtype=int) + # 初始化 current_mark + self.current_mark = 0 + + # Tkinter window settings + self.root.title("Video Player") + self.root.protocol("WM_DELETE_WINDOW", self.on_close) + + # Create video display window + self.video_label = tk.Label(self.root) + self.video_label.pack() + + # Create progress bar + self.progress = tk.IntVar() + self.progress_bar = ttk.Scale(self.root, from_=0, to=self.frame_count, variable=self.progress, orient='horizontal') + self.progress_bar.pack(fill=tk.X, padx=10, pady=5) + + # Create Play/Pause button + self.play_pause_button = tk.Button(self.root, text="Pause", command=self.toggle_play_pause) + self.play_pause_button.pack() + + # Bind keyboard events + self.root.bind("", self.on_key_press) + + # Create thread to play video + self.play_thread = Thread(target=self.play_video) + self.play_thread.start() + + # Bind progress bar change event + self.progress_bar.bind('', self.on_progress_change) + + def toggle_play_pause(self): + # Play/pause the video + if self.is_playing: + self.is_playing = False + self.play_pause_button.config(text="Play") + else: + self.is_playing = True + self.play_pause_button.config(text="Pause") + + def play_video(self): + while self.is_running and self.cap.isOpened(): + if self.is_playing: + ret, frame = self.cap.read() + if not ret: + break + + # 获取当前帧的索引，并确保它不会超出边界 + self.current_frame = int(self.cap.get(cv2.CAP_PROP_POS_FRAMES)) + + # 防止当前帧超出标记数组的边界 + if self.current_frame >= len(self.mark_array): + self.current_frame = len(self.mark_array) - 1 + + # 标记当前帧的标记值 + self.mark_array[self.current_frame] = self.current_mark + + # Update the frame in the progress bar + self.progress.set(self.current_frame) + + # Convert the frame to display in tkinter + frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + img = cv2.resize(frame, (800, 600)) + img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR) + + self.photo = tk.PhotoImage(data=cv2.imencode('.png', img)[1].tobytes()) + self.video_label.config(image=self.photo) + + self.root.update_idletasks() + + def on_progress_change(self, event): + # Seek to the selected frame + new_frame = int(self.progress.get()) + self.cap.set(cv2.CAP_PROP_POS_FRAMES, new_frame) + + def on_key_press(self, event): + # Update mark based on key press (0-9) + if event.char.isdigit(): + self.current_mark = int(event.char) + print(f"Marked all frames from now with: {self.current_mark}") + + def on_close(self): + # Stop the video and close the window + self.is_running = False + self.cap.release() + self.root.destroy() + print(f"Mark array size: {len(self.mark_array)}") + print(f"Mark array values: {self.mark_array}") + + self.save_mark_array_to_json() + + def save_mark_array_to_json(self): + """保存标记数组到 JSON 文件""" + if not os.path.exists(self.json_path): + print(f"File {self.json_path} not found.") + return + + try: + # 读取 JSON 文件 + with open(self.json_path, 'r') as f: + data = json.load(f) + + # 添加键值对 "/observations/stage": [标记数组] + data["/observations/stage"] = self.mark_array.tolist() + + # 写回 JSON 文件 + with open(self.json_path, 'w') as f: + json.dump(data, f, indent=4) + + print(f"Successfully updated {self.json_path} with the mark array.") + + except Exception as e: + print(f"Failed to update JSON: {e}") + +if __name__ == "__main__": + # Check if video file exists + if not os.path.exists(video_path): + print(f"Video file {video_path} not found!") + else: + # Start the video player + root = tk.Tk() + player = VideoPlayer(root, video_path) + root.mainloop() From 2d6ff6d834e0cb70257f31986622f2ff781532ce Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sun, 8 Sep 2024 21:27:31 +0800 Subject: [PATCH 08/13] add stage check --- video_check_stage.py | 141 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 141 insertions(+) create mode 100644 video_check_stage.py diff --git a/video_check_stage.py b/video_check_stage.py new file mode 100644 index 0000000..9baf1bb --- /dev/null +++ b/video_check_stage.py @@ -0,0 +1,141 @@ +import time +import cv2 +import tkinter as tk +from tkinter import ttk +from threading import Thread +import os +import numpy as np +import json + +# 视频路径 +video_folder = 'demonstrations/raw/put_objects_into_bowl_2/35/' +video_path = video_folder + '0.avi' +json_path = video_folder + 'records.json' + +class VideoPlayer: + def __init__(self, root, video_path, json_path): + self.root = root + self.video_path = video_path + self.json_path = json_path + self.cap = cv2.VideoCapture(video_path) + self.frame_count = int(self.cap.get(cv2.CAP_PROP_FRAME_COUNT)) + self.fps = self.cap.get(cv2.CAP_PROP_FPS) + self.duration = self.frame_count / self.fps + + self.current_frame = 0 + self.is_playing = True + self.is_running = True + + # 从 JSON 文件中读取标记数组 + self.mark_array = self.load_mark_array_from_json() + + # Tkinter window settings + self.root.title("Video Player") + self.root.protocol("WM_DELETE_WINDOW", self.on_close) + + # Create video display window + self.video_label = tk.Label(self.root) + self.video_label.pack() + + # Create progress bar + self.progress = tk.IntVar() + self.progress_bar = ttk.Scale(self.root, from_=0, to=self.frame_count, variable=self.progress, orient='horizontal') + self.progress_bar.pack(fill=tk.X, padx=10, pady=5) + + # Create Play/Pause button + self.play_pause_button = tk.Button(self.root, text="Pause", command=self.toggle_play_pause) + self.play_pause_button.pack() + + # Bind keyboard events + self.root.bind("", self.on_key_press) + + # Create thread to play video + self.play_thread = Thread(target=self.play_video) + self.play_thread.start() + + # Bind progress bar change event + self.progress_bar.bind('', self.on_progress_change) + + def load_mark_array_from_json(self): + """从 JSON 文件中读取标记数组""" + if not os.path.exists(self.json_path): + print(f"File {self.json_path} not found.") + return np.zeros(self.frame_count, dtype=int) + + try: + with open(self.json_path, 'r') as f: + data = json.load(f) + return np.array(data["/observations/stage"], dtype=int) + except Exception as e: + print(f"Failed to load JSON: {e}") + return np.zeros(self.frame_count, dtype=int) + + def toggle_play_pause(self): + # Play/pause the video + if self.is_playing: + self.is_playing = False + self.play_pause_button.config(text="Play") + else: + self.is_playing = True + self.play_pause_button.config(text="Pause") + + def play_video(self): + while self.is_running and self.cap.isOpened(): + if self.is_playing: + ret, frame = self.cap.read() + if not ret: + break + + # 获取当前帧的索引，并确保它不会超出边界 + self.current_frame = int(self.cap.get(cv2.CAP_PROP_POS_FRAMES)) + + # 防止当前帧超出标记数组的边界 + if self.current_frame >= len(self.mark_array): + self.current_frame = len(self.mark_array) - 1 + + # 获取当前帧的标记值 + mark_value = self.mark_array[self.current_frame] + + # Update the frame in the progress bar + self.progress.set(self.current_frame) + + # Convert the frame to display in tkinter + frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + img = cv2.resize(frame, (800, 600)) + img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR) + + # 在帧上显示标记值 + cv2.putText(img, f"Mark: {mark_value}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2, cv2.LINE_AA) + + self.photo = tk.PhotoImage(data=cv2.imencode('.png', img)[1].tobytes()) + self.video_label.config(image=self.photo) + + time.sleep(0.1) + + self.root.update_idletasks() + + def on_progress_change(self, event): + # Seek to the selected frame + new_frame = int(self.progress.get()) + self.cap.set(cv2.CAP_PROP_POS_FRAMES, new_frame) + + def on_key_press(self, event): + # 绑定空格键来暂停和播放视频 + if event.keysym == 'space': + self.toggle_play_pause() + + def on_close(self): + # Stop the video and close the window + self.is_running = False + self.cap.release() + self.root.destroy() + +if __name__ == "__main__": + # Check if video file exists + if not os.path.exists(video_path): + print(f"Video file {video_path} not found!") + else: + # Start the video player + root = tk.Tk() + player = VideoPlayer(root, video_path, json_path) + root.mainloop() \ No newline at end of file From 5fd00a6d4b38c38506ededa3caf376855bc4155d Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Tue, 10 Sep 2024 01:03:27 +0800 Subject: [PATCH 09/13] with stage version --- data_process/convert_all.py | 22 ++- data_process/test_convert_airbot_play.ipynb | 170 +++++++++-------- policies/act/act.py | 1 + policy_evaluate.py | 22 ++- task_configs/config_tools/basic_configer.py | 19 +- .../put_objects_into_bowl_2_with_stage.py | 172 ++++++++++++++++++ use_api.py | 164 +++++++++++++++++ video_marking_stage.py | 8 +- 8 files changed, 470 insertions(+), 108 deletions(-) create mode 100755 task_configs/put_objects_into_bowl_2_with_stage.py create mode 100644 use_api.py diff --git a/data_process/convert_all.py b/data_process/convert_all.py index c34439c..6a79687 100644 --- a/data_process/convert_all.py +++ b/data_process/convert_all.py @@ -55,17 +55,26 @@ def flatten_list(l): def flatten_sublist_in_flat_dict(d: dict) -> dict: """Flatten the sublist in the flat dict. This will change the original dict. - Returns the lenth of each value list. + Returns the length of each value list. """ trajs_lenth = {} + assert isinstance(d, dict), "The input data should be a dict." for key, traj in d.items(): + if not isinstance(traj, (list, tuple)): + print(f"Warning: The value for key '{key}' is not a list or tuple, but {type(traj)}") + trajs_lenth[key] = 0 + continue + traj_lenth = len(traj) if traj_lenth > 0: point = traj[0] if isinstance(point, list): if isinstance(point[0], list): for i, p in enumerate(traj): - traj[i] = sum(p, []) + if isinstance(p, list): + traj[i] = sum(p, []) + else: + print(f"Warning: The sublist for key '{key}' at index {i} is not a list, but {type(p)}") trajs_lenth[key] = traj_lenth return trajs_lenth @@ -292,6 +301,7 @@ def raw_to_dict( flatten_mode(str) -- the flatten mode for the dict keys name_converter(dict) -- the name converter for the flattened dict keys concatenater(dict) -- the concatenate dict to bind several flattened keys together + key_filter -- the key filter to remove the keys Returns: ep_dicts(dict) -- the raw data dictionary, with keys as the episode names Note: @@ -320,12 +330,17 @@ def raw_to_dict( ) # flatten the dict mode_to_sep_prefix = { - "hdf5": ("/", "/"), + "hdf5": ("/", ""), "hf": (".", ""), } sep_prefix = mode_to_sep_prefix.get(flatten_mode, None) assert sep_prefix is not None, f"Invalid flatten mode {flatten_mode}." data_flat: Dict[str, list] = flatten_dict(raw_data, "", *sep_prefix) + + # 检查 "/observations/stage" 键是否存在 + if "/observations/stage" not in data_flat: + print(f"Key '/observations/stage' not found in {ep_dir / state_file}") + # filter the keys if key_filter is not None: for key in key_filter: @@ -346,6 +361,7 @@ def raw_to_dict( ), "The length of each value list should be the same." for key, value in data_flat.items(): name = name_converter.get(key, key) + # print(f"Original key: {key}, Converted name: {name}") ep_dict[name] = pre_process(value) if video_file_names is not None: diff --git a/data_process/test_convert_airbot_play.ipynb b/data_process/test_convert_airbot_play.ipynb index fc9a579..a07d02b 100644 --- a/data_process/test_convert_airbot_play.ipynb +++ b/data_process/test_convert_airbot_play.ipynb @@ -2,18 +2,9 @@ "cells": [ { "cell_type": "code", - "execution_count": 9, + "execution_count": 1, "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "The autoreload extension is already loaded. To reload it, use:\n", - " %reload_ext autoreload\n" - ] - } - ], + "outputs": [], "source": [ "%load_ext autoreload\n", "%autoreload 2" @@ -21,23 +12,34 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 2, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "DEBUG:h5py._conv:Creating converter from 7 to 5\n", + "DEBUG:h5py._conv:Creating converter from 5 to 7\n", + "DEBUG:h5py._conv:Creating converter from 7 to 5\n", + "DEBUG:h5py._conv:Creating converter from 5 to 7\n" + ] + } + ], "source": [ "import convert_all as crd" ] }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 5, "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ - "Data Converting: 32%|███▏ | 16/50 [00:00<00:00, 156.69it/s]" + "Data Converting: 100%|██████████| 50/50 [00:00<00:00, 282.88it/s]" ] }, { @@ -73,20 +75,6 @@ "Warning: The value for key 'count' is not a list or tuple, but \n", "Warning: The value for key 'count' is not a list or tuple, but \n", "Warning: The value for key 'count' is not a list or tuple, but \n", - "Warning: The value for key 'count' is not a list or tuple, but \n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "Data Converting: 100%|██████████| 50/50 [00:00<00:00, 144.02it/s]" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ "Warning: The value for key 'count' is not a list or tuple, but \n", "Warning: The value for key 'count' is not a list or tuple, but \n", "Warning: The value for key 'count' is not a list or tuple, but \n", @@ -107,7 +95,9 @@ "Warning: The value for key 'count' is not a list or tuple, but \n", "Warning: The value for key 'count' is not a list or tuple, but \n", "Warning: The value for key 'count' is not a list or tuple, but \n", - "[[-0.000572213320992887, -0.7661936283111572, 0.7036316394805908, 1.5367742776870728, -0.9657053351402283, -1.576066255569458, 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[0.04177157208323479, -0.2920195460319519, 0.5884260535240173, 1.8717098236083984, -0.8203631639480591, -1.7591744661331177, -6.950345432056634e-05, 8.0], [0.04139009863138199, -0.28515297174453735, 0.5899519324302673, 1.8636988401412964, -0.8184558153152466, -1.7591744661331177, 6.950345432056634e-05, 8.0], [0.04177157208323479, -0.28477150201797485, 0.5899519324302673, 1.8495842218399048, -0.8192187547683716, -1.7591744661331177, 0.00020851036296169905, 8.0]]\n" ] }, { @@ -120,7 +110,7 @@ ], "source": [ "# get all low_dim data (head&spine velocity control)\n", - "raw_dir = \"../demonstrations/raw/put_block_to_bowl\"\n", + "raw_dir = \"../demonstrations/raw/put_objects_into_bowl_2\"\n", "data = crd.raw_to_dict(\n", " raw_dir,\n", " [\"records.json\"],\n", @@ -135,6 +125,7 @@ " \"/action\": (\n", " \"/observations/pos_t\",\n", " \"/observations/endpos_t\",\n", + " \"/observations/stage\",\n", "\n", " ),\n", " },\n", @@ -155,6 +146,7 @@ "\n", ")\n", "print(data[\"0\"][\"/observations/qpos\"])\n", + "print(data[\"0\"][\"/action\"])\n", "#此时返回的data是一个字典\n", "# data = {\n", "# \"1\": {\n", @@ -169,7 +161,7 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 6, "metadata": {}, "outputs": [ { @@ -187,7 +179,7 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": 10, "metadata": {}, "outputs": [ { @@ -195,20 +187,20 @@ "output_type": "stream", "text": [ "['/observations/time', '/observations/qpos', '/action']\n", - "[-0.000572213320992887, -0.7661936283111572, 0.7032501697540283, 1.5363928079605103, -0.9649423956871033, -1.5764477252960205, 0.033121489278681866]\n", - "[-0.00019073777366429567, -0.7661936283111572, 0.7040131092071533, 1.5367742776870728, -0.9649423956871033, -1.576066255569458, 0.00048652418024396445]\n" + "[-0.00019073777366429567, -0.7661936283111572, 0.7032501697540283, 1.5360113382339478, -0.9653238654136658, -1.5779736042022705, 0.03386462663675283]\n", + "[0.04177157208323479, -0.28477150201797485, 0.5899519324302673, 1.8495842218399048, -0.8192187547683716, -1.7591744661331177, 0.00020851036296169905, 8.0]\n" ] } ], "source": [ "print(list(data[\"0\"].keys()))\n", "print(list(data[\"1\"][\"/observations/qpos\"][0]))\n", - "print(list(data[\"0\"][\"/action\"][0]))" + "print(list(data[\"0\"][\"/action\"][199]))" ] }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 12, "metadata": {}, "outputs": [ { @@ -229,7 +221,7 @@ "# merge high_dim data and save\n", "raw_dir\n", "video_names = [\"0.avi\"]\n", - "target_dir = f\"../data/hdf5/put_block_to_bowl/\"\n", + "target_dir = f\"../data/hdf5/put_objects_into_bowl_2_with_stage/\"\n", "low_dim_data = data\n", "name_converter = {\"0\": \"/observations/images/0\"}\n", "target_namer = lambda i: f\"episode_{i}.hdf5\"\n", @@ -252,112 +244,112 @@ }, { "cell_type": "code", - "execution_count": 16, + "execution_count": 13, "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ - "DEBUG:root:compressed_len_list: [[10631, 10629, 10640, 10646, 10632, 10617, 10648, 10595, 10604, 10603, 10523, 10501, 10514, 10550, 10627, 10634, 10648, 10605, 10575, 10564, 10637, 10697, 10702, 10716, 10737, 10805, 10819, 10844, 10881, 10816, 10699, 10796, 11175, 10967, 10860, 11168, 11032, 11358, 11249, 11398, 11620, 11860, 11976, 11980, 12201, 12233, 12166, 12632, 12542, 12583, 12434, 11923, 12115, 11778, 11690, 11466, 11315, 11219, 11076, 10897, 10789, 10827, 10812, 10816, 10784, 11088, 11069, 11377, 11298, 11588, 11867, 12016, 12137, 12586, 12615, 12837, 12758, 12485, 12599, 12981, 12864, 12656, 12605, 12380, 12079, 12071, 12046, 11604, 11361, 11399, 11424, 11837, 11895, 11760, 11768, 11670, 11632, 11693, 11741, 11763, 12379, 12686, 12788, 13158, 13639, 13530, 13701, 13453, 14250, 14422, 14280, 14263, 14152, 14431, 14391, 14560, 14586, 14700, 14566, 14499, 14585, 14513, 14383, 14969, 14939, 15742, 15626, 15737, 15820, 15849, 15595, 14662, 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10390, 10373, 10342, 10424, 10460, 10457, 10475, 10512, 10560, 10625, 10558, 10469, 10558, 10575, 10579, 10595, 10609, 10770, 10772, 10852, 11042, 11143, 11457, 11645, 11803, 11653, 11808, 12015, 12121, 12337, 12398, 12396, 12337, 12382, 12316, 12281, 11995, 11873, 11586, 11678, 11341, 11050, 10590, 10584, 10358, 10409, 10518, 10936, 10830, 10790, 10494, 10605, 10852, 10989, 10817, 10751, 10943, 11219, 11289, 11638, 11560, 11819, 12010, 12149, 12031, 12005, 12539, 12723, 12678, 12597, 12590, 12512, 12357, 12299, 12154, 12079, 12065, 11970, 12002, 11389, 11233, 11109, 11574, 12003, 12217, 12471, 12187, 12598, 13031, 13426, 13452, 14006, 14118, 14725, 14428, 14397, 14274, 14316, 14286, 13930, 14493, 14254, 14771, 14515, 14700, 14528, 14522, 14682, 14650, 14809, 14760, 14923, 14792, 14981, 15019, 14836, 14635, 14439, 14823, 14685, 14084, 13446, 13504, 13189, 13359, 13438, 13684, 12934, 12447, 12701, 12529, 12898, 12902, 12883, 12838, 12756, 13054, 12697, 12459, 12728, 12449, 12438, 12649, 12831, 13335, 13973, 14337, 14300, 14737, 14702, 15319, 15875, 15808, 15055, 14844, 14221, 13629, 13278, 12450, 11910, 11688, 12015, 12283, 12188, 11516, 11291, 11175, 10946, 10848, 11092, 11018, 11062, 11003, 11015, 11012, 10915, 10963, 10947, 10982, 10865, 10869, 10862, 10886, 10764, 10766, 10707, 10663]]\n", + "DEBUG:root:compressed_len_list: [[12243, 12246, 12275, 12273, 12235, 12195, 12104, 12181, 12112, 12217, 12178, 12197, 12270, 12317, 12379, 12496, 12515, 12585, 12711, 12731, 12803, 12923, 13167, 13460, 13713, 13587, 13488, 13701, 13691, 13464, 12954, 12589, 12402, 12346, 12281, 12370, 12297, 12045, 12105, 11882, 12293, 12197, 12214, 12623, 12161, 12825, 12522, 13024, 13231, 13165, 13403, 13760, 13967, 15264, 15255, 15042, 15478, 16103, 16309, 16371, 15459, 15129, 14441, 13979, 13848, 13487, 13265, 12979, 12659, 12438, 12172, 12098, 12118, 12208, 12264, 12194, 12204, 12309, 12273, 12224, 12351, 12371, 12329, 12343, 12433, 12434, 12595, 12690, 12804, 12930, 13062, 13286, 13560, 13835, 14168, 14161, 14377, 14271, 14361, 14111, 14228, 13971, 14194, 14368, 14129, 14323, 14015, 13722, 13641, 13436, 13253, 12785, 12565, 12497, 12499, 12350, 12247, 11996, 11844, 11812, 11704, 11666, 11696, 11746, 11561, 11452, 11292, 11261, 11374, 11934, 12343, 12361, 12350, 12560, 12959, 12960, 12892, 12976, 13074, 13681, 13807, 13831, 13697, 13502, 13671, 13847, 13861, 13690, 13650, 13486, 13290, 13156, 12828, 12318, 11978, 12197, 12647, 12675, 12792, 12501, 12146, 12149, 12119, 12108, 12107, 12096, 12304, 12330, 12194, 12277, 12297, 12232, 12226, 12186, 12232, 12175, 12115, 12061, 12233, 12253, 12279, 12310, 12306, 12315, 12282, 12264, 12245, 12191, 12157, 12087, 12085, 12037, 12023, 12063, 12008, 12039, 12029, 12040, 12051, 12031]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10475, 10464, 10491, 10495, 10487, 10462, 10483, 10514, 10544, 10496, 10510, 10502, 10476, 10379, 10488, 10483, 10422, 10412, 10513, 10573, 10566, 10582, 10635, 10684, 10823, 10887, 10857, 10808, 10780, 10845, 11130, 11215, 11414, 11683, 11784, 11973, 12099, 12074, 12083, 12625, 12668, 12647, 12623, 12553, 11712, 11304, 11015, 10846, 10760, 10519, 10518, 10507, 10768, 10976, 11235, 11254, 11471, 11778, 12105, 12176, 12246, 12306, 12097, 11909, 12425, 12493, 12156, 12072, 12195, 12116, 11951, 11860, 11707, 11866, 11654, 11791, 11533, 11650, 11782, 12302, 12334, 12570, 12592, 13002, 13220, 13377, 13843, 13886, 13921, 13924, 13007, 13083, 13217, 13600, 12916, 13497, 12879, 13054, 13758, 13485, 14206, 13660, 13770, 14351, 13899, 13511, 13177, 12803, 12763, 12863, 12879, 12985, 12772, 12287, 12318, 11946, 11654, 11200, 11346, 11299, 11272, 11390, 11772, 12095, 11394, 11065, 11174, 11573, 11423, 11618, 11717, 11913, 12198, 12742, 13499, 13137, 13956, 14864, 15176, 15323, 15289, 14184, 13733, 13087, 12329, 11756, 11619, 11327, 11222, 10933, 10903, 10945, 11098, 10891, 10712, 10683, 10684, 10604, 10516, 10560, 10787, 10824, 10718, 10657, 10600, 10614, 10512, 10572, 10686, 10623, 10656, 10622, 10637, 10645, 10630, 10706, 10724, 10736, 10734, 10726, 10736, 10754, 10754, 10736, 10722, 10735, 10692, 10647, 10643, 10596, 10593, 10568, 10565, 10574, 10565, 10517, 10488, 10483, 10428, 10415]]\n", + "DEBUG:root:compressed_len_list: [[12250, 12201, 12248, 12189, 12218, 12120, 12148, 12214, 12212, 12181, 12193, 12218, 12224, 12225, 12206, 12249, 12266, 12309, 12404, 12485, 12600, 12724, 12843, 12880, 12904, 12955, 13032, 13162, 13507, 13572, 13528, 13337, 13776, 13824, 13226, 12870, 12639, 12352, 12329, 12259, 12387, 12255, 12341, 12345, 12428, 12330, 12453, 12540, 12792, 12789, 13009, 13244, 13694, 13914, 14694, 14954, 15852, 15733, 15336, 15156, 14341, 13897, 13446, 13013, 12745, 12535, 12245, 12075, 11938, 11914, 11899, 11938, 11904, 11882, 11893, 11894, 11903, 11911, 11955, 11908, 11933, 11909, 12021, 12078, 12201, 12342, 12381, 12430, 12553, 12633, 12710, 12805, 12923, 12994, 13165, 13443, 13595, 13706, 13737, 13766, 13769, 13785, 13775, 13780, 13752, 13832, 13796, 13924, 13988, 14169, 14072, 14141, 14002, 14263, 13935, 14198, 14106, 13821, 13863, 13699, 13651, 13361, 13151, 12923, 12839, 12638, 12450, 12317, 12274, 12313, 12376, 12495, 12362, 12544, 12547, 12548, 12566, 12547, 12484, 12836, 13339, 13470, 13782, 14240, 14018, 14591, 15006, 15169, 14653, 14523, 14294, 14246, 13898, 13416, 12788, 12700, 12559, 12516, 12672, 12495, 12512, 12331, 12187, 12067, 12021, 12076, 11996, 12023, 11871, 11911, 11972, 11967, 12023, 12111, 12184, 12229, 12065, 11993, 11984, 12006, 11981, 11977, 12071, 11953, 12016, 11937, 11998, 11962, 11957, 11992, 11979, 11955, 11984, 11987, 11933, 11934, 11963, 11930, 11946, 11909]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10361, 10348, 10351, 10351, 10339, 10350, 10301, 10278, 10267, 10300, 10337, 10293, 10323, 10312, 10317, 10302, 10297, 10287, 10231, 10303, 10311, 10306, 10260, 10290, 10431, 10437, 10537, 10479, 10585, 10540, 10668, 10704, 10756, 10864, 10944, 11057, 11218, 11430, 11694, 11516, 11457, 11583, 11627, 11603, 11540, 11458, 11311, 11138, 10836, 10775, 10624, 10501, 10389, 10307, 10383, 10393, 10634, 10643, 10415, 10419, 10596, 10672, 10714, 10705, 10738, 11027, 11250, 11220, 11165, 11493, 11768, 11568, 11983, 11879, 11978, 11663, 11937, 11994, 12270, 12423, 12357, 12128, 11919, 11436, 11027, 11194, 11352, 11352, 11130, 11188, 11192, 11211, 11190, 11296, 11322, 11513, 11970, 12245, 12331, 12447, 12706, 12984, 13191, 13364, 13414, 13840, 13967, 13878, 13960, 13769, 13626, 13788, 13480, 13594, 13506, 13896, 13786, 14177, 14034, 14088, 14260, 14167, 13884, 13684, 13845, 13906, 13723, 13211, 13235, 12872, 12824, 12741, 12856, 12914, 12733, 12728, 12500, 12692, 12750, 12859, 12963, 13118, 12905, 12658, 12368, 12233, 12212, 12100, 12015, 12012, 11982, 12119, 12047, 11891, 12072, 12108, 12575, 12510, 12914, 13099, 13598, 13679, 13684, 14149, 14184, 13288, 13580, 13164, 12992, 12700, 11867, 11585, 11246, 11288, 11739, 11490, 11159, 11052, 10515, 10413, 10731, 10670, 10398, 10270, 10519, 10646, 10379, 10436, 10526, 10445, 10478, 10471, 10677, 10769, 10698, 10621, 10706, 10696, 10686, 10588]]\n", + "DEBUG:root:compressed_len_list: [[12465, 12495, 12481, 12485, 12467, 12488, 12473, 12419, 12432, 12435, 12469, 12475, 12431, 12416, 12480, 12380, 12332, 12312, 12373, 12328, 12357, 12406, 12559, 12558, 12611, 12710, 12800, 12869, 13027, 13077, 13146, 13405, 13537, 13884, 13988, 14195, 14398, 14233, 13815, 13897, 13926, 13610, 12921, 12835, 12466, 12535, 12431, 12514, 12355, 12364, 12278, 12380, 12433, 12367, 12454, 12484, 12660, 12962, 13214, 13242, 13355, 13216, 13045, 13083, 13101, 13692, 13942, 14685, 15118, 16007, 15041, 15595, 15079, 14473, 13943, 13711, 13447, 13014, 12728, 12517, 12712, 12595, 12477, 12377, 12583, 12386, 12160, 12218, 12403, 12439, 12442, 12304, 12321, 12422, 12349, 12318, 12387, 12418, 12378, 12392, 12489, 12420, 12523, 12486, 12578, 12708, 12807, 12999, 13143, 13241, 13303, 13342, 13568, 13605, 13675, 13727, 13902, 14046, 14276, 14437, 14639, 14876, 14932, 15025, 15040, 15073, 15061, 15045, 14967, 15035, 14872, 15090, 15222, 14964, 14526, 14596, 14184, 13857, 13448, 13248, 13251, 13116, 13182, 12875, 12937, 12671, 12557, 12415, 12400, 12392, 12368, 12369, 12337, 12382, 12585, 13110, 13569, 13618, 13840, 13806, 14056, 14148, 14124, 13997, 14516, 14461, 14322, 14092, 14060, 14148, 14118, 14039, 13674, 13395, 12962, 12921, 12958, 13050, 12972, 12962, 12832, 12795, 12686, 12677, 12779, 12575, 12449, 12519, 12842, 12572, 12863, 12567, 12586, 12689, 12619, 12619, 12496, 12496, 12520, 12408]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10331, 10334, 10296, 10269, 10313, 10289, 10238, 10231, 10298, 10321, 10312, 10316, 10321, 10326, 10357, 10423, 10520, 10462, 10635, 10687, 10763, 10814, 11192, 11277, 11303, 11456, 11824, 11920, 11197, 11191, 11007, 10936, 10678, 10528, 10600, 10575, 10653, 10639, 10814, 11045, 11109, 11470, 11571, 11785, 11908, 12220, 11995, 12067, 12390, 12693, 12489, 12352, 11995, 11720, 11543, 11439, 11014, 11138, 11374, 11076, 11122, 11059, 11276, 11391, 11552, 11862, 12178, 12143, 12620, 13117, 13417, 13527, 13424, 12864, 12746, 13070, 14109, 13244, 14086, 13512, 13615, 14214, 13710, 13560, 13599, 13581, 14113, 14032, 14158, 14177, 14165, 14137, 13885, 14034, 14085, 13953, 13929, 14232, 14153, 14250, 14075, 13986, 14866, 14307, 13891, 13017, 13731, 13584, 13613, 13258, 13484, 13290, 13452, 13478, 12750, 11839, 11189, 11188, 10936, 10903, 10829, 10942, 11071, 11204, 11245, 11222, 11020, 10828, 11155, 11063, 10896, 11111, 11136, 11469, 11962, 12571, 12701, 12932, 13121, 13374, 13483, 13750, 13458, 13713, 14280, 14243, 13922, 13992, 13848, 13677, 13528, 13045, 12709, 12347, 12071, 12344, 12199, 11692, 10841, 10542, 10477, 10674, 10730, 10655, 10489, 10697, 10688, 10718, 10812, 10825, 10962, 10883, 10998, 10925, 10980, 10989, 10760, 10795, 10728, 10745, 10752, 10814, 10802, 10841, 10775, 10807, 10811, 10766, 10767, 10761, 10724, 10725, 10686, 10745, 10714, 10760, 10716, 10719, 10739, 10716]]\n", + "DEBUG:root:compressed_len_list: [[12207, 12240, 12202, 12215, 12213, 12201, 12193, 12212, 12178, 12181, 12177, 12128, 12202, 12242, 12336, 12414, 12513, 12564, 12599, 12706, 12801, 12907, 13003, 13120, 13150, 13220, 13301, 13498, 13745, 14028, 13528, 13532, 13794, 13266, 12941, 12574, 12378, 12342, 12331, 12235, 12255, 12110, 12202, 12177, 12156, 12362, 12393, 12585, 12609, 12809, 12847, 13108, 13450, 13786, 14343, 14981, 14975, 15401, 15561, 15394, 16000, 15305, 14877, 14630, 13696, 13166, 12809, 12625, 12252, 12067, 11811, 11960, 12001, 11922, 11932, 11918, 11968, 12030, 12158, 12273, 12382, 12493, 12647, 12790, 12909, 12978, 13136, 13268, 13495, 13685, 13890, 14115, 14279, 14223, 14196, 14220, 14176, 14449, 14481, 14599, 14535, 14634, 14124, 14217, 14471, 13868, 13790, 13755, 13555, 13150, 12978, 12522, 12561, 12645, 12433, 12656, 12507, 12598, 12621, 12468, 12518, 12448, 12890, 13362, 13466, 13620, 13625, 13588, 13296, 13511, 13625, 14213, 13914, 14240, 14582, 14359, 14106, 13671, 13553, 13665, 13602, 13214, 12694, 12254, 12511, 12354, 12213, 12123, 11946, 11851, 11929, 11961, 11967, 11929, 11922, 12034, 11947, 12064, 12191, 12084, 12079, 12176, 12201, 12229, 12235, 12312, 12251, 12208, 12305, 12173, 12143, 12121, 12108, 12071, 12030, 12004, 12043, 12014, 11990, 12006, 12006, 11963, 11975, 11955, 11952, 11950, 11950, 11935, 11927, 11954, 11947, 11918, 11909, 11929, 11917, 11939, 11935, 11949, 11936, 11928]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10477, 10474, 10457, 10453, 10428, 10451, 10499, 10451, 10464, 10374, 10405, 10416, 10466, 10523, 10483, 10492, 10496, 10470, 10479, 10470, 10492, 10487, 10446, 10455, 10520, 10512, 10507, 10530, 10605, 10652, 10646, 10720, 10735, 10841, 10867, 10871, 10943, 11106, 11412, 11522, 11798, 11779, 11920, 11995, 11730, 11463, 11607, 11575, 11489, 11377, 11233, 10973, 10741, 10508, 10409, 10481, 10506, 10516, 10465, 10548, 10676, 10760, 10762, 10793, 10793, 11075, 11083, 11197, 11232, 11443, 11477, 11706, 11834, 11825, 11810, 11782, 12047, 12512, 12561, 12235, 11862, 11620, 11513, 11305, 11441, 11355, 11230, 11250, 11335, 11402, 11278, 11319, 11618, 11747, 11906, 12435, 12736, 12849, 12937, 12914, 12820, 12949, 13152, 13364, 13536, 13567, 13824, 13534, 13628, 13750, 13765, 13751, 13755, 13869, 13976, 14233, 14113, 14396, 14203, 14627, 14601, 14399, 14087, 14574, 14527, 14470, 14251, 14112, 13509, 13735, 13543, 13563, 13172, 12929, 13074, 12637, 12821, 12839, 12496, 12232, 11684, 11082, 10653, 10582, 10711, 10781, 10956, 11309, 11009, 11066, 11196, 11593, 11402, 11141, 10968, 11007, 10917, 10997, 11394, 10967, 11414, 11063, 11352, 11498, 11343, 12095, 12483, 12987, 13440, 13798, 13884, 14214, 15172, 15231, 15174, 14922, 14421, 13844, 12891, 12377, 12498, 11817, 11486, 11121, 11082, 10996, 10927, 10853, 10966, 10957, 10958, 10836, 10548, 10554, 10616, 10759, 10620, 10921, 10782, 10845]]\n", + "DEBUG:root:compressed_len_list: [[12357, 12338, 12338, 12360, 12311, 12341, 12377, 12334, 12315, 12281, 12256, 12272, 12362, 12428, 12430, 12420, 12495, 12578, 12604, 12713, 12774, 12856, 12921, 13094, 13147, 13312, 13496, 13736, 13772, 13909, 13874, 13586, 13904, 13914, 13643, 13364, 13268, 12625, 12736, 12652, 12596, 12382, 12439, 12563, 12363, 12702, 12729, 12948, 12936, 12947, 13132, 13088, 13090, 13411, 13893, 14449, 14877, 15137, 15405, 15522, 15540, 16158, 16151, 15443, 15055, 14567, 14306, 13827, 13110, 13047, 12777, 12518, 12430, 12438, 12388, 12206, 12074, 12051, 12102, 12086, 12110, 12097, 12045, 12049, 12055, 12064, 12006, 12070, 12026, 12111, 12126, 12174, 12368, 12441, 12494, 12493, 12566, 12630, 12633, 12694, 12797, 12877, 12979, 13028, 13274, 13584, 13771, 13900, 14068, 14095, 14211, 14249, 14272, 14417, 14517, 14639, 14212, 14031, 13713, 13680, 13480, 13254, 12828, 12671, 12547, 12346, 12226, 12203, 12054, 12118, 12034, 11921, 12018, 12078, 12108, 12091, 12123, 12362, 12821, 13083, 13191, 13233, 13547, 13529, 13884, 14172, 14089, 13665, 13664, 13439, 13541, 13495, 13004, 12456, 12258, 12227, 12370, 12359, 12466, 12307, 12298, 12048, 12054, 11956, 11901, 12031, 12049, 12151, 12194, 12221, 12021, 12089, 12015, 11967, 11990, 11997, 12080, 12160, 12140, 12214, 12267, 12282, 12303, 12240, 12216, 12201, 12208, 12172, 12200, 12155, 12183, 12148, 12144, 12096, 12120, 12130, 12110, 12109, 12128, 12112]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10453, 10426, 10479, 10413, 10427, 10463, 10422, 10417, 10317, 10372, 10424, 10416, 10449, 10438, 10341, 10364, 10319, 10366, 10352, 10421, 10412, 10469, 10536, 10549, 10505, 10580, 10636, 10699, 10748, 10855, 10819, 10958, 11126, 11196, 11480, 11504, 11355, 11642, 11608, 11549, 11509, 11289, 10967, 10683, 10508, 10464, 10367, 10387, 10460, 10401, 10373, 10459, 10614, 10784, 10696, 10633, 10714, 10892, 10908, 11001, 11089, 11214, 11232, 11456, 11552, 11847, 11856, 11821, 11752, 12197, 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14739, 14596, 14425, 14315, 14406, 14339, 14296, 13938, 13396, 13073, 12872, 12842, 12695, 12881, 12397, 12264, 12194, 12205, 12052, 12003, 11999, 11978, 12074, 12029, 12036, 12170]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10736, 10772, 10771, 10754, 10746, 10741, 10661, 10662, 10728, 10761, 10689, 10730, 10715, 10727, 10786, 10807, 10836, 10859, 10900, 10874, 10841, 10758, 10850, 10996, 11264, 11165, 11318, 11490, 11595, 11562, 11926, 12195, 12167, 12388, 12340, 12263, 12613, 12612, 12714, 12534, 12255, 12028, 12124, 11726, 11549, 11352, 11461, 11553, 11419, 11419, 11226, 11295, 11246, 11365, 11341, 11366, 11490, 11557, 11560, 11585, 11593, 11463, 11371, 11451, 11554, 11596, 11711, 11995, 12031, 12216, 12024, 12399, 12334, 12767, 12527, 12464, 12406, 12492, 12284, 12035, 11867, 11781, 11799, 11863, 11711, 11505, 11207, 11211, 11185, 11175, 11168, 11241, 11595, 11613, 11601, 11682, 11649, 11737, 11814, 12027, 12202, 12627, 13042, 12998, 13511, 13613, 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12258, 12004, 11951, 11775, 11641, 11525, 11204, 11026, 10862, 10920, 10904, 10708, 10708, 10775]]\n", + "DEBUG:root:compressed_len_list: [[11988, 11964, 12002, 11992, 12000, 11964, 11918, 11981, 12041, 12061, 12006, 12028, 12095, 12146, 12178, 12280, 12337, 12409, 12483, 12502, 12495, 12647, 12760, 12765, 12939, 13201, 13433, 13623, 13547, 13713, 13764, 14049, 14053, 14076, 13536, 14147, 14188, 14168, 14048, 14018, 13289, 13349, 12984, 12890, 12831, 12676, 12564, 12370, 12469, 12408, 12292, 12383, 12572, 12424, 12512, 12505, 12637, 12720, 12635, 12732, 12925, 13256, 13658, 14003, 14280, 15110, 15046, 15817, 15531, 15673, 16082, 15922, 16458, 16364, 15436, 15350, 15049, 14425, 13945, 13834, 13560, 13269, 13194, 13105, 12919, 12815, 12597, 12353, 12183, 12186, 12309, 12260, 12282, 12237, 12354, 12380, 12453, 12512, 12671, 12700, 12803, 12867, 12957, 13020, 13083, 13161, 13379, 13341, 13590, 13926, 14155, 14292, 14395, 14427, 14419, 14479, 14542, 14504, 14510, 14608, 14831, 14387, 14831, 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12299, 12292]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10382, 10365, 10343, 10350, 10346, 10338, 10343, 10356, 10354, 10367, 10343, 10269, 10253, 10265, 10239, 10342, 10253, 10262, 10310, 10278, 10303, 10300, 10294, 10325, 10315, 10389, 10438, 10505, 10544, 10595, 10667, 10795, 10878, 10915, 11066, 11447, 11696, 11881, 11882, 11760, 11678, 11876, 11890, 11628, 11566, 11400, 11273, 11143, 10993, 10640, 10405, 10287, 10479, 10794, 10475, 10400, 10487, 10793, 10981, 11101, 11194, 11511, 11639, 11851, 11940, 12286, 12203, 12343, 12285, 12243, 12249, 12440, 12331, 11933, 11886, 11614, 11415, 11354, 11125, 10833, 10842, 11083, 11162, 11122, 10993, 11110, 11147, 11222, 11327, 11475, 11607, 11828, 12120, 12212, 12455, 12958, 13284, 13528, 13947, 14284, 14425, 14735, 14943, 14696, 14310, 13956, 13750, 13603, 13491, 13942, 14337, 14294, 14706, 14596, 14468, 13997, 14091, 14479, 14411, 14182, 14435, 14336, 14482, 14305, 14592, 14383, 14068, 13761, 13926, 14051, 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12060, 12149, 12269, 12324, 12278, 12213, 12210, 12352, 12456, 12413, 12230, 12276, 12486, 12530, 12661, 12702, 12878, 13001, 13051, 13135, 13318, 13637, 13804, 13995, 14195, 14106, 14012, 14077, 13897, 14085, 14278, 14429, 14157, 14428, 14458, 14514, 13975, 13907, 13743, 13462, 13471, 13170, 12834, 12732, 12751, 12761, 12508, 12571, 12264, 12247, 12314, 12462, 12582, 12639, 12489, 12559, 12532, 12446, 12449, 12374, 12732, 13379, 13503, 13980, 13879, 13849, 13870, 13680, 13946, 13834, 13931, 13990, 14087, 14130, 14253, 13877, 13847, 13888, 13914, 13945, 13938, 13552, 13246, 12789, 12333, 12206, 12189, 11821, 11887, 11923, 12027, 12379, 12180, 11989, 12032, 12314, 12231, 12052, 11988, 12101, 12178, 12196, 12139, 12219, 12069, 12124, 12077, 12103, 11994, 11962, 11968, 11959, 11945, 11939, 11950, 11988]]\n", "DEBUG:root:compressed_len\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10715, 10762, 10727, 10700, 10712, 10671, 10686, 10636, 10656, 10657, 10671, 10672, 10618, 10678, 10718, 10740, 10729, 10728, 10765, 10843, 10824, 10943, 10999, 11078, 10940, 10944, 11005, 11177, 11206, 11239, 11309, 11625, 11807, 11830, 11885, 12025, 12220, 12433, 12709, 12704, 12682, 12508, 11953, 11983, 11729, 11547, 11164, 10897, 10598, 10431, 10462, 10603, 10769, 10719, 10851, 10813, 11087, 11158, 11107, 11374, 11543, 11728, 11774, 12091, 12405, 12534, 12550, 12519, 12748, 12559, 12592, 12570, 12476, 12741, 12559, 12512, 12195, 12227, 12402, 12181, 11918, 11798, 11783, 11620, 11396, 11260, 11439, 11343, 11301, 11375, 11506, 11624, 11680, 11887, 12140, 12474, 12408, 12750, 12984, 13173, 13361, 13191, 13370, 13276, 13480, 13533, 13474, 13738, 13967, 14174, 14256, 14374, 14430, 14021, 14251, 14486, 15381, 15310, 15721, 15979, 16078, 16044, 15654, 14847, 14200, 13485, 13742, 13499, 13557, 13687, 13935, 14068, 13822, 13629, 12831, 12552, 12284, 11696, 11129, 10833, 10805, 10916, 11103, 11192, 11296, 11332, 11530, 11431, 11685, 11493, 11458, 11377, 11530, 11964, 12080, 11846, 11771, 11621, 11460, 11296, 11199, 10936, 10753, 10790, 10790, 10750, 10628, 10672, 10875, 10736, 10871, 10871, 10827, 10714, 10806, 10812, 10776, 10906, 10977, 10968, 10901, 10865, 10891, 10946, 10962, 10840, 10759, 10752, 10715, 10779, 10738, 10762, 10789, 10816, 10811, 10817, 10892, 10842, 10870, 10856]]\n", + "DEBUG:root:compressed_len_list: [[12028, 11975, 12010, 12050, 11989, 12047, 12009, 11951, 11980, 11899, 11903, 11968, 11965, 11996, 12056, 12076, 12121, 12158, 12208, 12349, 12557, 12590, 12722, 12908, 13254, 13522, 13588, 13425, 13850, 14004, 13431, 12937, 12544, 12172, 12208, 12065, 12206, 11941, 12034, 12047, 12163, 12059, 12186, 12419, 12629, 12748, 13011, 13105, 13210, 13301, 13538, 13685, 13875, 14673, 15015, 15154, 14540, 14948, 14302, 14148, 13483, 13405, 13436, 13171, 13289, 12849, 12232, 12427, 11918, 12075, 12279, 12081, 12129, 12302, 12117, 12253, 12502, 12441, 12432, 12516, 12777, 12881, 12927, 13036, 13215, 13306, 13341, 13521, 13764, 13922, 14201, 14614, 14735, 14859, 14976, 14831, 14687, 14476, 14561, 14500, 14819, 14275, 14705, 14520, 14154, 13811, 13655, 13425, 12910, 12758, 12609, 12609, 12421, 12445, 12365, 12369, 12288, 12239, 12084, 11857, 11885, 11973, 11900, 11921, 11960, 12008, 12095, 12270, 12545, 12742, 12785, 12784, 12973, 13285, 13354, 13379, 13454, 14043, 13630, 13477, 13190, 13256, 13171, 12911, 12837, 12639, 12613, 12638, 12629, 12485, 12273, 12588, 12568, 12474, 12669, 12522, 12701, 13133, 12755, 12544, 12453, 12328, 12501, 12573, 12569, 12643, 12640, 12591, 12584, 12661, 12469, 12430, 12363, 12426, 12372, 12408, 12283, 12251, 12251, 12291, 12219, 12209, 12213, 12145, 12194, 12208, 12198, 12223, 12218, 12263, 12259, 12271, 12294, 12298, 12287, 12273, 12263, 12281, 12288, 12290]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10328, 10304, 10327, 10343, 10355, 10318, 10289, 10232, 10338, 10342, 10288, 10311, 10325, 10296, 10292, 10280, 10251, 10265, 10255, 10267, 10242, 10321, 10373, 10490, 10587, 10690, 10743, 10801, 10935, 10951, 11010, 11063, 11110, 11230, 11384, 11583, 11779, 12047, 11667, 11938, 12259, 11853, 11853, 11883, 11815, 11842, 11647, 11504, 11364, 11211, 11023, 10797, 10294, 10154, 10167, 10237, 10159, 10189, 10276, 10432, 10474, 10496, 10521, 10854, 11039, 11299, 11673, 11977, 11903, 12050, 12266, 12335, 12387, 12379, 12174, 12457, 12377, 12503, 12144, 12179, 11882, 11678, 11714, 11649, 11326, 11234, 10979, 10929, 10927, 11103, 11577, 12087, 12345, 12566, 13013, 13473, 13696, 14081, 13694, 13546, 13397, 13595, 13511, 13749, 13288, 13384, 13224, 13317, 13309, 13455, 13501, 13506, 13452, 13334, 13525, 13508, 13227, 12965, 12862, 12736, 12758, 12790, 13072, 12862, 13060, 12232, 11539, 11364, 11020, 11043, 10976, 10960, 10913, 10921, 10824, 10734, 10700, 10702, 10880, 10866, 10907, 10803, 11124, 11308, 11622, 12057, 12143, 12427, 12362, 12699, 12444, 12977, 12929, 13296, 13394, 13536, 13555, 12970, 12078, 11709, 11334, 10879, 10951, 10788, 10681, 10688, 10431, 10418, 10360, 10711, 10610, 10790, 10795, 10638, 10682, 10457, 10579, 10673, 10623, 10552, 10589, 10668, 10670, 10637, 10613, 10691, 10664, 10645, 10648, 10612, 10577, 10550, 10534, 10550, 10510, 10512, 10527, 10528, 10518, 10537]]\n", + "DEBUG:root:compressed_len_list: [[12195, 12182, 12199, 12191, 12162, 12196, 12198, 12119, 12086, 12054, 12164, 12315, 12328, 12416, 12461, 12588, 12582, 12630, 12698, 12773, 12826, 12900, 13046, 13109, 13271, 13513, 13243, 13409, 13488, 13346, 12688, 12743, 12599, 12464, 12539, 12633, 12524, 12540, 12646, 12628, 12374, 12397, 12887, 12910, 12879, 12837, 12815, 12820, 12861, 13021, 12979, 13433, 13753, 14366, 14914, 14477, 13897, 14632, 14216, 14297, 13799, 13433, 13519, 13246, 13018, 12918, 12744, 12385, 12407, 12359, 12179, 12104, 12143, 12235, 12210, 12195, 12227, 12258, 12336, 12326, 12294, 12299, 12381, 12427, 12445, 12654, 12693, 12749, 12750, 12916, 13091, 13169, 13167, 13222, 13273, 13416, 13447, 13643, 13795, 13926, 13913, 14037, 14107, 14196, 14171, 14175, 14029, 14078, 14561, 14216, 14486, 14484, 14350, 14023, 14150, 14050, 13796, 13733, 13404, 13246, 13000, 13026, 12923, 12622, 12636, 12492, 12608, 12680, 12618, 12676, 12660, 12661, 12545, 12451, 12575, 13083, 13738, 13982, 14344, 14927, 15130, 14791, 15692, 15752, 15810, 15396, 14924, 14972, 14558, 14464, 14008, 13494, 13063, 12672, 12729, 12703, 12790, 12916, 12877, 12724, 12551, 12507, 12590, 12613, 12554, 12552, 12413, 12474, 12515, 12525, 12374, 12407, 12448, 12441, 12398, 12419, 12393, 12366, 12302, 12336, 12285, 12291, 12212, 12266, 12290, 12236, 12297, 12279, 12278, 12240, 12248, 12273, 12305, 12297, 12304, 12318, 12266, 12299, 12275, 12309]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10671, 10662, 10636, 10659, 10677, 10662, 10629, 10635, 10619, 10507, 10565, 10565, 10513, 10479, 10521, 10561, 10580, 10560, 10600, 10656, 10648, 10694, 10736, 10795, 10834, 10933, 10983, 11057, 11163, 11239, 11307, 11444, 11612, 11454, 11408, 11607, 11748, 11756, 11446, 11232, 11114, 11059, 10899, 10731, 10735, 10777, 10564, 10433, 10423, 10400, 10460, 10536, 10700, 10808, 10849, 10807, 11001, 11047, 11050, 11312, 11348, 11369, 11165, 11302, 11322, 11217, 11408, 11544, 11565, 11316, 11524, 11756, 11668, 11543, 11397, 11397, 11364, 11215, 10990, 10894, 10812, 10848, 10893, 11032, 11080, 11214, 11312, 11375, 11521, 11780, 12099, 12538, 12933, 12966, 13464, 13594, 13890, 14273, 13818, 13860, 13916, 13954, 14089, 13748, 13628, 13346, 13767, 13581, 13581, 13433, 13418, 13277, 13838, 14642, 15038, 15385, 15470, 15107, 15117, 15264, 14555, 14019, 13118, 12391, 12499, 12811, 12829, 13060, 13186, 13335, 12431, 11706, 11734, 11482, 11345, 11265, 10949, 10713, 10681, 10650, 10767, 10691, 10725, 10886, 10841, 11213, 11166, 11244, 11380, 11479, 11679, 11393, 12030, 12107, 11902, 11779, 11623, 11478, 11410, 11238, 11098, 10952, 10924, 10883, 10850, 10872, 10898, 10809, 10754, 10716, 10706, 10566, 10498, 10481, 10447, 10225, 10306, 10361, 10214, 10198, 10219, 10193, 10213, 10211, 10222, 10297, 10238, 10220, 10279, 10328, 10339, 10336, 10382, 10346, 10353, 10399, 10400, 10433, 10448, 10466]]\n", + "DEBUG:root:compressed_len_list: [[12356, 12343, 12324, 12358, 12363, 12370, 12380, 12391, 12314, 12374, 12274, 12264, 12340, 12383, 12383, 12487, 12472, 12594, 12656, 12687, 12713, 12856, 12843, 12872, 12956, 13212, 13449, 13770, 14048, 13695, 13896, 14350, 14386, 14117, 13407, 13650, 13200, 12864, 12565, 12842, 12747, 12429, 12420, 12498, 12445, 12068, 12135, 11989, 12237, 12119, 12289, 12529, 12835, 13081, 13026, 13168, 13069, 13576, 13986, 15008, 15830, 15002, 15746, 15977, 16383, 16003, 14941, 14797, 14060, 13124, 13049, 12847, 12870, 12856, 12652, 12401, 12365, 12380, 12273, 12134, 12183, 12324, 12196, 12215, 12294, 12249, 12280, 12336, 12584, 12482, 12621, 12732, 12704, 12825, 12807, 13001, 13053, 13251, 13169, 13323, 13486, 13722, 13999, 14145, 14236, 14550, 14406, 14480, 14486, 14565, 14485, 14379, 14452, 14325, 14715, 14777, 14700, 14236, 14202, 14172, 14007, 13811, 13544, 13331, 13131, 13000, 12937, 12562, 12491, 12449, 12553, 12571, 12619, 12773, 12801, 12842, 12893, 12896, 12854, 12824, 12966, 13315, 13799, 14135, 14284, 14687, 14735, 15351, 15367, 15070, 15464, 15669, 15547, 15289, 15335, 15171, 15342, 15274, 14858, 14729, 14812, 14335, 13957, 13583, 14274, 13993, 13380, 13451, 13388, 12924, 12946, 13062, 13058, 12759, 12596, 12883, 13084, 12631, 12608, 12666, 12737, 13267, 13071, 12977, 12852, 12816, 12810, 12768, 12821, 12899, 12835, 12727, 12787, 12776, 12646, 12664, 12625, 12700, 12684, 12660]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10444, 10431, 10479, 10475, 10459, 10439, 10364, 10312, 10366, 10368, 10384, 10413, 10423, 10439, 10356, 10450, 10479, 10437, 10489, 10592, 10685, 10769, 10830, 10899, 11027, 11142, 11435, 11800, 11774, 11694, 12162, 12202, 12196, 12210, 11589, 11617, 11386, 11217, 10833, 10637, 10623, 10538, 10592, 10521, 10525, 10595, 10565, 10672, 10686, 10847, 10846, 10929, 11134, 11271, 11326, 11391, 11397, 11375, 11315, 11650, 11681, 11656, 11598, 11475, 11211, 11560, 11453, 11348, 11322, 11370, 11346, 11273, 11232, 11309, 11245, 11234, 11222, 11293, 11423, 11626, 11867, 12217, 11816, 11451, 11935, 12280, 13119, 12762, 12963, 11985, 12219, 12578, 13090, 13502, 13483, 14111, 14524, 14726, 15080, 15139, 15146, 15057, 15022, 14710, 14564, 14274, 14176, 14257, 14741, 15189, 15420, 15421, 15312, 15643, 15306, 15225, 15391, 15315, 15355, 15002, 14998, 13784, 13845, 13294, 13555, 13410, 12850, 12579, 11977, 11959, 11748, 11566, 11624, 10816, 11036, 10895, 11107, 11132, 11083, 10912, 10819, 10944, 11009, 10932, 10883, 10817, 10796, 10976, 11233, 11508, 11959, 12560, 12830, 13104, 13313, 13723, 14026, 14246, 14545, 14666, 14587, 15382, 15552, 14875, 14966, 14494, 14398, 13967, 12944, 12627, 12130, 11352, 11321, 11740, 12174, 12244, 11717, 11453, 11234, 11091, 10876, 10762, 10842, 10848, 10873, 10896, 10777, 10831, 10815, 10801, 10717, 10677, 10611, 10534, 10525, 10458, 10488, 10475, 10462, 10401]]\n", + "DEBUG:root:compressed_len_list: [[12217, 12277, 12247, 12224, 12203, 12246, 12241, 12210, 12156, 12255, 12233, 12277, 12258, 12333, 12406, 12519, 12646, 12679, 12763, 12905, 12964, 13169, 13447, 13398, 13140, 13673, 13773, 13424, 12864, 12543, 12269, 12098, 12234, 12086, 12433, 12070, 12392, 12274, 12473, 12483, 12556, 12670, 12753, 12833, 12935, 13015, 13367, 13994, 14281, 15360, 15539, 15220, 16068, 15841, 14985, 14444, 13681, 13300, 12966, 12909, 12777, 12600, 12415, 12158, 11996, 12026, 11910, 11908, 11909, 11920, 11891, 11888, 11906, 11933, 11854, 11877, 11884, 11870, 11869, 11851, 11968, 12088, 12281, 12385, 12496, 12548, 12567, 12547, 12632, 12790, 12818, 12899, 13073, 12979, 13097, 13043, 13075, 13101, 13046, 13295, 13524, 13735, 13935, 14060, 14216, 13931, 14027, 13940, 13981, 13935, 13940, 14207, 14166, 14079, 14285, 14223, 13819, 13861, 13777, 13781, 13581, 13452, 12899, 12667, 12418, 12324, 12404, 12427, 12400, 12318, 12306, 12251, 12155, 12238, 12581, 13211, 13245, 13352, 13852, 14127, 14195, 13886, 14437, 14002, 14160, 13934, 13925, 13902, 13959, 14061, 13391, 12906, 12607, 12392, 12476, 12230, 12000, 11820, 11735, 11736, 11980, 12168, 12107, 12232, 12126, 12314, 12253, 12195, 12311, 12244, 12290, 12287, 12318, 12260, 12289, 12328, 12235, 12273, 12265, 12262, 12200, 12195, 12135, 12169, 12148, 12130, 12142, 12136, 12111, 12153, 12151, 12148, 12141, 12166, 12137, 12196, 12142, 12152, 12134, 12154]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10412, 10415, 10401, 10393, 10438, 10410, 10389, 10356, 10467, 10398, 10413, 10359, 10371, 10386, 10369, 10415, 10468, 10514, 10473, 10429, 10453, 10474, 10442, 10439, 10447, 10454, 10435, 10466, 10563, 10582, 10628, 10726, 10729, 10848, 10828, 10871, 10887, 10872, 10890, 10866, 10927, 11002, 10866, 10895, 10929, 10962, 10981, 10956, 10982, 10925, 11033, 10948, 11034, 11130, 11168, 11283, 11436, 11578, 11463, 11426, 11567, 11794, 11784, 11691, 11842, 11788, 11918, 11933, 11593, 10959, 10683, 10516, 10254, 10192, 10056, 10139, 10067, 10120, 10021, 10143, 10224, 10371, 10485, 10485, 10506, 10545, 10592, 10594, 10544, 10740, 10887, 11070, 11097, 11227, 11364, 11482, 11660, 11703, 11926, 11797, 12107, 12468, 12440, 12280, 12544, 12561, 12407, 12341, 12181, 11986, 11800, 11719, 11745, 11734, 11754, 11617, 11495, 11826, 11844, 12207, 12160, 12230, 12613, 13162, 13334, 13369, 13572, 13554, 13458, 13453, 13388, 13431, 13219, 13124, 13329, 13620, 13596, 13595, 13359, 13478, 13518, 13513, 13334, 13321, 13392, 13905, 14207, 14407, 14527, 14408, 14314, 14333, 14327, 14491, 14648, 14347, 14606, 14600, 14528, 14398, 14075, 13670, 13522, 12942, 13304, 13052, 13089, 12968, 12156, 11071, 10695, 10750, 10853, 11172, 11294, 11257, 11300, 11170, 11468, 11386, 11316, 11809, 12270, 12898, 13374, 13704, 13869, 14637, 15142, 15071, 14228, 14442, 13947, 13374, 12635, 12329, 11631, 11431, 11195, 11016]]\n", + "DEBUG:root:compressed_len_list: [[12413, 12402, 12417, 12460, 12442, 12456, 12534, 12543, 12509, 12540, 12419, 12511, 12679, 12692, 12791, 12806, 12848, 12929, 12952, 13008, 13047, 13171, 13298, 13710, 14036, 13797, 13775, 14350, 14277, 13408, 13361, 12943, 12763, 12619, 12825, 12770, 12395, 12299, 12483, 12694, 12625, 12568, 12822, 12839, 12850, 13034, 13172, 12719, 12798, 13672, 13207, 12894, 12770, 13025, 12889, 12691, 12121, 11882, 12014, 12182, 12179, 12272, 12451, 12308, 12337, 12449, 12502, 12566, 12572, 12688, 12794, 12851, 13051, 13246, 13539, 13906, 14150, 14269, 14381, 14373, 14435, 14195, 14243, 14745, 14148, 13846, 13604, 13375, 12994, 13015, 12479, 12627, 12561, 12670, 12541, 12708, 12804, 12755, 12600, 12530, 12496, 13275, 14176, 14041, 14877, 14832, 15084, 14878, 14095, 13959, 13400, 12678, 12744, 12765, 12538, 12504, 12172, 11973, 12012, 12049, 11955, 11958, 12061, 12184, 12380, 12494, 12423, 12389, 12379, 12256, 12369, 12269, 12336, 12299, 12145, 12111, 12081, 12032, 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12139, 12163, 12195, 12200, 12177, 12161, 12178, 12197, 12187]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10673, 10693, 10677, 10681, 10662, 10694, 10726, 10701, 10685, 10655, 10579, 10649, 10617, 10591, 10640, 10603, 10627, 10656, 10682, 10682, 10648, 10718, 10764, 10847, 10957, 11101, 11164, 11448, 11854, 12083, 12036, 12085, 12615, 12639, 13079, 13124, 13039, 12383, 11910, 11728, 11522, 11256, 11081, 10816, 10731, 10661, 10783, 10913, 10854, 10929, 11098, 11123, 10811, 10886, 11124, 10911, 11075, 11366, 11651, 11959, 12055, 12215, 12327, 12681, 12973, 13235, 13378, 13047, 13403, 13377, 13053, 12950, 12292, 12320, 11872, 11844, 11804, 11611, 11500, 11670, 11506, 11478, 11532, 11667, 11696, 11784, 11922, 11988, 12149, 12187, 11752, 11657, 12217, 12642, 13455, 13983, 14482, 14429, 14206, 13992, 14080, 14435, 14386, 14306, 13940, 14100, 13872, 13914, 13957, 13822, 13853, 14229, 14782, 14930, 14899, 13546, 13336, 13208, 13031, 13446, 13460, 13339, 13154, 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10805, 10719]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10361, 10379, 10370, 10389, 10362, 10376, 10348, 10266, 10307, 10267, 10244, 10304, 10390, 10357, 10342, 10320, 10334, 10344, 10321, 10285, 10296, 10269, 10363, 10408, 10490, 10494, 10531, 10608, 10599, 10713, 10686, 10740, 10824, 10903, 10967, 11063, 11097, 11364, 11499, 11850, 12049, 12094, 11983, 12091, 12302, 12456, 12181, 12502, 12493, 12509, 12333, 11864, 11686, 11615, 11221, 10769, 10453, 10192, 10197, 10184, 10347, 10315, 10376, 10492, 10631, 10599, 10889, 11048, 11296, 11392, 11897, 11839, 12248, 12360, 12296, 12462, 12959, 13075, 13054, 12610, 12369, 12260, 12279, 11888, 11387, 11226, 11181, 11474, 11320, 11342, 11248, 11216, 11239, 11140, 11120, 11591, 12368, 12541, 12767, 13249, 13609, 13744, 13740, 13602, 13612, 13386, 13301, 13360, 13196, 13109, 13042, 12924, 12838, 13435, 13735, 13827, 13954, 14051, 14226, 14738, 14971, 15439, 15553, 15561, 15674, 15683, 15452, 14955, 13938, 13776, 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10300, 10267, 10308, 10400, 10338, 10297, 10287, 10279, 10330, 10321, 10302, 10249, 10246, 10278, 10314, 10328, 10369, 10368, 10386, 10337, 10357, 10373, 10399, 10453, 10510, 10562, 10593, 10663, 10671, 10739, 10819, 10862, 11019, 11036, 11178, 11495, 11553, 11512, 11538, 11636, 11707, 11721, 11309, 11061, 10971, 10821, 10776, 10478, 10216, 10231, 10156, 10274, 10446, 10501, 10452, 10418, 10485, 10722, 10820, 10961, 11134, 11367, 11329, 11679, 11905, 11879, 11923, 11680, 11663, 11950, 12225, 12278, 12249, 11988, 11617, 11249, 10982, 11152, 10934, 10840, 10840, 10906, 10979, 11090, 11035, 11101, 11144, 11310, 11439, 11741, 12133, 12388, 12784, 12860, 13058, 13221, 13094, 13928, 14320, 14533, 14477, 13528, 13532, 13483, 14559, 14069, 14228, 13496, 13509, 13443, 13109, 13383, 13676, 13931, 13544, 14277, 14504, 14993, 15717, 15288, 15363, 15276, 15422, 15496, 14984, 14132, 13467, 12808, 12697, 13098, 13152, 13026, 12864, 12583, 12116, 11661, 11170, 11038, 11019, 10897, 10921, 10750, 10793, 10842, 10948, 11063, 10969, 10922, 11053, 11136, 11259, 11323, 11480, 11242, 11520, 11382, 11363, 11216, 11168, 10847, 10508, 10602, 10800, 10997, 10740, 10566, 10403, 10473, 10410, 10576, 10373, 10356, 10402, 10387, 10377, 10347, 10366, 10375, 10353, 10368, 10343, 10397, 10406, 10440, 10446, 10426, 10458, 10456, 10455, 10494, 10451, 10481, 10485]]\n", + "DEBUG:root:compressed_len_list: [[12345, 12366, 12372, 12384, 12363, 12385, 12342, 12341, 12289, 12312, 12327, 12361, 12347, 12331, 12374, 12352, 12477, 12539, 12571, 12521, 12562, 12580, 12594, 12624, 12703, 12750, 12885, 12899, 13016, 13072, 13232, 13305, 13440, 13451, 13454, 13484, 13634, 13800, 13889, 14134, 14388, 14660, 14810, 14874, 14961, 14371, 14585, 14607, 14590, 14453, 13807, 13539, 13323, 13113, 12814, 12741, 12590, 12395, 12423, 12297, 12457, 12404, 12521, 12662, 12745, 12868, 12878, 12923, 12931, 13115, 13361, 13852, 14081, 14215, 14400, 14847, 15323, 15843, 15345, 16187, 16015, 15056, 15011, 14208, 13727, 13698, 13450, 13142, 12970, 12855, 12689, 12561, 12423, 12291, 12255, 12201, 12186, 12162, 12130, 12140, 12147, 12131, 12158, 12120, 12112, 12078, 12069, 12077, 12073, 12072, 12082, 12057, 12119, 12232, 12313, 12464, 12519, 12733, 12815, 12942, 13008, 13094, 13212, 13248, 13259, 13357, 13547, 13620, 13762, 13824, 14030, 14109, 14295, 14198, 14039, 14224, 14142, 14439, 14392, 13865, 14106, 14166, 13995, 13677, 13788, 13568, 13343, 13080, 12929, 12895, 12855, 12650, 12674, 12552, 12375, 12277, 12588, 12632, 12582, 12600, 12504, 12432, 12170, 11988, 11869, 11788, 11889, 12091, 12410, 12894, 12950, 14050, 13861, 13204, 13059, 12909, 12788, 12891, 12868, 12502, 12406, 12486, 12959, 12819, 12536, 12237, 12311, 12330, 12457, 12465, 12528, 12321, 12439, 12373, 12442, 12321, 12359, 12384, 12343, 12255]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10454, 10445, 10458, 10468, 10426, 10421, 10364, 10396, 10358, 10378, 10384, 10434, 10437, 10428, 10518, 10581, 10543, 10507, 10526, 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10770, 10632, 10585, 10520, 10478, 10422, 10423, 10476, 10560, 10568, 10678, 10614, 10656, 10558, 10507, 10520, 10521, 10529, 10520, 10533, 10551, 10565, 10530, 10528, 10556, 10549, 10561, 10537, 10552, 10545, 10514, 10530, 10515, 10551, 10560, 10557, 10543, 10576]]\n", + "DEBUG:root:compressed_len_list: [[12087, 12047, 12115, 12054, 12121, 12055, 12033, 12028, 12093, 12012, 11967, 12116, 12056, 12059, 12107, 12089, 12079, 12115, 12117, 12105, 12149, 12199, 12250, 12393, 12446, 12600, 12721, 12878, 13256, 13531, 13716, 13417, 13740, 13747, 13783, 13263, 12694, 12758, 12297, 12149, 12008, 12284, 12232, 12176, 11990, 11972, 11918, 11603, 11736, 11773, 11865, 12066, 12257, 12550, 12621, 12616, 12943, 13294, 13596, 14478, 14964, 14484, 15395, 15818, 15588, 14585, 14456, 13656, 13543, 13299, 13013, 12873, 12495, 12256, 12239, 12009, 12225, 12266, 12220, 12187, 12220, 12171, 12318, 12569, 12464, 12709, 12809, 12970, 13060, 13213, 13141, 13300, 13628, 13779, 13828, 13997, 14083, 14091, 14052, 14097, 14176, 14255, 13865, 14190, 14112, 14118, 14096, 13559, 13515, 13384, 13328, 12616, 12569, 12379, 12286, 12247, 12030, 11959, 11961, 12275, 12171, 12048, 11896, 11840, 11767, 11805, 11818, 11738, 11794, 11923, 12160, 12420, 12554, 12537, 12619, 12578, 12783, 12885, 12983, 12797, 12935, 12935, 13034, 13191, 13045, 13072, 12850, 12876, 13123, 13358, 13736, 13082, 12538, 12393, 12652, 13122, 12918, 12864, 12628, 12355, 12454, 12464, 12491, 12399, 12363, 12394, 12397, 12381, 12328, 12244, 12270, 12250, 12235, 12196, 12197, 12198, 12171, 12186, 12185, 12143, 12164, 12131, 12121, 12103, 12172, 12158, 12150, 12136, 12126, 12150, 12127, 12187, 12175, 12172, 12189, 12175, 12174, 12183, 12192, 12183]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10461, 10437, 10458, 10441, 10430, 10413, 10465, 10472, 10426, 10394, 10454, 10455, 10471, 10444, 10422, 10391, 10372, 10345, 10417, 10427, 10413, 10387, 10378, 10355, 10326, 10321, 10352, 10360, 10370, 10360, 10373, 10349, 10425, 10471, 10576, 10631, 10724, 10841, 10849, 10893, 10935, 10927, 10956, 10997, 11238, 11349, 11520, 11575, 11526, 11571, 11435, 11407, 11731, 11716, 11702, 11381, 11353, 11021, 10825, 10478, 10270, 10171, 10116, 10110, 10072, 9996, 9908, 10020, 10129, 10126, 10113, 10239, 10338, 10391, 10541, 10621, 10667, 10785, 11073, 11245, 11401, 11567, 11610, 11662, 11643, 11623, 11647, 11618, 11675, 11383, 11437, 11715, 11729, 11817, 11848, 11521, 11855, 11994, 11796, 11572, 11905, 11596, 11298, 11263, 11092, 11192, 10903, 10869, 10900, 11073, 11126, 11140, 11171, 11182, 11225, 11317, 11531, 11566, 11960, 12213, 12281, 12760, 13010, 13324, 13569, 13552, 13565, 13495, 13620, 13481, 13646, 13588, 13835, 14115, 14118, 14159, 13928, 13656, 13603, 13774, 13990, 14123, 13791, 13638, 13777, 13871, 13945, 13581, 12928, 13209, 12992, 12994, 13059, 12913, 13077, 12789, 12792, 12462, 11352, 11113, 10870, 10756, 10818, 10903, 10834, 10866, 10911, 10928, 11142, 11098, 10993, 10858, 10918, 10905, 11054, 11427, 11963, 12372, 12593, 12637, 12908, 12986, 13216, 13543, 13496, 13452, 14107, 14316, 14151, 13496, 13572, 13219, 13164, 13032, 12859, 12688, 11759, 11398, 11322, 11199]]\n", + "DEBUG:root:compressed_len_list: [[12333, 12276, 12305, 12324, 12330, 12326, 12282, 12267, 12318, 12289, 12256, 12222, 12301, 12347, 12299, 12318, 12460, 12496, 12554, 12619, 12676, 12716, 12808, 12938, 13016, 13173, 13253, 13309, 13463, 13647, 13806, 14079, 14177, 14270, 14308, 14310, 13207, 14011, 14043, 13993, 13874, 13700, 13438, 12939, 12700, 12610, 12580, 12404, 12575, 12478, 12302, 12182, 12216, 12176, 12228, 12381, 12429, 12395, 12520, 12634, 12723, 12838, 12934, 12886, 12921, 13009, 13312, 13801, 14446, 15124, 15287, 16082, 15445, 15499, 16159, 15283, 15014, 14222, 13853, 13442, 13198, 13020, 12733, 12463, 12322, 12119, 12229, 12229, 12249, 12226, 12235, 12239, 12322, 12427, 12513, 12653, 12781, 12933, 13080, 13000, 13181, 13526, 13738, 14044, 14164, 14361, 14301, 14394, 14433, 14257, 14128, 14323, 14264, 14160, 14484, 14478, 14251, 14434, 14150, 14151, 13858, 13819, 13377, 13151, 12971, 12744, 12581, 12479, 12441, 12266, 12450, 12319, 12234, 12223, 12186, 12109, 12112, 12025, 11997, 12191, 12923, 13407, 13697, 13786, 13847, 13819, 14230, 14578, 14830, 14459, 14503, 14626, 14431, 13872, 13893, 13896, 14024, 13839, 13903, 13461, 13048, 12629, 12818, 12747, 12683, 12576, 12519, 12252, 12244, 12208, 12126, 12252, 12251, 12230, 12183, 12325, 12380, 12257, 12309, 12282, 12278, 12222, 12138, 12229, 12264, 12310, 12222, 12222, 12301, 12291, 12228, 12216, 12193, 12256, 12254, 12278, 12275, 12278, 12285, 12273]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10386, 10312, 10342, 10333, 10335, 10351, 10329, 10365, 10365, 10345, 10358, 10272, 10294, 10290, 10368, 10349, 10380, 10367, 10333, 10307, 10333, 10328, 10396, 10284, 10348, 10346, 10413, 10363, 10444, 10395, 10532, 10590, 10618, 10622, 10697, 10779, 10821, 10854, 10972, 10987, 11042, 11307, 11515, 11608, 11812, 11478, 11528, 11309, 11480, 11402, 11463, 11386, 11245, 11190, 11339, 11189, 11035, 10792, 10819, 10893, 10863, 10524, 10406, 10464, 10734, 10532, 10705, 10442, 10611, 10774, 10982, 10584, 10622, 11027, 10833, 11031, 10736, 10896, 11010, 10948, 10748, 11243, 11304, 11457, 11559, 11058, 11264, 11613, 11511, 11619, 11655, 11476, 11487, 11607, 11600, 11479, 11203, 11210, 11366, 11440, 11410, 11313, 11290, 11360, 11350, 11474, 11702, 12111, 12208, 12544, 12541, 13047, 13123, 13380, 13340, 13587, 13732, 13825, 13745, 13853, 13904, 13822, 13642, 13850, 13747, 13994, 13816, 13914, 14040, 14151, 14149, 13723, 13991, 14086, 13380, 13297, 13254, 13247, 12824, 12844, 12936, 12873, 13085, 12399, 11989, 11406, 10632, 10611, 10487, 10805, 10923, 11123, 10985, 10850, 10803, 10987, 10857, 10880, 10971, 10770, 11213, 11794, 11994, 12788, 12995, 13046, 13702, 14972, 15028, 14587, 14070, 13828, 13145, 12583, 12330, 11718, 11755, 11130, 11284, 10908, 10780, 10605, 10479, 10302, 10196, 10514, 10369, 10523, 10676, 10661, 10609, 10590, 10658, 10786, 10894, 10831, 10708, 10869, 10748, 10815]]\n", + "DEBUG:root:compressed_len_list: [[12158, 12132, 12175, 12171, 12166, 12190, 12128, 12126, 12154, 12008, 12132, 12176, 12147, 12220, 12253, 12333, 12375, 12491, 12597, 12658, 12714, 12829, 12918, 12958, 13106, 13296, 13563, 13783, 13794, 13288, 13913, 13604, 13065, 12900, 12396, 12378, 12231, 12249, 12126, 12244, 12470, 12520, 12580, 12625, 12781, 12837, 12916, 12968, 13118, 13472, 13708, 14514, 15053, 15888, 16376, 15799, 16192, 15626, 15171, 14104, 13833, 13329, 13316, 12905, 13411, 13471, 12970, 12888, 12888, 12928, 12737, 12683, 12653, 12637, 12537, 12531, 12561, 12582, 12486, 12538, 12526, 12518, 12532, 12562, 12582, 12703, 12773, 12846, 13005, 12986, 13105, 12950, 13321, 13071, 13314, 13301, 13458, 13743, 14085, 14228, 14398, 14664, 14644, 14762, 14796, 14928, 14886, 14963, 14957, 14916, 14908, 14907, 14818, 14722, 14539, 14449, 14441, 14472, 14511, 14597, 14668, 14277, 14449, 14534, 14117, 14149, 14023, 14239, 14150, 13913, 13808, 13620, 13563, 13408, 13390, 13253, 13112, 13231, 13320, 13143, 13181, 13214, 13187, 13053, 13027, 12873, 12795, 12986, 13571, 14240, 14804, 14777, 14912, 15148, 15668, 15770, 15663, 15426, 15665, 15589, 15295, 15815, 15852, 15712, 15701, 15436, 15321, 14964, 14480, 14028, 13756, 13567, 13302, 13321, 13326, 13357, 13241, 13130, 12960, 12882, 12966, 12946, 12853, 12914, 12922, 12865, 12883, 12880, 12856, 12847, 12949, 12869, 12830, 12915, 12901, 12871, 12898, 12891, 12908, 12931]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10311, 10322, 10288, 10310, 10346, 10335, 10349, 10285, 10246, 10228, 10246, 10293, 10291, 10270, 10245, 10254, 10262, 10290, 10405, 10571, 10586, 10526, 10638, 10744, 10724, 10747, 10874, 10954, 11048, 11241, 11397, 11477, 11306, 11498, 11588, 11559, 11548, 11646, 11461, 11237, 11041, 10762, 10492, 10451, 10379, 10409, 10397, 10487, 10358, 10229, 10342, 10422, 10784, 10737, 10568, 10589, 10785, 10762, 10833, 10738, 10798, 10769, 10766, 10814, 11095, 11211, 11283, 11493, 11642, 11930, 11984, 12383, 12466, 12168, 12455, 12987, 12727, 12545, 12100, 11932, 11635, 11420, 11503, 11480, 11447, 11373, 11382, 11399, 11489, 11758, 12045, 12434, 12284, 12231, 12848, 13069, 13462, 12912, 13249, 13132, 13554, 13555, 13747, 13774, 13840, 13983, 13992, 14260, 13983, 14107, 13873, 14512, 14622, 14838, 14979, 14822, 14879, 14796, 15032, 14956, 14957, 14987, 14849, 14590, 14817, 14586, 14570, 14345, 15221, 15638, 15281, 15279, 15494, 15600, 15230, 14318, 14348, 14085, 13906, 13657, 13528, 13458, 13550, 13875, 13775, 13274, 12469, 12355, 12194, 12221, 12283, 11994, 11963, 11569, 11853, 12055, 11666, 11222, 11148, 11425, 12132, 12269, 12784, 12984, 13002, 13991, 14708, 14981, 15025, 14825, 14925, 14260, 13939, 13958, 13176, 13049, 11952, 11410, 11292, 11167, 11039, 10742, 10699, 10594, 10647, 10713, 10985, 11019, 11031, 11069, 11045, 11044, 11046, 11000, 11159, 11186, 10977, 10922, 10907, 10912]]\n", + "DEBUG:root:compressed_len_list: [[12275, 12291, 12294, 12283, 12263, 12276, 12327, 12293, 12290, 12245, 12180, 12232, 12159, 12281, 12285, 12270, 12295, 12357, 12341, 12445, 12513, 12527, 12649, 12725, 12724, 12823, 12960, 13014, 13330, 13593, 13725, 13553, 13780, 13940, 13930, 13516, 12926, 12968, 12647, 12614, 12306, 12626, 12553, 12252, 12281, 12278, 12697, 12457, 12477, 12459, 12590, 12804, 12703, 13038, 12991, 13144, 13353, 13393, 13804, 14494, 15021, 15601, 15640, 15566, 16614, 16574, 16079, 15681, 15553, 15407, 14599, 14038, 13380, 13216, 13097, 13163, 12953, 12690, 12510, 12483, 12372, 12327, 12172, 12038, 12205, 12263, 12249, 12213, 12226, 12212, 12193, 12155, 12197, 12289, 12265, 12372, 12408, 12459, 12514, 12572, 12656, 12772, 12870, 12957, 12943, 12816, 13070, 13134, 13055, 13299, 13235, 13458, 13561, 13644, 13803, 13918, 13936, 14048, 14158, 14135, 14217, 14197, 14266, 14308, 14472, 14638, 14820, 14418, 14579, 14719, 14199, 14228, 13789, 13612, 13557, 13308, 13124, 13203, 13065, 12877, 12913, 12831, 12655, 12519, 12700, 12639, 12484, 12461, 12459, 12500, 12417, 12433, 12460, 12635, 12922, 13249, 13551, 13645, 13564, 13712, 13686, 13946, 14024, 14107, 14002, 13858, 13874, 14120, 14475, 14568, 14725, 14344, 14247, 14142, 14323, 13966, 14021, 13821, 13683, 13737, 13752, 14012, 14110, 14429, 13991, 13767, 13569, 13219, 13052, 12276, 12434, 12456, 12347, 12431, 12319, 12309, 12241, 12270, 12203, 12198]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10642, 10681, 10706, 10702, 10692, 10675, 10716, 10695, 10644, 10562, 10642, 10638, 10654, 10650, 10657, 10721, 10716, 10813, 10911, 10951, 10998, 11081, 11154, 11261, 11276, 11509, 11744, 12086, 12311, 12395, 12329, 12215, 13272, 13438, 13380, 12640, 12102, 12277, 11672, 11570, 11415, 11550, 11502, 11353, 11400, 11432, 11485, 11298, 11257, 11430, 11652, 11732, 11710, 11755, 11607, 11655, 11990, 12170, 12427, 12726, 13000, 13207, 13305, 13222, 13206, 13203, 13289, 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12132, 12105, 12124, 12063, 12002, 12106, 12132, 12152, 12182, 12264, 12295, 12395, 12444, 12515, 12598, 12640, 12763, 12798, 12840, 12940, 13127, 13354, 13681, 13518, 13219, 13994, 13980, 13913, 13877, 13955, 13854, 13154, 12624, 12778, 12654, 12460, 12264, 12714, 12559, 12550, 12177, 12310, 12229, 12397, 12319, 12278, 12484, 12630, 12571, 12644, 12685, 12862, 13222, 13701, 14303, 14768, 15268, 15337, 15992, 16309, 15767, 14788, 14671, 13875, 12981, 12821, 12794, 13001, 12904, 12808, 12944, 12646, 12523, 12359, 12414, 12427, 12372, 12487, 12429, 12301, 12398, 12340, 12466, 12620, 12574, 12603, 12606, 12662, 12808, 12858, 12910, 13027, 13089, 13135, 13251, 13509, 13736, 14030, 14275, 14457, 14568, 14657, 14606, 14596, 14497, 14471, 14346, 14485, 14514, 14518, 14123, 14326, 14456, 14333, 14045, 14086, 13767, 13842, 13470, 13315, 13133, 13096, 13035, 13027, 12847, 12844, 12946, 13093, 13097, 13050, 13073, 12985, 13020, 12926, 12898, 12999, 13337, 14095, 14641, 15031, 15277, 15424, 15618, 15567, 15323, 15574, 15630, 15386, 15385, 15337, 15003, 15152, 14839, 14456, 13904, 13445, 13386, 13362, 13247, 13006, 12809, 12708, 12739, 12629, 12734, 12776, 12776, 12814, 12921, 12992, 13161, 12987, 12995, 12950, 12762, 12772, 12888, 13008, 12838, 12717, 12776, 12794, 12772, 12722, 12687, 12685, 12703, 12660, 12666, 12645, 12651, 12623, 12631, 12613, 12642, 12619]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10756, 10770, 10801, 10762, 10786, 10795, 10751, 10628, 10674, 10654, 10701, 10705, 10737, 10741, 10798, 10766, 10735, 10707, 10772, 10819, 10833, 10939, 10923, 10967, 10907, 10773, 10836, 11007, 11160, 11108, 11186, 11228, 11262, 11270, 11354, 11539, 11883, 12077, 12181, 12343, 12148, 12229, 12700, 12624, 12623, 12023, 12094, 11889, 11755, 11363, 11135, 11162, 10874, 10542, 10564, 10592, 10878, 10981, 10730, 10783, 10940, 11134, 11087, 10857, 10926, 11137, 11118, 11124, 11059, 10965, 11022, 11214, 11266, 11258, 11610, 11776, 11722, 11741, 11834, 12166, 12329, 12355, 12440, 12174, 12564, 12690, 12529, 12419, 12419, 12091, 11822, 11669, 11758, 11778, 11701, 11643, 11653, 11651, 11393, 11092, 11216, 11354, 11831, 12141, 12581, 12843, 12863, 13222, 13627, 13824, 13794, 13717, 13521, 13346, 13427, 13525, 13522, 13196, 13174, 13179, 13200, 13305, 13380, 13881, 14234, 14557, 15108, 15330, 16092, 16647, 16757, 16577, 15452, 14466, 14279, 13245, 13492, 13696, 13759, 13821, 13171, 11990, 11710, 11054, 10861, 10958, 10590, 10600, 10711, 10596, 10463, 10581, 10639, 10423, 10318, 10372, 10406, 10325, 10289, 10371, 10513, 10730, 10836, 10946, 11027, 11422, 11332, 11293, 11432, 11319, 11352, 11087, 11056, 10902, 10836, 10693, 10460, 10313, 10240, 10441, 10630, 10601, 11007, 11061, 10874, 10617, 10667, 11026, 11081, 11006, 10668, 10617, 10601, 10859, 10801, 10751, 10646, 10909, 10678, 10645]]\n", + "DEBUG:root:compressed_len_list: [[12403, 12407, 12437, 12419, 12414, 12395, 12411, 12404, 12431, 12428, 12291, 12333, 12396, 12412, 12408, 12432, 12451, 12512, 12505, 12512, 12508, 12518, 12581, 12710, 12854, 12963, 13066, 13182, 13243, 13304, 13374, 13565, 13738, 13887, 13959, 14211, 14282, 14685, 14623, 14643, 14530, 14020, 13087, 13287, 13021, 13006, 12619, 12913, 12884, 12807, 12474, 12482, 12619, 12733, 12716, 12460, 12471, 12515, 12328, 12190, 12216, 12491, 12810, 13420, 14045, 14705, 15008, 15289, 14977, 15691, 16558, 16376, 15944, 15544, 14649, 14175, 13713, 13612, 13507, 13317, 12932, 12702, 12516, 12373, 12362, 12497, 12510, 12651, 12510, 12461, 12528, 12605, 12639, 12696, 12693, 12723, 12815, 12958, 12941, 13250, 13498, 13675, 13823, 13827, 13912, 13782, 13989, 13963, 13880, 13817, 14212, 14208, 14180, 13584, 13783, 13326, 13275, 12935, 12752, 12706, 12725, 12737, 12831, 12815, 12676, 12634, 12332, 12583, 12665, 12520, 12572, 12621, 12749, 12763, 12791, 12975, 13079, 13639, 14276, 14504, 15162, 15258, 15996, 16000, 16147, 16805, 16494, 16643, 17207, 17264, 16482, 16245, 15581, 15305, 15016, 14718, 14270, 13931, 13386, 13807, 13557, 13324, 13377, 13050, 12965, 12820, 12714, 12813, 12771, 12766, 12715, 12760, 12727, 12349, 12326, 12322, 12411, 12404, 12399, 12348, 12346, 12284, 12280, 12313, 12385, 12362, 12382, 12383, 12339, 12347, 12319, 12292, 12330, 12362, 12344, 12357, 12324, 12324, 12323, 12345]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10557, 10554, 10597, 10590, 10508, 10538, 10594, 10569, 10568, 10583, 10585, 10589, 10481, 10559, 10560, 10558, 10567, 10551, 10570, 10693, 10699, 10803, 10866, 10950, 11079, 11146, 11262, 11291, 11384, 11446, 11575, 11556, 11845, 11674, 11811, 11747, 11610, 11817, 11700, 11458, 11142, 10902, 10727, 10416, 10320, 10308, 10405, 10429, 10493, 10506, 10546, 10712, 10824, 10941, 11145, 11344, 11600, 11895, 12140, 12177, 12237, 12001, 12402, 12743, 12512, 12296, 11886, 11793, 11530, 11484, 11402, 11348, 11212, 11245, 11206, 11180, 11198, 11246, 11331, 11478, 11665, 12033, 12372, 12676, 12950, 13183, 13507, 13820, 13876, 13880, 13718, 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13332, 12755, 12474, 12680, 12641, 12736, 12546, 12949, 12765, 12966, 12764, 12795, 12964, 12991, 13203, 13372, 13325, 12802, 12851, 12811, 13417, 14347, 14584, 14856, 15166, 15227, 14661, 14866, 14877, 14599, 14153, 14002, 13421, 13500, 12913, 12724, 12443, 12379, 12232, 12031, 12123, 12023, 12068, 12034, 12025, 12038, 12168, 12290, 12439, 12510, 12576, 12879, 12918, 13027, 13137, 13405, 13603, 13829, 13960, 13993, 13920, 14021, 13749, 13754, 14215, 14315, 13951, 13928, 13725, 13820, 13759, 13466, 13036, 12816, 12668, 12379, 12249, 12181, 12411, 12422, 12379, 12491, 12574, 12413, 12459, 12759, 13437, 13959, 15092, 14844, 15270, 16047, 15470, 15949, 15699, 15151, 15694, 15228, 15022, 14650, 14437, 14148, 13735, 13368, 13039, 13106, 13131, 12871, 12975, 12838, 12792, 12390, 12405, 12564, 12794, 12682, 12372, 12465, 12729, 12476, 12439, 12590, 12573, 12491, 12384, 12435, 12401, 12463, 12377, 12352, 12310, 12334, 12278, 12310, 12256, 12324, 12321, 12304, 12315, 12287, 12251, 12273, 12310, 12268, 12276, 12242, 12294, 12308, 12255, 12271, 12294, 12311, 12272, 12269, 12296, 12281, 12284, 12304, 12342, 12318, 12300, 12295, 12340, 12274, 12271, 12275, 12291, 12303, 12279, 12322, 12289, 12309]]\n", + "DEBUG:root:compressed_len_list: [[11918, 11929, 11897, 11912, 11930, 11944, 11903, 11937, 11909, 11943, 11966, 11914, 11917, 11888, 11947, 11949, 12010, 12035, 12073, 12177, 12192, 12214, 12226, 12286, 12357, 12402, 12498, 12527, 12654, 12640, 12731, 12435, 12489, 12760, 13160, 13302, 13894, 13958, 14275, 13675, 13243, 13766, 13845, 13744, 13319, 13068, 12457, 12266, 12339, 12533, 12421, 12592, 12705, 12760, 12806, 12862, 12985, 12951, 12717, 12844, 12665, 12704, 13172, 13877, 14639, 15010, 14731, 15907, 16269, 16261, 16393, 15519, 14808, 14000, 13277, 12880, 12614, 12816, 12820, 12753, 12762, 12652, 12629, 12542, 12448, 12433, 12429, 12451, 12454, 12405, 12342, 12576, 12763, 12710, 12824, 12759, 12896, 13104, 12977, 13200, 13288, 13720, 14002, 14002, 14144, 14009, 14336, 14389, 14444, 14254, 14289, 14379, 14285, 14252, 14620, 14601, 14210, 14402, 13983, 14344, 13997, 14048, 13808, 13803, 13393, 13240, 13013, 13154, 13201, 13119, 13091, 13113, 13132, 13154, 13305, 13746, 14041, 14250, 14671, 14458, 15299, 15515, 15129, 15856, 15828, 15278, 15575, 14523, 14312, 14272, 14423, 14500, 14043, 14173, 13966, 13344, 13301, 13068, 13417, 13295, 13122, 12932, 12951, 12913, 12885, 12841, 12965, 13040, 12951, 12970, 13140, 13313, 13412, 13448, 13635, 13800, 13887, 13965, 14006, 14062, 14071, 14074, 14119, 14093, 14075, 14113, 14116, 14063, 13883, 13526, 12993, 12654, 12587, 12601, 12562, 12464, 12531, 12484, 12505, 12484]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10317, 10333, 10326, 10309, 10324, 10331, 10232, 10284, 10376, 10368, 10370, 10397, 10391, 10371, 10325, 10260, 10222, 10263, 10249, 10258, 10322, 10404, 10447, 10522, 10584, 10613, 10700, 10715, 10743, 10852, 10922, 11087, 11304, 11593, 11684, 11561, 11553, 11961, 11937, 11894, 11412, 11335, 11125, 10971, 10742, 10627, 10474, 10369, 10553, 10737, 10787, 10737, 10761, 10968, 11038, 11043, 11035, 11136, 11329, 11410, 11738, 11952, 11979, 11734, 11825, 11787, 11618, 11803, 12141, 11754, 11830, 12206, 12646, 12534, 12274, 12251, 12175, 11984, 11659, 11398, 11364, 11358, 11386, 11342, 11330, 11193, 11361, 11267, 11155, 11310, 11300, 11362, 11339, 11421, 11331, 11408, 11478, 11728, 11968, 12492, 12987, 13034, 13542, 13712, 14191, 14376, 14164, 14282, 13796, 12986, 12917, 13679, 13900, 13549, 13749, 14296, 13850, 14385, 13836, 13847, 13960, 13803, 13720, 13905, 13848, 13507, 13507, 13258, 13053, 13144, 13289, 13525, 13885, 13594, 13497, 13311, 13585, 13508, 13672, 13414, 13075, 12781, 12729, 12314, 12657, 12803, 12824, 12759, 12726, 12751, 12345, 12039, 11197, 10647, 10562, 10593, 10852, 11082, 11601, 11596, 11020, 11062, 11088, 11743, 11769, 11651, 11249, 11710, 11808, 11816, 11253, 11262, 11736, 12211, 12576, 12685, 13199, 12821, 12149, 11704, 11578, 11658, 11418, 11065, 10997, 11290, 11190, 11052, 10612, 10547, 10497, 10843, 10705, 10397, 10360, 10369, 10619, 10644, 10677, 10563]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10381, 10333, 10352, 10347, 10337, 10384, 10355, 10378, 10283, 10282, 10331, 10301, 10368, 10355, 10329, 10325, 10352, 10336, 10290, 10291, 10294, 10307, 10298, 10338, 10334, 10394, 10324, 10369, 10363, 10378, 10434, 10496, 10585, 10667, 10738, 10766, 10916, 10965, 11130, 11522, 11848, 11853, 11938, 12051, 11821, 11729, 12008, 12052, 11837, 11537, 11413, 11111, 10768, 10497, 10173, 10059, 10137, 10315, 10537, 10375, 10314, 10335, 10613, 10713, 10699, 10764, 10944, 11415, 11446, 11848, 12084, 12222, 12149, 12098, 11854, 12099, 12272, 12407, 12477, 12050, 12024, 11756, 11503, 11330, 11273, 11059, 10916, 11079, 11184, 11202, 11203, 11228, 11206, 11286, 11301, 11247, 11343, 11536, 11813, 12338, 12770, 12969, 13149, 13597, 13405, 14289, 14155, 14317, 13659, 13401, 13290, 13915, 14128, 13474, 14416, 13734, 13777, 14022, 13039, 13171, 13075, 13240, 13799, 13602, 13570, 13583, 13359, 13311, 13064, 13199, 13376, 13434, 13451, 13215, 13531, 13569, 13188, 12883, 12743, 12722, 12786, 12825, 13054, 12992, 13165, 13161, 12924, 12082, 11095, 10821, 10912, 10926, 10948, 10976, 10972, 10896, 10845, 11057, 11061, 11040, 11199, 11544, 12296, 12433, 12915, 13248, 13452, 13692, 14312, 14998, 14607, 14000, 13783, 13143, 12661, 12369, 12005, 11810, 11359, 11044, 11064, 11235, 10931, 11277, 10885, 10587, 10579, 10498, 10610, 10905, 10936, 10564, 10656, 10770, 10485, 10435, 10569, 10591, 10619, 10511]]\n", + "DEBUG:root:compressed_len_list: [[11986, 11982, 11940, 11945, 11950, 11982, 11962, 11861, 11876, 11948, 11970, 11998, 11916, 11939, 11956, 11959, 11996, 12060, 12139, 12165, 12253, 12378, 12451, 12610, 12923, 13332, 13060, 13302, 13521, 13484, 13270, 13040, 12914, 12783, 12452, 12284, 12401, 12379, 12132, 12222, 12326, 12498, 12318, 12311, 12507, 12672, 12742, 12599, 12730, 12733, 12605, 12672, 12767, 12980, 13387, 13606, 13925, 13841, 14125, 14163, 13826, 14227, 15116, 13821, 13548, 13469, 12711, 12615, 12583, 12371, 12284, 12003, 11976, 11819, 11793, 11887, 11841, 11864, 11870, 11855, 11954, 11962, 11922, 11913, 11931, 11883, 11889, 12107, 12220, 12370, 12502, 12568, 12530, 12488, 12537, 12596, 12603, 12652, 12771, 12857, 13288, 13352, 13403, 13456, 13339, 13200, 13168, 13330, 13405, 13455, 13475, 13531, 13558, 13741, 13962, 14034, 14087, 14120, 14053, 13970, 14001, 14046, 14147, 14155, 13939, 13867, 13897, 14110, 14178, 13962, 14230, 13765, 13521, 13306, 12997, 12747, 12517, 12305, 12171, 12187, 11987, 11884, 11775, 11852, 11926, 11913, 12064, 12241, 12388, 12715, 12815, 12892, 13004, 13204, 13352, 13612, 13974, 14304, 14694, 14741, 14765, 15178, 15308, 16142, 15656, 16028, 15690, 15038, 15324, 15133, 15085, 14494, 14054, 13848, 13404, 13280, 12855, 12637, 12520, 12641, 12600, 12614, 12644, 12769, 13203, 13108, 13019, 12855, 12818, 12766, 12750, 12768, 12757, 12637, 12676, 12627, 12565, 12623, 12565, 12554]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10363, 10381, 10366, 10371, 10359, 10325, 10305, 10353, 10330, 10320, 10316, 10282, 10321, 10263, 10276, 10298, 10316, 10361, 10368, 10337, 10321, 10426, 10584, 10468, 10343, 10445, 10478, 10530, 10512, 10591, 10625, 10772, 10774, 10897, 10999, 11152, 11266, 11599, 11632, 11791, 11337, 11285, 11539, 11587, 11542, 11542, 11305, 11083, 10881, 10774, 10776, 10616, 10523, 10426, 10463, 10544, 10574, 10571, 10474, 10425, 10551, 10829, 10822, 10932, 10782, 11025, 11313, 11356, 11634, 11693, 11870, 12292, 12555, 12599, 12427, 12712, 13008, 13256, 13226, 13256, 12971, 12580, 12473, 12321, 12219, 11911, 11759, 11788, 11608, 11528, 11708, 11664, 11716, 11501, 11405, 11538, 11749, 12023, 11975, 12285, 12579, 13258, 13531, 13979, 14093, 14202, 14333, 14300, 14327, 14268, 14008, 13659, 14052, 14184, 13916, 13806, 13460, 13593, 13572, 13554, 13528, 13586, 13589, 13616, 14123, 14369, 14614, 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10414, 10351, 10367, 10421, 10467, 10449, 10398, 10392, 10388, 10364, 10385, 10385, 10405, 10366, 10379, 10303, 10314, 10332, 10421, 10483, 10485, 10527, 10516, 10543, 10579, 10607, 10700, 10778, 10804, 10850, 10919, 11010, 11045, 11154, 11353, 11510, 11738, 11769, 11548, 11569, 11622, 11598, 11563, 11219, 11082, 10773, 10425, 10404, 10247, 10155, 10151, 10238, 10401, 10420, 10362, 10369, 10448, 10684, 10753, 11008, 11077, 11323, 11679, 11846, 12047, 12129, 12217, 12151, 12095, 12352, 12889, 12888, 12616, 12338, 11932, 11764, 11611, 11505, 11412, 11158, 11231, 11436, 11335, 11337, 11239, 11310, 11378, 11351, 11434, 11479, 11611, 11767, 11743, 12302, 12619, 13006, 13420, 13751, 13631, 13741, 14006, 13850, 13977, 14195, 13765, 13978, 13510, 14048, 14595, 14696, 14920, 14842, 15215, 15160, 15249, 15129, 15094, 15167, 15224, 15099, 15068, 15005, 14918, 14724, 15015, 15103, 15103, 14427, 14162, 13852, 13860, 13602, 13045, 13470, 13136, 13271, 13174, 12646, 12058, 11439, 11174, 11057, 11230, 10651, 10729, 10803, 11047, 11260, 11226, 10983, 10822, 10779, 10780, 10709, 10728, 10779, 10785, 10818, 11011, 11647, 12209, 12586, 12923, 13152, 13252, 14143, 14426, 14372, 13757, 13394, 13235, 12895, 12566, 11588, 11357, 10956, 10816, 10773, 10728, 10967, 10602, 10433, 10544, 10867, 10784, 10723, 10929, 10694, 11003, 10764, 10854, 10816, 10882]]\n", + "DEBUG:root:compressed_len_list: [[12054, 12085, 12053, 12047, 12055, 12071, 12077, 12031, 12006, 12024, 12013, 12067, 12060, 11926, 11999, 11970, 11952, 12100, 12085, 12146, 12176, 12175, 12234, 12276, 12424, 12435, 12584, 12664, 12679, 12757, 12808, 12869, 12935, 13033, 13192, 13377, 13525, 13831, 14102, 13635, 13425, 13922, 13914, 13869, 13584, 13039, 13163, 12855, 12268, 12111, 12606, 12708, 12600, 12464, 12811, 12815, 12754, 12862, 12895, 12827, 13012, 12393, 12335, 13257, 12954, 13502, 13697, 13724, 14047, 13378, 13594, 13963, 13568, 13467, 13203, 12707, 12249, 12590, 12465, 12245, 12117, 12128, 12114, 12111, 12151, 12124, 12146, 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14178, 13545, 12868, 12544, 12014, 11662, 11487, 11879, 12471, 12168, 12030, 11502, 11063, 11041, 10871, 11378, 11100, 11022, 10974, 10887, 10720, 10723, 10676, 10654, 10644, 10642, 10748, 10801, 10827, 10754, 10795, 10752, 10782, 10675, 10651, 10694, 10686, 10578]]\n", + "DEBUG:root:compressed_len_list: [[12510, 12490, 12485, 12491, 12465, 12474, 12490, 12479, 12449, 12407, 12409, 12429, 12462, 12448, 12452, 12506, 12499, 12477, 12471, 12514, 12620, 12702, 12844, 12949, 13078, 13140, 13251, 13317, 13349, 13378, 13398, 13395, 13383, 13467, 13477, 13683, 13836, 13964, 14254, 14526, 14698, 14688, 14410, 14604, 14587, 14417, 14351, 14359, 13918, 13857, 13938, 13724, 13349, 13066, 13121, 13078, 13084, 12809, 12976, 13248, 13353, 13265, 13256, 13267, 13231, 13506, 13887, 14719, 15158, 15438, 15479, 16333, 16563, 16704, 16434, 16752, 17004, 16418, 16091, 15847, 15179, 15317, 14815, 14487, 13956, 13673, 13450, 13478, 13387, 13200, 12942, 12840, 12798, 12659, 12586, 12527, 12678, 12564, 12429, 12388, 12385, 12339, 12434, 12436, 12478, 12490, 12625, 12672, 12812, 12882, 13026, 13108, 13232, 13309, 13389, 13419, 13564, 13983, 14147, 14288, 14524, 14511, 14361, 14404, 14377, 14422, 14253, 14531, 14744, 14814, 14526, 14762, 14771, 14754, 14778, 14013, 14146, 13816, 14040, 13859, 14121, 13590, 13684, 13541, 13574, 13504, 13443, 13331, 13182, 13264, 13148, 13279, 13310, 13174, 13230, 13181, 13072, 13156, 13051, 13148, 13352, 13731, 14291, 14462, 14802, 14741, 15041, 15022, 15417, 15842, 15100, 15582, 15694, 15688, 15796, 16066, 16117, 15957, 15649, 15310, 14952, 14403, 13972, 13464, 13420, 12976, 12121, 12160, 12477, 12704, 12910, 13326, 12979, 12761, 12920, 13044, 12986, 12774, 12727, 13016]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10261, 10266, 10285, 10254, 10230, 10208, 10265, 10194, 10180, 10105, 10270, 10294, 10273, 10285, 10334, 10298, 10271, 10300, 10353, 10348, 10320, 10353, 10373, 10383, 10460, 10413, 10415, 10565, 10535, 10575, 10712, 10724, 10733, 10782, 10888, 10848, 10918, 10984, 11118, 11326, 11537, 11567, 11753, 12063, 12016, 12514, 12495, 12248, 11889, 11833, 11599, 11481, 11181, 10947, 10977, 10849, 10662, 10616, 10568, 10579, 10466, 10321, 10209, 10234, 10402, 10564, 10409, 10679, 10869, 11153, 11380, 11432, 11908, 12178, 12405, 12391, 12451, 12509, 12589, 12635, 12826, 12847, 12264, 12300, 12244, 12112, 12066, 11783, 11524, 11456, 11629, 11623, 11555, 11470, 11197, 11267, 11372, 11540, 11528, 11959, 12372, 12409, 12705, 13385, 13760, 13697, 14003, 13998, 13891, 13023, 13470, 13921, 15328, 14708, 15013, 14717, 14840, 15187, 14481, 14248, 14499, 14354, 14399, 14116, 14425, 14532, 14239, 14424, 14252, 14704, 14723, 14983, 15005, 14926, 14744, 14695, 14662, 14752, 14671, 14784, 14470, 14595, 14371, 14587, 14662, 14625, 14449, 14437, 14136, 13745, 13511, 13212, 13016, 13223, 12828, 13461, 13084, 13480, 13378, 12987, 12981, 12169, 11776, 11533, 11589, 11407, 11017, 10749, 10885, 11145, 11130, 11274, 11243, 11094, 11244, 11282, 11092, 11130, 10889, 11159, 11222, 11387, 12171, 12220, 12536, 12870, 13103, 13309, 12898, 13497, 13951, 14081, 13896, 13683, 13671, 13347, 12952, 12739, 12938, 12499]]\n", + "DEBUG:root:compressed_len_list: [[12132, 12140, 12177, 12161, 12159, 12193, 12163, 12134, 12063, 12069, 12157, 12194, 12204, 12184, 12185, 12228, 12269, 12325, 12425, 12461, 12530, 12617, 12699, 12760, 13033, 13304, 13543, 13309, 13313, 13660, 13520, 12875, 12805, 12891, 12482, 12132, 12176, 12372, 12430, 12419, 12443, 12710, 12639, 12518, 12549, 12707, 12805, 12827, 13132, 13491, 13841, 14166, 14632, 15613, 15741, 15559, 15890, 15839, 15297, 15263, 14899, 15225, 14206, 13833, 13096, 12777, 12667, 12363, 12196, 12030, 11974, 11949, 11954, 11970, 11952, 11987, 11933, 11956, 11961, 12075, 12174, 12296, 12464, 12547, 12660, 12724, 12740, 12906, 12958, 13088, 13216, 13290, 13270, 13446, 13561, 13832, 13913, 13924, 13905, 14012, 14074, 14214, 14037, 14444, 14510, 13936, 13941, 13719, 13338, 13052, 12853, 12685, 12537, 12361, 12126, 12223, 12180, 12170, 12066, 11960, 11883, 12019, 12312, 12672, 12867, 12895, 12810, 13066, 13457, 14075, 13542, 13291, 13485, 13864, 14327, 13647, 13431, 13419, 13610, 13652, 13236, 12574, 12256, 12220, 12330, 12432, 12521, 12544, 12473, 12491, 12518, 12610, 12571, 12533, 12536, 12504, 12532, 12473, 12365, 12121, 12070, 11975, 12126, 12164, 12049, 12052, 12015, 12156, 12024, 12196, 12055, 12035, 12124, 12051, 12243, 12088, 12112, 12106, 12136, 12141, 12011, 12010, 12019, 12014, 11991, 11990, 11970, 11967, 11958, 11982, 11985, 11992, 11983, 12002, 12021, 12017, 12001, 12064, 12037, 12075]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10636, 10636, 10615, 10606, 10601, 10621, 10631, 10607, 10479, 10547, 10655, 10576, 10609, 10612, 10619, 10607, 10579, 10636, 10659, 10645, 10784, 10775, 10839, 10941, 10981, 11090, 11240, 11199, 11428, 11672, 11977, 12151, 12230, 11961, 12025, 12046, 12254, 12182, 11744, 11572, 11463, 11264, 10903, 10840, 10832, 10842, 10768, 10870, 10981, 10938, 10903, 10665, 10565, 10714, 11006, 11054, 10822, 10702, 10929, 11039, 10905, 11185, 11166, 11437, 11769, 12143, 12301, 12385, 12458, 12264, 12237, 12803, 12924, 12566, 12372, 12096, 11968, 11797, 11898, 11744, 11507, 11356, 11122, 11080, 11097, 11306, 11392, 11398, 11326, 11567, 11689, 12062, 12366, 12603, 12885, 13173, 13403, 13422, 13532, 13542, 13541, 13664, 13333, 13851, 13576, 13975, 13991, 14128, 14330, 13973, 14599, 15030, 15843, 15697, 16301, 16353, 16405, 15755, 15225, 14591, 14064, 13323, 13315, 13375, 13564, 13921, 13763, 13804, 13780, 13753, 13617, 13777, 13567, 13645, 12894, 12465, 11914, 11643, 11512, 11070, 11053, 11013, 10828, 10575, 10678, 10957, 11033, 10995, 11273, 11043, 11459, 11633, 11795, 12018, 12078, 12136, 12228, 12519, 12187, 13073, 13214, 13024, 12802, 12640, 12444, 12150, 11817, 11361, 11071, 10850, 11059, 10762, 10865, 10981, 10970, 10930, 11052, 11113, 11191, 11294, 11288, 11627, 11307, 11227, 11494, 11423, 11156, 11104, 11260, 11393, 11311, 11469, 11317, 11273, 11242, 11075, 10950, 11011, 11016, 10980]]\n", + "DEBUG:root:compressed_len_list: [[12277, 12316, 12297, 12313, 12290, 12306, 12317, 12283, 12265, 12314, 12227, 12249, 12272, 12378, 12387, 12415, 12435, 12492, 12498, 12592, 12723, 12797, 12850, 12957, 13131, 13399, 13625, 13420, 13416, 13678, 13689, 13256, 13015, 12717, 12601, 12429, 12583, 12551, 12426, 12541, 12635, 12685, 12565, 12615, 12803, 12667, 12786, 12854, 12964, 13075, 13345, 13670, 13047, 13177, 13849, 13354, 13366, 13020, 13089, 13130, 12814, 12706, 12606, 12596, 12388, 12349, 12413, 12240, 12287, 12226, 12303, 12303, 12320, 12406, 12455, 12554, 12638, 12625, 12868, 12962, 13096, 13220, 13554, 13895, 14135, 14252, 14308, 14523, 14568, 14642, 14362, 14841, 14700, 13940, 13713, 13601, 13257, 13030, 12870, 12814, 12819, 12453, 12590, 12702, 12811, 12771, 12647, 12876, 12804, 12857, 12797, 12669, 12892, 13367, 14069, 14463, 14193, 15080, 15188, 15353, 15335, 15060, 14516, 14383, 13738, 13441, 12922, 12907, 12908, 12772, 12562, 12441, 12477, 12495, 12457, 12407, 12421, 12452, 12373, 12342, 12589, 12535, 12621, 12695, 12584, 12562, 12480, 12399, 12390, 12410, 12335, 12306, 12333, 12334, 12343, 12385, 12365, 12341, 12314, 12317, 12329, 12327, 12390, 12351, 12392, 12369, 12362, 12376, 12368, 12370, 12372, 12366, 12343, 12368, 12376, 12393, 12358, 12393, 12372, 12383, 12378, 12358, 12365, 12372, 12403, 12366, 12366, 12400, 12385, 12387, 12396, 12407, 12361, 12412, 12354, 12360, 12364, 12370, 12383, 12389]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10378, 10376, 10330, 10341, 10346, 10320, 10317, 10293, 10295, 10298, 10296, 10327, 10247, 10250, 10230, 10242, 10395, 10545, 10560, 10430, 10509, 10531, 10593, 10532, 10530, 10527, 10646, 10716, 10753, 10852, 10920, 11039, 11182, 11552, 11831, 12079, 12253, 11971, 12016, 11869, 11970, 12031, 11892, 11719, 11438, 11199, 11114, 10887, 10526, 10383, 10321, 10423, 10548, 10406, 10349, 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10936, 10706]]\n", + "DEBUG:root:compressed_len_list: [[12138, 12119, 12123, 12107, 12131, 12108, 12114, 12138, 12160, 12127, 11973, 12030, 12116, 12192, 12167, 12180, 12208, 12266, 12338, 12425, 12493, 12576, 12639, 12759, 12826, 13003, 13423, 13678, 13916, 13591, 13881, 13419, 13117, 12604, 12312, 12260, 12040, 12030, 12089, 12063, 12046, 11978, 12064, 12189, 12260, 12302, 12416, 12693, 12898, 13076, 13423, 13659, 13886, 14533, 14656, 15177, 14637, 15448, 15573, 15337, 14464, 14356, 13933, 13509, 13806, 13538, 13282, 13200, 12865, 12409, 12420, 12209, 12161, 12285, 12306, 12197, 12312, 12426, 12399, 12368, 12425, 12537, 12519, 12424, 12436, 12546, 12745, 12862, 12948, 13058, 13092, 13162, 13521, 13716, 13865, 13853, 14090, 14192, 14279, 14410, 14404, 14527, 14564, 14521, 14496, 14443, 14386, 13895, 14232, 14244, 14084, 13854, 13730, 13597, 13131, 12701, 12600, 12607, 12539, 12251, 12103, 11937, 11860, 11915, 12120, 12021, 12052, 12115, 12254, 12459, 12691, 12748, 12775, 12580, 12682, 12915, 13797, 14120, 14592, 15044, 15123, 15437, 15573, 14670, 14698, 14829, 14841, 14207, 13852, 13586, 13398, 13217, 13070, 12986, 13075, 12977, 12855, 12737, 12780, 12675, 12525, 12456, 12499, 12403, 12477, 12481, 12508, 12647, 12728, 12762, 12578, 12629, 12616, 12624, 12636, 12562, 12538, 12440, 12483, 12488, 12475, 12510, 12488, 12498, 12509, 12560, 12525, 12492, 12462, 12467, 12481, 12476, 12465, 12437, 12459, 12440, 12496, 12423, 12468, 12501]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10327, 10313, 10336, 10348, 10267, 10331, 10296, 10336, 10307, 10267, 10292, 10304, 10336, 10332, 10294, 10263, 10270, 10275, 10281, 10282, 10296, 10376, 10441, 10507, 10505, 10514, 10612, 10591, 10645, 10675, 10658, 10745, 10838, 10901, 11000, 11065, 11259, 11686, 11968, 11974, 12003, 12262, 12475, 12277, 12116, 12681, 12578, 11974, 11708, 11497, 11438, 11059, 10766, 10455, 10501, 10660, 10599, 10533, 10499, 10826, 10996, 11245, 11359, 11228, 11657, 11466, 11936, 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12983, 12905, 12760, 12638, 12942, 12673, 12734, 12671, 12687, 12602, 12579, 12586, 12480, 12450, 12437, 12404, 12395, 12382, 12288, 12284, 12263, 12284, 12264, 12316, 12286, 12241, 12297, 12288, 12292, 12281, 12295, 12321, 12301, 12315, 12295, 12326, 12295, 12321, 12337, 12310, 12285, 12346, 12326, 12309, 12312, 12324, 12333, 12350, 12344, 12295, 12299, 12301, 12317]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10354, 10360, 10369, 10399, 10360, 10368, 10406, 10388, 10357, 10369, 10363, 10333, 10220, 10217, 10390, 10521, 10473, 10506, 10723, 10745, 10685, 10814, 10905, 10929, 10997, 11023, 11108, 11196, 11316, 11552, 11872, 11799, 12033, 11940, 11782, 11943, 11965, 11913, 11780, 11418, 11329, 11088, 10630, 10430, 10396, 10174, 10175, 10197, 10302, 10543, 10505, 10263, 10344, 10498, 10576, 10587, 10510, 10595, 10920, 11086, 11566, 11897, 12208, 12173, 12285, 12097, 12011, 12085, 12198, 12748, 12309, 12251, 12044, 11641, 11580, 11444, 11470, 11500, 11410, 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12600, 12735, 12826, 12957, 13298, 13614, 13384, 13177, 14130, 14150, 13751, 12667, 12861, 12672, 12444, 12374, 12218, 12748, 12495, 12373, 11986, 12259, 12290, 12243, 12401, 12597, 12573, 12878, 12987, 12881, 13216, 13382, 13906, 14365, 14897, 15607, 15064, 15549, 16017, 15605, 15030, 14491, 14372, 14089, 13940, 13666, 13392, 13173, 12994, 12751, 12494, 12145, 12037, 12224, 12255, 12219, 12249, 12284, 12244, 12192, 12313, 12355, 12310, 12316, 12413, 12445, 12574, 12680, 12865, 12855, 13093, 13346, 13500, 13641, 13728, 14016, 14084, 14377, 14448, 14578, 14458, 14500, 14480, 14373, 14323, 14530, 14591, 14525, 14499, 14236, 14597, 14593, 14515, 14155, 14197, 13998, 13846, 13849, 13630, 13399, 13081, 12978, 12823, 12866, 12854, 12876, 12824, 12828, 12729, 12760, 12889, 12794, 12772, 12824, 12797, 12761, 12815, 13158, 13565, 13809, 14067, 14289, 14561, 14906, 14973, 15025, 15455, 15601, 15626, 15815, 15760, 15237, 15222, 15109, 14888, 14440, 14336, 13862, 13483, 13036, 13029, 12758, 12616, 12562, 12459, 12369, 12363, 12549, 12572, 12431, 12300, 12387, 12297, 12271, 12265, 12312, 12283, 12329, 12346, 12309, 12335, 12333, 12359, 12354, 12336, 12380, 12363, 12374, 12358, 12352, 12353, 12399, 12416, 12382, 12378, 12406, 12398, 12393, 12428, 12413, 12438, 12463, 12489, 12485]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10575, 10532, 10583, 10565, 10557, 10536, 10569, 10541, 10554, 10557, 10441, 10528, 10571, 10602, 10547, 10528, 10514, 10600, 10535, 10547, 10552, 10651, 10653, 10734, 10731, 10787, 10927, 11019, 11020, 11105, 11220, 11421, 11690, 11963, 11838, 12234, 12102, 12206, 12279, 12307, 12292, 12263, 11977, 11852, 11746, 11558, 11279, 10991, 10857, 10784, 10862, 10694, 10645, 10738, 11083, 11137, 11025, 10864, 10986, 11140, 11235, 11305, 11284, 11620, 11900, 11893, 12015, 12152, 12307, 12102, 11900, 12838, 12992, 13000, 12990, 12534, 12342, 12074, 11726, 11540, 11462, 11441, 11341, 11245, 11138, 10994, 10970, 10931, 10902, 10915, 10845, 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12386, 12404, 12390, 12393, 12403, 12393, 12381, 12386, 12443, 12437, 12414, 12428, 12416, 12410, 12383, 12371, 12417, 12403, 12383, 12417, 12416, 12392, 12403, 12401, 12374, 12376, 12439, 12414, 12387]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10679, 10714, 10684, 10675, 10699, 10730, 10709, 10712, 10660, 10640, 10650, 10634, 10662, 10685, 10731, 10792, 10790, 10805, 10888, 10987, 11025, 11195, 11509, 11937, 12004, 12168, 12237, 13223, 13348, 13401, 13364, 13358, 13223, 12291, 12069, 12080, 11490, 11289, 10941, 10755, 10569, 10588, 10386, 10480, 10549, 10957, 11013, 10992, 11046, 11185, 11342, 11645, 12251, 12545, 12830, 12754, 12920, 12931, 12844, 12915, 12735, 12859, 12836, 12771, 12980, 12821, 12610, 12224, 11939, 12009, 11933, 11877, 11674, 11474, 11368, 11368, 11437, 11324, 11401, 11583, 11618, 11648, 11553, 11798, 11823, 12043, 12334, 12533, 12891, 13093, 13188, 13193, 13538, 12943, 13547, 13841, 14211, 15462, 14895, 15606, 15117, 14748, 15008, 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12499, 12519, 12360, 12350, 12272, 12176, 11956, 11861, 11758, 11810, 11780, 11891, 11934, 12068, 12278, 12486, 12618, 12789, 12873, 12990, 13455, 14176, 15070, 14873, 15215, 15930, 14697, 14344, 13734, 13019, 12726, 12647, 12582, 12360, 12219, 12118, 12086, 12051, 12106, 12155, 12153, 12049, 12038, 12042, 12054, 12202, 12334, 12452, 12450, 12330, 12311, 12381, 12571, 12394, 12350, 12515, 12545, 12608, 12572, 12742, 12720, 12867, 12983, 13046, 12869, 12997, 13427, 13559, 13741, 13872, 13763, 13934, 13842, 13985, 13910, 14006, 14082, 14072, 14077, 14203, 14273, 13728, 13636, 13810, 13748, 13558, 13190, 13068, 12897, 12850, 12465, 12624, 12578, 12630, 12706, 12703, 12733, 12643, 12726, 12975, 13429, 13671, 13801, 14350, 14722, 14649, 14591, 14984, 14690, 15203, 14844, 14419, 14207, 14283, 13953, 13790, 13372, 12727, 12557, 12430, 12442, 12387, 12376, 12412, 12457, 12458, 12289, 12093, 12166, 11941, 11965, 11908, 11878, 11862, 12089, 12013, 12004, 12216, 12199, 12096, 12242, 12254, 12204, 12121, 12195, 12136, 12206, 12173, 12147, 12170, 12208, 12221, 12170, 12152, 12214, 12165, 12204, 12180, 12143, 12204]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10657, 10713, 10675, 10684, 10702, 10680, 10697, 10681, 10686, 10689, 10578, 10636, 10706, 10736, 10708, 10691, 10719, 10749, 10782, 10771, 10799, 10820, 10984, 11066, 11190, 11346, 11592, 11856, 11912, 12030, 12895, 13069, 13110, 13140, 13106, 13220, 12915, 12509, 11869, 11824, 11947, 11640, 11431, 11325, 11152, 11037, 10926, 10877, 10901, 11121, 11436, 11520, 11493, 11482, 11491, 11476, 11370, 11499, 11431, 11429, 11463, 11405, 11737, 12100, 12192, 12215, 12296, 12411, 12640, 12978, 13064, 13064, 12939, 13163, 13530, 13610, 13373, 13581, 13090, 12699, 12583, 12299, 12147, 11924, 11774, 11876, 11843, 11525, 11661, 11621, 11669, 11643, 11625, 11665, 11387, 11163, 11222, 11499, 11947, 12419, 12746, 12701, 13286, 13428, 13720, 13981, 14420, 14528, 14669, 15014, 14794, 14638, 14490, 14626, 14858, 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12232, 12218, 12246, 12248, 12197]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10316, 10342, 10368, 10344, 10361, 10367, 10367, 10354, 10314, 10327, 10353, 10345, 10318, 10271, 10292, 10327, 10294, 10378, 10457, 10437, 10512, 10510, 10468, 10492, 10598, 10723, 10754, 10839, 10975, 11038, 11095, 11164, 11665, 11768, 11974, 11961, 12027, 11832, 12069, 12111, 12104, 11736, 11571, 11307, 11163, 10842, 10602, 10422, 10310, 10412, 10711, 10490, 10408, 10547, 10819, 10619, 11104, 11074, 11290, 11282, 11513, 11965, 11915, 12171, 11963, 12127, 12289, 12547, 12483, 12357, 11954, 11666, 11529, 11394, 11224, 11083, 11042, 11180, 11185, 11134, 11189, 11131, 11206, 11256, 11325, 11442, 11729, 12044, 12093, 12486, 12833, 13221, 13436, 13651, 13882, 13890, 13849, 13739, 13851, 13855, 13715, 13832, 13666, 13725, 13388, 13299, 13863, 13870, 13899, 13959, 13748, 13717, 13358, 13905, 14164, 13987, 14140, 14232, 13675, 13827, 12707, 12915, 12600, 12572, 12610, 12604, 12811, 12650, 12849, 12762, 11997, 10920, 10496, 10312, 10690, 10841, 11017, 10996, 10862, 10795, 10853, 10887, 10832, 10870, 10899, 10990, 11803, 12156, 12503, 12695, 13174, 13157, 13590, 14221, 14681, 14438, 14138, 14258, 14751, 13999, 13607, 12826, 11986, 12166, 12276, 11781, 12198, 11620, 11414, 10962, 10698, 10650, 10632, 10671, 10777, 10784, 10724, 10637, 10790, 10735, 10409, 10385, 10452, 10519, 10559, 10634, 10540, 10603, 10494, 10471, 10563, 10537, 10443, 10439, 10513, 10485, 10465, 10473, 10460, 10532]]\n", + "DEBUG:root:compressed_len_list: [[12150, 12151, 12164, 12164, 12181, 12226, 12158, 12137, 12086, 12110, 12157, 12125, 12100, 12108, 12277, 12321, 12400, 12497, 12588, 12654, 12657, 12811, 12911, 13121, 13367, 13316, 13354, 13847, 13750, 13265, 12788, 12816, 12504, 12330, 12083, 12307, 12002, 12046, 12105, 12466, 12270, 12326, 12574, 12709, 12797, 12789, 12965, 13301, 13612, 14376, 15263, 15735, 15636, 16193, 15383, 14675, 13868, 13614, 13250, 13056, 12854, 12660, 12422, 12376, 12106, 11964, 12013, 12035, 11938, 11968, 11968, 11980, 11995, 11972, 12001, 12001, 12017, 12071, 12246, 12377, 12462, 12605, 12804, 12921, 13022, 13093, 13003, 13134, 13069, 13143, 13179, 13281, 13436, 13663, 13763, 13798, 13846, 13885, 13763, 13845, 13846, 13865, 14028, 13747, 14024, 13573, 13640, 13464, 13605, 13062, 12834, 12726, 12668, 12418, 12297, 12341, 12492, 12387, 12381, 12452, 12493, 12447, 12460, 12783, 13475, 13923, 14381, 14564, 14878, 14586, 14884, 15278, 15052, 15251, 15120, 14851, 14811, 14534, 14394, 13995, 13318, 12954, 12298, 12585, 12850, 12701, 12367, 12149, 12108, 12252, 12308, 12106, 12121, 12067, 12014, 12074, 12077, 12096, 12083, 12119, 12124, 12069, 12110, 12096, 12119, 12122, 12118, 12139, 12121, 12143, 12124, 12119, 12104, 12164, 12143, 12162, 12157, 12138, 12139, 12123, 12094, 12122, 12149, 12149, 12143, 12103, 12094, 12126, 12126, 12117, 12132, 12131, 12123, 12165, 12179, 12146, 12137, 12142, 12165, 12162]]\n", "DEBUG:root:compressed_len\n", - "DEBUG:root:compressed_len_list: [[10325, 10363, 10378, 10338, 10352, 10349, 10384, 10357, 10216, 10251, 10348, 10367, 10373, 10363, 10382, 10391, 10321, 10292, 10255, 10355, 10384, 10409, 10441, 10517, 10581, 10700, 10713, 10805, 10926, 11022, 11210, 11465, 11635, 11600, 11764, 11890, 12029, 12026, 11920, 11751, 11514, 11498, 11519, 11495, 11426, 11440, 11426, 11646, 11783, 11776, 11801, 11911, 11838, 11829, 11819, 11795, 11780, 11748, 11745, 11857, 11950, 12144, 12279, 12319, 12310, 12219, 12301, 12565, 12511, 12218, 11862, 11620, 11426, 11422, 11236, 11176, 10984, 10835, 11109, 11245, 11176, 11118, 11307, 11484, 11639, 12036, 12182, 11944, 11700, 11854, 12824, 13165, 13238, 13313, 13492, 13790, 13988, 13689, 13794, 13533, 13581, 13614, 13838, 13741, 13909, 14097, 14089, 14077, 13916, 14115, 14146, 13978, 13955, 13470, 12896, 12957, 13126, 12894, 12997, 13021, 12807, 13050, 12836, 12797, 12780, 12491, 12450, 11802, 11731, 11526, 11467, 11590, 11671, 11539, 11226, 10815, 10787, 10876, 10947, 11000, 10879, 10813, 11070, 11253, 11697, 12090, 12117, 12205, 12561, 12907, 12923, 12934, 13520, 13558, 13191, 13109, 12963, 12984, 12481, 12158, 11465, 11341, 10911, 10851, 10726, 10624, 10587, 10423, 10370, 10403, 10484, 10653, 10638, 10491, 10553, 10715, 10720, 10572, 10480, 10530, 10555, 10496, 10429, 10439, 10440, 10434, 10407, 10425, 10399, 10400, 10402, 10397, 10385, 10390, 10387, 10413, 10414, 10419, 10410, 10372]]\n", + "DEBUG:root:compressed_len_list: [[12413, 12451, 12404, 12412, 12404, 12406, 12315, 12357, 12317, 12407, 12368, 12327, 12467, 12511, 12495, 12547, 12630, 12749, 12784, 12916, 12961, 13226, 13431, 13757, 13965, 13629, 13788, 13531, 12993, 12925, 12461, 12423, 12318, 12467, 12420, 12788, 12789, 12784, 13054, 13099, 13087, 13249, 13764, 14564, 15916, 15772, 16354, 15902, 14948, 14057, 13322, 12904, 13070, 12649, 12344, 12567, 12629, 12403, 12314, 12361, 12396, 12481, 12495, 12497, 12607, 12731, 12665, 12853, 12946, 12898, 12918, 13123, 12976, 13270, 13103, 13297, 13455, 13600, 13618, 14066, 14170, 14337, 14305, 14250, 14212, 14390, 14258, 14121, 14601, 14016, 14162, 13886, 13729, 13333, 13027, 12826, 12730, 12906, 13046, 13017, 12884, 12880, 12903, 12855, 12771, 12718, 12837, 13295, 13539, 13782, 14018, 14510, 14832, 14510, 14374, 14331, 14190, 13979, 13617, 13407, 13060, 12972, 13026, 13252, 13141, 13028, 12894, 12787, 12716, 12681, 12701, 12801, 12859, 13033, 13042, 12922, 12998, 12963, 12893, 12929, 12949, 12936, 12875, 12795, 12806, 12767, 12730, 12784, 12815, 12782, 12717, 12684, 12739, 12717, 12706, 12707, 12761, 12697, 12711, 12702, 12712, 12704, 12685, 12683, 12727, 12725, 12729, 12702, 12716, 12698, 12705, 12723, 12729, 12770, 12755, 12793, 12786, 12760, 12751, 12759, 12751, 12700, 12717, 12736, 12700, 12754, 12745, 12730, 12720, 12718, 12742, 12701, 12735, 12750, 12771, 12731, 12775, 12769, 12761, 12739]]\n", "DEBUG:root:compressed_len\n" ] } diff --git a/policies/act/act.py b/policies/act/act.py index 175939c..8a5dc05 100644 --- a/policies/act/act.py +++ b/policies/act/act.py @@ -61,6 +61,7 @@ def __call__(self, qpos, image, actions=None, is_pad=None): else: a_hat_one = self.temporal_ensembler.update(a_hat) a_hat[0][0] = a_hat_one + return a_hat def configure_optimizers(self): diff --git a/policy_evaluate.py b/policy_evaluate.py index cea552e..770991a 100644 --- a/policy_evaluate.py +++ b/policy_evaluate.py @@ -77,12 +77,16 @@ def eval_bc(config, ckpt_name, env: CommonEnv): # TODO: remove this ckpt_path = get_ckpt_path(ckpt_dir, ckpt_name, stats_path) policy_config["ckpt_path"] = ckpt_path + policy_config["stats_path"] = stats_path + + if "ckpt_dir" in config and "stats_path" in config: + print(f"the number of model is : {len(config['ckpt_dir_n'])}") + for i in range(len(config["ckpt_dir_n"])): + ckpt_dir_n = config["ckpt_dir_n"][i] + stats_path_n = config["stats_path_n"][i] + ckpt_path = get_ckpt_path(ckpt_dir_n, ckpt_name, stats_path_n) + policy_config[f"ckpt_path_{i}"] = ckpt_path - if "ckpt_dir_1" in config: - ckpt_dir_1 = config["ckpt_dir_1"] - stats_path_1 = config["stats_path_1"] - ckpt_path_1 = get_ckpt_path(ckpt_dir_1, ckpt_name, stats_path_1) - policy_config["ckpt_path_1"] = ckpt_path_1 # make and configure policies policies: Dict[str, list] = {} logging.info("policy_config:", policy_config) @@ -150,6 +154,7 @@ def eval_bc(config, ckpt_name, env: CommonEnv): ).cuda() qpos_history = torch.zeros((1, max_timesteps, state_dim)).cuda() + all_time_stage = [] image_list = [] # for visualization qpos_list = [] action_list = [] @@ -192,12 +197,15 @@ def eval_bc(config, ckpt_name, env: CommonEnv): # wrap policy target_t = t % num_queries if temporal_agg or target_t == 0: + #start = time.time() # (1, chunk_size, 7) for act + # (1, chunk_size, 8) for with stage all_actions: torch.Tensor = policy(qpos, curr_image) + #print(f"prediction time: {time.time() - start}") all_time_actions[[t], t : t + num_queries] = all_actions index = 0 if temporal_agg else target_t raw_action = all_actions[:, index] - + all_time_stage[t] = raw_action[0, -1] # post-process predicted action # dim: (1,7) -> (7,) raw_action = ( @@ -209,7 +217,7 @@ def eval_bc(config, ckpt_name, env: CommonEnv): if filter_type is not None: # filt action for i, filter in enumerate(filters): action[i] = filter(action[i], time.time()) - + #print("The predict stage is", action[-1]) # step the environment sleep_time = max(0, dt - (time.time() - start_time)) ts = env.step(action, sleep_time=sleep_time, arm_vel=arm_velocity) diff --git a/task_configs/config_tools/basic_configer.py b/task_configs/config_tools/basic_configer.py index f46ab4b..a33e308 100644 --- a/task_configs/config_tools/basic_configer.py +++ b/task_configs/config_tools/basic_configer.py @@ -188,13 +188,18 @@ def get_all_config(args: dict, stage: str): # 评估时需要将自动根据当前时间戳生成的ckpt_dir和stats_path替换为指定时间戳的路径(save_dir不需要替换) if args.get("time_stamp", None): time_stamps = args["time_stamp"] - if len(time_stamps) > 0: - all_config["ckpt_dir"] = replace_timestamp(all_config["ckpt_dir"], time_stamps[0]) - all_config["stats_path"] = replace_timestamp(all_config["stats_path"], time_stamps[0]) - if len(time_stamps) > 1: - all_config["ckpt_dir_1"] = replace_timestamp(all_config["ckpt_dir"], time_stamps[1]) - all_config["stats_path_1"] = replace_timestamp(all_config["stats_path"], time_stamps[1]) - + n = len(time_stamps) + + # 初始化两个 n 维数组 + all_config["ckpt_dir_n"] = [None] * n + all_config["stats_path_n"] = [None] * n + + # 将每一个 time_stamp 都传入相应的位置 + all_config["ckpt_dir"] = replace_timestamp(all_config["ckpt_dir"], time_stamps[0]) + all_config["stats_path"] = replace_timestamp(all_config["stats_path"], time_stamps[0]) + for i in range(n): + all_config["ckpt_dir_n"][i] = replace_timestamp(all_config["ckpt_dir"], time_stamps[i]) + all_config["stats_path_n"][i] = replace_timestamp(all_config["stats_path"], time_stamps[i]) # if args.get("time_stamp_1", None): # time_stamp_1 = args["time_stamp_1"] # all_config["ckpt_dir_1"] = replace_timestamp( diff --git a/task_configs/put_objects_into_bowl_2_with_stage.py b/task_configs/put_objects_into_bowl_2_with_stage.py new file mode 100755 index 0000000..64c68d3 --- /dev/null +++ b/task_configs/put_objects_into_bowl_2_with_stage.py @@ -0,0 +1,172 @@ +from concurrent.futures import ThreadPoolExecutor +import logging +import pickle +import torch +from collections import Counter +from policies.common.maker import post_init_policies +from task_configs.template import ( + replace_task_name, + TASK_CONFIG_DEFAULT, + set_paths, + activator, +) +from task_configs.config_augmentation.image.basic import color_transforms_2 + + +def policy_maker(config:dict, stage=None): + from policies.act.act import ACTPolicy + from policies.traditionnal.cnnmlp import CNNMLPPolicy + # from policies.diffusion.diffusion_policy import DiffusionPolicy + with torch.inference_mode(): # 禁用梯度计算 + policies = [] + for key in config: + if key.startswith("ckpt_path_"): + policy = ACTPolicy(config) + post_init_policies([policy], stage, [config[key]]) + policies.append(policy) + logging.info(len(policies)) + + if stage == "train": + return policy + + elif stage == "eval": + if TASK_CONFIG_DEFAULT["eval"]["ensemble"] == None: + return policy + else: + ckpt_path = config["ckpt_path"] + stats_path = config["stats_path"] + + assert ckpt_path is not None, "ckpt_path must exist for loading policy" + # TODO: all policies should load the ckpt (policy maker should return a class)、 + + for policy in policies: + policy.cuda() + policy.eval() + + #串行推理 + # def ensemble_policy(*args, **kwargs): + # actions = policy(*args, **kwargs) + # actions_2 = policy_1(*args, **kwargs) + # # average the actions + # actions = (actions + actions_2) / 2 + # return actions + + #并行推理 + def run_policy(policy, *args, **kwargs): + with torch.inference_mode(): + a_hat = policy(*args, **kwargs) + #a_hat = a_hat.clone() # 在更新之前克隆 + return a_hat + + + def ensemble_policy(*args, **kwargs): + with ThreadPoolExecutor(max_workers=len(policies)) as executor: + futures = [] + for policy in policies: + future = executor.submit(run_policy, policy, *args, **kwargs) + futures.append(future) + with open(stats_path, "rb") as f: + stats = pickle.load(f) + + post_process = lambda a: a * stats["action_std"][-1] + stats["action_mean"][-1] + + results = [future.result() for future in futures] + # 获取每个结果的最后一位并四舍五入 + last_elements = [round(post_process(result[0,0,-1].item())) for result in results] + # 统计每个最后一位的出现次数 + counter = Counter(last_elements) + # 找到出现次数最多的stage + most_common_last_element, count = counter.most_common(1)[0] + + state_descriptions = { + 0: "移动到胶水上方(夹抓由闭到开)", + 1: "抓住胶水 (机械臂向下运动抓取，夹抓由开到闭)", + 2: "将胶水移动到蓝色碗里（机械臂向上运动，夹抓一直为闭）", + 3: "松开夹爪 (机械臂向下放置，夹抓由闭到开)", + 4: "移动到物块上方（机械臂向上运动，夹抓一直为开）", + 5: "抓住物块 (机械臂向下抓取，夹抓由开到闭)", + 6: "将物块放到粉色碗里 （机械臂向上运动，夹抓一直为闭）", + 7: "松开夹爪 (机械臂向下放置，夹抓由闭到开)", + 8: "移动到初始位置" + } + # 获取对应的状态描述 + state_description = state_descriptions.get(most_common_last_element, "未知状态") + print(f"{most_common_last_element}: {state_description}") + + # 过滤出最后一位是多数的结果 + filtered_results = [result for result in results if round(post_process(result[0,0,-1].item())) == most_common_last_element] + + actions_sum = torch.zeros_like(filtered_results[0]) + + for result in filtered_results: + actions_sum += result + + actions_avg = actions_sum / len(filtered_results) + + return actions_avg + #return size: (1, chunksize, 7) + + # 定义 reset 方法 + def reset(): + for policy in policies: + if hasattr(policy, "reset"):policy.reset() + + + # 将 reset 方法绑定到 ensemble_policy 函数上 + ensemble_policy.reset = reset + + return ensemble_policy + +def environment_maker(config:dict): + from envs.make_env import make_environment + env_config = config["environments"] + # TODO: use env_config only + return make_environment(config) + +@activator(False) +def augment_images(image): + return color_transforms_2(image) + +# replace the task name in the default paths when using the default paths such as this example +# auto replace by the file name +TASK_NAME = __file__.split("/")[-1].replace(".py", "") +replace_task_name(TASK_NAME, stats_name="dataset_stats.pkl", time_stamp="now") +# but we also show how to replace the paths manually +# DATA_DIR = f"./data/hdf5/{TASK_NAME}" +# CKPT_DIR = f"./my_ckpt/{TASK_NAME}/ckpt" +# STATS_PATH = f"./my_ckpt/{TASK_NAME}/dataset_stats.pkl" +# replace_paths(DATA_DIR, CKPT_DIR, STATS_PATH) # replace the default data and ckpt paths + + +chunk_size = 25 +joint_num = 7 + +TASK_CONFIG_DEFAULT["common"]["camera_names"] = ["0"] +TASK_CONFIG_DEFAULT["common"]["robot_num"] = 1 +TASK_CONFIG_DEFAULT["common"]["policy_config"]["temporal_agg"] = True + +TASK_CONFIG_DEFAULT["common"]["policy_config"]["policy_maker"] = policy_maker + +TASK_CONFIG_DEFAULT["common"]["state_dim"] = joint_num +TASK_CONFIG_DEFAULT["common"]["action_dim"] = joint_num + 1 +TASK_CONFIG_DEFAULT["common"]["policy_config"]["chunk_size"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["num_queries"] = chunk_size +TASK_CONFIG_DEFAULT["common"]["policy_config"]["kl_weight"] = 10 + + +TASK_CONFIG_DEFAULT["train"]["num_episodes"] = (200, 299) +TASK_CONFIG_DEFAULT["train"]["num_epochs"] = 7000 +TASK_CONFIG_DEFAULT["train"]["learning_rate"] = 2e-5 +TASK_CONFIG_DEFAULT["train"]["pretrain_ckpt_path"] = "/home/ghz/airbot_play/act/my_ckpt/stack_cups/20240621-022635/stack_cups/policy_best.ckpt" +TASK_CONFIG_DEFAULT["train"]["pretrain_epoch_base"] = "AUTO" +TASK_CONFIG_DEFAULT["train"]["batch_size"] = 16 + +TASK_CONFIG_DEFAULT["eval"]["robot_num"] = 1 +TASK_CONFIG_DEFAULT["eval"]["joint_num"] = joint_num +TASK_CONFIG_DEFAULT["eval"]["start_joint"] = [0, -0.766, 0.704, 1.537, -0.965, -1.576, 0.710] +TASK_CONFIG_DEFAULT["eval"]["max_timesteps"] = 400 +TASK_CONFIG_DEFAULT["eval"]["ensemble"] = True +TASK_CONFIG_DEFAULT["eval"]["environments"]["environment_maker"] = environment_maker + +# final config +TASK_CONFIG = TASK_CONFIG_DEFAULT diff --git a/use_api.py b/use_api.py new file mode 100644 index 0000000..602f5cf --- /dev/null +++ b/use_api.py @@ -0,0 +1,164 @@ +import requests +import cv2 +import base64 +import re +import time + +# Read text from .txt file +def read_text_from_file(file_path): + with open(file_path, "r") as file: + text = file.read() + return text + +# Capture the image from the camera +def capture_image(camera_index): + cap = cv2.VideoCapture(camera_index) + ret, frame = cap.read() + cap.release() + if not ret: + raise ValueError("Failed to capture image") + _, buffer = cv2.imencode('.jpg', frame) + base64_image = base64.b64encode(buffer).decode('utf-8') + return base64_image + +# Call gpt4 api for plans and instructions +def call_gpt4_for_planning(initial_prompt = None, image_base64 = None, instruction = None): + api_key = "sk-proj-ThHbAqYhOdLCTbYWfZnnT3BlbkFJ3sk2kwtniRqC4lvwzM0x" + api_url = "https://api.openai.com/v1/chat/completions" + headers = { + "Content-Type": "application/json", + "Authorization": f"Bearer {api_key}" + } + payload = { + "model": "gpt-4o", + "messages": [ + { + "role": "system", + "role": "user", + "content": [ + { + "type": "text", + "text": initial_prompt + }, + { + "type": "image_url", + "image_url": { + "url": f"data:image/jpeg;base64,{image_base64}" + } + }, + { + "type": "text", + "text": instruction + } + ] + } + ] + } + response = requests.post(api_url, json=payload, headers=headers) + return response.json() + +# Call gpt4 api for plans and instructions +def call_gpt4_for_judgement(prompt = None, image_base64 = None): + api_key = "sk-proj-ThHbAqYhOdLCTbYWfZnnT3BlbkFJ3sk2kwtniRqC4lvwzM0x" + api_url = "https://api.openai.com/v1/chat/completions" + headers = { + "Content-Type": "application/json", + "Authorization": f"Bearer {api_key}" + } + + payload = { + "model": "gpt-4o", + "messages": [ + { + "role": "user", + "content": [ + { + "type": "text", + "text": prompt + }, + { + "type": "image_url", + "image_url": { + "url": f"data:image/jpeg;base64,{image_base64}" + } + } + ] + } + ] + } + response = requests.post(api_url, json=payload, headers=headers) + return response.json() + +# Simulate actions of the robot arm +def delay(seconds, step_command): + print(f"Executing:{step_command}") + time.sleep(seconds) + print("Delay completed") + +# Extract steps +def extract_steps(text): + lines = text.split('\n') + steps = [] + step_pattern = re.compile(r'^\d+\..*') + + for line in lines: + if step_pattern.match(line.strip()): + steps.append(line.strip()) + + return steps + +# Extract objects +def extract_objects(text): + objects_part = re.search(r"Objects:\s*", text) + if not objects_part: + return "No objects section found." + + objects_text = text[objects_part.end():] + object_lists = re.findall(r"\[\d+\](.*?)(?=\n\[\d+\]|$)", objects_text) + objects = [obj.strip().split(',') for obj in object_lists if obj.strip()] + + return objects + +def main(): + initial_prompt_path = "/home/dyh/OCIA/initial_prompt.txt" + initial_prompt = read_text_from_file(initial_prompt_path) + instruction_path = "/home/dyh/OCIA/pass_me_the_fruit.txt" + instrucntion = read_text_from_file(instruction_path) + steps = [] # This will be filled after the initial API call + objects = [] + camera_index = 2 + + # Initial call to get the plan + initial_image_base64 = capture_image(camera_index) + plan_response = call_gpt4_for_planning(initial_prompt, initial_image_base64, instrucntion) + print( plan_response) + plan_text = plan_response['choices'][0]['message']['content'] + steps = extract_steps(plan_text) + objects = extract_objects(plan_text) + + # Execute the steps according to the plan + for step in steps: + print(step) + if "Done" in step: + print("Task completed successfully.") + break + + while True: + delay(5, step_command = step) + current_image_base64 = capture_image(camera_index) + step_prompt = f"Here is the image after executing {step}. Is it done correctly? The format of your answer should only be one word: correct or false." + verification_response = call_gpt4_for_judgement(prompt = step_prompt, image_base64 = current_image_base64) + print(verification_response) + verification_text = verification_response['choices'][0]['message']['content'] + print(verification_text) + if "correct" in verification_text: + print("Step completed correctly.") + break + if "Correct" in verification_text: + print("Step completed correctly.") + break + else: + print("Step not completed correctly, retrying...") + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/video_marking_stage.py b/video_marking_stage.py index e13129c..5675859 100644 --- a/video_marking_stage.py +++ b/video_marking_stage.py @@ -1,3 +1,4 @@ +import time import cv2 import tkinter as tk from tkinter import ttk @@ -7,8 +8,9 @@ import json # 视频路径 -video_path = 'demonstrations/raw/stack_cups/0/0.avi' -json_path = 'demonstrations/raw/stack_cups/0/records.json' +video_folder = 'demonstrations/raw/put_objects_into_bowl_2/20/' +video_path = video_folder + '0.avi' +json_path = video_folder + 'records.json' class VideoPlayer: def __init__(self, root, video_path): @@ -93,6 +95,8 @@ def play_video(self): self.photo = tk.PhotoImage(data=cv2.imencode('.png', img)[1].tobytes()) self.video_label.config(image=self.photo) + time.sleep(0.1) + self.root.update_idletasks() def on_progress_change(self, event): From e7ce95718e9742c77646600e1afcff6b5581c188 Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sat, 14 Sep 2024 19:07:22 +0800 Subject: [PATCH 10/13] add GPT to judge error situation --- chat.py | 78 +++++ chat_copy.py | 117 +++++++ chat_with_gpt.py | 40 +++ policy_evaluate.py | 1 - .../put_objects_into_bowl_2_with_stage.py | 290 ++++++++++++++++-- task_configs/stack_cups.py | 90 +++--- 6 files changed, 540 insertions(+), 76 deletions(-) create mode 100644 chat.py create mode 100644 chat_copy.py create mode 100644 chat_with_gpt.py diff --git a/chat.py b/chat.py new file mode 100644 index 0000000..09e57fd --- /dev/null +++ b/chat.py @@ -0,0 +1,78 @@ +import base64 +import requests +import cv2 + +# OpenAI API Key +# api_key = "sk-proj-gNS4ar7fAWypmYNjOpLmT3BlbkFJ5Nm2hX5Jx9iV4Jqkn85Q" +api_key = "sk-proj-ThHbAqYhOdLCTbYWfZnnT3BlbkFJ3sk2kwtniRqC4lvwzM0x" + + +# Read text from .txt file +def read_text_from_file(file_path): + with open(file_path, "r") as file: + text = file.read() + return text + +initial_prompt_path = "/home/dyh/OCIA/initial_prompt.txt" + +initial_prompt = read_text_from_file(initial_prompt_path) + +pass_me_the_bowl_path = '/home/dyh/OCIA/pass_me_the_fruit.txt' + +pass_me_the_bowl = read_text_from_file(pass_me_the_bowl_path) + +def capture_and_encode_image(camera_index): + # Open USB camera + cap = cv2.VideoCapture(camera_index) + # Read image from camera + ret, frame = cap.read() + # Release camera + cap.release() + if not ret: + raise ValueError("Failedto capture image") + # Convert image to JPEG format + _, image_buffer = cv2.imencode('.jpg', frame) + # Encode image buffer to base64 + base64_image = base64.b64encode(image_buffer).decode('utf-8') + return base64_image + +# Set USB camera index +camera_index = 2 + +# Capture and encode image from USB camera +base64_image = capture_and_encode_image(camera_index) + +headers = { + "Content-Type": "application/json", + "Authorization": f"Bearer {api_key}" +} + +payload = { + "model": "gpt-4o", + "messages": [ + { + "role": "user", + "content": [ + { + "type": "text", + "text": initial_prompt + }, + { + "type": "image_url", + "image_url": { + "url": f"data:image/jpeg;base64,{base64_image}" + } + }, + { + "type": "text", + "text": pass_me_the_bowl + } + ] + } + ], + "max_tokens": 720 +} + +response = requests.post("https://api.openai.com/v1/chat/completions", headers=headers, json=payload) + +print(response.json()) \ No newline at end of file diff --git a/chat_copy.py b/chat_copy.py new file mode 100644 index 0000000..fad6aa8 --- /dev/null +++ b/chat_copy.py @@ -0,0 +1,117 @@ +# import openai +# from openai import OpenAI +# import base64 +# import os + +# API_BASE = "https://api.openai.com/v1/chat/completions" +# API_KEY = "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" + +# # Set up proxy if needed +# os.environ["http_proxy"] = "http://localhost:7890" +# os.environ["https_proxy"] = "http://localhost:7890" + +# # Initialize the OpenAI client +# client = OpenAI( +# api_key=API_KEY, +# base_url=API_BASE +# ) + +# def call_gpt4_api(image_path): +# try: +# # Read the image and encode it as base64 +# with open(image_path, 'rb') as file: +# image_buffer = file.read() +# base64_image = base64.b64encode(image_buffer).decode('utf-8') + +# # Construct the prompt +# prompt = ( +# "If the object is dropped and not caught, return a dictionary with 'status' as 0; " +# "if there is no object to catch, return 1; " +# "if there is too much clutter in the image, return 2." +# ) + +# # Call the OpenAI API +# completion = client.chat.completions.create( +# model="yi-34b-chat-0205", +# messages=[ +# {"role": "system", "content": "You are a helpful assistant."}, +# {"role": "user", "content": prompt}, +# {"role": "user", "content": f"data:image/jpeg;base64,{base64_image}"} +# ], +# max_tokens=720 +# ) + +# # Check the response +# if completion and completion.choices: +# return completion.choices[0].message['content'] +# else: +# print("Failed to get a valid response") +# return None + +# except Exception as e: +# print(f"An error occurred: {e}") +# return None + +# # Call the function and print the result +# result = call_gpt4_api('/home/qiuzhi/下载/blocks.png') +# if result: +# print(result) +# else: +# print("Failed to get a valid response") +import os + +import base64 +from PIL import Image +from io import BytesIO + +# Set up proxy if needed +os.environ["http_proxy"] = "http://localhost:7890" +os.environ["https_proxy"] = "http://localhost:7890" + +# Initialize the OpenAI client +from openai import OpenAI +client = OpenAI(api_key="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") + +def call_gpt4_api(image_path): + try: + # Read the image and encode it as base64 + with open(image_path, 'rb') as file: + image_buffer = file.read() + base64_image = base64.b64encode(image_buffer).decode('utf-8') + + # Construct the prompt + prompt = ( + "Analyze the image and return a dictionary with 'status': " + "0 if the object is dropped and not caught, " + "1 if there is no object to catch, " + "2 if there is too much clutter in the image." + ) + + # Call the OpenAI API + completion = client.chat.completions.create( + model="gpt-4", + messages=[ + {"role": "system", "content": "You are a helpful assistant."}, + {"role": "user", "content": prompt}, + {"role": "user", "content": f"data:image/jpeg;base64,{base64_image}", "detail": "low"} + ], + max_tokens=720 + ) + + # Check the response + if completion and completion.choices: + return completion.choices[0].message.content + else: + print("Failed to get a valid response") + return None + + except Exception as e: + print(f"An error occurred: {e}") + return None + +# Call the function and print the result +result = call_gpt4_api('/home/qiuzhi/bowls.png') +if result: + print(result) +else: + print("Failed to get a valid response") \ No newline at end of file diff --git a/chat_with_gpt.py b/chat_with_gpt.py new file mode 100644 index 0000000..e90d912 --- /dev/null +++ b/chat_with_gpt.py @@ -0,0 +1,40 @@ +import os +import base64 +from openai import OpenAI + +# Set up proxy if needed +os.environ["http_proxy"] = "http://localhost:7890" +os.environ["https_proxy"] = "http://localhost:7890" + +def encode_image(image_path): + with open(image_path, "rb") as image_file: + return base64.b64encode(image_file.read()).decode('utf-8') + +# Path to your image +image_path = "/home/qiuzhi/bowls.png" + +# Getting the base64 string +base64_image = encode_image(image_path) + +client = OpenAI(api_key="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") + +response = client.chat.completions.create( + model="gpt-4o-mini", + messages=[ + { + "role": "user", + "content": [ + {"type": "text", "text": "What’s in this image?"}, + { + "type": "image_url", + "image_url": { + "url": f"data:image/jpeg;base64,{base64_image}", + }, + }, + ], + } + ], + max_tokens=300, +) + +print(response.choices[0]) \ No newline at end of file diff --git a/policy_evaluate.py b/policy_evaluate.py index 770991a..bad6ae7 100644 --- a/policy_evaluate.py +++ b/policy_evaluate.py @@ -205,7 +205,6 @@ def eval_bc(config, ckpt_name, env: CommonEnv): all_time_actions[[t], t : t + num_queries] = all_actions index = 0 if temporal_agg else target_t raw_action = all_actions[:, index] - all_time_stage[t] = raw_action[0, -1] # post-process predicted action # dim: (1,7) -> (7,) raw_action = ( diff --git a/task_configs/put_objects_into_bowl_2_with_stage.py b/task_configs/put_objects_into_bowl_2_with_stage.py index 64c68d3..5b0a6a5 100755 --- a/task_configs/put_objects_into_bowl_2_with_stage.py +++ b/task_configs/put_objects_into_bowl_2_with_stage.py @@ -1,6 +1,8 @@ from concurrent.futures import ThreadPoolExecutor import logging import pickle +from PIL import Image +import numpy as np import torch from collections import Counter from policies.common.maker import post_init_policies @@ -12,6 +14,11 @@ ) from task_configs.config_augmentation.image.basic import color_transforms_2 +import os +import base64 +import openai +from io import BytesIO +from openai import OpenAI def policy_maker(config:dict, stage=None): from policies.act.act import ACTPolicy @@ -58,59 +65,278 @@ def run_policy(policy, *args, **kwargs): #a_hat = a_hat.clone() # 在更新之前克隆 return a_hat + def check_stage_error(all_time_stage): + """ + 检查 all_time_stage 中每个模型的 stage, 返回list of bool,表示每个模型是否有问题,True 表示有问题,False 表示正常。 + 如果当前的 stage 小于上一次的 stage, 则认为该模型有问题。 + + """ + valid_transitions = { + 0: [0,1], + 1: [0,1,2], + 2: [1,2,3], + 3: [0,1,3,4], + 4: [4,5], + 5: [4,5,6], + 6: [5,6,7], + 7: [4,5,7,8], + 8: [0,1,2,3,4,5,6,7,8] + } + # 定义每个 stage 的最大允许次数 + stage_limits = { + 0: 50, + 1: 50, + 2: 50, + 3: 50, + 4: 50, + 5: 50, + 6: 50, + 7: 50, + 8: 50 + } + error_signals = [] + + for model_stages in all_time_stage: + + has_error = False + if len(model_stages) > 2: + curr_stage = model_stages[-1] + prev_stage = model_stages[-2] + if curr_stage not in valid_transitions.get(prev_stage, []): + has_error = True + else: + same_stage_count = 0 + for i in range(len(model_stages)-1, -1, -1): + if model_stages[i] == curr_stage: + same_stage_count += 1 + else: + break + + if same_stage_count > stage_limits[curr_stage]: + has_error = True + + error_signals.append(has_error) + return error_signals + def ensemble_policy(*args, **kwargs): + if not hasattr(ensemble_policy, 'all_time_stage'): + ensemble_policy.all_time_stage = [[] for _ in range(len(policies))] + if not hasattr(ensemble_policy, 'all_time_action'): + ensemble_policy.all_time_action = [] + if not hasattr(ensemble_policy, 'skip_gpt_analysis'): + ensemble_policy.skip_gpt_analysis = False + + stage_descriptions = { + 0: "移动到胶水上方", + 1: "抓胶水", + 2: "将胶水移动到蓝色碗上方", + 3: "放置胶水", + 4: "移动到物块上方", + 5: "抓物块", + 6: "将物块移动到粉色碗上方", + 7: "放置物块", + 8: "移动到初始位置" + } with ThreadPoolExecutor(max_workers=len(policies)) as executor: futures = [] for policy in policies: future = executor.submit(run_policy, policy, *args, **kwargs) futures.append(future) + with open(stats_path, "rb") as f: stats = pickle.load(f) post_process = lambda a: a * stats["action_std"][-1] + stats["action_mean"][-1] results = [future.result() for future in futures] - # 获取每个结果的最后一位并四舍五入 - last_elements = [round(post_process(result[0,0,-1].item())) for result in results] - # 统计每个最后一位的出现次数 - counter = Counter(last_elements) - # 找到出现次数最多的stage - most_common_last_element, count = counter.most_common(1)[0] - - state_descriptions = { - 0: "移动到胶水上方(夹抓由闭到开)", - 1: "抓住胶水 (机械臂向下运动抓取，夹抓由开到闭)", - 2: "将胶水移动到蓝色碗里（机械臂向上运动，夹抓一直为闭）", - 3: "松开夹爪 (机械臂向下放置，夹抓由闭到开)", - 4: "移动到物块上方（机械臂向上运动，夹抓一直为开）", - 5: "抓住物块 (机械臂向下抓取，夹抓由开到闭)", - 6: "将物块放到粉色碗里 （机械臂向上运动，夹抓一直为闭）", - 7: "松开夹爪 (机械臂向下放置，夹抓由闭到开)", - 8: "移动到初始位置" - } - # 获取对应的状态描述 - state_description = state_descriptions.get(most_common_last_element, "未知状态") - print(f"{most_common_last_element}: {state_description}") - - # 过滤出最后一位是多数的结果 - filtered_results = [result for result in results if round(post_process(result[0,0,-1].item())) == most_common_last_element] - - actions_sum = torch.zeros_like(filtered_results[0]) + last_elements = [round(post_process(result[0,0,-1].item())) for result in results] # 获取每个模型的stage + for i, last_element in enumerate(last_elements): + ensemble_policy.all_time_stage[i].append(last_element) + # size of all_time_stage ： [ + # [stage_1_time_1, stage_1_time_2, ..., stage_1_time_t], # 模型1的stage输出 + # [stage_2_time_1, stage_2_time_2, ..., stage_2_time_t], # 模型2的stage输出 + # ... + # [stage_n_time_1, stage_n_time_2, ..., stage_n_time_t] # 模型n的stage输出 + # ] + + error_signals = check_stage_error(ensemble_policy.all_time_stage) + + # 计算异常模型的比例 + num_policies = len(policies) + num_errors = sum(error_signals) + error_ratio = num_errors / num_policies + print(f"error ratio: {error_ratio}") + + valid_results = [result for i, result in enumerate(results) if not error_signals[i]] + counter = Counter([round(post_process(result[0,0,-1].item())) for result in valid_results]) # 统计每个最后一位的出现次数 + most_common_last_element, count = counter.most_common(1)[0] # 找到出现次数最多的 stage + curr_stage = most_common_last_element + if error_ratio <= 0.5: + if error_ratio >= 0.3:print("Warning: 0.3 < error_ratio <= 0.5") + + stage_description = stage_descriptions.get(curr_stage, "unknow stage") + print(f"{curr_stage}: {stage_description}") + + # 过滤出最后一位是多数的结果 + filtered_results = [result for result in results if round(post_process(result[0,0,-1].item())) == most_common_last_element] + + actions_sum = torch.zeros_like(filtered_results[0]) + #actions_sum = torch.zeros((1, 50, 8)) + for result in filtered_results: + actions_sum += result - for result in filtered_results: - actions_sum += result + actions_avg = actions_sum / len(filtered_results) - actions_avg = actions_sum / len(filtered_results) + ensemble_policy.all_time_action.append(actions_avg[0,0,0:7]) - return actions_avg - #return size: (1, chunksize, 7) + return actions_avg #return size: (1, chunksize, 8) + + else : + # 异常模型超过50%，GPT analysis + print("error_ratio > 50%, GPT analysis is called") + if ensemble_policy.skip_gpt_analysis: + # 直接返回最后一个模型的输出 + result = results[-1] + handled_action = torch.zeros_like(result) + handled_action[0, 0, 0:7] = result[0, 0, 0:7] + ensemble_policy.all_time_action.append(handled_action[0, 0, 0:7]) + return handled_action + image_tensor = args[1] + output = handle_exceptions_with_gpt(image_tensor) + handled_action = torch.zeros_like(results[0]) + if output == 0: + # 状态0：没抓住物体，重现到上一个状态 + last_stage = curr_stage - 1 + print(f"now turn to last stage: {last_stage}", stage_descriptions[last_stage]) + for i, stages in enumerate(ensemble_policy.all_time_stage): + index = stages.index(last_stage) + corresponding_action = ensemble_policy.all_time_action[index] + handled_action[0, 0, 0:7] = corresponding_action + ensemble_policy.all_time_stage.append(handled_action[0, 0, 0:7]) + break + + return handled_action + elif output == 1: + # 状态1：图像中杂物太多，需要换到另一个带杂物的ACT + # 假设最后一个模型是杂物模型 + result = results[-1] + handled_action[0, 0, 0:7] = result[0, 0, 0:7] + ensemble_policy.all_time_action.append(handled_action[0, 0, 0:7]) + # 设置标志，之后不再进入GPT分析 + ensemble_policy.skip_gpt_analysis = True + return handled_action + else: + # 状态2：物体错误/不存在 + # 需要人为干预 + input("Please adjust the object in the scene and press Enter to continue.") + print(f"now turn to stage:{curr_stage}") + filtered_results = [result for result in results if round(post_process(result[0,0,-1].item())) == most_common_last_element] + + actions_sum = torch.zeros_like(filtered_results[0]) + #actions_sum = torch.zeros((1, 50, 8)) + for result in filtered_results: + actions_sum += result + actions_avg = actions_sum / len(filtered_results) + ensemble_policy.all_time_action.append(actions_avg[0,0,0:7]) + return actions_avg + + + def handle_exceptions_with_gpt(image_tensor): + if image_tensor.numel() == 0: + raise ValueError("No image provided in args") + #print(image_tensor) + # 调用外部函数获取GPT响应数据 + response_data = get_gpt_response(image_tensor) + print(f"THE GPT RESPOND: {response_data}") + # 假设GPT返回的状态在response_data中 + gpt_status = response_data + + if "0" in gpt_status: + return 0 + elif "1" in gpt_status: + return 1 + elif "2" in gpt_status: + return 2 + else: + return 3 + + + def get_gpt_response(image_tensor): + # Set up proxy if needed + os.environ["http_proxy"] = "http://localhost:7890" + os.environ["https_proxy"] = "http://localhost:7890" + + def tensor_to_base64_image(tensor): + # 检查张量的形状 + if tensor.ndimension() == 5: + # 假设张量的形状是 (1, 1, C, H, W) + tensor = tensor.squeeze(0).squeeze(0) # 去掉前两个维度 + elif tensor.ndimension() == 4: + # 假设张量的形状是 (1, C, H, W) + tensor = tensor.squeeze(0) # 去掉第一个维度 + elif tensor.ndimension() == 3: + # 假设张量的形状是 (C, H, W) + pass + else: + raise ValueError("Unsupported tensor shape: {}".format(tensor.shape)) + + # 转置张量的轴顺序 + tensor = tensor.cpu().numpy() + tensor = np.transpose(tensor, (1, 2, 0)) # 转置为 (H, W, C) + + # 将张量转换为图像 + tensor = (tensor * 255).astype(np.uint8) + image = Image.fromarray(tensor) + + # 将图像编码为 base64 + buffer = BytesIO() + image.save(buffer, format="JPEG") + base64_image = base64.b64encode(buffer.getvalue()).decode('utf-8') + return base64_image + + # Getting the base64 string + base64_image = tensor_to_base64_image(image_tensor) + client = openai.OpenAI(api_key="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") + + response = client.chat.completions.create( + model="gpt-4o", + messages=[ + { + "role": "user", + "content": [ + {"type": "text", "text": ( + "Our task is to use a robotic arm to place a yellow glue stick into a blue bowl " + "and a wooden block into a pink bowl. Based on the image, please tell me the current situation. " + "Return a number: If the gripper is not gripping the object, return 0; " + "if there are many other distracting items in the scene, return 1; " + "if there is no yellow glue stick or no wooden block, return 2; " + + )}, + { + "type": "image_url", + "image_url": { + "url": f"data:image/jpeg;base64,{base64_image}", + }, + }, + ], + } + ], + max_tokens=300, + ) + + #print(response.choices[0]) + return response.choices[0].message.content # 定义 reset 方法 def reset(): for policy in policies: if hasattr(policy, "reset"):policy.reset() - + # 重置 all_time_stage 和 all_time_action + if hasattr(ensemble_policy, 'all_time_stage'): + ensemble_policy.all_time_stage = [[] for _ in range(len(policies))] + if hasattr(ensemble_policy, 'all_time_action'): + ensemble_policy.all_time_action = [] # 将 reset 方法绑定到 ensemble_policy 函数上 ensemble_policy.reset = reset diff --git a/task_configs/stack_cups.py b/task_configs/stack_cups.py index ee8b855..ab5087c 100755 --- a/task_configs/stack_cups.py +++ b/task_configs/stack_cups.py @@ -1,5 +1,7 @@ from concurrent.futures import ThreadPoolExecutor +import logging import torch +from collections import Counter from policies.common.maker import post_init_policies from task_configs.template import ( replace_task_name, @@ -14,25 +16,14 @@ def policy_maker(config:dict, stage=None): from policies.act.act import ACTPolicy from policies.traditionnal.cnnmlp import CNNMLPPolicy # from policies.diffusion.diffusion_policy import DiffusionPolicy - with torch.inference_mode():#禁用梯度计算 - policy = ACTPolicy(config) - post_init_policies([policy], stage, [config["ckpt_path"]]) - - if "ckpt_path_1" in config: - policy_1 = ACTPolicy(config) - post_init_policies([policy_1], stage, [config["ckpt_path_1"]]) - if "ckpt_path_2" in config: - policy_2 = ACTPolicy(config) - post_init_policies([policy_2], stage, [config["ckpt_path_2"]]) - if "ckpt_path_3" in config: - policy_3 = ACTPolicy(config) - post_init_policies([policy_3], stage, [config["ckpt_path_3"]]) - if "ckpt_path_4" in config: - policy_4 = ACTPolicy(config) - post_init_policies([policy_4], stage, [config["ckpt_path_4"]]) - if "ckpt_path_5" in config: - policy_5 = ACTPolicy(config) - post_init_policies([policy_5], stage, [config["ckpt_path_5"]]) + with torch.inference_mode(): # 禁用梯度计算 + policies = [] + for key in config: + if key.startswith("ckpt_path_"): + policy = ACTPolicy(config) + post_init_policies([policy], stage, [config[key]]) + policies.append(policy) + logging.info(len(policies)) if stage == "train": return policy @@ -43,12 +34,11 @@ def policy_maker(config:dict, stage=None): else: ckpt_path = config["ckpt_path"] assert ckpt_path is not None, "ckpt_path must exist for loading policy" - # TODO: all policies should load the ckpt (policy maker should return a class) + # TODO: all policies should load the ckpt (policy maker should return a class)、 - policy.cuda() - policy.eval() - policy_1.cuda() - policy_1.eval() + for policy in policies: + policy.cuda() + policy.eval() #串行推理 # def ensemble_policy(*args, **kwargs): @@ -63,32 +53,46 @@ def run_policy(policy, *args, **kwargs): with torch.inference_mode(): a_hat = policy(*args, **kwargs) #a_hat = a_hat.clone() # 在更新之前克隆 - return policy.temporal_ensembler.update(a_hat) + return a_hat def ensemble_policy(*args, **kwargs): - with ThreadPoolExecutor(max_workers=len(config)-1) as executor: + with ThreadPoolExecutor(max_workers=len(policies)) as executor: futures = [] - for i in range(1, len(config)): - policy_name = f"policy_{i}" - if policy_name in globals(): - policy = globals()[policy_name] - future = executor.submit(run_policy, policy, *args, **kwargs) - futures.append(future) - - actions_sum = torch.zeros_like(futures[0].result()) - for future in futures: - actions_sum += future.result() - - actions_avg = actions_sum / len(futures) + for policy in policies: + future = executor.submit(run_policy, policy, *args, **kwargs) + futures.append(future) + + results = [future.result() for future in futures] + # 获取每个结果的最后一位 + last_elements = [round(result[0,0,-1].item()) for result in results] + + # 统计每个最后一位的出现次数 + counter = Counter(last_elements) + + # 找到出现次数最多的最后一位 + most_common_last_element, count = counter.most_common(1)[0] + + print("Most common last element:", most_common_last_element, "Count:", count) + # 过滤出最后一位是多数的结果 + filtered_results = [result for result in results if round(result[0,0,-1].item()) == most_common_last_element] + + actions_sum = torch.zeros_like(filtered_results[0]) + print("actions_sum",actions_sum.shape) + + for result in filtered_results: + actions_sum += result + + actions_avg = actions_sum / len(filtered_results) + return actions_avg + #return size: (1, chunksize, 7) # 定义 reset 方法 def reset(): - if hasattr(policy, "reset"): - policy.reset() - if hasattr(policy_1, "reset"): - policy_1.reset() + for policy in policies: + if hasattr(policy, "reset"):policy.reset() + # 将 reset 方法绑定到 ensemble_policy 函数上 ensemble_policy.reset = reset @@ -143,7 +147,7 @@ def augment_images(image): TASK_CONFIG_DEFAULT["eval"]["joint_num"] = joint_num TASK_CONFIG_DEFAULT["eval"]["start_joint"] = "AUTO" TASK_CONFIG_DEFAULT["eval"]["max_timesteps"] = 400 -TASK_CONFIG_DEFAULT["eval"]["ensemble"] = None +TASK_CONFIG_DEFAULT["eval"]["ensemble"] = True TASK_CONFIG_DEFAULT["eval"]["environments"]["environment_maker"] = environment_maker # final config From 5d557ff55a94820caeb77fe2ccbb9e9d5a1b78e5 Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sat, 14 Sep 2024 19:11:43 +0800 Subject: [PATCH 11/13] add gpt to judge --- chat.py | 4 +- chat_copy.py | 62 +------------------ chat_with_gpt.py | 2 +- .../put_objects_into_bowl_2_with_stage.py | 2 +- use_api.py | 2 +- 5 files changed, 6 insertions(+), 66 deletions(-) diff --git a/chat.py b/chat.py index 09e57fd..8c19743 100644 --- a/chat.py +++ b/chat.py @@ -3,8 +3,8 @@ import cv2 # OpenAI API Key -# api_key = "sk-proj-gNS4ar7fAWypmYNjOpLmT3BlbkFJ5Nm2hX5Jx9iV4Jqkn85Q" -api_key = "sk-proj-ThHbAqYhOdLCTbYWfZnnT3BlbkFJ3sk2kwtniRqC4lvwzM0x" +# api_key = "" +api_key = "" # Read text from .txt file diff --git a/chat_copy.py b/chat_copy.py index fad6aa8..5384e7d 100644 --- a/chat_copy.py +++ b/chat_copy.py @@ -1,63 +1,3 @@ -# import openai -# from openai import OpenAI -# import base64 -# import os - -# API_BASE = "https://api.openai.com/v1/chat/completions" -# API_KEY = "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" - -# # Set up proxy if needed -# os.environ["http_proxy"] = "http://localhost:7890" -# os.environ["https_proxy"] = "http://localhost:7890" - -# # Initialize the OpenAI client -# client = OpenAI( -# api_key=API_KEY, -# base_url=API_BASE -# ) - -# def call_gpt4_api(image_path): -# try: -# # Read the image and encode it as base64 -# with open(image_path, 'rb') as file: -# image_buffer = file.read() -# base64_image = base64.b64encode(image_buffer).decode('utf-8') - -# # Construct the prompt -# prompt = ( -# "If the object is dropped and not caught, return a dictionary with 'status' as 0; " -# "if there is no object to catch, return 1; " -# "if there is too much clutter in the image, return 2." -# ) - -# # Call the OpenAI API -# completion = client.chat.completions.create( -# model="yi-34b-chat-0205", -# messages=[ -# {"role": "system", "content": "You are a helpful assistant."}, -# {"role": "user", "content": prompt}, -# {"role": "user", "content": f"data:image/jpeg;base64,{base64_image}"} -# ], -# max_tokens=720 -# ) - -# # Check the response -# if completion and completion.choices: -# return completion.choices[0].message['content'] -# else: -# print("Failed to get a valid response") -# return None - -# except Exception as e: -# print(f"An error occurred: {e}") -# return None - -# # Call the function and print the result -# result = call_gpt4_api('/home/qiuzhi/下载/blocks.png') -# if result: -# print(result) -# else: -# print("Failed to get a valid response") import os import base64 @@ -70,7 +10,7 @@ # Initialize the OpenAI client from openai import OpenAI -client = OpenAI(api_key="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") +client = OpenAI(api_key="") def call_gpt4_api(image_path): try: diff --git a/chat_with_gpt.py b/chat_with_gpt.py index e90d912..b8b7d24 100644 --- a/chat_with_gpt.py +++ b/chat_with_gpt.py @@ -16,7 +16,7 @@ def encode_image(image_path): # Getting the base64 string base64_image = encode_image(image_path) -client = OpenAI(api_key="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") +client = OpenAI(api_key="") response = client.chat.completions.create( model="gpt-4o-mini", diff --git a/task_configs/put_objects_into_bowl_2_with_stage.py b/task_configs/put_objects_into_bowl_2_with_stage.py index 5b0a6a5..b4dd135 100755 --- a/task_configs/put_objects_into_bowl_2_with_stage.py +++ b/task_configs/put_objects_into_bowl_2_with_stage.py @@ -297,7 +297,7 @@ def tensor_to_base64_image(tensor): # Getting the base64 string base64_image = tensor_to_base64_image(image_tensor) - client = openai.OpenAI(api_key="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") + client = openai.OpenAI(api_key="") response = client.chat.completions.create( model="gpt-4o", diff --git a/use_api.py b/use_api.py index 602f5cf..557ce8e 100644 --- a/use_api.py +++ b/use_api.py @@ -23,7 +23,7 @@ def capture_image(camera_index): # Call gpt4 api for plans and instructions def call_gpt4_for_planning(initial_prompt = None, image_base64 = None, instruction = None): - api_key = "sk-proj-ThHbAqYhOdLCTbYWfZnnT3BlbkFJ3sk2kwtniRqC4lvwzM0x" + api_key = "" api_url = "https://api.openai.com/v1/chat/completions" headers = { "Content-Type": "application/json", From 71e51527a05e4c239f80e640c8322114a0ca267a Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sat, 14 Sep 2024 19:17:32 +0800 Subject: [PATCH 12/13] add GPT to judge --- chat.py | 3 +-- chat_with_gpt.py | 2 +- task_configs/put_objects_into_bowl_2_with_stage.py | 2 +- use_api.py | 4 ++-- 4 files changed, 5 insertions(+), 6 deletions(-) diff --git a/chat.py b/chat.py index 8c19743..1821ea1 100644 --- a/chat.py +++ b/chat.py @@ -3,8 +3,7 @@ import cv2 # OpenAI API Key -# api_key = "" -api_key = "" + # Read text from .txt file diff --git a/chat_with_gpt.py b/chat_with_gpt.py index b8b7d24..6683d57 100644 --- a/chat_with_gpt.py +++ b/chat_with_gpt.py @@ -16,7 +16,7 @@ def encode_image(image_path): # Getting the base64 string base64_image = encode_image(image_path) -client = OpenAI(api_key="") +client = OpenAI() response = client.chat.completions.create( model="gpt-4o-mini", diff --git a/task_configs/put_objects_into_bowl_2_with_stage.py b/task_configs/put_objects_into_bowl_2_with_stage.py index b4dd135..4531b89 100755 --- a/task_configs/put_objects_into_bowl_2_with_stage.py +++ b/task_configs/put_objects_into_bowl_2_with_stage.py @@ -297,7 +297,7 @@ def tensor_to_base64_image(tensor): # Getting the base64 string base64_image = tensor_to_base64_image(image_tensor) - client = openai.OpenAI(api_key="") + client = openai.OpenAI() response = client.chat.completions.create( model="gpt-4o", diff --git a/use_api.py b/use_api.py index 557ce8e..ee10999 100644 --- a/use_api.py +++ b/use_api.py @@ -23,7 +23,7 @@ def capture_image(camera_index): # Call gpt4 api for plans and instructions def call_gpt4_for_planning(initial_prompt = None, image_base64 = None, instruction = None): - api_key = "" + api_url = "https://api.openai.com/v1/chat/completions" headers = { "Content-Type": "application/json", @@ -59,7 +59,7 @@ def call_gpt4_for_planning(initial_prompt = None, image_base64 = None, instructi # Call gpt4 api for plans and instructions def call_gpt4_for_judgement(prompt = None, image_base64 = None): - api_key = "sk-proj-ThHbAqYhOdLCTbYWfZnnT3BlbkFJ3sk2kwtniRqC4lvwzM0x" + api_url = "https://api.openai.com/v1/chat/completions" headers = { "Content-Type": "application/json", From 1f9a0470fabdd1bb61880d7a55f44bacdd4d89cf Mon Sep 17 00:00:00 2001 From: xiang <1203267147a@gmail.com> Date: Sat, 14 Sep 2024 19:42:31 +0800 Subject: [PATCH 13/13] add gpt --- .gitignore.save | 153 ++++++++++++++++++++++++++++++++++++++++++++++++ chat_copy.py | 57 ------------------ 2 files changed, 153 insertions(+), 57 deletions(-) create mode 100644 .gitignore.save delete mode 100644 chat_copy.py diff --git a/.gitignore.save b/.gitignore.save new file mode 100644 index 0000000..a087382 --- /dev/null +++ b/.gitignore.save @@ -0,0 +1,153 @@ +bin +logs +wandb +outputs +data/ +data_local +.vscode +_wandb + +**/.DS_Store + +fuse.cfg + +*.ai + +# Generation results +results/ + +ray/auth.json + +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +pip-wheel-metadata/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +.python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +my_ckpt/ +eval_results/ +task_configs/* +!task_configs/template.py +!task_configs/example_task.py +!task_configs/loader.py +!task_configs/config_augmentation/ +!task_configs/config_tools/ +test.* +test/ +demonstrations/ +onnx_output/ diff --git a/chat_copy.py b/chat_copy.py deleted file mode 100644 index 5384e7d..0000000 --- a/chat_copy.py +++ /dev/null @@ -1,57 +0,0 @@ -import os - -import base64 -from PIL import Image -from io import BytesIO - -# Set up proxy if needed -os.environ["http_proxy"] = "http://localhost:7890" -os.environ["https_proxy"] = "http://localhost:7890" - -# Initialize the OpenAI client -from openai import OpenAI -client = OpenAI(api_key="") - -def call_gpt4_api(image_path): - try: - # Read the image and encode it as base64 - with open(image_path, 'rb') as file: - image_buffer = file.read() - base64_image = base64.b64encode(image_buffer).decode('utf-8') - - # Construct the prompt - prompt = ( - "Analyze the image and return a dictionary with 'status': " - "0 if the object is dropped and not caught, " - "1 if there is no object to catch, " - "2 if there is too much clutter in the image." - ) - - # Call the OpenAI API - completion = client.chat.completions.create( - model="gpt-4", - messages=[ - {"role": "system", "content": "You are a helpful assistant."}, - {"role": "user", "content": prompt}, - {"role": "user", "content": f"data:image/jpeg;base64,{base64_image}", "detail": "low"} - ], - max_tokens=720 - ) - - # Check the response - if completion and completion.choices: - return completion.choices[0].message.content - else: - print("Failed to get a valid response") - return None - - except Exception as e: - print(f"An error occurred: {e}") - return None - -# Call the function and print the result -result = call_gpt4_api('/home/qiuzhi/bowls.png') -if result: - print(result) -else: - print("Failed to get a valid response") \ No newline at end of file