[ { "path": ".gitignore", "content": "# Created by https://www.toptal.com/developers/gitignore/api/visualstudiocode,python,vim\n# Edit at https://www.toptal.com/developers/gitignore?templates=visualstudiocode,python,vim\n\n### Python ###\n# Byte-compiled / optimized / DLL files\n__pycache__/\n*.py[cod]\n*$py.class\n\n# C extensions\n*.so\n\n# Distribution / packaging\n.Python\nbuild/\ndevelop-eggs/\ndist/\ndownloads/\neggs/\n.eggs/\nlib/\nlib64/\nparts/\nsdist/\nvar/\nwheels/\nshare/python-wheels/\n*.egg-info/\n.installed.cfg\n*.egg\nMANIFEST\n\n# PyInstaller\n# Usually these files are written by a python script from a template\n# before PyInstaller builds the exe, so as to inject date/other infos into it.\n*.manifest\n*.spec\n\n# Installer logs\npip-log.txt\npip-delete-this-directory.txt\n\n# Unit test / coverage reports\nhtmlcov/\n.tox/\n.nox/\n.coverage\n.coverage.*\n.cache\nnosetests.xml\ncoverage.xml\n*.cover\n*.py,cover\n.hypothesis/\n.pytest_cache/\ncover/\n\n# Translations\n*.mo\n*.pot\n\n# Django stuff:\n*.log\nlocal_settings.py\ndb.sqlite3\ndb.sqlite3-journal\n\n# Flask stuff:\ninstance/\n.webassets-cache\n\n# Scrapy stuff:\n.scrapy\n\n# Sphinx documentation\ndocs/_build/\n\n# PyBuilder\n.pybuilder/\ntarget/\n\n# Jupyter Notebook\n.ipynb_checkpoints\n\n# IPython\nprofile_default/\nipython_config.py\n\n# pyenv\n# For a library or package, you might want to ignore these files since the code is\n# intended to run in multiple environments; otherwise, check them in:\n# .python-version\n\n# pipenv\n# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.\n# However, in case of collaboration, if having platform-specific dependencies or dependencies\n# having no cross-platform support, pipenv may install dependencies that don't work, or not\n# install all needed dependencies.\n#Pipfile.lock\n\n# poetry\n# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.\n# This is especially recommended for binary packages to ensure reproducibility, and is more\n# commonly ignored for libraries.\n# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control\n#poetry.lock\n\n# pdm\n# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.\n#pdm.lock\n# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it\n# in version control.\n# https://pdm.fming.dev/#use-with-ide\n.pdm.toml\n\n# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm\n__pypackages__/\n\n# Celery stuff\ncelerybeat-schedule\ncelerybeat.pid\n\n# SageMath parsed files\n*.sage.py\n\n# Environments\n.env\n.venv\nenv/\nvenv/\nENV/\nenv.bak/\nvenv.bak/\n\n# Spyder project settings\n.spyderproject\n.spyproject\n\n# Rope project settings\n.ropeproject\n\n# mkdocs documentation\n/site\n\n# mypy\n.mypy_cache/\n.dmypy.json\ndmypy.json\n\n# Pyre type checker\n.pyre/\n\n# pytype static type analyzer\n.pytype/\n\n# Cython debug symbols\ncython_debug/\n\n# PyCharm\n# JetBrains specific template is maintained in a separate JetBrains.gitignore that can\n# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore\n# and can be added to the global gitignore or merged into this file. For a more nuclear\n# option (not recommended) you can uncomment the following to ignore the entire idea folder.\n#.idea/\n\n### Python Patch ###\n# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration\npoetry.toml\n\n# ruff\n.ruff_cache/\n\n# LSP config files\npyrightconfig.json\n\n### Vim ###\n# Swap\n[._]*.s[a-v][a-z]\n!*.svg # comment out if you don't need vector files\n[._]*.sw[a-p]\n[._]s[a-rt-v][a-z]\n[._]ss[a-gi-z]\n[._]sw[a-p]\n\n# Session\nSession.vim\nSessionx.vim\n\n# Temporary\n.netrwhist\n*~\n# Auto-generated tag files\ntags\n# Persistent undo\n[._]*.un~\n\n### VisualStudioCode ###\n.vscode/*\n!.vscode/settings.json\n!.vscode/tasks.json\n!.vscode/launch.json\n!.vscode/extensions.json\n!.vscode/*.code-snippets\n\n# Local History for Visual Studio Code\n.history/\n\n# Built Visual Studio Code Extensions\n*.vsix\n\n### VisualStudioCode Patch ###\n# Ignore all local history of files\n.history\n.ionide\n\n# End of https://www.toptal.com/developers/gitignore/api/visualstudiocode,python,vim\n\nwandb/" }, { "path": ".gitmodules", "content": "[submodule \"third_party/kinetix\"]\n\tpath = third_party/kinetix\n\turl = https://github.com/FlairOx/Kinetix.git\n" }, { "path": "LICENSE", "content": "MIT License\n\nCopyright (c) 2025 Physical Intelligence\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n" }, { "path": "README.md", "content": "Simulated experiments for the papers [Real-Time Execution of Action Chunking Flow Policies](https://arxiv.org/abs/2506.07339) and [Training-Time Action Conditioning for Efficient Real-Time Chunking](https://arxiv.org/abs/2512.05964).\n\n## Installation\n\n```bash\n# Clone Kinetix submodule\ngit submodule update --init\n# Install uv\ncurl -LsSf https://astral.sh/uv/install.sh | sh\n# Install dependencies\nuv sync\n```\n\n## Pre-trained checkpoints and data\n`gs://rtc-assets/expert/` contains expert checkpoints generated by `src/train_expert.py`, and `gs://rtc-assets/expert/data/` contains million-transition datasets for each level (generated by `src/generate_data.py`). Be aware that the `expert/` directory is about 60GiB in total.\n\n`gs://rtc-assets/bc/` contains imitation learning policies for each level trained on the aforementioned data (generated by `src/train_flow.py`). These are directly usable with `src/eval_flow.py`.\n\n## Reproduce results\nNote that, for all scripts, your number of GPUs must divide the number of levels (default 12) because computation is\nsharded over levels.\n\n1. Train expert policies: `uv run src/train_expert.py`\n - By default, this will train 8 seeds per level for 65 million environment steps each.\n - Checkpoints, videos, and stats are written to a wandb project called `rtc-kinetix-expert` and the local directory `./logs-expert/`. It is recommended to control other wandb options, like the run name, using environment variables.\n2. Generate data: `uv run src/generate_data.py --config.run-path ./logs-expert/`\n - For each level, this will automatically load the best-performing checkpoint for each seed (discarding seeds that didn't reach a certain success threshold). \n - By default, 1 million environment steps are collected for each level using a mixture of expert policies.\n - Data is written back to `./logs-expert//data/`.\n3. Train imitation learning policies: `uv run src/train_flow.py --config.run-path ./logs-expert/`\n - This will load the data from step 2 and train flow matching policies for each level.\n - Checkpoints, videos, and stats are written to a wandb project called `rtc-kinetix-bc` and the local directory `./logs-bc/`. It is recommended to control other wandb options, like the run name, using environment variables.\n4. Evaluate imitation learning policies: `uv run src/eval_flow.py --config.run-path ./logs-bc/ --output-dir `\n - This will load the checkpoints from step 3 and evaluate them for 2048 trials per level by default.\n - Currently, the script performs an exhaustive sweep over inference delay and execution horizon for all methods.\n \n## Training-Time RTC\nTo reproduce the results for training-time RTC, follow the following steps:\n\n1. Change `simulated_delay` in the model config to 5.\n2. Fine-tune the pre-trained checkpoint with simulated delay for 8 epochs: `uv run src/train_flow.py --config.run-path --config.load-dir bc/24 --config.num-epochs 8` where `bc` is the contents of `gs://rtc-assets/bc/`.\n3. Evaluate as above.\n" }, { "path": "pyproject.toml", "content": "[build-system]\nrequires = [\"setuptools>=64.0\"]\nbuild-backend = \"setuptools.build_meta\"\n\n[project]\nname = \"real-time-chunking-kinetix\"\nversion = \"0.0.1\"\nauthors = [\n { name=\"Kevin Black\", email=\"kevin@physicalintelligence.company\" }\n]\ndescription = \"\"\nrequires-python = \">=3.11\"\ndependencies = [\n \"jax[cuda12]==0.4.35\",\n \"numpy==1.26.4\",\n \"tyro\",\n \"einops\",\n \"pandas\",\n \"tqdm-loggable\",\n \"kinetix\",\n]\n\n\n[tool.ruff]\nline-length = 120\n\n[tool.uv.sources]\nkinetix = { path = \"third_party/kinetix\", editable = true }\n\n[tool.ruff.lint.isort]\nforce-single-line = true\nforce-sort-within-sections = true\nsingle-line-exclusions = [\"collections.abc\", \"typing\", \"typing_extensions\"]\nknown-third-party = [\"wandb\"]\n" }, { "path": "src/eval_flow.py", "content": "import collections\nimport dataclasses\nimport functools\nimport math\nimport pathlib\nimport pickle\nfrom typing import Sequence\n\nimport flax.nnx as nnx\nimport jax\nfrom jax.experimental import shard_map\nimport jax.numpy as jnp\nimport kinetix.environment.env as kenv\nimport kinetix.environment.env_state as kenv_state\nimport kinetix.environment.wrappers as wrappers\nimport kinetix.render.renderer_pixels as renderer_pixels\nimport pandas as pd\nimport tyro\n\nimport model as _model\nimport train_expert\n\n\n@dataclasses.dataclass(frozen=True)\nclass NaiveMethodConfig:\n pass\n\n\n@dataclasses.dataclass(frozen=True)\nclass RealtimeMethodConfig:\n prefix_attention_schedule: _model.PrefixAttentionSchedule = \"exp\"\n max_guidance_weight: float = 5.0\n\n\n@dataclasses.dataclass(frozen=True)\nclass BIDMethodConfig:\n n_samples: int = 16\n bid_k: int | None = None\n\n\n@dataclasses.dataclass(frozen=True)\nclass EvalConfig:\n step: int = -1\n weak_step: int | None = None\n num_evals: int = 2048\n num_flow_steps: int = 5\n\n inference_delay: int = 0\n execute_horizon: int = 1\n method: NaiveMethodConfig | RealtimeMethodConfig | BIDMethodConfig = NaiveMethodConfig()\n\n model: _model.ModelConfig = _model.ModelConfig()\n\n\ndef eval(\n config: EvalConfig,\n env: kenv.environment.Environment,\n rng: jax.Array,\n level: kenv_state.EnvState,\n policy: _model.FlowPolicy,\n env_params: kenv_state.EnvParams,\n static_env_params: kenv_state.EnvParams,\n weak_policy: _model.FlowPolicy | None = None,\n):\n env = train_expert.BatchEnvWrapper(\n wrappers.LogWrapper(wrappers.AutoReplayWrapper(train_expert.NoisyActionWrapper(env))), config.num_evals\n )\n render_video = train_expert.make_render_video(renderer_pixels.make_render_pixels(env_params, static_env_params))\n assert config.execute_horizon >= config.inference_delay, f\"{config.execute_horizon=} {config.inference_delay=}\"\n\n def execute_chunk(carry, _):\n def step(carry, action):\n rng, obs, env_state = carry\n rng, key = jax.random.split(rng)\n next_obs, next_env_state, reward, done, info = env.step(key, env_state, action, env_params)\n return (rng, next_obs, next_env_state), (done, env_state, info)\n\n rng, obs, env_state, action_chunk, n = carry\n rng, key = jax.random.split(rng)\n if isinstance(config.method, NaiveMethodConfig):\n next_action_chunk = policy.action(key, obs, config.num_flow_steps)\n elif isinstance(config.method, RealtimeMethodConfig):\n prefix_attention_horizon = policy.action_chunk_size - config.execute_horizon\n assert (\n config.inference_delay <= policy.action_chunk_size\n and prefix_attention_horizon <= policy.action_chunk_size\n ), f\"{config.inference_delay=} {prefix_attention_horizon=} {policy.action_chunk_size=}\"\n print(\n f\"{config.execute_horizon=} {config.inference_delay=} {prefix_attention_horizon=} {policy.action_chunk_size=}\"\n )\n next_action_chunk = policy.realtime_action(\n key,\n obs,\n config.num_flow_steps,\n action_chunk,\n config.inference_delay,\n prefix_attention_horizon,\n config.method.prefix_attention_schedule,\n config.method.max_guidance_weight,\n )\n elif isinstance(config.method, BIDMethodConfig):\n prefix_attention_horizon = policy.action_chunk_size - config.execute_horizon\n if config.method.bid_k is not None:\n assert weak_policy is not None, \"weak_policy is required for BID\"\n next_action_chunk = policy.bid_action(\n key,\n obs,\n config.num_flow_steps,\n action_chunk,\n config.inference_delay,\n prefix_attention_horizon,\n config.method.n_samples,\n bid_k=config.method.bid_k,\n bid_weak_policy=weak_policy if config.method.bid_k is not None else None,\n )\n else:\n raise ValueError(f\"Unknown method: {config.method}\")\n\n # we execute `inference_delay` actions from the *previously generated* action chunk, and then the remaining\n # `execute_horizon - inference_delay` actions from the newly generated action chunk\n action_chunk_to_execute = jnp.concatenate(\n [\n action_chunk[:, : config.inference_delay],\n next_action_chunk[:, config.inference_delay : config.execute_horizon],\n ],\n axis=1,\n )\n # throw away the first `execute_horizon` actions from the newly generated action chunk, to align it with the\n # correct frame of reference for the next scan iteration\n next_action_chunk = jnp.concatenate(\n [\n next_action_chunk[:, config.execute_horizon :],\n jnp.zeros((obs.shape[0], config.execute_horizon, policy.action_dim)),\n ],\n axis=1,\n )\n next_n = jnp.concatenate([n[config.execute_horizon :], jnp.zeros(config.execute_horizon, dtype=jnp.int32)])\n (rng, next_obs, next_env_state), (dones, env_states, infos) = jax.lax.scan(\n step, (rng, obs, env_state), action_chunk_to_execute.transpose(1, 0, 2)\n )\n # if config.inference_delay > 0:\n # infos[\"match\"] = jnp.mean(jnp.abs(fixed_prefix - action_chunk_to_execute))\n return (rng, next_obs, next_env_state, next_action_chunk, next_n), (dones, env_states, infos)\n\n rng, key = jax.random.split(rng)\n obs, env_state = env.reset_to_level(key, level, env_params)\n rng, key = jax.random.split(rng)\n action_chunk = policy.action(key, obs, config.num_flow_steps) # [batch, horizon, action_dim]\n n = jnp.ones(action_chunk.shape[1], dtype=jnp.int32)\n scan_length = math.ceil(env_params.max_timesteps / config.execute_horizon)\n _, (dones, env_states, infos) = jax.lax.scan(\n execute_chunk,\n (rng, obs, env_state, action_chunk, n),\n None,\n length=scan_length,\n )\n dones, env_states, infos = jax.tree.map(lambda x: x.reshape(-1, *x.shape[2:]), (dones, env_states, infos))\n assert dones.shape[0] >= env_params.max_timesteps, f\"{dones.shape=}\"\n return_info = {}\n for key in [\"returned_episode_returns\", \"returned_episode_lengths\", \"returned_episode_solved\"]:\n # only consider the first episode of each rollout\n first_done_idx = jnp.argmax(dones, axis=0)\n return_info[key] = infos[key][first_done_idx, jnp.arange(config.num_evals)].mean()\n for key in [\"match\"]:\n if key in infos:\n return_info[key] = jnp.mean(infos[key])\n video = render_video(jax.tree.map(lambda x: x[:, 0], env_states))\n return return_info, video\n\n\ndef main(\n run_path: str,\n config: EvalConfig = EvalConfig(),\n level_paths: Sequence[str] = (\n \"worlds/l/grasp_easy.json\",\n \"worlds/l/catapult.json\",\n \"worlds/l/cartpole_thrust.json\",\n \"worlds/l/hard_lunar_lander.json\",\n \"worlds/l/mjc_half_cheetah.json\",\n \"worlds/l/mjc_swimmer.json\",\n \"worlds/l/mjc_walker.json\",\n \"worlds/l/h17_unicycle.json\",\n \"worlds/l/chain_lander.json\",\n \"worlds/l/catcher_v3.json\",\n \"worlds/l/trampoline.json\",\n \"worlds/l/car_launch.json\",\n ),\n seed: int = 0,\n output_dir: str | None = \"eval_output\",\n):\n static_env_params = kenv_state.StaticEnvParams(**train_expert.LARGE_ENV_PARAMS, frame_skip=train_expert.FRAME_SKIP)\n env_params = kenv_state.EnvParams()\n levels = train_expert.load_levels(level_paths, static_env_params, env_params)\n static_env_params = static_env_params.replace(screen_dim=train_expert.SCREEN_DIM)\n\n env = kenv.make_kinetix_env_from_name(\"Kinetix-Symbolic-Continuous-v1\", static_env_params=static_env_params)\n\n # load policies from best checkpoints by solve rate\n state_dicts = []\n weak_state_dicts = []\n for level_path in level_paths:\n level_name = level_path.replace(\"/\", \"_\").replace(\".json\", \"\")\n log_dirs = list(filter(lambda p: p.is_dir() and p.name.isdigit(), pathlib.Path(run_path).iterdir()))\n log_dirs = sorted(log_dirs, key=lambda p: int(p.name))\n # load policy\n with (log_dirs[config.step] / \"policies\" / f\"{level_name}.pkl\").open(\"rb\") as f:\n state_dicts.append(pickle.load(f))\n if config.weak_step is not None:\n with (log_dirs[config.weak_step] / \"policies\" / f\"{level_name}.pkl\").open(\"rb\") as f:\n weak_state_dicts.append(pickle.load(f))\n state_dicts = jax.device_put(jax.tree.map(lambda *x: jnp.array(x), *state_dicts))\n if config.weak_step is not None:\n weak_state_dicts = jax.device_put(jax.tree.map(lambda *x: jnp.array(x), *weak_state_dicts))\n else:\n weak_state_dicts = None\n\n obs_dim = jax.eval_shape(env.reset_to_level, jax.random.key(0), jax.tree.map(lambda x: x[0], levels), env_params)[\n 0\n ].shape[-1]\n action_dim = env.action_space(env_params).shape[0]\n\n mesh = jax.make_mesh((jax.local_device_count(),), (\"x\",))\n pspec = jax.sharding.PartitionSpec(\"x\")\n sharding = jax.sharding.NamedSharding(mesh, pspec)\n\n @functools.partial(jax.jit, static_argnums=(0,), in_shardings=sharding, out_shardings=sharding)\n @functools.partial(shard_map.shard_map, mesh=mesh, in_specs=(None, pspec, pspec, pspec, pspec), out_specs=pspec)\n @functools.partial(jax.vmap, in_axes=(None, 0, 0, 0, 0))\n def _eval(config: EvalConfig, rng: jax.Array, level: kenv_state.EnvState, state_dict, weak_state_dict):\n policy = _model.FlowPolicy(\n obs_dim=obs_dim,\n action_dim=action_dim,\n config=config.model,\n rngs=nnx.Rngs(rng),\n )\n graphdef, state = nnx.split(policy)\n state.replace_by_pure_dict(state_dict)\n policy = nnx.merge(graphdef, state)\n if weak_state_dict is not None:\n graphdef, state = nnx.split(policy)\n state.replace_by_pure_dict(weak_state_dict)\n weak_policy = nnx.merge(graphdef, state)\n else:\n weak_policy = None\n eval_info, _ = eval(config, env, rng, level, policy, env_params, static_env_params, weak_policy)\n return eval_info\n\n rngs = jax.random.split(jax.random.key(seed), len(level_paths))\n results = collections.defaultdict(list)\n for inference_delay in [0, 1, 2, 3, 4]:\n for execute_horizon in range(max(1, inference_delay), 8 - inference_delay + 1):\n print(f\"{inference_delay=} {execute_horizon=}\")\n c = dataclasses.replace(\n config, inference_delay=inference_delay, execute_horizon=execute_horizon, method=NaiveMethodConfig()\n )\n out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))\n for i in range(len(level_paths)):\n for k, v in out.items():\n results[k].append(v[i])\n results[\"delay\"].append(inference_delay)\n results[\"method\"].append(\"naive\")\n results[\"level\"].append(level_paths[i])\n results[\"execute_horizon\"].append(execute_horizon)\n\n c = dataclasses.replace(\n config, inference_delay=inference_delay, execute_horizon=execute_horizon, method=RealtimeMethodConfig()\n )\n out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))\n for i in range(len(level_paths)):\n for k, v in out.items():\n results[k].append(v[i])\n results[\"delay\"].append(inference_delay)\n results[\"method\"].append(\"realtime\")\n results[\"level\"].append(level_paths[i])\n results[\"execute_horizon\"].append(execute_horizon)\n\n c = dataclasses.replace(\n config, inference_delay=inference_delay, execute_horizon=execute_horizon, method=BIDMethodConfig()\n )\n out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))\n for i in range(len(level_paths)):\n for k, v in out.items():\n results[k].append(v[i])\n results[\"delay\"].append(inference_delay)\n results[\"method\"].append(\"bid\")\n results[\"level\"].append(level_paths[i])\n results[\"execute_horizon\"].append(execute_horizon)\n\n c = dataclasses.replace(\n config,\n inference_delay=inference_delay,\n execute_horizon=execute_horizon,\n method=RealtimeMethodConfig(prefix_attention_schedule=\"zeros\"),\n )\n out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))\n for i in range(len(level_paths)):\n for k, v in out.items():\n results[k].append(v[i])\n results[\"delay\"].append(inference_delay)\n results[\"method\"].append(\"hard_masking\")\n results[\"level\"].append(level_paths[i])\n results[\"execute_horizon\"].append(execute_horizon)\n pathlib.Path(output_dir).mkdir(parents=True, exist_ok=True)\n df = pd.DataFrame(results)\n df.to_csv(pathlib.Path(output_dir) / \"results.csv\", index=False)\n\n\nif __name__ == \"__main__\":\n tyro.cli(main)\n" }, { "path": "src/generate_data.py", "content": "import dataclasses\nimport functools\nimport json\nimport pathlib\nimport pickle\nfrom typing import Sequence\n\nimport einops\nfrom flax import struct\nimport flax.nnx as nnx\nimport flax.serialization\nimport jax\nimport jax.numpy as jnp\nimport kinetix.environment.env as kenv\nimport kinetix.environment.env_state as kenv_state\nimport kinetix.environment.wrappers as wrappers\nimport numpy as np\nimport tqdm_loggable.auto as tqdm\nimport tyro\n\nimport train_expert\n\n\n@dataclasses.dataclass\nclass Config:\n run_path: str\n level_paths: Sequence[str] = (\n \"worlds/l/grasp_easy.json\",\n \"worlds/l/catapult.json\",\n \"worlds/l/cartpole_thrust.json\",\n \"worlds/l/hard_lunar_lander.json\",\n \"worlds/l/mjc_half_cheetah.json\",\n \"worlds/l/mjc_swimmer.json\",\n \"worlds/l/mjc_walker.json\",\n \"worlds/l/h17_unicycle.json\",\n \"worlds/l/chain_lander.json\",\n \"worlds/l/catcher_v3.json\",\n \"worlds/l/trampoline.json\",\n \"worlds/l/car_launch.json\",\n )\n seed: int = 0\n # Number of environments to run in parallel.\n num_envs: int = 128\n # Batch size for scan in number of steps *per environment*.\n batch_size: int = 256\n # Number of *total* steps to collect (lower bound -- rounded up to nearest multiple of batch size * num_envs).\n num_steps: int = 1_000_000\n\n solve_rate_threshold: float = 0.65\n action_sample_std: float | None = None\n\n\n@struct.dataclass\nclass Data:\n obs: jax.Array\n action: jax.Array\n done: jax.Array\n solved: jax.Array\n return_: jax.Array\n length: jax.Array\n\n\n@struct.dataclass\nclass StepCarry:\n rng: jax.Array\n obs: jax.Array\n env_state: kenv_state.EnvState\n policy_idxs: jax.Array\n\n\ndef main(config: Config):\n num_steps_per_env = (\n (config.num_steps // config.num_envs + config.batch_size - 1) // config.batch_size\n ) * config.batch_size\n print(\n f\"Generating {num_steps_per_env * config.num_envs:_} steps with {config.num_envs} environments ({num_steps_per_env} steps per env)\"\n )\n\n static_env_params = kenv_state.StaticEnvParams(**train_expert.LARGE_ENV_PARAMS, frame_skip=train_expert.FRAME_SKIP)\n env_params = kenv_state.EnvParams()\n levels = train_expert.load_levels(config.level_paths, static_env_params, env_params)\n\n env = kenv.make_kinetix_env_from_name(\"Kinetix-Symbolic-Continuous-v1\", static_env_params=static_env_params)\n env = train_expert.BatchEnvWrapper(\n wrappers.LogWrapper(\n wrappers.AutoReplayWrapper(\n train_expert.ActionHistoryWrapper(\n train_expert.ObsHistoryWrapper(train_expert.NoisyActionWrapper(env), 4)\n )\n )\n ),\n config.num_envs,\n )\n\n # load policies from best checkpoints by solve rate\n gen = np.random.default_rng(config.seed)\n state_dicts, good_policy_masks = [], []\n for level_path in config.level_paths:\n level_name = level_path.replace(\"/\", \"_\").replace(\".json\", \"\")\n print(level_name)\n level_state_dicts, level_good_policy_mask = [], []\n for seed_dir in pathlib.Path(config.run_path).glob(\"seed_*\"):\n # load stats\n log_dirs = list(filter(lambda p: p.is_dir() and p.name.isdigit(), seed_dir.iterdir()))\n level_stats = [json.load((p / \"stats\" / f\"{level_name}.json\").open(\"r\")) for p in log_dirs]\n level_stats = jax.tree.map(lambda *x: jnp.stack(x), *level_stats)\n # pick a random policy with solve rate >= threshold\n solved_idxs = np.nonzero(level_stats[\"returned_episode_solved\"] >= config.solve_rate_threshold)[0]\n if len(solved_idxs) == 0:\n chosen_idx = np.argmax(level_stats[\"returned_episode_solved\"])\n level_good_policy_mask.append(False)\n else:\n chosen_idx = gen.choice(solved_idxs)\n level_good_policy_mask.append(True)\n # load policy\n chosen_log_dir = log_dirs[chosen_idx]\n with open(chosen_log_dir / \"policies\" / f\"{level_name}.pkl\", \"rb\") as f:\n level_state_dicts.append(pickle.load(f))\n print(\n f\"\\t{seed_dir.name}: {level_stats['returned_episode_solved'][chosen_idx]:.3f} {'[MASKED]' if not level_good_policy_mask[-1] else ''}\"\n )\n state_dicts.append(jax.tree.map(lambda *x: jnp.array(x), *level_state_dicts))\n good_policy_masks.append(level_good_policy_mask)\n\n state_dicts = jax.tree.map(lambda *x: jnp.array(x), *state_dicts)\n good_policy_masks = jnp.array(good_policy_masks)\n state_dicts, good_policy_masks = jax.device_put((state_dicts, good_policy_masks))\n\n def new_policy_idxs(rng: jax.Array, good_policy_mask: jax.Array) -> jax.Array:\n # select a random policy for each environment\n rng, key = jax.random.split(rng)\n randint = jax.random.randint(key, (config.num_envs,), 0, good_policy_mask.sum())\n return jnp.nonzero(good_policy_mask, size=good_policy_mask.shape[0])[0][randint]\n\n @jax.jit\n @jax.vmap\n def init(rng: jax.Array, level: kenv_state.EnvState, good_policy_mask: jax.Array) -> StepCarry:\n rng, key = jax.random.split(rng)\n obs, env_state = env.reset_to_level(key, level, env_params)\n rng, key = jax.random.split(rng)\n policy_idxs = new_policy_idxs(key, good_policy_mask)\n return StepCarry(rng, obs, env_state, policy_idxs)\n\n @functools.partial(jax.jit, static_argnums=(3,), donate_argnums=(0,))\n @functools.partial(jax.vmap, in_axes=(0, 0, 0, None))\n def step_n(carry: StepCarry, state_dict: dict, good_policy_mask: jax.Array, n: int):\n def step(carry: StepCarry, _):\n # create agent\n action_dim = env.action_space(env_params).shape[0]\n assert len(carry.obs.shape) == 2\n obs_dim = carry.obs.shape[1]\n\n @jax.vmap # over environments\n def get_action(key, obs, policy_idx):\n agent = train_expert.Agent(obs_dim, action_dim, 1, rngs=nnx.Rngs(0))\n graphdef, state = nnx.split(agent)\n state.replace_by_pure_dict(jax.tree.map(lambda x: x[policy_idx], state_dict))\n agent = nnx.merge(graphdef, state)\n mean, std = agent.action(obs)\n if config.action_sample_std is not None:\n std = jnp.full_like(mean, config.action_sample_std)\n action_dist = train_expert.make_squashed_normal_diag(mean, std, static_env_params.num_motor_bindings)\n return action_dist.sample(seed=key)\n\n # step\n rng, key = jax.random.split(carry.rng)\n action = get_action(jax.random.split(key, config.num_envs), carry.obs, carry.policy_idxs)\n rng, key = jax.random.split(rng)\n next_obs, next_env_state, reward, done, info = env.step(key, carry.env_state, action, env_params)\n\n # select new policies only at episode boundaries\n rng, key = jax.random.split(rng)\n next_policy_idxs = jnp.where(done, new_policy_idxs(key, good_policy_mask), carry.policy_idxs)\n\n # only retain important info\n info = {\n k: v\n for k, v in info.items()\n if k in [\"returned_episode_returns\", \"returned_episode_lengths\", \"returned_episode_solved\"]\n }\n return StepCarry(rng, next_obs, next_env_state, next_policy_idxs), Data(\n train_expert.ObsHistoryWrapper.get_original_obs(carry.env_state),\n action,\n done,\n info[\"returned_episode_solved\"],\n info[\"returned_episode_returns\"],\n info[\"returned_episode_lengths\"],\n )\n\n return jax.lax.scan(step, carry, None, length=n)\n\n rng = jax.random.key(config.seed)\n carry = init(jax.random.split(rng, len(config.level_paths)), levels, good_policy_masks)\n pbar = tqdm.tqdm(total=num_steps_per_env * config.num_envs, dynamic_ncols=True)\n data = []\n for _ in range(0, num_steps_per_env, config.batch_size):\n carry, result = step_n(carry, state_dicts, good_policy_masks, config.batch_size)\n data.append(jax.device_get(result))\n pbar.update(config.batch_size * config.num_envs)\n pbar.close()\n with jax.default_device(jax.devices(\"cpu\")[0]):\n data: Data = jax.tree.map(\n lambda *x: einops.rearrange(\n jnp.stack(x),\n \"num_batch level batch_size num_env ... -> level (num_batch batch_size) num_env ...\",\n ),\n *data,\n )\n\n for i, level_path in enumerate(config.level_paths):\n level_name = level_path.replace(\"/\", \"_\").replace(\".json\", \"\")\n print_info = {\"num_episodes\": data.done[i].sum()}\n for key in [\"return_\", \"length\", \"solved\"]:\n print_info[key] = (getattr(data, key)[i] * data.done[i]).sum() / print_info[\"num_episodes\"]\n\n print(f\"{level_name}:\")\n for k, v in print_info.items():\n print(f\"\\t{k}: {v:.3f}\")\n\n data_path = pathlib.Path(config.run_path) / \"data\"\n data_path.mkdir(parents=True, exist_ok=True)\n level_data = flax.serialization.to_state_dict(jax.tree.map(lambda x: x[i], data))\n np.savez(data_path / f\"{level_name}.npz\", **level_data)\n\n\nif __name__ == \"__main__\":\n tyro.cli(main)\n" }, { "path": "src/model.py", "content": "import dataclasses\nimport functools\nfrom typing import Literal, TypeAlias, Self\n\nimport einops\nimport flax.nnx as nnx\nimport jax\nimport jax.numpy as jnp\n\n\n@dataclasses.dataclass(frozen=True)\nclass ModelConfig:\n channel_dim: int = 256\n channel_hidden_dim: int = 512\n token_hidden_dim: int = 64\n num_layers: int = 4\n action_chunk_size: int = 8\n simulated_delay: int | None = None\n\n\ndef posemb_sincos(pos: jax.Array, embedding_dim: int, min_period: float, max_period: float) -> jax.Array:\n \"\"\"Computes sine-cosine positional embedding vectors for scalar positions.\"\"\"\n if embedding_dim % 2 != 0:\n raise ValueError(f\"embedding_dim ({embedding_dim}) must be divisible by 2\")\n\n fraction = jnp.linspace(0.0, 1.0, embedding_dim // 2)\n period = min_period * (max_period / min_period) ** fraction\n sinusoid_input = jnp.einsum(\n \"i,j->ij\",\n pos,\n 1.0 / period * 2 * jnp.pi,\n precision=jax.lax.Precision.HIGHEST,\n )\n return jnp.concatenate([jnp.sin(sinusoid_input), jnp.cos(sinusoid_input)], axis=-1)\n\n\nPrefixAttentionSchedule: TypeAlias = Literal[\"linear\", \"exp\", \"ones\", \"zeros\"]\n\n\ndef get_prefix_weights(start: int, end: int, total: int, schedule: PrefixAttentionSchedule) -> jax.Array:\n \"\"\"With start=2, end=6, total=10, the output will be:\n 1 1 4/5 3/5 2/5 1/5 0 0 0 0\n ^ ^\n start end\n `start` (inclusive) is where the chunk starts being allowed to change. `end` (exclusive) is where the chunk stops\n paying attention to the prefix. if start == 0, then the entire chunk is allowed to change. if end == total, then the\n entire prefix is attended to.\n\n `end` takes precedence over `start` in the sense that, if `end < start`, then `start` is pushed down to `end`. Thus,\n if `end` is 0, then the entire prefix will always be ignored.\n \"\"\"\n start = jnp.minimum(start, end)\n if schedule == \"ones\":\n w = jnp.ones(total)\n elif schedule == \"zeros\":\n w = (jnp.arange(total) < start).astype(jnp.float32)\n elif schedule == \"linear\" or schedule == \"exp\":\n w = jnp.clip((start - 1 - jnp.arange(total)) / (end - start + 1) + 1, 0, 1)\n if schedule == \"exp\":\n w = w * jnp.expm1(w) / (jnp.e - 1)\n else:\n raise ValueError(f\"Invalid schedule: {schedule}\")\n return jnp.where(jnp.arange(total) >= end, 0, w)\n\n\nclass MLPMixerBlock(nnx.Module):\n def __init__(\n self, token_dim: int, token_hidden_dim: int, channel_dim: int, channel_hidden_dim: int, *, rngs: nnx.Rngs\n ):\n self.token_mix_in = nnx.Linear(token_dim, token_hidden_dim, use_bias=False, rngs=rngs)\n self.token_mix_out = nnx.Linear(token_hidden_dim, token_dim, use_bias=False, rngs=rngs)\n self.channel_mix_in = nnx.Linear(channel_dim, channel_hidden_dim, use_bias=False, rngs=rngs)\n self.channel_mix_out = nnx.Linear(channel_hidden_dim, channel_dim, use_bias=False, rngs=rngs)\n self.norm_1 = nnx.LayerNorm(channel_dim, use_scale=False, use_bias=False, rngs=rngs)\n self.norm_2 = nnx.LayerNorm(channel_dim, use_scale=False, use_bias=False, rngs=rngs)\n self.adaln_1 = nnx.Linear(channel_dim, 3 * channel_dim, kernel_init=nnx.initializers.zeros_init(), rngs=rngs)\n self.adaln_2 = nnx.Linear(channel_dim, 3 * channel_dim, kernel_init=nnx.initializers.zeros_init(), rngs=rngs)\n\n def __call__(self, x: jax.Array, adaln_cond: jax.Array) -> jax.Array:\n scale_1, shift_1, gate_1 = jnp.split(self.adaln_1(adaln_cond), 3, axis=-1)\n scale_2, shift_2, gate_2 = jnp.split(self.adaln_2(adaln_cond), 3, axis=-1)\n\n # token mix\n residual = x\n x = self.norm_1(x) * (1 + scale_1) + shift_1\n x = x.transpose(0, 2, 1)\n x = self.token_mix_in(x)\n x = nnx.gelu(x)\n x = self.token_mix_out(x)\n x = x.transpose(0, 2, 1)\n x = residual + gate_1 * x\n\n # channel mix\n residual = x\n x = self.norm_2(x) * (1 + scale_2) + shift_2\n x = self.channel_mix_in(x)\n x = nnx.gelu(x)\n x = self.channel_mix_out(x)\n x = residual + gate_2 * x\n return x\n\n\nclass FlowPolicy(nnx.Module):\n def __init__(\n self,\n *,\n obs_dim: int,\n action_dim: int,\n config: ModelConfig,\n rngs: nnx.Rngs,\n ):\n self.channel_dim = config.channel_dim\n self.action_dim = action_dim\n self.action_chunk_size = config.action_chunk_size\n self.simulated_delay = config.simulated_delay\n\n self.in_proj = nnx.Linear(action_dim + obs_dim, config.channel_dim, rngs=rngs)\n self.mlp_stack = [\n MLPMixerBlock(\n config.action_chunk_size,\n config.token_hidden_dim,\n config.channel_dim,\n config.channel_hidden_dim,\n rngs=rngs,\n )\n for _ in range(config.num_layers)\n ]\n self.time_mlp = nnx.Sequential(\n nnx.Linear(config.channel_dim, config.channel_dim, rngs=rngs),\n nnx.swish,\n nnx.Linear(config.channel_dim, config.channel_dim, rngs=rngs),\n nnx.swish,\n )\n self.final_norm = nnx.LayerNorm(config.channel_dim, use_scale=False, use_bias=False, rngs=rngs)\n self.final_adaln = nnx.Linear(\n config.channel_dim, 2 * config.channel_dim, kernel_init=nnx.initializers.zeros_init(), rngs=rngs\n )\n self.out_proj = nnx.Linear(config.channel_dim, action_dim, rngs=rngs)\n\n def __call__(self, obs: jax.Array, x_t: jax.Array, time: jax.Array) -> jax.Array:\n assert x_t.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), x_t.shape\n if time.ndim == 1:\n time = time[:, None]\n time = jnp.broadcast_to(time, (obs.shape[0], self.action_chunk_size))\n time_emb = jax.vmap(\n functools.partial(posemb_sincos, embedding_dim=self.channel_dim, min_period=4e-3, max_period=4.0)\n )(time)\n time_emb = self.time_mlp(time_emb)\n obs = einops.repeat(obs, \"b e -> b c e\", c=self.action_chunk_size)\n x = jnp.concatenate([x_t, obs], axis=-1)\n x = self.in_proj(x)\n for mlp in self.mlp_stack:\n x = mlp(x, time_emb)\n assert x.shape == (obs.shape[0], self.action_chunk_size, self.channel_dim), x.shape\n scale, shift = jnp.split(self.final_adaln(time_emb), 2, axis=-1)\n x = self.final_norm(x) * (1 + scale) + shift\n x = self.out_proj(x)\n return x\n\n def action(self, rng: jax.Array, obs: jax.Array, num_steps: int) -> jax.Array:\n dt = 1 / num_steps\n\n def step(carry, _):\n x_t, time = carry\n v_t = self(obs, x_t, time)\n return (x_t + dt * v_t, time + dt), None\n\n noise = jax.random.normal(rng, shape=(obs.shape[0], self.action_chunk_size, self.action_dim))\n (x_1, _), _ = jax.lax.scan(step, (noise, 0.0), length=num_steps)\n assert x_1.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), x_1.shape\n return x_1\n\n def bid_action(\n self,\n rng: jax.Array,\n obs: jax.Array,\n num_steps: int,\n prev_action_chunk: jax.Array, # [batch, horizon, action_dim]\n inference_delay: int,\n prefix_attention_horizon: int,\n n_samples: int,\n # when below two are None, it becomes backwards loss only (i.e., rejection sampling)\n bid_weak_policy: Self | None = None,\n bid_k: int | None = None,\n ) -> jax.Array:\n obs = einops.repeat(obs, \"b ... -> (n b) ...\", n=n_samples)\n weights = get_prefix_weights(inference_delay, prefix_attention_horizon, self.action_chunk_size, \"exp\")\n\n def backward_loss(action_chunks: jax.Array):\n error = jnp.linalg.norm(action_chunks - prev_action_chunk, axis=-1) # [n, b, h]\n return jnp.sum(error * weights[None, None, :], axis=-1) # [n, b]\n\n strong_actions = einops.rearrange(self.action(rng, obs, num_steps), \"(n b) h d -> n b h d\", n=n_samples)\n loss = backward_loss(strong_actions) # [n, b]\n\n if bid_weak_policy is not None or bid_k is not None:\n assert bid_weak_policy is not None and bid_k is not None, (bid_weak_policy, bid_k)\n weak_actions = einops.rearrange(\n bid_weak_policy.action(rng, obs, num_steps), \"(n b) h d -> n b h d\", n=n_samples\n )\n weak_loss = backward_loss(weak_actions) # [n, b]\n weak_idxs = jax.lax.top_k(-weak_loss.T, bid_k)[1].T # [k, b]\n strong_idxs = jax.lax.top_k(-loss.T, bid_k)[1].T # [k, b]\n a_plus = jnp.take_along_axis(strong_actions, strong_idxs[:, :, None, None], axis=0) # [k, b, h, d]\n a_minus = jnp.take_along_axis(weak_actions, weak_idxs[:, :, None, None], axis=0) # [k, b, h, d]\n # compute forward loss for each action in strong_actions\n forward_loss = jnp.sum(\n jnp.linalg.norm(strong_actions[:, None] - a_plus[None, :], axis=-1), # [n, k, b, h]\n axis=(1, 3), # [n, b]\n ) - jnp.sum(\n jnp.linalg.norm(strong_actions[:, None] - a_minus[None, :], axis=-1), # [n, k, b, h]\n axis=(1, 3), # [n, b]\n )\n loss += forward_loss / n_samples\n\n best_idxs = jnp.argmin(loss, axis=0) # [b]\n return jnp.take_along_axis(strong_actions, best_idxs[None, :, None, None], axis=0).squeeze(0) # [b, h, d]\n\n def realtime_action(\n self,\n rng: jax.Array,\n obs: jax.Array,\n num_steps: int,\n prev_action_chunk: jax.Array, # [batch, horizon, action_dim]\n inference_delay: int,\n prefix_attention_horizon: int,\n prefix_attention_schedule: PrefixAttentionSchedule,\n max_guidance_weight: float,\n ) -> jax.Array:\n dt = 1 / num_steps\n\n def step(carry, _):\n x_t, time = carry\n\n @functools.partial(jax.vmap, in_axes=(0, 0, 0, None)) # over batch\n def pinv_corrected_velocity(obs, x_t, y, t):\n def denoiser(x_t):\n v_t = self(obs[None], x_t[None], t)[0]\n return x_t + v_t * (1 - t), v_t\n\n x_1, vjp_fun, v_t = jax.vjp(denoiser, x_t, has_aux=True)\n weights = get_prefix_weights(\n inference_delay, prefix_attention_horizon, self.action_chunk_size, prefix_attention_schedule\n )\n error = (y - x_1) * weights[:, None]\n pinv_correction = vjp_fun(error)[0]\n # constants from paper\n inv_r2 = (t**2 + (1 - t) ** 2) / ((1 - t) ** 2)\n c = jnp.nan_to_num((1 - t) / t, posinf=max_guidance_weight)\n guidance_weight = jnp.minimum(c * inv_r2, max_guidance_weight)\n return v_t + guidance_weight * pinv_correction\n\n if self.simulated_delay is not None:\n mask = jnp.arange(self.action_chunk_size)[None, :] < inference_delay\n x_t = jnp.where(mask[:, :, None], prev_action_chunk, x_t)\n time_chunk = jnp.where(mask, 1.0, time)\n v_t = self(obs, x_t, time_chunk)\n else:\n v_t = pinv_corrected_velocity(obs, x_t, prev_action_chunk, time)\n return (x_t + dt * v_t, time + dt), None\n\n noise = jax.random.normal(rng, shape=(obs.shape[0], self.action_chunk_size, self.action_dim))\n (x_1, _), _ = jax.lax.scan(step, (noise, 0.0), length=num_steps)\n assert x_1.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), x_1.shape\n return x_1\n\n def loss(self, rng: jax.Array, obs: jax.Array, action: jax.Array):\n assert action.dtype == jnp.float32\n assert action.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), action.shape\n noise_rng, time_rng, delay_rng = jax.random.split(rng, 3)\n time = jax.random.uniform(time_rng, (obs.shape[0],))\n noise = jax.random.normal(noise_rng, shape=action.shape)\n u_t = action - noise\n\n if self.simulated_delay is None:\n x_t = (1 - time[:, None, None]) * noise + time[:, None, None] * action\n pred = self(obs, x_t, time)\n return jnp.mean(jnp.square(pred - u_t))\n\n w = jnp.exp(jnp.arange(0, self.simulated_delay)[::-1])\n w = w / jnp.sum(w)\n delay = jax.random.choice(delay_rng, self.simulated_delay, (obs.shape[0],), p=w)\n mask = jnp.arange(self.action_chunk_size)[None, :] < delay[:, None]\n time = jnp.where(mask, 1.0, time[:, None])\n x_t = (1 - time[:, :, None]) * noise + time[:, :, None] * action\n pred = self(obs, x_t, time)\n loss = jnp.square(pred - u_t)\n loss_mask = jnp.logical_not(mask)[:, :, None]\n return jnp.sum(loss * loss_mask) / (jnp.sum(loss_mask) + 1e-8)\n" }, { "path": "src/render_levels.py", "content": "import pathlib\nimport jax\nimport jax.numpy as jnp\nimport kinetix.environment.env as kenv\nimport kinetix.environment.env_state as kenv_state\nimport kinetix.render.renderer_pixels as renderer_pixels\nimport kinetix.util.saving as saving\nimport imageio\n\n# Constants from train_expert.py\nLARGE_ENV_PARAMS = {\n \"num_polygons\": 12,\n \"num_circles\": 4,\n \"num_joints\": 6,\n \"num_thrusters\": 2,\n \"num_motor_bindings\": 4,\n \"num_thruster_bindings\": 2,\n}\nFRAME_SKIP = 2\nSCREEN_DIM = (512, 512)\n\n\ndef load_levels(paths):\n static_env_params = kenv_state.StaticEnvParams(**LARGE_ENV_PARAMS, frame_skip=FRAME_SKIP)\n env_params = kenv_state.EnvParams()\n\n levels = []\n for level_path in paths:\n level, level_static_env_params, level_env_params = saving.load_from_json_file(level_path)\n # assert level_static_env_params == static_env_params, (\n # f\"Expected {static_env_params} got {level_static_env_params} for {level_path}\"\n # )\n # assert level_env_params == env_params, f\"Expected {env_params} got {level_env_params} for {level_path}\"\n levels.append(level)\n return levels, static_env_params, env_params\n\n\ndef main():\n # Define level paths\n level_paths = [\n \"worlds/l/grasp_easy.json\",\n \"worlds/l/catapult.json\",\n \"worlds/l/cartpole_thrust.json\",\n \"worlds/l/hard_lunar_lander.json\",\n \"worlds/l/mjc_half_cheetah.json\",\n \"worlds/l/mjc_swimmer.json\",\n \"worlds/l/mjc_walker.json\",\n \"worlds/l/h17_unicycle.json\",\n \"worlds/l/chain_lander.json\",\n \"worlds/l/catcher_v3.json\",\n \"worlds/l/trampoline.json\",\n \"worlds/l/car_launch.json\",\n ]\n\n # Load levels\n levels, static_env_params, env_params = load_levels(level_paths)\n\n # Update screen dimensions\n static_env_params = static_env_params.replace(screen_dim=SCREEN_DIM, downscale=2)\n\n # Create environment and renderer\n env = kenv.make_kinetix_env_from_name(\"Kinetix-Symbolic-Continuous-v1\", static_env_params=static_env_params)\n render_pixels = renderer_pixels.make_render_pixels(env_params, static_env_params)\n\n # Create output directory\n output_dir = pathlib.Path(\"rendered_levels\")\n output_dir.mkdir(exist_ok=True)\n\n # Render each level\n for i, level in enumerate(levels):\n # Reset environment to level\n _, env_state = env.reset_to_level(jax.random.key(0), level, env_params)\n\n # Render the state\n image = render_pixels(env_state).round().astype(jnp.uint8).transpose(1, 0, 2)[::-1]\n\n # Save image\n level_name = level_paths[i].split(\"/\")[-1].replace(\".json\", \"\")\n imageio.imwrite(output_dir / f\"{level_name}.jpg\", image)\n print(f\"Saved {level_name}.jpg\")\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "src/train_expert.py", "content": "import dataclasses\nimport functools\nimport json\nimport pathlib\nimport pickle\nfrom typing import Sequence\n\nfrom flax import struct\nimport flax.nnx as nnx\nimport imageio\nimport jax\nimport jax.numpy as jnp\nimport kinetix.environment.env as kenv\nimport kinetix.environment.env_state as kenv_state\nimport kinetix.environment.wrappers as wrappers\nimport kinetix.render.renderer_pixels as renderer_pixels\nimport kinetix.util.saving as saving\nimport optax\nfrom tensorflow_probability.substrates import jax as tfp\nimport tqdm_loggable.auto as tqdm\nimport tyro\nimport wandb\n\n\n@dataclasses.dataclass\nclass Config:\n level_paths: Sequence[str] = (\n \"worlds/l/grasp_easy.json\",\n \"worlds/l/catapult.json\",\n \"worlds/l/cartpole_thrust.json\",\n \"worlds/l/hard_lunar_lander.json\",\n \"worlds/l/mjc_half_cheetah.json\",\n \"worlds/l/mjc_swimmer.json\",\n \"worlds/l/mjc_walker.json\",\n \"worlds/l/h17_unicycle.json\",\n \"worlds/l/chain_lander.json\",\n \"worlds/l/catcher_v3.json\",\n \"worlds/l/trampoline.json\",\n \"worlds/l/car_launch.json\",\n )\n seed: int = 32\n num_seeds: int = 8\n log_interval: int = 20\n num_updates: int = 1000\n num_steps: int = 256\n num_envs: int = 256\n num_minibatches: int = 8\n num_epochs: int = 4\n gamma: float = 0.995\n gae_lambda: float = 0.9\n clip_eps: float = 0.2\n v_loss_coef: float = 0.5\n rpo_alpha: float = 0.3\n layer_width: int = 256\n grad_norm_clip: float = 1.0\n lr: float = 3e-4\n\n\nLOG_DIR = pathlib.Path(\"logs-expert\")\nWANDB_PROJECT = \"rtc-kinetix-expert\"\nLARGE_ENV_PARAMS = {\n \"num_polygons\": 12,\n \"num_circles\": 4,\n \"num_joints\": 6,\n \"num_thrusters\": 2,\n \"num_motor_bindings\": 4,\n \"num_thruster_bindings\": 2,\n}\nFRAME_SKIP = 2\nSCREEN_DIM = (512, 512)\nACTION_NOISE_STD = 0.1\nLOG_STD_MIN = -10.0\nLOG_STD_MAX = 2.0\nMEAN_MAX_MAGNITUDE = 5\nMAX_ACTION = 0.99999\n\n\nclass BatchEnvWrapper(wrappers.GymnaxWrapper):\n \"\"\"Define our own BatchEnvWrapper (we don't need different levels)\"\"\"\n\n def __init__(self, env, num: int):\n super().__init__(env)\n self.num = num\n\n def reset(self, rng, params):\n return jax.vmap(self._env.reset, in_axes=(0, None))(jax.random.split(rng, self.num), params)\n\n def reset_to_level(self, rng, level, params):\n return jax.vmap(self._env.reset_to_level, in_axes=(0, None, None))(\n jax.random.split(rng, self.num), level, params\n )\n\n def step(self, rng, state, action, params):\n return jax.vmap(self._env.step, in_axes=(0, 0, 0, None))(jax.random.split(rng, self.num), state, action, params)\n\n\n@struct.dataclass\nclass DenseRewardState:\n env_state: kenv_state.EnvState\n timestep: int\n action: jax.Array\n\n\nclass DenseRewardWrapper(wrappers.GymnaxWrapper):\n def __init__(self, env):\n super().__init__(env)\n\n def step(self, key, state, action, params=None):\n obs, env_state, reward, done, info = self._env.step_env(key, state.env_state, action, params)\n dist_penalty = jax.lax.select(reward > 0, 0.0, info[\"distance\"] / 6.0 / params.max_timesteps)\n new_reward = reward - jax.lax.select(done, (params.max_timesteps - state.timestep) * dist_penalty, dist_penalty)\n\n next_timestep = jax.lax.select(done, 0, state.timestep + 1)\n return obs, DenseRewardState(env_state, next_timestep, action), new_reward, done, info\n\n def reset(self, rng, params=None):\n obs, env_state = self._env.reset(rng, params)\n return obs, DenseRewardState(env_state, 0, jnp.zeros(self._env.action_space(params).shape[0]))\n\n def reset_to_level(self, rng, level, params=None):\n obs, env_state = self._env.reset_to_level(rng, level, params)\n return obs, DenseRewardState(env_state, 0, jnp.zeros(self._env.action_space(params).shape[0]))\n\n\nclass ActionHistoryWrapper(wrappers.UnderspecifiedEnvWrapper):\n def __init__(self, env):\n super().__init__(env)\n\n def step_env(self, key, state, action, params):\n obs, env_state, reward, done, info = self._env.step_env(key, state, action, params)\n obs = jnp.concatenate([obs, action])\n return obs, env_state, reward, done, info\n\n def reset_to_level(self, rng, level, params):\n obs, env_state = self._env.reset_to_level(rng, level, params)\n obs = jnp.concatenate([obs, jnp.zeros(self._env.action_space(params).shape[0])])\n return obs, env_state\n\n def action_space(self, params):\n return self._env.action_space(params)\n\n\nclass NoisyActionWrapper(wrappers.UnderspecifiedEnvWrapper):\n def __init__(self, env):\n super().__init__(env)\n\n def step_env(self, key, state, action, params):\n key1, key2 = jax.random.split(key)\n action = action + jax.random.normal(key1, action.shape) * ACTION_NOISE_STD\n return self._env.step_env(key2, state, action, params)\n\n def reset_to_level(self, rng, level, params):\n return self._env.reset_to_level(rng, level, params)\n\n def action_space(self, params):\n return self._env.action_space(params)\n\n\n@struct.dataclass\nclass StickyActionState:\n env_state: kenv_state.EnvState\n action: jax.Array\n\n\nclass StickyActionWrapper(wrappers.UnderspecifiedEnvWrapper):\n def __init__(self, env, stickiness: float):\n super().__init__(env)\n self.stickiness = stickiness\n\n def step_env(self, key, state, action, params):\n key1, key2 = jax.random.split(key)\n actual_action = jax.lax.select(jax.random.bernoulli(key1, self.stickiness), state.action, action)\n obs, env_state, reward, done, info = self._env.step_env(key2, state.env_state, actual_action, params)\n return obs, StickyActionState(env_state, actual_action), reward, done, info\n\n def reset_to_level(self, rng, level, params):\n obs, env_state = self._env.reset_to_level(rng, level, params)\n return obs, StickyActionState(\n env_state,\n jnp.zeros(\n len(self._env.action_space(params).number_of_dims_per_distribution),\n dtype=jnp.int32,\n ),\n )\n\n def action_space(self, params):\n return self._env.action_space(params)\n\n\n@struct.dataclass\nclass ObsHistoryState:\n env_state: kenv_state.EnvState\n stacked_obs: jax.Array\n original_obs: jax.Array\n\n\nclass ObsHistoryWrapper(wrappers.UnderspecifiedEnvWrapper):\n def __init__(self, env, history_length: int):\n super().__init__(env)\n self.history_length = history_length\n\n def step_env(self, key, state, action, params):\n obs, env_state, reward, done, info = self._env.step_env(key, state.env_state, action, params)\n stacked_obs = jnp.roll(state.stacked_obs, -1, axis=0).at[-1].set(obs)\n return stacked_obs.flatten(), ObsHistoryState(env_state, stacked_obs, obs), reward, done, info\n\n def reset_to_level(self, rng, level, params):\n obs, env_state = self._env.reset_to_level(rng, level, params)\n stacked_obs = jnp.repeat(obs[None], self.history_length, axis=0)\n return stacked_obs.flatten(), ObsHistoryState(env_state, stacked_obs, obs)\n\n def action_space(self, params):\n return self._env.action_space(params)\n\n @staticmethod\n def get_original_obs(env_state) -> jax.Array:\n while not isinstance(env_state, ObsHistoryState):\n env_state = env_state.env_state\n return env_state.original_obs\n\n\ndef make_squashed_normal_diag(mean, std, num_motor_bindings: int):\n bijector = tfp.bijectors.Blockwise(\n [tfp.bijectors.Tanh(), tfp.bijectors.Sigmoid()],\n block_sizes=[num_motor_bindings, mean.shape[-1] - num_motor_bindings],\n maybe_changes_size=False,\n validate_args=True,\n )\n return tfp.distributions.TransformedDistribution(tfp.distributions.MultivariateNormalDiag(mean, std), bijector)\n\n\nclass Agent(nnx.Module):\n def __init__(self, obs_dim: int, action_dim: int, layer_width: int, *, rngs: nnx.Rngs):\n self.critic = nnx.Sequential(\n nnx.Linear(obs_dim, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),\n nnx.tanh,\n nnx.Linear(layer_width, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),\n nnx.tanh,\n nnx.Linear(layer_width, 1, kernel_init=nnx.initializers.orthogonal(1), rngs=rngs),\n )\n self.actor = nnx.Sequential(\n nnx.Linear(obs_dim, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),\n nnx.tanh,\n nnx.Linear(layer_width, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),\n nnx.tanh,\n nnx.Linear(layer_width, action_dim, kernel_init=nnx.initializers.orthogonal(0.01), rngs=rngs),\n )\n self.logstd = nnx.Param(jnp.zeros(action_dim))\n\n def value(self, obs: jax.Array) -> jax.Array:\n return self.critic(obs)[..., 0]\n\n def action(self, obs: jax.Array):\n mean = jnp.clip(self.actor(obs), -MEAN_MAX_MAGNITUDE, MEAN_MAX_MAGNITUDE)\n std = jnp.exp(jnp.clip(self.logstd.value, LOG_STD_MIN, LOG_STD_MAX))\n return mean, std\n\n\n@struct.dataclass\nclass Transition:\n obs: jax.Array\n action: jax.Array\n done: jax.Array\n reward: jax.Array\n value: jax.Array\n log_prob: jax.Array\n info: jax.Array\n env_state: kenv_state.EnvState\n\n\n@struct.dataclass\nclass StepCarry:\n \"\"\"Environment-related information that must be carried through the rollout loop.\"\"\"\n\n rng: jax.Array\n env_state: kenv_state.EnvState\n obs: jax.Array\n done: jax.Array\n\n\n@struct.dataclass\nclass UpdateCarry:\n \"\"\"Information that must be carried through the outermost update loop.\"\"\"\n\n rng: jax.Array\n step_carry: StepCarry\n train_state: nnx.State\n graphdef: nnx.GraphDef[tuple[Agent, nnx.Optimizer]] = struct.field(pytree_node=False)\n\n\n@struct.dataclass\nclass TrainCarry:\n rng: jax.Array\n train_state: nnx.State\n\n\ndef make_render_video(render_pixels):\n @jax.vmap\n def render_video(env_state):\n while not isinstance(env_state, kenv_state.EnvState):\n env_state = env_state.env_state\n return render_pixels(env_state).round().astype(jnp.uint8).transpose(1, 0, 2)[::-1]\n\n return render_video\n\n\ndef load_levels(paths: Sequence[str], static_env_params: kenv_state.StaticEnvParams, env_params: kenv_state.EnvParams):\n levels = []\n for level_path in paths:\n level, level_static_env_params, level_env_params = saving.load_from_json_file(level_path)\n assert level_static_env_params == static_env_params, (\n f\"Expected {static_env_params} got {level_static_env_params} for {level_path}\"\n )\n assert level_env_params == env_params, f\"Expected {env_params} got {level_env_params} for {level_path}\"\n levels.append(level)\n return jax.tree.map(lambda *x: jnp.stack(x), *levels)\n\n\ndef main(config: Config):\n static_env_params = kenv_state.StaticEnvParams(**LARGE_ENV_PARAMS, frame_skip=FRAME_SKIP)\n env_params = kenv_state.EnvParams()\n env = kenv.make_kinetix_env_from_name(\"Kinetix-Symbolic-Continuous-v1\", static_env_params=static_env_params)\n env = BatchEnvWrapper(\n wrappers.LogWrapper(\n DenseRewardWrapper(\n wrappers.AutoReplayWrapper(ActionHistoryWrapper(ObsHistoryWrapper(NoisyActionWrapper(env), 4)))\n )\n ),\n config.num_envs,\n )\n\n levels = load_levels(config.level_paths, static_env_params, env_params)\n static_env_params = static_env_params.replace(screen_dim=SCREEN_DIM)\n\n batch_size = config.num_envs * config.num_steps\n assert batch_size % config.num_minibatches == 0, \"Batch size must be divisible by number of minibatches\"\n minibatch_size = batch_size // config.num_minibatches\n print(f\"Batch size: {batch_size}, minibatch size: {minibatch_size}\")\n\n # create rendering function\n render_pixels = renderer_pixels.make_render_pixels(env_params, static_env_params)\n render_video = make_render_video(render_pixels)\n\n mesh = jax.make_mesh((jax.local_device_count(),), (\"x\",))\n sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec(\"x\"))\n\n @functools.partial(jax.jit, out_shardings=sharding)\n @functools.partial(jax.vmap, in_axes=(0, None)) # over seeds\n @jax.vmap # over levels\n def init(rng: jax.Array, level: kenv_state.EnvState) -> UpdateCarry:\n # initial reset\n rng, key = jax.random.split(rng)\n obs, env_state = env.reset_to_level(key, level, env_params)\n\n # initialize agent\n action_dim = env.action_space(env_params).shape[0]\n assert len(obs.shape) == 2\n obs_dim = obs.shape[1]\n rng, key = jax.random.split(rng)\n agent = Agent(obs_dim, action_dim, config.layer_width, rngs=nnx.Rngs(key))\n optimizer = nnx.Optimizer(\n agent, optax.chain(optax.clip_by_global_norm(config.grad_norm_clip), optax.adam(config.lr))\n )\n graphdef, initial_train_state = nnx.split((agent, optimizer))\n\n update_rng, step_rng = jax.random.split(rng)\n return UpdateCarry(\n rng=update_rng,\n step_carry=StepCarry(\n rng=step_rng, env_state=env_state, obs=obs, done=jnp.zeros(config.num_envs, dtype=bool)\n ),\n train_state=initial_train_state,\n graphdef=graphdef,\n )\n\n # outermost PPO update loop\n def update(update_carry: UpdateCarry, _):\n agent, _ = nnx.merge(update_carry.graphdef, update_carry.train_state)\n\n # environment rollout loop\n def step(step_carry: StepCarry, _):\n rng, key = jax.random.split(step_carry.rng)\n # action = env.action_space(env_params).sample(key)\n mean, std = agent.action(step_carry.obs)\n action_dist = make_squashed_normal_diag(mean, std, static_env_params.num_motor_bindings)\n action = action_dist.sample(seed=key)\n action = jnp.clip(action, -MAX_ACTION, MAX_ACTION)\n log_prob = action_dist.log_prob(action)\n value = agent.value(step_carry.obs)\n rng, key = jax.random.split(rng)\n next_obs, next_env_state, reward, next_done, info = env.step(key, step_carry.env_state, action, env_params)\n return (\n StepCarry(rng=rng, env_state=next_env_state, obs=next_obs, done=next_done),\n Transition(\n obs=step_carry.obs,\n action=action,\n reward=reward,\n value=value,\n log_prob=log_prob,\n done=step_carry.done,\n info=info,\n env_state=step_carry.env_state,\n ),\n )\n\n # transitions has shape: (NUM_STEPS, NUM_ENVS, ...)\n final_step_carry, transitions = jax.lax.scan(step, update_carry.step_carry, None, length=config.num_steps)\n\n # gae calculation loop\n def gae_step(carry, transition: Transition):\n gae, next_value, next_done = carry\n delta = transition.reward + config.gamma * next_value * (1 - next_done) - transition.value\n gae = delta + config.gamma * config.gae_lambda * (1 - next_done) * gae\n return (gae, transition.value, transition.done), gae\n\n last_value = agent.value(final_step_carry.obs)\n last_done = final_step_carry.done\n _, advantages = jax.lax.scan(\n gae_step, (jnp.zeros_like(last_value), last_value, last_done), transitions, reverse=True, unroll=16\n )\n returns = advantages + transitions.value\n\n # update epochs loop\n def update_epoch(epoch_carry: TrainCarry, _):\n # gradient update loop\n def update_minibatch(minibatch_carry: TrainCarry, minibatch: tuple[Transition, jax.Array, jax.Array]):\n agent, optimizer = nnx.merge(update_carry.graphdef, minibatch_carry.train_state)\n transitions, advantages, returns = minibatch\n rng, key = jax.random.split(minibatch_carry.rng)\n\n def loss_fn(agent: Agent):\n mean, std = agent.action(transitions.obs)\n # RPO LOGIC\n z = jax.random.uniform(\n key, transitions.action.shape, minval=-config.rpo_alpha, maxval=config.rpo_alpha\n )\n dist = make_squashed_normal_diag(mean + z, std, static_env_params.num_motor_bindings)\n value = agent.value(transitions.obs)\n log_prob = dist.log_prob(transitions.action)\n log_ratio = log_prob - transitions.log_prob\n ratio = jnp.exp(log_ratio)\n\n # actor loss\n norm_advantages = (advantages - advantages.mean()) / (advantages.std() + 1e-8)\n pg_loss1 = -norm_advantages * ratio\n pg_loss2 = -norm_advantages * jnp.clip(ratio, 1.0 - config.clip_eps, 1.0 + config.clip_eps)\n pg_loss = jnp.maximum(pg_loss1, pg_loss2).mean()\n\n # value loss\n v_loss_unclipped = (value - returns) ** 2\n v_clipped = transitions.value + (value - transitions.value).clip(-config.clip_eps, config.clip_eps)\n v_loss_clipped = (v_clipped - returns) ** 2\n v_loss = 0.5 * jnp.maximum(v_loss_unclipped, v_loss_clipped).mean()\n\n loss = pg_loss + config.v_loss_coef * v_loss\n info = {\n \"pg_loss\": pg_loss,\n \"v_loss\": v_loss,\n \"clipfrac\": (jnp.abs(ratio - 1) > config.clip_eps).mean(),\n \"approx_kl\": ((ratio - 1) - log_ratio).mean(),\n }\n return loss, info\n\n (loss, info), grads = nnx.value_and_grad(loss_fn, has_aux=True)(agent)\n info[\"loss\"] = loss\n info[\"grad_norm\"] = optax.global_norm(grads)\n optimizer.update(grads)\n _, train_state = nnx.split((agent, optimizer))\n return TrainCarry(rng=rng, train_state=train_state), info\n\n # flatten data in preparation for learning\n data = jax.tree.map(\n lambda x: x.reshape(config.num_steps * config.num_envs, *x.shape[2:]),\n (transitions, advantages, returns),\n )\n # shuffle\n rng, key = jax.random.split(epoch_carry.rng)\n permutation = jax.random.permutation(key, config.num_envs * config.num_steps)\n data = jax.tree.map(lambda x: x[permutation], data)\n # batch\n batches = jax.tree.map(lambda x: x.reshape(config.num_minibatches, minibatch_size, *x.shape[1:]), data)\n # learn!\n final_carry, info = jax.lax.scan(update_minibatch, epoch_carry.replace(rng=rng), batches)\n return final_carry, info\n\n final_epoch_carry, info = jax.lax.scan(\n update_epoch,\n TrainCarry(rng=update_carry.rng, train_state=update_carry.train_state),\n None,\n length=config.num_epochs,\n )\n\n for key in [\"returned_episode_returns\", \"returned_episode_lengths\", \"returned_episode_solved\"]:\n info[key] = (transitions.info[key] * transitions.info[\"returned_episode\"]).sum() / transitions.info[\n \"returned_episode\"\n ].sum()\n info[\"reward\"] = transitions.reward.mean()\n\n rollout = jax.tree.map(lambda x: x[:, 0], transitions.env_state)\n return UpdateCarry(\n final_epoch_carry.rng, final_step_carry, final_epoch_carry.train_state, update_carry.graphdef\n ), (info, rollout)\n\n @functools.partial(jax.jit, donate_argnums=(0,), static_argnums=(1,), in_shardings=sharding, out_shardings=sharding)\n @functools.partial(jax.vmap, in_axes=(0, None)) # over seeds\n @functools.partial(jax.vmap, in_axes=(0, None)) # over levels\n def update_n(update_carry: UpdateCarry, num: int):\n update_carry, (info, rollout) = jax.lax.scan(update, update_carry, length=num)\n video = render_video(jax.tree.map(lambda x: x[0], rollout))\n return update_carry, (jax.tree.map(jnp.mean, info), video)\n\n wandb.init(project=WANDB_PROJECT)\n wandb.define_metric(\"num_env_steps\")\n wandb.define_metric(\"*\", step_metric=\"num_env_steps\")\n pbar = tqdm.tqdm(total=config.num_updates * config.num_envs * config.num_steps, dynamic_ncols=True)\n\n num_levels = len(config.level_paths)\n rngs = jax.random.split(jax.random.key(config.seed), config.num_seeds * num_levels).reshape(\n config.num_seeds, num_levels\n )\n update_carry = init(rngs, levels)\n for update_idx in range(0, config.num_updates, config.log_interval):\n update_carry, (info, video) = update_n(update_carry, config.log_interval)\n if any(jnp.any(jnp.isnan(x)) for x in jax.tree.leaves(info)):\n raise ValueError(f\"NaN detected at update {update_idx}\")\n pbar.update(config.log_interval * config.num_envs * config.num_steps)\n wandb.log({\"num_env_steps\": pbar.n}, step=update_idx)\n for seed_idx in range(config.num_seeds):\n for level_idx in range(num_levels):\n level_name = config.level_paths[level_idx].replace(\"/\", \"_\").replace(\".json\", \"\")\n level_info = jax.tree.map(lambda x: x[seed_idx, level_idx].item(), info)\n wandb.log({f\"{level_name}/{seed_idx}/{k}\": v for k, v in level_info.items()}, step=update_idx)\n\n log_dir = LOG_DIR / wandb.run.name / f\"seed_{seed_idx}\" / str(update_idx)\n stats_dir = log_dir / \"stats\"\n stats_dir.mkdir(parents=True, exist_ok=True)\n with (stats_dir / f\"{level_name}.json\").open(\"w\") as f:\n json.dump(level_info, f, indent=2)\n\n video_dir = log_dir / \"videos\"\n video_dir.mkdir(parents=True, exist_ok=True)\n imageio.mimwrite(video_dir / f\"{level_name}.mp4\", video[seed_idx, level_idx], fps=15)\n\n policy_dir = log_dir / \"policies\"\n policy_dir.mkdir(parents=True, exist_ok=True)\n level_train_state = jax.tree.map(lambda x: x[seed_idx, level_idx], update_carry.train_state)\n with (policy_dir / f\"{level_name}.pkl\").open(\"wb\") as f:\n agent, _ = nnx.merge(update_carry.graphdef, level_train_state)\n state_dict = nnx.split(agent)[1].to_pure_dict()\n pickle.dump(state_dict, f)\n\n\nif __name__ == \"__main__\":\n tyro.cli(main)\n" }, { "path": "src/train_flow.py", "content": "import concurrent.futures\nimport dataclasses\nimport functools\nimport pathlib\nimport pickle\nfrom typing import Sequence\n\nimport einops\nfrom flax import struct\nimport flax.nnx as nnx\nimport imageio\nimport jax\nimport jax.numpy as jnp\nimport kinetix.environment.env as kenv\nimport kinetix.environment.env_state as kenv_state\nimport numpy as np\nimport optax\nimport tqdm_loggable.auto as tqdm\nimport tyro\nimport wandb\n\nimport eval_flow as _eval\nimport generate_data\nimport model as _model\nimport train_expert\n\nWANDB_PROJECT = \"rtc-kinetix-bc\"\nLOG_DIR = pathlib.Path(\"logs-bc\")\n\n\n@dataclasses.dataclass(frozen=True)\nclass Config:\n run_path: str\n level_paths: Sequence[str] = (\n \"worlds/l/grasp_easy.json\",\n \"worlds/l/catapult.json\",\n \"worlds/l/cartpole_thrust.json\",\n \"worlds/l/hard_lunar_lander.json\",\n \"worlds/l/mjc_half_cheetah.json\",\n \"worlds/l/mjc_swimmer.json\",\n \"worlds/l/mjc_walker.json\",\n \"worlds/l/h17_unicycle.json\",\n \"worlds/l/chain_lander.json\",\n \"worlds/l/catcher_v3.json\",\n \"worlds/l/trampoline.json\",\n \"worlds/l/car_launch.json\",\n )\n batch_size: int = 512\n num_epochs: int = 32\n seed: int = 0\n\n eval: _eval.EvalConfig = _eval.EvalConfig()\n\n learning_rate: float = 3e-4\n grad_norm_clip: float = 10.0\n weight_decay: float = 1e-2\n lr_warmup_steps: int = 1000\n\n load_dir: str | None = None\n\n\n@struct.dataclass\nclass EpochCarry:\n rng: jax.Array\n train_state: nnx.State\n graphdef: nnx.GraphDef[tuple[_model.FlowPolicy, nnx.Optimizer]]\n\n\ndef main(config: Config):\n static_env_params = kenv_state.StaticEnvParams(**train_expert.LARGE_ENV_PARAMS, frame_skip=train_expert.FRAME_SKIP)\n env_params = kenv_state.EnvParams()\n levels = train_expert.load_levels(config.level_paths, static_env_params, env_params)\n static_env_params = static_env_params.replace(screen_dim=train_expert.SCREEN_DIM)\n\n env = kenv.make_kinetix_env_from_name(\"Kinetix-Symbolic-Continuous-v1\", static_env_params=static_env_params)\n\n mesh = jax.make_mesh((jax.local_device_count(),), (\"level\",))\n sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec(\"level\"))\n\n action_chunk_size = config.eval.model.action_chunk_size\n\n # load data\n def load_data(level_path: str):\n level_name = level_path.replace(\"/\", \"_\").replace(\".json\", \"\")\n print(\"Loading data for level:\", level_name)\n return dict(np.load(pathlib.Path(config.run_path) / \"data\" / f\"{level_name}.npz\"))\n\n with concurrent.futures.ThreadPoolExecutor() as executor:\n data = list(executor.map(load_data, config.level_paths))\n with jax.default_device(jax.devices(\"cpu\")[0]):\n # data has shape: (num_levels, num_steps, num_envs, ...)\n # flatten envs and steps together for learning\n data = jax.tree.map(lambda *x: einops.rearrange(jnp.stack(x), \"l s e ... -> l (e s) ...\"), *data)\n # truncate to multiple of batch size\n valid_steps = data[\"obs\"].shape[1] - action_chunk_size + 1\n data = jax.tree.map(\n lambda x: x[:, : (valid_steps // config.batch_size) * config.batch_size + action_chunk_size - 1], data\n )\n # put on device\n data = jax.tree.map(\n lambda x: jax.make_array_from_single_device_arrays(\n x.shape,\n sharding,\n [\n jax.device_put(y, d)\n for y, d in zip(jnp.split(x, jax.local_device_count()), jax.local_devices(), strict=True)\n ],\n ),\n data,\n )\n\n data: generate_data.Data = generate_data.Data(**data)\n print(f\"Truncated data to {data.obs.shape[1]:_} steps ({valid_steps // config.batch_size:_} batches)\")\n\n obs_dim = data.obs.shape[-1]\n action_dim = env.action_space(env_params).shape[0]\n\n if config.load_dir is not None:\n state_dicts = []\n for level_path in config.level_paths:\n level_name = level_path.replace(\"/\", \"_\").replace(\".json\", \"\")\n with (pathlib.Path(config.load_dir) / \"policies\" / f\"{level_name}.pkl\").open(\"rb\") as f:\n state_dicts.append(pickle.load(f))\n state_dicts = jax.device_put(jax.tree.map(lambda *x: jnp.array(x), *state_dicts))\n else:\n state_dicts = None\n\n @functools.partial(jax.jit, in_shardings=sharding, out_shardings=sharding)\n @jax.vmap\n def init(rng: jax.Array, state_dict: dict | None) -> EpochCarry:\n rng, key = jax.random.split(rng)\n policy = _model.FlowPolicy(\n obs_dim=obs_dim,\n action_dim=action_dim,\n config=config.eval.model,\n rngs=nnx.Rngs(key),\n )\n if state_dict is not None:\n graphdef, state = nnx.split(policy)\n state.replace_by_pure_dict(state_dict)\n policy = nnx.merge(graphdef, state)\n total_params = sum(x.size for x in jax.tree.leaves(nnx.state(policy, nnx.Param)))\n print(f\"Total params: {total_params:,}\")\n optimizer = nnx.Optimizer(\n policy,\n optax.chain(\n optax.clip_by_global_norm(config.grad_norm_clip),\n optax.adamw(\n optax.warmup_constant_schedule(0, config.learning_rate, config.lr_warmup_steps),\n weight_decay=config.weight_decay,\n ),\n ),\n )\n graphdef, train_state = nnx.split((policy, optimizer))\n return EpochCarry(rng, train_state, graphdef)\n\n @functools.partial(jax.jit, donate_argnums=(0,), in_shardings=sharding, out_shardings=sharding)\n @jax.vmap\n def train_epoch(epoch_carry: EpochCarry, level: kenv_state.EnvState, data: generate_data.Data):\n def train_minibatch(carry: tuple[jax.Array, nnx.State], batch_idxs: jax.Array):\n rng, train_state = carry\n policy, optimizer = nnx.merge(epoch_carry.graphdef, train_state)\n\n rng, key = jax.random.split(rng)\n\n def loss_fn(policy: _model.FlowPolicy):\n obs = data.obs[batch_idxs]\n action_chunks = data.action[batch_idxs[:, None] + jnp.arange(action_chunk_size)[None, :]]\n # zero actions after done\n done_chunks = data.done[batch_idxs[:, None] + jnp.arange(action_chunk_size)[None, :]]\n done_idxs = jnp.where(\n jnp.any(done_chunks, axis=-1),\n jnp.argmax(done_chunks, axis=-1),\n action_chunk_size,\n )\n action_chunks = jnp.where(\n jnp.arange(action_chunk_size)[None, :, None] >= done_idxs[:, None, None],\n 0.0,\n action_chunks,\n )\n return policy.loss(key, obs, action_chunks)\n\n loss, grads = nnx.value_and_grad(loss_fn)(policy)\n info = {\"loss\": loss, \"grad_norm\": optax.global_norm(grads)}\n optimizer.update(grads)\n _, train_state = nnx.split((policy, optimizer))\n return (rng, train_state), info\n\n # shuffle\n rng, key = jax.random.split(epoch_carry.rng)\n permutation = jax.random.permutation(key, data.obs.shape[0] - action_chunk_size + 1)\n # batch\n permutation = permutation.reshape(-1, config.batch_size)\n # train\n (rng, train_state), train_info = jax.lax.scan(\n train_minibatch, (epoch_carry.rng, epoch_carry.train_state), permutation\n )\n train_info = jax.tree.map(lambda x: x.mean(), train_info)\n # eval\n rng, key = jax.random.split(rng)\n eval_policy, _ = nnx.merge(epoch_carry.graphdef, train_state)\n eval_info = {}\n for horizon in range(1, config.eval.model.action_chunk_size + 1):\n eval_config = dataclasses.replace(config.eval, execute_horizon=horizon)\n info, _ = _eval.eval(eval_config, env, key, level, eval_policy, env_params, static_env_params)\n eval_info.update({f\"{k}_{horizon}\": v for k, v in info.items()})\n video = None\n return EpochCarry(rng, train_state, epoch_carry.graphdef), ({**train_info, **eval_info}, video)\n\n wandb.init(project=WANDB_PROJECT)\n rng = jax.random.key(config.seed)\n epoch_carry = init(jax.random.split(rng, len(config.level_paths)), state_dicts)\n for epoch_idx in tqdm.tqdm(range(config.num_epochs)):\n epoch_carry, (info, video) = train_epoch(epoch_carry, levels, data)\n\n for i in range(len(config.level_paths)):\n level_name = config.level_paths[i].replace(\"/\", \"_\").replace(\".json\", \"\")\n wandb.log({f\"{level_name}/{k}\": v[i] for k, v in info.items()}, step=epoch_idx)\n\n log_dir = LOG_DIR / wandb.run.name / str(epoch_idx)\n\n if video is not None:\n video_dir = log_dir / \"videos\"\n video_dir.mkdir(parents=True, exist_ok=True)\n imageio.mimwrite(video_dir / f\"{level_name}.mp4\", video[i], fps=15)\n\n policy_dir = log_dir / \"policies\"\n policy_dir.mkdir(parents=True, exist_ok=True)\n level_train_state = jax.tree.map(lambda x: x[i], epoch_carry.train_state)\n with (policy_dir / f\"{level_name}.pkl\").open(\"wb\") as f:\n policy, _ = nnx.merge(epoch_carry.graphdef, level_train_state)\n state_dict = nnx.state(policy).to_pure_dict()\n pickle.dump(state_dict, f)\n\n\nif __name__ == \"__main__\":\n tyro.cli(main)\n" }, { "path": "worlds/l/car_launch.json", "content": "{\n \"env_state\": {\n \"polygon\": [\n {\n \"density\": 1,\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n },\n \"position\": {\n \"0\": 2.5,\n \"1\": -4.800000190734863\n },\n \"active\": true,\n \"friction\": 1,\n \"vertices\": {\n \"0\": {\n \"0\": 2.5,\n \"1\": 5.199999809265137\n },\n \"1\": {\n \"0\": 2.5,\n \"1\": -5.199999809265137\n },\n \"2\": {\n \"0\": -2.5,\n \"1\": -5.199999809265137\n },\n \"3\": {\n \"0\": -2.5,\n \"1\": 5.199999809265137\n }\n },\n \"role\": 3,\n \"rotation\": 0,\n \"angular_velocity\": 0,\n \"restitution\": 0,\n \"collision_mode\": 2,\n \"radius\": 0.1,\n \"inverse_inertia\": 0,\n \"inverse_mass\": 0,\n \"n_vertices\": 4\n },\n {\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n },\n \"position\": {\n \"0\": 0,\n \"1\": 0\n },\n \"density\": 1,\n \"angular_velocity\": 0,\n \"vertices\": {\n \"0\": {\n \"0\": -5,\n \"1\": 5\n },\n \"1\": {\n \"0\": -0.05000000074505806,\n \"1\": 5\n },\n \"2\": {\n \"0\": -0.05000000074505806,\n \"1\": 0\n },\n \"3\": {\n \"0\": -5,\n \"1\": 0\n }\n },\n \"inverse_mass\": 0,\n \"rotation\": 0,\n \"inverse_inertia\": 0,\n \"role\": 0,\n \"active\": true,\n \"n_vertices\": 4,\n \"restitution\": 0,\n \"radius\": 0,\n \"friction\": 1,\n \"collision_mode\": 2\n },\n {\n \"n_vertices\": 4,\n \"friction\": 1,\n \"density\": 1,\n \"active\": true,\n \"restitution\": 0,\n \"rotation\": 0,\n \"radius\": 0,\n \"angular_velocity\": 0,\n \"collision_mode\": 2,\n \"role\": 0,\n \"inverse_inertia\": 0,\n \"vertices\": {\n \"0\": {\n \"0\": 5,\n \"1\": 5\n },\n \"1\": {\n \"0\": 10,\n \"1\": 5\n },\n \"2\": {\n \"0\": 10,\n \"1\": 0\n },\n \"3\": {\n \"0\": 5,\n \"1\": 0\n }\n },\n \"inverse_mass\": 0,\n \"position\": {\n \"0\": 0,\n \"1\": 0\n },\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n }\n },\n {\n \"inverse_mass\": 0,\n \"inverse_inertia\": 0,\n \"collision_mode\": 2,\n \"role\": 0,\n \"n_vertices\": 4,\n \"restitution\": 0,\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n },\n \"vertices\": {\n \"0\": {\n \"0\": 2.5,\n \"1\": 5.199999809265137\n },\n \"1\": {\n \"0\": 2.5,\n \"1\": -5.199999809265137\n },\n \"2\": {\n \"0\": -2.5,\n \"1\": -5.199999809265137\n },\n \"3\": {\n \"0\": -2.5,\n \"1\": 5.199999809265137\n }\n },\n \"density\": 1,\n \"angular_velocity\": 0,\n \"position\": {\n \"0\": 2.5,\n \"1\": 10.199999809265137\n },\n \"friction\": 1,\n \"rotation\": 0,\n \"radius\": 0,\n \"active\": true\n },\n {\n \"vertices\": {\n \"0\": {\n \"0\": 0.6200000047683716,\n \"1\": 0.1325000524520874\n },\n \"1\": {\n \"0\": 0.6200000047683716,\n \"1\": -0.1325000524520874\n },\n \"2\": {\n \"0\": -0.6200000047683716,\n \"1\": -0.1325000524520874\n },\n \"3\": {\n \"0\": -0.6200000047683716,\n \"1\": 0.1325000524520874\n }\n },\n \"rotation\": 0,\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n },\n \"density\": 1,\n \"position\": {\n \"0\": 1.1749999523162842,\n \"1\": 2.5774998664855957\n },\n \"inverse_inertia\": 0,\n \"n_vertices\": 4,\n \"restitution\": 0,\n \"friction\": 1,\n \"angular_velocity\": 0,\n \"inverse_mass\": 0,\n \"collision_mode\": 1,\n \"radius\": 0,\n \"active\": true,\n \"role\": 0\n },\n {\n \"restitution\": 0,\n \"active\": true,\n \"rotation\": 0,\n \"friction\": 1,\n \"density\": 1,\n \"inverse_mass\": 0,\n \"radius\": 0.1,\n \"angular_velocity\": 0,\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n },\n \"vertices\": {\n \"0\": {\n \"0\": 0.6200000047683716,\n \"1\": 0.1325000524520874\n },\n \"1\": {\n \"0\": 0.6200000047683716,\n \"1\": -0.1325000524520874\n },\n \"2\": {\n \"0\": -0.6200000047683716,\n \"1\": -0.1325000524520874\n },\n \"3\": {\n \"0\": -0.6200000047683716,\n \"1\": 0.1325000524520874\n }\n },\n \"position\": {\n \"0\": 3.319484374154329,\n \"1\": 2.1775002479553223\n },\n \"collision_mode\": 1,\n \"n_vertices\": 4,\n \"inverse_inertia\": 0,\n \"role\": 0\n },\n {\n \"active\": true,\n \"role\": 0,\n \"inverse_inertia\": 459.3979187011719,\n \"radius\": 0,\n \"rotation\": 0,\n \"n_vertices\": 4,\n \"friction\": 1,\n \"density\": 1,\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n },\n \"angular_velocity\": 0,\n \"vertices\": {\n \"0\": {\n \"0\": 0.27250000834465027,\n \"1\": 0.07499992847442627\n },\n \"1\": {\n \"0\": 0.27250000834465027,\n \"1\": -0.07499992847442627\n },\n \"2\": {\n \"0\": -0.27250000834465027,\n \"1\": -0.07499992847442627\n },\n \"3\": {\n \"0\": -0.27250000834465027,\n \"1\": 0.07499992847442627\n }\n },\n \"restitution\": 0,\n \"position\": {\n \"0\": 1.0824999809265137,\n \"1\": 2.8199996948242188\n },\n \"collision_mode\": 1,\n \"inverse_mass\": 12.232426643371582\n },\n {\n \"rotation\": 0,\n \"velocity\": {\n \"0\": 0,\n \"1\": 0\n },\n \"vertices\": {\n \"0\": {\n \"0\": 0.04999999701976776,\n \"1\": 0.31749996542930603\n },\n \"1\": {\n \"0\": 0.04999999701976776,\n \"1\": -0.31749996542930603\n },\n \"2\": {\n \"0\": -0.04999999701976776,\n \"1\": -0.31749996542930603\n },\n \"3\": {\n \"0\": 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