Repository: Physical-Intelligence/real-time-chunking-kinetix
Branch: main
Commit: 9296f31d62d5
Files: 23
Total size: 905.0 KB

Directory structure:
gitextract_sgcc59ek/

├── .gitignore
├── .gitmodules
├── LICENSE
├── README.md
├── pyproject.toml
├── src/
│   ├── eval_flow.py
│   ├── generate_data.py
│   ├── model.py
│   ├── render_levels.py
│   ├── train_expert.py
│   └── train_flow.py
└── worlds/
    └── l/
        ├── car_launch.json
        ├── cartpole_thrust.json
        ├── catapult.json
        ├── catcher_v3.json
        ├── chain_lander.json
        ├── grasp_easy.json
        ├── h17_unicycle.json
        ├── hard_lunar_lander.json
        ├── mjc_half_cheetah.json
        ├── mjc_swimmer.json
        ├── mjc_walker.json
        └── trampoline.json

================================================
FILE CONTENTS
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wandb/

================================================
FILE: .gitmodules
================================================
[submodule "third_party/kinetix"]
	path = third_party/kinetix
	url = https://github.com/FlairOx/Kinetix.git


================================================
FILE: LICENSE
================================================
MIT License

Copyright (c) 2025 Physical Intelligence

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.


================================================
FILE: README.md
================================================
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).

## Installation

```bash
# Clone Kinetix submodule
git submodule update --init
# Install uv
curl -LsSf https://astral.sh/uv/install.sh | sh
# Install dependencies
uv sync
```

## Pre-trained checkpoints and data
`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.

`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`.

## Reproduce results
Note that, for all scripts, your number of GPUs must divide the number of levels (default 12) because computation is
sharded over levels.

1. Train expert policies: `uv run src/train_expert.py`
    - By default, this will train 8 seeds per level for 65 million environment steps each.
    - Checkpoints, videos, and stats are written to a wandb project called `rtc-kinetix-expert` and the local directory `./logs-expert/<wandb-run-name>`. It is recommended to control other wandb options, like the run name, using environment variables.
2. Generate data: `uv run src/generate_data.py --config.run-path ./logs-expert/<wandb-run-name>`
    - For each level, this will automatically load the best-performing checkpoint for each seed (discarding seeds that didn't reach a certain success threshold). 
    - By default, 1 million environment steps are collected for each level using a mixture of expert policies.
    - Data is written back to `./logs-expert/<wandb-run-name>/data/`.
3. Train imitation learning policies: `uv run src/train_flow.py --config.run-path ./logs-expert/<wandb-run-name>`
    - This will load the data from step 2 and train flow matching policies for each level.
    - Checkpoints, videos, and stats are written to a wandb project called `rtc-kinetix-bc` and the local directory `./logs-bc/<wandb-run-name>`. It is recommended to control other wandb options, like the run name, using environment variables.
4. Evaluate imitation learning policies: `uv run src/eval_flow.py --config.run-path ./logs-bc/<wandb-run-name> --output-dir <output-dir>`
    - This will load the checkpoints from step 3 and evaluate them for 2048 trials per level by default.
    - Currently, the script performs an exhaustive sweep over inference delay and execution horizon for all methods.
  
## Training-Time RTC
To reproduce the results for training-time RTC, follow the following steps:

1. Change `simulated_delay` in the model config to 5.
2. Fine-tune the pre-trained checkpoint with simulated delay for 8 epochs: `uv run src/train_flow.py --config.run-path <run_path> --config.load-dir bc/24 --config.num-epochs 8` where `bc` is the contents of `gs://rtc-assets/bc/`.
3. Evaluate as above.


================================================
FILE: pyproject.toml
================================================
[build-system]
requires = ["setuptools>=64.0"]
build-backend = "setuptools.build_meta"

[project]
name = "real-time-chunking-kinetix"
version = "0.0.1"
authors = [
  { name="Kevin Black", email="kevin@physicalintelligence.company" }
]
description = ""
requires-python = ">=3.11"
dependencies = [
    "jax[cuda12]==0.4.35",
    "numpy==1.26.4",
    "tyro",
    "einops",
    "pandas",
    "tqdm-loggable",
    "kinetix",
]


[tool.ruff]
line-length = 120

[tool.uv.sources]
kinetix = { path = "third_party/kinetix", editable = true }

[tool.ruff.lint.isort]
force-single-line = true
force-sort-within-sections = true
single-line-exclusions = ["collections.abc", "typing", "typing_extensions"]
known-third-party = ["wandb"]


================================================
FILE: src/eval_flow.py
================================================
import collections
import dataclasses
import functools
import math
import pathlib
import pickle
from typing import Sequence

import flax.nnx as nnx
import jax
from jax.experimental import shard_map
import jax.numpy as jnp
import kinetix.environment.env as kenv
import kinetix.environment.env_state as kenv_state
import kinetix.environment.wrappers as wrappers
import kinetix.render.renderer_pixels as renderer_pixels
import pandas as pd
import tyro

import model as _model
import train_expert


@dataclasses.dataclass(frozen=True)
class NaiveMethodConfig:
    pass


@dataclasses.dataclass(frozen=True)
class RealtimeMethodConfig:
    prefix_attention_schedule: _model.PrefixAttentionSchedule = "exp"
    max_guidance_weight: float = 5.0


@dataclasses.dataclass(frozen=True)
class BIDMethodConfig:
    n_samples: int = 16
    bid_k: int | None = None


@dataclasses.dataclass(frozen=True)
class EvalConfig:
    step: int = -1
    weak_step: int | None = None
    num_evals: int = 2048
    num_flow_steps: int = 5

    inference_delay: int = 0
    execute_horizon: int = 1
    method: NaiveMethodConfig | RealtimeMethodConfig | BIDMethodConfig = NaiveMethodConfig()

    model: _model.ModelConfig = _model.ModelConfig()


def eval(
    config: EvalConfig,
    env: kenv.environment.Environment,
    rng: jax.Array,
    level: kenv_state.EnvState,
    policy: _model.FlowPolicy,
    env_params: kenv_state.EnvParams,
    static_env_params: kenv_state.EnvParams,
    weak_policy: _model.FlowPolicy | None = None,
):
    env = train_expert.BatchEnvWrapper(
        wrappers.LogWrapper(wrappers.AutoReplayWrapper(train_expert.NoisyActionWrapper(env))), config.num_evals
    )
    render_video = train_expert.make_render_video(renderer_pixels.make_render_pixels(env_params, static_env_params))
    assert config.execute_horizon >= config.inference_delay, f"{config.execute_horizon=} {config.inference_delay=}"

    def execute_chunk(carry, _):
        def step(carry, action):
            rng, obs, env_state = carry
            rng, key = jax.random.split(rng)
            next_obs, next_env_state, reward, done, info = env.step(key, env_state, action, env_params)
            return (rng, next_obs, next_env_state), (done, env_state, info)

        rng, obs, env_state, action_chunk, n = carry
        rng, key = jax.random.split(rng)
        if isinstance(config.method, NaiveMethodConfig):
            next_action_chunk = policy.action(key, obs, config.num_flow_steps)
        elif isinstance(config.method, RealtimeMethodConfig):
            prefix_attention_horizon = policy.action_chunk_size - config.execute_horizon
            assert (
                config.inference_delay <= policy.action_chunk_size
                and prefix_attention_horizon <= policy.action_chunk_size
            ), f"{config.inference_delay=} {prefix_attention_horizon=} {policy.action_chunk_size=}"
            print(
                f"{config.execute_horizon=} {config.inference_delay=} {prefix_attention_horizon=} {policy.action_chunk_size=}"
            )
            next_action_chunk = policy.realtime_action(
                key,
                obs,
                config.num_flow_steps,
                action_chunk,
                config.inference_delay,
                prefix_attention_horizon,
                config.method.prefix_attention_schedule,
                config.method.max_guidance_weight,
            )
        elif isinstance(config.method, BIDMethodConfig):
            prefix_attention_horizon = policy.action_chunk_size - config.execute_horizon
            if config.method.bid_k is not None:
                assert weak_policy is not None, "weak_policy is required for BID"
            next_action_chunk = policy.bid_action(
                key,
                obs,
                config.num_flow_steps,
                action_chunk,
                config.inference_delay,
                prefix_attention_horizon,
                config.method.n_samples,
                bid_k=config.method.bid_k,
                bid_weak_policy=weak_policy if config.method.bid_k is not None else None,
            )
        else:
            raise ValueError(f"Unknown method: {config.method}")

        # we execute `inference_delay` actions from the *previously generated* action chunk, and then the remaining
        # `execute_horizon - inference_delay` actions from the newly generated action chunk
        action_chunk_to_execute = jnp.concatenate(
            [
                action_chunk[:, : config.inference_delay],
                next_action_chunk[:, config.inference_delay : config.execute_horizon],
            ],
            axis=1,
        )
        # throw away the first `execute_horizon` actions from the newly generated action chunk, to align it with the
        # correct frame of reference for the next scan iteration
        next_action_chunk = jnp.concatenate(
            [
                next_action_chunk[:, config.execute_horizon :],
                jnp.zeros((obs.shape[0], config.execute_horizon, policy.action_dim)),
            ],
            axis=1,
        )
        next_n = jnp.concatenate([n[config.execute_horizon :], jnp.zeros(config.execute_horizon, dtype=jnp.int32)])
        (rng, next_obs, next_env_state), (dones, env_states, infos) = jax.lax.scan(
            step, (rng, obs, env_state), action_chunk_to_execute.transpose(1, 0, 2)
        )
        # if config.inference_delay > 0:
        #     infos["match"] = jnp.mean(jnp.abs(fixed_prefix - action_chunk_to_execute))
        return (rng, next_obs, next_env_state, next_action_chunk, next_n), (dones, env_states, infos)

    rng, key = jax.random.split(rng)
    obs, env_state = env.reset_to_level(key, level, env_params)
    rng, key = jax.random.split(rng)
    action_chunk = policy.action(key, obs, config.num_flow_steps)  # [batch, horizon, action_dim]
    n = jnp.ones(action_chunk.shape[1], dtype=jnp.int32)
    scan_length = math.ceil(env_params.max_timesteps / config.execute_horizon)
    _, (dones, env_states, infos) = jax.lax.scan(
        execute_chunk,
        (rng, obs, env_state, action_chunk, n),
        None,
        length=scan_length,
    )
    dones, env_states, infos = jax.tree.map(lambda x: x.reshape(-1, *x.shape[2:]), (dones, env_states, infos))
    assert dones.shape[0] >= env_params.max_timesteps, f"{dones.shape=}"
    return_info = {}
    for key in ["returned_episode_returns", "returned_episode_lengths", "returned_episode_solved"]:
        # only consider the first episode of each rollout
        first_done_idx = jnp.argmax(dones, axis=0)
        return_info[key] = infos[key][first_done_idx, jnp.arange(config.num_evals)].mean()
    for key in ["match"]:
        if key in infos:
            return_info[key] = jnp.mean(infos[key])
    video = render_video(jax.tree.map(lambda x: x[:, 0], env_states))
    return return_info, video


def main(
    run_path: str,
    config: EvalConfig = EvalConfig(),
    level_paths: Sequence[str] = (
        "worlds/l/grasp_easy.json",
        "worlds/l/catapult.json",
        "worlds/l/cartpole_thrust.json",
        "worlds/l/hard_lunar_lander.json",
        "worlds/l/mjc_half_cheetah.json",
        "worlds/l/mjc_swimmer.json",
        "worlds/l/mjc_walker.json",
        "worlds/l/h17_unicycle.json",
        "worlds/l/chain_lander.json",
        "worlds/l/catcher_v3.json",
        "worlds/l/trampoline.json",
        "worlds/l/car_launch.json",
    ),
    seed: int = 0,
    output_dir: str | None = "eval_output",
):
    static_env_params = kenv_state.StaticEnvParams(**train_expert.LARGE_ENV_PARAMS, frame_skip=train_expert.FRAME_SKIP)
    env_params = kenv_state.EnvParams()
    levels = train_expert.load_levels(level_paths, static_env_params, env_params)
    static_env_params = static_env_params.replace(screen_dim=train_expert.SCREEN_DIM)

    env = kenv.make_kinetix_env_from_name("Kinetix-Symbolic-Continuous-v1", static_env_params=static_env_params)

    # load policies from best checkpoints by solve rate
    state_dicts = []
    weak_state_dicts = []
    for level_path in level_paths:
        level_name = level_path.replace("/", "_").replace(".json", "")
        log_dirs = list(filter(lambda p: p.is_dir() and p.name.isdigit(), pathlib.Path(run_path).iterdir()))
        log_dirs = sorted(log_dirs, key=lambda p: int(p.name))
        # load policy
        with (log_dirs[config.step] / "policies" / f"{level_name}.pkl").open("rb") as f:
            state_dicts.append(pickle.load(f))
        if config.weak_step is not None:
            with (log_dirs[config.weak_step] / "policies" / f"{level_name}.pkl").open("rb") as f:
                weak_state_dicts.append(pickle.load(f))
    state_dicts = jax.device_put(jax.tree.map(lambda *x: jnp.array(x), *state_dicts))
    if config.weak_step is not None:
        weak_state_dicts = jax.device_put(jax.tree.map(lambda *x: jnp.array(x), *weak_state_dicts))
    else:
        weak_state_dicts = None

    obs_dim = jax.eval_shape(env.reset_to_level, jax.random.key(0), jax.tree.map(lambda x: x[0], levels), env_params)[
        0
    ].shape[-1]
    action_dim = env.action_space(env_params).shape[0]

    mesh = jax.make_mesh((jax.local_device_count(),), ("x",))
    pspec = jax.sharding.PartitionSpec("x")
    sharding = jax.sharding.NamedSharding(mesh, pspec)

    @functools.partial(jax.jit, static_argnums=(0,), in_shardings=sharding, out_shardings=sharding)
    @functools.partial(shard_map.shard_map, mesh=mesh, in_specs=(None, pspec, pspec, pspec, pspec), out_specs=pspec)
    @functools.partial(jax.vmap, in_axes=(None, 0, 0, 0, 0))
    def _eval(config: EvalConfig, rng: jax.Array, level: kenv_state.EnvState, state_dict, weak_state_dict):
        policy = _model.FlowPolicy(
            obs_dim=obs_dim,
            action_dim=action_dim,
            config=config.model,
            rngs=nnx.Rngs(rng),
        )
        graphdef, state = nnx.split(policy)
        state.replace_by_pure_dict(state_dict)
        policy = nnx.merge(graphdef, state)
        if weak_state_dict is not None:
            graphdef, state = nnx.split(policy)
            state.replace_by_pure_dict(weak_state_dict)
            weak_policy = nnx.merge(graphdef, state)
        else:
            weak_policy = None
        eval_info, _ = eval(config, env, rng, level, policy, env_params, static_env_params, weak_policy)
        return eval_info

    rngs = jax.random.split(jax.random.key(seed), len(level_paths))
    results = collections.defaultdict(list)
    for inference_delay in [0, 1, 2, 3, 4]:
        for execute_horizon in range(max(1, inference_delay), 8 - inference_delay + 1):
            print(f"{inference_delay=} {execute_horizon=}")
            c = dataclasses.replace(
                config, inference_delay=inference_delay, execute_horizon=execute_horizon, method=NaiveMethodConfig()
            )
            out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))
            for i in range(len(level_paths)):
                for k, v in out.items():
                    results[k].append(v[i])
                results["delay"].append(inference_delay)
                results["method"].append("naive")
                results["level"].append(level_paths[i])
                results["execute_horizon"].append(execute_horizon)

            c = dataclasses.replace(
                config, inference_delay=inference_delay, execute_horizon=execute_horizon, method=RealtimeMethodConfig()
            )
            out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))
            for i in range(len(level_paths)):
                for k, v in out.items():
                    results[k].append(v[i])
                results["delay"].append(inference_delay)
                results["method"].append("realtime")
                results["level"].append(level_paths[i])
                results["execute_horizon"].append(execute_horizon)

            c = dataclasses.replace(
                config, inference_delay=inference_delay, execute_horizon=execute_horizon, method=BIDMethodConfig()
            )
            out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))
            for i in range(len(level_paths)):
                for k, v in out.items():
                    results[k].append(v[i])
                results["delay"].append(inference_delay)
                results["method"].append("bid")
                results["level"].append(level_paths[i])
                results["execute_horizon"].append(execute_horizon)

            c = dataclasses.replace(
                config,
                inference_delay=inference_delay,
                execute_horizon=execute_horizon,
                method=RealtimeMethodConfig(prefix_attention_schedule="zeros"),
            )
            out = jax.device_get(_eval(c, rngs, levels, state_dicts, weak_state_dicts))
            for i in range(len(level_paths)):
                for k, v in out.items():
                    results[k].append(v[i])
                results["delay"].append(inference_delay)
                results["method"].append("hard_masking")
                results["level"].append(level_paths[i])
                results["execute_horizon"].append(execute_horizon)
    pathlib.Path(output_dir).mkdir(parents=True, exist_ok=True)
    df = pd.DataFrame(results)
    df.to_csv(pathlib.Path(output_dir) / "results.csv", index=False)


if __name__ == "__main__":
    tyro.cli(main)


================================================
FILE: src/generate_data.py
================================================
import dataclasses
import functools
import json
import pathlib
import pickle
from typing import Sequence

import einops
from flax import struct
import flax.nnx as nnx
import flax.serialization
import jax
import jax.numpy as jnp
import kinetix.environment.env as kenv
import kinetix.environment.env_state as kenv_state
import kinetix.environment.wrappers as wrappers
import numpy as np
import tqdm_loggable.auto as tqdm
import tyro

import train_expert


@dataclasses.dataclass
class Config:
    run_path: str
    level_paths: Sequence[str] = (
        "worlds/l/grasp_easy.json",
        "worlds/l/catapult.json",
        "worlds/l/cartpole_thrust.json",
        "worlds/l/hard_lunar_lander.json",
        "worlds/l/mjc_half_cheetah.json",
        "worlds/l/mjc_swimmer.json",
        "worlds/l/mjc_walker.json",
        "worlds/l/h17_unicycle.json",
        "worlds/l/chain_lander.json",
        "worlds/l/catcher_v3.json",
        "worlds/l/trampoline.json",
        "worlds/l/car_launch.json",
    )
    seed: int = 0
    # Number of environments to run in parallel.
    num_envs: int = 128
    # Batch size for scan in number of steps *per environment*.
    batch_size: int = 256
    # Number of *total* steps to collect (lower bound -- rounded up to nearest multiple of batch size * num_envs).
    num_steps: int = 1_000_000

    solve_rate_threshold: float = 0.65
    action_sample_std: float | None = None


@struct.dataclass
class Data:
    obs: jax.Array
    action: jax.Array
    done: jax.Array
    solved: jax.Array
    return_: jax.Array
    length: jax.Array


@struct.dataclass
class StepCarry:
    rng: jax.Array
    obs: jax.Array
    env_state: kenv_state.EnvState
    policy_idxs: jax.Array


def main(config: Config):
    num_steps_per_env = (
        (config.num_steps // config.num_envs + config.batch_size - 1) // config.batch_size
    ) * config.batch_size
    print(
        f"Generating {num_steps_per_env * config.num_envs:_} steps with {config.num_envs} environments ({num_steps_per_env} steps per env)"
    )

    static_env_params = kenv_state.StaticEnvParams(**train_expert.LARGE_ENV_PARAMS, frame_skip=train_expert.FRAME_SKIP)
    env_params = kenv_state.EnvParams()
    levels = train_expert.load_levels(config.level_paths, static_env_params, env_params)

    env = kenv.make_kinetix_env_from_name("Kinetix-Symbolic-Continuous-v1", static_env_params=static_env_params)
    env = train_expert.BatchEnvWrapper(
        wrappers.LogWrapper(
            wrappers.AutoReplayWrapper(
                train_expert.ActionHistoryWrapper(
                    train_expert.ObsHistoryWrapper(train_expert.NoisyActionWrapper(env), 4)
                )
            )
        ),
        config.num_envs,
    )

    # load policies from best checkpoints by solve rate
    gen = np.random.default_rng(config.seed)
    state_dicts, good_policy_masks = [], []
    for level_path in config.level_paths:
        level_name = level_path.replace("/", "_").replace(".json", "")
        print(level_name)
        level_state_dicts, level_good_policy_mask = [], []
        for seed_dir in pathlib.Path(config.run_path).glob("seed_*"):
            # load stats
            log_dirs = list(filter(lambda p: p.is_dir() and p.name.isdigit(), seed_dir.iterdir()))
            level_stats = [json.load((p / "stats" / f"{level_name}.json").open("r")) for p in log_dirs]
            level_stats = jax.tree.map(lambda *x: jnp.stack(x), *level_stats)
            # pick a random policy with solve rate >= threshold
            solved_idxs = np.nonzero(level_stats["returned_episode_solved"] >= config.solve_rate_threshold)[0]
            if len(solved_idxs) == 0:
                chosen_idx = np.argmax(level_stats["returned_episode_solved"])
                level_good_policy_mask.append(False)
            else:
                chosen_idx = gen.choice(solved_idxs)
                level_good_policy_mask.append(True)
            # load policy
            chosen_log_dir = log_dirs[chosen_idx]
            with open(chosen_log_dir / "policies" / f"{level_name}.pkl", "rb") as f:
                level_state_dicts.append(pickle.load(f))
            print(
                f"\t{seed_dir.name}: {level_stats['returned_episode_solved'][chosen_idx]:.3f} {'[MASKED]' if not level_good_policy_mask[-1] else ''}"
            )
        state_dicts.append(jax.tree.map(lambda *x: jnp.array(x), *level_state_dicts))
        good_policy_masks.append(level_good_policy_mask)

    state_dicts = jax.tree.map(lambda *x: jnp.array(x), *state_dicts)
    good_policy_masks = jnp.array(good_policy_masks)
    state_dicts, good_policy_masks = jax.device_put((state_dicts, good_policy_masks))

    def new_policy_idxs(rng: jax.Array, good_policy_mask: jax.Array) -> jax.Array:
        # select a random policy for each environment
        rng, key = jax.random.split(rng)
        randint = jax.random.randint(key, (config.num_envs,), 0, good_policy_mask.sum())
        return jnp.nonzero(good_policy_mask, size=good_policy_mask.shape[0])[0][randint]

    @jax.jit
    @jax.vmap
    def init(rng: jax.Array, level: kenv_state.EnvState, good_policy_mask: jax.Array) -> StepCarry:
        rng, key = jax.random.split(rng)
        obs, env_state = env.reset_to_level(key, level, env_params)
        rng, key = jax.random.split(rng)
        policy_idxs = new_policy_idxs(key, good_policy_mask)
        return StepCarry(rng, obs, env_state, policy_idxs)

    @functools.partial(jax.jit, static_argnums=(3,), donate_argnums=(0,))
    @functools.partial(jax.vmap, in_axes=(0, 0, 0, None))
    def step_n(carry: StepCarry, state_dict: dict, good_policy_mask: jax.Array, n: int):
        def step(carry: StepCarry, _):
            # create agent
            action_dim = env.action_space(env_params).shape[0]
            assert len(carry.obs.shape) == 2
            obs_dim = carry.obs.shape[1]

            @jax.vmap  # over environments
            def get_action(key, obs, policy_idx):
                agent = train_expert.Agent(obs_dim, action_dim, 1, rngs=nnx.Rngs(0))
                graphdef, state = nnx.split(agent)
                state.replace_by_pure_dict(jax.tree.map(lambda x: x[policy_idx], state_dict))
                agent = nnx.merge(graphdef, state)
                mean, std = agent.action(obs)
                if config.action_sample_std is not None:
                    std = jnp.full_like(mean, config.action_sample_std)
                action_dist = train_expert.make_squashed_normal_diag(mean, std, static_env_params.num_motor_bindings)
                return action_dist.sample(seed=key)

            # step
            rng, key = jax.random.split(carry.rng)
            action = get_action(jax.random.split(key, config.num_envs), carry.obs, carry.policy_idxs)
            rng, key = jax.random.split(rng)
            next_obs, next_env_state, reward, done, info = env.step(key, carry.env_state, action, env_params)

            # select new policies only at episode boundaries
            rng, key = jax.random.split(rng)
            next_policy_idxs = jnp.where(done, new_policy_idxs(key, good_policy_mask), carry.policy_idxs)

            # only retain important info
            info = {
                k: v
                for k, v in info.items()
                if k in ["returned_episode_returns", "returned_episode_lengths", "returned_episode_solved"]
            }
            return StepCarry(rng, next_obs, next_env_state, next_policy_idxs), Data(
                train_expert.ObsHistoryWrapper.get_original_obs(carry.env_state),
                action,
                done,
                info["returned_episode_solved"],
                info["returned_episode_returns"],
                info["returned_episode_lengths"],
            )

        return jax.lax.scan(step, carry, None, length=n)

    rng = jax.random.key(config.seed)
    carry = init(jax.random.split(rng, len(config.level_paths)), levels, good_policy_masks)
    pbar = tqdm.tqdm(total=num_steps_per_env * config.num_envs, dynamic_ncols=True)
    data = []
    for _ in range(0, num_steps_per_env, config.batch_size):
        carry, result = step_n(carry, state_dicts, good_policy_masks, config.batch_size)
        data.append(jax.device_get(result))
        pbar.update(config.batch_size * config.num_envs)
    pbar.close()
    with jax.default_device(jax.devices("cpu")[0]):
        data: Data = jax.tree.map(
            lambda *x: einops.rearrange(
                jnp.stack(x),
                "num_batch level batch_size num_env ... -> level (num_batch batch_size) num_env ...",
            ),
            *data,
        )

    for i, level_path in enumerate(config.level_paths):
        level_name = level_path.replace("/", "_").replace(".json", "")
        print_info = {"num_episodes": data.done[i].sum()}
        for key in ["return_", "length", "solved"]:
            print_info[key] = (getattr(data, key)[i] * data.done[i]).sum() / print_info["num_episodes"]

        print(f"{level_name}:")
        for k, v in print_info.items():
            print(f"\t{k}: {v:.3f}")

        data_path = pathlib.Path(config.run_path) / "data"
        data_path.mkdir(parents=True, exist_ok=True)
        level_data = flax.serialization.to_state_dict(jax.tree.map(lambda x: x[i], data))
        np.savez(data_path / f"{level_name}.npz", **level_data)


if __name__ == "__main__":
    tyro.cli(main)


================================================
FILE: src/model.py
================================================
import dataclasses
import functools
from typing import Literal, TypeAlias, Self

import einops
import flax.nnx as nnx
import jax
import jax.numpy as jnp


@dataclasses.dataclass(frozen=True)
class ModelConfig:
    channel_dim: int = 256
    channel_hidden_dim: int = 512
    token_hidden_dim: int = 64
    num_layers: int = 4
    action_chunk_size: int = 8
    simulated_delay: int | None = None


def posemb_sincos(pos: jax.Array, embedding_dim: int, min_period: float, max_period: float) -> jax.Array:
    """Computes sine-cosine positional embedding vectors for scalar positions."""
    if embedding_dim % 2 != 0:
        raise ValueError(f"embedding_dim ({embedding_dim}) must be divisible by 2")

    fraction = jnp.linspace(0.0, 1.0, embedding_dim // 2)
    period = min_period * (max_period / min_period) ** fraction
    sinusoid_input = jnp.einsum(
        "i,j->ij",
        pos,
        1.0 / period * 2 * jnp.pi,
        precision=jax.lax.Precision.HIGHEST,
    )
    return jnp.concatenate([jnp.sin(sinusoid_input), jnp.cos(sinusoid_input)], axis=-1)


PrefixAttentionSchedule: TypeAlias = Literal["linear", "exp", "ones", "zeros"]


def get_prefix_weights(start: int, end: int, total: int, schedule: PrefixAttentionSchedule) -> jax.Array:
    """With start=2, end=6, total=10, the output will be:
    1  1  4/5 3/5 2/5 1/5 0  0  0  0
           ^              ^
         start           end
    `start` (inclusive) is where the chunk starts being allowed to change. `end` (exclusive) is where the chunk stops
    paying attention to the prefix. if start == 0, then the entire chunk is allowed to change. if end == total, then the
    entire prefix is attended to.

    `end` takes precedence over `start` in the sense that, if `end < start`, then `start` is pushed down to `end`. Thus,
    if `end` is 0, then the entire prefix will always be ignored.
    """
    start = jnp.minimum(start, end)
    if schedule == "ones":
        w = jnp.ones(total)
    elif schedule == "zeros":
        w = (jnp.arange(total) < start).astype(jnp.float32)
    elif schedule == "linear" or schedule == "exp":
        w = jnp.clip((start - 1 - jnp.arange(total)) / (end - start + 1) + 1, 0, 1)
        if schedule == "exp":
            w = w * jnp.expm1(w) / (jnp.e - 1)
    else:
        raise ValueError(f"Invalid schedule: {schedule}")
    return jnp.where(jnp.arange(total) >= end, 0, w)


class MLPMixerBlock(nnx.Module):
    def __init__(
        self, token_dim: int, token_hidden_dim: int, channel_dim: int, channel_hidden_dim: int, *, rngs: nnx.Rngs
    ):
        self.token_mix_in = nnx.Linear(token_dim, token_hidden_dim, use_bias=False, rngs=rngs)
        self.token_mix_out = nnx.Linear(token_hidden_dim, token_dim, use_bias=False, rngs=rngs)
        self.channel_mix_in = nnx.Linear(channel_dim, channel_hidden_dim, use_bias=False, rngs=rngs)
        self.channel_mix_out = nnx.Linear(channel_hidden_dim, channel_dim, use_bias=False, rngs=rngs)
        self.norm_1 = nnx.LayerNorm(channel_dim, use_scale=False, use_bias=False, rngs=rngs)
        self.norm_2 = nnx.LayerNorm(channel_dim, use_scale=False, use_bias=False, rngs=rngs)
        self.adaln_1 = nnx.Linear(channel_dim, 3 * channel_dim, kernel_init=nnx.initializers.zeros_init(), rngs=rngs)
        self.adaln_2 = nnx.Linear(channel_dim, 3 * channel_dim, kernel_init=nnx.initializers.zeros_init(), rngs=rngs)

    def __call__(self, x: jax.Array, adaln_cond: jax.Array) -> jax.Array:
        scale_1, shift_1, gate_1 = jnp.split(self.adaln_1(adaln_cond), 3, axis=-1)
        scale_2, shift_2, gate_2 = jnp.split(self.adaln_2(adaln_cond), 3, axis=-1)

        # token mix
        residual = x
        x = self.norm_1(x) * (1 + scale_1) + shift_1
        x = x.transpose(0, 2, 1)
        x = self.token_mix_in(x)
        x = nnx.gelu(x)
        x = self.token_mix_out(x)
        x = x.transpose(0, 2, 1)
        x = residual + gate_1 * x

        # channel mix
        residual = x
        x = self.norm_2(x) * (1 + scale_2) + shift_2
        x = self.channel_mix_in(x)
        x = nnx.gelu(x)
        x = self.channel_mix_out(x)
        x = residual + gate_2 * x
        return x


class FlowPolicy(nnx.Module):
    def __init__(
        self,
        *,
        obs_dim: int,
        action_dim: int,
        config: ModelConfig,
        rngs: nnx.Rngs,
    ):
        self.channel_dim = config.channel_dim
        self.action_dim = action_dim
        self.action_chunk_size = config.action_chunk_size
        self.simulated_delay = config.simulated_delay

        self.in_proj = nnx.Linear(action_dim + obs_dim, config.channel_dim, rngs=rngs)
        self.mlp_stack = [
            MLPMixerBlock(
                config.action_chunk_size,
                config.token_hidden_dim,
                config.channel_dim,
                config.channel_hidden_dim,
                rngs=rngs,
            )
            for _ in range(config.num_layers)
        ]
        self.time_mlp = nnx.Sequential(
            nnx.Linear(config.channel_dim, config.channel_dim, rngs=rngs),
            nnx.swish,
            nnx.Linear(config.channel_dim, config.channel_dim, rngs=rngs),
            nnx.swish,
        )
        self.final_norm = nnx.LayerNorm(config.channel_dim, use_scale=False, use_bias=False, rngs=rngs)
        self.final_adaln = nnx.Linear(
            config.channel_dim, 2 * config.channel_dim, kernel_init=nnx.initializers.zeros_init(), rngs=rngs
        )
        self.out_proj = nnx.Linear(config.channel_dim, action_dim, rngs=rngs)

    def __call__(self, obs: jax.Array, x_t: jax.Array, time: jax.Array) -> jax.Array:
        assert x_t.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), x_t.shape
        if time.ndim == 1:
            time = time[:, None]
        time = jnp.broadcast_to(time, (obs.shape[0], self.action_chunk_size))
        time_emb = jax.vmap(
            functools.partial(posemb_sincos, embedding_dim=self.channel_dim, min_period=4e-3, max_period=4.0)
        )(time)
        time_emb = self.time_mlp(time_emb)
        obs = einops.repeat(obs, "b e -> b c e", c=self.action_chunk_size)
        x = jnp.concatenate([x_t, obs], axis=-1)
        x = self.in_proj(x)
        for mlp in self.mlp_stack:
            x = mlp(x, time_emb)
        assert x.shape == (obs.shape[0], self.action_chunk_size, self.channel_dim), x.shape
        scale, shift = jnp.split(self.final_adaln(time_emb), 2, axis=-1)
        x = self.final_norm(x) * (1 + scale) + shift
        x = self.out_proj(x)
        return x

    def action(self, rng: jax.Array, obs: jax.Array, num_steps: int) -> jax.Array:
        dt = 1 / num_steps

        def step(carry, _):
            x_t, time = carry
            v_t = self(obs, x_t, time)
            return (x_t + dt * v_t, time + dt), None

        noise = jax.random.normal(rng, shape=(obs.shape[0], self.action_chunk_size, self.action_dim))
        (x_1, _), _ = jax.lax.scan(step, (noise, 0.0), length=num_steps)
        assert x_1.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), x_1.shape
        return x_1

    def bid_action(
        self,
        rng: jax.Array,
        obs: jax.Array,
        num_steps: int,
        prev_action_chunk: jax.Array,  # [batch, horizon, action_dim]
        inference_delay: int,
        prefix_attention_horizon: int,
        n_samples: int,
        # when below two are None, it becomes backwards loss only (i.e., rejection sampling)
        bid_weak_policy: Self | None = None,
        bid_k: int | None = None,
    ) -> jax.Array:
        obs = einops.repeat(obs, "b ... -> (n b) ...", n=n_samples)
        weights = get_prefix_weights(inference_delay, prefix_attention_horizon, self.action_chunk_size, "exp")

        def backward_loss(action_chunks: jax.Array):
            error = jnp.linalg.norm(action_chunks - prev_action_chunk, axis=-1)  # [n, b, h]
            return jnp.sum(error * weights[None, None, :], axis=-1)  # [n, b]

        strong_actions = einops.rearrange(self.action(rng, obs, num_steps), "(n b) h d -> n b h d", n=n_samples)
        loss = backward_loss(strong_actions)  # [n, b]

        if bid_weak_policy is not None or bid_k is not None:
            assert bid_weak_policy is not None and bid_k is not None, (bid_weak_policy, bid_k)
            weak_actions = einops.rearrange(
                bid_weak_policy.action(rng, obs, num_steps), "(n b) h d -> n b h d", n=n_samples
            )
            weak_loss = backward_loss(weak_actions)  # [n, b]
            weak_idxs = jax.lax.top_k(-weak_loss.T, bid_k)[1].T  # [k, b]
            strong_idxs = jax.lax.top_k(-loss.T, bid_k)[1].T  # [k, b]
            a_plus = jnp.take_along_axis(strong_actions, strong_idxs[:, :, None, None], axis=0)  # [k, b, h, d]
            a_minus = jnp.take_along_axis(weak_actions, weak_idxs[:, :, None, None], axis=0)  # [k, b, h, d]
            # compute forward loss for each action in strong_actions
            forward_loss = jnp.sum(
                jnp.linalg.norm(strong_actions[:, None] - a_plus[None, :], axis=-1),  # [n, k, b, h]
                axis=(1, 3),  # [n, b]
            ) - jnp.sum(
                jnp.linalg.norm(strong_actions[:, None] - a_minus[None, :], axis=-1),  # [n, k, b, h]
                axis=(1, 3),  # [n, b]
            )
            loss += forward_loss / n_samples

        best_idxs = jnp.argmin(loss, axis=0)  # [b]
        return jnp.take_along_axis(strong_actions, best_idxs[None, :, None, None], axis=0).squeeze(0)  # [b, h, d]

    def realtime_action(
        self,
        rng: jax.Array,
        obs: jax.Array,
        num_steps: int,
        prev_action_chunk: jax.Array,  # [batch, horizon, action_dim]
        inference_delay: int,
        prefix_attention_horizon: int,
        prefix_attention_schedule: PrefixAttentionSchedule,
        max_guidance_weight: float,
    ) -> jax.Array:
        dt = 1 / num_steps

        def step(carry, _):
            x_t, time = carry

            @functools.partial(jax.vmap, in_axes=(0, 0, 0, None))  # over batch
            def pinv_corrected_velocity(obs, x_t, y, t):
                def denoiser(x_t):
                    v_t = self(obs[None], x_t[None], t)[0]
                    return x_t + v_t * (1 - t), v_t

                x_1, vjp_fun, v_t = jax.vjp(denoiser, x_t, has_aux=True)
                weights = get_prefix_weights(
                    inference_delay, prefix_attention_horizon, self.action_chunk_size, prefix_attention_schedule
                )
                error = (y - x_1) * weights[:, None]
                pinv_correction = vjp_fun(error)[0]
                # constants from paper
                inv_r2 = (t**2 + (1 - t) ** 2) / ((1 - t) ** 2)
                c = jnp.nan_to_num((1 - t) / t, posinf=max_guidance_weight)
                guidance_weight = jnp.minimum(c * inv_r2, max_guidance_weight)
                return v_t + guidance_weight * pinv_correction

            if self.simulated_delay is not None:
                mask = jnp.arange(self.action_chunk_size)[None, :] < inference_delay
                x_t = jnp.where(mask[:, :, None], prev_action_chunk, x_t)
                time_chunk = jnp.where(mask, 1.0, time)
                v_t = self(obs, x_t, time_chunk)
            else:
                v_t = pinv_corrected_velocity(obs, x_t, prev_action_chunk, time)
            return (x_t + dt * v_t, time + dt), None

        noise = jax.random.normal(rng, shape=(obs.shape[0], self.action_chunk_size, self.action_dim))
        (x_1, _), _ = jax.lax.scan(step, (noise, 0.0), length=num_steps)
        assert x_1.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), x_1.shape
        return x_1

    def loss(self, rng: jax.Array, obs: jax.Array, action: jax.Array):
        assert action.dtype == jnp.float32
        assert action.shape == (obs.shape[0], self.action_chunk_size, self.action_dim), action.shape
        noise_rng, time_rng, delay_rng = jax.random.split(rng, 3)
        time = jax.random.uniform(time_rng, (obs.shape[0],))
        noise = jax.random.normal(noise_rng, shape=action.shape)
        u_t = action - noise

        if self.simulated_delay is None:
            x_t = (1 - time[:, None, None]) * noise + time[:, None, None] * action
            pred = self(obs, x_t, time)
            return jnp.mean(jnp.square(pred - u_t))

        w = jnp.exp(jnp.arange(0, self.simulated_delay)[::-1])
        w = w / jnp.sum(w)
        delay = jax.random.choice(delay_rng, self.simulated_delay, (obs.shape[0],), p=w)
        mask = jnp.arange(self.action_chunk_size)[None, :] < delay[:, None]
        time = jnp.where(mask, 1.0, time[:, None])
        x_t = (1 - time[:, :, None]) * noise + time[:, :, None] * action
        pred = self(obs, x_t, time)
        loss = jnp.square(pred - u_t)
        loss_mask = jnp.logical_not(mask)[:, :, None]
        return jnp.sum(loss * loss_mask) / (jnp.sum(loss_mask) + 1e-8)


================================================
FILE: src/render_levels.py
================================================
import pathlib
import jax
import jax.numpy as jnp
import kinetix.environment.env as kenv
import kinetix.environment.env_state as kenv_state
import kinetix.render.renderer_pixels as renderer_pixels
import kinetix.util.saving as saving
import imageio

# Constants from train_expert.py
LARGE_ENV_PARAMS = {
    "num_polygons": 12,
    "num_circles": 4,
    "num_joints": 6,
    "num_thrusters": 2,
    "num_motor_bindings": 4,
    "num_thruster_bindings": 2,
}
FRAME_SKIP = 2
SCREEN_DIM = (512, 512)


def load_levels(paths):
    static_env_params = kenv_state.StaticEnvParams(**LARGE_ENV_PARAMS, frame_skip=FRAME_SKIP)
    env_params = kenv_state.EnvParams()

    levels = []
    for level_path in paths:
        level, level_static_env_params, level_env_params = saving.load_from_json_file(level_path)
        # assert level_static_env_params == static_env_params, (
        #     f"Expected {static_env_params} got {level_static_env_params} for {level_path}"
        # )
        # assert level_env_params == env_params, f"Expected {env_params} got {level_env_params} for {level_path}"
        levels.append(level)
    return levels, static_env_params, env_params


def main():
    # Define level paths
    level_paths = [
        "worlds/l/grasp_easy.json",
        "worlds/l/catapult.json",
        "worlds/l/cartpole_thrust.json",
        "worlds/l/hard_lunar_lander.json",
        "worlds/l/mjc_half_cheetah.json",
        "worlds/l/mjc_swimmer.json",
        "worlds/l/mjc_walker.json",
        "worlds/l/h17_unicycle.json",
        "worlds/l/chain_lander.json",
        "worlds/l/catcher_v3.json",
        "worlds/l/trampoline.json",
        "worlds/l/car_launch.json",
    ]

    # Load levels
    levels, static_env_params, env_params = load_levels(level_paths)

    # Update screen dimensions
    static_env_params = static_env_params.replace(screen_dim=SCREEN_DIM, downscale=2)

    # Create environment and renderer
    env = kenv.make_kinetix_env_from_name("Kinetix-Symbolic-Continuous-v1", static_env_params=static_env_params)
    render_pixels = renderer_pixels.make_render_pixels(env_params, static_env_params)

    # Create output directory
    output_dir = pathlib.Path("rendered_levels")
    output_dir.mkdir(exist_ok=True)

    # Render each level
    for i, level in enumerate(levels):
        # Reset environment to level
        _, env_state = env.reset_to_level(jax.random.key(0), level, env_params)

        # Render the state
        image = render_pixels(env_state).round().astype(jnp.uint8).transpose(1, 0, 2)[::-1]

        # Save image
        level_name = level_paths[i].split("/")[-1].replace(".json", "")
        imageio.imwrite(output_dir / f"{level_name}.jpg", image)
        print(f"Saved {level_name}.jpg")


if __name__ == "__main__":
    main()


================================================
FILE: src/train_expert.py
================================================
import dataclasses
import functools
import json
import pathlib
import pickle
from typing import Sequence

from flax import struct
import flax.nnx as nnx
import imageio
import jax
import jax.numpy as jnp
import kinetix.environment.env as kenv
import kinetix.environment.env_state as kenv_state
import kinetix.environment.wrappers as wrappers
import kinetix.render.renderer_pixels as renderer_pixels
import kinetix.util.saving as saving
import optax
from tensorflow_probability.substrates import jax as tfp
import tqdm_loggable.auto as tqdm
import tyro
import wandb


@dataclasses.dataclass
class Config:
    level_paths: Sequence[str] = (
        "worlds/l/grasp_easy.json",
        "worlds/l/catapult.json",
        "worlds/l/cartpole_thrust.json",
        "worlds/l/hard_lunar_lander.json",
        "worlds/l/mjc_half_cheetah.json",
        "worlds/l/mjc_swimmer.json",
        "worlds/l/mjc_walker.json",
        "worlds/l/h17_unicycle.json",
        "worlds/l/chain_lander.json",
        "worlds/l/catcher_v3.json",
        "worlds/l/trampoline.json",
        "worlds/l/car_launch.json",
    )
    seed: int = 32
    num_seeds: int = 8
    log_interval: int = 20
    num_updates: int = 1000
    num_steps: int = 256
    num_envs: int = 256
    num_minibatches: int = 8
    num_epochs: int = 4
    gamma: float = 0.995
    gae_lambda: float = 0.9
    clip_eps: float = 0.2
    v_loss_coef: float = 0.5
    rpo_alpha: float = 0.3
    layer_width: int = 256
    grad_norm_clip: float = 1.0
    lr: float = 3e-4


LOG_DIR = pathlib.Path("logs-expert")
WANDB_PROJECT = "rtc-kinetix-expert"
LARGE_ENV_PARAMS = {
    "num_polygons": 12,
    "num_circles": 4,
    "num_joints": 6,
    "num_thrusters": 2,
    "num_motor_bindings": 4,
    "num_thruster_bindings": 2,
}
FRAME_SKIP = 2
SCREEN_DIM = (512, 512)
ACTION_NOISE_STD = 0.1
LOG_STD_MIN = -10.0
LOG_STD_MAX = 2.0
MEAN_MAX_MAGNITUDE = 5
MAX_ACTION = 0.99999


class BatchEnvWrapper(wrappers.GymnaxWrapper):
    """Define our own BatchEnvWrapper (we don't need different levels)"""

    def __init__(self, env, num: int):
        super().__init__(env)
        self.num = num

    def reset(self, rng, params):
        return jax.vmap(self._env.reset, in_axes=(0, None))(jax.random.split(rng, self.num), params)

    def reset_to_level(self, rng, level, params):
        return jax.vmap(self._env.reset_to_level, in_axes=(0, None, None))(
            jax.random.split(rng, self.num), level, params
        )

    def step(self, rng, state, action, params):
        return jax.vmap(self._env.step, in_axes=(0, 0, 0, None))(jax.random.split(rng, self.num), state, action, params)


@struct.dataclass
class DenseRewardState:
    env_state: kenv_state.EnvState
    timestep: int
    action: jax.Array


class DenseRewardWrapper(wrappers.GymnaxWrapper):
    def __init__(self, env):
        super().__init__(env)

    def step(self, key, state, action, params=None):
        obs, env_state, reward, done, info = self._env.step_env(key, state.env_state, action, params)
        dist_penalty = jax.lax.select(reward > 0, 0.0, info["distance"] / 6.0 / params.max_timesteps)
        new_reward = reward - jax.lax.select(done, (params.max_timesteps - state.timestep) * dist_penalty, dist_penalty)

        next_timestep = jax.lax.select(done, 0, state.timestep + 1)
        return obs, DenseRewardState(env_state, next_timestep, action), new_reward, done, info

    def reset(self, rng, params=None):
        obs, env_state = self._env.reset(rng, params)
        return obs, DenseRewardState(env_state, 0, jnp.zeros(self._env.action_space(params).shape[0]))

    def reset_to_level(self, rng, level, params=None):
        obs, env_state = self._env.reset_to_level(rng, level, params)
        return obs, DenseRewardState(env_state, 0, jnp.zeros(self._env.action_space(params).shape[0]))


class ActionHistoryWrapper(wrappers.UnderspecifiedEnvWrapper):
    def __init__(self, env):
        super().__init__(env)

    def step_env(self, key, state, action, params):
        obs, env_state, reward, done, info = self._env.step_env(key, state, action, params)
        obs = jnp.concatenate([obs, action])
        return obs, env_state, reward, done, info

    def reset_to_level(self, rng, level, params):
        obs, env_state = self._env.reset_to_level(rng, level, params)
        obs = jnp.concatenate([obs, jnp.zeros(self._env.action_space(params).shape[0])])
        return obs, env_state

    def action_space(self, params):
        return self._env.action_space(params)


class NoisyActionWrapper(wrappers.UnderspecifiedEnvWrapper):
    def __init__(self, env):
        super().__init__(env)

    def step_env(self, key, state, action, params):
        key1, key2 = jax.random.split(key)
        action = action + jax.random.normal(key1, action.shape) * ACTION_NOISE_STD
        return self._env.step_env(key2, state, action, params)

    def reset_to_level(self, rng, level, params):
        return self._env.reset_to_level(rng, level, params)

    def action_space(self, params):
        return self._env.action_space(params)


@struct.dataclass
class StickyActionState:
    env_state: kenv_state.EnvState
    action: jax.Array


class StickyActionWrapper(wrappers.UnderspecifiedEnvWrapper):
    def __init__(self, env, stickiness: float):
        super().__init__(env)
        self.stickiness = stickiness

    def step_env(self, key, state, action, params):
        key1, key2 = jax.random.split(key)
        actual_action = jax.lax.select(jax.random.bernoulli(key1, self.stickiness), state.action, action)
        obs, env_state, reward, done, info = self._env.step_env(key2, state.env_state, actual_action, params)
        return obs, StickyActionState(env_state, actual_action), reward, done, info

    def reset_to_level(self, rng, level, params):
        obs, env_state = self._env.reset_to_level(rng, level, params)
        return obs, StickyActionState(
            env_state,
            jnp.zeros(
                len(self._env.action_space(params).number_of_dims_per_distribution),
                dtype=jnp.int32,
            ),
        )

    def action_space(self, params):
        return self._env.action_space(params)


@struct.dataclass
class ObsHistoryState:
    env_state: kenv_state.EnvState
    stacked_obs: jax.Array
    original_obs: jax.Array


class ObsHistoryWrapper(wrappers.UnderspecifiedEnvWrapper):
    def __init__(self, env, history_length: int):
        super().__init__(env)
        self.history_length = history_length

    def step_env(self, key, state, action, params):
        obs, env_state, reward, done, info = self._env.step_env(key, state.env_state, action, params)
        stacked_obs = jnp.roll(state.stacked_obs, -1, axis=0).at[-1].set(obs)
        return stacked_obs.flatten(), ObsHistoryState(env_state, stacked_obs, obs), reward, done, info

    def reset_to_level(self, rng, level, params):
        obs, env_state = self._env.reset_to_level(rng, level, params)
        stacked_obs = jnp.repeat(obs[None], self.history_length, axis=0)
        return stacked_obs.flatten(), ObsHistoryState(env_state, stacked_obs, obs)

    def action_space(self, params):
        return self._env.action_space(params)

    @staticmethod
    def get_original_obs(env_state) -> jax.Array:
        while not isinstance(env_state, ObsHistoryState):
            env_state = env_state.env_state
        return env_state.original_obs


def make_squashed_normal_diag(mean, std, num_motor_bindings: int):
    bijector = tfp.bijectors.Blockwise(
        [tfp.bijectors.Tanh(), tfp.bijectors.Sigmoid()],
        block_sizes=[num_motor_bindings, mean.shape[-1] - num_motor_bindings],
        maybe_changes_size=False,
        validate_args=True,
    )
    return tfp.distributions.TransformedDistribution(tfp.distributions.MultivariateNormalDiag(mean, std), bijector)


class Agent(nnx.Module):
    def __init__(self, obs_dim: int, action_dim: int, layer_width: int, *, rngs: nnx.Rngs):
        self.critic = nnx.Sequential(
            nnx.Linear(obs_dim, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),
            nnx.tanh,
            nnx.Linear(layer_width, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),
            nnx.tanh,
            nnx.Linear(layer_width, 1, kernel_init=nnx.initializers.orthogonal(1), rngs=rngs),
        )
        self.actor = nnx.Sequential(
            nnx.Linear(obs_dim, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),
            nnx.tanh,
            nnx.Linear(layer_width, layer_width, kernel_init=nnx.initializers.orthogonal(jnp.sqrt(2)), rngs=rngs),
            nnx.tanh,
            nnx.Linear(layer_width, action_dim, kernel_init=nnx.initializers.orthogonal(0.01), rngs=rngs),
        )
        self.logstd = nnx.Param(jnp.zeros(action_dim))

    def value(self, obs: jax.Array) -> jax.Array:
        return self.critic(obs)[..., 0]

    def action(self, obs: jax.Array):
        mean = jnp.clip(self.actor(obs), -MEAN_MAX_MAGNITUDE, MEAN_MAX_MAGNITUDE)
        std = jnp.exp(jnp.clip(self.logstd.value, LOG_STD_MIN, LOG_STD_MAX))
        return mean, std


@struct.dataclass
class Transition:
    obs: jax.Array
    action: jax.Array
    done: jax.Array
    reward: jax.Array
    value: jax.Array
    log_prob: jax.Array
    info: jax.Array
    env_state: kenv_state.EnvState


@struct.dataclass
class StepCarry:
    """Environment-related information that must be carried through the rollout loop."""

    rng: jax.Array
    env_state: kenv_state.EnvState
    obs: jax.Array
    done: jax.Array


@struct.dataclass
class UpdateCarry:
    """Information that must be carried through the outermost update loop."""

    rng: jax.Array
    step_carry: StepCarry
    train_state: nnx.State
    graphdef: nnx.GraphDef[tuple[Agent, nnx.Optimizer]] = struct.field(pytree_node=False)


@struct.dataclass
class TrainCarry:
    rng: jax.Array
    train_state: nnx.State


def make_render_video(render_pixels):
    @jax.vmap
    def render_video(env_state):
        while not isinstance(env_state, kenv_state.EnvState):
            env_state = env_state.env_state
        return render_pixels(env_state).round().astype(jnp.uint8).transpose(1, 0, 2)[::-1]

    return render_video


def load_levels(paths: Sequence[str], static_env_params: kenv_state.StaticEnvParams, env_params: kenv_state.EnvParams):
    levels = []
    for level_path in paths:
        level, level_static_env_params, level_env_params = saving.load_from_json_file(level_path)
        assert level_static_env_params == static_env_params, (
            f"Expected {static_env_params} got {level_static_env_params} for {level_path}"
        )
        assert level_env_params == env_params, f"Expected {env_params} got {level_env_params} for {level_path}"
        levels.append(level)
    return jax.tree.map(lambda *x: jnp.stack(x), *levels)


def main(config: Config):
    static_env_params = kenv_state.StaticEnvParams(**LARGE_ENV_PARAMS, frame_skip=FRAME_SKIP)
    env_params = kenv_state.EnvParams()
    env = kenv.make_kinetix_env_from_name("Kinetix-Symbolic-Continuous-v1", static_env_params=static_env_params)
    env = BatchEnvWrapper(
        wrappers.LogWrapper(
            DenseRewardWrapper(
                wrappers.AutoReplayWrapper(ActionHistoryWrapper(ObsHistoryWrapper(NoisyActionWrapper(env), 4)))
            )
        ),
        config.num_envs,
    )

    levels = load_levels(config.level_paths, static_env_params, env_params)
    static_env_params = static_env_params.replace(screen_dim=SCREEN_DIM)

    batch_size = config.num_envs * config.num_steps
    assert batch_size % config.num_minibatches == 0, "Batch size must be divisible by number of minibatches"
    minibatch_size = batch_size // config.num_minibatches
    print(f"Batch size: {batch_size}, minibatch size: {minibatch_size}")

    # create rendering function
    render_pixels = renderer_pixels.make_render_pixels(env_params, static_env_params)
    render_video = make_render_video(render_pixels)

    mesh = jax.make_mesh((jax.local_device_count(),), ("x",))
    sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec("x"))

    @functools.partial(jax.jit, out_shardings=sharding)
    @functools.partial(jax.vmap, in_axes=(0, None))  # over seeds
    @jax.vmap  # over levels
    def init(rng: jax.Array, level: kenv_state.EnvState) -> UpdateCarry:
        # initial reset
        rng, key = jax.random.split(rng)
        obs, env_state = env.reset_to_level(key, level, env_params)

        # initialize agent
        action_dim = env.action_space(env_params).shape[0]
        assert len(obs.shape) == 2
        obs_dim = obs.shape[1]
        rng, key = jax.random.split(rng)
        agent = Agent(obs_dim, action_dim, config.layer_width, rngs=nnx.Rngs(key))
        optimizer = nnx.Optimizer(
            agent, optax.chain(optax.clip_by_global_norm(config.grad_norm_clip), optax.adam(config.lr))
        )
        graphdef, initial_train_state = nnx.split((agent, optimizer))

        update_rng, step_rng = jax.random.split(rng)
        return UpdateCarry(
            rng=update_rng,
            step_carry=StepCarry(
                rng=step_rng, env_state=env_state, obs=obs, done=jnp.zeros(config.num_envs, dtype=bool)
            ),
            train_state=initial_train_state,
            graphdef=graphdef,
        )

    # outermost PPO update loop
    def update(update_carry: UpdateCarry, _):
        agent, _ = nnx.merge(update_carry.graphdef, update_carry.train_state)

        # environment rollout loop
        def step(step_carry: StepCarry, _):
            rng, key = jax.random.split(step_carry.rng)
            # action = env.action_space(env_params).sample(key)
            mean, std = agent.action(step_carry.obs)
            action_dist = make_squashed_normal_diag(mean, std, static_env_params.num_motor_bindings)
            action = action_dist.sample(seed=key)
            action = jnp.clip(action, -MAX_ACTION, MAX_ACTION)
            log_prob = action_dist.log_prob(action)
            value = agent.value(step_carry.obs)
            rng, key = jax.random.split(rng)
            next_obs, next_env_state, reward, next_done, info = env.step(key, step_carry.env_state, action, env_params)
            return (
                StepCarry(rng=rng, env_state=next_env_state, obs=next_obs, done=next_done),
                Transition(
                    obs=step_carry.obs,
                    action=action,
                    reward=reward,
                    value=value,
                    log_prob=log_prob,
                    done=step_carry.done,
                    info=info,
                    env_state=step_carry.env_state,
                ),
            )

        # transitions has shape: (NUM_STEPS, NUM_ENVS, ...)
        final_step_carry, transitions = jax.lax.scan(step, update_carry.step_carry, None, length=config.num_steps)

        # gae calculation loop
        def gae_step(carry, transition: Transition):
            gae, next_value, next_done = carry
            delta = transition.reward + config.gamma * next_value * (1 - next_done) - transition.value
            gae = delta + config.gamma * config.gae_lambda * (1 - next_done) * gae
            return (gae, transition.value, transition.done), gae

        last_value = agent.value(final_step_carry.obs)
        last_done = final_step_carry.done
        _, advantages = jax.lax.scan(
            gae_step, (jnp.zeros_like(last_value), last_value, last_done), transitions, reverse=True, unroll=16
        )
        returns = advantages + transitions.value

        # update epochs loop
        def update_epoch(epoch_carry: TrainCarry, _):
            # gradient update loop
            def update_minibatch(minibatch_carry: TrainCarry, minibatch: tuple[Transition, jax.Array, jax.Array]):
                agent, optimizer = nnx.merge(update_carry.graphdef, minibatch_carry.train_state)
                transitions, advantages, returns = minibatch
                rng, key = jax.random.split(minibatch_carry.rng)

                def loss_fn(agent: Agent):
                    mean, std = agent.action(transitions.obs)
                    # RPO LOGIC
                    z = jax.random.uniform(
                        key, transitions.action.shape, minval=-config.rpo_alpha, maxval=config.rpo_alpha
                    )
                    dist = make_squashed_normal_diag(mean + z, std, static_env_params.num_motor_bindings)
                    value = agent.value(transitions.obs)
                    log_prob = dist.log_prob(transitions.action)
                    log_ratio = log_prob - transitions.log_prob
                    ratio = jnp.exp(log_ratio)

                    # actor loss
                    norm_advantages = (advantages - advantages.mean()) / (advantages.std() + 1e-8)
                    pg_loss1 = -norm_advantages * ratio
                    pg_loss2 = -norm_advantages * jnp.clip(ratio, 1.0 - config.clip_eps, 1.0 + config.clip_eps)
                    pg_loss = jnp.maximum(pg_loss1, pg_loss2).mean()

                    # value loss
                    v_loss_unclipped = (value - returns) ** 2
                    v_clipped = transitions.value + (value - transitions.value).clip(-config.clip_eps, config.clip_eps)
                    v_loss_clipped = (v_clipped - returns) ** 2
                    v_loss = 0.5 * jnp.maximum(v_loss_unclipped, v_loss_clipped).mean()

                    loss = pg_loss + config.v_loss_coef * v_loss
                    info = {
                        "pg_loss": pg_loss,
                        "v_loss": v_loss,
                        "clipfrac": (jnp.abs(ratio - 1) > config.clip_eps).mean(),
                        "approx_kl": ((ratio - 1) - log_ratio).mean(),
                    }
                    return loss, info

                (loss, info), grads = nnx.value_and_grad(loss_fn, has_aux=True)(agent)
                info["loss"] = loss
                info["grad_norm"] = optax.global_norm(grads)
                optimizer.update(grads)
                _, train_state = nnx.split((agent, optimizer))
                return TrainCarry(rng=rng, train_state=train_state), info

            # flatten data in preparation for learning
            data = jax.tree.map(
                lambda x: x.reshape(config.num_steps * config.num_envs, *x.shape[2:]),
                (transitions, advantages, returns),
            )
            # shuffle
            rng, key = jax.random.split(epoch_carry.rng)
            permutation = jax.random.permutation(key, config.num_envs * config.num_steps)
            data = jax.tree.map(lambda x: x[permutation], data)
            # batch
            batches = jax.tree.map(lambda x: x.reshape(config.num_minibatches, minibatch_size, *x.shape[1:]), data)
            # learn!
            final_carry, info = jax.lax.scan(update_minibatch, epoch_carry.replace(rng=rng), batches)
            return final_carry, info

        final_epoch_carry, info = jax.lax.scan(
            update_epoch,
            TrainCarry(rng=update_carry.rng, train_state=update_carry.train_state),
            None,
            length=config.num_epochs,
        )

        for key in ["returned_episode_returns", "returned_episode_lengths", "returned_episode_solved"]:
            info[key] = (transitions.info[key] * transitions.info["returned_episode"]).sum() / transitions.info[
                "returned_episode"
            ].sum()
        info["reward"] = transitions.reward.mean()

        rollout = jax.tree.map(lambda x: x[:, 0], transitions.env_state)
        return UpdateCarry(
            final_epoch_carry.rng, final_step_carry, final_epoch_carry.train_state, update_carry.graphdef
        ), (info, rollout)

    @functools.partial(jax.jit, donate_argnums=(0,), static_argnums=(1,), in_shardings=sharding, out_shardings=sharding)
    @functools.partial(jax.vmap, in_axes=(0, None))  # over seeds
    @functools.partial(jax.vmap, in_axes=(0, None))  # over levels
    def update_n(update_carry: UpdateCarry, num: int):
        update_carry, (info, rollout) = jax.lax.scan(update, update_carry, length=num)
        video = render_video(jax.tree.map(lambda x: x[0], rollout))
        return update_carry, (jax.tree.map(jnp.mean, info), video)

    wandb.init(project=WANDB_PROJECT)
    wandb.define_metric("num_env_steps")
    wandb.define_metric("*", step_metric="num_env_steps")
    pbar = tqdm.tqdm(total=config.num_updates * config.num_envs * config.num_steps, dynamic_ncols=True)

    num_levels = len(config.level_paths)
    rngs = jax.random.split(jax.random.key(config.seed), config.num_seeds * num_levels).reshape(
        config.num_seeds, num_levels
    )
    update_carry = init(rngs, levels)
    for update_idx in range(0, config.num_updates, config.log_interval):
        update_carry, (info, video) = update_n(update_carry, config.log_interval)
        if any(jnp.any(jnp.isnan(x)) for x in jax.tree.leaves(info)):
            raise ValueError(f"NaN detected at update {update_idx}")
        pbar.update(config.log_interval * config.num_envs * config.num_steps)
        wandb.log({"num_env_steps": pbar.n}, step=update_idx)
        for seed_idx in range(config.num_seeds):
            for level_idx in range(num_levels):
                level_name = config.level_paths[level_idx].replace("/", "_").replace(".json", "")
                level_info = jax.tree.map(lambda x: x[seed_idx, level_idx].item(), info)
                wandb.log({f"{level_name}/{seed_idx}/{k}": v for k, v in level_info.items()}, step=update_idx)

                log_dir = LOG_DIR / wandb.run.name / f"seed_{seed_idx}" / str(update_idx)
                stats_dir = log_dir / "stats"
                stats_dir.mkdir(parents=True, exist_ok=True)
                with (stats_dir / f"{level_name}.json").open("w") as f:
                    json.dump(level_info, f, indent=2)

                video_dir = log_dir / "videos"
                video_dir.mkdir(parents=True, exist_ok=True)
                imageio.mimwrite(video_dir / f"{level_name}.mp4", video[seed_idx, level_idx], fps=15)

                policy_dir = log_dir / "policies"
                policy_dir.mkdir(parents=True, exist_ok=True)
                level_train_state = jax.tree.map(lambda x: x[seed_idx, level_idx], update_carry.train_state)
                with (policy_dir / f"{level_name}.pkl").open("wb") as f:
                    agent, _ = nnx.merge(update_carry.graphdef, level_train_state)
                    state_dict = nnx.split(agent)[1].to_pure_dict()
                    pickle.dump(state_dict, f)


if __name__ == "__main__":
    tyro.cli(main)


================================================
FILE: src/train_flow.py
================================================
import concurrent.futures
import dataclasses
import functools
import pathlib
import pickle
from typing import Sequence

import einops
from flax import struct
import flax.nnx as nnx
import imageio
import jax
import jax.numpy as jnp
import kinetix.environment.env as kenv
import kinetix.environment.env_state as kenv_state
import numpy as np
import optax
import tqdm_loggable.auto as tqdm
import tyro
import wandb

import eval_flow as _eval
import generate_data
import model as _model
import train_expert

WANDB_PROJECT = "rtc-kinetix-bc"
LOG_DIR = pathlib.Path("logs-bc")


@dataclasses.dataclass(frozen=True)
class Config:
    run_path: str
    level_paths: Sequence[str] = (
        "worlds/l/grasp_easy.json",
        "worlds/l/catapult.json",
        "worlds/l/cartpole_thrust.json",
        "worlds/l/hard_lunar_lander.json",
        "worlds/l/mjc_half_cheetah.json",
        "worlds/l/mjc_swimmer.json",
        "worlds/l/mjc_walker.json",
        "worlds/l/h17_unicycle.json",
        "worlds/l/chain_lander.json",
        "worlds/l/catcher_v3.json",
        "worlds/l/trampoline.json",
        "worlds/l/car_launch.json",
    )
    batch_size: int = 512
    num_epochs: int = 32
    seed: int = 0

    eval: _eval.EvalConfig = _eval.EvalConfig()

    learning_rate: float = 3e-4
    grad_norm_clip: float = 10.0
    weight_decay: float = 1e-2
    lr_warmup_steps: int = 1000

    load_dir: str | None = None


@struct.dataclass
class EpochCarry:
    rng: jax.Array
    train_state: nnx.State
    graphdef: nnx.GraphDef[tuple[_model.FlowPolicy, nnx.Optimizer]]


def main(config: Config):
    static_env_params = kenv_state.StaticEnvParams(**train_expert.LARGE_ENV_PARAMS, frame_skip=train_expert.FRAME_SKIP)
    env_params = kenv_state.EnvParams()
    levels = train_expert.load_levels(config.level_paths, static_env_params, env_params)
    static_env_params = static_env_params.replace(screen_dim=train_expert.SCREEN_DIM)

    env = kenv.make_kinetix_env_from_name("Kinetix-Symbolic-Continuous-v1", static_env_params=static_env_params)

    mesh = jax.make_mesh((jax.local_device_count(),), ("level",))
    sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec("level"))

    action_chunk_size = config.eval.model.action_chunk_size

    # load data
    def load_data(level_path: str):
        level_name = level_path.replace("/", "_").replace(".json", "")
        print("Loading data for level:", level_name)
        return dict(np.load(pathlib.Path(config.run_path) / "data" / f"{level_name}.npz"))

    with concurrent.futures.ThreadPoolExecutor() as executor:
        data = list(executor.map(load_data, config.level_paths))
    with jax.default_device(jax.devices("cpu")[0]):
        # data has shape: (num_levels, num_steps, num_envs, ...)
        # flatten envs and steps together for learning
        data = jax.tree.map(lambda *x: einops.rearrange(jnp.stack(x), "l s e ... -> l (e s) ..."), *data)
        # truncate to multiple of batch size
        valid_steps = data["obs"].shape[1] - action_chunk_size + 1
        data = jax.tree.map(
            lambda x: x[:, : (valid_steps // config.batch_size) * config.batch_size + action_chunk_size - 1], data
        )
        # put on device
        data = jax.tree.map(
            lambda x: jax.make_array_from_single_device_arrays(
                x.shape,
                sharding,
                [
                    jax.device_put(y, d)
                    for y, d in zip(jnp.split(x, jax.local_device_count()), jax.local_devices(), strict=True)
                ],
            ),
            data,
        )

    data: generate_data.Data = generate_data.Data(**data)
    print(f"Truncated data to {data.obs.shape[1]:_} steps ({valid_steps // config.batch_size:_} batches)")

    obs_dim = data.obs.shape[-1]
    action_dim = env.action_space(env_params).shape[0]

    if config.load_dir is not None:
        state_dicts = []
        for level_path in config.level_paths:
            level_name = level_path.replace("/", "_").replace(".json", "")
            with (pathlib.Path(config.load_dir) / "policies" / f"{level_name}.pkl").open("rb") as f:
                state_dicts.append(pickle.load(f))
        state_dicts = jax.device_put(jax.tree.map(lambda *x: jnp.array(x), *state_dicts))
    else:
        state_dicts = None

    @functools.partial(jax.jit, in_shardings=sharding, out_shardings=sharding)
    @jax.vmap
    def init(rng: jax.Array, state_dict: dict | None) -> EpochCarry:
        rng, key = jax.random.split(rng)
        policy = _model.FlowPolicy(
            obs_dim=obs_dim,
            action_dim=action_dim,
            config=config.eval.model,
            rngs=nnx.Rngs(key),
        )
        if state_dict is not None:
            graphdef, state = nnx.split(policy)
            state.replace_by_pure_dict(state_dict)
            policy = nnx.merge(graphdef, state)
        total_params = sum(x.size for x in jax.tree.leaves(nnx.state(policy, nnx.Param)))
        print(f"Total params: {total_params:,}")
        optimizer = nnx.Optimizer(
            policy,
            optax.chain(
                optax.clip_by_global_norm(config.grad_norm_clip),
                optax.adamw(
                    optax.warmup_constant_schedule(0, config.learning_rate, config.lr_warmup_steps),
                    weight_decay=config.weight_decay,
                ),
            ),
        )
        graphdef, train_state = nnx.split((policy, optimizer))
        return EpochCarry(rng, train_state, graphdef)

    @functools.partial(jax.jit, donate_argnums=(0,), in_shardings=sharding, out_shardings=sharding)
    @jax.vmap
    def train_epoch(epoch_carry: EpochCarry, level: kenv_state.EnvState, data: generate_data.Data):
        def train_minibatch(carry: tuple[jax.Array, nnx.State], batch_idxs: jax.Array):
            rng, train_state = carry
            policy, optimizer = nnx.merge(epoch_carry.graphdef, train_state)

            rng, key = jax.random.split(rng)

            def loss_fn(policy: _model.FlowPolicy):
                obs = data.obs[batch_idxs]
                action_chunks = data.action[batch_idxs[:, None] + jnp.arange(action_chunk_size)[None, :]]
                # zero actions after done
                done_chunks = data.done[batch_idxs[:, None] + jnp.arange(action_chunk_size)[None, :]]
                done_idxs = jnp.where(
                    jnp.any(done_chunks, axis=-1),
                    jnp.argmax(done_chunks, axis=-1),
                    action_chunk_size,
                )
                action_chunks = jnp.where(
                    jnp.arange(action_chunk_size)[None, :, None] >= done_idxs[:, None, None],
                    0.0,
                    action_chunks,
                )
                return policy.loss(key, obs, action_chunks)

            loss, grads = nnx.value_and_grad(loss_fn)(policy)
            info = {"loss": loss, "grad_norm": optax.global_norm(grads)}
            optimizer.update(grads)
            _, train_state = nnx.split((policy, optimizer))
            return (rng, train_state), info

        # shuffle
        rng, key = jax.random.split(epoch_carry.rng)
        permutation = jax.random.permutation(key, data.obs.shape[0] - action_chunk_size + 1)
        # batch
        permutation = permutation.reshape(-1, config.batch_size)
        # train
        (rng, train_state), train_info = jax.lax.scan(
            train_minibatch, (epoch_carry.rng, epoch_carry.train_state), permutation
        )
        train_info = jax.tree.map(lambda x: x.mean(), train_info)
        # eval
        rng, key = jax.random.split(rng)
        eval_policy, _ = nnx.merge(epoch_carry.graphdef, train_state)
        eval_info = {}
        for horizon in range(1, config.eval.model.action_chunk_size + 1):
            eval_config = dataclasses.replace(config.eval, execute_horizon=horizon)
            info, _ = _eval.eval(eval_config, env, key, level, eval_policy, env_params, static_env_params)
            eval_info.update({f"{k}_{horizon}": v for k, v in info.items()})
        video = None
        return EpochCarry(rng, train_state, epoch_carry.graphdef), ({**train_info, **eval_info}, video)

    wandb.init(project=WANDB_PROJECT)
    rng = jax.random.key(config.seed)
    epoch_carry = init(jax.random.split(rng, len(config.level_paths)), state_dicts)
    for epoch_idx in tqdm.tqdm(range(config.num_epochs)):
        epoch_carry, (info, video) = train_epoch(epoch_carry, levels, data)

        for i in range(len(config.level_paths)):
            level_name = config.level_paths[i].replace("/", "_").replace(".json", "")
            wandb.log({f"{level_name}/{k}": v[i] for k, v in info.items()}, step=epoch_idx)

            log_dir = LOG_DIR / wandb.run.name / str(epoch_idx)

            if video is not None:
                video_dir = log_dir / "videos"
                video_dir.mkdir(parents=True, exist_ok=True)
                imageio.mimwrite(video_dir / f"{level_name}.mp4", video[i], fps=15)

            policy_dir = log_dir / "policies"
            policy_dir.mkdir(parents=True, exist_ok=True)
            level_train_state = jax.tree.map(lambda x: x[i], epoch_carry.train_state)
            with (policy_dir / f"{level_name}.pkl").open("wb") as f:
                policy, _ = nnx.merge(epoch_carry.graphdef, level_train_state)
                state_dict = nnx.state(policy).to_pure_dict()
                pickle.dump(state_dict, f)


if __name__ == "__main__":
    tyro.cli(main)


================================================
FILE: worlds/l/car_launch.json
================================================
{
    "env_state": {
        "polygon": [
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                "density": 1,
                "velocity": {
                    "0": 0,
                    "1": 0
                },
                "position": {
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                },
                "active": true,
                "friction": 1,
                "vertices": {
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                        "1": 5.199999809265137
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                    }
                },
                "role": 3,
                "rotation": 0,
                "angular_velocity": 0,
                "restitution": 0,
                "collision_mode": 2,
                "radius": 0.1,
                "inverse_inertia": 0,
                "inverse_mass": 0,
                "n_vertices": 4
            },
            {
                "velocity": {
                    "0": 0,
                    "1": 0
                },
                "position": {
                    "0": 0,
                    "1": 0
                },
                "density": 1,
                "angular_velocity": 0,
                "vertices": {
                    "0": {
                        "0": -5,
                        "1": 5
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                        "1": 5
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                        "1": 0
                    },
                    "3": {
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                        "1": 0
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                },
                "inverse_mass": 0,
                "rotation": 0,
                "inverse_inertia": 0,
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                "active": true,
                "n_vertices": 4,
                "restitution": 0,
                "radius": 0,
                "friction": 1,
                "collision_mode": 2
            },
            {
                "n_vertices": 4,
                "friction": 1,
                "density": 1,
                "active": true,
                "restitution": 0,
                "rotation": 0,
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                "collision_mode": 2,
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                "inverse_mass": 0,
                "position": {
                    "0": 0,
                    "1": 0
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                "velocity": {
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            {
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                "active": true
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                "density": 1,
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FILE: worlds/l/cartpole_thrust.json
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================================================
FILE: worlds/l/chain_lander.json
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================================================
FILE: worlds/l/grasp_easy.json
================================================
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================================================
FILE: worlds/l/h17_unicycle.json
================================================
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================================================
FILE: worlds/l/hard_lunar_lander.json
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================================================
FILE: worlds/l/mjc_half_cheetah.json
================================================
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================================================
FILE: worlds/l/mjc_swimmer.json
================================================
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================================================
FILE: worlds/l/mjc_walker.json
================================================
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================================================
FILE: worlds/l/trampoline.json
================================================
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