fix minor bugs and typos

YY-GX · Jun 18, 2023 · acc19c8 · acc19c8
1 parent 5472c4a
commit acc19c8
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Showing 6 changed files with 140 additions and 56 deletions.
diff --git a/.gitignore b/.gitignore
@@ -7,10 +7,12 @@ outputs/*
 /MUJOCO_LOG.TXT
 wandb
 experiments/
+experiments_saved/
 clip/
 gpt/
 bert/
 logs/
 
 *.mp4
 libero.egg-info/
+.vscode/
diff --git a/README.md b/README.md
@@ -36,14 +36,15 @@ https://github.com/Lifelong-Robot-Learning/LIBERO/assets/8097542/cbb1522f-0831-4
 Please run the following commands in the given order to install the dependency for **LIBERO**.
 ```
 conda create -n libero python=3.8.13
+conda activate libero
+git clone https://github.com/Lifelong-Robot-Learning/LIBERO.git
+cd LIBERO
 pip install -r requirements.txt
 pip install torch==1.11.0+cu113 torchvision==0.12.0+cu113 torchaudio==0.11.0 --extra-index-url https://download.pytorch.org/whl/cu113
 ```
 
 Then install the `libero` package:
 ```
-git clone https://github.com/Lifelong-Robot-Learning/LIBERO.git
-cd LIBERO
 pip install -e .
 ```
 
@@ -116,7 +117,7 @@ then run the following:
 export CUDA_VISIBLE_DEVICES=GPU_ID && \
 export MUJOCO_EGL_DEVICE_ID=GPU_ID && \
 python libero/lifelong/main.py seed=SEED \
-                               benchmark_name=BENCHMARK 
+                               benchmark_name=BENCHMARK \
                                policy=POLICY \
                                lifelong=ALGO
 ```
@@ -131,7 +132,10 @@ python libero/lifelong/evaluate.py --benchmark BENCHMARK_NAME \
                                    --task_id TASK_ID \ 
                                    --algo ALGO_NAME \
                                    --policy POLICY_NAME \
-                                   --seed SEED
+                                   --seed SEED \
+                                   --ep EPOCH \
+                                   --load_task LOAD_TASK \
+                                   --device_id CUDA_ID
 ```
 
 # Citation

diff --git a/libero/libero/__init__.py b/libero/libero/__init__.py
@@ -8,8 +8,11 @@
 config_file = os.path.join(libero_config_path, "config.yaml")
 
 
-def get_default_path_dict():
-    benchmark_root_path = os.path.dirname(os.path.abspath(__file__))
+def get_default_path_dict(custom_location=None):
+    if custom_location is None:
+        benchmark_root_path = os.path.dirname(os.path.abspath(__file__))
+    else:
+        benchmark_root_path = custom_location
 
     # This is a default path for localizing all the default bddl files
     bddl_files_default_path = os.path.join(benchmark_root_path, "./bddl_files")

diff --git a/libero/lifelong/evaluate.py b/libero/lifelong/evaluate.py
@@ -167,7 +167,7 @@ def main():
     if cfg.lifelong.algo == "PackNet":
         algo.eval()
         for module_idx, module in enumerate(algo.policy.modules()):
-            if isinstance(module, nn.Conv2d) or isinstance(module, nn.Linear):
+            if isinstance(module, torch.nn.Conv2d) or isinstance(module, torch.nn.Linear):
                 weight = module.weight.data
                 mask = algo.previous_masks[module_idx].to(cfg.device)
                 weight[mask.eq(0)] = 0.0

diff --git a/notebooks/quick_walkthrough.ipynb b/notebooks/quick_walkthrough.ipynb
@@ -21,9 +21,18 @@
    "cell_type": "code",
    "execution_count": 1,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "/home/zuxin/anaconda3/envs/libero/lib/python3.8/site-packages/tqdm/auto.py:21: TqdmWarning: IProgress not found. Please update jupyter and ipywidgets. See https://ipywidgets.readthedocs.io/en/stable/user_install.html\n",
+      "  from .autonotebook import tqdm as notebook_tqdm\n"
+     ]
+    }
+   ],
    "source": [
-    "from libero.libero import benchmark, get_libero_path, set_libero_path\n",
+    "from libero.libero import benchmark, get_libero_path, set_libero_default_path\n",
     "import os\n",
     "from termcolor import colored"
    ]
@@ -53,9 +62,9 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Default benchmark root path:  /home/yifengz/workspace/libero-dev/libero/libero\n",
-      "Default dataset root path:  /home/yifengz/workspace/libero-dev/libero/libero/../datasets\n",
-      "Default bddl files root path:  /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files\n"
+      "Default benchmark root path:  /home/zuxin/repo/LIBERO/libero/libero\n",
+      "Default dataset root path:  /home/zuxin/repo/LIBERO/libero/libero/../datasets\n",
+      "Default bddl files root path:  /home/zuxin/repo/LIBERO/libero/libero/./bddl_files\n"
      ]
     }
    ],
@@ -79,21 +88,46 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Default benchmark root path:  /home/yifengz/custom_project\n",
-      "Default dataset root path:  /home/yifengz/custom_project/../datasets\n",
-      "Default bddl files root path:  /home/yifengz/custom_project/./bddl_files\n"
+      "[Warning] You are changing the default path for Libero config. This will affect all the paths in the config file.\n",
+      "[Warning]: assets path /home/zuxin/custom_project/./assets does not exist!\n",
+      "[Warning]: bddl_files path /home/zuxin/custom_project/./bddl_files does not exist!\n",
+      "[Warning]: benchmark_root path /home/zuxin/custom_project does not exist!\n",
+      "[Warning]: datasets path /home/zuxin/custom_project/../datasets does not exist!\n",
+      "[Warning]: init_states path /home/zuxin/custom_project/./init_files does not exist!\n",
+      "[Warning]: assets path /home/zuxin/custom_project/./assets does not exist!\n",
+      "[Warning]: bddl_files path /home/zuxin/custom_project/./bddl_files does not exist!\n",
+      "[Warning]: benchmark_root path /home/zuxin/custom_project does not exist!\n",
+      "[Warning]: datasets path /home/zuxin/custom_project/../datasets does not exist!\n",
+      "[Warning]: init_states path /home/zuxin/custom_project/./init_files does not exist!\n",
+      "[Warning]: assets path /home/zuxin/custom_project/./assets does not exist!\n",
+      "[Warning]: bddl_files path /home/zuxin/custom_project/./bddl_files does not exist!\n",
+      "[Warning]: benchmark_root path /home/zuxin/custom_project does not exist!\n",
+      "[Warning]: datasets path /home/zuxin/custom_project/../datasets does not exist!\n",
+      "[Warning]: init_states path /home/zuxin/custom_project/./init_files does not exist!\n",
+      "[Warning]: assets path /home/zuxin/custom_project/./assets does not exist!\n",
+      "[Warning]: bddl_files path /home/zuxin/custom_project/./bddl_files does not exist!\n",
+      "[Warning]: benchmark_root path /home/zuxin/custom_project does not exist!\n",
+      "[Warning]: datasets path /home/zuxin/custom_project/../datasets does not exist!\n",
+      "[Warning]: init_states path /home/zuxin/custom_project/./init_files does not exist!\n",
+      "Default benchmark root path:  /home/zuxin/custom_project\n",
+      "Default dataset root path:  /home/zuxin/custom_project/../datasets\n",
+      "Default bddl files root path:  /home/zuxin/custom_project/./bddl_files\n",
+      "[Warning] You are changing the default path for Libero config. This will affect all the paths in the config file.\n",
+      "Default benchmark root path:  /home/zuxin/repo/LIBERO/libero/libero\n",
+      "Default dataset root path:  /home/zuxin/repo/LIBERO/libero/libero/../datasets\n",
+      "Default bddl files root path:  /home/zuxin/repo/LIBERO/libero/libero/./bddl_files\n"
      ]
     }
    ],
    "source": [
-    "set_libero_path(os.path.join(os.path.expanduser(\"~\"), \"custom_project\"))\n",
+    "set_libero_default_path(os.path.join(os.path.expanduser(\"~\"), \"custom_project\"))\n",
     "benchmark_root_path = get_libero_path(\"benchmark_root\")\n",
     "init_states_default_path = get_libero_path(\"init_states\")\n",
     "datasets_default_path = get_libero_path(\"datasets\")\n",
@@ -102,13 +136,16 @@
     "print(\"Default dataset root path: \", datasets_default_path)\n",
     "print(\"Default bddl files root path: \", bddl_files_default_path)\n",
     "\n",
-    "# If nothing is specified in the `set_libero_path` function, the path will be changed back to the default path\n",
+    "# If nothing is specified in the `set_libero_default_path` function, the path will be changed back to the default path\n",
     "# We will set back the path to the default path for the subsequent examples\n",
-    "set_libero_path()\n",
+    "set_libero_default_path()\n",
     "benchmark_root_path = get_libero_path(\"benchmark_root\")\n",
     "init_states_default_path = get_libero_path(\"init_states\")\n",
     "datasets_default_path = get_libero_path(\"datasets\")\n",
-    "bddl_files_default_path = get_libero_path(\"bddl_files\")"
+    "bddl_files_default_path = get_libero_path(\"bddl_files\")\n",
+    "print(\"Default benchmark root path: \", benchmark_root_path)\n",
+    "print(\"Default dataset root path: \", datasets_default_path)\n",
+    "print(\"Default bddl files root path: \", bddl_files_default_path)"
    ]
   },
   {
@@ -129,7 +166,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
@@ -155,7 +192,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [
     {
@@ -165,16 +202,16 @@
       "[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]\n",
       "10 tasks in the benchmark libero_10: \n",
       "The benchmark contains the following tasks:\n",
-      "\t LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl\n",
-      "\t LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl\n",
-      "\t KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl\n",
-      "\t KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl\n",
-      "\t LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl\n",
-      "\t STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl\n",
-      "\t LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl\n",
-      "\t LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl\n",
-      "\t KITCHEN_SCENE8_put_both_moka_pots_on_the_stove, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl\n",
-      "\t KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it, detail definition stored in /home/yifengz/workspace/libero-dev/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl\n"
+      "\t LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl\n",
+      "\t LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl\n",
+      "\t KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl\n",
+      "\t KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl\n",
+      "\t LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl\n",
+      "\t STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl\n",
+      "\t LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl\n",
+      "\t LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl\n",
+      "\t KITCHEN_SCENE8_put_both_moka_pots_on_the_stove, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl\n",
+      "\t KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it, detail definition stored in /home/zuxin/repo/LIBERO/libero/libero/./bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl\n"
      ]
     }
    ],
@@ -207,7 +244,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
@@ -255,9 +292,9 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mNo private macro file found! (__init__.py:7)\n",
-      "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mIt is recommended to use a private macro file (__init__.py:8)\n",
-      "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mTo setup, run: python /home/yifengz/workspace/robosuite-master/robosuite/scripts/setup_macros.py (__init__.py:9)\n"
+      "[robosuite WARNING] No private macro file found! (__init__.py:7)\n",
+      "[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)\n",
+      "[robosuite WARNING] To setup, run: python /home/zuxin/anaconda3/envs/libero/lib/python3.8/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)\n"
      ]
     },
     {
@@ -328,18 +365,26 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "\u001b[1m\u001b[32m[X] Dataset libero_object is complete\u001b[0m\n",
-      "\u001b[1m\u001b[32m[X] Dataset libero_goal is complete\u001b[0m\n",
-      "\u001b[1m\u001b[32m[X] Dataset libero_spatial is complete\u001b[0m\n",
-      "\u001b[1m\u001b[32m[X] Dataset libero_10 is complete\u001b[0m\n",
-      "\u001b[1m\u001b[32m[X] Dataset libero_90 is complete\u001b[0m\n"
+      "[ ] Dataset libero_object not found!!!\n",
+      "[ ] Dataset libero_goal not found!!!\n",
+      "[X] Dataset libero_spatial is complete\n",
+      "[X] Dataset libero_10 is complete\n",
+      "[X] Dataset libero_90 is complete\n",
+      "Downloading libero_spatial\n"
+     ]
+    },
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "04k94hyizn4huhbv5sz4ev9p2h1p6s7f.zip: 2.88GB [02:56, 16.3MB/s]                            \n"
      ]
     }
    ],
@@ -371,7 +416,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 10,
    "metadata": {},
    "outputs": [
     {
@@ -1178,7 +1223,7 @@
        "<IPython.core.display.HTML object>"
       ]
      },
-     "execution_count": 11,
+     "execution_count": 10,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -1222,7 +1267,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 11,
    "metadata": {},
    "outputs": [
     {
@@ -1231,14 +1276,6 @@
      "text": [
       "Number of tasks in the benchmark libero_10: 10\n"
      ]
-    },
-    {
-     "ename": "",
-     "evalue": "",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[1;31mThe Kernel crashed while executing code in the the current cell or a previous cell. Please review the code in the cell(s) to identify a possible cause of the failure. Click <a href='https://aka.ms/vscodeJupyterKernelCrash'>here</a> for more info. View Jupyter <a href='command:jupyter.viewOutput'>log</a> for further details."
-     ]
     }
    ],
    "source": [
@@ -1279,9 +1316,11 @@
   }
  ],
  "metadata": {
+  "interpreter": {
+   "hash": "64fd624917382b0c0ee6e40067ed4768d5d5501e9a56437104405cabbecfa898"
+  },
   "kernelspec": {
-   "display_name": "new-continual-learning",
-   "language": "python",
+   "display_name": "Python 3.8.13 64-bit ('libero': conda)",
    "name": "python3"
   },
   "language_info": {
@@ -1294,7 +1333,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.5"
+   "version": "3.8.13"
   },
   "orig_nbformat": 4
  },

diff --git a/test.py b/test.py
@@ -0,0 +1,36 @@
+import os
+
+from libero.libero import benchmark
+from libero.libero.envs import OffScreenRenderEnv
+
+
+benchmark_dict = benchmark.get_benchmark_dict()
+task_suite_name = "libero_10" # can also choose libero_spatial, libero_object, etc.
+task_suite = benchmark_dict[task_suite_name]()
+
+# retrieve a specific task
+task_id = 0
+task = task_suite.get_task(task_id)
+task_name = task.name
+task_description = task.language
+task_bddl_file = os.path.join(benchmark.get_libero_path("bddl_files"), task.problem_folder, task.bddl_file)
+print(f"[info] retrieving task {task_id} from suite {task_suite_name}, the " + \
+      f"language instruction is {task_description}, and the bddl file is {task_bddl_file}")
+
+# step over the environment
+env_args = {
+    "bddl_file_name": task_bddl_file,
+    "camera_heights": 128,
+    "camera_widths": 128
+}
+env = OffScreenRenderEnv(**env_args)
+env.seed(0)
+env.reset()
+init_states = task_suite.get_task_init_states(task_id) # for benchmarking purpose, we fix the a set of initial states
+init_state_id = 0
+env.set_init_state(init_states[init_state_id])
+
+dummy_action = [0.] * 7
+for step in range(10):
+    obs, reward, done, info = env.step(dummy_action)
+env.close()