Environment Factory+Habitat 2.0 Code Cleanup #1401

ASzot · 2023-06-04T19:45:14Z

Motivation and Context

Added soft resets to the rearrangement simulator.
Env factory abstraction. This does not add or change any functionality. It just refactors the environment creation to happen via the env_factory abstraction. This is necessary for custom vectorized environments.
Added ignore_skills key to hierarchical policy.
Fixed bug with edge case in rearrange grasping.
Refactored some references to Hydra config in frequently run code (this is slow).
Removed old SPA configs.

How Has This Been Tested

Training policies end-to-end.

Types of changes

[Refactoring] Large changes to the code that improve its functionality or performance
[Bug Fix] (non-breaking change which fixes an issue)
[Development] A pull request that add new features to the habitat-lab task and environment codebase. Development Pull Requests must be small (less that 500 lines of code change), have unit testing, very extensive documentation and examples. These are typically new tasks, environments, sensors, etc... The review process for these Pull Request is longer because these changes will be maintained by our core team of developers, so make sure your changes are easy to understand!

…pr.py Co-authored-by: Aaron Gokaslan <skylion.aaron@gmail.com>

Co-authored-by: Aaron Gokaslan <skylion.aaron@gmail.com>

Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com>

…pr.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com>

vincentpierre · 2023-06-20T20:16:46Z

habitat-baselines/habitat_baselines/config/default_structured_configs.py

+@dataclass
+class VectorEnvFactoryConfig(HabitatBaselinesBaseConfig):
+    """
+    `_target_` points to the `VectorEnvFactory` to setup the vectorized
+    environment. Defaults to the Habitat vectorized environment setup.
+    """
+
+    _target_: str = (
+        "habitat_baselines.common.habitat_env_factory.HabitatEnvFactory"
+    )
+
+
+@dataclass
+class HydraCallbackConfig(HabitatBaselinesBaseConfig):
+    """
+    Generic callback option for Hydra. Used to create the `_target_` class or
+    call the `_target_` method.
+    """
+
+    _target_: Optional[str] = None
+
+


Should these two be merged into a single class? Like InstantiationConfig? It seems they have the same attribute.

I don't think so because I want the default to be different.

vincentpierre · 2023-06-20T20:17:52Z

habitat-baselines/habitat_baselines/config/default_structured_configs.py

@@ -413,6 +437,8 @@ class HabitatBaselinesConfig(HabitatBaselinesBaseConfig):
    log_file: str = "train.log"
    force_blind_policy: bool = False
    verbose: bool = True
+    # Creates the vectorized environment.
+    vector_env_factory: VectorEnvFactoryConfig = VectorEnvFactoryConfig()


why not have this be a string? Is it because we need to have _target_ to get Hydra boilerplate?

Yes, it is so hydra.utils.instantiate will work.

vincentpierre · 2023-06-20T22:50:52Z

habitat-baselines/habitat_baselines/config/default_structured_configs.py

@@ -430,6 +456,11 @@ class HabitatBaselinesConfig(HabitatBaselinesBaseConfig):
    load_resume_state_config: bool = True
    eval: EvalConfig = EvalConfig()
    profiling: ProfilingConfig = ProfilingConfig()
+    should_log_single_proc_infos: bool = False


vincentpierre · 2023-06-20T22:53:36Z

habitat-baselines/habitat_baselines/common/habitat_env_factory.py

+            logger.warn(
+                "Using the debug Vector environment interface. Expect slower performance."
+            )
+            vector_env_cls = ThreadedVectorEnv


Should this be a separate VectorEnvFactory?

I don't think so because this is controlling the VectorEnv implementation returned.

vincentpierre · 2023-06-20T22:54:12Z

habitat-baselines/habitat_baselines/common/env_factory.py

+    from omegaconf import DictConfig
+
+
+class VectorEnvFactory(ABC):


VectorEnvFactory seem to only have one implementation. Is this overengineered?

I agree it only has 1 implementation in the current setup. However, this makes it much easier to (1) integrate with external environments that have a custom vectorized environment implementation, (2) create custom vector env logic.

vincentpierre · 2023-06-20T22:58:19Z

habitat-lab/habitat/utils/env_utils.py

-    config: "DictConfig", env_class: Union[Type[Env], Type[RLEnv]]
+    config: "DictConfig",
+    env_class: Union[Type[Env], Type[RLEnv]],
+    dataset=None,


Why does the make env function need to have a dataset specified?

This is to allow passing a dataset to the environment setup so it's not recreated every time. However, by default, it is recreated and the default behavior is unchanged from what was there before.

* Fixed HRL bug * Allowing actions * Allowing None for rnn hidden states * Fixed bug with constraints * Nav improvements * Pddl fixes * Updated printing * Removed comment * Profiling * More HRL fixes * Fixed bugs * Added arm init * Performance profiling system * PR comments * Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_logical_expr.py Co-authored-by: Aaron Gokaslan <skylion.aaron@gmail.com> * Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_predicate.py Co-authored-by: Aaron Gokaslan <skylion.aaron@gmail.com> * doc strings * CI * Comments * Update habitat-baselines/habitat_baselines/rl/hrl/hierarchical_policy.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com> * Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_logical_expr.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com> * Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_logical_expr.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com> * Comments * CI * Fixup to fixed policy * Fixed tests * Fixed tests * Dataset uprade * PDDL setup * merged * Fixed problem with grasping and open cab * Config options * Env factory * CI * Removed prints * obj sampling * Obj sampler fixes * Better kinematic mode * CI * Fixed stats reporting * removed dataset v2 * removing bad print statements * precommit * pre commit * Sub in clone for robo state * Not always updating RNN state during eval * Added save callback * More docs * Addressed PR comments * HL and LL hidden states * Fixed hidden state issue * More flexibility around RNN hidden state size * Visual encoder flexibility * Fixed some logging * Added GPU device ID to the dataset generator * CI * Tests * Fixed rnn hidden state issue * Removed bad assert * Storage cleanup * Fixed storage args * Rerun CI? * Maybe fixed CI * Fixed sensor overflow problem * Updated logger statement * Removed sort --------- Co-authored-by: Aaron Gokaslan <skylion.aaron@gmail.com> Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com>

ASzot and others added 30 commits April 17, 2023 20:25

Fixed HRL bug

03acdf8

Allowing actions

c286381

Allowing None for rnn hidden states

2c74d33

Fixed bug with constraints

3d38661

Nav improvements

ce2be9d

Pddl fixes

f97ca99

Updated printing

ee048e4

Removed comment

f85aa36

Profiling

41a5932

More HRL fixes

6b0f3bb

Fixed bugs

9489329

Added arm init

c7f8ff3

Performance profiling system

de60c70

PR comments

c258ce5

Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_logical_ex…

863e567

…pr.py Co-authored-by: Aaron Gokaslan <skylion.aaron@gmail.com>

Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_predicate.py

39aa5ef

Co-authored-by: Aaron Gokaslan <skylion.aaron@gmail.com>

doc strings

add16c3

CI

05f138b

Comments

bc5a23e

Update habitat-baselines/habitat_baselines/rl/hrl/hierarchical_policy.py

5c128d4

Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com>

Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_logical_ex…

b684acd

…pr.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com>

Update habitat-lab/habitat/tasks/rearrange/multi_task/pddl_logical_ex…

6642340

…pr.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com>

Comments

13a8d6c

Merge remote-tracking branch 'upstream/main' into hrl_fixes2

a92a538

CI

c433a15

Fixup to fixed policy

67afc58

Fixed tests

02e9675

Fixed tests

682bcb7

Merge remote-tracking branch 'origin/main' into hrl_fixes2

cc96de2

Dataset uprade

1a3a599

More docs

a4d3830

vincentpierre reviewed Jun 20, 2023

View reviewed changes

Addressed PR comments

af9d621

vincentpierre approved these changes Jun 23, 2023

View reviewed changes

ASzot added 22 commits June 24, 2023 22:22

HL and LL hidden states

0d86ea0

Fixed hidden state issue

e98ea57

More flexibility around RNN hidden state size

9d7217a

Visual encoder flexibility

6b1c0fe

Fixed some logging

8d0d414

Merge remote-tracking branch 'upstream/main' into hrl_fixes3

d865cbf

Added GPU device ID to the dataset generator

a7f5e0d

CI

2997ad0

Tests

c6cd2fe

Fixed rnn hidden state issue

151a726

Removed bad assert

d769af5

Storage cleanup

5d0a742

Fixed storage args

7e1093d

Rerun CI?

7baa1cb

Merge remote-tracking branch 'upstream/main' into hrl_fixes3

f5eee45

Maybe fixed CI

16230d8

Fixed sensor overflow problem

c793c8c

Updated logger statement

f8a297b

Removed sort

b8a185a

Merge remote-tracking branch 'upstream/main' into hrl_fixes3

4e03f78

Merge remote-tracking branch 'upstream/main' into hrl_fixes3

15301b4

Merge remote-tracking branch 'upstream/main' into hrl_fixes3

c4b9c3f

ASzot merged commit 716307a into facebookresearch:main Jul 19, 2023

ASzot deleted the hrl_fixes3 branch July 19, 2023 15:09

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Environment Factory+Habitat 2.0 Code Cleanup #1401

Environment Factory+Habitat 2.0 Code Cleanup #1401

ASzot commented Jun 4, 2023 •

edited

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vincentpierre Jun 20, 2023

ASzot Jun 23, 2023

vincentpierre Jun 20, 2023

ASzot Jun 23, 2023

vincentpierre Jun 20, 2023

vincentpierre Jun 20, 2023

ASzot Jun 23, 2023

vincentpierre Jun 20, 2023

ASzot Jun 23, 2023

vincentpierre Jun 20, 2023

ASzot Jun 23, 2023

		from omegaconf import DictConfig


		class VectorEnvFactory(ABC):

Environment Factory+Habitat 2.0 Code Cleanup #1401

Environment Factory+Habitat 2.0 Code Cleanup #1401

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ASzot commented Jun 4, 2023 • edited Loading

Motivation and Context

How Has This Been Tested

Types of changes

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ASzot commented Jun 4, 2023 •

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