Adding Rendering Support for Human Replay Evals #311
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| Original file line number | Diff line number | Diff line change | ||||
|---|---|---|---|---|---|---|
|
|
@@ -587,6 +587,69 @@ def train(self): | |||||
| ): | ||||||
| pufferlib.utils.run_human_replay_eval_in_subprocess(self.config, self.logger, self.global_step) | ||||||
|
|
||||||
| # Render evaluation videos showing policy controlling only SDC with human replays | ||||||
| if self.config["eval"].get("eval_render_enabled", False) and ( | ||||||
| self.epoch % self.config["eval"].get("eval_render_interval", 1000) == 0 or done_training | ||||||
| ): | ||||||
| model_dir = os.path.join(self.config["data_dir"], f"{self.config['env']}_{self.logger.run_id}") | ||||||
| model_files = glob.glob(os.path.join(model_dir, "model_*.pt")) | ||||||
|
|
||||||
| if model_files: | ||||||
| # Take the latest checkpoint | ||||||
| latest_cpt = max(model_files, key=os.path.getctime) | ||||||
| bin_path = f"{model_dir}.bin" | ||||||
|
|
||||||
| # Export to .bin for rendering with raylib | ||||||
| try: | ||||||
| export_args = {"env_name": self.config["env"], "load_model_path": latest_cpt, **self.config} | ||||||
|
|
||||||
| export( | ||||||
| args=export_args, | ||||||
| env_name=self.config["env"], | ||||||
| vecenv=self.vecenv, | ||||||
| policy=self.uncompiled_policy, | ||||||
| path=bin_path, | ||||||
| silent=True, | ||||||
| ) | ||||||
|
|
||||||
| bin_path_epoch = f"{model_dir}_epoch_{self.epoch:06d}.bin" | ||||||
| shutil.copy2(bin_path, bin_path_epoch) | ||||||
|
|
||||||
| env_cfg = getattr(self.vecenv, "driver_env", None) | ||||||
| wandb_log = True if hasattr(self.logger, "wandb") and self.logger.wandb else False | ||||||
| wandb_run = self.logger.wandb if hasattr(self.logger, "wandb") else None | ||||||
| if self.render_async: | ||||||
| render_proc = multiprocessing.Process( | ||||||
| target=pufferlib.utils.render_eval_videos, | ||||||
| args=( | ||||||
| self.config, | ||||||
| env_cfg, | ||||||
| self.logger.run_id, | ||||||
| wandb_log, | ||||||
| self.epoch, | ||||||
| self.global_step, | ||||||
| bin_path, | ||||||
| self.render_async, | ||||||
| self.render_queue, | ||||||
| ), | ||||||
| ) | ||||||
| render_proc.start() | ||||||
| self.render_processes.append(render_proc) | ||||||
| else: | ||||||
| pufferlib.utils.render_eval_videos( | ||||||
| self.config, | ||||||
| env_cfg, | ||||||
| self.logger.run_id, | ||||||
| wandb_log, | ||||||
| self.epoch, | ||||||
| self.global_step, | ||||||
| bin_path, | ||||||
| self.render_async, | ||||||
| wandb_run=wandb_run, | ||||||
| ) | ||||||
| except Exception as e: | ||||||
| print(f"Failed to render evaluation videos: {e}") | ||||||
|
|
||||||
| def check_render_queue(self): | ||||||
| """Check if any async render jobs finished and log them.""" | ||||||
| if not self.render_async or not hasattr(self, "render_queue"): | ||||||
|
|
@@ -597,21 +660,39 @@ def check_render_queue(self): | |||||
| result = self.render_queue.get_nowait() | ||||||
| step = result["step"] | ||||||
| videos = result["videos"] | ||||||
| is_eval = result.get("eval", False) # Check if these are eval videos | ||||||
|
|
||||||
| # Log to wandb if available | ||||||
| if hasattr(self.logger, "wandb") and self.logger.wandb: | ||||||
| import wandb | ||||||
|
|
||||||
| payload = {} | ||||||
| if is_eval: | ||||||
| # Use eval_render namespace for eval videos | ||||||
| if videos.get("output_topdown"): | ||||||
| payload["eval_render/world_state"] = [ | ||||||
| wandb.Video(p, format="mp4") for p in videos["output_topdown"] | ||||||
| ] | ||||||
| if videos.get("output_agent"): | ||||||
| payload["eval_render/agent_view"] = [ | ||||||
| wandb.Video(p, format="mp4") for p in videos["output_agent"] | ||||||
| ] | ||||||
| else: | ||||||
| # Use render namespace for training videos | ||||||
| if videos.get("output_topdown"): | ||||||
| payload["render/world_state"] = [ | ||||||
| wandb.Video(p, format="mp4") for p in videos["output_topdown"] | ||||||
| ] | ||||||
| if videos.get("output_agent"): | ||||||
| payload["render/agent_view"] = [ | ||||||
| wandb.Video(p, format="mp4") for p in videos["output_agent"] | ||||||
| ] | ||||||
|
|
||||||
| if payload: | ||||||
| # Custom step for render logs to prevent monotonic logic wandb errors | ||||||
| payload["render_step"] = step | ||||||
| self.logger.wandb.log(payload) | ||||||
| print(f"Logged async {'eval ' if is_eval else ''}render videos to wandb (step {step})") | ||||||
|
|
||||||
| except queue.Empty: | ||||||
| pass | ||||||
|
|
@@ -1693,7 +1774,7 @@ def render_task(map_path): | |||||
| if render_configs.get("show_lasers", False): | ||||||
| cmd.append("--lasers") | ||||||
| if render_configs.get("show_human_logs", False): | ||||||
| base_cmd.append("--log-trajectories") | ||||||
|
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Suggested change
|
||||||
| if render_configs.get("zoom_in", False): | ||||||
| cmd.append("--zoom-in") | ||||||
| cmd.extend(["--view", view_mode]) | ||||||
|
|
||||||
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Missing newline character in printf