From 2357756572a03066b0ee2f58dba08252b0d1577c Mon Sep 17 00:00:00 2001
From: mtrang <matthew.trang@ll.mit.edu>
Date: Thu, 29 Jun 2023 15:35:27 -0400
Subject: [PATCH] initial notebook for running a single OVMM agent

---
 projects/habitat_ovmm/eval_episode.ipynb | 203 +++++++++++++++++++++++
 1 file changed, 203 insertions(+)
 create mode 100644 projects/habitat_ovmm/eval_episode.ipynb

diff --git a/projects/habitat_ovmm/eval_episode.ipynb b/projects/habitat_ovmm/eval_episode.ipynb
new file mode 100644
index 000000000..aa2d0fd43
--- /dev/null
+++ b/projects/habitat_ovmm/eval_episode.ipynb
@@ -0,0 +1,203 @@
+{
+ "cells": [
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Imports"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# home-robot imports\n",
+    "import argparse\n",
+    "import json\n",
+    "import os\n",
+    "import sys\n",
+    "import time\n",
+    "from collections import defaultdict\n",
+    "from pathlib import Path\n",
+    "\n",
+    "import numpy as np\n",
+    "from config_utils import get_config\n",
+    "from omegaconf import DictConfig, OmegaConf\n",
+    "\n",
+    "\n",
+    "from habitat import make_dataset\n",
+    "from habitat.core.environments import get_env_class\n",
+    "from habitat.core.vector_env import VectorEnv\n",
+    "from habitat.core.env import Env\n",
+    "from habitat.utils.gym_definitions import _get_env_name\n",
+    "from habitat_baselines.rl.ppo.ppo_trainer import PPOTrainer\n",
+    "\n",
+    "from home_robot.agent.ovmm_agent.ovmm_agent import OpenVocabManipAgent\n",
+    "from home_robot_sim.env.habitat_ovmm_env.habitat_ovmm_env import (\n",
+    "    HabitatOpenVocabManipEnv,\n",
+    ")"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "All code should be ran from the root home-robot directory"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "os.chdir(\"../..\") # change directory to $HOME_ROBOT_ROOT\n",
+    "#os.chdir(os.environ['HOME_ROBOT_ROOT'])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "%pwd"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Setup config "
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "config_path = \"ovmm/ovmm_eval.yaml\"\n",
+    "config, config_str = get_config(config_path)\n",
+    "OmegaConf.set_readonly(config, False)\n",
+    "\n",
+    "config.habitat_baselines.num_environments = 1\n",
+    "OmegaConf.set_struct(config.habitat_baselines, False)\n",
+    "config.habitat_baselines.print_images = 1\n",
+    "config.habitat.dataset.split = \"val\"\n",
+    "config.habitat_baselines.exp_name = \"debug_notebook\"\n",
+    "\n",
+    "OmegaConf.set_readonly(config, True)\n",
+    "baseline_config = OmegaConf.load(\n",
+    "    \"projects/habitat_ovmm/configs/agent/hssd_eval.yaml\"\n",
+    ")\n",
+    "config = DictConfig({**config, **baseline_config})\n",
+    "config.VISUALIZE = 1\n",
+    "print(config)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "habitat_config = config.habitat\n",
+    "dataset = make_dataset(habitat_config.dataset.type, config=habitat_config.dataset)\n",
+    "env_class_name = _get_env_name(config)\n",
+    "env_class = get_env_class(env_class_name)"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Create the agent and environment"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "agent = OpenVocabManipAgent(config=config)\n",
+    "\n",
+    "habitat_env = env_class(config=habitat_config, dataset=dataset) # TODO: This line stalls on first execution. \n",
+    "                                                                # current workaround is to interrupt after a few seconds and rerun\n",
+    "habitat_env.seed(habitat_config.seed)\n",
+    "env = HabitatOpenVocabManipEnv(habitat_env, config, dataset=dataset)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "t = 0\n",
+    "env.reset()\n",
+    "agent.reset()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "t += 1\n",
+    "obs = env.get_observation()\n",
+    "action, info, act_obs = agent.act(obs)\n",
+    "print(t, action)\n",
+    "env.apply_action(action, info)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#Step all the way\n",
+    "#while not env.episode_over:\n",
+    "for _ in range(100):\n",
+    "    t += 1\n",
+    "    obs = env.get_observation()\n",
+    "    action, info, act_obs = agent.act(obs)\n",
+    "    print(t, action)\n",
+    "    env.apply_action(action, info)\n",
+    "\n",
+    "print(env.get_episode_metrics())"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.9.16"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}