Adding high noise by randomising the frames

DPI/dmc2gym/__init__.py

@@ -16,7 +16,9 @@ def make(
     camera_id=0,
     frame_skip=1,
     episode_length=1000,
-    environment_kwargs=None
+    environment_kwargs=None,
+    video_recording=False,
+    video_recording_dir=None,
 ):
     env_id = 'dmc_%s_%s_%s-v1' % (domain_name, task_name, seed)
 
@@ -46,6 +48,8 @@ def make(
                 'width': width,
                 'camera_id': camera_id,
                 'frame_skip': frame_skip,
+                'video_recording': video_recording,
+                'video_recording_dir': video_recording_dir,
             },
             max_episode_steps=max_episode_steps
         )

DPI/dmc2gym/natural_imgsource.py

@@ -123,7 +123,7 @@ class RandomImageSource(ImageSource):
 
 
 class RandomVideoSource(ImageSource):
-    def __init__(self, shape, filelist, total_frames=None, grayscale=False):
+    def __init__(self, shape, filelist, total_frames=None, grayscale=False, high_noise=False):
         """
         Args:
             shape: [h, w]
@@ -133,6 +133,7 @@ class RandomVideoSource(ImageSource):
         self.total_frames = total_frames
         self.shape = shape
         self.filelist = filelist
+        self.high_noise = high_noise
         self.build_arr()
         self.current_idx = 0
         self.reset()
@@ -173,6 +174,9 @@ class RandomVideoSource(ImageSource):
                         pbar.update(1)
                         total_frame_i += 1
         
+        # Randomize the order of the frames
+        if self.high_noise:
+            random.shuffle(self.arr)
 
     def reset(self):
         self._loc = np.random.randint(0, self.total_frames)

DPI/dmc2gym/wrappers.py

@@ -6,9 +6,16 @@ from dm_env import specs
 import numpy as np
 import skimage.io
 
+from video import VideoRecorder
 from dmc2gym import natural_imgsource
 
 
+high_noise = False
+
+def set_global_var(set_high_noise):
+    global high_noise
+    high_noise = set_high_noise
+
 def _spec_to_box(spec):
     def extract_min_max(s):
         assert s.dtype == np.float64 or s.dtype == np.float32
@@ -54,7 +61,9 @@ class DMCWrapper(core.Env):
         width=84,
         camera_id=0,
         frame_skip=1,
-        environment_kwargs=None
+        environment_kwargs=None,
+        video_recording=False,
+        video_recording_dir=None,
     ):
         assert 'random' in task_kwargs, 'please specify a seed, for deterministic behaviour'
         self._from_pixels = from_pixels
@@ -99,6 +108,10 @@ class DMCWrapper(core.Env):
             dtype=np.float32
         )
 
+        # video recording
+        if video_recording:
+            self.video = VideoRecorder(video_recording_dir+"/video", resource_files=resource_files, high_noise=high_noise)
+
         # background
         if img_source is not None:
             shape2d = (height, width)
@@ -114,7 +127,7 @@ class DMCWrapper(core.Env):
                 if img_source == "images":
                     self._bg_source = natural_imgsource.RandomImageSource(shape2d, files, grayscale=True, total_frames=total_frames)
                 elif img_source == "video":
-                    self._bg_source = natural_imgsource.RandomVideoSource(shape2d, files, grayscale=True, total_frames=total_frames)
+                    self._bg_source = natural_imgsource.RandomVideoSource(shape2d, files, grayscale=True, total_frames=total_frames, high_noise=high_noise)
                 else:
                     raise Exception("img_source %s not defined." % img_source)
 

DPI/train.py

@@ -13,6 +13,7 @@ from utils import ReplayBuffer, make_env, save_image
 from models import ObservationEncoder, ObservationDecoder, TransitionModel, CLUBSample
 from logger import Logger
 from video import VideoRecorder
+from dmc2gym.wrappers import set_global_var
 
 #from agent.baseline_agent import BaselineAgent
 #from agent.bisim_agent import BisimAgent
@@ -32,7 +33,8 @@ def parse_args():
     parser.add_argument('--resource_files', type=str)
     parser.add_argument('--eval_resource_files', type=str)
     parser.add_argument('--img_source', default=None, type=str, choices=['color', 'noise', 'images', 'video', 'none'])
-    parser.add_argument('--total_frames', default=1000, type=int)
+    parser.add_argument('--total_frames', default=10000, type=int)
+    parser.add_argument('--high_noise', action='store_true')
     # replay buffer
     parser.add_argument('--replay_buffer_capacity', default=50000, type=int)   #100000
     parser.add_argument('--episode_length', default=50, type=int)
@@ -103,6 +105,9 @@ class DPI:
     
         self.args = args
 
+        # set environment noise
+        set_global_var(self.args.high_noise)
+
         # environment setup
         self.env = make_env(self.args)
         self.env.seed(self.args.seed)
@@ -168,9 +173,9 @@ class DPI:
         obs = self.env.reset()
         done = False
 
+        #video = VideoRecorder(self.video_dir if args.save_video else None, resource_files=args.resource_files)
         for episode_count in range(episodes):
-            video = VideoRecorder(self.video_dir if args.save_video else None, resource_files=args.resource_files)
+            self.env.video.init(enabled=True)
-            video.init(enabled=True)
             for i in range(self.args.episode_length):
                 action = self.env.action_space.sample()
                 next_obs, _, done, _ = self.env.step(action)
@@ -178,14 +183,14 @@ class DPI:
                 self.data_buffer.add(obs, action, next_obs, episode_count+1, done)
                 
                 if args.save_video:
-                    video.record(self.env)
+                    self.env.video.record(self.env)
                 
                 if done:
                     obs = self.env.reset()
                     done=False  
                 else:
                     obs = next_obs
-            video.save('%d.mp4' % episode_count)
+            self.env.video.save('%d.mp4' % episode_count)
         print("Collected {} random episodes".format(episode_count+1))
                 #if args.save_video:
                 #    video.record(self.env)

DPI/utils.py

@@ -5,16 +5,18 @@
 # LICENSE file in the root directory of this source tree.
 
 import os
-import torch
+import random
 import numpy as np
+from collections import deque
+
+import torch
 import torch.nn as nn
 
 import gym
 import dmc2gym
 
-import random
+import cv2
 from PIL import Image
-from collections import deque
 
 
 class eval_mode(object):
@@ -186,7 +188,9 @@ def make_env(args):
             from_pixels=(args.encoder_type == 'pixel'),
             height=args.image_size,
             width=args.image_size,
-            frame_skip=args.action_repeat
+            frame_skip=args.action_repeat,
+            video_recording=args.save_video,
+            video_recording_dir=args.work_dir,
         )
     return env
 
@@ -195,3 +199,20 @@ def save_image(array, filename):
     array = (array * 255).astype(np.uint8)
     image = Image.fromarray(array)
     image.save(filename)
+
+def video_from_array(arr, high_noise, filename):
+    """
+    Save a video from a numpy array of shape (T, H, W, C)
+    Example:
+        video_from_array(np.random.rand(100, 64, 64, 1), 'test.mp4')
+    """
+    if arr.shape[-1] == 1:
+            height, width, channels = arr.shape[1:]
+            fourcc = cv2.VideoWriter_fourcc(*'mp4v')
+            out = cv2.VideoWriter('output.mp4', fourcc, 30.0, (width, height))
+            for i in range(arr.shape[0]):
+                frame = arr[i]
+                frame = np.uint8(frame)
+                frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
+                out.write(frame)
+            out.release()

DPI/video.py

@@ -13,7 +13,7 @@ from dmc2gym.natural_imgsource import RandomVideoSource
 
 
 class VideoRecorder(object):
-    def __init__(self, dir_name, resource_files=None, height=256, width=256, camera_id=0, fps=30):
+    def __init__(self, dir_name, resource_files=None, height=256, width=256, camera_id=0, fps=30, high_noise=False):
         self.dir_name = dir_name
         self.height = height
         self.width = width
@@ -23,7 +23,7 @@ class VideoRecorder(object):
         self.resource_files = resource_files
         if resource_files:
             files = glob.glob(os.path.expanduser(resource_files))
-            self._bg_source = RandomVideoSource((height, width), files, grayscale=False, total_frames=1000)
+            self._bg_source = RandomVideoSource((height, width), files, grayscale=False, total_frames=1000, high_noise=high_noise)
         else:
             self._bg_source = None