forked from augustinharter/phyre
-
Notifications
You must be signed in to change notification settings - Fork 0
/
flownet.py
4138 lines (3612 loc) · 210 KB
/
flownet.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
# %%
import torch as T
import torch.nn as nn
import torch.nn.functional as F
import numpy as np
from matplotlib import pyplot as plt
from IPython.display import clear_output
from phyre_rolllout_collector import load_phyre_rollouts, collect_solving_dataset
from cv2 import resize, imshow, waitKey
import cv2
from phyre_utils import draw_ball, grow_action_vector, vis_batch, make_mono_dataset, action_delta_generator, gifify, \
vis_pred_path, vis_pred_path_task, make_mono_dataset_2, make_mono_dataset_sequential
from itertools import chain
import argparse
import os
import random
import phyre
from dijkstra import find_distance_map_obj
import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.nn.init import xavier_uniform_, zeros_
import gzip
from tqdm import tqdm
import pandas as pd
import pickle
from collections import deque
# %%
def downsample_conv(in_planes, out_planes, kernel_size=3):
return nn.Sequential(
nn.Conv2d(in_planes, out_planes, kernel_size=kernel_size, stride=2, padding=(kernel_size - 1) // 2),
nn.ReLU(inplace=True),
nn.Conv2d(out_planes, out_planes, kernel_size=kernel_size, padding=(kernel_size - 1) // 2),
nn.ReLU(inplace=True)
)
def predict_disp(in_planes):
return nn.Sequential(
nn.Conv2d(in_planes, 1, kernel_size=3, padding=1),
nn.Sigmoid()
)
def conv(in_planes, out_planes):
return nn.Sequential(
nn.Conv2d(in_planes, out_planes, kernel_size=3, padding=1),
nn.ReLU(inplace=True)
)
def upconv(in_planes, out_planes):
return nn.Sequential(
nn.ConvTranspose2d(in_planes, out_planes, kernel_size=3, stride=2, padding=1, output_padding=1),
nn.ReLU(inplace=True)
)
def crop_like(input, ref):
assert (input.size(2) >= ref.size(2) and input.size(3) >= ref.size(3))
return input[:, :, :ref.size(2), :ref.size(3)]
class DispNetS(nn.Module):
def __init__(self, alpha=10, beta=0.01, inp_channels=5):
super().__init__()
self.alpha = alpha
self.beta = beta
conv_planes = [32, 64, 128, 256, 512, 512, 512]
self.conv1 = downsample_conv(inp_channels, conv_planes[0], kernel_size=7)
self.conv2 = downsample_conv(conv_planes[0], conv_planes[1], kernel_size=5)
self.conv3 = downsample_conv(conv_planes[1], conv_planes[2])
self.conv4 = downsample_conv(conv_planes[2], conv_planes[3])
self.conv5 = downsample_conv(conv_planes[3], conv_planes[4])
self.conv6 = downsample_conv(conv_planes[4], conv_planes[5])
self.conv7 = downsample_conv(conv_planes[5], conv_planes[6])
upconv_planes = [512, 512, 256, 128, 64, 32, 16]
self.upconv7 = upconv(conv_planes[6], upconv_planes[0])
self.upconv6 = upconv(upconv_planes[0], upconv_planes[1])
self.upconv5 = upconv(upconv_planes[1], upconv_planes[2])
self.upconv4 = upconv(upconv_planes[2], upconv_planes[3])
self.upconv3 = upconv(upconv_planes[3], upconv_planes[4])
self.upconv2 = upconv(upconv_planes[4], upconv_planes[5])
self.upconv1 = upconv(upconv_planes[5], upconv_planes[6])
self.iconv7 = conv(upconv_planes[0] + conv_planes[5], upconv_planes[0])
self.iconv6 = conv(upconv_planes[1] + conv_planes[4], upconv_planes[1])
self.iconv5 = conv(upconv_planes[2] + conv_planes[3], upconv_planes[2])
self.iconv4 = conv(upconv_planes[3] + conv_planes[2], upconv_planes[3])
self.iconv3 = conv(1 + upconv_planes[4] + conv_planes[1], upconv_planes[4])
self.iconv2 = conv(1 + upconv_planes[5] + conv_planes[0], upconv_planes[5])
self.iconv1 = conv(1 + upconv_planes[6], upconv_planes[6])
self.predict_disp4 = predict_disp(upconv_planes[3])
self.predict_disp3 = predict_disp(upconv_planes[4])
self.predict_disp2 = predict_disp(upconv_planes[5])
self.predict_disp1 = predict_disp(upconv_planes[6])
def init_weights(self):
for m in self.modules():
if isinstance(m, nn.Conv2d) or isinstance(m, nn.ConvTranspose2d):
xavier_uniform_(m.weight)
if m.bias is not None:
zeros_(m.bias)
def forward(self, x):
out_conv1 = self.conv1(x)
out_conv2 = self.conv2(out_conv1)
out_conv3 = self.conv3(out_conv2)
out_conv4 = self.conv4(out_conv3)
out_conv5 = self.conv5(out_conv4)
out_conv6 = self.conv6(out_conv5)
out_conv7 = self.conv7(out_conv6)
out_upconv7 = crop_like(self.upconv7(out_conv7), out_conv6)
concat7 = torch.cat((out_upconv7, out_conv6), 1)
out_iconv7 = self.iconv7(concat7)
out_upconv6 = crop_like(self.upconv6(out_iconv7), out_conv5)
concat6 = torch.cat((out_upconv6, out_conv5), 1)
out_iconv6 = self.iconv6(concat6)
out_upconv5 = crop_like(self.upconv5(out_iconv6), out_conv4)
concat5 = torch.cat((out_upconv5, out_conv4), 1)
out_iconv5 = self.iconv5(concat5)
out_upconv4 = crop_like(self.upconv4(out_iconv5), out_conv3)
concat4 = torch.cat((out_upconv4, out_conv3), 1)
out_iconv4 = self.iconv4(concat4)
disp4 = self.alpha * self.predict_disp4(out_iconv4) + self.beta
out_upconv3 = crop_like(self.upconv3(out_iconv4), out_conv2)
disp4_up = crop_like(F.interpolate(disp4, scale_factor=2, mode='bilinear', align_corners=False), out_conv2)
concat3 = torch.cat((out_upconv3, out_conv2, disp4_up), 1)
out_iconv3 = self.iconv3(concat3)
disp3 = self.alpha * self.predict_disp3(out_iconv3) + self.beta
out_upconv2 = crop_like(self.upconv2(out_iconv3), out_conv1)
disp3_up = crop_like(F.interpolate(disp3, scale_factor=2, mode='bilinear', align_corners=False), out_conv1)
concat2 = torch.cat((out_upconv2, out_conv1, disp3_up), 1)
out_iconv2 = self.iconv2(concat2)
disp2 = self.alpha * self.predict_disp2(out_iconv2) + self.beta
out_upconv1 = crop_like(self.upconv1(out_iconv2), x)
disp2_up = crop_like(F.interpolate(disp2, scale_factor=2, mode='bilinear', align_corners=False), x)
concat1 = torch.cat((out_upconv1, disp2_up), 1)
out_iconv1 = self.iconv1(concat1)
disp1 = self.alpha * self.predict_disp1(out_iconv1) + self.beta
if self.training:
return disp1, disp2, disp3, disp4
else:
return disp1
class SpatialConv(nn.Module):
def __init__(self, conv, direction, inplace=True, trans=False):
super().__init__()
self.inplace = inplace
self.conv = conv
self.direction = direction
self.trans = trans
def forward(self, X):
sideways = False
direction = self.direction
if direction == "right":
sideways = True
pos = 0
end = X.shape[3] - 1
add = 1
elif direction == "left":
sideways = True
end = X.shape[3] - 1 if self.trans else 0
pos = 0 if self.trans else X.shape[3] - 1
add = -1
elif direction == "up":
end = X.shape[2] - 1 if self.trans else 0
pos = 0 if self.trans else X.shape[2] - 1
add = -1
elif direction == "down":
pos = 0
end = X.shape[2] - 1
add = 1
else:
print("Direction not understood!")
return X
# ORIGINAL "INPLACE" CONCEPT from paper
if self.inplace:
if self.trans:
if add < 0:
X = X.flip(-1).clone() if sideways else X.flip(-2).clone()
else:
X = X.clone()
# transpose if going sideways
X = X.transpose(-2, -1) if sideways else X
# stepping through the tensor
while pos != end:
# print(X[:,:,pos,:].shape, X[:,:,pos-kd:pos+1,:].shape, self.conv(X[:,:,pos-kd:pos+1,:]).shape)
X[:, :, pos + 1, :] += T.tanh(self.conv(X[:, :, pos, :]))
pos += 1
# re-flip if direction was 'negative'
if add < 0:
X = X.flip(-1) if sideways else X.flip(-2)
# re-transpose if sideways
return X.transpose(-2, -1) if sideways else X
else:
X = X.clone()
while pos != end:
if sideways:
X[:, :, :, pos + add] += T.tanh(self.conv(X[:, :, :, pos]))
else:
X[:, :, pos + add, :] += T.tanh(self.conv(X[:, :, pos, :]))
pos += add
return X
# Alternative concept
else:
if sideways:
first = T.tanh(self.conv(X[:, :, :, pos]))
Y = T.zeros(X.shape[0], first.shape[1], X.shape[2], first.shape[2])
Y[:, :, :, pos] = first
else:
first = T.tanh(self.conv(X[:, :, pos, :]))
Y = T.zeros(X.shape[0], first.shape[1], first.shape[2], X.shape[3])
Y[:, :, pos, :] = first
while pos != end:
if sideways:
Y[:, :, :, pos + add] += Y[:, :, :, pos] + T.tanh(self.conv(X[:, :, :, pos + add]))
else:
Y[:, :, pos + add, :] += Y[:, :, pos, :] + T.tanh(self.conv(X[:, :, pos + add, :]))
pos += add
return Y
class SequentialConv(nn.Module):
def __init__(self, conv, direction, inplace=True, trans=False):
super().__init__()
self.inplace = inplace
self.conv = conv
self.direction = direction
def forward(self, X):
# print('input shape', X.shape)
# print('conv weight shape', self.conv.weight.shape)
sideways = False
direction = self.direction
if direction == "right":
sideways = True
end = X.shape[3]
pos = 0
add = 1
elif direction == "left":
sideways = True
end = -1
pos = X.shape[3] - 1
add = -1
elif direction == "up":
end = -1
pos = X.shape[2] - 1
add = -1
elif direction == "down":
end = X.shape[2]
pos = 0
add = 1
else:
print("Direction not understood!")
return X
# ORIGINAL "INPLACE" CONCEPT from paper
if self.inplace:
kd = self.conv.kernel_size[1] - 1 if sideways else self.conv.kernel_size[0] - 1
# print(self.conv.kernel_size)
pos += kd * add
X = X.clone()
while pos != end:
# print(pos)
if sideways:
if add < 0:
# print(X[:,:,:,pos].shape, X[:,:,:,pos:pos+kd+1].shape, self.conv(X[:,:,:,pos:pos+kd+1]).shape)
X[:, :, :, pos] += T.tanh(self.conv(X[:, :, :, pos:pos + kd + 1])[:, :, 0])
else:
# print(X[:,:,:,pos].shape, X[:,:,:,pos-kd:pos+1].shape, self.conv(X[:,:,:,pos-kd:pos+1]).shape)
X[:, :, :, pos] += T.tanh(self.conv(X[:, :, :, pos - kd:pos + 1])[:, :, 0])
else:
if add < 0:
# print(X[:,:,pos,:].shape, X[:,:,pos:pos+kd+1,:].shape, self.conv(X[:,:,pos:pos+kd+1,:]).shape)
X[:, :, pos, :] += T.tanh(self.conv(X[:, :, pos:pos + kd + 1, :])[:, :, 0])
else:
# print(X[:,:,pos,:].shape, X[:,:,pos-kd:pos+1,:].shape, self.conv(X[:,:,pos-kd:pos+1,:]).shape)
X[:, :, pos, :] += T.tanh(self.conv(X[:, :, pos - kd:pos + 1, :])[:, :, 0])
pos += add
return X
# Alternative concept
else:
kw = (self.conv.kernel_size[1] if sideways else self.conv.kernel_size[0]) - 1
pos += kw * add
if sideways:
first = T.tanh(self.conv(X[:, :, :, pos + (kw * add):pos]))
Y = T.zeros(X.shape[0], first.shape[1], X.shape[2], first.shape[2])
Y[:, :, :, pos] = first
else:
first = T.tanh(self.conv(X[:, :, pos + (kw * add):pos, :]))
Y = T.zeros(X.shape[0], first.shape[1], first.shape[2], X.shape[3])
Y[:, :, pos, :] = first
while pos != end:
if sideways:
Y[:, :, :, pos + add] += Y[:, :, :, pos] + T.tanh(self.conv(X[:, :, :, pos + add]))
else:
Y[:, :, pos + add, :] += Y[:, :, pos, :] + T.tanh(self.conv(X[:, :, pos + add, :]))
pos += add
return Y
class ImagiNet(nn.Module):
def __init__(self):
super().__init__()
chs = 16
# self.feature_dims = feature_dims
# self.embed_dims = embed_dims
# self.final_conv_width = ((int(self.feature_dims**0.5)//4)-2)
conv_fn = lambda: nn.Conv1d(chs, chs, 5, 1, 2)
self.r1 = SpatialConv(conv_fn(), "right", inplace=True)
self.l1 = SpatialConv(conv_fn(), "left", inplace=True)
self.u1 = SpatialConv(conv_fn(), "up", inplace=True)
self.d1 = SpatialConv(conv_fn(), "down", inplace=True)
self.r2 = SpatialConv(conv_fn(), "right", inplace=True)
self.l2 = SpatialConv(conv_fn(), "left", inplace=True)
self.u2 = SpatialConv(conv_fn(), "up", inplace=True)
self.d2 = SpatialConv(conv_fn(), "down", inplace=True)
self.init_conv = nn.Sequential(
nn.Conv2d(7, chs, 3, 1, 1),
nn.Tanh())
self.end_conv = nn.Sequential(
nn.Conv2d(chs, 1, 3, 1, 1),
nn.Sigmoid())
self.mid_conv = nn.Sequential(
nn.Conv2d(7, 7, 3, 1, 1),
nn.Tanh())
self.big_conv = nn.Sequential(
nn.Conv2d(1, 16, 4, 2, 1),
nn.LeakyReLU(0.1),
nn.Conv2d(16, 16, 4, 2, 1),
nn.LeakyReLU(0.2),
nn.Conv2d(16, 8, 4, 2, 1),
nn.LeakyReLU(0.1))
self.deconv = nn.Sequential(
# nn.Linear(embed_dims, 8*self.final_conv_width**2),
nn.Tanh(),
# View((-1, 8, self.final_conv_width, self.final_conv_width)),
nn.ConvTranspose2d(8, 16, 3, 1),
nn.Tanh(),
nn.ConvTranspose2d(16, 16, 4, 2, 1),
nn.Tanh(),
nn.ConvTranspose2d(16, 1, 4, 2, 1))
def forward(self, X):
X = self.init_conv(X)
for n in range(1):
X = self.u1(X)
X = self.d1(X)
X = self.l1(X)
X = self.r1(X)
# X = self.u2(X)
# X = self.d2(X)
# X = self.l2(X)
# X = self.r2(X)
# X = self.mid_conv(X)
X = self.end_conv(X)
# X = F.relu(X[:,None,0])
return X
class FlowNet(nn.Module):
def __init__(self, in_dim, chs, sequ=False, trans=False):
super().__init__()
# self.feature_dims = feature_dims
# self.embed_dims = embed_dims
# self.final_conv_width = ((int(self.feature_dims**0.5)//4)-2)
vertical_conv_fn = (lambda: nn.Conv2d(chs, chs, (2, 5), 1, (0, 2))) if sequ else (
lambda: nn.Conv1d(chs, chs, 5, 1, 2))
horizontal_conv_fn = (lambda: nn.Conv2d(chs, chs, (5, 2), 1, (2, 0))) if sequ else (
lambda: nn.Conv1d(chs, chs, 5, 1, 2))
flow_model = SequentialConv if sequ else SpatialConv
self.r1 = flow_model(horizontal_conv_fn(), "right", inplace=True, trans=trans)
self.l1 = flow_model(horizontal_conv_fn(), "left", inplace=True, trans=trans)
self.u1 = flow_model(vertical_conv_fn(), "up", inplace=True, trans=trans)
self.d1 = flow_model(vertical_conv_fn(), "down", inplace=True, trans=trans)
self.r2 = flow_model(horizontal_conv_fn(), "right", inplace=True, trans=trans)
self.l2 = flow_model(horizontal_conv_fn(), "left", inplace=True, trans=trans)
self.u2 = flow_model(vertical_conv_fn(), "up", inplace=True, trans=trans)
self.d2 = flow_model(vertical_conv_fn(), "down", inplace=True, trans=trans)
self.init_conv = nn.Sequential(
nn.Conv2d(in_dim, chs, 3, 1, 1),
nn.Tanh())
self.end_conv = nn.Sequential(
nn.Conv2d(chs, 1, 3, 1, 1),
nn.Sigmoid())
self.mid_conv = nn.Sequential(
nn.Conv2d(7, 7, 3, 1, 1),
nn.Tanh())
self.big_conv = nn.Sequential(
nn.Conv2d(1, 16, 4, 2, 1),
nn.LeakyReLU(0.1),
nn.Conv2d(16, 16, 4, 2, 1),
nn.LeakyReLU(0.2),
nn.Conv2d(16, 8, 4, 2, 1),
nn.LeakyReLU(0.1))
self.deconv = nn.Sequential(
# nn.Linear(embed_dims, 8*self.final_conv_width**2),
nn.Tanh(),
# View((-1, 8, self.final_conv_width, self.final_conv_width)),
nn.ConvTranspose2d(8, 16, 3, 1),
nn.Tanh(),
nn.ConvTranspose2d(16, 16, 4, 2, 1),
nn.Tanh(),
nn.ConvTranspose2d(16, 1, 4, 2, 1))
def forward(self, X):
X = self.init_conv(X)
for n in range(1):
X = self.u1(X)
X = self.d1(X)
X = self.l1(X)
X = self.r1(X)
# X = self.u2(X)
# X = self.d2(X)
# X = self.l2(X)
# X = self.r2(X)
# X = self.mid_conv(X)
X = self.end_conv(X)
# X = F.relu(X[:,None,0])
return X
class UpFlowNet(nn.Module):
def __init__(self, in_dim, chs, sequ=False, trans=False):
super().__init__()
# self.feature_dims = feature_dims
# self.embed_dims = embed_dims
# self.final_conv_width = ((int(self.feature_dims**0.5)//4)-2)
vertical_conv_fn = (lambda: nn.Conv2d(chs, chs, (2, 5), 1, (0, 2))) if sequ else (
lambda: nn.Conv1d(chs, chs, 5, 1, 2))
horizontal_conv_fn = (lambda: nn.Conv2d(chs, chs, (5, 2), 1, (2, 0))) if sequ else (
lambda: nn.Conv1d(chs, chs, 5, 1, 2))
flow_model = SequentialConv if sequ else SpatialConv
self.r1 = flow_model(horizontal_conv_fn(), "right", inplace=True, trans=trans)
self.l1 = flow_model(horizontal_conv_fn(), "left", inplace=True, trans=trans)
self.u1 = flow_model(vertical_conv_fn(), "up", inplace=True, trans=trans)
self.d1 = flow_model(vertical_conv_fn(), "down", inplace=True, trans=trans)
self.r2 = flow_model(horizontal_conv_fn(), "right", inplace=True, trans=trans)
self.l2 = flow_model(horizontal_conv_fn(), "left", inplace=True, trans=trans)
self.u2 = flow_model(vertical_conv_fn(), "up", inplace=True, trans=trans)
self.d2 = flow_model(vertical_conv_fn(), "down", inplace=True, trans=trans)
self.init_conv = nn.Sequential(
nn.Conv2d(in_dim, chs, 3, 1, 1),
nn.Tanh())
self.end_conv = nn.Sequential(
nn.Conv2d(chs, 1, 3, 1, 1),
nn.Sigmoid())
self.mid_conv = nn.Sequential(
nn.Conv2d(7, 7, 3, 1, 1),
nn.Tanh())
self.big_conv = nn.Sequential(
nn.Conv2d(1, 16, 4, 2, 1),
nn.LeakyReLU(0.1),
nn.Conv2d(16, 16, 4, 2, 1),
nn.LeakyReLU(0.2),
nn.Conv2d(16, 8, 4, 2, 1),
nn.LeakyReLU(0.1))
self.deconv = nn.Sequential(
# nn.Linear(embed_dims, 8*self.final_conv_width**2),
nn.Tanh(),
# View((-1, 8, self.final_conv_width, self.final_conv_width)),
nn.ConvTranspose2d(8, 16, 3, 1),
nn.Tanh(),
nn.ConvTranspose2d(16, 16, 4, 2, 1),
nn.Tanh(),
nn.ConvTranspose2d(16, 1, 4, 2, 1))
def forward(self, X):
X = self.init_conv(X)
for n in range(1):
X = self.u1(X)
# X = self.d1(X)
X = self.l1(X)
X = self.r1(X)
X = self.u2(X)
# X = self.d2(X)
X = self.l2(X)
X = self.r2(X)
# X = self.mid_conv(X)
X = self.end_conv(X)
# X = F.relu(X[:,None,0])
return X
class ActionBallNet(nn.Module):
def __init__(self):
super().__init__()
self.model = nn.Sequential(
nn.Conv2d(1, 4, 3, 1, 1),
nn.Conv2d(4, 1, 5, 1, 2),
nn.Sigmoid()
)
def forward(self, X):
return self.model(X)
class Discriminator(nn.Module):
def __init__(self, in_dim, wid):
super().__init__()
"""
self.model = nn.Sequential(
nn.Conv2d(in_dim, 4, 4, 2, 1),
nn.Conv2d(4, 8, 4, 2, 1),
nn.Conv2d(8, 16, 4, 2, 1),
nn.Flatten(),
nn.Linear(4*4*16, 32),
nn.Linear(32, 16),
nn.Linear(16, 1))
"""
folds = range(1, int(np.math.log2(wid)))
acti = nn.ReLU
convs = [nn.Conv2d(2 ** (2 + i), 2 ** (3 + i), 4, 2, 1) for i in folds]
encoder = [nn.Conv2d(in_dim, 8, 4, 2, 1), acti()] + [acti() if i % 2 else convs[i // 2] for i in
range(2 * len(folds))]
reason = [nn.Flatten(), nn.Linear(2 ** (3 + max(folds)), 64), nn.Tanh(), nn.Linear(64, 1), nn.Sigmoid()]
modules = encoder + reason
self.model = nn.Sequential(*modules)
def forward(self, X):
return self.model(X)
class Pyramid(nn.Module):
def __init__(self, in_dim, chs, wid, hidfac):
super().__init__()
"""
self.model = nn.Sequential(
nn.Conv2d(in_dim, 8, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(8, 16, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(16, 32, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(32, 64, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(64, 128, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(128, 64, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(64, 32, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(32, 16, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(16, 8, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(8, chs, 4, 2, 1),
nn.Sigmoid()
)
"""
folds = range(1, int(np.math.log2(wid)))
acti = nn.ReLU
convs = [nn.Conv2d(int(2 ** (2 + i) * hidfac), int(2 ** (3 + i) * hidfac), 4, 2, 1) for i in folds]
encoder = [nn.Conv2d(in_dim, int(8 * hidfac), 4, 2, 1), acti()] + [acti() if i % 2 else convs[i // 2] for i in
range(2 * len(folds))]
trans_convs = [nn.ConvTranspose2d(int(2 ** (3 + i) * hidfac), int(2 ** (2 + i) * hidfac), 4, 2, 1) for i in
reversed(folds)]
decoder = [acti() if i % 2 else trans_convs[i // 2] for i in range(2 * len(folds))] + [
nn.ConvTranspose2d(int(8 * hidfac), chs, 4, 2, 1), nn.Sigmoid()]
modules = encoder + decoder
self.model = nn.Sequential(*modules)
# print(self.model.state_dict().keys())
"""
convs = [(2**(2+i), 2**(3+i)) for i in folds]
trans_convs = [(2**(3+i), 2**(2+i)) for i in reversed(folds)]
print(convs)
print(trans_convs)
encoder = [(in_dim,8), 'acti'] + [f"acti" if i%2 else convs[i//2] for i in range(2*len(folds))]
print(encoder)
decoder = [f"acti" if i%2 else trans_convs[i//2] for i in range(2*len(folds))] + [(8,chs), 'Sigmoid']
print(decoder)
print(*(encoder+decoder), sep='\n')
"""
def forward(self, X):
return self.model(X)
class SmartPyramid(nn.Module):
def __init__(self, in_dim, chs, wid):
super().__init__()
"""
self.model = nn.Sequential(
nn.Conv2d(in_dim, 8, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(8, 16, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(16, 32, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(32, 64, 4, 2, 1),
nn.ReLU(),
nn.Conv2d(64, 128, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(128, 64, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(64, 32, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(32, 16, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(16, 8, 4, 2, 1),
nn.ReLU(),
nn.ConvTranspose2d(8, chs, 4, 2, 1),
nn.Sigmoid()
)
"""
folds = range(1, int(np.math.log2(wid)))
acti = nn.ReLU
convs = [nn.Conv2d(2 ** (2 + i), 2 ** (3 + i), 4, 2, 1) for i in folds]
encoder = [nn.Conv2d(in_dim, 8, 4, 2, 1), acti()] + [acti() if i % 2 else convs[i // 2] for i in
range(2 * len(folds))]
trans_convs = [nn.ConvTranspose2d(2 ** (3 + i), 2 ** (2 + i), 4, 2, 1) for i in reversed(folds)]
decoder = [acti() if i % 2 else trans_convs[i // 2] for i in range(2 * len(folds))] + [
nn.ConvTranspose2d(8, chs, 4, 2, 1), nn.Sigmoid()]
self.encoder = nn.Sequential(*encoder)
self.decoder = nn.Sequential(*decoder)
encoding_dim = 2 ** (3 + max(folds))
self.reason = nn.Sequential(
nn.Linear(encoding_dim, encoding_dim),
nn.Tanh(),
nn.Linear(encoding_dim, encoding_dim),
nn.Tanh()
)
def forward(self, X):
X = self.encoder(X)
shape = X.shape
X = self.reason(X.view(shape[0], shape[1]))
X = self.decoder(X.view(*shape))
return X
class FullyConnected(nn.Module):
def __init__(self, in_dim, out_dim, wid):
super().__init__()
self.out_dim = out_dim
acti = nn.ReLU
self.wid = wid
self.model = nn.Sequential(
nn.Linear(in_dim * self.wid * self.wid, 512),
acti(),
nn.Linear(512, 256),
acti(),
nn.Linear(256, 128),
acti(),
nn.Linear(128, 256),
acti(),
nn.Linear(256, self.wid * self.wid * self.out_dim),
nn.Sigmoid()
)
def forward(self, X):
return self.model(X.view(X.shape[0], -1)).view(-1, self.out_dim, self.wid, self.wid)
def obj_in_scene(X):
ret = True if np.max(X) == 1 else False
return ret
class FlownetSolver():
def __init__(self, path: str, modeltype: str, width: int, eval_only=False, smart=False, run='', num_seeds=1,
device="cuda", hidfac=1, dijkstra=False, viz=100):
super().__init__()
self.device = ("cuda" if T.cuda.is_available() else "cpu") if device == "cuda" else "cpu"
print("device:", self.device)
self.path = path
self.run = run
self.width = width
self.modeltype = modeltype
self.discr = None
self.r_fac = 1
self.models = dict()
self.num_seeds = num_seeds
# self.cache = phyre.get_default_100k_cache('ball')
self.cache = None
self.hidfac = hidfac
self.dijkstra = dijkstra
self.viz = 100
self.logger = dict()
pyramid = SmartPyramid if smart else Pyramid
if modeltype == "linear":
self.models["tar_net"] = FullyConnected(5, 1, width)
self.models["base_net"] = FullyConnected(5, 1, width)
self.models["act_net"] = FullyConnected(7, 1, width)
self.models["ext_net"] = FullyConnected(7, 1, width)
elif modeltype == "pyramid":
self.models["tar_net"] = pyramid(5 + int(self.dijkstra), 1, width, hidfac)
self.models["base_net"] = pyramid(5, 1, width, hidfac)
self.models["act_net"] = pyramid(7, 1, width, hidfac)
self.models["ext_net"] = pyramid(7, 1, width, hidfac)
elif modeltype == "scnn":
self.models["tar_net"] = FlowNet(5 + int(self.dijkstra), 16, sequ=True, trans=False)
self.models["base_net"] = FlowNet(5, 16, sequ=True, trans=False)
self.models["act_net"] = FlowNet(7, 16, sequ=True, trans=False)
self.models["ext_net"] = UpFlowNet(7, 16, sequ=True)
elif modeltype == "brute":
self.models["tar_net"] = pyramid(8 + int(self.dijkstra), 1, width, hidfac)
self.models["base_net"] = pyramid(6, 1, width, hidfac)
self.models["act_net"] = pyramid(7, 1, width, hidfac)
self.models["ext_net"] = Discriminator(9, width)
elif modeltype == "combi":
self.models["tar_net"] = pyramid(5 + int(self.dijkstra), 1, width, hidfac)
self.models["base_net"] = pyramid(5, 1, width, hidfac)
self.models["act_net"] = pyramid(7, 1, width, hidfac)
self.models["ext_net"] = pyramid(7, 1, width, hidfac)
self.models["sim_net"] = pyramid(6, 1, width, hidfac)
self.models["comb_net"] = pyramid(6, 3, width, hidfac)
self.models["success_net"] = Discriminator(9, width)
elif modeltype == "skip_pyramid":
self.models["tar_net1"] = pyramid(5 + int(self.dijkstra), 1, width, hidfac)
self.models["base_net"] = pyramid(5, 1, width, hidfac)
self.models["act_net"] = pyramid(7, 1, width, hidfac)
self.models["ext_net"] = pyramid(7, 1, width, hidfac)
self.models["tar_net2"] = pyramid(6 + int(self.dijkstra), 1, width, hidfac)
elif modeltype == "SfMLearner":
self.models["SfM1"] = DispNetS(alpha=1.0, beta=0.0, inp_channels=3)
self.models["SfM2"] = DispNetS(alpha=1.0, beta=0.0, inp_channels=5)
self.models["SfM_sequential"] = DispNetS(alpha=1.0, beta=0.0, inp_channels=21)
else:
print("ERROR modeltype not understood", modeltype)
print("succesfully initialized models")
def resize_tensor(self, X, size):
X_resized = F.interpolate(X[:, None, :, :], size=(size, size), mode='bicubic')
return X_resized.to(self.device)
def cut_off(self, tensor, limit=1):
tensor[tensor > limit] = limit
tensor[tensor < 0] = 0
return tensor
def get_actions(self, tasks, init_scenes, brute=False):
if brute:
return self.brute_searched_actions(tasks, init_scenes)
else:
return self.generative_actions(tasks, init_scenes)
def get_proposals(self, tasks, name):
sim = phyre.initialize_simulator(tasks, 'ball')
all_initial_scenes = T.tensor(
[[cv2.resize((scene == channel).astype(float), (self.width, self.width)) for channel in range(2, 7)] for
scene in sim.initial_scenes]).float().flip(-2)
task_dict = dict()
self.to_train()
actions = np.zeros((len(tasks), 3))
pipelines = []
num_batches = 1 + len(tasks) // 64
# BACTHING ALL TASKS
for batch in range(num_batches):
init_scenes = all_initial_scenes[batch * 64:64 * (batch + 1)].to(self.device)
# emb_init_scenes = F.embedding(T.tensor(batch_scenes), T.eye(phyre.NUM_COLORS)).transpose(-1,-3)[:,1:6].float()
# print(init_scenes.equal(emb_init_scenes))
# FORWARD PASS
with T.no_grad():
base_paths = self.models["base_net"](init_scenes)
target_paths = self.models["tar_net"](init_scenes)
action_paths = self.models["act_net"](T.cat((init_scenes, target_paths, base_paths), dim=1))
action_balls = self.models["ext_net"](T.cat((init_scenes, target_paths, action_paths), dim=1))
# print_batch = T.cat((init_scenes, base_paths, target_paths, action_paths, action_balls), dim=1)
# text = ['green\nball GT', 'blue GT\ndynamic', 'blue GT\nstatic', 'grey', 'black', 'base\npred', 'target\npred', 'action\npred', 'a-ball\npred']
# vis_batch(print_batch, f'result/flownet/solver/{self.path}', f'{batch}', text=text)
batch_tasks = tasks[64 * batch:64 * (batch + 1)]
os.makedirs(f'result/solver/generative/', exist_ok=True)
# LOOPING THROUGH ALL TASKS IN BATCH
for idx, ball in enumerate(action_balls[:, 0].cpu()):
task = batch_tasks[idx]
print("generating proposals for task", task)
# CHOOSE ONE VECTOR EXTRACTION METHOD
# a = pic_to_action_vector(ball, r_fac=1.5)
mask = np.max(init_scenes[idx].cpu().numpy(), axis=0)
# print(mask.shape)
a = grow_action_vector(ball, r_fac=self.r_fac, num_seeds=self.num_seeds, check_border=True, mask=mask,
updates=5)
a2 = grow_action_vector(ball, r_fac=self.r_fac, num_seeds=self.num_seeds, check_border=True, mask=mask,
updates=5)
a3 = grow_action_vector(ball, r_fac=self.r_fac, num_seeds=self.num_seeds, check_border=True, mask=mask,
updates=5)
a4 = grow_action_vector(ball, r_fac=self.r_fac, num_seeds=self.num_seeds, check_border=True, mask=mask,
updates=5)
a5 = grow_action_vector(ball, r_fac=self.r_fac, num_seeds=self.num_seeds, check_border=True, mask=mask,
updates=5)
# print(a)
drawn = draw_ball(self.width, a[0], a[1], a[2], invert_y=True).to(self.device)
drawn2 = draw_ball(self.width, a2[0], a2[1], a2[2], invert_y=True).to(self.device)
drawn3 = draw_ball(self.width, a3[0], a3[1], a3[2], invert_y=True).to(self.device)
drawn4 = draw_ball(self.width, a4[0], a4[1], a4[2], invert_y=True).to(self.device)
drawn5 = draw_ball(self.width, a5[0], a5[1], a5[2], invert_y=True).to(self.device)
def get_nice_xyr(a):
x, y, r = str(round(a[0], 2)), str(round(a[1], 2)), str(round(a[2], 2))
return f"{x} {y} {r}"
back = init_scenes[None, idx, 3:].sum(dim=1)[:, None]
back = back / max(back.max(), 1)
inits = init_scenes[None, idx, None]
vis_line = T.cat((
T.stack((back, inits[:, :, 0] + back, inits[:, :, 1] + inits[:, :, 2] + back), dim=-1),
# inital scene
T.stack((back, base_paths[idx, None] + back, inits[:, :, 1] + inits[:, :, 2] + back), dim=-1),
# scene with base
T.stack((action_paths[idx, None] + back, inits[:, :, 0] + target_paths[idx, None] + back,
inits[:, :, 1] + inits[:, :, 2] + back), dim=-1), # scene with action path and target
T.stack(
(action_balls[idx, None] + back, inits[:, :, 0] + back, inits[:, :, 1] + inits[:, :, 2] + back),
dim=-1), # scene with action ball
T.stack((drawn[None, None] + back, inits[:, :, 0] + back, inits[:, :, 1] + inits[:, :, 2] + back),
dim=-1),
T.stack((drawn2[None, None] + back, inits[:, :, 0] + back, inits[:, :, 1] + inits[:, :, 2] + back),
dim=-1),
T.stack((drawn3[None, None] + back, inits[:, :, 0] + back, inits[:, :, 1] + inits[:, :, 2] + back),
dim=-1),
T.stack((drawn4[None, None] + back, inits[:, :, 0] + back, inits[:, :, 1] + inits[:, :, 2] + back),
dim=-1),
T.stack((drawn5[None, None] + back, inits[:, :, 0] + back, inits[:, :, 1] + inits[:, :, 2] + back),
dim=-1)),
dim=1).detach()
vis_line = self.cut_off(vis_line.cpu())
white = T.ones_like(vis_line)
white[:, :, :, :, [0, 1]] -= vis_line[:, :, :, :, None, 2].repeat(1, 1, 1, 1, 2)
white[:, :, :, :, [0, 2]] -= vis_line[:, :, :, :, None, 1].repeat(1, 1, 1, 1, 2)
white[:, :, :, :, [1, 2]] -= vis_line[:, :, :, :, None, 0].repeat(1, 1, 1, 1, 2)
vis_line = self.cut_off(white)
text = ['initial\nscene', 'scene with\nbase path\nprediction', 'action and\ntarget path\nprediction',
'scene with\naction ball\nprediction', f'injected x,y,r\naction vector\n{get_nice_xyr(a)}',
f'injected x,y,r\naction vector\n{get_nice_xyr(a2)}',
f'injected x,y,r\naction vector\n{get_nice_xyr(a3)}',
f'injected x,y,r\naction vector\n{get_nice_xyr(a4)}',
f'injected x,y,r\naction vector\n{get_nice_xyr(a5)}']
vis_batch(vis_line, f'result/flownet/solving/{self.path}/{self.run}/{name}/{task}', f"seeds", text=text,
save=True, font_size=9)
vis_line = vis_batch(vis_line, f'result/flownet/solving/{self.path}/{self.run}/{name}/{task}', f"seeds",
text=text, save=False, font_size=9)
# pipelines.append(vis_line)
# Radius times 4 since actions are scaled this way (and times 2 to get diameter??)
a[2] = a[2] * 4 * 2
a2[2] = a2[2] * 4 * 2
a3[2] = a3[2] * 4 * 2
a4[2] = a4[2] * 4 * 2
a5[2] = a5[2] * 4 * 2
# print(a)
# saving action
base_actions = [a, a2, a3, a4, a5]
actions[idx + batch * 64] = a
delta_generator = action_delta_generator(pure_noise=True)
# MAKE MORE ACTIONS
tried_actions = []
num_proposals = 100
action_proposals = np.zeros((5, num_proposals, 3))
task_actions = np.zeros((5 * num_proposals, 3))
for seed_id in range(5):
# print(task, "seed",seed_id)
for proposal_idx in range(num_proposals):
action = base_actions[seed_id]
tmp_base_action = action
while self.similar_action_tried(action, tried_actions) or self.is_invalid(action, mask):
delta = delta_generator.__next__()
action = np.clip(action + delta, 0, 1)
# print("delta", action-tmp_base_action)
tried_actions.append(action)
action_proposals[seed_id, proposal_idx] = action
task_actions[seed_id::5] = action_proposals[seed_id]
task_dict[task] = task_actions
return task_dict
def generative_actions(self, tasks, initial_scenes):
# self.to_eval()
actions = np.zeros((len(tasks), 3))
num_batches = 1 + len(tasks) // 64
for batch in range(num_batches):
init_scenes = initial_scenes[batch * 64:64 * (batch + 1)]
# emb_init_scenes = F.embedding(T.tensor(batch_scenes), T.eye(phyre.NUM_COLORS)).transpose(-1,-3)[:,1:6].float()
# print(init_scenes.equal(emb_init_scenes))
with T.no_grad():
base_paths = self.models["base_net"](init_scenes)
target_paths = self.models["tar_net"](init_scenes)
action_paths = self.models["act_net"](T.cat((init_scenes, target_paths, base_paths), dim=1))
action_balls = self.models["ext_net"](T.cat((init_scenes, target_paths, action_paths), dim=1))
print_batch = T.cat((init_scenes, base_paths, target_paths, action_paths, action_balls), dim=1)
# text = ['green\nball GT', 'blue GT\ndynamic', 'blue GT\nstatic', 'grey', 'black', 'base\npred', 'target\npred', 'action\npred', 'a-ball\npred']
# vis_batch(print_batch, f'result/flownet/solver/{self.path}', f'{batch}', text=text)
batch_task = tasks[64 * batch:64 * (batch + 1)]
os.makedirs(f'result/solver/generative/', exist_ok=True)
for idx, ball in enumerate(action_balls[:, 0]):
task = batch_task[idx]
# CHOOSE ONE VECTOR EXTRACTION METHOD
# a = pic_to_action_vector(ball, r_fac=1.5)
a = grow_action_vector(ball, r_fac=self.r_fac, check_border=True)
print(a)
drawn = draw_ball(self.width, *a, invert_y=True)
pure_scene = T.as_tensor(np.max(print_batch[idx, [0, 1, 2, 3, 4]].numpy(), axis=0))
scene_with_estimate = T.as_tensor(np.max(print_batch[idx, [0, 1, 2, 3, 4, -1]].numpy(), axis=0))
scene_with_injected = T.as_tensor(np.max(T.stack((scene_with_estimate, drawn), dim=0).numpy(), axis=0))
init_with_injected = T.as_tensor(np.max(T.cat((init_scenes[idx], drawn[None]), dim=0).numpy(), axis=0))
# print(print_batch[idx].shape)
# print(scene_with_estimate[None].shape)
# print(scene_with_injected[None].shape)
# print(init_with_injected[None].shape)
pipeline = T.cat((print_batch[idx], scene_with_estimate[None], pure_scene[None],
scene_with_injected[None], init_with_injected[None]), dim=0)
text = ['green\nball GT', 'blue GT\ndynamic', 'blue GT\nstatic', 'grey', 'black', 'full\nscene',
'base\npred', 'target\npred', 'action\npred', 'a-ball\npred', 'action\nestimate',
'estimate\n/w action', ' final\n action']
x, y, r = round(a[0], 3), round(a[1], 3), round(a[2], 3)
vis_batch(pipeline[None], f'result/solver/generative', f"{task}__{str(a)}", text=text)
# plt.imsave(f'result/solver/pyramid/{task}___{(x,y,r)}.png', draw_ball(32, *a, invert_y = True))
# Radius times 4
a[2] = a[2] * 4
# img = np.max(print_batch[idx,[0,1,2,3,4,-1]].numpy(), axis=0)
# plt.imsave(f'result/solver/pyramid/{task}__{str(a)}.png', img)
print(a)
actions[idx + batch * 64] = a
# print(list(zip(tasks,actions)))
return actions
def similar_action_tried(self, action, tries):
for other in tries:
if (np.linalg.norm(action - other) < 0.02):
print("similiar action already tried", action, other, end="\r")
return True
return False
def is_invalid(self, action, mask):
x, y, d = action
r = d / 8
# print(x,y,d)
overlap = mask[draw_ball(self.width, x, y, r, invert_y=True) > 0].any()
return (x - r < 0) or (x + r > 1) or (y - r < 0) or (y + r > 1) or (d > 1) or (d < 0) or overlap
def generative_auccess(self, tasks, name, pure_noise=False):
sim = phyre.initialize_simulator(tasks, 'ball')
all_initial_scenes = T.tensor(
[[cv2.resize((scene == channel).astype(float), (self.width, self.width)) for channel in range(2, 7)] for
scene in sim.initial_scenes]).float().flip(-2)
eva = phyre.Evaluator(tasks)
cache = phyre.get_default_100k_cache('ball')
cache_actions = cache.action_array
self.to_train()
actions = np.zeros((len(tasks), 3))
pipelines = []
num_batches = 1 + len(tasks) // 64
if self.dijkstra:
all_distance_maps = T.zeros(len(tasks), 1, self.width, self.width)
for task_idx in range(len(tasks)):
dm_init_scene = sim.initial_scenes[task_idx]