| diff --git a/src/lcd/apps/train_gcbc.py b/src/lcd/apps/train_gcbc.py | |
| index 2c79d9d..8733059 100644 | |
| --- a/src/lcd/apps/train_gcbc.py | |
| +++ b/src/lcd/apps/train_gcbc.py | |
| @@ -61,7 +61,7 @@ def main( | |
| width: int = 256, | |
| upscaled_state_dim: int = 2048, | |
| upscale: bool = False, | |
| - depth: int = 2, | |
| + depth: int = 3, | |
| num_epochs: int = 100, | |
| num_steps: int = int(1e4), | |
| batch_size: int = 512, | |
| @@ -70,6 +70,7 @@ def main( | |
| use_wandb: bool = False, | |
| skip_eval: bool = True, | |
| clevr: bool = True, | |
| + weight_decay: float= 1e-4, | |
| ): | |
| set_seed(seed) | |
| @@ -85,22 +86,26 @@ def main( | |
| ) | |
| args.log_dir = exp_path | |
| exp_path.mkdir(parents=True) | |
| - print("Saving to", exp_path) | |
| if use_wandb: | |
| wandb.init( | |
| project="vanilla-diffuser", | |
| entity="lang-diffusion", | |
| - name=f"{env_name}-ce", | |
| + name=f"{env_name}-ce-post-activation-weight-decay", | |
| config=vars(args), | |
| ) | |
| + print("Saving to", exp_path) | |
| if not upscale: | |
| upscaled_state_dim = 10 | |
| # model | |
| final_dim = 40 if clevr else None | |
| + num_units = [width] * depth | |
| + num_units[-1] = diffusion_dim | |
| model = ForwardModel( | |
| - in_dim=upscaled_state_dim * 2, final_dim=final_dim, diffusion_dim=diffusion_dim, num_units=[width] * depth | |
| + in_dim=upscaled_state_dim, final_dim=final_dim, diffusion_dim=diffusion_dim, num_units=num_units | |
| ) | |
| + # model = torch.load("/home/ubuntu/talar/lcd-iclr24-clevr/submodules/data/clevr/11-19_18:42:51.252737/model_99.pt", ) | |
| + print(model) | |
| summary(model) | |
| # dataset | |
| @@ -132,7 +137,8 @@ def main( | |
| evaluate(eval_arg) | |
| # train | |
| - optimizer = torch.optim.Adam(model.parameters(), lr=lr) | |
| + optimizer = torch.optim.AdamW(model.parameters(), lr=lr, weight_decay=weight_decay) | |
| + | |
| # optimizer = torch.optim.SGD(model.parameters(), lr=lr, weight_decay=1e-4) | |
| device = "cuda:" + get_best_cuda() | |
| model.to(device) | |
| @@ -156,7 +162,8 @@ def main( | |
| extra_stats = {} | |
| batch = next(dataloader).to(device).float() | |
| pred = model.forward( | |
| - torch.concat((batch["obs"], batch["next_obs"]), dim=-1) | |
| + # torch.concat((batch["obs"], batch["next_obs"]), dim=-1) | |
| + batch['obs'], batch['next_obs'] | |
| ).to(device) | |
| act_int = batch["actions"].to(torch.int64) | |
| @@ -311,8 +318,8 @@ def evaluate(eval_arg: EvalArgs = None): | |
| for ts in range(10): | |
| next_obs = ds['next_obs'][ds_idx:ds_idx+1] | |
| - model_input = torch.concat((obs, next_obs), dim=-1).to(p) | |
| - action = eval_arg.model(model_input).argmax()[None] | |
| + # model_input = torch.concat((obs, next_obs), dim=-1).to(p) | |
| + action = eval_arg.model(obs.to(p), next_obs.to(p)).argmax()[None] | |
| obs, rewards, dones, info = eval_arg.env.step(action) | |
| obs = preprocess_obs(obs[0]) | |
| print('a_hat:', action) | |
| diff --git a/src/lcd/datasets/__init__.py b/src/lcd/datasets/__init__.py | |
| index 6ff45ff..d8f8a22 100644 | |
| --- a/src/lcd/datasets/__init__.py | |
| +++ b/src/lcd/datasets/__init__.py | |
| @@ -1 +1 @@ | |
| -from .sequence import HulcDataset | |
| +from .sequence import HulcDataset, ClevrDataset | |
| diff --git a/src/lcd/datasets/sequence.py b/src/lcd/datasets/sequence.py | |
| index b34b912..4566982 100644 | |
| --- a/src/lcd/datasets/sequence.py | |
| +++ b/src/lcd/datasets/sequence.py | |
| @@ -79,3 +79,47 @@ class HulcDataset(torch.utils.data.Dataset): | |
| return KwargsBatch( | |
| Batch(traj, lang), {"inpaint": {0: traj[0, self.action_dim :]}} | |
| ) | |
| + | |
| + | |
| +class ClevrDataset(torch.utils.data.Dataset): | |
| + "Characterizes a dataset for PyTorch" | |
| + | |
| + def __init__( | |
| + self, | |
| + *args, | |
| + buf, | |
| + lang_embeds, | |
| + encoder_path, | |
| + frame_offset=0, | |
| + horizon=4, | |
| + clip_stride=16, | |
| + **kwargs, | |
| + ): | |
| + print(f"{buf=}") | |
| + self.clip_stride = clip_stride | |
| + self.frame_offset = frame_offset | |
| + self.horizon = horizon | |
| + self.buf = buf | |
| + self.lang_embeds = torch.load(lang_embeds) | |
| + encoder = torch.load(encoder_path) | |
| + encoder_type = next(encoder.parameters()) | |
| + | |
| + def encode(buf): | |
| + with torch.no_grad(): | |
| + buf['obs'] = encoder.encode(buf['obs'].to(encoder_type)) | |
| + buf['next_obs'] = encoder.encode(buf['next_obs'].to(encoder_type)) | |
| + | |
| + encode(self.buf) | |
| + | |
| + self.observation_dim = kwargs.get("observation_dim") | |
| + self.action_dim = kwargs.get("action_dim") | |
| + | |
| + def __len__(self): | |
| + return self.buf.shape[0] | |
| + | |
| + def __getitem__(self, index): | |
| + lang = self.lang_embeds[str(self.buf['obs_goal'][index].int().tolist())] | |
| + traj = torch.concat((self.buf["obs"][index:index+1], self.buf["next_obs"][index:index+1]), dim=1) | |
| + return KwargsBatch( | |
| + Batch(traj, lang), {"inpaint": {0: traj[0, self.action_dim :]}} | |
| + ) | |
| diff --git a/src/lcd/models/mlp.py b/src/lcd/models/mlp.py | |
| index 232db08..416c007 100644 | |
| --- a/src/lcd/models/mlp.py | |
| +++ b/src/lcd/models/mlp.py | |
| @@ -1,21 +1,47 @@ | |
| +import einops | |
| from torch import nn | |
| - | |
| +import torch | |
| class ForwardModel(nn.Module): | |
| def __init__( | |
| self, in_dim=(39 + 40 + 40 + 1), diffusion_dim=16, final_dim=39, num_units=[512, 512, 512] | |
| ): | |
| super(ForwardModel, self).__init__() | |
| - actor_layers = [] | |
| + encoder = [] | |
| for out_dim in num_units: | |
| - actor_layers.append(nn.Linear(in_dim, out_dim)) | |
| - actor_layers.append(nn.ReLU()) | |
| + encoder.append(nn.Linear(in_dim, out_dim)) | |
| + encoder.append(nn.ReLU()) | |
| + encoder.append(nn.LayerNorm(out_dim)) | |
| in_dim = out_dim | |
| + self.encoder = nn.Sequential(*encoder) | |
| + | |
| + final_layers = nn.Sequential( | |
| + nn.Linear(diffusion_dim * 2, num_units[0]), | |
| + nn.ReLU(), | |
| + nn.LayerNorm(num_units[0]), | |
| + nn.Linear(num_units[0], num_units[0]), | |
| + nn.ReLU(), | |
| + nn.LayerNorm(num_units[0]), | |
| + nn.Linear(num_units[0], final_dim) | |
| + ) | |
| + | |
| # Final layers | |
| - actor_layers += [nn.Linear(in_dim, diffusion_dim), nn.ReLU(), nn.Linear(diffusion_dim, final_dim)] | |
| - self.actor_layers = nn.Sequential(*actor_layers) | |
| + self.final_layers = final_layers | |
| + | |
| self.depth = len(num_units) | |
| - def forward(self, inputs, dropout_rate=0.0): | |
| - return self.actor_layers(inputs) | |
| + def forward(self, obs, next_obs): | |
| + # Concatenate obs and next_obs along the feature dimension | |
| + combined_input = torch.cat([obs, next_obs], dim=0) | |
| + | |
| + # Pass the combined input through encoder | |
| + encoded_combined = self.encoder(combined_input) | |
| + | |
| + # Concatenate the separately encoded obs and next_obs and pass through final layers | |
| + return self.final_layers(einops.rearrange(encoded_combined, '(t n) f -> n (t f)', t=2)) | |
| + | |
| + | |
| + def encode(self, inputs): | |
| + return self.encoder(inputs) | |
| + | |
| diff --git a/src/lcd/scripts/diffuser.py b/src/lcd/scripts/diffuser.py | |
| index 0885adf..349c78d 100644 | |
| --- a/src/lcd/scripts/diffuser.py | |
| +++ b/src/lcd/scripts/diffuser.py | |
| @@ -9,7 +9,7 @@ from lcd.apps import rollout | |
| from lcd.datasets.sequence import Batch | |
| from lcd.utils.arrays import batch_to_device | |
| from lcd.utils.training import cycle | |
| - | |
| +from lcd.apps.train_gcbc import load_dataset | |
| script_dir = os.path.dirname(os.path.realpath(__file__)) | |
| # -----------------------------------------------------------------------------# | |
| # ----------------------------------- setup -----------------------------------# | |
| @@ -17,7 +17,7 @@ script_dir = os.path.dirname(os.path.realpath(__file__)) | |
| class Parser(utils.Parser): | |
| - config: str = "lcd.config.calvin" | |
| + config: str = "lcd.config.clevr" | |
| args = Parser().parse_args("diffusion") | |
| @@ -26,6 +26,9 @@ args.dim_mults = tuple(int(i) for i in args.dim_mults) | |
| # -----------------------------------------------------------------------------# | |
| # ---------------------------------- dataset ----------------------------------# | |
| # -----------------------------------------------------------------------------# | |
| +print("loading dataset...") | |
| +train, val = load_dataset(True, exp_path=None) | |
| +print("done loading!") | |
| dataset_config = utils.Config( | |
| args.loader, | |
| @@ -36,14 +39,15 @@ dataset_config = utils.Config( | |
| use_padding=args.use_padding, | |
| max_path_length=args.max_path_length, | |
| frame_offset=args.frame_offset, | |
| - lang_embeds=DATA_PATH / "t5-v1_1-xxl_embeddings.pt", | |
| - task_to_ann=DATA_PATH / "annotations.json", | |
| - buf=DATA_PATH / f"hulc-trajectories/{args.seed}_all_trajectories.pt", | |
| + encoder_path="/home/ubuntu/talar/lcd-iclr24-clevr/submodules/data/clevr/11-20_06:41:04.604072/model_30.pt", | |
| + lang_embeds=DATA_PATH / "clevr_direct_embeddings.pt", | |
| + # buf=DATA_PATH / f"ball_buf.pt", | |
| observation_dim=args.observation_dim, | |
| action_dim=args.action_dim, | |
| ) | |
| -dataset = dataset_config() | |
| +dataset = dataset_config(buf=train) | |
| +val_dataset = dataset_config(buf=val) | |
| observation_dim = dataset.observation_dim | |
| action_dim = dataset.action_dim | |
| @@ -107,7 +111,7 @@ model = model_config() | |
| diffusion = diffusion_config(model) | |
| -trainer = trainer_config(diffusion, dataset) | |
| +trainer = trainer_config(diffusion, dataset, val_dataset) | |
| # -----------------------------------------------------------------------------# | |
| @@ -132,16 +136,11 @@ print("✓") | |
| n_epochs = int(args.n_train_steps // args.n_steps_per_epoch) | |
| -if args.wandb: | |
| - wandb.init( | |
| - project="vanilla-diffuser", | |
| - entity="lang-diffusion", | |
| - name=f"hulc-{args.wandb_name}", | |
| - config=vars(args), | |
| - ) | |
| def eval_model(num_evals, epoch=0): | |
| + print('skipping eval') | |
| + return | |
| rollout.main(seed=args.seed, num_sequences=num_evals) | |
| dm_args = args.as_dict() | |
| dm_args["epoch"] = epoch | |
| @@ -154,6 +153,14 @@ eval_model( | |
| ) | |
| print("✓") | |
| +if args.wandb: | |
| + wandb.init( | |
| + project="vanilla-diffuser", | |
| + entity="lang-diffusion", | |
| + name=f"hulc-{args.wandb_name}", | |
| + config=vars(args), | |
| + ) | |
| + | |
| for i in range(n_epochs): | |
| print(f"Epoch {i} / {n_epochs} | {args.savepath}") | |
| diff --git a/src/lcd/scripts/generation/embeddings.py b/src/lcd/scripts/generation/embeddings.py | |
| index f28743b..1e74a44 100644 | |
| --- a/src/lcd/scripts/generation/embeddings.py | |
| +++ b/src/lcd/scripts/generation/embeddings.py | |
| @@ -99,10 +99,755 @@ def t5_encode_tokenized_text( | |
| return encoded_text | |
| +# from lcd.apps.train_gcbc import load_dataset | |
| +# k = load_dataset(clevr=True, upscale=False, exp_path=None) | |
| +# sys.path.append( | |
| +# "/home/ubuntu/talar/talar-openreview/talar" | |
| +# ) | |
| +# from ball_collect_data import features2goal | |
| +# z = features2goal(k[0]['obs_goal']) | |
| +# unique_z = set(z) | |
| + | |
| +# d = {} | |
| +# for j, v in zip(k[0]['obs_goal'], anns): | |
| +# d[str(j.int().tolist())] = v | |
| + | |
| + | |
| +unique_z = {'Can you help me push the blue ball behind the cyan ball', | |
| + 'Can you help me push the blue ball behind the green ball', | |
| + 'Can you help me push the blue ball behind the purple ball', | |
| + 'Can you help me push the blue ball behind the red ball', | |
| + 'Can you help me push the blue ball in front of the cyan ball', | |
| + 'Can you help me push the blue ball in front of the green ball', | |
| + 'Can you help me push the blue ball in front of the purple ball', | |
| + 'Can you help me push the blue ball in front of the red ball', | |
| + 'Can you help me push the blue ball to the left of the cyan ball', | |
| + 'Can you help me push the blue ball to the left of the green ball', | |
| + 'Can you help me push the blue ball to the left of the purple ball', | |
| + 'Can you help me push the blue ball to the left of the red ball', | |
| + 'Can you help me push the blue ball to the right of the cyan ball', | |
| + 'Can you help me push the blue ball to the right of the green ball', | |
| + 'Can you help me push the blue ball to the right of the purple ball', | |
| + 'Can you help me push the blue ball to the right of the red ball', | |
| + 'Can you help me push the cyan ball behind the blue ball', | |
| + 'Can you help me push the cyan ball behind the green ball', | |
| + 'Can you help me push the cyan ball behind the purple ball', | |
| + 'Can you help me push the cyan ball behind the red ball', | |
| + 'Can you help me push the cyan ball in front of the blue ball', | |
| + 'Can you help me push the cyan ball in front of the green ball', | |
| + 'Can you help me push the cyan ball in front of the purple ball', | |
| + 'Can you help me push the cyan ball in front of the red ball', | |
| + 'Can you help me push the cyan ball to the left of the blue ball', | |
| + 'Can you help me push the cyan ball to the left of the green ball', | |
| + 'Can you help me push the cyan ball to the left of the purple ball', | |
| + 'Can you help me push the cyan ball to the left of the red ball', | |
| + 'Can you help me push the cyan ball to the right of the blue ball', | |
| + 'Can you help me push the cyan ball to the right of the green ball', | |
| + 'Can you help me push the cyan ball to the right of the purple ball', | |
| + 'Can you help me push the cyan ball to the right of the red ball', | |
| + 'Can you help me push the green ball behind the blue ball', | |
| + 'Can you help me push the green ball behind the cyan ball', | |
| + 'Can you help me push the green ball behind the purple ball', | |
| + 'Can you help me push the green ball behind the red ball', | |
| + 'Can you help me push the green ball in front of the blue ball', | |
| + 'Can you help me push the green ball in front of the cyan ball', | |
| + 'Can you help me push the green ball in front of the purple ball', | |
| + 'Can you help me push the green ball in front of the red ball', | |
| + 'Can you help me push the green ball to the left of the blue ball', | |
| + 'Can you help me push the green ball to the left of the cyan ball', | |
| + 'Can you help me push the green ball to the left of the purple ball', | |
| + 'Can you help me push the green ball to the left of the red ball', | |
| + 'Can you help me push the green ball to the right of the blue ball', | |
| + 'Can you help me push the green ball to the right of the cyan ball', | |
| + 'Can you help me push the green ball to the right of the purple ball', | |
| + 'Can you help me push the green ball to the right of the red ball', | |
| + 'Can you help me push the purple ball behind the blue ball', | |
| + 'Can you help me push the purple ball behind the cyan ball', | |
| + 'Can you help me push the purple ball behind the green ball', | |
| + 'Can you help me push the purple ball behind the red ball', | |
| + 'Can you help me push the purple ball in front of the blue ball', | |
| + 'Can you help me push the purple ball in front of the cyan ball', | |
| + 'Can you help me push the purple ball in front of the green ball', | |
| + 'Can you help me push the purple ball in front of the red ball', | |
| + 'Can you help me push the purple ball to the left of the blue ball', | |
| + 'Can you help me push the purple ball to the left of the cyan ball', | |
| + 'Can you help me push the purple ball to the left of the green ball', | |
| + 'Can you help me push the purple ball to the left of the red ball', | |
| + 'Can you help me push the purple ball to the right of the blue ball', | |
| + 'Can you help me push the purple ball to the right of the cyan ball', | |
| + 'Can you help me push the purple ball to the right of the green ball', | |
| + 'Can you help me push the purple ball to the right of the red ball', | |
| + 'Can you help me push the red ball behind the blue ball', | |
| + 'Can you help me push the red ball behind the cyan ball', | |
| + 'Can you help me push the red ball behind the green ball', | |
| + 'Can you help me push the red ball behind the purple ball', | |
| + 'Can you help me push the red ball in front of the blue ball', | |
| + 'Can you help me push the red ball in front of the cyan ball', | |
| + 'Can you help me push the red ball in front of the green ball', | |
| + 'Can you help me push the red ball in front of the purple ball', | |
| + 'Can you help me push the red ball to the left of the blue ball', | |
| + 'Can you help me push the red ball to the left of the cyan ball', | |
| + 'Can you help me push the red ball to the left of the green ball', | |
| + 'Can you help me push the red ball to the left of the purple ball', | |
| + 'Can you help me push the red ball to the right of the blue ball', | |
| + 'Can you help me push the red ball to the right of the cyan ball', | |
| + 'Can you help me push the red ball to the right of the green ball', | |
| + 'Can you help me push the red ball to the right of the purple ball', | |
| + 'Can you push the blue ball behind the cyan ball', | |
| + 'Can you push the blue ball behind the green ball', | |
| + 'Can you push the blue ball behind the purple ball', | |
| + 'Can you push the blue ball behind the red ball', | |
| + 'Can you push the blue ball in front of the cyan ball', | |
| + 'Can you push the blue ball in front of the green ball', | |
| + 'Can you push the blue ball in front of the purple ball', | |
| + 'Can you push the blue ball in front of the red ball', | |
| + 'Can you push the blue ball to the left of the cyan ball', | |
| + 'Can you push the blue ball to the left of the green ball', | |
| + 'Can you push the blue ball to the left of the purple ball', | |
| + 'Can you push the blue ball to the left of the red ball', | |
| + 'Can you push the blue ball to the right of the cyan ball', | |
| + 'Can you push the blue ball to the right of the green ball', | |
| + 'Can you push the blue ball to the right of the purple ball', | |
| + 'Can you push the blue ball to the right of the red ball', | |
| + 'Can you push the cyan ball behind the blue ball', | |
| + 'Can you push the cyan ball behind the green ball', | |
| + 'Can you push the cyan ball behind the purple ball', | |
| + 'Can you push the cyan ball behind the red ball', | |
| + 'Can you push the cyan ball in front of the blue ball', | |
| + 'Can you push the cyan ball in front of the green ball', | |
| + 'Can you push the cyan ball in front of the purple ball', | |
| + 'Can you push the cyan ball in front of the red ball', | |
| + 'Can you push the cyan ball to the left of the blue ball', | |
| + 'Can you push the cyan ball to the left of the green ball', | |
| + 'Can you push the cyan ball to the left of the purple ball', | |
| + 'Can you push the cyan ball to the left of the red ball', | |
| + 'Can you push the cyan ball to the right of the blue ball', | |
| + 'Can you push the cyan ball to the right of the green ball', | |
| + 'Can you push the cyan ball to the right of the purple ball', | |
| + 'Can you push the cyan ball to the right of the red ball', | |
| + 'Can you push the green ball behind the blue ball', | |
| + 'Can you push the green ball behind the cyan ball', | |
| + 'Can you push the green ball behind the purple ball', | |
| + 'Can you push the green ball behind the red ball', | |
| + 'Can you push the green ball in front of the blue ball', | |
| + 'Can you push the green ball in front of the cyan ball', | |
| + 'Can you push the green ball in front of the purple ball', | |
| + 'Can you push the green ball in front of the red ball', | |
| + 'Can you push the green ball to the left of the blue ball', | |
| + 'Can you push the green ball to the left of the cyan ball', | |
| + 'Can you push the green ball to the left of the purple ball', | |
| + 'Can you push the green ball to the left of the red ball', | |
| + 'Can you push the green ball to the right of the blue ball', | |
| + 'Can you push the green ball to the right of the cyan ball', | |
| + 'Can you push the green ball to the right of the purple ball', | |
| + 'Can you push the green ball to the right of the red ball', | |
| + 'Can you push the purple ball behind the blue ball', | |
| + 'Can you push the purple ball behind the cyan ball', | |
| + 'Can you push the purple ball behind the green ball', | |
| + 'Can you push the purple ball behind the red ball', | |
| + 'Can you push the purple ball in front of the blue ball', | |
| + 'Can you push the purple ball in front of the cyan ball', | |
| + 'Can you push the purple ball in front of the green ball', | |
| + 'Can you push the purple ball in front of the red ball', | |
| + 'Can you push the purple ball to the left of the blue ball', | |
| + 'Can you push the purple ball to the left of the cyan ball', | |
| + 'Can you push the purple ball to the left of the green ball', | |
| + 'Can you push the purple ball to the left of the red ball', | |
| + 'Can you push the purple ball to the right of the blue ball', | |
| + 'Can you push the purple ball to the right of the cyan ball', | |
| + 'Can you push the purple ball to the right of the green ball', | |
| + 'Can you push the purple ball to the right of the red ball', | |
| + 'Can you push the red ball behind the blue ball', | |
| + 'Can you push the red ball behind the cyan ball', | |
| + 'Can you push the red ball behind the green ball', | |
| + 'Can you push the red ball behind the purple ball', | |
| + 'Can you push the red ball in front of the blue ball', | |
| + 'Can you push the red ball in front of the cyan ball', | |
| + 'Can you push the red ball in front of the green ball', | |
| + 'Can you push the red ball in front of the purple ball', | |
| + 'Can you push the red ball to the left of the blue ball', | |
| + 'Can you push the red ball to the left of the cyan ball', | |
| + 'Can you push the red ball to the left of the green ball', | |
| + 'Can you push the red ball to the left of the purple ball', | |
| + 'Can you push the red ball to the right of the blue ball', | |
| + 'Can you push the red ball to the right of the cyan ball', | |
| + 'Can you push the red ball to the right of the green ball', | |
| + 'Can you push the red ball to the right of the purple ball', | |
| + 'Is the blue ball behind the cyan ball', | |
| + 'Is the blue ball behind the green ball', | |
| + 'Is the blue ball behind the purple ball', | |
| + 'Is the blue ball behind the red ball', | |
| + 'Is the blue ball in front of the cyan ball', | |
| + 'Is the blue ball in front of the green ball', | |
| + 'Is the blue ball in front of the purple ball', | |
| + 'Is the blue ball in front of the red ball', | |
| + 'Is the blue ball to the left of the cyan ball', | |
| + 'Is the blue ball to the left of the green ball', | |
| + 'Is the blue ball to the left of the purple ball', | |
| + 'Is the blue ball to the left of the red ball', | |
| + 'Is the blue ball to the right of the cyan ball', | |
| + 'Is the blue ball to the right of the green ball', | |
| + 'Is the blue ball to the right of the purple ball', | |
| + 'Is the blue ball to the right of the red ball', | |
| + 'Is the cyan ball behind the blue ball', | |
| + 'Is the cyan ball behind the green ball', | |
| + 'Is the cyan ball behind the purple ball', | |
| + 'Is the cyan ball behind the red ball', | |
| + 'Is the cyan ball in front of the blue ball', | |
| + 'Is the cyan ball in front of the green ball', | |
| + 'Is the cyan ball in front of the purple ball', | |
| + 'Is the cyan ball in front of the red ball', | |
| + 'Is the cyan ball to the left of the blue ball', | |
| + 'Is the cyan ball to the left of the green ball', | |
| + 'Is the cyan ball to the left of the purple ball', | |
| + 'Is the cyan ball to the left of the red ball', | |
| + 'Is the cyan ball to the right of the blue ball', | |
| + 'Is the cyan ball to the right of the green ball', | |
| + 'Is the cyan ball to the right of the purple ball', | |
| + 'Is the cyan ball to the right of the red ball', | |
| + 'Is the green ball behind the blue ball', | |
| + 'Is the green ball behind the cyan ball', | |
| + 'Is the green ball behind the purple ball', | |
| + 'Is the green ball behind the red ball', | |
| + 'Is the green ball in front of the blue ball', | |
| + 'Is the green ball in front of the cyan ball', | |
| + 'Is the green ball in front of the purple ball', | |
| + 'Is the green ball in front of the red ball', | |
| + 'Is the green ball to the left of the blue ball', | |
| + 'Is the green ball to the left of the cyan ball', | |
| + 'Is the green ball to the left of the purple ball', | |
| + 'Is the green ball to the left of the red ball', | |
| + 'Is the green ball to the right of the blue ball', | |
| + 'Is the green ball to the right of the cyan ball', | |
| + 'Is the green ball to the right of the purple ball', | |
| + 'Is the green ball to the right of the red ball', | |
| + 'Is the purple ball behind the blue ball', | |
| + 'Is the purple ball behind the cyan ball', | |
| + 'Is the purple ball behind the green ball', | |
| + 'Is the purple ball behind the red ball', | |
| + 'Is the purple ball in front of the blue ball', | |
| + 'Is the purple ball in front of the cyan ball', | |
| + 'Is the purple ball in front of the green ball', | |
| + 'Is the purple ball in front of the red ball', | |
| + 'Is the purple ball to the left of the blue ball', | |
| + 'Is the purple ball to the left of the cyan ball', | |
| + 'Is the purple ball to the left of the green ball', | |
| + 'Is the purple ball to the left of the red ball', | |
| + 'Is the purple ball to the right of the blue ball', | |
| + 'Is the purple ball to the right of the cyan ball', | |
| + 'Is the purple ball to the right of the green ball', | |
| + 'Is the purple ball to the right of the red ball', | |
| + 'Is the red ball behind the blue ball', | |
| + 'Is the red ball behind the cyan ball', | |
| + 'Is the red ball behind the green ball', | |
| + 'Is the red ball behind the purple ball', | |
| + 'Is the red ball in front of the blue ball', | |
| + 'Is the red ball in front of the cyan ball', | |
| + 'Is the red ball in front of the green ball', | |
| + 'Is the red ball in front of the purple ball', | |
| + 'Is the red ball to the left of the blue ball', | |
| + 'Is the red ball to the left of the cyan ball', | |
| + 'Is the red ball to the left of the green ball', | |
| + 'Is the red ball to the left of the purple ball', | |
| + 'Is the red ball to the right of the blue ball', | |
| + 'Is the red ball to the right of the cyan ball', | |
| + 'Is the red ball to the right of the green ball', | |
| + 'Is the red ball to the right of the purple ball', | |
| + 'Is there any blue ball behind the cyan ball', | |
| + 'Is there any blue ball behind the green ball', | |
| + 'Is there any blue ball behind the purple ball', | |
| + 'Is there any blue ball behind the red ball', | |
| + 'Is there any blue ball in front of the cyan ball', | |
| + 'Is there any blue ball in front of the green ball', | |
| + 'Is there any blue ball in front of the purple ball', | |
| + 'Is there any blue ball in front of the red ball', | |
| + 'Is there any blue ball to the left of the cyan ball', | |
| + 'Is there any blue ball to the left of the green ball', | |
| + 'Is there any blue ball to the left of the purple ball', | |
| + 'Is there any blue ball to the left of the red ball', | |
| + 'Is there any blue ball to the right of the cyan ball', | |
| + 'Is there any blue ball to the right of the green ball', | |
| + 'Is there any blue ball to the right of the purple ball', | |
| + 'Is there any blue ball to the right of the red ball', | |
| + 'Is there any cyan ball behind the blue ball', | |
| + 'Is there any cyan ball behind the green ball', | |
| + 'Is there any cyan ball behind the purple ball', | |
| + 'Is there any cyan ball behind the red ball', | |
| + 'Is there any cyan ball in front of the blue ball', | |
| + 'Is there any cyan ball in front of the green ball', | |
| + 'Is there any cyan ball in front of the purple ball', | |
| + 'Is there any cyan ball in front of the red ball', | |
| + 'Is there any cyan ball to the left of the blue ball', | |
| + 'Is there any cyan ball to the left of the green ball', | |
| + 'Is there any cyan ball to the left of the purple ball', | |
| + 'Is there any cyan ball to the left of the red ball', | |
| + 'Is there any cyan ball to the right of the blue ball', | |
| + 'Is there any cyan ball to the right of the green ball', | |
| + 'Is there any cyan ball to the right of the purple ball', | |
| + 'Is there any cyan ball to the right of the red ball', | |
| + 'Is there any green ball behind the blue ball', | |
| + 'Is there any green ball behind the cyan ball', | |
| + 'Is there any green ball behind the purple ball', | |
| + 'Is there any green ball behind the red ball', | |
| + 'Is there any green ball in front of the blue ball', | |
| + 'Is there any green ball in front of the cyan ball', | |
| + 'Is there any green ball in front of the purple ball', | |
| + 'Is there any green ball in front of the red ball', | |
| + 'Is there any green ball to the left of the blue ball', | |
| + 'Is there any green ball to the left of the cyan ball', | |
| + 'Is there any green ball to the left of the purple ball', | |
| + 'Is there any green ball to the left of the red ball', | |
| + 'Is there any green ball to the right of the blue ball', | |
| + 'Is there any green ball to the right of the cyan ball', | |
| + 'Is there any green ball to the right of the purple ball', | |
| + 'Is there any green ball to the right of the red ball', | |
| + 'Is there any purple ball behind the blue ball', | |
| + 'Is there any purple ball behind the cyan ball', | |
| + 'Is there any purple ball behind the green ball', | |
| + 'Is there any purple ball behind the red ball', | |
| + 'Is there any purple ball in front of the blue ball', | |
| + 'Is there any purple ball in front of the cyan ball', | |
| + 'Is there any purple ball in front of the green ball', | |
| + 'Is there any purple ball in front of the red ball', | |
| + 'Is there any purple ball to the left of the blue ball', | |
| + 'Is there any purple ball to the left of the cyan ball', | |
| + 'Is there any purple ball to the left of the green ball', | |
| + 'Is there any purple ball to the left of the red ball', | |
| + 'Is there any purple ball to the right of the blue ball', | |
| + 'Is there any purple ball to the right of the cyan ball', | |
| + 'Is there any purple ball to the right of the green ball', | |
| + 'Is there any purple ball to the right of the red ball', | |
| + 'Is there any red ball behind the blue ball', | |
| + 'Is there any red ball behind the cyan ball', | |
| + 'Is there any red ball behind the green ball', | |
| + 'Is there any red ball behind the purple ball', | |
| + 'Is there any red ball in front of the blue ball', | |
| + 'Is there any red ball in front of the cyan ball', | |
| + 'Is there any red ball in front of the green ball', | |
| + 'Is there any red ball in front of the purple ball', | |
| + 'Is there any red ball to the left of the blue ball', | |
| + 'Is there any red ball to the left of the cyan ball', | |
| + 'Is there any red ball to the left of the green ball', | |
| + 'Is there any red ball to the left of the purple ball', | |
| + 'Is there any red ball to the right of the blue ball', | |
| + 'Is there any red ball to the right of the cyan ball', | |
| + 'Is there any red ball to the right of the green ball', | |
| + 'Is there any red ball to the right of the purple ball', | |
| + 'Push the blue ball behind the cyan ball', | |
| + 'Push the blue ball behind the green ball', | |
| + 'Push the blue ball behind the purple ball', | |
| + 'Push the blue ball behind the red ball', | |
| + 'Push the blue ball in front of the cyan ball', | |
| + 'Push the blue ball in front of the green ball', | |
| + 'Push the blue ball in front of the purple ball', | |
| + 'Push the blue ball in front of the red ball', | |
| + 'Push the blue ball to the left of the cyan ball', | |
| + 'Push the blue ball to the left of the green ball', | |
| + 'Push the blue ball to the left of the purple ball', | |
| + 'Push the blue ball to the left of the red ball', | |
| + 'Push the blue ball to the right of the cyan ball', | |
| + 'Push the blue ball to the right of the green ball', | |
| + 'Push the blue ball to the right of the purple ball', | |
| + 'Push the blue ball to the right of the red ball', | |
| + 'Push the cyan ball behind the blue ball', | |
| + 'Push the cyan ball behind the green ball', | |
| + 'Push the cyan ball behind the purple ball', | |
| + 'Push the cyan ball behind the red ball', | |
| + 'Push the cyan ball in front of the blue ball', | |
| + 'Push the cyan ball in front of the green ball', | |
| + 'Push the cyan ball in front of the purple ball', | |
| + 'Push the cyan ball in front of the red ball', | |
| + 'Push the cyan ball to the left of the blue ball', | |
| + 'Push the cyan ball to the left of the green ball', | |
| + 'Push the cyan ball to the left of the purple ball', | |
| + 'Push the cyan ball to the left of the red ball', | |
| + 'Push the cyan ball to the right of the blue ball', | |
| + 'Push the cyan ball to the right of the green ball', | |
| + 'Push the cyan ball to the right of the purple ball', | |
| + 'Push the cyan ball to the right of the red ball', | |
| + 'Push the green ball behind the blue ball', | |
| + 'Push the green ball behind the cyan ball', | |
| + 'Push the green ball behind the purple ball', | |
| + 'Push the green ball behind the red ball', | |
| + 'Push the green ball in front of the blue ball', | |
| + 'Push the green ball in front of the cyan ball', | |
| + 'Push the green ball in front of the purple ball', | |
| + 'Push the green ball in front of the red ball', | |
| + 'Push the green ball to the left of the blue ball', | |
| + 'Push the green ball to the left of the cyan ball', | |
| + 'Push the green ball to the left of the purple ball', | |
| + 'Push the green ball to the left of the red ball', | |
| + 'Push the green ball to the right of the blue ball', | |
| + 'Push the green ball to the right of the cyan ball', | |
| + 'Push the green ball to the right of the purple ball', | |
| + 'Push the green ball to the right of the red ball', | |
| + 'Push the purple ball behind the blue ball', | |
| + 'Push the purple ball behind the cyan ball', | |
| + 'Push the purple ball behind the green ball', | |
| + 'Push the purple ball behind the red ball', | |
| + 'Push the purple ball in front of the blue ball', | |
| + 'Push the purple ball in front of the cyan ball', | |
| + 'Push the purple ball in front of the green ball', | |
| + 'Push the purple ball in front of the red ball', | |
| + 'Push the purple ball to the left of the blue ball', | |
| + 'Push the purple ball to the left of the cyan ball', | |
| + 'Push the purple ball to the left of the green ball', | |
| + 'Push the purple ball to the left of the red ball', | |
| + 'Push the purple ball to the right of the blue ball', | |
| + 'Push the purple ball to the right of the cyan ball', | |
| + 'Push the purple ball to the right of the green ball', | |
| + 'Push the purple ball to the right of the red ball', | |
| + 'Push the red ball behind the blue ball', | |
| + 'Push the red ball behind the cyan ball', | |
| + 'Push the red ball behind the green ball', | |
| + 'Push the red ball behind the purple ball', | |
| + 'Push the red ball in front of the blue ball', | |
| + 'Push the red ball in front of the cyan ball', | |
| + 'Push the red ball in front of the green ball', | |
| + 'Push the red ball in front of the purple ball', | |
| + 'Push the red ball to the left of the blue ball', | |
| + 'Push the red ball to the left of the cyan ball', | |
| + 'Push the red ball to the left of the green ball', | |
| + 'Push the red ball to the left of the purple ball', | |
| + 'Push the red ball to the right of the blue ball', | |
| + 'Push the red ball to the right of the cyan ball', | |
| + 'Push the red ball to the right of the green ball', | |
| + 'Push the red ball to the right of the purple ball', | |
| + 'The blue ball is being pushed behind the cyan ball', | |
| + 'The blue ball is being pushed behind the green ball', | |
| + 'The blue ball is being pushed behind the purple ball', | |
| + 'The blue ball is being pushed behind the red ball', | |
| + 'The blue ball is being pushed in front of the cyan ball', | |
| + 'The blue ball is being pushed in front of the green ball', | |
| + 'The blue ball is being pushed in front of the purple ball', | |
| + 'The blue ball is being pushed in front of the red ball', | |
| + 'The blue ball is being pushed to the left of the cyan ball', | |
| + 'The blue ball is being pushed to the left of the green ball', | |
| + 'The blue ball is being pushed to the left of the purple ball', | |
| + 'The blue ball is being pushed to the left of the red ball', | |
| + 'The blue ball is being pushed to the right of the cyan ball', | |
| + 'The blue ball is being pushed to the right of the green ball', | |
| + 'The blue ball is being pushed to the right of the purple ball', | |
| + 'The blue ball is being pushed to the right of the red ball', | |
| + 'The blue ball is pushed behind the cyan ball', | |
| + 'The blue ball is pushed behind the green ball', | |
| + 'The blue ball is pushed behind the purple ball', | |
| + 'The blue ball is pushed behind the red ball', | |
| + 'The blue ball is pushed in front of the cyan ball', | |
| + 'The blue ball is pushed in front of the green ball', | |
| + 'The blue ball is pushed in front of the purple ball', | |
| + 'The blue ball is pushed in front of the red ball', | |
| + 'The blue ball is pushed to the left of the cyan ball', | |
| + 'The blue ball is pushed to the left of the green ball', | |
| + 'The blue ball is pushed to the left of the purple ball', | |
| + 'The blue ball is pushed to the left of the red ball', | |
| + 'The blue ball is pushed to the right of the cyan ball', | |
| + 'The blue ball is pushed to the right of the green ball', | |
| + 'The blue ball is pushed to the right of the purple ball', | |
| + 'The blue ball is pushed to the right of the red ball', | |
| + 'The blue ball moves behind the cyan ball', | |
| + 'The blue ball moves behind the green ball', | |
| + 'The blue ball moves behind the purple ball', | |
| + 'The blue ball moves behind the red ball', | |
| + 'The blue ball moves in front of the cyan ball', | |
| + 'The blue ball moves in front of the green ball', | |
| + 'The blue ball moves in front of the purple ball', | |
| + 'The blue ball moves in front of the red ball', | |
| + 'The blue ball moves to the left of the cyan ball', | |
| + 'The blue ball moves to the left of the green ball', | |
| + 'The blue ball moves to the left of the purple ball', | |
| + 'The blue ball moves to the left of the red ball', | |
| + 'The blue ball moves to the right of the cyan ball', | |
| + 'The blue ball moves to the right of the green ball', | |
| + 'The blue ball moves to the right of the purple ball', | |
| + 'The blue ball moves to the right of the red ball', | |
| + 'The blue ball was moved behind the cyan ball', | |
| + 'The blue ball was moved behind the green ball', | |
| + 'The blue ball was moved behind the purple ball', | |
| + 'The blue ball was moved behind the red ball', | |
| + 'The blue ball was moved in front of the cyan ball', | |
| + 'The blue ball was moved in front of the green ball', | |
| + 'The blue ball was moved in front of the purple ball', | |
| + 'The blue ball was moved in front of the red ball', | |
| + 'The blue ball was moved to the left of the cyan ball', | |
| + 'The blue ball was moved to the left of the green ball', | |
| + 'The blue ball was moved to the left of the purple ball', | |
| + 'The blue ball was moved to the left of the red ball', | |
| + 'The blue ball was moved to the right of the cyan ball', | |
| + 'The blue ball was moved to the right of the green ball', | |
| + 'The blue ball was moved to the right of the purple ball', | |
| + 'The blue ball was moved to the right of the red ball', | |
| + 'The cyan ball is being pushed behind the blue ball', | |
| + 'The cyan ball is being pushed behind the green ball', | |
| + 'The cyan ball is being pushed behind the purple ball', | |
| + 'The cyan ball is being pushed behind the red ball', | |
| + 'The cyan ball is being pushed in front of the blue ball', | |
| + 'The cyan ball is being pushed in front of the green ball', | |
| + 'The cyan ball is being pushed in front of the purple ball', | |
| + 'The cyan ball is being pushed in front of the red ball', | |
| + 'The cyan ball is being pushed to the left of the blue ball', | |
| + 'The cyan ball is being pushed to the left of the green ball', | |
| + 'The cyan ball is being pushed to the left of the purple ball', | |
| + 'The cyan ball is being pushed to the left of the red ball', | |
| + 'The cyan ball is being pushed to the right of the blue ball', | |
| + 'The cyan ball is being pushed to the right of the green ball', | |
| + 'The cyan ball is being pushed to the right of the purple ball', | |
| + 'The cyan ball is being pushed to the right of the red ball', | |
| + 'The cyan ball is pushed behind the blue ball', | |
| + 'The cyan ball is pushed behind the green ball', | |
| + 'The cyan ball is pushed behind the purple ball', | |
| + 'The cyan ball is pushed behind the red ball', | |
| + 'The cyan ball is pushed in front of the blue ball', | |
| + 'The cyan ball is pushed in front of the green ball', | |
| + 'The cyan ball is pushed in front of the purple ball', | |
| + 'The cyan ball is pushed in front of the red ball', | |
| + 'The cyan ball is pushed to the left of the blue ball', | |
| + 'The cyan ball is pushed to the left of the green ball', | |
| + 'The cyan ball is pushed to the left of the purple ball', | |
| + 'The cyan ball is pushed to the left of the red ball', | |
| + 'The cyan ball is pushed to the right of the blue ball', | |
| + 'The cyan ball is pushed to the right of the green ball', | |
| + 'The cyan ball is pushed to the right of the purple ball', | |
| + 'The cyan ball is pushed to the right of the red ball', | |
| + 'The cyan ball moves behind the blue ball', | |
| + 'The cyan ball moves behind the green ball', | |
| + 'The cyan ball moves behind the purple ball', | |
| + 'The cyan ball moves behind the red ball', | |
| + 'The cyan ball moves in front of the blue ball', | |
| + 'The cyan ball moves in front of the green ball', | |
| + 'The cyan ball moves in front of the purple ball', | |
| + 'The cyan ball moves in front of the red ball', | |
| + 'The cyan ball moves to the left of the blue ball', | |
| + 'The cyan ball moves to the left of the green ball', | |
| + 'The cyan ball moves to the left of the purple ball', | |
| + 'The cyan ball moves to the left of the red ball', | |
| + 'The cyan ball moves to the right of the blue ball', | |
| + 'The cyan ball moves to the right of the green ball', | |
| + 'The cyan ball moves to the right of the purple ball', | |
| + 'The cyan ball moves to the right of the red ball', | |
| + 'The cyan ball was moved behind the blue ball', | |
| + 'The cyan ball was moved behind the green ball', | |
| + 'The cyan ball was moved behind the purple ball', | |
| + 'The cyan ball was moved behind the red ball', | |
| + 'The cyan ball was moved in front of the blue ball', | |
| + 'The cyan ball was moved in front of the green ball', | |
| + 'The cyan ball was moved in front of the purple ball', | |
| + 'The cyan ball was moved in front of the red ball', | |
| + 'The cyan ball was moved to the left of the blue ball', | |
| + 'The cyan ball was moved to the left of the green ball', | |
| + 'The cyan ball was moved to the left of the purple ball', | |
| + 'The cyan ball was moved to the left of the red ball', | |
| + 'The cyan ball was moved to the right of the blue ball', | |
| + 'The cyan ball was moved to the right of the green ball', | |
| + 'The cyan ball was moved to the right of the purple ball', | |
| + 'The cyan ball was moved to the right of the red ball', | |
| + 'The green ball is being pushed behind the blue ball', | |
| + 'The green ball is being pushed behind the cyan ball', | |
| + 'The green ball is being pushed behind the purple ball', | |
| + 'The green ball is being pushed behind the red ball', | |
| + 'The green ball is being pushed in front of the blue ball', | |
| + 'The green ball is being pushed in front of the cyan ball', | |
| + 'The green ball is being pushed in front of the purple ball', | |
| + 'The green ball is being pushed in front of the red ball', | |
| + 'The green ball is being pushed to the left of the blue ball', | |
| + 'The green ball is being pushed to the left of the cyan ball', | |
| + 'The green ball is being pushed to the left of the purple ball', | |
| + 'The green ball is being pushed to the left of the red ball', | |
| + 'The green ball is being pushed to the right of the blue ball', | |
| + 'The green ball is being pushed to the right of the cyan ball', | |
| + 'The green ball is being pushed to the right of the purple ball', | |
| + 'The green ball is being pushed to the right of the red ball', | |
| + 'The green ball is pushed behind the blue ball', | |
| + 'The green ball is pushed behind the cyan ball', | |
| + 'The green ball is pushed behind the purple ball', | |
| + 'The green ball is pushed behind the red ball', | |
| + 'The green ball is pushed in front of the blue ball', | |
| + 'The green ball is pushed in front of the cyan ball', | |
| + 'The green ball is pushed in front of the purple ball', | |
| + 'The green ball is pushed in front of the red ball', | |
| + 'The green ball is pushed to the left of the blue ball', | |
| + 'The green ball is pushed to the left of the cyan ball', | |
| + 'The green ball is pushed to the left of the purple ball', | |
| + 'The green ball is pushed to the left of the red ball', | |
| + 'The green ball is pushed to the right of the blue ball', | |
| + 'The green ball is pushed to the right of the cyan ball', | |
| + 'The green ball is pushed to the right of the purple ball', | |
| + 'The green ball is pushed to the right of the red ball', | |
| + 'The green ball moves behind the blue ball', | |
| + 'The green ball moves behind the cyan ball', | |
| + 'The green ball moves behind the purple ball', | |
| + 'The green ball moves behind the red ball', | |
| + 'The green ball moves in front of the blue ball', | |
| + 'The green ball moves in front of the cyan ball', | |
| + 'The green ball moves in front of the purple ball', | |
| + 'The green ball moves in front of the red ball', | |
| + 'The green ball moves to the left of the blue ball', | |
| + 'The green ball moves to the left of the cyan ball', | |
| + 'The green ball moves to the left of the purple ball', | |
| + 'The green ball moves to the left of the red ball', | |
| + 'The green ball moves to the right of the blue ball', | |
| + 'The green ball moves to the right of the cyan ball', | |
| + 'The green ball moves to the right of the purple ball', | |
| + 'The green ball moves to the right of the red ball', | |
| + 'The green ball was moved behind the blue ball', | |
| + 'The green ball was moved behind the cyan ball', | |
| + 'The green ball was moved behind the purple ball', | |
| + 'The green ball was moved behind the red ball', | |
| + 'The green ball was moved in front of the blue ball', | |
| + 'The green ball was moved in front of the cyan ball', | |
| + 'The green ball was moved in front of the purple ball', | |
| + 'The green ball was moved in front of the red ball', | |
| + 'The green ball was moved to the left of the blue ball', | |
| + 'The green ball was moved to the left of the cyan ball', | |
| + 'The green ball was moved to the left of the purple ball', | |
| + 'The green ball was moved to the left of the red ball', | |
| + 'The green ball was moved to the right of the blue ball', | |
| + 'The green ball was moved to the right of the cyan ball', | |
| + 'The green ball was moved to the right of the purple ball', | |
| + 'The green ball was moved to the right of the red ball', | |
| + 'The purple ball is being pushed behind the blue ball', | |
| + 'The purple ball is being pushed behind the cyan ball', | |
| + 'The purple ball is being pushed behind the green ball', | |
| + 'The purple ball is being pushed behind the red ball', | |
| + 'The purple ball is being pushed in front of the blue ball', | |
| + 'The purple ball is being pushed in front of the cyan ball', | |
| + 'The purple ball is being pushed in front of the green ball', | |
| + 'The purple ball is being pushed in front of the red ball', | |
| + 'The purple ball is being pushed to the left of the blue ball', | |
| + 'The purple ball is being pushed to the left of the cyan ball', | |
| + 'The purple ball is being pushed to the left of the green ball', | |
| + 'The purple ball is being pushed to the left of the red ball', | |
| + 'The purple ball is being pushed to the right of the blue ball', | |
| + 'The purple ball is being pushed to the right of the cyan ball', | |
| + 'The purple ball is being pushed to the right of the green ball', | |
| + 'The purple ball is being pushed to the right of the red ball', | |
| + 'The purple ball is pushed behind the blue ball', | |
| + 'The purple ball is pushed behind the cyan ball', | |
| + 'The purple ball is pushed behind the green ball', | |
| + 'The purple ball is pushed behind the red ball', | |
| + 'The purple ball is pushed in front of the blue ball', | |
| + 'The purple ball is pushed in front of the cyan ball', | |
| + 'The purple ball is pushed in front of the green ball', | |
| + 'The purple ball is pushed in front of the red ball', | |
| + 'The purple ball is pushed to the left of the blue ball', | |
| + 'The purple ball is pushed to the left of the cyan ball', | |
| + 'The purple ball is pushed to the left of the green ball', | |
| + 'The purple ball is pushed to the left of the red ball', | |
| + 'The purple ball is pushed to the right of the blue ball', | |
| + 'The purple ball is pushed to the right of the cyan ball', | |
| + 'The purple ball is pushed to the right of the green ball', | |
| + 'The purple ball is pushed to the right of the red ball', | |
| + 'The purple ball moves behind the blue ball', | |
| + 'The purple ball moves behind the cyan ball', | |
| + 'The purple ball moves behind the green ball', | |
| + 'The purple ball moves behind the red ball', | |
| + 'The purple ball moves in front of the blue ball', | |
| + 'The purple ball moves in front of the cyan ball', | |
| + 'The purple ball moves in front of the green ball', | |
| + 'The purple ball moves in front of the red ball', | |
| + 'The purple ball moves to the left of the blue ball', | |
| + 'The purple ball moves to the left of the cyan ball', | |
| + 'The purple ball moves to the left of the green ball', | |
| + 'The purple ball moves to the left of the red ball', | |
| + 'The purple ball moves to the right of the blue ball', | |
| + 'The purple ball moves to the right of the cyan ball', | |
| + 'The purple ball moves to the right of the green ball', | |
| + 'The purple ball moves to the right of the red ball', | |
| + 'The purple ball was moved behind the blue ball', | |
| + 'The purple ball was moved behind the cyan ball', | |
| + 'The purple ball was moved behind the green ball', | |
| + 'The purple ball was moved behind the red ball', | |
| + 'The purple ball was moved in front of the blue ball', | |
| + 'The purple ball was moved in front of the cyan ball', | |
| + 'The purple ball was moved in front of the green ball', | |
| + 'The purple ball was moved in front of the red ball', | |
| + 'The purple ball was moved to the left of the blue ball', | |
| + 'The purple ball was moved to the left of the cyan ball', | |
| + 'The purple ball was moved to the left of the green ball', | |
| + 'The purple ball was moved to the left of the red ball', | |
| + 'The purple ball was moved to the right of the blue ball', | |
| + 'The purple ball was moved to the right of the cyan ball', | |
| + 'The purple ball was moved to the right of the green ball', | |
| + 'The purple ball was moved to the right of the red ball', | |
| + 'The red ball is being pushed behind the blue ball', | |
| + 'The red ball is being pushed behind the cyan ball', | |
| + 'The red ball is being pushed behind the green ball', | |
| + 'The red ball is being pushed behind the purple ball', | |
| + 'The red ball is being pushed in front of the blue ball', | |
| + 'The red ball is being pushed in front of the cyan ball', | |
| + 'The red ball is being pushed in front of the green ball', | |
| + 'The red ball is being pushed in front of the purple ball', | |
| + 'The red ball is being pushed to the left of the blue ball', | |
| + 'The red ball is being pushed to the left of the cyan ball', | |
| + 'The red ball is being pushed to the left of the green ball', | |
| + 'The red ball is being pushed to the left of the purple ball', | |
| + 'The red ball is being pushed to the right of the blue ball', | |
| + 'The red ball is being pushed to the right of the cyan ball', | |
| + 'The red ball is being pushed to the right of the green ball', | |
| + 'The red ball is being pushed to the right of the purple ball', | |
| + 'The red ball is pushed behind the blue ball', | |
| + 'The red ball is pushed behind the cyan ball', | |
| + 'The red ball is pushed behind the green ball', | |
| + 'The red ball is pushed behind the purple ball', | |
| + 'The red ball is pushed in front of the blue ball', | |
| + 'The red ball is pushed in front of the cyan ball', | |
| + 'The red ball is pushed in front of the green ball', | |
| + 'The red ball is pushed in front of the purple ball', | |
| + 'The red ball is pushed to the left of the blue ball', | |
| + 'The red ball is pushed to the left of the cyan ball', | |
| + 'The red ball is pushed to the left of the green ball', | |
| + 'The red ball is pushed to the left of the purple ball', | |
| + 'The red ball is pushed to the right of the blue ball', | |
| + 'The red ball is pushed to the right of the cyan ball', | |
| + 'The red ball is pushed to the right of the green ball', | |
| + 'The red ball is pushed to the right of the purple ball', | |
| + 'The red ball moves behind the blue ball', | |
| + 'The red ball moves behind the cyan ball', | |
| + 'The red ball moves behind the green ball', | |
| + 'The red ball moves behind the purple ball', | |
| + 'The red ball moves in front of the blue ball', | |
| + 'The red ball moves in front of the cyan ball', | |
| + 'The red ball moves in front of the green ball', | |
| + 'The red ball moves in front of the purple ball', | |
| + 'The red ball moves to the left of the blue ball', | |
| + 'The red ball moves to the left of the cyan ball', | |
| + 'The red ball moves to the left of the green ball', | |
| + 'The red ball moves to the left of the purple ball', | |
| + 'The red ball moves to the right of the blue ball', | |
| + 'The red ball moves to the right of the cyan ball', | |
| + 'The red ball moves to the right of the green ball', | |
| + 'The red ball moves to the right of the purple ball', | |
| + 'The red ball was moved behind the blue ball', | |
| + 'The red ball was moved behind the cyan ball', | |
| + 'The red ball was moved behind the green ball', | |
| + 'The red ball was moved behind the purple ball', | |
| + 'The red ball was moved in front of the blue ball', | |
| + 'The red ball was moved in front of the cyan ball', | |
| + 'The red ball was moved in front of the green ball', | |
| + 'The red ball was moved in front of the purple ball', | |
| + 'The red ball was moved to the left of the blue ball', | |
| + 'The red ball was moved to the left of the cyan ball', | |
| + 'The red ball was moved to the left of the green ball', | |
| + 'The red ball was moved to the left of the purple ball', | |
| + 'The red ball was moved to the right of the blue ball', | |
| + 'The red ball was moved to the right of the cyan ball', | |
| + 'The red ball was moved to the right of the green ball', | |
| + 'The red ball was moved to the right of the purple ball'} | |
| + | |
| NAME = "t5-v1_1-xxl" | |
| -anns = sum(json.load(open("/data2/eddie/calvin/annotations.json")).values(), []) | |
| +anns = list(unique_z) | |
| embeds = {} | |
| + | |
| + | |
| embeddings = t5_encode_text(anns, name=f"google/{NAME}") | |
| for a, e in zip(anns, embeddings): | |
| embeds[a] = e.cpu() | |
| -torch.save(embeds, f"{NAME}_embeddings.pt") | |
| + | |
| + | |
| +torch.save(embeds, f"clevr_{NAME}_embeddings.pt") | |
| + | |
| +# final = {} | |
| +# for k in d: | |
| +# final[k] = embed[d[k]] | |
| + | |
| +# torch.save(final, f"clevr_{NAME}_direct_embeddings.pt") | |
| diff --git a/src/lcd/utils/training.py b/src/lcd/utils/training.py | |
| index c2e17a1..966ba33 100644 | |
| --- a/src/lcd/utils/training.py | |
| +++ b/src/lcd/utils/training.py | |
| @@ -51,6 +51,7 @@ class Trainer: | |
| self, | |
| diffusion_model, | |
| dataset, | |
| + val_dataset, | |
| ema_decay=0.995, | |
| train_batch_size=32, | |
| train_lr=2e-5, | |
| @@ -58,6 +59,7 @@ class Trainer: | |
| step_start_ema=2000, | |
| update_ema_every=10, | |
| log_freq=100, | |
| + validation_freq=100, | |
| sample_freq=1000, | |
| save_freq=1000, | |
| label_freq=100000, | |
| @@ -71,7 +73,7 @@ class Trainer: | |
| self.ema = EMA(ema_decay) | |
| self.ema_model = copy.deepcopy(self.model) | |
| self.update_ema_every = update_ema_every | |
| - | |
| + self.validation_freq = validation_freq | |
| self.step_start_ema = step_start_ema | |
| self.log_freq = log_freq | |
| self.sample_freq = sample_freq | |
| @@ -92,6 +94,17 @@ class Trainer: | |
| pin_memory=True, | |
| ) | |
| ) | |
| + | |
| + self.val_dataset = val_dataset | |
| + self.val_dataloader = cycle( | |
| + torch.utils.data.DataLoader( | |
| + self.dataset, | |
| + batch_size=train_batch_size, | |
| + num_workers=1, | |
| + shuffle=True, | |
| + pin_memory=True, | |
| + ) | |
| + ) | |
| self.dataloader_vis = cycle( | |
| torch.utils.data.DataLoader( | |
| self.dataset, batch_size=1, num_workers=0, shuffle=True, pin_memory=True | |
| @@ -138,6 +151,15 @@ class Trainer: | |
| self.optimizer.step() | |
| self.optimizer.zero_grad() | |
| + if self.step % self.validation_freq == 0: | |
| + batch = next(self.val_dataloader) | |
| + batch = batch_to_device(batch) | |
| + if isinstance(batch, Batch): | |
| + loss, infos = self.model.loss(*batch) | |
| + else: | |
| + loss, infos = self.model.loss(*batch[0], **batch[1]) | |
| + wlog({"val/loss": loss, **infos}) | |
| + | |
| if self.step % self.update_ema_every == 0: | |
| self.step_ema() | |
| diff --git a/submodules/data b/submodules/data | |
| index 7776fef..89f6b5b 160000 | |
| --- a/submodules/data | |
| +++ b/submodules/data | |
| @@ -1 +1 @@ | |
| -Subproject commit 7776fef1cbdede520b049f1a8c3a2c632971966c | |
| +Subproject commit 89f6b5b54efd6b560881e090602ec57f820ca935-dirty | |
| diff --git a/submodules/talar-openreview-fork b/submodules/talar-openreview-fork | |
| index d36bbf7..83416d7 160000 | |
| --- a/submodules/talar-openreview-fork | |
| +++ b/submodules/talar-openreview-fork | |
| @@ -1 +1 @@ | |
| -Subproject commit d36bbf7be863298a3b3d0d27e5ffc75963ff0cfc | |
| +Subproject commit 83416d76fa9a782dcd0a00a0e673b73a3a224fb4-dirty |