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+ }, + "use_padding": true, + "wandb": true, + "wandb_entity": "lang-diffusion", + "wandb_name": "default", + "wandb_project": "language-control-diffusion" +} \ No newline at end of file diff --git a/models/lcd/seed-12/dataset_config.pkl b/models/lcd/seed-12/dataset_config.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1ca5fbe755271772e46816c4c4d2c9f16d7bece8 --- /dev/null +++ b/models/lcd/seed-12/dataset_config.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:288a8748578d7a644b44cf619f2f5e8541f54451b3329d94271b8ca84dca4289 +size 524 diff --git a/models/lcd/seed-12/diff.txt b/models/lcd/seed-12/diff.txt new file mode 100644 index 0000000000000000000000000000000000000000..14de8d06ddbe1f6457442dadda9aa14980d97f23 --- /dev/null +++ b/models/lcd/seed-12/diff.txt @@ -0,0 +1,1135 @@ +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 \ No newline at end of file diff --git a/models/lcd/seed-12/diffusion_config.pkl b/models/lcd/seed-12/diffusion_config.pkl new file mode 100644 index 0000000000000000000000000000000000000000..ad792568dcf7bfe3feacf805786e02d8fb412b01 --- /dev/null +++ b/models/lcd/seed-12/diffusion_config.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea24410c04416dce6abb8c2860cdba413f04777ab4a463b87452bc55dafae999 +size 301 diff --git a/models/lcd/seed-12/model_0.pt b/models/lcd/seed-12/model_0.pt new file mode 100644 index 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