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