Merge pull request #292 from leggedrobotics/dev/open_source_jf_config…

…_explained Dev/open source jf config explained
leggedrobotics · Feb 18, 2024 · 18edcb5 · 18edcb5
2 parents 6834bea + 42643cd
commit 18edcb5
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Showing 57 changed files with 149 additions and 153 deletions.
diff --git a/tests/test_feature_extractor.py b/tests/test_feature_extractor.py
@@ -12,7 +12,7 @@ def test_feature_extractor():
     device = "cuda" if torch.cuda.is_available() else "cpu"
     segmentation_types = ["none", "grid", "slic", "random", "stego"]
     feature_types = ["dino", "dinov2", "stego"]
-    backbone_types = ["vit_small", "vit_base"] # "vit_small_reg", "vit_base_reg"]
+    backbone_types = ["vit_small", "vit_base"]  # "vit_small_reg", "vit_base_reg"]
 
     for seg_type, feat_type, back_type in itertools.product(segmentation_types, feature_types, backbone_types):
         if seg_type == "stego" and feat_type != "stego":

diff --git a/wild_visual_navigation/__init__.py b/wild_visual_navigation/__init__.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 import os
 
 WVN_ROOT_DIR = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))

diff --git a/wild_visual_navigation/cfg/__init__.py b/wild_visual_navigation/cfg/__init__.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .global_params import get_global_env_params, GlobalEnvironmentParams
 from .experiment_params import ExperimentParams
 from .ros_params import RosLearningNodeParams, RosFeatureExtractorNodeParams
diff --git a/wild_visual_navigation/cfg/experiment_params.py b/wild_visual_navigation/cfg/experiment_params.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from dataclasses import dataclass, field
 from typing import List, Optional
 from typing import Any

diff --git a/wild_visual_navigation/cfg/global_params.py b/wild_visual_navigation/cfg/global_params.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from dataclasses import dataclass
 
 

diff --git a/wild_visual_navigation/cfg/ros_params.py b/wild_visual_navigation/cfg/ros_params.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from dataclasses import dataclass
 from typing import Dict
 from typing import Any

diff --git a/wild_visual_navigation/feature_extractor/__init__.py b/wild_visual_navigation/feature_extractor/__init__.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .dino_interface import DinoInterface, run_dino_interfacer
 from .torchvision_interface import TorchVisionInterface
 

diff --git a/wild_visual_navigation/feature_extractor/dino_interface.py b/wild_visual_navigation/feature_extractor/dino_interface.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from os.path import join
 import torch.nn.functional as F
 import torch

diff --git a/wild_visual_navigation/feature_extractor/dino_trt_interface.py b/wild_visual_navigation/feature_extractor/dino_trt_interface.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation import WVN_ROOT_DIR
 from os.path import join
 from omegaconf import DictConfig

diff --git a/wild_visual_navigation/feature_extractor/feature_extractor.py b/wild_visual_navigation/feature_extractor/feature_extractor.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation.feature_extractor import (
     StegoInterface,
     DinoInterface,

diff --git a/wild_visual_navigation/feature_extractor/segment_extractor.py b/wild_visual_navigation/feature_extractor/segment_extractor.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 # author: Jonas Frey
 
 import torch

diff --git a/wild_visual_navigation/feature_extractor/stego_interface.py b/wild_visual_navigation/feature_extractor/stego_interface.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from os.path import join
 import torch.nn.functional as F
 import torch

diff --git a/wild_visual_navigation/feature_extractor/torchvision_interface.py b/wild_visual_navigation/feature_extractor/torchvision_interface.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation import WVN_ROOT_DIR
 from os.path import join
 

diff --git a/wild_visual_navigation/image_projector/__init__.py b/wild_visual_navigation/image_projector/__init__.py
@@ -1,6 +1,6 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .image_projector import ImageProjector, run_image_projector
diff --git a/wild_visual_navigation/image_projector/image_projector.py b/wild_visual_navigation/image_projector/image_projector.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from pytictac import Timer
 from os.path import join
 import torch

diff --git a/wild_visual_navigation/model/__init__.py b/wild_visual_navigation/model/__init__.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .simple_mlp import SimpleMLP, DoubleMLP
 from .simple_gcn import SimpleGCN
 from .linear_rnvp import LinearRnvp

diff --git a/wild_visual_navigation/model/linear_rnvp.py b/wild_visual_navigation/model/linear_rnvp.py
@@ -1,12 +1,12 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
+from wild_visual_navigation.utils import Data
 import copy
 import torch
 from torch import nn, distributions
-from wild_visual_navigation.utils import Data
 
 
 class LinearBatchNorm(nn.Module):

diff --git a/wild_visual_navigation/model/network_register.py b/wild_visual_navigation/model/network_register.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation.model import *
 import inspect
 import torch

diff --git a/wild_visual_navigation/model/simple_gcn.py b/wild_visual_navigation/model/simple_gcn.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 import torch
 import torch.nn.functional as F
 

diff --git a/wild_visual_navigation/model/simple_mlp.py b/wild_visual_navigation/model/simple_mlp.py
@@ -1,10 +1,10 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
-import torch
+#
 from wild_visual_navigation.utils import Data
+import torch
 
 
 class SimpleMLP(torch.nn.Module):

diff --git a/wild_visual_navigation/supervision_generator/__init__.py b/wild_visual_navigation/supervision_generator/__init__.py
@@ -1,7 +1,7 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .twist_dataset import TwistDataset, TwistDataModule
 from .supervision_generator import SupervisionGenerator, run_supervision_generator
diff --git a/wild_visual_navigation/supervision_generator/supervision_generator.py b/wild_visual_navigation/supervision_generator/supervision_generator.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation import WVN_ROOT_DIR
 from wild_visual_navigation.traversability_estimator.graphs import DistanceWindowGraph
 from wild_visual_navigation.traversability_estimator.nodes import TwistNode

diff --git a/wild_visual_navigation/supervision_generator/twist_dataset.py b/wild_visual_navigation/supervision_generator/twist_dataset.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation import WVN_ROOT_DIR
 import os
 import torch

diff --git a/wild_visual_navigation/traversability_estimator/__init__.py b/wild_visual_navigation/traversability_estimator/__init__.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .graphs import (
     BaseGraph,
     TemporalWindowGraph,

diff --git a/wild_visual_navigation/traversability_estimator/graphs.py b/wild_visual_navigation/traversability_estimator/graphs.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .nodes import BaseNode
 import networkx as nx
 import random

diff --git a/wild_visual_navigation/traversability_estimator/nodes.py b/wild_visual_navigation/traversability_estimator/nodes.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation.image_projector import ImageProjector
 from wild_visual_navigation.utils import (
     make_box,

diff --git a/wild_visual_navigation/traversability_estimator/traversability_estimator.py b/wild_visual_navigation/traversability_estimator/traversability_estimator.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation.feature_extractor import FeatureExtractor
 from wild_visual_navigation.image_projector import ImageProjector
 from wild_visual_navigation.model import get_model

diff --git a/wild_visual_navigation/utils/__init__.py b/wild_visual_navigation/utils/__init__.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from .data import Data, Batch
 from .flatten_dict import flatten_dict
 from .get_logger import get_logger, get_neptune_run

diff --git a/wild_visual_navigation/utils/confidence_generator.py b/wild_visual_navigation/utils/confidence_generator.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 from wild_visual_navigation.utils import KalmanFilter
 from wild_visual_navigation import WVN_ROOT_DIR
 import torch
@@ -115,10 +115,10 @@ def update_running_mean(self, x: torch.tensor, x_positive: torch.tensor):
             # confidence = torch.exp(-(((x - self.mean) / (self.std * self.std_factor)) ** 2) * 0.5)
             # confidence[x < self.mean] = 1.0
 
-            shifted_mean = self.mean + self.std*self.std_factor
+            shifted_mean = self.mean + self.std * self.std_factor
             interval_min = shifted_mean - 2 * self.std
             interval_max = shifted_mean + 2 * self.std
-            x = torch.clip( x , interval_min, interval_max)
+            x = torch.clip(x, interval_min, interval_max)
             confidence = 1 - ((x - interval_min) / (interval_max - interval_min))
 
         return confidence.type(torch.float32)
@@ -197,10 +197,10 @@ def inference_without_update(self, x: torch.tensor):
             confidence = (x - torch.min(x)) / (torch.max(x) - torch.min(x))
 
         else:
-            shifted_mean = self.mean + self.std*self.std_factor
+            shifted_mean = self.mean + self.std * self.std_factor
             interval_min = shifted_mean - 2 * self.std
             interval_max = shifted_mean + 2 * self.std
-            x = torch.clip( x , interval_min, interval_max)
+            x = torch.clip(x, interval_min, interval_max)
             confidence = 1 - ((x - interval_min) / (interval_max - interval_min))
 
             # confidence = torch.exp(-(((x - self.mean) / (self.std * self.std_factor)) ** 2) * 0.5)

diff --git a/wild_visual_navigation/utils/create_experiment_folder.py b/wild_visual_navigation/utils/create_experiment_folder.py
@@ -1,15 +1,14 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 import datetime
 import os
 import shutil
 from pathlib import Path
 from pytorch_lightning.utilities import rank_zero_only
 from wild_visual_navigation.cfg import ExperimentParams
-from typing import Union
 from omegaconf import read_write
 from wild_visual_navigation import WVN_ROOT_DIR
 

diff --git a/wild_visual_navigation/utils/data.py b/wild_visual_navigation/utils/data.py
@@ -1,9 +1,9 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
-from typing import Any, List, Optional, Type, Union
+#
+from typing import List
 from typing_extensions import Self
 import torch
 

diff --git a/wild_visual_navigation/utils/flatten_dict.py b/wild_visual_navigation/utils/flatten_dict.py
@@ -1,8 +1,8 @@
-#                                                                               
+#
 # Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
-#                                                                               
+#
 import collections
 
 __all__ = ["flatten_dict"]