feat: RNG is now a planner argument, expose XORShift generation (#29)

* doc: note about incremental rebuilds * feat: initial implementation * feat: Python RNG functions * fix: Halton sequence blows up after around 1.5M iters - restart and rotate bases after 1M * wip: refactor names, remove old RNG code * feat: added xorshift * fix/feat: xorshift mapping fixed + sampling feature on other scripts * feat: final script fix + documentation * format: applied clang-format * Update LLVM version * goof, update format version * yapf format * Update scripts/README.md Co-authored-by: Wil Thomason <[email protected]> * initial nits * Initial nits * documentation * format --------- Co-authored-by: Wil Thomason <[email protected]>
KavrakiLab · Oct 18, 2024 · 0d13c50 · 0d13c50
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diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -30,13 +30,13 @@ jobs:
       run: |
         wget https://apt.llvm.org/llvm.sh
         chmod +x llvm.sh
-        yes | sudo ./llvm.sh 16 || true
-        sudo apt-get install -y clang-format-16 python3-pip
+        yes | sudo ./llvm.sh 18 || true
+        sudo apt-get install -y clang-format-18 python3-pip
         pip install yapf
 
     - name: Run clang-format style check.
       run: >
-        find . -iname *.hh -o -iname *.cc | xargs -I{} clang-format-16 --dry-run -Werror {}
+        find . -iname *.hh -o -iname *.cc | xargs -I{} clang-format-18 --dry-run -Werror {}
 
     - name: Run yapf style check.
       run: >

diff --git a/README.md b/README.md
@@ -75,6 +75,13 @@ python scripts/sphere_cage_example.py --visualize
 Which will benchmark a simple scenario of the Franka Emika Panda in a cage of spheres and visualize one of the results.
 See the [README in the scripts directory](scripts/README.md) for more details.
 
+#### Incremental Rebuilds
+Rather than building the entire library from scratch each time, `nanobind` supports [incremental rebuilds](https://nanobind.readthedocs.io/en/latest/packaging.html#step-5-incremental-rebuilds):
+```bash
+cd vamp
+pip install --no-build-isolation -Ceditable.rebuild=true -ve .
+```
+
 ### C++
 If you wish to extend `vamp` via C++, please build directly with CMake, e.g.:
 ```
@@ -135,13 +142,17 @@ For the flying sphere in $\mathbb{R}^3$, additional operations are available to
 - `vamp.sphere.set_lows()` and `vamp.sphere.set_highs()` to set bounding box of space
 - `vamp.sphere.set_radius()` to set the sphere's radius
 
+## Supported RNG
+We ship implementations of the following pseudorandom number generators (PRNGs):
+- `halton`: An implementation of a [multi-dimensional Halton sequence](https://en.wikipedia.org/wiki/Halton_sequence) [[12-13]](#12).
+- `xorshift`: A SIMD-accelerated implementation of an [XOR shift](https://en.wikipedia.org/wiki/Xorshift) generator, only available on x86 machines. Uses the [`SIMDxorshift`](https://github.com/lemire/SIMDxorshift) library.
+
 ## Supported Planners
 We currently ship two planners:
 - `rrtc`, which is an implementation of a dynamic-domain [[6]](#6) balanced [[7]](#7) RRT-Connect [[1]](#1).
 - `prm`, which is an implementation of basic PRM [[2]](#2) (i.e., PRM without the bounce heuristic, etc.).
 
 Note that these planners support planning to a set of goals, not just a single goal.
-Also, all planners use a multi-dimensional Halton sequence for deterministic planning [[12-13]](#12).
 
 We also ship a number of heuristic simplification routines:
 - randomized and deterministic shortcutting [[8, 9]](#8) (`REDUCE` and `SHORTCUT`)

diff --git a/scripts/README.md b/scripts/README.md
@@ -39,6 +39,8 @@ These scripts support standard planner and simplifier configuration arguments (s
 In addition, they both support the following arguments:
 - `problem`: which takes in either a single problem name (e.g., `table_pick`) or a list (e.g., `table_pick,table_under_pick`) to evaluate against a specific set of problems.
 - `dataset`: which describes the specific dataset of problems that should be loaded and inspected. See [Datasets](../resources/README.md#supported-planners) for more information.
+- `sampler_name`: specify which PRNG sampler to use for generating random configurations (see [supported RNGs](../README.md#supported-rng)).
+- `skip_rng_iterations`: skip _n_ PRNG iterations. Can be used to "seed" trials differently.
 - `pointcloud`: construct a pointcloud approximation of the problem's scene geometry and plan against this representation using the CAPT datastructure.
 - `samples_per_object`: number of samples per each object for pointcloud generation.
 - `filter_radius`: pointcloud filtering radius. Will remove all redundant points that are within the specified radius.

diff --git a/scripts/attachments.py b/scripts/attachments.py
@@ -70,8 +70,9 @@ def callback(configuration):
         sim.update_object_position(attachment_sphere, sphere.position)
 
     # Plan and display
-    result = planner_func(a, b, e, plan_settings)
-    simple = vamp_module.simplify(result.path, e, simp_settings)
+    sampler = vamp_module.halton()
+    result = planner_func(a, b, e, plan_settings, sampler)
+    simple = vamp_module.simplify(result.path, e, simp_settings, sampler)
     simple.path.interpolate(vamp.panda.resolution())
 
     sim.animate(simple.path, callback)

diff --git a/scripts/cpp/ompl_integration.cc b/scripts/cpp/ompl_integration.cc
@@ -130,8 +130,8 @@ struct VAMPMotionValidator : public ob::MotionValidator
             ompl_to_vamp(s1), ompl_to_vamp(s2), env_v);
     }
 
-    auto checkMotion(const ob::State *, const ob::State *, std::pair<ob::State *, double> &) const
-        -> bool override
+    auto
+    checkMotion(const ob::State *, const ob::State *, std::pair<ob::State *, double> &) const -> bool override
     {
         throw ompl::Exception("Not implemented!");
     }

diff --git a/scripts/evaluate_mbm.py b/scripts/evaluate_mbm.py
@@ -17,6 +17,8 @@ def main(
     dataset: str = "problems.pkl",         # Pickled dataset to use
     problem: Union[str, List[str]] = [],   # Problem name or list of problems to evaluate
     trials: int = 1,                       # Number of trials to evaluate each instance
+    sampler_name: str = "halton",          # Sampler to use.
+    skip_rng_iterations: int = 0,          # Skip a number of RNG iterations
     print_failures: bool = False,          # Print out failures and invalid problems
     pointcloud: bool = False,              # Use pointcloud rather than primitive geometry
     samples_per_object: int = 10000,       # If pointcloud, samples per object to use
@@ -48,6 +50,8 @@ def main(
     (vamp_module, planner_func, plan_settings,
      simp_settings) = vamp.configure_robot_and_planner_with_kwargs(robot, planner, **kwargs)
 
+    sampler = getattr(vamp_module, sampler_name)()
+
     total_problems = 0
     valid_problems = 0
     failed_problems = 0
@@ -88,13 +92,15 @@ def main(
             else:
                 env = vamp.problem_dict_to_vamp(data)
 
+            sampler.reset()
+            sampler.skip(skip_rng_iterations)
             for _ in range(trials):
-                result = planner_func(data['start'], data['goals'], env, plan_settings)
+                result = planner_func(data['start'], data['goals'], env, plan_settings, sampler)
                 if not result.solved:
                     failures.append(i)
                     break
 
-                simple = vamp_module.simplify(result.path, env, simp_settings)
+                simple = vamp_module.simplify(result.path, env, simp_settings, sampler)
 
                 trial_result = vamp.results_to_dict(result, simple)
                 if pointcloud:

diff --git a/scripts/flying_sphere.py b/scripts/flying_sphere.py
@@ -8,12 +8,13 @@
 
 
 def main(
-        visualize: bool = False,
-        x: float = 20,
-        y: float = 20,
-        z: float = 1,
-        radius: float = 0.1,
-        iterations: int = 10000
+    visualize: bool = False,
+    x: float = 20,
+    y: float = 20,
+    z: float = 1,
+    radius: float = 0.1,
+    iterations: int = 10000,
+    sampler_name: str = "halton",
     ):
 
     env = vamp.Environment()
@@ -33,7 +34,8 @@ def main(
     settings = vamp.PRMSettings(vamp.PRMNeighborParams(vamp.sphere.dimension(), vamp.sphere.space_measure()))
     settings.max_iterations = iterations
 
-    roadmap = vamp.sphere.roadmap(robot_initial_pos, goal_pos, env, settings)
+    sampler = getattr(vamp.sphere, sampler_name)()
+    roadmap = vamp.sphere.roadmap(robot_initial_pos, goal_pos, env, settings, sampler)
 
     print(f"Created roadmap with {len(roadmap)} nodes in {roadmap.nanoseconds / 1e9} seconds!")
 

diff --git a/scripts/sphere_cage_example.py b/scripts/sphere_cage_example.py
@@ -38,12 +38,17 @@ def main(
     radius: float = 0.2,
     visualize: bool = False,
     planner: str = "rrtc",
+    sampler_name: str = "halton",  # Sampler to use.
+    skip_rng_iterations: int = 0,  # Skip a number of RNG iterations
     **kwargs,
     ):
 
     (vamp_module, planner_func, plan_settings,
      simp_settings) = vamp.configure_robot_and_planner_with_kwargs("panda", planner, **kwargs)
 
+    sampler = getattr(vamp_module, sampler_name)()
+    sampler.skip(skip_rng_iterations)
+
     if benchmark:
         random.seed(0)
         np.random.seed(0)
@@ -60,8 +65,8 @@ def main(
                 e.add_sphere(vamp.Sphere(sphere, radius))
 
             if vamp.panda.validate(a, e) and vamp.panda.validate(b, e):
-                result = planner_func(a, b, e, plan_settings)
-                simple = vamp_module.simplify(result.path, e, simp_settings)
+                result = planner_func(a, b, e, plan_settings, sampler)
+                simple = vamp_module.simplify(result.path, e, simp_settings, sampler)
                 results.append(vamp.results_to_dict(result, simple))
 
         df = pd.DataFrame.from_dict(results)
@@ -94,8 +99,8 @@ def main(
             e.add_sphere(vamp.Sphere(sphere, radius))
             sim.add_sphere(radius, sphere)
 
-        result = planner_func(a, b, e, plan_settings)
-        simple = vamp_module.simplify(result.path, e, simp_settings)
+        result = planner_func(a, b, e, plan_settings, sampler)
+        simple = vamp_module.simplify(result.path, e, simp_settings, sampler)
 
         simple.path.interpolate(vamp.panda.resolution())
 

diff --git a/scripts/visualize_mbm.py b/scripts/visualize_mbm.py
@@ -15,6 +15,8 @@ def main(
     dataset: str = "problems.pkl",         # Pickled dataset to use
     problem: str = "",                     # Problem name
     index: int = 1,                        # Problem index
+    sampler_name: str = "halton",          # Sampler to use.
+    skip_rng_iterations: int = 0,          # Skip a number of RNG iterations
     display_object_names: bool = False,    # Display object names over geometry
     pointcloud: bool = False,              # Use pointcloud rather than primitive geometry
     samples_per_object: int = 10000,       # If pointcloud, samples per object to use
@@ -77,16 +79,19 @@ def main(
     goals = problem_data['goals']
     valid = problem_data['valid']
 
+    sampler = getattr(vamp_module, sampler_name)()
+    sampler.skip(skip_rng_iterations)
+
     if valid:
-        result = planner_func(start, goals, env, plan_settings)
+        result = planner_func(start, goals, env, plan_settings, sampler)
         solved = result.solved
     else:
         print("Problem is invalid!")
         solved = False
 
     if valid and solved:
         print("Solved problem!")
-        simplify = vamp_module.simplify(result.path, env, simp_settings)
+        simplify = vamp_module.simplify(result.path, env, simp_settings, sampler)
 
         stats = vamp.results_to_dict(result, simplify)
         print(
@@ -152,4 +157,5 @@ def main(
 
 
 if __name__ == "__main__":
+
     Fire(main)