From 6a28c2e4b6479c42ea2006c522c46445c15ff87b Mon Sep 17 00:00:00 2001 From: davidh Date: Thu, 20 Jun 2024 05:08:35 +0000 Subject: [PATCH 01/19] benchmarking --- .../OLD_convert_tf.py | 70 ++++ .../OLD_test_convert.py | 29 ++ .../Data_Storage_Benchmarking/TFrecord.ipynb | 376 ++++++++++++++++++ examples/Data_Storage_Benchmarking/arrow.py | 51 +++ examples/Data_Storage_Benchmarking/hdf5.py | 82 ++++ examples/Data_Storage_Benchmarking/parquet.py | 123 ++++++ .../Data_Storage_Benchmarking/tf_record.py | 47 +++ 7 files changed, 778 insertions(+) create mode 100644 examples/Data_Storage_Benchmarking/OLD_convert_tf.py create mode 100644 examples/Data_Storage_Benchmarking/OLD_test_convert.py create mode 100644 examples/Data_Storage_Benchmarking/TFrecord.ipynb create mode 100644 examples/Data_Storage_Benchmarking/arrow.py create mode 100644 examples/Data_Storage_Benchmarking/hdf5.py create mode 100644 examples/Data_Storage_Benchmarking/parquet.py create mode 100644 examples/Data_Storage_Benchmarking/tf_record.py diff --git a/examples/Data_Storage_Benchmarking/OLD_convert_tf.py b/examples/Data_Storage_Benchmarking/OLD_convert_tf.py new file mode 100644 index 0000000..9b6b8f5 --- /dev/null +++ b/examples/Data_Storage_Benchmarking/OLD_convert_tf.py @@ -0,0 +1,70 @@ +import os +import tensorflow as tf +import pandas as pd +import pyarrow as pa +import pyarrow.parquet as pq + + +def parse_tfrecord(raw_record): + FLF = tf.io.FixedLenFeature + + features = {'steps': tf.io.VarLenFeature(tf.string)} + contexts = tf.io.parse_single_example(raw_record, features) + steps = tf.sparse.to_dense(contexts['steps']) + + steps_features = { + 'is_last': FLF([], tf.bool), + 'reward': FLF([], tf.float32), + 'is_first': FLF([], tf.bool), + 'action/gripper_closedness_action': FLF([], tf.float32), + 'action/rotation_delta': FLF([3], tf.float32), + 'action/terminate_episode': FLF([], tf.float32), + 'action/world_vector': FLF([3], tf.float32), + 'observation/natural_language_embedding': FLF([512], tf.float32), + 'observation/image': FLF([480, 640, 3], tf.uint8), + 'observation/hand_image': FLF([480, 640, 3], tf.uint8), + 'observation/natural_language_instruction': FLF([], tf.string), + 'observation/image_with_depth': FLF([480, 640, 1], tf.float32), + 'observation/robot_state': FLF([15], tf.float32), + 'is_terminal': FLF([], tf.bool), + } + return [tf.io.parse_single_example(s, steps_features) for s in steps ] + + +def tfrecord_to_df(tf_file): + dataset = tf.data.TFRecordDataset(tf_file) + all_records = [] + + for raw_record in dataset: + for step in parse_tfrecord(raw_record): + record = {} + for key, value in step.items(): + record[key] = value.numpy() + all_records.append(record) + + return pd.DataFrame(all_records) + + +def tf_to_parquet(in_dir, out_dir, prefix, suffix): + for i in range(1): + j = str(i).zfill(5) + + input_file = f"{in_dir}{prefix}{j}-of-00412" + output_file = f"{out_dir}{prefix}{j}{suffix}" + + print(f"Reading {input_file}") + + df = tfrecord_to_df(input_file) + table = pa.Table.from_pandas(df) + pq.write_table(table, output_file) + + print(f"Writing {output_file}") + + +DIR = os.path.expanduser("~") + "/datasets/" +in_dir = DIR + "berkeley_autolab_ur5/" +out_dir = DIR + "parquet/" +prefix = "berkeley_autolab_ur5-train.tfrecord-" +suffix = ".parquet" + +tf_to_parquet(in_dir, out_dir, prefix, suffix) \ No newline at end of file diff --git a/examples/Data_Storage_Benchmarking/OLD_test_convert.py b/examples/Data_Storage_Benchmarking/OLD_test_convert.py new file mode 100644 index 0000000..cf4f903 --- /dev/null +++ b/examples/Data_Storage_Benchmarking/OLD_test_convert.py @@ -0,0 +1,29 @@ +import os +import sys +import tensorflow as tf +import pyarrow.parquet as pq + +def disk_size(file): + return os.path.getsize(file) + +def tf_memory(tf_file): + dataset = tf.data.TFRecordDataset(tf_file) + return sys.getsizeof([record.numpy() for record in dataset]) + +def pq_memory(pq_file): + return pq.read_table(pq_file).nbytes + +DIR = os.path.expanduser("~") + "/datasets/" +in_dir = DIR + "berkeley_autolab_ur5/" +out_dir = DIR + "parquet/" +prefix = "berkeley_autolab_ur5-train.tfrecord-" +suffix = ".parquet" + +MB = 1024 * 1024 +tf_file = in_dir + prefix + "00000-of-00412" +pq_file = out_dir + prefix + "00000.parquet" + +print(f"TFRecord size on disk: {disk_size(tf_file) / MB:.2f} MB") +print(f"Parquet size on disk: {disk_size(pq_file) / MB:.2f} MB") +print(f"TFRecord size in memory: {tf_memory(tf_file) / MB:.2f} MB") +print(f"Parquet size in memory: {pq_memory(pq_file) / MB:.2f} MB") \ No newline at end of file diff --git a/examples/Data_Storage_Benchmarking/TFrecord.ipynb b/examples/Data_Storage_Benchmarking/TFrecord.ipynb new file mode 100644 index 0000000..cdc6704 --- /dev/null +++ b/examples/Data_Storage_Benchmarking/TFrecord.ipynb @@ -0,0 +1,376 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import numpy as np\n", + "import tensorflow_datasets as tfds\n", + "from PIL import Image\n", + "from IPython import display" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Retrieving image benchmark speed" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import tensorflow as tf\n", + "import tensorflow_datasets as tfds\n", + "from PIL import Image\n", + "from IPython.display import display as ip_display\n", + "import time\n", + "import os\n", + "\n", + "read_files = [\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00000-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00001-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00002-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00003-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00004-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00005-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00006-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00007-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00008-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00009-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00010-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00011-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00012-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00013-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00014-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00015-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00016-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00017-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00018-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00019-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00020-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00021-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00022-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00023-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00024-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00025-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00026-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00027-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00028-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00029-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00030-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00031-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00032-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00033-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00034-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00035-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00036-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00037-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00038-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00039-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00040-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00041-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00042-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00043-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00044-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00045-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00046-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00047-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00048-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00049-of-00050'\n", + "]\n", + "\n", + "write_file = '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test_write_test.tfrecord'\n", + "\n", + "def dataset2path(dataset_name):\n", + " if dataset_name == 'robo_net':\n", + " version = '1.0.0'\n", + " elif dataset_name == 'language_table':\n", + " version = '0.0.1'\n", + " else:\n", + " version = '0.1.0'\n", + " return f'gs://gresearch/robotics/{dataset_name}/{version}'\n", + "\n", + "def measure_specifying_path_latency(files):\n", + " start_time = time.time()\n", + " for file_path in files:\n", + " _ = file_path\n", + " end_time = time.time()\n", + " latency = end_time - start_time\n", + " return latency\n", + "\n", + "def measure_getting_image_latency_and_display(dataset_name):\n", + " dataset_path = dataset2path(dataset_name)\n", + " b = tfds.builder_from_directory(builder_dir=dataset_path)\n", + " if 'image' not in b.info.features['steps']['observation']:\n", + " raise ValueError(\n", + " f\"The key 'image' was not found in this dataset.\\n\"\n", + " \"Please choose a different image key to display for this dataset.\\n\"\n", + " \"Here is the observation spec:\\n\"\n", + " + str(b.info.features['steps']['observation']))\n", + "\n", + " start_time = time.time()\n", + " ds = b.as_dataset(split='train[:1]').shuffle(1) # take only the first episode\n", + " episode = next(iter(ds))\n", + " images = [step['observation']['image'] for step in episode['steps']]\n", + " images = [Image.fromarray(image.numpy()) for image in images]\n", + " end_time = time.time()\n", + " latency = end_time - start_time\n", + "\n", + " # Display some first image\n", + " ip_display(images[0])\n", + "\n", + " return latency\n", + "\n", + "def measure_read_speed(files):\n", + " start_time = time.time()\n", + " total_bytes = 0\n", + " total_trajectories = 0\n", + "\n", + " for file_path in files:\n", + " for record in tf.data.TFRecordDataset(file_path):\n", + " record.numpy()\n", + " total_bytes += len(record.numpy())\n", + " total_trajectories += 1\n", + "\n", + " end_time = time.time()\n", + " elapsed_time = end_time - start_time\n", + " read_speed = total_bytes / elapsed_time / (1024 * 1024) # conversion to mb/s\n", + " read_throughput = total_trajectories / elapsed_time # trajectories/second\n", + "\n", + " print(f\"Read {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", + " print(f\"Read Speed: {read_speed:.2f} MB/s\")\n", + " print(f\"Read Latency: {elapsed_time:.2f} seconds\")\n", + " print(f\"Read Throughput: {read_throughput:.2f} trajectories/second\")\n", + "\n", + "def measure_write_speed(files, output_file):\n", + " start_time = time.time()\n", + " total_bytes = 0\n", + " total_trajectories = 0\n", + "\n", + " with tf.io.TFRecordWriter(output_file) as writer:\n", + " for file_path in files:\n", + " for record in tf.data.TFRecordDataset(file_path):\n", + " writer.write(record.numpy())\n", + " total_bytes += len(record.numpy())\n", + " total_trajectories += 1\n", + "\n", + " end_time = time.time()\n", + " elapsed_time = end_time - start_time\n", + " write_speed = total_bytes / elapsed_time / (1024 * 1024) # conversion to MB/S\n", + " write_throughput = total_trajectories / elapsed_time # conversion to trajectories/second\n", + "\n", + " print(f\"Wrote {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", + " print(f\"Write Speed: {write_speed:.2f} MB/s\")\n", + " print(f\"Write Latency: {elapsed_time:.2f} seconds\")\n", + " print(f\"Write Throughput: {write_throughput:.2f} trajectories/second\")\n", + "\n", + "print(\"Measuring Specifying Path Latency...\")\n", + "path_latency = measure_specifying_path_latency(read_files)\n", + "print(f\"Specifying Path Latency: {path_latency:.4f} seconds\")\n", + "\n", + "print(\"Measuring Getting Image Latency and Displaying Image...\")\n", + "image_latency = measure_getting_image_latency_and_display('berkeley_autolab_ur5')\n", + "print(f\"Getting Image Latency: {image_latency:.4f} seconds\")\n", + "\n", + "print(f\"Actual Image Fetch Latency: {image_latency - path_latency:.4f} seconds\")\n", + "\n", + "print(\"Measuring Read Speed...\")\n", + "measure_read_speed(read_files)\n", + "print(\"Measuring Write Speed...\")\n", + "measure_write_speed(read_files, write_file)\n", + "\n", + "os.remove(write_file)\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Measuring read and write speed of TFrecord" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import tensorflow as tf\n", + "import time\n", + "import os\n", + "\n", + "read_files = [\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00000-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00001-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00002-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00003-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00004-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00005-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00006-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00007-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00008-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00009-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00010-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00011-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00012-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00013-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00014-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00015-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00016-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00017-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00018-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00019-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00020-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00021-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00022-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00023-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00024-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00025-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00026-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00027-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00028-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00029-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00030-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00031-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00032-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00033-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00034-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00035-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00036-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00037-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00038-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00039-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00040-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00041-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00042-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00043-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00044-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00045-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00046-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00047-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00048-of-00050',\n", + " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00049-of-00050'\n", + "]\n", + "\n", + "\n", + "write_file = '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test_write_test.tfrecord'\n", + "\n", + "def measure_read_speed(files):\n", + " start_time = time.time()\n", + " total_bytes = 0\n", + "\n", + " for file_path in files:\n", + " for record in tf.data.TFRecordDataset(file_path):\n", + " # Measure the speed of converting the record to numpy + for loop time\n", + " record.numpy()\n", + " total_bytes += len(record.numpy())\n", + "\n", + " end_time = time.time()\n", + " elapsed_time = end_time - start_time\n", + " read_speed = total_bytes / elapsed_time / (1024 * 1024)\n", + "\n", + " print(f\"Read {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", + " print(f\"Read Speed: {read_speed:.2f} MB/s\")\n", + " print(f\"Read Latency: {elapsed_time:.2f} seconds\")\n", + "\n", + "def measure_write_speed(files, output_file):\n", + " start_time = time.time()\n", + " total_bytes = 0\n", + "\n", + " with tf.io.TFRecordWriter(output_file) as writer:\n", + " for file_path in files:\n", + " for record in tf.data.TFRecordDataset(file_path):\n", + " writer.write(record.numpy())\n", + " total_bytes += len(record.numpy())\n", + "\n", + " end_time = time.time()\n", + " elapsed_time = end_time - start_time\n", + " write_speed = total_bytes / elapsed_time / (1024 * 1024) \n", + "\n", + " print(f\"Wrote {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", + " print(f\"Write Speed: {write_speed:.2f} MB/s\")\n", + " print(f\"Write Latency: {elapsed_time:.2f} seconds\")\n", + "\n", + "print(\"Measuring Read Speed...\")\n", + "measure_read_speed(read_files)\n", + "print(\"Measuring Write Speed...\")\n", + "measure_write_speed(read_files, write_file)\n", + "\n", + "os.remove(write_file)\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "#plotting + code \n", + "# temporary plots: \n", + "import matplotlib.pyplot as plt\n", + "\n", + "# Josh's data for Polars\n", + "polars_read_latency = 43.7798\n", + "polars_read_speed = 334.6640\n", + "polars_read_throughput = 1.1649\n", + "\n", + "polars_write_latency = 257.1229\n", + "polars_write_speed = 56.9826\n", + "polars_write_throughput = 0.1983\n", + "\n", + "# above data for TensorFlow Record\n", + "tf_read_latency = 16.76\n", + "tf_read_speed = 484.53\n", + "tf_read_throughput = 6.21\n", + "\n", + "tf_write_latency = 44.17\n", + "tf_write_speed = 183.84\n", + "tf_write_throughput = 2.35\n", + "\n", + "labels = ['Polars Read', 'Polars Write', 'TF Record Read', 'TF Record Write']\n", + "\n", + "latencies = [polars_read_latency, polars_write_latency, tf_read_latency, tf_write_latency]\n", + "speeds = [polars_read_speed, polars_write_speed, tf_read_speed, tf_write_speed]\n", + "throughputs = [polars_read_throughput, polars_write_throughput, tf_read_throughput, tf_write_throughput]\n", + "\n", + "# latency plots\n", + "plt.figure(figsize=(14, 8))\n", + "plt.subplot(3, 1, 1)\n", + "plt.bar(labels, latencies, color=['blue', 'green', 'orange', 'red'])\n", + "plt.ylabel('Latency (s)')\n", + "plt.title('Latency, Speed, and Throughput of Polars and TF Record Operations')\n", + "\n", + "# speed plots\n", + "plt.subplot(3, 1, 2)\n", + "plt.bar(labels, speeds, color=['blue', 'green', 'orange', 'red'])\n", + "plt.ylabel('Speed (MB/s)')\n", + "\n", + "# throughput plotting\n", + "plt.subplot(3, 1, 3)\n", + "plt.bar(labels, throughputs, color=['blue', 'green', 'orange', 'red'])\n", + "plt.ylabel('Throughput (trajectories/second)')\n", + "plt.xlabel('Operation')\n", + "\n", + "plt.tight_layout()\n", + "plt.show()\n" + ] + } + ], + "metadata": { + "language_info": { + "name": "python" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/Data_Storage_Benchmarking/arrow.py b/examples/Data_Storage_Benchmarking/arrow.py new file mode 100644 index 0000000..fdf3b45 --- /dev/null +++ b/examples/Data_Storage_Benchmarking/arrow.py @@ -0,0 +1,51 @@ +import os +import time +import pandas as pd +import pyarrow.ipc as ipc +import pyarrow.feather as fth + +# taxi_trip_data.parquet: 472,757,547 bytes (486.9 MB on disk) + +PATH = os.path.expanduser("~") + "/datasets/arrow/" +DATA = [PATH + p for p in os.listdir(PATH)] +MB = 1024 * 1024 + +def measure(read_func, write_func, lib): + read_time, write_time, data_size = 0, 0, 0 + + ext = ".arrow" if (lib == "ArrowIPC") else ".feather" + lst = [d for d in DATA if d.endswith(ext)] + + for path in lst: + start = time.time() + read_data = read_func(path) + read_time += time.time() - start + + start = time.time() + write_func(f"{PATH}temp{ext}", read_data) + write_time += time.time() - start + + os.remove(f"{PATH}temp{ext}") + data_size += os.path.getsize(path) + + return read_time, write_time, data_size / MB + +pd_dict = {"name": "Pandas", + "read_func": lambda path: pd.read_feather(path), + "write_func": lambda path, data: data.to_feather(path) +} +ipc_dict = {"name": "ArrowIPC", + "read_func": lambda path: ipc.open_file(path).read_all(), + "write_func": lambda path, data: ipc.new_file(path, data.schema).write(data) +} +fth_dict = {"name": "Feather", + "read_func": lambda path: fth.read_table(path), + "write_func": lambda path, data: fth.write_feather(data, path), +} + +for lib in [pd_dict, ipc_dict, fth_dict]: + rt, wt, ds = measure(lib["read_func"], lib["write_func"], lib["name"]) + + print(f"\n{lib['name']}: data size = {ds:.4f} MB") + print(f"Read: latency = {rt:.4f} s; throughput = {ds / rt :.4f} MB/s") + print(f"Write: latency = {wt:.4f} s; throughput = {ds / wt :.4f} MB/s") \ No newline at end of file diff --git a/examples/Data_Storage_Benchmarking/hdf5.py b/examples/Data_Storage_Benchmarking/hdf5.py new file mode 100644 index 0000000..2f32acd --- /dev/null +++ b/examples/Data_Storage_Benchmarking/hdf5.py @@ -0,0 +1,82 @@ +import os +import time +import h5py as h5 +import pandas as pd +import tables as tb + +# malabar_datasets.h5: 1,699,090,853 bytes (1.71 GB on disk) + +PATH = os.path.expanduser("~") + "/datasets/hdf5/" +DATA = [PATH + p for p in os.listdir(PATH)] +MB = 1024 * 1024 + +def measure(read_func, write_func): + read_time, write_time, data_size = 0, 0, 0 + + for path in DATA: + start = time.time() + read_data = read_func(path) + read_time += time.time() - start + + start = time.time() + write_func(PATH + "temp.h5", read_data) + write_time += time.time() - start + + os.remove(PATH + "temp.h5") + data_size += os.path.getsize(path) + + return read_time, write_time, data_size / MB + +def read_h5py(path): + with h5.File(path, 'r') as f: + distances = h5.File(path, 'r')['distances'][:] + seqid = h5.File(path, 'r')['seqid'][:] + word = h5.File(path, 'r')['word'][:] + return distances, seqid, word + + +D, S, W = "distances", "seqid", "word" + +def write_pandas(path, data): + d, s, w = data + d.to_hdf(path, key=D, mode="w") + s.to_hdf(path, key=S, append=True) + w.to_hdf(path, key=W, append=True) + +def write_h5py(path, data): + d, s, w = data + with h5.File(path, "w") as f: + f.create_dataset(D, data=d) + f.create_dataset(S, data=s) + f.create_dataset(W, data=w) + +def read_tables(path): + with tb.open_file(path, "r").root as f: + return [f.distances[:], f.seqid[:], f.word[:]] + +def write_tables(path, data): + d, s, w = data + with tb.open_file(path, "w") as f: + f.create_array(f.root, D, d) + f.create_array(f.root, S, s) + f.create_array(f.root, W, w) + +pd_dict = {"name": "Pandas", + "read_func": lambda path: [pd.read_hdf(path, i) for i in [D, S, W]], + "write_func": write_pandas +} +h5_dict = {"name": "h5py", + "read_func": lambda path: [h5.File(path, "r")[i][:] for i in [D, S, W]], + "write_func": write_h5py +} +tb_dict = {"name": "Tables", + "read_func": read_tables, + "write_func": write_tables +} + +for lib in [h5_dict]: + rt, wt, ds = measure(lib["read_func"], lib["write_func"]) + + print(f"\n{lib['name']}: data size = {ds:.4f} MB") + print(f"Read: latency = {rt:.4f} s; throughput = {ds / rt :.4f} MB/s") + print(f"Write: latency = {wt:.4f} s; throughput = {ds / wt :.4f} MB/s") \ No newline at end of file diff --git a/examples/Data_Storage_Benchmarking/parquet.py b/examples/Data_Storage_Benchmarking/parquet.py new file mode 100644 index 0000000..49b04f5 --- /dev/null +++ b/examples/Data_Storage_Benchmarking/parquet.py @@ -0,0 +1,123 @@ +import os +import sys +import time +import polars as pl +import pyarrow.dataset as ds + +PATH = os.path.expanduser("~") +sys.path.append(PATH + "/fogrtx") +from fog_x.dataset import Dataset + +DEBUG = False +PATH += "/datasets/" +NAME = "test_convert" + +"""###""" + +if DEBUG: # Debugging code for call tracing fog_x, collapse this for readability + + dataset = Dataset(name=NAME, path=PATH) + # dataset.load_rtx_episodes(name="berkeley_autolab_ur5", split="train[:51]") + + # Debugging: path = "/home/joshzhang/datasets" + # Starts with "/" but does not end with it + # Should not initialize any cloud buckets! + + """###""" + + # Retrieve episode-level metadata as a pandas DataFrame + episode_info = dataset.get_episode_info() + + # Codebase map: + db_manager = dataset.db_manager # DatabaseManager + traj_info_c = db_manager.episode_info_connector # DataFrameC, child of (PolarsC) + step_data_c = db_manager.step_data_connector # LazyFrameC, child of (PolarsC) + + # Call tracing: + # dataset.get_episode_info() + # db_manager.get_episode_info_table() + # episode_info_c.select_table(dataset_name) + # -> episode_info_c.tables[dataset_name] + + episode_info = traj_info_c.tables[NAME] # Same object! + print(episode_info) + + """###""" + + # Obtain the actual episodes containing their step data + episode_0 = dataset.read_by(episode_info)[0] + + # Call tracing: + # dataset.read_by(episode_info) + # :: i = list(episode_info["episode_id"])[0] + # db_manager.get_step_table(i) + # step_data_c.select_table(dataset_name_i) + # -> step_data_c.tables[dataset_name_i] + + episode_0 = step_data_c.tables[NAME + "_0"] # Same object! + print(episode_0.collect()) + + """###""" + + # Retrieve Fog-X dataset step data as a Polars LazyFrame + step_data = dataset.get_step_data() + + # Call tracing: + # dataset.get_step_data() + # db_manager.get_step_table_all() + # step_data_c.get_dataset_table() + # :: d = ds.dataset(dataset_path, format="parquet") + # -> pl.scan_pyarrow_dataset(d) + + d = ds.dataset(PATH + NAME, format="parquet") + step_data = pl.scan_pyarrow_dataset(d) # Same object! + print(step_data.collect()) + +"""###""" + +N = 51 +MB = 1024 * 1024 +SDC = db_manager.step_data_connector + +def measure_traj(): + read_time, write_time, data_size = 0, 0, 0 + + for i in range(N): + print(f"measuring traj {i}") + + start = time.time() + traj = SDC.tables[f"{NAME}_{i}"].collect() + read_time += time.time() - start + + start = time.time() + traj.write_parquet(PATH + "temp.parquet") + write_time += time.time() - start + + os.remove(PATH + "temp.parquet") + data_size += traj.estimated_size() + + return read_time, write_time, data_size / MB + + +rt, wt, mb = measure_traj() + +print(f"\nPolars: data size = {mb:.4f} MB") +print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s") +print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s") + +print(f"\nPolars: num. traj = {N}") +print(f"Read: latency = {rt:.4f} s; throughput = {N / rt :.4f} traj/s") +print(f"Write: latency = {wt:.4f} s; throughput = {N / wt :.4f} traj/s") + +# pd_dict = {"name": "Pandas", +# "read_func": lambda path: pd.read_parquet(path), +# "write_func": lambda path, data: data.to_parquet(path) +# } +# fp_dict = {"name": "FastParquet", +# "read_func": lambda path: fp.ParquetFile(path).to_pandas(), +# "write_func": lambda path, data: fp.write(path, data) +# } +# pq_dict = {"name": "PyArrow", +# "read_func": lambda path: pq.read_table(path), +# "write_func": lambda path, data: pq.write_table(data, path) +# } \ No newline at end of file diff --git a/examples/Data_Storage_Benchmarking/tf_record.py b/examples/Data_Storage_Benchmarking/tf_record.py new file mode 100644 index 0000000..464905b --- /dev/null +++ b/examples/Data_Storage_Benchmarking/tf_record.py @@ -0,0 +1,47 @@ +import tensorflow as tf +import time +import os + +read_files = [ + '/home/joshzhang/datasets/berkeley_autolab_ur5/0.1.0/berkeley_autolab_ur5-test.tfrecord-00042-of-00050', + '/home/joshzhang/datasets/berkeley_autolab_ur5/0.1.0/berkeley_autolab_ur5-train.tfrecord-00069-of-00412' +] +write_file = '/home/joshzhang/datasets/berkeley_autolab_ur5/0.1.0/berkeley_autolab_ur5-train_write_test.tfrecord' + +def measure_read_speed(files): + start_time = time.time() + total_bytes = 0 + + for file_path in files: + for record in tf.data.TFRecordDataset(file_path): + total_bytes += len(record.numpy()) + + end_time = time.time() + elapsed_time = end_time - start_time + read_speed = total_bytes / elapsed_time / (1024 * 1024) # MB/s + + print(f"Read {total_bytes} bytes in {elapsed_time:.2f} seconds") + print(f"Read Speed: {read_speed:.2f} MB/s") + +def measure_write_speed(files, output_file): + start_time = time.time() + total_bytes = 0 + + with tf.io.TFRecordWriter(output_file) as writer: + for file_path in files: + for record in tf.data.TFRecordDataset(file_path): + writer.write(record.numpy()) + total_bytes += len(record.numpy()) + + end_time = time.time() + elapsed_time = end_time - start_time + write_speed = total_bytes / elapsed_time / (1024 * 1024) # MB/s + + print(f"Wrote {total_bytes} bytes in {elapsed_time:.2f} seconds") + print(f"Write Speed: {write_speed:.2f} MB/s") + +print("Measuring Read Speed...") +measure_read_speed(read_files) +print("Measuring Write Speed...") +measure_write_speed(read_files, write_file) +os.remove(write_file) \ No newline at end of file From b091aec8193ecb09de7644826291c2d823927087 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Thu, 20 Jun 2024 20:02:31 +0000 Subject: [PATCH 02/19] quick refactor --- .../NOTES_parquet.py | 0 .../OLD_convert_tf.py | 0 .../OLD_test_convert.py | 0 .../TFrecord.ipynb | 0 .../arrow.py | 0 .../hdf5.py | 0 .../Data_Storage_Benchmarking/tf_record.py | 47 ------------------- 7 files changed, 47 deletions(-) rename examples/Data_Storage_Benchmarking/parquet.py => benchmarking/NOTES_parquet.py (100%) rename {examples/Data_Storage_Benchmarking => benchmarking}/OLD_convert_tf.py (100%) rename {examples/Data_Storage_Benchmarking => benchmarking}/OLD_test_convert.py (100%) rename {examples/Data_Storage_Benchmarking => benchmarking}/TFrecord.ipynb (100%) rename {examples/Data_Storage_Benchmarking => benchmarking}/arrow.py (100%) rename {examples/Data_Storage_Benchmarking => benchmarking}/hdf5.py (100%) delete mode 100644 examples/Data_Storage_Benchmarking/tf_record.py diff --git a/examples/Data_Storage_Benchmarking/parquet.py b/benchmarking/NOTES_parquet.py similarity index 100% rename from examples/Data_Storage_Benchmarking/parquet.py rename to benchmarking/NOTES_parquet.py diff --git a/examples/Data_Storage_Benchmarking/OLD_convert_tf.py b/benchmarking/OLD_convert_tf.py similarity index 100% rename from examples/Data_Storage_Benchmarking/OLD_convert_tf.py rename to benchmarking/OLD_convert_tf.py diff --git a/examples/Data_Storage_Benchmarking/OLD_test_convert.py b/benchmarking/OLD_test_convert.py similarity index 100% rename from examples/Data_Storage_Benchmarking/OLD_test_convert.py rename to benchmarking/OLD_test_convert.py diff --git a/examples/Data_Storage_Benchmarking/TFrecord.ipynb b/benchmarking/TFrecord.ipynb similarity index 100% rename from examples/Data_Storage_Benchmarking/TFrecord.ipynb rename to benchmarking/TFrecord.ipynb diff --git a/examples/Data_Storage_Benchmarking/arrow.py b/benchmarking/arrow.py similarity index 100% rename from examples/Data_Storage_Benchmarking/arrow.py rename to benchmarking/arrow.py diff --git a/examples/Data_Storage_Benchmarking/hdf5.py b/benchmarking/hdf5.py similarity index 100% rename from examples/Data_Storage_Benchmarking/hdf5.py rename to benchmarking/hdf5.py diff --git a/examples/Data_Storage_Benchmarking/tf_record.py b/examples/Data_Storage_Benchmarking/tf_record.py deleted file mode 100644 index 464905b..0000000 --- a/examples/Data_Storage_Benchmarking/tf_record.py +++ /dev/null @@ -1,47 +0,0 @@ -import tensorflow as tf -import time -import os - -read_files = [ - '/home/joshzhang/datasets/berkeley_autolab_ur5/0.1.0/berkeley_autolab_ur5-test.tfrecord-00042-of-00050', - '/home/joshzhang/datasets/berkeley_autolab_ur5/0.1.0/berkeley_autolab_ur5-train.tfrecord-00069-of-00412' -] -write_file = '/home/joshzhang/datasets/berkeley_autolab_ur5/0.1.0/berkeley_autolab_ur5-train_write_test.tfrecord' - -def measure_read_speed(files): - start_time = time.time() - total_bytes = 0 - - for file_path in files: - for record in tf.data.TFRecordDataset(file_path): - total_bytes += len(record.numpy()) - - end_time = time.time() - elapsed_time = end_time - start_time - read_speed = total_bytes / elapsed_time / (1024 * 1024) # MB/s - - print(f"Read {total_bytes} bytes in {elapsed_time:.2f} seconds") - print(f"Read Speed: {read_speed:.2f} MB/s") - -def measure_write_speed(files, output_file): - start_time = time.time() - total_bytes = 0 - - with tf.io.TFRecordWriter(output_file) as writer: - for file_path in files: - for record in tf.data.TFRecordDataset(file_path): - writer.write(record.numpy()) - total_bytes += len(record.numpy()) - - end_time = time.time() - elapsed_time = end_time - start_time - write_speed = total_bytes / elapsed_time / (1024 * 1024) # MB/s - - print(f"Wrote {total_bytes} bytes in {elapsed_time:.2f} seconds") - print(f"Write Speed: {write_speed:.2f} MB/s") - -print("Measuring Read Speed...") -measure_read_speed(read_files) -print("Measuring Write Speed...") -measure_write_speed(read_files, write_file) -os.remove(write_file) \ No newline at end of file From 80ac1fdeec2c177d1102a3cf18a62b708d8782b8 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Thu, 20 Jun 2024 22:56:39 +0000 Subject: [PATCH 03/19] parquet data collected --- benchmarking/{NOTES_parquet.py => parquet.py} | 86 ++++++++++--------- benchmarking/plotting_notes.py | 69 +++++++++++++++ 2 files changed, 114 insertions(+), 41 deletions(-) rename benchmarking/{NOTES_parquet.py => parquet.py} (51%) create mode 100644 benchmarking/plotting_notes.py diff --git a/benchmarking/NOTES_parquet.py b/benchmarking/parquet.py similarity index 51% rename from benchmarking/NOTES_parquet.py rename to benchmarking/parquet.py index 49b04f5..aaca825 100644 --- a/benchmarking/NOTES_parquet.py +++ b/benchmarking/parquet.py @@ -2,22 +2,24 @@ import sys import time import polars as pl +import pandas as pd +import pyarrow.parquet as pq import pyarrow.dataset as ds PATH = os.path.expanduser("~") -sys.path.append(PATH + "/fogrtx") +sys.path.append(PATH + "/fog_x_fork") from fog_x.dataset import Dataset DEBUG = False PATH += "/datasets/" NAME = "test_convert" -"""###""" -if DEBUG: # Debugging code for call tracing fog_x, collapse this for readability +dataset = Dataset(name=NAME, path=PATH) - dataset = Dataset(name=NAME, path=PATH) - # dataset.load_rtx_episodes(name="berkeley_autolab_ur5", split="train[:51]") +if DEBUG: # Debugging code for call tracing thru , collapse for readability + if False: + dataset.load_rtx_episodes(name="berkeley_autolab_ur5", split="train[:51]") # Debugging: path = "/home/joshzhang/datasets" # Starts with "/" but does not end with it @@ -36,8 +38,8 @@ # Call tracing: # dataset.get_episode_info() # db_manager.get_episode_info_table() - # episode_info_c.select_table(dataset_name) - # -> episode_info_c.tables[dataset_name] + # traj_info_c.select_table(dataset_name) + # -> traj_info_c.tables[dataset_name] episode_info = traj_info_c.tables[NAME] # Same object! print(episode_info) @@ -73,51 +75,53 @@ step_data = pl.scan_pyarrow_dataset(d) # Same object! print(step_data.collect()) -"""###""" N = 51 MB = 1024 * 1024 -SDC = db_manager.step_data_connector +SDC = dataset.db_manager.step_data_connector -def measure_traj(): +def measure_traj(read_func, write_func): read_time, write_time, data_size = 0, 0, 0 for i in range(N): - print(f"measuring traj {i}") + print(f"Measuring trajectory {i}") + path = f"{SDC.path}/{NAME}_{i}-0.parquet" - start = time.time() - traj = SDC.tables[f"{NAME}_{i}"].collect() - read_time += time.time() - start + stop = time.time() + traj = read_func(path) + read_time += time.time() - stop - start = time.time() - traj.write_parquet(PATH + "temp.parquet") - write_time += time.time() - start + data_size += os.path.getsize(path) + path = PATH + "temp.parquet" - os.remove(PATH + "temp.parquet") - data_size += traj.estimated_size() + stop = time.time() + write_func(path, traj) + write_time += time.time() - stop + os.remove(path) return read_time, write_time, data_size / MB -rt, wt, mb = measure_traj() - -print(f"\nPolars: data size = {mb:.4f} MB") -print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s") -print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s") - -print(f"\nPolars: num. traj = {N}") -print(f"Read: latency = {rt:.4f} s; throughput = {N / rt :.4f} traj/s") -print(f"Write: latency = {wt:.4f} s; throughput = {N / wt :.4f} traj/s") - -# pd_dict = {"name": "Pandas", -# "read_func": lambda path: pd.read_parquet(path), -# "write_func": lambda path, data: data.to_parquet(path) -# } -# fp_dict = {"name": "FastParquet", -# "read_func": lambda path: fp.ParquetFile(path).to_pandas(), -# "write_func": lambda path, data: fp.write(path, data) -# } -# pq_dict = {"name": "PyArrow", -# "read_func": lambda path: pq.read_table(path), -# "write_func": lambda path, data: pq.write_table(data, path) -# } \ No newline at end of file +fx_dict = {"name": "Fog-X", + "read_func": lambda path: SDC.tables[path.split("/")[-1].split("-")[0]].collect(), + "write_func": lambda path, data: data.write_parquet(path) +} +pl_dict = {"name": "Polars", + "read_func": lambda path: pl.read_parquet(path), + "write_func": lambda path, data: data.write_parquet(path) +} +pq_dict = {"name": "PyArrow", + "read_func": lambda path: pl.from_arrow(pq.read_table(path)), + "write_func": lambda path, data: pq.write_table(data.to_arrow(), path) +} +pd_dict = {"name": "Pandas", + "read_func": lambda path: pd.read_parquet(path), + "write_func": lambda path, data: data.to_parquet(path) +} + +for lib in [fx_dict, pl_dict, pq_dict, pd_dict]: + rt, wt, mb = measure_traj(lib["read_func"], lib["write_func"]) + + print(f"\n{lib['name']}: \nData size = {mb:.4f} MB; Num. traj = {N}") + print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") + print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file diff --git a/benchmarking/plotting_notes.py b/benchmarking/plotting_notes.py new file mode 100644 index 0000000..722f1a6 --- /dev/null +++ b/benchmarking/plotting_notes.py @@ -0,0 +1,69 @@ +# Fog-X: +# Data size = 6707.3818 MB ; Num. traj = 51 +# Read: latency = 42.1416 s ; throughput = 159.1630 MB/s, 1.2102 traj/s +# Write: latency = 258.8635 s; throughput = 25.9109 MB/s, 0.1970 traj/s + +# Polars: +# Data size = 6707.3818 MB ; Num. traj = 51 +# Read: latency = 22.9974 s ; throughput = 291.6581 MB/s, 2.2176 traj/s +# Write: latency = 241.4137 s; throughput = 27.7838 MB/s, 0.2113 traj/s + +# PyArrow: +# Data size = 6707.3818 MB ; Num. traj = 51 +# Read: latency = 27.9808 s ; throughput = 239.7136 MB/s, 1.8227 traj/s +# Write: latency = 80.9986 s ; throughput = 82.8086 MB/s, 0.6296 traj/s + +# Pandas: +# Data size = 6707.3818 MB ; Num. traj = 51 +# Read: latency = 49.1056 s ; throughput = 136.5909 MB/s, 1.0386 traj/s +# Write: latency = 103.6820 s; throughput = 64.6918 MB/s, 0.4919 traj/s + +# plotting + code +# temporary plots: + +import matplotlib.pyplot as plt + +# Josh's data for Polars +polars_read_latency = 43.7798 +polars_read_speed = 334.6640 +polars_read_throughput = 1.1649 + +polars_write_latency = 257.1229 +polars_write_speed = 56.9826 +polars_write_throughput = 0.1983 + +# above data for TensorFlow Record +tf_read_latency = 16.76 +tf_read_speed = 484.53 +tf_read_throughput = 6.21 + +tf_write_latency = 44.17 +tf_write_speed = 183.84 +tf_write_throughput = 2.35 + +labels = ['Polars Read', 'Polars Write', 'TF Record Read', 'TF Record Write'] + +latencies = [polars_read_latency, polars_write_latency, tf_read_latency, tf_write_latency] +speeds = [polars_read_speed, polars_write_speed, tf_read_speed, tf_write_speed] +throughputs = [polars_read_throughput, polars_write_throughput, tf_read_throughput, tf_write_throughput] + +# latency plots +plt.figure(figsize=(14, 8)) +plt.subplot(3, 1, 1) +plt.bar(labels, latencies, color=['blue', 'green', 'orange', 'red']) +plt.ylabel('Latency (s)') +plt.title('Latency, Speed, and Throughput of Polars and TF Record Operations') + +# speed plots +plt.subplot(3, 1, 2) +plt.bar(labels, speeds, color=['blue', 'green', 'orange', 'red']) +plt.ylabel('Speed (MB/s)') + +# throughput plotting +plt.subplot(3, 1, 3) +plt.bar(labels, throughputs, color=['blue', 'green', 'orange', 'red']) +plt.ylabel('Throughput (trajectories/second)') +plt.xlabel('Operation') + +plt.tight_layout() +plt.show() From ceb9d9e1dd68183054a579c4a4913744a9e0ff0f Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Thu, 20 Jun 2024 23:42:47 +0000 Subject: [PATCH 04/19] converting arrow --- benchmarking/arrow.py | 74 +++++++++++++++---------------------- benchmarking/hdf5.py | 82 ----------------------------------------- benchmarking/parquet.py | 51 ++++++++++++------------- 3 files changed, 55 insertions(+), 152 deletions(-) delete mode 100644 benchmarking/hdf5.py diff --git a/benchmarking/arrow.py b/benchmarking/arrow.py index fdf3b45..6cdc6f6 100644 --- a/benchmarking/arrow.py +++ b/benchmarking/arrow.py @@ -1,51 +1,35 @@ import os +import sys import time -import pandas as pd -import pyarrow.ipc as ipc -import pyarrow.feather as fth +import pyarrow as pa +import pyarrow.parquet as pq +import pyarrow.feather as ft -# taxi_trip_data.parquet: 472,757,547 bytes (486.9 MB on disk) +PATH = os.path.expanduser("~") +sys.path.append(PATH + "/fog_x_fork") -PATH = os.path.expanduser("~") + "/datasets/arrow/" -DATA = [PATH + p for p in os.listdir(PATH)] +PATH += "/datasets/" +NAME = "test_convert" +out_dir = PATH + "arrow_convert" + + +def convert_parquet(in_dir): + table = pq.read_table(in_dir) + file = in_dir.split("/")[-1].split("-")[0] + + with pa.ipc.new_file(f"{out_dir}/IPC/{file}.arrow", table.schema) as w: + w.write_table(table) + + with pa.OSFile(f"{out_dir}/REG/{file}.arrow", "wb") as sink: + with pa.RecordBatchFileWriter(sink, table.schema) as w: + w.write_table(table) + + ft.write_feather(table, f"{out_dir}/fth/{file}.arrow", "wb") + + +N = 51 MB = 1024 * 1024 -def measure(read_func, write_func, lib): - read_time, write_time, data_size = 0, 0, 0 - - ext = ".arrow" if (lib == "ArrowIPC") else ".feather" - lst = [d for d in DATA if d.endswith(ext)] - - for path in lst: - start = time.time() - read_data = read_func(path) - read_time += time.time() - start - - start = time.time() - write_func(f"{PATH}temp{ext}", read_data) - write_time += time.time() - start - - os.remove(f"{PATH}temp{ext}") - data_size += os.path.getsize(path) - - return read_time, write_time, data_size / MB - -pd_dict = {"name": "Pandas", - "read_func": lambda path: pd.read_feather(path), - "write_func": lambda path, data: data.to_feather(path) -} -ipc_dict = {"name": "ArrowIPC", - "read_func": lambda path: ipc.open_file(path).read_all(), - "write_func": lambda path, data: ipc.new_file(path, data.schema).write(data) -} -fth_dict = {"name": "Feather", - "read_func": lambda path: fth.read_table(path), - "write_func": lambda path, data: fth.write_feather(data, path), -} - -for lib in [pd_dict, ipc_dict, fth_dict]: - rt, wt, ds = measure(lib["read_func"], lib["write_func"], lib["name"]) - - print(f"\n{lib['name']}: data size = {ds:.4f} MB") - print(f"Read: latency = {rt:.4f} s; throughput = {ds / rt :.4f} MB/s") - print(f"Write: latency = {wt:.4f} s; throughput = {ds / wt :.4f} MB/s") \ No newline at end of file +if True: + for i in range(N): + convert_parquet(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") \ No newline at end of file diff --git a/benchmarking/hdf5.py b/benchmarking/hdf5.py deleted file mode 100644 index 2f32acd..0000000 --- a/benchmarking/hdf5.py +++ /dev/null @@ -1,82 +0,0 @@ -import os -import time -import h5py as h5 -import pandas as pd -import tables as tb - -# malabar_datasets.h5: 1,699,090,853 bytes (1.71 GB on disk) - -PATH = os.path.expanduser("~") + "/datasets/hdf5/" -DATA = [PATH + p for p in os.listdir(PATH)] -MB = 1024 * 1024 - -def measure(read_func, write_func): - read_time, write_time, data_size = 0, 0, 0 - - for path in DATA: - start = time.time() - read_data = read_func(path) - read_time += time.time() - start - - start = time.time() - write_func(PATH + "temp.h5", read_data) - write_time += time.time() - start - - os.remove(PATH + "temp.h5") - data_size += os.path.getsize(path) - - return read_time, write_time, data_size / MB - -def read_h5py(path): - with h5.File(path, 'r') as f: - distances = h5.File(path, 'r')['distances'][:] - seqid = h5.File(path, 'r')['seqid'][:] - word = h5.File(path, 'r')['word'][:] - return distances, seqid, word - - -D, S, W = "distances", "seqid", "word" - -def write_pandas(path, data): - d, s, w = data - d.to_hdf(path, key=D, mode="w") - s.to_hdf(path, key=S, append=True) - w.to_hdf(path, key=W, append=True) - -def write_h5py(path, data): - d, s, w = data - with h5.File(path, "w") as f: - f.create_dataset(D, data=d) - f.create_dataset(S, data=s) - f.create_dataset(W, data=w) - -def read_tables(path): - with tb.open_file(path, "r").root as f: - return [f.distances[:], f.seqid[:], f.word[:]] - -def write_tables(path, data): - d, s, w = data - with tb.open_file(path, "w") as f: - f.create_array(f.root, D, d) - f.create_array(f.root, S, s) - f.create_array(f.root, W, w) - -pd_dict = {"name": "Pandas", - "read_func": lambda path: [pd.read_hdf(path, i) for i in [D, S, W]], - "write_func": write_pandas -} -h5_dict = {"name": "h5py", - "read_func": lambda path: [h5.File(path, "r")[i][:] for i in [D, S, W]], - "write_func": write_h5py -} -tb_dict = {"name": "Tables", - "read_func": read_tables, - "write_func": write_tables -} - -for lib in [h5_dict]: - rt, wt, ds = measure(lib["read_func"], lib["write_func"]) - - print(f"\n{lib['name']}: data size = {ds:.4f} MB") - print(f"Read: latency = {rt:.4f} s; throughput = {ds / rt :.4f} MB/s") - print(f"Write: latency = {wt:.4f} s; throughput = {ds / wt :.4f} MB/s") \ No newline at end of file diff --git a/benchmarking/parquet.py b/benchmarking/parquet.py index aaca825..bd12d53 100644 --- a/benchmarking/parquet.py +++ b/benchmarking/parquet.py @@ -13,10 +13,9 @@ DEBUG = False PATH += "/datasets/" NAME = "test_convert" - - dataset = Dataset(name=NAME, path=PATH) + if DEBUG: # Debugging code for call tracing thru , collapse for readability if False: dataset.load_rtx_episodes(name="berkeley_autolab_ur5", split="train[:51]") @@ -102,26 +101,28 @@ def measure_traj(read_func, write_func): return read_time, write_time, data_size / MB -fx_dict = {"name": "Fog-X", - "read_func": lambda path: SDC.tables[path.split("/")[-1].split("-")[0]].collect(), - "write_func": lambda path, data: data.write_parquet(path) -} -pl_dict = {"name": "Polars", - "read_func": lambda path: pl.read_parquet(path), - "write_func": lambda path, data: data.write_parquet(path) -} -pq_dict = {"name": "PyArrow", - "read_func": lambda path: pl.from_arrow(pq.read_table(path)), - "write_func": lambda path, data: pq.write_table(data.to_arrow(), path) -} -pd_dict = {"name": "Pandas", - "read_func": lambda path: pd.read_parquet(path), - "write_func": lambda path, data: data.to_parquet(path) -} - -for lib in [fx_dict, pl_dict, pq_dict, pd_dict]: - rt, wt, mb = measure_traj(lib["read_func"], lib["write_func"]) - - print(f"\n{lib['name']}: \nData size = {mb:.4f} MB; Num. traj = {N}") - print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") - print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file +if __name__ == "__main__": + + fx_dict = {"name": "Fog-X", + "read_func": lambda path: SDC.tables[path.split("/")[-1].split("-")[0]].collect(), + "write_func": lambda path, data: data.write_parquet(path) + } + pl_dict = {"name": "Polars", + "read_func": lambda path: pl.read_parquet(path), + "write_func": lambda path, data: data.write_parquet(path) + } + pq_dict = {"name": "PyArrow", + "read_func": lambda path: pl.from_arrow(pq.read_table(path)), + "write_func": lambda path, data: pq.write_table(data.to_arrow(), path) + } + pd_dict = {"name": "Pandas", + "read_func": lambda path: pd.read_parquet(path), + "write_func": lambda path, data: data.to_parquet(path) + } + + for lib in [fx_dict, pl_dict, pq_dict, pd_dict]: + rt, wt, mb = measure_traj(lib["read_func"], lib["write_func"]) + + print(f"\n{lib['name']}: \nData size = {mb:.4f} MB; Num. traj = {N}") + print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") + print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file From 64f4098a37638bcb29cd67636bcdc190843cbcd8 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Fri, 21 Jun 2024 00:04:16 +0000 Subject: [PATCH 05/19] debugging hdf5 --- benchmarking/OLD_test_convert.py | 29 ------------------- benchmarking/arrow.py | 9 ++++-- .../{OLD_convert_tf.py => convert_tf_hdf5.py} | 24 ++++++++++++++- 3 files changed, 29 insertions(+), 33 deletions(-) delete mode 100644 benchmarking/OLD_test_convert.py rename benchmarking/{OLD_convert_tf.py => convert_tf_hdf5.py} (75%) diff --git a/benchmarking/OLD_test_convert.py b/benchmarking/OLD_test_convert.py deleted file mode 100644 index cf4f903..0000000 --- a/benchmarking/OLD_test_convert.py +++ /dev/null @@ -1,29 +0,0 @@ -import os -import sys -import tensorflow as tf -import pyarrow.parquet as pq - -def disk_size(file): - return os.path.getsize(file) - -def tf_memory(tf_file): - dataset = tf.data.TFRecordDataset(tf_file) - return sys.getsizeof([record.numpy() for record in dataset]) - -def pq_memory(pq_file): - return pq.read_table(pq_file).nbytes - -DIR = os.path.expanduser("~") + "/datasets/" -in_dir = DIR + "berkeley_autolab_ur5/" -out_dir = DIR + "parquet/" -prefix = "berkeley_autolab_ur5-train.tfrecord-" -suffix = ".parquet" - -MB = 1024 * 1024 -tf_file = in_dir + prefix + "00000-of-00412" -pq_file = out_dir + prefix + "00000.parquet" - -print(f"TFRecord size on disk: {disk_size(tf_file) / MB:.2f} MB") -print(f"Parquet size on disk: {disk_size(pq_file) / MB:.2f} MB") -print(f"TFRecord size in memory: {tf_memory(tf_file) / MB:.2f} MB") -print(f"Parquet size in memory: {pq_memory(pq_file) / MB:.2f} MB") \ No newline at end of file diff --git a/benchmarking/arrow.py b/benchmarking/arrow.py index 6cdc6f6..e270200 100644 --- a/benchmarking/arrow.py +++ b/benchmarking/arrow.py @@ -24,12 +24,15 @@ def convert_parquet(in_dir): with pa.RecordBatchFileWriter(sink, table.schema) as w: w.write_table(table) - ft.write_feather(table, f"{out_dir}/fth/{file}.arrow", "wb") + ft.write_feather(table, f"{out_dir}/fth/{file}.arrow", "uncompressed") N = 51 MB = 1024 * 1024 -if True: +if False: for i in range(N): - convert_parquet(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") \ No newline at end of file + convert_parquet(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") + +if __name__ == "__main__": + exit() \ No newline at end of file diff --git a/benchmarking/OLD_convert_tf.py b/benchmarking/convert_tf_hdf5.py similarity index 75% rename from benchmarking/OLD_convert_tf.py rename to benchmarking/convert_tf_hdf5.py index 9b6b8f5..747b757 100644 --- a/benchmarking/OLD_convert_tf.py +++ b/benchmarking/convert_tf_hdf5.py @@ -1,9 +1,11 @@ import os +import sys import tensorflow as tf import pandas as pd import pyarrow as pa import pyarrow.parquet as pq +# NOTE: this code assumes you have the path: home/username/datasets/berkeley_autolab_ur5/TRAIN.tfrecord def parse_tfrecord(raw_record): FLF = tf.io.FixedLenFeature @@ -67,4 +69,24 @@ def tf_to_parquet(in_dir, out_dir, prefix, suffix): prefix = "berkeley_autolab_ur5-train.tfrecord-" suffix = ".parquet" -tf_to_parquet(in_dir, out_dir, prefix, suffix) \ No newline at end of file +tf_to_parquet(in_dir, out_dir, prefix, suffix) + + +def disk_size(file): + return os.path.getsize(file) + +def tf_memory(tf_file): + dataset = tf.data.TFRecordDataset(tf_file) + return sys.getsizeof([record.numpy() for record in dataset]) + +def pq_memory(pq_file): + return pq.read_table(pq_file).nbytes + +MB = 1024 * 1024 +tf_file = in_dir + prefix + "00000-of-00412" +pq_file = out_dir + prefix + "00000.parquet" + +print(f"TFRecord size on disk: {disk_size(tf_file) / MB:.2f} MB") +print(f"Parquet size on disk: {disk_size(pq_file) / MB:.2f} MB") +print(f"TFRecord size in memory: {tf_memory(tf_file) / MB:.2f} MB") +print(f"Parquet size in memory: {pq_memory(pq_file) / MB:.2f} MB") \ No newline at end of file From cc26b5b9509cc2057901965b8af62e5a8c8c8ac5 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Fri, 21 Jun 2024 03:31:34 +0000 Subject: [PATCH 06/19] arrow done --- benchmarking/arrow.py | 63 +++++++++++++++++-- benchmarking/hdf5.py | 19 ++++++ benchmarking/plotting_notes.py | 23 ++++++- .../{convert_tf_hdf5.py => tf_to_hdf5.py} | 2 +- 4 files changed, 98 insertions(+), 9 deletions(-) create mode 100644 benchmarking/hdf5.py rename benchmarking/{convert_tf_hdf5.py => tf_to_hdf5.py} (96%) diff --git a/benchmarking/arrow.py b/benchmarking/arrow.py index e270200..80d68e2 100644 --- a/benchmarking/arrow.py +++ b/benchmarking/arrow.py @@ -1,9 +1,12 @@ import os import sys import time +import pandas as pd import pyarrow as pa import pyarrow.parquet as pq import pyarrow.feather as ft +from pyarrow import RecordBatchFileReader as Reader +from pyarrow import RecordBatchFileWriter as Writer PATH = os.path.expanduser("~") sys.path.append(PATH + "/fog_x_fork") @@ -16,15 +19,15 @@ def convert_parquet(in_dir): table = pq.read_table(in_dir) file = in_dir.split("/")[-1].split("-")[0] - - with pa.ipc.new_file(f"{out_dir}/IPC/{file}.arrow", table.schema) as w: - w.write_table(table) with pa.OSFile(f"{out_dir}/REG/{file}.arrow", "wb") as sink: - with pa.RecordBatchFileWriter(sink, table.schema) as w: + with Writer(sink, table.schema) as w: w.write_table(table) - ft.write_feather(table, f"{out_dir}/fth/{file}.arrow", "uncompressed") + with pa.ipc.new_file(f"{out_dir}/IPC/{file}.arrow", table.schema) as w: + w.write_table(table) + + ft.write_feather(table, f"{out_dir}/FTH/{file}.feather", "uncompressed") N = 51 @@ -34,5 +37,53 @@ def convert_parquet(in_dir): for i in range(N): convert_parquet(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") + +def measure_traj(read_func, write_func, name): + read_time, write_time, data_size = 0, 0, 0 + + for i in range(N): + print(f"Measuring trajectory {i}") + + extn = "arrow" if (name[0] == "A") else "feather" + path = f"{out_dir}/{name[-3:]}/{NAME}_{i}.{extn}" + + stop = time.time() + traj = read_func(path) + read_time += time.time() - stop + + data_size += os.path.getsize(path) + path = f"{PATH}temp.{extn}" + + stop = time.time() + write_func(path, traj) + write_time += time.time() - stop + + os.remove(path) + return read_time, write_time, data_size / MB + + if __name__ == "__main__": - exit() \ No newline at end of file + + reg_dict = {"name": "Arrow_REG", + "read_func": lambda path: Reader(pa.OSFile(path, "rb")).read_all(), + "write_func": lambda path, data: Writer(pa.OSFile(path, "wb"), data.schema).write_table(data) + } + ipc_dict = {"name": "Arrow_IPC", + "read_func": lambda path: pa.ipc.open_file(path).read_all(), + "write_func": lambda path, data: pa.ipc.new_file(path, data.schema).write_table(data) + } + fth_dict = {"name": "Feather_FTH", + "read_func": lambda path: ft.read_table(path), + "write_func": lambda path, data: ft.write_feather(data, path) + } + pd_dict = {"name": "Pandas_FTH", + "read_func": lambda path: pd.read_feather(path), + "write_func": lambda path, data: data.to_feather(path) + } + + for lib in [reg_dict, ipc_dict, fth_dict, pd_dict]: + rt, wt, mb = measure_traj(lib["read_func"], lib["write_func"], lib["name"]) + + print(f"\n{lib['name']}: \nData size = {mb:.4f} MB; Num. traj = {N}") + print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") + print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file diff --git a/benchmarking/hdf5.py b/benchmarking/hdf5.py new file mode 100644 index 0000000..a4c26db --- /dev/null +++ b/benchmarking/hdf5.py @@ -0,0 +1,19 @@ +import h5py +import pyarrow.parquet as pq + +def parquet_to_hdf5(parquet_file, hdf5_file): + # Read the Parquet file + table = pq.read_table(parquet_file) + columns = table.column_names + + # Create HDF5 file + with h5py.File(hdf5_file, 'w') as h5_file: + for column in columns: + data = table[column].to_numpy() + h5_file.create_dataset(column, data=data) + print(f"Data successfully written to {hdf5_file}") + +# Example usage +parquet_file = 'input_file.parquet' +hdf5_file = 'output_file.h5' +parquet_to_hdf5(parquet_file, hdf5_file) \ No newline at end of file diff --git a/benchmarking/plotting_notes.py b/benchmarking/plotting_notes.py index 722f1a6..71a643a 100644 --- a/benchmarking/plotting_notes.py +++ b/benchmarking/plotting_notes.py @@ -18,8 +18,27 @@ # Read: latency = 49.1056 s ; throughput = 136.5909 MB/s, 1.0386 traj/s # Write: latency = 103.6820 s; throughput = 64.6918 MB/s, 0.4919 traj/s -# plotting + code -# temporary plots: +"""###""" + +# Arrow_REG: +# Data size = 14651.9697 MB ; Num. traj = 51 +# Read: latency = 39.5354 s; throughput = 370.6041 MB/s, 1.2900 traj/s +# Write: latency = 26.4765 s; throughput = 553.3952 MB/s, 1.9262 traj/s + +# Arrow_IPC: +# Data size = 14651.9697 MB ; Num. traj = 51 +# Read: latency = 44.0609 s; throughput = 332.5391 MB/s, 1.1575 traj/s +# Write: latency = 25.1574 s; throughput = 582.4108 MB/s, 2.0272 traj/s + +# Feather_FTH: +# Data size = 14651.9697 MB; Num. traj = 51 +# Read: latency = 47.5646 s; throughput = 308.0433 MB/s, 1.0722 traj/s +# Write: latency = 35.4595 s; throughput = 413.2030 MB/s, 1.4383 traj/s + +# Pandas_FTH: +# Data size = 14651.9697 MB; Num. traj = 51 +# Read: latency = 26.6213 s; throughput = 550.3844 MB/s, 1.9158 traj/s +# Write: latency = 45.9015 s; throughput = 319.2046 MB/s, 1.1111 traj/s import matplotlib.pyplot as plt diff --git a/benchmarking/convert_tf_hdf5.py b/benchmarking/tf_to_hdf5.py similarity index 96% rename from benchmarking/convert_tf_hdf5.py rename to benchmarking/tf_to_hdf5.py index 747b757..b6755e8 100644 --- a/benchmarking/convert_tf_hdf5.py +++ b/benchmarking/tf_to_hdf5.py @@ -5,7 +5,7 @@ import pyarrow as pa import pyarrow.parquet as pq -# NOTE: this code assumes you have the path: home/username/datasets/berkeley_autolab_ur5/TRAIN.tfrecord +# NOTE: this code assumes you have the paths: home/username/datasets/berkeley_autolab_ur5/TRAIN.tfrecord def parse_tfrecord(raw_record): FLF = tf.io.FixedLenFeature From ae58c363b506781b7804baca82a5cda19d54651a Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Fri, 21 Jun 2024 07:48:50 +0000 Subject: [PATCH 07/19] tfrecord and all benchmarks done --- benchmarking/arrow.py | 7 +- benchmarking/hdf5.py | 93 ++++++-- benchmarking/misc/fogx_notes.py | 69 ++++++ .../{TFrecord.ipynb => misc/tf_record.ipynb} | 215 ++++++------------ benchmarking/parquet.py | 67 +----- .../{plotting_notes.py => plot_notes.py} | 43 ++-- benchmarking/tf_record.py | 52 +++++ 7 files changed, 304 insertions(+), 242 deletions(-) create mode 100644 benchmarking/misc/fogx_notes.py rename benchmarking/{TFrecord.ipynb => misc/tf_record.ipynb} (88%) rename benchmarking/{plotting_notes.py => plot_notes.py} (74%) create mode 100644 benchmarking/tf_record.py diff --git a/benchmarking/arrow.py b/benchmarking/arrow.py index 80d68e2..3283fad 100644 --- a/benchmarking/arrow.py +++ b/benchmarking/arrow.py @@ -16,7 +16,7 @@ out_dir = PATH + "arrow_convert" -def convert_parquet(in_dir): +def pq_to_arrow(in_dir): table = pq.read_table(in_dir) file = in_dir.split("/")[-1].split("-")[0] @@ -35,8 +35,7 @@ def convert_parquet(in_dir): if False: for i in range(N): - convert_parquet(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") - + pq_to_arrow(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") def measure_traj(read_func, write_func, name): read_time, write_time, data_size = 0, 0, 0 @@ -84,6 +83,6 @@ def measure_traj(read_func, write_func, name): for lib in [reg_dict, ipc_dict, fth_dict, pd_dict]: rt, wt, mb = measure_traj(lib["read_func"], lib["write_func"], lib["name"]) - print(f"\n{lib['name']}: \nData size = {mb:.4f} MB; Num. traj = {N}") + print(f"\n{lib['name']}: \nDisk size = {mb:.4f} MB; Num. traj = {N}") print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file diff --git a/benchmarking/hdf5.py b/benchmarking/hdf5.py index a4c26db..1b764e5 100644 --- a/benchmarking/hdf5.py +++ b/benchmarking/hdf5.py @@ -1,19 +1,80 @@ +import os +import sys +import time import h5py +import numpy as np import pyarrow.parquet as pq -def parquet_to_hdf5(parquet_file, hdf5_file): - # Read the Parquet file - table = pq.read_table(parquet_file) - columns = table.column_names - - # Create HDF5 file - with h5py.File(hdf5_file, 'w') as h5_file: - for column in columns: - data = table[column].to_numpy() - h5_file.create_dataset(column, data=data) - print(f"Data successfully written to {hdf5_file}") - -# Example usage -parquet_file = 'input_file.parquet' -hdf5_file = 'output_file.h5' -parquet_to_hdf5(parquet_file, hdf5_file) \ No newline at end of file +PATH = os.path.expanduser("~") +sys.path.append(PATH + "/fog_x_fork") + +PATH += "/datasets/" +NAME = "test_convert" +out_dir = PATH + "hdf5_convert" + + +def pq_to_hdf5(in_dir): + table = pq.read_table(in_dir) + file = in_dir.split("/")[-1].split("-")[0] + + with h5py.File(f"{out_dir}/{file}.hdf5", "w") as hdf5: + for name in table.column_names: + data = table[name].to_numpy() + dtype = data.dtype + try: + hdf5.create_dataset(name, data=data, dtype=dtype, compression=None) + except Exception: + dtype = h5py.string_dtype("utf-8") + + data = np.array([str(x) for x in data], dtype=dtype) + hdf5.create_dataset(name, data=data, dtype=dtype, compression=None) + +N = 51 +MB = 1024 * 1024 + +if False: + for i in range(N): + pq_to_hdf5(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") + +def measure_traj(read_func, write_func): + read_time, write_time, data_size = 0, 0, 0 + + for i in range(N): + print(f"Measuring trajectory {i}") + path = f"{out_dir}/{NAME}_{i}.hdf5" + + stop = time.time() + traj = read_func(path) + read_time += time.time() - stop + + data_size += os.path.getsize(path) + path = f"{PATH}temp.hdf5" + + stop = time.time() + write_func(path, traj) + write_time += time.time() - stop + + os.remove(path) + return read_time, write_time, data_size / MB + + +if __name__ == "__main__": + + def read_h5(path): + data = {} + with h5py.File(path, "r") as file: + for key in file.keys(): + if isinstance(file[key], h5py.Dataset): + data[key] = file[key][:] + return data + + def write_h5(path, data): + with h5py.File(path, "w") as file: + for name, dset in data.items(): + file.create_dataset(name, data=dset) + + rt, wt, mb = measure_traj(read_h5, write_h5) + + print(f"\nHDF5: \nDisk size = {mb:.4f} MB; Num. traj = {N}") + print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") + print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file diff --git a/benchmarking/misc/fogx_notes.py b/benchmarking/misc/fogx_notes.py new file mode 100644 index 0000000..01c9876 --- /dev/null +++ b/benchmarking/misc/fogx_notes.py @@ -0,0 +1,69 @@ +import os +import sys +import polars as pl +import pyarrow.dataset as ds + +PATH = os.path.expanduser("~") +sys.path.append(PATH + "/fog_x_fork") +from fog_x.dataset import Dataset + +PATH += "/datasets/" +NAME = "test_convert" +dataset = Dataset(name=NAME, path=PATH) + +if False: + dataset.load_rtx_episodes(name="berkeley_autolab_ur5", split="train[:51]") + +# Debugging: path = "/home/joshzhang/datasets" + # Starts with "/" but does not end with it + # Should not initialize any cloud buckets! + +"""###""" + +# Retrieve episode-level metadata as a pandas DataFrame +episode_info = dataset.get_episode_info() + +# Codebase map: +db_manager = dataset.db_manager # DatabaseManager +traj_info_c = db_manager.episode_info_connector # DataFrameC, child of (PolarsC) +step_data_c = db_manager.step_data_connector # LazyFrameC, child of (PolarsC) + +# Call tracing: + # dataset.get_episode_info() + # db_manager.get_episode_info_table() + # traj_info_c.select_table(dataset_name) + # -> traj_info_c.tables[dataset_name] + +episode_info = traj_info_c.tables[NAME] # Same object! +print(episode_info) + +"""###""" + +# Obtain the actual episodes containing their step data +episode_0 = dataset.read_by(episode_info)[0] + +# Call tracing: + # dataset.read_by(episode_info) + # :: i = list(episode_info["episode_id"])[0] + # db_manager.get_step_table(i) + # step_data_c.select_table(dataset_name_i) + # -> step_data_c.tables[dataset_name_i] + +episode_0 = step_data_c.tables[NAME + "_0"] # Same object! +print(episode_0.collect()) + +"""###""" + +# Retrieve Fog-X dataset step data as a Polars LazyFrame +step_data = dataset.get_step_data() + +# Call tracing: + # dataset.get_step_data() + # db_manager.get_step_table_all() + # step_data_c.get_dataset_table() + # :: d = ds.dataset(dataset_path, format="parquet") + # -> pl.scan_pyarrow_dataset(d) + +d = ds.dataset(PATH + NAME, format="parquet") +step_data = pl.scan_pyarrow_dataset(d) # Same object! +print(step_data.collect()) \ No newline at end of file diff --git a/benchmarking/TFrecord.ipynb b/benchmarking/misc/tf_record.ipynb similarity index 88% rename from benchmarking/TFrecord.ipynb rename to benchmarking/misc/tf_record.ipynb index cdc6704..58e3845 100644 --- a/benchmarking/TFrecord.ipynb +++ b/benchmarking/misc/tf_record.ipynb @@ -6,19 +6,7 @@ "metadata": {}, "outputs": [], "source": [ - "import numpy as np\n", - "import tensorflow_datasets as tfds\n", - "from PIL import Image\n", - "from IPython import display" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Retrieving image benchmark speed" + "# Measuring read and write speed of TFrecord" ] }, { @@ -28,9 +16,6 @@ "outputs": [], "source": [ "import tensorflow as tf\n", - "import tensorflow_datasets as tfds\n", - "from PIL import Image\n", - "from IPython.display import display as ip_display\n", "import time\n", "import os\n", "\n", @@ -89,116 +74,51 @@ "\n", "write_file = '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test_write_test.tfrecord'\n", "\n", - "def dataset2path(dataset_name):\n", - " if dataset_name == 'robo_net':\n", - " version = '1.0.0'\n", - " elif dataset_name == 'language_table':\n", - " version = '0.0.1'\n", - " else:\n", - " version = '0.1.0'\n", - " return f'gs://gresearch/robotics/{dataset_name}/{version}'\n", - "\n", - "def measure_specifying_path_latency(files):\n", - " start_time = time.time()\n", - " for file_path in files:\n", - " _ = file_path\n", - " end_time = time.time()\n", - " latency = end_time - start_time\n", - " return latency\n", - "\n", - "def measure_getting_image_latency_and_display(dataset_name):\n", - " dataset_path = dataset2path(dataset_name)\n", - " b = tfds.builder_from_directory(builder_dir=dataset_path)\n", - " if 'image' not in b.info.features['steps']['observation']:\n", - " raise ValueError(\n", - " f\"The key 'image' was not found in this dataset.\\n\"\n", - " \"Please choose a different image key to display for this dataset.\\n\"\n", - " \"Here is the observation spec:\\n\"\n", - " + str(b.info.features['steps']['observation']))\n", - "\n", - " start_time = time.time()\n", - " ds = b.as_dataset(split='train[:1]').shuffle(1) # take only the first episode\n", - " episode = next(iter(ds))\n", - " images = [step['observation']['image'] for step in episode['steps']]\n", - " images = [Image.fromarray(image.numpy()) for image in images]\n", - " end_time = time.time()\n", - " latency = end_time - start_time\n", - "\n", - " # Display some first image\n", - " ip_display(images[0])\n", - "\n", - " return latency\n", - "\n", "def measure_read_speed(files):\n", " start_time = time.time()\n", " total_bytes = 0\n", - " total_trajectories = 0\n", "\n", " for file_path in files:\n", " for record in tf.data.TFRecordDataset(file_path):\n", + " # Measure the speed of converting the record to numpy + for loop time\n", " record.numpy()\n", " total_bytes += len(record.numpy())\n", - " total_trajectories += 1\n", "\n", " end_time = time.time()\n", " elapsed_time = end_time - start_time\n", - " read_speed = total_bytes / elapsed_time / (1024 * 1024) # conversion to mb/s\n", - " read_throughput = total_trajectories / elapsed_time # trajectories/second\n", + " read_speed = total_bytes / elapsed_time / (1024 * 1024)\n", "\n", " print(f\"Read {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", " print(f\"Read Speed: {read_speed:.2f} MB/s\")\n", " print(f\"Read Latency: {elapsed_time:.2f} seconds\")\n", - " print(f\"Read Throughput: {read_throughput:.2f} trajectories/second\")\n", + "\n", "\n", "def measure_write_speed(files, output_file):\n", " start_time = time.time()\n", " total_bytes = 0\n", - " total_trajectories = 0\n", "\n", " with tf.io.TFRecordWriter(output_file) as writer:\n", " for file_path in files:\n", " for record in tf.data.TFRecordDataset(file_path):\n", " writer.write(record.numpy())\n", " total_bytes += len(record.numpy())\n", - " total_trajectories += 1\n", "\n", " end_time = time.time()\n", " elapsed_time = end_time - start_time\n", - " write_speed = total_bytes / elapsed_time / (1024 * 1024) # conversion to MB/S\n", - " write_throughput = total_trajectories / elapsed_time # conversion to trajectories/second\n", + " write_speed = total_bytes / elapsed_time / (1024 * 1024) \n", "\n", " print(f\"Wrote {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", " print(f\"Write Speed: {write_speed:.2f} MB/s\")\n", " print(f\"Write Latency: {elapsed_time:.2f} seconds\")\n", - " print(f\"Write Throughput: {write_throughput:.2f} trajectories/second\")\n", - "\n", - "print(\"Measuring Specifying Path Latency...\")\n", - "path_latency = measure_specifying_path_latency(read_files)\n", - "print(f\"Specifying Path Latency: {path_latency:.4f} seconds\")\n", "\n", - "print(\"Measuring Getting Image Latency and Displaying Image...\")\n", - "image_latency = measure_getting_image_latency_and_display('berkeley_autolab_ur5')\n", - "print(f\"Getting Image Latency: {image_latency:.4f} seconds\")\n", - "\n", - "print(f\"Actual Image Fetch Latency: {image_latency - path_latency:.4f} seconds\")\n", "\n", "print(\"Measuring Read Speed...\")\n", "measure_read_speed(read_files)\n", "print(\"Measuring Write Speed...\")\n", "measure_write_speed(read_files, write_file)\n", - "\n", "os.remove(write_file)\n" ] }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Measuring read and write speed of TFrecord" - ] - }, { "cell_type": "code", "execution_count": null, @@ -206,9 +126,14 @@ "outputs": [], "source": [ "import tensorflow as tf\n", + "import tensorflow_datasets as tfds\n", + "from PIL import Image\n", + "from IPython.display import display as ip_display\n", "import time\n", "import os\n", "\n", + "exit()\n", + "\n", "read_files = [\n", " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00000-of-00050',\n", " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00001-of-00050',\n", @@ -262,44 +187,100 @@ " '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test.tfrecord-00049-of-00050'\n", "]\n", "\n", - "\n", "write_file = '/home/davidh/datasets/berkeley_autolab_ur5/berkeley_autolab_ur5-test_write_test.tfrecord'\n", "\n", + "def dataset2path(dataset_name):\n", + " if dataset_name == 'robo_net':\n", + " version = '1.0.0'\n", + " elif dataset_name == 'language_table':\n", + " version = '0.0.1'\n", + " else:\n", + " version = '0.1.0'\n", + " return f'gs://gresearch/robotics/{dataset_name}/{version}'\n", + "\n", + "def measure_specifying_path_latency(files):\n", + " start_time = time.time()\n", + " for file_path in files:\n", + " _ = file_path\n", + " end_time = time.time()\n", + " latency = end_time - start_time\n", + " return latency\n", + "\n", + "def measure_getting_image_latency_and_display(dataset_name):\n", + " dataset_path = dataset2path(dataset_name)\n", + " b = tfds.builder_from_directory(builder_dir=dataset_path)\n", + " if 'image' not in b.info.features['steps']['observation']:\n", + " raise ValueError(\n", + " f\"The key 'image' was not found in this dataset.\\n\"\n", + " \"Please choose a different image key to display for this dataset.\\n\"\n", + " \"Here is the observation spec:\\n\"\n", + " + str(b.info.features['steps']['observation']))\n", + "\n", + " start_time = time.time()\n", + " ds = b.as_dataset(split='train[:1]').shuffle(1) # take only the first episode\n", + " episode = next(iter(ds))\n", + " images = [step['observation']['image'] for step in episode['steps']]\n", + " images = [Image.fromarray(image.numpy()) for image in images]\n", + " end_time = time.time()\n", + " latency = end_time - start_time\n", + "\n", + " # Display some first image\n", + " ip_display(images[0])\n", + "\n", + " return latency\n", + "\n", "def measure_read_speed(files):\n", " start_time = time.time()\n", " total_bytes = 0\n", + " total_trajectories = 0\n", "\n", " for file_path in files:\n", " for record in tf.data.TFRecordDataset(file_path):\n", - " # Measure the speed of converting the record to numpy + for loop time\n", " record.numpy()\n", " total_bytes += len(record.numpy())\n", + " total_trajectories += 1\n", "\n", " end_time = time.time()\n", " elapsed_time = end_time - start_time\n", - " read_speed = total_bytes / elapsed_time / (1024 * 1024)\n", + " read_speed = total_bytes / elapsed_time / (1024 * 1024) # conversion to mb/s\n", + " read_throughput = total_trajectories / elapsed_time # trajectories/second\n", "\n", " print(f\"Read {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", " print(f\"Read Speed: {read_speed:.2f} MB/s\")\n", " print(f\"Read Latency: {elapsed_time:.2f} seconds\")\n", + " print(f\"Read Throughput: {read_throughput:.2f} trajectories/second\")\n", "\n", "def measure_write_speed(files, output_file):\n", " start_time = time.time()\n", " total_bytes = 0\n", + " total_trajectories = 0\n", "\n", " with tf.io.TFRecordWriter(output_file) as writer:\n", " for file_path in files:\n", " for record in tf.data.TFRecordDataset(file_path):\n", " writer.write(record.numpy())\n", " total_bytes += len(record.numpy())\n", + " total_trajectories += 1\n", "\n", " end_time = time.time()\n", " elapsed_time = end_time - start_time\n", - " write_speed = total_bytes / elapsed_time / (1024 * 1024) \n", + " write_speed = total_bytes / elapsed_time / (1024 * 1024) # conversion to MB/S\n", + " write_throughput = total_trajectories / elapsed_time # conversion to trajectories/second\n", "\n", " print(f\"Wrote {total_bytes} bytes in {elapsed_time:.2f} seconds\")\n", " print(f\"Write Speed: {write_speed:.2f} MB/s\")\n", " print(f\"Write Latency: {elapsed_time:.2f} seconds\")\n", + " print(f\"Write Throughput: {write_throughput:.2f} trajectories/second\")\n", + "\n", + "print(\"Measuring Specifying Path Latency...\")\n", + "path_latency = measure_specifying_path_latency(read_files)\n", + "print(f\"Specifying Path Latency: {path_latency:.4f} seconds\")\n", + "\n", + "print(\"Measuring Getting Image Latency and Displaying Image...\")\n", + "image_latency = measure_getting_image_latency_and_display('berkeley_autolab_ur5')\n", + "print(f\"Getting Image Latency: {image_latency:.4f} seconds\")\n", + "\n", + "print(f\"Actual Image Fetch Latency: {image_latency - path_latency:.4f} seconds\")\n", "\n", "print(\"Measuring Read Speed...\")\n", "measure_read_speed(read_files)\n", @@ -308,62 +289,6 @@ "\n", "os.remove(write_file)\n" ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "#plotting + code \n", - "# temporary plots: \n", - "import matplotlib.pyplot as plt\n", - "\n", - "# Josh's data for Polars\n", - "polars_read_latency = 43.7798\n", - "polars_read_speed = 334.6640\n", - "polars_read_throughput = 1.1649\n", - "\n", - "polars_write_latency = 257.1229\n", - "polars_write_speed = 56.9826\n", - "polars_write_throughput = 0.1983\n", - "\n", - "# above data for TensorFlow Record\n", - "tf_read_latency = 16.76\n", - "tf_read_speed = 484.53\n", - "tf_read_throughput = 6.21\n", - "\n", - "tf_write_latency = 44.17\n", - "tf_write_speed = 183.84\n", - "tf_write_throughput = 2.35\n", - "\n", - "labels = ['Polars Read', 'Polars Write', 'TF Record Read', 'TF Record Write']\n", - "\n", - "latencies = [polars_read_latency, polars_write_latency, tf_read_latency, tf_write_latency]\n", - "speeds = [polars_read_speed, polars_write_speed, tf_read_speed, tf_write_speed]\n", - "throughputs = [polars_read_throughput, polars_write_throughput, tf_read_throughput, tf_write_throughput]\n", - "\n", - "# latency plots\n", - "plt.figure(figsize=(14, 8))\n", - "plt.subplot(3, 1, 1)\n", - "plt.bar(labels, latencies, color=['blue', 'green', 'orange', 'red'])\n", - "plt.ylabel('Latency (s)')\n", - "plt.title('Latency, Speed, and Throughput of Polars and TF Record Operations')\n", - "\n", - "# speed plots\n", - "plt.subplot(3, 1, 2)\n", - "plt.bar(labels, speeds, color=['blue', 'green', 'orange', 'red'])\n", - "plt.ylabel('Speed (MB/s)')\n", - "\n", - "# throughput plotting\n", - "plt.subplot(3, 1, 3)\n", - "plt.bar(labels, throughputs, color=['blue', 'green', 'orange', 'red'])\n", - "plt.ylabel('Throughput (trajectories/second)')\n", - "plt.xlabel('Operation')\n", - "\n", - "plt.tight_layout()\n", - "plt.show()\n" - ] } ], "metadata": { diff --git a/benchmarking/parquet.py b/benchmarking/parquet.py index bd12d53..ae0202c 100644 --- a/benchmarking/parquet.py +++ b/benchmarking/parquet.py @@ -3,82 +3,23 @@ import time import polars as pl import pandas as pd -import pyarrow.parquet as pq import pyarrow.dataset as ds +import pyarrow.parquet as pq PATH = os.path.expanduser("~") sys.path.append(PATH + "/fog_x_fork") from fog_x.dataset import Dataset -DEBUG = False + PATH += "/datasets/" NAME = "test_convert" dataset = Dataset(name=NAME, path=PATH) - -if DEBUG: # Debugging code for call tracing thru , collapse for readability - if False: - dataset.load_rtx_episodes(name="berkeley_autolab_ur5", split="train[:51]") - - # Debugging: path = "/home/joshzhang/datasets" - # Starts with "/" but does not end with it - # Should not initialize any cloud buckets! - - """###""" - - # Retrieve episode-level metadata as a pandas DataFrame - episode_info = dataset.get_episode_info() - - # Codebase map: - db_manager = dataset.db_manager # DatabaseManager - traj_info_c = db_manager.episode_info_connector # DataFrameC, child of (PolarsC) - step_data_c = db_manager.step_data_connector # LazyFrameC, child of (PolarsC) - - # Call tracing: - # dataset.get_episode_info() - # db_manager.get_episode_info_table() - # traj_info_c.select_table(dataset_name) - # -> traj_info_c.tables[dataset_name] - - episode_info = traj_info_c.tables[NAME] # Same object! - print(episode_info) - - """###""" - - # Obtain the actual episodes containing their step data - episode_0 = dataset.read_by(episode_info)[0] - - # Call tracing: - # dataset.read_by(episode_info) - # :: i = list(episode_info["episode_id"])[0] - # db_manager.get_step_table(i) - # step_data_c.select_table(dataset_name_i) - # -> step_data_c.tables[dataset_name_i] - - episode_0 = step_data_c.tables[NAME + "_0"] # Same object! - print(episode_0.collect()) - - """###""" - - # Retrieve Fog-X dataset step data as a Polars LazyFrame - step_data = dataset.get_step_data() - - # Call tracing: - # dataset.get_step_data() - # db_manager.get_step_table_all() - # step_data_c.get_dataset_table() - # :: d = ds.dataset(dataset_path, format="parquet") - # -> pl.scan_pyarrow_dataset(d) - - d = ds.dataset(PATH + NAME, format="parquet") - step_data = pl.scan_pyarrow_dataset(d) # Same object! - print(step_data.collect()) - - N = 51 MB = 1024 * 1024 SDC = dataset.db_manager.step_data_connector + def measure_traj(read_func, write_func): read_time, write_time, data_size = 0, 0, 0 @@ -123,6 +64,6 @@ def measure_traj(read_func, write_func): for lib in [fx_dict, pl_dict, pq_dict, pd_dict]: rt, wt, mb = measure_traj(lib["read_func"], lib["write_func"]) - print(f"\n{lib['name']}: \nData size = {mb:.4f} MB; Num. traj = {N}") + print(f"\n{lib['name']}: \nDisk size = {mb:.4f} MB; Num. traj = {N}") print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file diff --git a/benchmarking/plotting_notes.py b/benchmarking/plot_notes.py similarity index 74% rename from benchmarking/plotting_notes.py rename to benchmarking/plot_notes.py index 71a643a..2cc34ad 100644 --- a/benchmarking/plotting_notes.py +++ b/benchmarking/plot_notes.py @@ -1,45 +1,60 @@ +# TF_Record: +# Disk size = 8039.7179 MB ; Mem. size = 8039.7164 MB; Num. traj = 51 +# Read: latency = 19.6558 s; throughput = 409.0250 MB/s, 2.5947 traj/s +# Write: latency = 0.0526 s ; throughput = 152931.1876 MB/s, 970.1199 traj/s + +"""###""" + # Fog-X: -# Data size = 6707.3818 MB ; Num. traj = 51 +# Disk size = 6707.3818 MB ; Num. traj = 51 # Read: latency = 42.1416 s ; throughput = 159.1630 MB/s, 1.2102 traj/s # Write: latency = 258.8635 s; throughput = 25.9109 MB/s, 0.1970 traj/s -# Polars: -# Data size = 6707.3818 MB ; Num. traj = 51 +# Polars: +# Disk size = 6707.3818 MB ; Num. traj = 51 # Read: latency = 22.9974 s ; throughput = 291.6581 MB/s, 2.2176 traj/s # Write: latency = 241.4137 s; throughput = 27.7838 MB/s, 0.2113 traj/s # PyArrow: -# Data size = 6707.3818 MB ; Num. traj = 51 +# Disk size = 6707.3818 MB ; Num. traj = 51 # Read: latency = 27.9808 s ; throughput = 239.7136 MB/s, 1.8227 traj/s # Write: latency = 80.9986 s ; throughput = 82.8086 MB/s, 0.6296 traj/s -# Pandas: -# Data size = 6707.3818 MB ; Num. traj = 51 +# Pandas: +# Disk size = 6707.3818 MB ; Num. traj = 51 # Read: latency = 49.1056 s ; throughput = 136.5909 MB/s, 1.0386 traj/s # Write: latency = 103.6820 s; throughput = 64.6918 MB/s, 0.4919 traj/s """###""" -# Arrow_REG: -# Data size = 14651.9697 MB ; Num. traj = 51 +# Arrow_REG: +# Disk size = 14651.9697 MB ; Num. traj = 51 # Read: latency = 39.5354 s; throughput = 370.6041 MB/s, 1.2900 traj/s # Write: latency = 26.4765 s; throughput = 553.3952 MB/s, 1.9262 traj/s -# Arrow_IPC: -# Data size = 14651.9697 MB ; Num. traj = 51 +# Arrow_IPC: +# Disk size = 14651.9697 MB ; Num. traj = 51 # Read: latency = 44.0609 s; throughput = 332.5391 MB/s, 1.1575 traj/s # Write: latency = 25.1574 s; throughput = 582.4108 MB/s, 2.0272 traj/s -# Feather_FTH: -# Data size = 14651.9697 MB; Num. traj = 51 +# Feather_FTH: +# Disk size = 14651.9697 MB; Num. traj = 51 # Read: latency = 47.5646 s; throughput = 308.0433 MB/s, 1.0722 traj/s # Write: latency = 35.4595 s; throughput = 413.2030 MB/s, 1.4383 traj/s -# Pandas_FTH: -# Data size = 14651.9697 MB; Num. traj = 51 +# Pandas_FTH: +# Disk size = 14651.9697 MB; Num. traj = 51 # Read: latency = 26.6213 s; throughput = 550.3844 MB/s, 1.9158 traj/s # Write: latency = 45.9015 s; throughput = 319.2046 MB/s, 1.1111 traj/s +"""###""" + +# HDF5: +# Disk size = 44319.6689 MB ; Num. traj = 51 +# Read: latency = 191.5964 s; throughput = 231.3179 MB/s, 0.2662 traj/s +# Write: latency = 129.6112 s; throughput = 341.9432 MB/s, 0.3935 traj/s + + import matplotlib.pyplot as plt # Josh's data for Polars diff --git a/benchmarking/tf_record.py b/benchmarking/tf_record.py new file mode 100644 index 0000000..de6e323 --- /dev/null +++ b/benchmarking/tf_record.py @@ -0,0 +1,52 @@ +import os +import sys +import time +import numpy as np + +PATH = os.path.expanduser("~") +sys.path.append(PATH + "/fog_x_fork") + +os.environ['TF_CPP_MIN_LOG_LEVEL'] = "2" +import tensorflow as tf + +PATH += "/datasets/" +NAME = "berkeley_autolab_ur5" +MB = 1024 * 1024 +N = 51 + +def measure_traj(): + read_time, write_time, disk_size, memr_size = 0, 0, 0, 0 + + for i in range(N): + print(f"Measuring trajectory {i}") + path = f"{PATH}{NAME}/{NAME}-train.tfrecord-{str(i).zfill(5)}-of-00412" + + TFRD = tf.data.TFRecordDataset + stop = time.time() + + for record in TFRD(path): + data = record.numpy() + memr_size += len(data) + read_time += time.time() - stop + + disk_size += os.path.getsize(path) + out_path = PATH + "temp.tfrecord" + + with tf.io.TFRecordWriter(out_path) as w: + for record in TFRD(path): + data = record.numpy() + + stop = time.time() + w.write(data) + write_time = time.time() - stop + + os.remove(out_path) + return read_time, write_time, disk_size / MB, memr_size / MB + + +if __name__ == "__main__": + rt, wt, ds, ms = measure_traj() + + print(f"\nTF_Record: \nDisk size = {ds:.4f} MB; Mem. size = {ms:.4f} MB; Num. traj = {N}") + print(f"Read: latency = {rt:.4f} s; throughput = {ds / rt :.4f} MB/s, {N / rt :.4f} traj/s") + print(f"Write: latency = {wt:.4f} s; throughput = {ds / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file From 8dffa0db21a9c72cdecd6fc8ca067ed8462a7bc3 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Fri, 21 Jun 2024 01:41:16 -0700 Subject: [PATCH 08/19] Update plot_notes.py --- benchmarking/plot_notes.py | 114 +++++++++++++++++++++++-------------- 1 file changed, 72 insertions(+), 42 deletions(-) diff --git a/benchmarking/plot_notes.py b/benchmarking/plot_notes.py index 2cc34ad..86de2e6 100644 --- a/benchmarking/plot_notes.py +++ b/benchmarking/plot_notes.py @@ -57,47 +57,77 @@ import matplotlib.pyplot as plt -# Josh's data for Polars -polars_read_latency = 43.7798 -polars_read_speed = 334.6640 -polars_read_throughput = 1.1649 - -polars_write_latency = 257.1229 -polars_write_speed = 56.9826 -polars_write_throughput = 0.1983 - -# above data for TensorFlow Record -tf_read_latency = 16.76 -tf_read_speed = 484.53 -tf_read_throughput = 6.21 - -tf_write_latency = 44.17 -tf_write_speed = 183.84 -tf_write_throughput = 2.35 - -labels = ['Polars Read', 'Polars Write', 'TF Record Read', 'TF Record Write'] - -latencies = [polars_read_latency, polars_write_latency, tf_read_latency, tf_write_latency] -speeds = [polars_read_speed, polars_write_speed, tf_read_speed, tf_write_speed] -throughputs = [polars_read_throughput, polars_write_throughput, tf_read_throughput, tf_write_throughput] - -# latency plots -plt.figure(figsize=(14, 8)) -plt.subplot(3, 1, 1) -plt.bar(labels, latencies, color=['blue', 'green', 'orange', 'red']) -plt.ylabel('Latency (s)') -plt.title('Latency, Speed, and Throughput of Polars and TF Record Operations') - -# speed plots -plt.subplot(3, 1, 2) -plt.bar(labels, speeds, color=['blue', 'green', 'orange', 'red']) -plt.ylabel('Speed (MB/s)') - -# throughput plotting -plt.subplot(3, 1, 3) -plt.bar(labels, throughputs, color=['blue', 'green', 'orange', 'red']) -plt.ylabel('Throughput (trajectories/second)') -plt.xlabel('Operation') - +# Data for Fog-X +fogx_read_latency_mb = 42.1416 +fogx_read_throughput_mb = 159.1630 +fogx_read_throughput_traj = 1.2102 +fogx_write_latency_mb = 258.8635 +fogx_write_throughput_mb = 25.9109 +fogx_write_throughput_traj = 0.1970 + +# Data for Polars +polars_read_latency_mb = 22.9974 +polars_read_throughput_mb = 291.6581 +polars_read_throughput_traj = 2.2176 +polars_write_latency_mb = 241.4137 +polars_write_throughput_mb = 27.7838 +polars_write_throughput_traj = 0.2113 + +# Data for PyArrow +pyarrow_read_latency_mb = 27.9808 +pyarrow_read_throughput_mb = 239.7136 +pyarrow_read_throughput_traj = 1.8227 +pyarrow_write_latency_mb = 80.9986 +pyarrow_write_throughput_mb = 82.8086 +pyarrow_write_throughput_traj = 0.6296 + +# Data for Pandas +pandas_read_latency_mb = 49.1056 +pandas_read_throughput_mb = 136.5909 +pandas_read_throughput_traj = 1.0386 +pandas_write_latency_mb = 103.6820 +pandas_write_throughput_mb = 64.6918 +pandas_write_throughput_traj = 0.4919 + +# Plotting +labels = ['Fog-X', 'Polars', 'PyArrow', 'Pandas'] +read_latencies = [fogx_read_latency_mb, polars_read_latency_mb, pyarrow_read_latency_mb, pandas_read_latency_mb] +read_throughputs_mb = [fogx_read_throughput_mb, polars_read_throughput_mb, pyarrow_read_throughput_mb, pandas_read_throughput_mb] +read_throughputs_traj = [fogx_read_throughput_traj, polars_read_throughput_traj, pyarrow_read_throughput_traj, pandas_read_throughput_traj] +write_latencies = [fogx_write_latency_mb, polars_write_latency_mb, pyarrow_write_latency_mb, pandas_write_latency_mb] +write_throughputs_mb = [fogx_write_throughput_mb, polars_write_throughput_mb, pyarrow_write_throughput_mb, pandas_write_throughput_mb] +write_throughputs_traj = [fogx_write_throughput_traj, polars_write_throughput_traj, pyarrow_write_throughput_traj, pandas_write_throughput_traj] + +fig, axes = plt.subplots(2, 3, figsize=(18, 10)) + +# Plotting read latency and throughput +axes[0, 0].bar(labels, read_latencies, color='blue') +axes[0, 0].set_title('Read Latency (s)') +axes[0, 1].bar(labels, read_throughputs_mb, color='green') +axes[0, 1].set_title('Read Throughput (MB/s)') +axes[0, 2].bar(labels, read_throughputs_traj, color='orange') +axes[0, 2].set_title('Read Throughput (traj/s)') + +# Plotting write latency and throughput +axes[1, 0].bar(labels, write_latencies, color='blue') +axes[1, 0].set_title('Write Latency (s)') +axes[1, 1].bar(labels, write_throughputs_mb, color='green') +axes[1, 1].set_title('Write Throughput (MB/s)') +axes[1, 2].bar(labels, write_throughputs_traj, color='orange') +axes[1, 2].set_title('Write Throughput (traj/s)') + +# Adding captions +captions = [ + f'Fog-X: Disk size = 6707.3818 MB, Num. traj = 51', + f'Polars: Disk size = 6707.3818 MB, Num. traj = 51', + f'PyArrow: Disk size = 6707.3818 MB, Num. traj = 51', + f'Pandas: Disk size = 6707.3818 MB, Num. traj = 51' +] + +for ax, caption in zip(axes.flatten(), captions): + ax.annotate(caption, xy=(0.5, -0.3), xycoords='axes fraction', + ha='center', va='center', fontsize=10) + +# Adjust layout plt.tight_layout() plt.show() From 7b22fcee5e9f843d332c3e674dfe495864f7678c Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Fri, 21 Jun 2024 17:25:15 +0000 Subject: [PATCH 09/19] plots are in --- benchmarking/plot_notes.py | 186 +++++++++++++----- benchmarking/plots/Disk size.png | Bin 0 -> 32945 bytes benchmarking/plots/Read latency.png | Bin 0 -> 34324 bytes benchmarking/plots/Read throughput MB_s.png | Bin 0 -> 36287 bytes benchmarking/plots/Read throughput traj_s.png | Bin 0 -> 35977 bytes benchmarking/plots/Write latency.png | Bin 0 -> 33276 bytes benchmarking/plots/Write throughput MB_s.png | Bin 0 -> 37016 bytes .../plots/Write throughput traj_s.png | Bin 0 -> 38513 bytes benchmarking/tf_record.py | 12 +- 9 files changed, 145 insertions(+), 53 deletions(-) create mode 100644 benchmarking/plots/Disk size.png create mode 100644 benchmarking/plots/Read latency.png create mode 100644 benchmarking/plots/Read throughput MB_s.png create mode 100644 benchmarking/plots/Read throughput traj_s.png create mode 100644 benchmarking/plots/Write latency.png create mode 100644 benchmarking/plots/Write throughput MB_s.png create mode 100644 benchmarking/plots/Write throughput traj_s.png diff --git a/benchmarking/plot_notes.py b/benchmarking/plot_notes.py index 2cc34ad..7df1e8d 100644 --- a/benchmarking/plot_notes.py +++ b/benchmarking/plot_notes.py @@ -1,7 +1,7 @@ # TF_Record: -# Disk size = 8039.7179 MB ; Mem. size = 8039.7164 MB; Num. traj = 51 -# Read: latency = 19.6558 s; throughput = 409.0250 MB/s, 2.5947 traj/s -# Write: latency = 0.0526 s ; throughput = 152931.1876 MB/s, 970.1199 traj/s +# Disk size = 8039.7179 MB ; Num. traj = 51 +# Read: latency = 15.5696 s; throughput = 516.3728 MB/s, 3.2756 traj/s +# Write: latency = 36.6353 s; throughput = 219.4528 MB/s, 1.3921 traj/s """###""" @@ -57,47 +57,139 @@ import matplotlib.pyplot as plt -# Josh's data for Polars -polars_read_latency = 43.7798 -polars_read_speed = 334.6640 -polars_read_throughput = 1.1649 - -polars_write_latency = 257.1229 -polars_write_speed = 56.9826 -polars_write_throughput = 0.1983 - -# above data for TensorFlow Record -tf_read_latency = 16.76 -tf_read_speed = 484.53 -tf_read_throughput = 6.21 - -tf_write_latency = 44.17 -tf_write_speed = 183.84 -tf_write_throughput = 2.35 - -labels = ['Polars Read', 'Polars Write', 'TF Record Read', 'TF Record Write'] - -latencies = [polars_read_latency, polars_write_latency, tf_read_latency, tf_write_latency] -speeds = [polars_read_speed, polars_write_speed, tf_read_speed, tf_write_speed] -throughputs = [polars_read_throughput, polars_write_throughput, tf_read_throughput, tf_write_throughput] - -# latency plots -plt.figure(figsize=(14, 8)) -plt.subplot(3, 1, 1) -plt.bar(labels, latencies, color=['blue', 'green', 'orange', 'red']) -plt.ylabel('Latency (s)') -plt.title('Latency, Speed, and Throughput of Polars and TF Record Operations') - -# speed plots -plt.subplot(3, 1, 2) -plt.bar(labels, speeds, color=['blue', 'green', 'orange', 'red']) -plt.ylabel('Speed (MB/s)') - -# throughput plotting -plt.subplot(3, 1, 3) -plt.bar(labels, throughputs, color=['blue', 'green', 'orange', 'red']) -plt.ylabel('Throughput (trajectories/second)') -plt.xlabel('Operation') - -plt.tight_layout() -plt.show() +metrics = { + "TF_Record": { + "Disk size": 8039.7179, + "Read latency": 15.5696, + "Read throughput MB/s": 516.3728, + "Read throughput traj/s": 3.2756, + "Write latency": 36.6353, + "Write throughput MB/s": 219.4528, + "Write throughput traj/s": 1.3921, + }, + "Fog-X": { + "Disk size": 6707.3818, + "Read latency": 42.1416, + "Read throughput MB/s": 159.1630, + "Read throughput traj/s": 1.2102, + "Write latency": 258.8635, + "Write throughput MB/s": 25.9109, + "Write throughput traj/s": 0.1970, + }, + "Polars": { + "Disk size": 6707.3818, + "Read latency": 22.9974, + "Read throughput MB/s": 291.6581, + "Read throughput traj/s": 2.2176, + "Write latency": 241.4137, + "Write throughput MB/s": 27.7838, + "Write throughput traj/s": 0.2113, + }, + "PyArrow": { + "Disk size": 6707.3818, + "Read latency": 27.9808, + "Read throughput MB/s": 239.7136, + "Read throughput traj/s": 1.8227, + "Write latency": 80.9986, + "Write throughput MB/s": 82.8086, + "Write throughput traj/s": 0.6296, + }, + "Pandas": { + "Disk size": 6707.3818, + "Read latency": 49.1056, + "Read throughput MB/s": 136.5909, + "Read throughput traj/s": 1.0386, + "Write latency": 103.6820, + "Write throughput MB/s": 64.6918, + "Write throughput traj/s": 0.4919, + }, + "Arrow_REG": { + "Disk size": 14651.9697, + "Read latency": 39.5354, + "Read throughput MB/s": 370.6041, + "Read throughput traj/s": 1.29, + "Write latency": 26.4765, + "Write throughput MB/s": 553.3952, + "Write throughput traj/s": 1.9262, + }, + "Arrow_IPC": { + "Disk size": 14651.9697, + "Read latency": 44.0609, + "Read throughput MB/s": 332.5391, + "Read throughput traj/s": 1.1575, + "Write latency": 25.1574, + "Write throughput MB/s": 582.4108, + "Write throughput traj/s": 2.0272, + }, + "Feather_FTH": { + "Disk size": 14651.9697, + "Read latency": 47.5646, + "Read throughput MB/s": 308.0433, + "Read throughput traj/s": 1.0722, + "Write latency": 35.4595, + "Write throughput MB/s": 413.203, + "Write throughput traj/s": 1.4383, + }, + "Pandas_FTH": { + "Disk size": 14651.9697, + "Read latency": 26.6213, + "Read throughput MB/s": 550.3844, + "Read throughput traj/s": 1.9158, + "Write latency": 45.9015, + "Write throughput MB/s": 319.2046, + "Write throughput traj/s": 1.1111, + }, + "HDF5": { + "Disk size": 44319.6689, + "Read latency": 191.5964, + "Read throughput MB/s": 231.3179, + "Read throughput traj/s": 0.2662, + "Write latency": 129.6112, + "Write throughput MB/s": 341.9432, + "Write throughput traj/s": 0.3935, + }, +} + +# Metrics to plot +metric_names = [ + "Disk size", + "Read latency", + "Read throughput MB/s", + "Read throughput traj/s", + "Write latency", + "Write throughput MB/s", + "Write throughput traj/s" +] + +# Colors for each library +colors = { + "TF_Record": "red", + "Fog-X": "orange", + "Polars": "yellow", + "PyArrow": "green", + "Pandas": "cyan", + "Arrow_REG": "blue", + "Arrow_IPC": "purple", + "Feather_FTH": "pink", + "Pandas_FTH": "brown", + "HDF5": "gray", +} + +# Create plots +for metric in metric_names: + plt.figure(figsize=(10, 6)) + libraries = [] + values = [] + for library, stats in metrics.items(): + libraries.append(library) + 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benchmarking/arrow.py | 2 +- benchmarking/hdf5.py | 4 +- benchmarking/loaders.py | 300 ++++++++++++++++++++++++++ benchmarking/{ => misc}/tf_to_hdf5.py | 0 benchmarking/parquet.py | 2 +- benchmarking/tf_record.py | 4 +- 6 files changed, 306 insertions(+), 6 deletions(-) create mode 100644 benchmarking/loaders.py rename benchmarking/{ => misc}/tf_to_hdf5.py (100%) diff --git a/benchmarking/arrow.py b/benchmarking/arrow.py index 3283fad..6bec4c3 100644 --- a/benchmarking/arrow.py +++ b/benchmarking/arrow.py @@ -51,7 +51,7 @@ def measure_traj(read_func, write_func, name): read_time += time.time() - stop data_size += os.path.getsize(path) - path = f"{PATH}temp.{extn}" + path = f"{PATH}/temp.{extn}" stop = time.time() write_func(path, traj) diff --git a/benchmarking/hdf5.py b/benchmarking/hdf5.py index 1b764e5..1052937 100644 --- a/benchmarking/hdf5.py +++ b/benchmarking/hdf5.py @@ -34,7 +34,7 @@ def pq_to_hdf5(in_dir): if False: for i in range(N): - pq_to_hdf5(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet") + pq_to_hdf5(f"{PATH}{NAME}/{NAME}_{i}-0.parquet") def measure_traj(read_func, write_func): read_time, write_time, data_size = 0, 0, 0 @@ -48,7 +48,7 @@ def measure_traj(read_func, write_func): read_time += time.time() - stop data_size += os.path.getsize(path) - path = f"{PATH}temp.hdf5" + path = PATH + "/temp.hdf5" stop = time.time() write_func(path, traj) diff --git a/benchmarking/loaders.py b/benchmarking/loaders.py new file mode 100644 index 0000000..145ea02 --- /dev/null +++ b/benchmarking/loaders.py @@ -0,0 +1,300 @@ +import os +import av +import sys +import time +import pickle +import numpy as np +from logging import getLogger + +os.environ['TF_CPP_MIN_LOG_LEVEL'] = "2" +import tensorflow_datasets as tfds +import tensorflow as tf + +PATH = os.path.expanduser("~") +sys.path.append(PATH + "/fog_x_fork") +PATH += "/datasets/" + + +class BaseLoader(): + def __init__(self, path): + super(BaseLoader, self).__init__() + self.path = path + self.logger = getLogger(__name__) + + def __len__(self): + raise NotImplementedError + + def __iter___(self): + raise NotImplementedError + + +class BaseWriter(): + def __init__(self): + super(BaseWriter, self).__init__() + self.logger = getLogger(__name__) + + def export(self, loader, path): + raise NotImplementedError + + +class TFLoader(BaseLoader): + def __init__(self, path, split): + super(TFLoader, self).__init__(path) + + builder = tfds.builder_from_directory(path) + self.ds = builder.as_dataset(split) + + def __len__(self): + return len(self.ds) + + def __iter__(self): + return self.ds.__iter__() + + +class TFWriter(BaseWriter): + def __init__(self): + super(TFWriter, self).__init__() + self.wr = tf.io.TFRecordWriter + + def export(self, loader, path): + for i, data in enumerate(loader): + data_list = list(data["steps"].as_numpy_iterator()) + + with self.wr(f"{path}/TFWriter_{i}.tfrecord") as writer: + for dl in data_list: + writer.write(dl) + + def export_temp(self, data_list, path): + path += "/temp.tfrecord" + + with self.wr(path) as writer: + for dl in data_list: + writer.write(dl) + os.remove(path) + + +N = 51 +MB = 1024 * 1024 + +def get_size(obj): + if isinstance(obj, dict): + obj = list(obj.values()) + if isinstance(obj, list): + return sum(get_size(v) for v in obj) + elif isinstance(obj, np.ndarray): + return obj.nbytes + if isinstance(obj, bytes): + return len(obj) + if np.isscalar(obj): + return obj.itemsize + raise TypeError(type(obj)) + + +def iterate_dataset(loader, writer, n): + read_time, write_time, data_size = 0, 0, 0 + + for i, data in enumerate(loader): + stop = time.time() + data_list = list(data["steps"].as_numpy_iterator()) + read_time += time.time() - stop + + data_size += get_size(data_list) + + stop = time.time() + writer.export_temp(data_list, PATH) + write_time += time.time() - stop + + if i == n: break + return read_time, write_time, data_size / MB + + +tf_loader = TFLoader(PATH + "berkeley_autolab_ur5", f"train[:{N}]") +tf_writer = TFWriter() +iterate_dataset(tf_loader, N) +print("do we even get here") +exit() + +class MKVExporter(BaseWriter): + def __init__(self): + super(MKVExporter, self).__init__() + + # Function to create a frame from numpy array + def create_frame(self, image_array, stream): + frame = av.VideoFrame.from_ndarray(np.array(image_array), format='rgb24') + frame.pict_type = 'NONE' + frame.time_base = stream.time_base + return frame + + # Function to create a frame from numpy array + def create_frame_depth(self, image_array, stream): + image_array = np.array(image_array) + # if float, convert to uint8 + if image_array.dtype == np.float32: + image_array = (image_array * 255).astype(np.uint8) + # if 3 dim, convert to 2 dim + if len(image_array.shape) == 3: + image_array = image_array[:,:,0] + frame = av.VideoFrame.from_ndarray(image_array, format='gray') + frame.pict_type = 'NONE' + frame.time_base = stream.time_base + return frame + + def export(self, loader: BaseLoader, output_path: str): + # Create an output container + i = -1 + for traj_tensor in loader: + i += 1 + trajectory = dict(traj_tensor) + output = av.open(f'{output_path}/output_{i}.mkv', mode='w') + # Define video streams (assuming images are 640x480 RGB) + video_stream_1 = output.add_stream('libx264', rate=1) + video_stream_1.width = 640 + video_stream_1.height = 480 + video_stream_1.pix_fmt = 'yuv420p' + + video_stream_2 = output.add_stream('libx264', rate=1) + video_stream_2.width = 640 + video_stream_2.height = 480 + video_stream_2.pix_fmt = 'yuv420p' + + # Define custom data stream for vectors + depth_stream = output.add_stream('libx264', rate=1) + + data_stream = output.add_stream('rawvideo', rate=1) + + ts = 0 + # convert step data to stream + for step_tensor in trajectory["steps"]: + step = dict(step_tensor) + obesrvation = step_tensor["observation"].copy() + obesrvation.pop("image") + obesrvation.pop("hand_image") + obesrvation.pop("image_with_depth") + non_image_data_step = step.copy() + non_image_data_step["observation"] = obesrvation + + non_image_data_bytes = pickle.dumps(non_image_data_step) + packet = av.Packet(non_image_data_bytes) + packet.stream = data_stream + packet.pts = ts + output.mux(packet) + + + image =np.array(step["observation"]["image"]) + # Create a frame from the numpy array + frame = self.create_frame(image, video_stream_1) + frame.pts = ts + packet = video_stream_1.encode(frame) + + output.mux(packet) + + hand_image =np.array(step["observation"]["hand_image"]) + # Create a frame from the numpy array + frame = self.create_frame(hand_image, video_stream_2) + frame.pts = ts + packet = video_stream_2.encode(frame) + output.mux(packet) + + # # Create a frame from the numpy array + frame = self.create_frame_depth(step["observation"]["image_with_depth"], depth_stream) + # frame.pts = ts + # Encode the frame + packet = depth_stream.encode(frame) + # Write the packet to the output file + output.mux(packet) + + ts += 1 + + + # Flush the remaining frames + for packet in video_stream_1.encode(): + output.mux(packet) + + for packet in video_stream_2.encode(): + output.mux(packet) + + for packet in depth_stream.encode(): + output.mux(packet) + output.close() + + +class MKVLoader(BaseLoader): + def __init__(self, data_path): + super(MKVLoader, self).__init__(data_path) + self.files = [data_path + f for f in os.listdir(data_path) if f.endswith('.mkv')] + self.index = 0 + + def __len__(self): + return len(self.ds) + + def __getitem__(self, idx): + return idx + + def __iter__(self): + return self + + def __next__(self): + if self.index < len(self.files): + result = self.files[self.index] + self.index += 1 + return self._parse_mkv_file(result) + else: + raise StopIteration + + def _parse_mkv_file(self, filename): + print(filename) + input_container = av.open(filename) + video_stream1 = input_container.streams.video[0] + video_stream1.thread_type = 'AUTO' + video_stream2 = input_container.streams.video[1] + video_stream2.thread_type = 'AUTO' + depth_stream = input_container.streams.video[2] + depth_stream.thread_type = 'AUTO' + data_stream = input_container.streams[3] + + decoded_stream_1 = [] + decoded_stream_2 = [] + decoded_stream_depth = [] + decoded_stream_data = [] + + pkt_counter = 0 + for packet in input_container.demux(video_stream1, video_stream2, depth_stream, data_stream): + pkt_counter += 1 + if packet.stream.index == video_stream1.index: + frame = packet.decode() + if frame: + for f in frame: + image = f.to_ndarray(format='rgb24') + decoded_stream_1.append(image) + elif packet.stream.index == video_stream2.index: + frame = packet.decode() + if frame: + for f in frame: + image = f.to_ndarray(format='rgb24') + decoded_stream_2.append(image) + elif packet.stream.index == depth_stream.index: + frame = packet.decode() + if frame: + for f in frame: + image = f.to_ndarray(format='gray') + decoded_stream_depth.append(image) + elif packet.stream.index == data_stream.index: + packet_in_bytes = bytes(packet) + if packet_in_bytes: + non_dict = pickle.loads(packet_in_bytes) + decoded_stream_data.append(non_dict) + else: + print("Unknown stream") + print(pkt_counter, len(decoded_stream_1), len(decoded_stream_2), len(decoded_stream_depth), len(decoded_stream_data)) + input_container.close() + + +exporter = MKVExporter() +output_path = os.path.expanduser("~") + "/fog_x/examples/dataloader/mkv_output/" +exporter.export(rtx_loader, output_path) +mkv_loader = MKVLoader(output_path) +def iterate_dataset(loader: BaseLoader, number_of_samples = 50): + for i, data in enumerate(loader): + if i == number_of_samples: + break +iterate_dataset(mkv_loader, number_of_samples) \ No newline at end of file diff --git a/benchmarking/tf_to_hdf5.py b/benchmarking/misc/tf_to_hdf5.py similarity index 100% rename from benchmarking/tf_to_hdf5.py rename to benchmarking/misc/tf_to_hdf5.py diff --git a/benchmarking/parquet.py b/benchmarking/parquet.py index ae0202c..67045dc 100644 --- a/benchmarking/parquet.py +++ b/benchmarking/parquet.py @@ -32,7 +32,7 @@ def measure_traj(read_func, write_func): read_time += time.time() - stop data_size += os.path.getsize(path) - path = PATH + "temp.parquet" + path = PATH + "/temp.parquet" stop = time.time() write_func(path, traj) diff --git a/benchmarking/tf_record.py b/benchmarking/tf_record.py index 4bbfe42..1992985 100644 --- a/benchmarking/tf_record.py +++ b/benchmarking/tf_record.py @@ -19,7 +19,7 @@ def measure_traj(): for i in range(N): print(f"Measuring trajectory {i}") - path = f"{PATH}{NAME}/{NAME}-train.tfrecord-{str(i).zfill(5)}-of-00412" + path = f"{PATH}/{NAME}/{NAME}-train.tfrecord-{str(i).zfill(5)}-of-00412" TFRD = tf.data.TFRecordDataset stop = time.time() @@ -30,7 +30,7 @@ def measure_traj(): read_time += time.time() - stop disk_size += os.path.getsize(path) - out_path = PATH + "temp.tfrecord" + out_path = PATH + "/temp.tfrecord" for record in TFRD(path): data = record.numpy() From 5f6880bad711be173f62c09bf3ab9c18226c2cc7 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Sun, 23 Jun 2024 06:43:10 +0000 Subject: [PATCH 11/19] mkv data --- benchmarking/loaders.py | 158 +++++++++++++++++++++++----------------- 1 file changed, 90 insertions(+), 68 deletions(-) diff --git a/benchmarking/loaders.py b/benchmarking/loaders.py index 145ea02..937d721 100644 --- a/benchmarking/loaders.py +++ b/benchmarking/loaders.py @@ -3,6 +3,7 @@ import sys import time import pickle +import shutil import numpy as np from logging import getLogger @@ -37,9 +38,9 @@ def export(self, loader, path): raise NotImplementedError -class TFLoader(BaseLoader): +class RTXLoader(BaseLoader): def __init__(self, path, split): - super(TFLoader, self).__init__(path) + super(RTXLoader, self).__init__(path) builder = tfds.builder_from_directory(path) self.ds = builder.as_dataset(split) @@ -51,83 +52,85 @@ def __iter__(self): return self.ds.__iter__() -class TFWriter(BaseWriter): +class RTXWriter(BaseWriter): def __init__(self): - super(TFWriter, self).__init__() + super(RTXWriter, self).__init__() self.wr = tf.io.TFRecordWriter def export(self, loader, path): - for i, data in enumerate(loader): + for i, data in enumerate(loader): data_list = list(data["steps"].as_numpy_iterator()) + data_flat = flatten(data_list) - with self.wr(f"{path}/TFWriter_{i}.tfrecord") as writer: - for dl in data_list: + with self.wr(f"{path}/output_{i}.tfrecord") as writer: + for dl in data_flat: writer.write(dl) - def export_temp(self, data_list, path): - path += "/temp.tfrecord" - - with self.wr(path) as writer: - for dl in data_list: + def export_temp(self, data_flat, path): + with self.wr(path + "/temp.tfrecord") as writer: + for dl in data_flat: writer.write(dl) - os.remove(path) N = 51 MB = 1024 * 1024 -def get_size(obj): - if isinstance(obj, dict): - obj = list(obj.values()) - if isinstance(obj, list): - return sum(get_size(v) for v in obj) - elif isinstance(obj, np.ndarray): - return obj.nbytes - if isinstance(obj, bytes): - return len(obj) - if np.isscalar(obj): - return obj.itemsize - raise TypeError(type(obj)) - - -def iterate_dataset(loader, writer, n): +def flatten(data): + if isinstance(data, dict): + data = list(data.values()) + if isinstance(data, list): + return [x for lst in data for x in flatten(lst)] + if isinstance(data, bytes): + return [data] + return [data.tobytes()] + + +def iterate_rtx(loader, writer, n): read_time, write_time, data_size = 0, 0, 0 - for i, data in enumerate(loader): + for i, data in enumerate(loader): + print(f"Measuring trajectory {i}") + stop = time.time() data_list = list(data["steps"].as_numpy_iterator()) read_time += time.time() - stop - data_size += get_size(data_list) + name = "berkeley_autolab_ur5" + num = f"{str(i).zfill(5)}-of-00412" + data_size += os.path.getsize(f"{PATH}/{name}/{name}-train.tfrecord-{num}") + data_flat = flatten(data_list) stop = time.time() - writer.export_temp(data_list, PATH) + writer.export_temp(data_flat, PATH) write_time += time.time() - stop if i == n: break return read_time, write_time, data_size / MB -tf_loader = TFLoader(PATH + "berkeley_autolab_ur5", f"train[:{N}]") -tf_writer = TFWriter() -iterate_dataset(tf_loader, N) -print("do we even get here") -exit() +rtx_loader = RTXLoader(PATH + "berkeley_autolab_ur5", f"train[:{N}]") +rtx_writer = RTXWriter() +# rt, wt, mb = iterate_rtx(rtx_loader, rtx_writer, N) -class MKVExporter(BaseWriter): +# print(f"\nRTX Data: \nMem. size = {mb:.4f} MB; Num. traj = {N}") +# print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") +# print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") + + +class MVKWriter(BaseWriter): def __init__(self): - super(MKVExporter, self).__init__() + super(MVKWriter, self).__init__() # Function to create a frame from numpy array - def create_frame(self, image_array, stream): - frame = av.VideoFrame.from_ndarray(np.array(image_array), format='rgb24') + def create_frame(self, image, stream): + frame = av.VideoFrame.from_ndarray(np.array(image), format='rgb24') frame.pict_type = 'NONE' frame.time_base = stream.time_base return frame # Function to create a frame from numpy array - def create_frame_depth(self, image_array, stream): - image_array = np.array(image_array) + def create_frame_depth(self, image, stream): + image_array = np.array(image) # if float, convert to uint8 if image_array.dtype == np.float32: image_array = (image_array * 255).astype(np.uint8) @@ -139,13 +142,14 @@ def create_frame_depth(self, image_array, stream): frame.time_base = stream.time_base return frame - def export(self, loader: BaseLoader, output_path: str): + def export(self, loader, path): # Create an output container i = -1 for traj_tensor in loader: i += 1 trajectory = dict(traj_tensor) - output = av.open(f'{output_path}/output_{i}.mkv', mode='w') + output = av.open(f'{path}/output_{i}.mkv', mode='w') + # Define video streams (assuming images are 640x480 RGB) video_stream_1 = output.add_stream('libx264', rate=1) video_stream_1.width = 640 @@ -159,19 +163,18 @@ def export(self, loader: BaseLoader, output_path: str): # Define custom data stream for vectors depth_stream = output.add_stream('libx264', rate=1) - data_stream = output.add_stream('rawvideo', rate=1) ts = 0 # convert step data to stream for step_tensor in trajectory["steps"]: step = dict(step_tensor) - obesrvation = step_tensor["observation"].copy() - obesrvation.pop("image") - obesrvation.pop("hand_image") - obesrvation.pop("image_with_depth") + observation = step_tensor["observation"].copy() + observation.pop("image") + observation.pop("hand_image") + observation.pop("image_with_depth") non_image_data_step = step.copy() - non_image_data_step["observation"] = obesrvation + non_image_data_step["observation"] = observation non_image_data_bytes = pickle.dumps(non_image_data_step) packet = av.Packet(non_image_data_bytes) @@ -179,13 +182,11 @@ def export(self, loader: BaseLoader, output_path: str): packet.pts = ts output.mux(packet) - - image =np.array(step["observation"]["image"]) + image = np.array(step["observation"]["image"]) # Create a frame from the numpy array frame = self.create_frame(image, video_stream_1) frame.pts = ts packet = video_stream_1.encode(frame) - output.mux(packet) hand_image =np.array(step["observation"]["hand_image"]) @@ -195,17 +196,15 @@ def export(self, loader: BaseLoader, output_path: str): packet = video_stream_2.encode(frame) output.mux(packet) - # # Create a frame from the numpy array + # Create a frame from the numpy array frame = self.create_frame_depth(step["observation"]["image_with_depth"], depth_stream) # frame.pts = ts # Encode the frame packet = depth_stream.encode(frame) # Write the packet to the output file output.mux(packet) - ts += 1 - # Flush the remaining frames for packet in video_stream_1.encode(): output.mux(packet) @@ -219,9 +218,9 @@ def export(self, loader: BaseLoader, output_path: str): class MKVLoader(BaseLoader): - def __init__(self, data_path): - super(MKVLoader, self).__init__(data_path) - self.files = [data_path + f for f in os.listdir(data_path) if f.endswith('.mkv')] + def __init__(self, path): + super(MKVLoader, self).__init__(path) + self.files = [path + f for f in os.listdir(path) if f.endswith('.mkv')] self.index = 0 def __len__(self): @@ -244,6 +243,7 @@ def __next__(self): def _parse_mkv_file(self, filename): print(filename) input_container = av.open(filename) + video_stream1 = input_container.streams.video[0] video_stream1.thread_type = 'AUTO' video_stream2 = input_container.streams.video[1] @@ -289,12 +289,34 @@ def _parse_mkv_file(self, filename): input_container.close() -exporter = MKVExporter() -output_path = os.path.expanduser("~") + "/fog_x/examples/dataloader/mkv_output/" -exporter.export(rtx_loader, output_path) -mkv_loader = MKVLoader(output_path) -def iterate_dataset(loader: BaseLoader, number_of_samples = 50): - for i, data in enumerate(loader): - if i == number_of_samples: - break -iterate_dataset(mkv_loader, number_of_samples) \ No newline at end of file +def iterate_mkv(rtx_loader, mkv_writer, n): + read_time, write_time, data_size = 0, 0, 0 + path = PATH + "mkv_convert/" + + if len(os.listdir(path)) != 0: + raise SystemError(f"{path} must be empty.") + + stop = time.time() + mkv_writer.export(rtx_loader, path) + write_time += time.time() - stop + + mkv_loader = MKVLoader(path) + + stop = time.time() + for i, data in enumerate(mkv_loader): + print(f"Reading trajectory {i}") + if i == n: break + read_time += time.time() - stop + + for i in range(n): + data_size += os.path.getsize(f"{path}/output_{i}.mkv") + + return read_time, write_time, data_size / MB + + +mkv_writer = MVKWriter() +rt, wt, mb = iterate_mkv(rtx_loader, mkv_writer, N) + +print(f"\nMKV Data: \nMem. size = {mb:.4f} MB; Num. traj = {N}") +print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") +print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file From c7a9322279eb7aff503d35c787abb7b69b00e942 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Sun, 23 Jun 2024 06:46:44 +0000 Subject: [PATCH 12/19] MKV RESULTS --- benchmarking/loaders.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/benchmarking/loaders.py b/benchmarking/loaders.py index 937d721..b96a5c0 100644 --- a/benchmarking/loaders.py +++ b/benchmarking/loaders.py @@ -110,11 +110,11 @@ def iterate_rtx(loader, writer, n): rtx_loader = RTXLoader(PATH + "berkeley_autolab_ur5", f"train[:{N}]") rtx_writer = RTXWriter() -# rt, wt, mb = iterate_rtx(rtx_loader, rtx_writer, N) +rt, wt, mb = iterate_rtx(rtx_loader, rtx_writer, N) -# print(f"\nRTX Data: \nMem. size = {mb:.4f} MB; Num. traj = {N}") -# print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") -# print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") +print(f"\nRTX Data: \nMem. size = {mb:.4f} MB; Num. traj = {N}") +print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") +print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") class MVKWriter(BaseWriter): From a9ddc41a7230e7ad19639c24738fbc4300031a43 Mon Sep 17 00:00:00 2001 From: davidh Date: Sun, 23 Jun 2024 07:55:35 +0000 Subject: [PATCH 13/19] loaders --- benchmarking/PQ_Arrow_Loaders.ipynb | 845 ++++++++++++++++++++++++++++ 1 file changed, 845 insertions(+) create mode 100644 benchmarking/PQ_Arrow_Loaders.ipynb diff --git a/benchmarking/PQ_Arrow_Loaders.ipynb b/benchmarking/PQ_Arrow_Loaders.ipynb new file mode 100644 index 0000000..22ce85b --- /dev/null +++ b/benchmarking/PQ_Arrow_Loaders.ipynb @@ -0,0 +1,845 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 7, + "id": "608ae1bd-0b68-4e0e-b748-e7f89807724e", + "metadata": {}, + "outputs": [], + "source": [ + "import fog_x \n", + "import os\n", + "from logging import getLogger\n", + "import numpy as np\n", + "import os\n", + "os.environ['TF_CPP_MIN_LOG_LEVEL'] = '3' # or any {'0', '1', '2'}\n", + "import tensorflow as tf\n", + "\n", + "class BaseLoader():\n", + " def __init__(self, data_path):\n", + " super(BaseLoader, self).__init__()\n", + " self.data_dir = data_path\n", + " self.logger = getLogger(__name__)\n", + " self.index = 0\n", + "\n", + "\n", + " def __len__(self):\n", + " raise NotImplementedError\n", + "\n", + " def __iter___(self):\n", + " raise NotImplementedError\n", + "\n", + "class BaseExporter():\n", + " def __init__(self):\n", + " super(BaseExporter, self).__init__()\n", + " self.logger = getLogger(__name__)\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " raise NotImplementedError\n", + " " + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "id": "fe6f0124-e66c-4529-8354-12fbc0769de5", + "metadata": {}, + "outputs": [], + "source": [ + "class RTXLoader(BaseLoader):\n", + " def __init__(self, data_path, split):\n", + " super(RTXLoader, self).__init__(data_path)\n", + " import tensorflow_datasets as tfds\n", + "\n", + " builder = tfds.builder_from_directory(data_path)\n", + "\n", + " self.ds = builder.as_dataset(split=split)\n", + " # https://www.determined.ai/blog/tf-dataset-the-bad-parts\n", + "\n", + " def __len__(self):\n", + " return len(self.ds)\n", + " \n", + " def __next__(self):\n", + " if self.index < len(self.ds):\n", + " self.index += 1\n", + " nested_dataset = self.ds.__iter__()\n", + " trajectory = list(nested_dataset)[0][\"steps\"]\n", + " ret = []\n", + " # Iterate through the outer dataset\n", + " for step_data in trajectory:\n", + " step = {}\n", + " for dataset_key, element in step_data.items():\n", + " # print(np.array(element))\n", + " if dataset_key == \"observation\":\n", + " step[\"observation\"] = {}\n", + " for obs_key, obs_element in element.items():\n", + " step[\"observation\"][obs_key] = np.array(obs_element)\n", + " elif dataset_key == \"action\":\n", + " step[\"action\"] = {}\n", + " for action_key, action_element in element.items():\n", + " step[\"action\"][action_key] = np.array(action_element)\n", + " else:\n", + " step[dataset_key] = np.array(element)\n", + " ret.append(step)\n", + " return ret\n", + " else:\n", + " raise StopIteration\n", + " \n", + "\n", + " \n", + " def __iter__(self):\n", + " return self\n", + "\n", + "\n", + "class RTXExporter(BaseExporter):\n", + " def __init__(self):\n", + " super(RTXExporter, self).__init__()\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " raise NotImplementedError" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "id": "9920acb4", + "metadata": {}, + "outputs": [], + "source": [ + "import av\n", + "import pickle \n", + "\n", + "class MKVLoader(BaseLoader):\n", + " def __init__(self, data_path):\n", + " super(MKVLoader, self).__init__(data_path)\n", + " self.files = [data_path + f for f in os.listdir(data_path) if f.endswith('.mkv')]\n", + " self.index = 0\n", + "\n", + " def __len__(self):\n", + " return len(self.files)\n", + " \n", + " def __iter__(self):\n", + " return self\n", + "\n", + " def __next__(self):\n", + " if self.index < len(self):\n", + " result = self.files[self.index]\n", + " self.index += 1\n", + " return self._parse_mkv_file(result)\n", + " else:\n", + " raise StopIteration\n", + " \n", + " def _parse_mkv_file(self, filename):\n", + " print(filename)\n", + " input_container = av.open(filename)\n", + " video_stream1 = input_container.streams.video[0] \n", + " video_stream1.thread_type = 'AUTO'\n", + " video_stream2 = input_container.streams.video[1] \n", + " video_stream2.thread_type = 'AUTO'\n", + " depth_stream = input_container.streams.video[2] \n", + " depth_stream.thread_type = 'AUTO'\n", + " data_stream = input_container.streams[3] \n", + "\n", + " decoded_stream_1 = []\n", + " decoded_stream_2 = []\n", + " decoded_stream_depth = []\n", + " decoded_stream_data = []\n", + "\n", + " pkt_counter = 0\n", + " for packet in input_container.demux(video_stream1, video_stream2, depth_stream, data_stream):\n", + " pkt_counter += 1\n", + " if packet.stream.index == video_stream1.index: \n", + " frame = packet.decode()\n", + " if frame:\n", + " for f in frame:\n", + " image = f.to_ndarray(format='rgb24')\n", + " decoded_stream_1.append(image)\n", + " elif packet.stream.index == video_stream2.index:\n", + " frame = packet.decode()\n", + " if frame:\n", + " for f in frame:\n", + " image = f.to_ndarray(format='rgb24')\n", + " decoded_stream_2.append(image)\n", + " elif packet.stream.index == depth_stream.index:\n", + " frame = packet.decode()\n", + " if frame:\n", + " for f in frame:\n", + " image = f.to_ndarray(format='gray')\n", + " decoded_stream_depth.append(image)\n", + " elif packet.stream.index == data_stream.index:\n", + " packet_in_bytes = bytes(packet)\n", + " if packet_in_bytes:\n", + " non_dict = pickle.loads(packet_in_bytes)\n", + " decoded_stream_data.append(non_dict)\n", + " else:\n", + " print(\"Unknown stream\")\n", + " print(pkt_counter, len(decoded_stream_1), len(decoded_stream_2), len(decoded_stream_depth), len(decoded_stream_data))\n", + " input_container.close()\n", + "\n", + " \n", + "\n", + "class MKVExporter(BaseExporter):\n", + " def __init__(self):\n", + " super(MKVExporter, self).__init__()\n", + "\n", + " # Function to create a frame from numpy array\n", + " def create_frame(self, image_array, stream):\n", + " frame = av.VideoFrame.from_ndarray(np.array(image_array), format='rgb24')\n", + " frame.pict_type = 'NONE'\n", + " frame.time_base = stream.time_base\n", + " return frame\n", + " \n", + " # Function to create a frame from numpy array\n", + " def create_frame_depth(self, image_array, stream):\n", + " image_array = np.array(image_array)\n", + " # if float, convert to uint8\n", + " if image_array.dtype == np.float32:\n", + " image_array = (image_array * 255).astype(np.uint8)\n", + " # if 3 dim, convert to 2 dim\n", + " if len(image_array.shape) == 3:\n", + " image_array = image_array[:,:,0]\n", + " frame = av.VideoFrame.from_ndarray(image_array, format='gray')\n", + " frame.pict_type = 'NONE'\n", + " frame.time_base = stream.time_base\n", + " return frame\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " # Create an output container\n", + " i = -1\n", + " for trajectory in loader:\n", + " i += 1\n", + " output = av.open(f'{output_path}/output_{i}.mkv', mode='w')\n", + " print(f'{output_path}/output_{i}.mkv')\n", + " # Define video streams (assuming images are 640x480 RGB)\n", + " video_stream_1 = output.add_stream('libx264', rate=1)\n", + " video_stream_1.width = 640\n", + " video_stream_1.height = 480\n", + " video_stream_1.pix_fmt = 'yuv420p'\n", + "\n", + " video_stream_2 = output.add_stream('libx264', rate=1)\n", + " video_stream_2.width = 640\n", + " video_stream_2.height = 480\n", + " video_stream_2.pix_fmt = 'yuv420p'\n", + "\n", + " # Define custom data stream for vectors\n", + " depth_stream = output.add_stream('libx264', rate=1)\n", + "\n", + " data_stream = output.add_stream('rawvideo', rate=1)\n", + "\n", + " ts = 0\n", + " # convert step data to stream\n", + " for step in trajectory:\n", + " obesrvation = step[\"observation\"].copy()\n", + " obesrvation.pop(\"image\")\n", + " obesrvation.pop(\"hand_image\")\n", + " obesrvation.pop(\"image_with_depth\")\n", + " non_image_data_step = step.copy()\n", + " non_image_data_step[\"observation\"] = obesrvation\n", + "\n", + " non_image_data_bytes = pickle.dumps(non_image_data_step)\n", + " packet = av.Packet(non_image_data_bytes)\n", + " packet.stream = data_stream\n", + " packet.pts = ts\n", + " output.mux(packet)\n", + "\n", + " image =np.array(step[\"observation\"][\"image\"])\n", + " # Create a frame from the numpy array\n", + " frame = self.create_frame(image, video_stream_1)\n", + " frame.pts = ts\n", + " packet = video_stream_1.encode(frame)\n", + " \n", + " output.mux(packet)\n", + "\n", + " hand_image =np.array(step[\"observation\"][\"hand_image\"])\n", + " # Create a frame from the numpy array\n", + " frame = self.create_frame(hand_image, video_stream_2)\n", + " frame.pts = ts\n", + " packet = video_stream_2.encode(frame)\n", + " output.mux(packet)\n", + "\n", + " # # Create a frame from the numpy array\n", + " frame = self.create_frame_depth(step[\"observation\"][\"image_with_depth\"], depth_stream)\n", + " # frame.pts = ts\n", + " # Encode the frame\n", + " packet = depth_stream.encode(frame)\n", + " # Write the packet to the output file\n", + " output.mux(packet)\n", + "\n", + " ts += 1\n", + "\n", + " \n", + " # Flush the remaining frames\n", + " for packet in video_stream_1.encode():\n", + " output.mux(packet)\n", + "\n", + " for packet in video_stream_2.encode():\n", + " output.mux(packet)\n", + "\n", + " for packet in depth_stream.encode():\n", + " output.mux(packet)\n", + " output.close()\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "id": "89164adb", + "metadata": {}, + "outputs": [], + "source": [ + "number_of_samples = 1\n", + "def iterate_dataset(loader: BaseLoader, number_of_samples):\n", + " for i, data in enumerate(loader): \n", + " list(dict(data)[\"steps\"])\n", + " if i == number_of_samples:\n", + " break" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "id": "1f55f705", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "I 2024-06-23 06:05:40,410 dataset_info.py:595] Load dataset info from /home/davidh/datasets/berkeley_autolab_ur5/0.1.0\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "I 2024-06-23 06:05:40,525 logging_logger.py:49] Constructing tf.data.Dataset berkeley_autolab_ur5 for split train[:1], from /home/davidh/datasets/berkeley_autolab_ur5/0.1.0\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Exported /home/davidh/fog_x_fork/examples/dataloader/pq_output/output_0.parquet\n" + ] + } + ], + "source": [ + "import os\n", + "import pickle\n", + "import pandas as pd\n", + "import fastparquet as fp\n", + "import numpy as np\n", + "from logging import getLogger\n", + "import fog_x\n", + "\n", + "\n", + "class ParquetExporter(BaseExporter):\n", + " def __init__(self):\n", + " super(ParquetExporter, self).__init__()\n", + " self.logger = getLogger(__name__)\n", + "\n", + " def _serialize(self, data):\n", + " return pickle.dumps(np.array(data))\n", + "\n", + " def _step_data_to_df(self, step_data):\n", + " step = {}\n", + " for dataset_key, element in step_data.items():\n", + " if dataset_key == \"observation\":\n", + " for obs_key, obs_element in element.items():\n", + " step[obs_key] = self._serialize(obs_element)\n", + " elif dataset_key == \"action\":\n", + " for action_key, action_element in element.items():\n", + " step[action_key] = self._serialize(action_element)\n", + " else:\n", + " step[dataset_key] = self._serialize(element)\n", + " return step\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " if not os.path.exists(output_path):\n", + " os.makedirs(output_path)\n", + " i = 0\n", + " for steps_data in loader:\n", + " step_data_as_df = [self._step_data_to_df(step_data) for step_data in steps_data]\n", + " combined_df = pd.DataFrame(step_data_as_df)\n", + " output_file = os.path.join(output_path, f'output_{i}.parquet')\n", + " fp.write(output_file, combined_df)\n", + " print(f'Exported {output_file}')\n", + " i += 1\n", + "\n", + "\n", + "class ParquetLoader(BaseLoader):\n", + " def __init__(self, data_path):\n", + " super(ParquetLoader, self).__init__(data_path)\n", + " self.files = [os.path.join(data_path, f) for f in os.listdir(data_path) if f.endswith('.parquet')]\n", + " self.index = 0\n", + "\n", + " def __len__(self):\n", + " return len(self.files)\n", + " \n", + " def __iter__(self):\n", + " return self\n", + "\n", + " def __next__(self):\n", + " if self.index < len(self.files):\n", + " result = self._load_file(self.files[self.index])\n", + " self.index += 1\n", + " return result\n", + " else:\n", + " raise StopIteration\n", + "\n", + " def _parse_parquet_file(self, filename):\n", + " df = fp.ParquetFile(filename).to_pandas()\n", + " steps = [dict(row) for _, row in df.iterrows()]\n", + " return steps\n", + "\n", + "number_of_samples = 1\n", + "\n", + "rtx_loader = RTXLoader(os.path.expanduser(\"~/datasets/berkeley_autolab_ur5/0.1.0\"), split=f'train[:{number_of_samples}]')\n", + "\n", + "output_path = \"/home/davidh/fog_x_fork/examples/dataloader/pq_output\"\n", + "os.makedirs(output_path, exist_ok=True)\n", + "\n", + "exporter = ParquetExporter()\n", + "exporter.export(rtx_loader, output_path)\n", + "\n", + "parquet_loader = ParquetLoader(output_path)" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "id": "6b68d1eb", + "metadata": {}, + "outputs": [ + { + "ename": "ImportError", + "evalue": "cannot import name 'BaseExporter' from 'fog_x' (/home/davidh/miniconda3/envs/fog_x_env/lib/python3.8/site-packages/fog_x/__init__.py)", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mImportError\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[16], line 7\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mnumpy\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mnp\u001b[39;00m\n\u001b[1;32m 6\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mlogging\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m getLogger\n\u001b[0;32m----> 7\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mfog_x\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m BaseExporter, BaseLoader\n\u001b[1;32m 9\u001b[0m \u001b[38;5;28;01mclass\u001b[39;00m \u001b[38;5;21;01mFeatherExporter\u001b[39;00m(BaseExporter):\n\u001b[1;32m 10\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21m__init__\u001b[39m(\u001b[38;5;28mself\u001b[39m):\n", + "\u001b[0;31mImportError\u001b[0m: cannot import name 'BaseExporter' from 'fog_x' (/home/davidh/miniconda3/envs/fog_x_env/lib/python3.8/site-packages/fog_x/__init__.py)" + ] + } + ], + "source": [ + "import os\n", + "import pickle\n", + "import pandas as pd\n", + "import pyarrow.feather as feather\n", + "import numpy as np\n", + "from logging import getLogger\n", + "\n", + "class FeatherExporter(BaseExporter):\n", + " def __init__(self):\n", + " super(FeatherExporter, self).__init__()\n", + " self.logger = getLogger(__name__)\n", + "\n", + " def _serialize(self, data):\n", + " return pickle.dumps(np.array(data))\n", + "\n", + " def _step_data_to_df(self, step_data):\n", + " step = {}\n", + " for dataset_key, element in step_data.items():\n", + " if dataset_key == \"observation\":\n", + " for obs_key, obs_element in element.items():\n", + " step[obs_key] = self._serialize(obs_element)\n", + " elif dataset_key == \"action\":\n", + " for action_key, action_element in element.items():\n", + " step[action_key] = self._serialize(action_element)\n", + " else:\n", + " step[dataset_key] = self._serialize(element)\n", + " return step\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " if not os.path.exists(output_path):\n", + " os.makedirs(output_path)\n", + " i = 0\n", + " for steps_data in loader:\n", + " step_data_as_df = [self._step_data_to_df(step_data) for step_data in steps_data]\n", + " combined_df = pd.DataFrame(step_data_as_df)\n", + " output_file = os.path.join(output_path, f'output_{i}.feather')\n", + " feather.write_feather(combined_df, output_file)\n", + " print(f'Exported {output_file}')\n", + " i += 1\n", + "import os\n", + "import pickle\n", + "import pandas as pd\n", + "import pyarrow.feather as feather\n", + "import numpy as np\n", + "from logging import getLogger\n", + "\n", + "class FeatherLoader(BaseLoader):\n", + " def __init__(self, data_path):\n", + " super(FeatherLoader, self).__init__(data_path)\n", + " self.files = [os.path.join(data_path, f) for f in os.listdir(data_path) if f.endswith('.feather')]\n", + " self.index = 0\n", + "\n", + " def __len__(self):\n", + " return len(self.files)\n", + " \n", + " def __iter__(self):\n", + " return self\n", + "\n", + " def __next__(self):\n", + " if self.index < len(self.files):\n", + " result = self._load_file(self.files[self.index])\n", + " self.index += 1\n", + " return result\n", + " else:\n", + " raise StopIteration\n", + "\n", + " def _load_file(self, filename):\n", + " df = feather.read_feather(filename)\n", + " steps = [dict(row) for _, row in df.iterrows()]\n", + " return steps\n", + "import os\n", + "from fog_x import RTXLoader\n", + "\n", + "number_of_samples = 1\n", + "\n", + "rtx_loader = RTXLoader(os.path.expanduser(\"~/datasets/berkeley_autolab_ur5/0.1.0\"), split=f'train[:{number_of_samples}]')\n", + "\n", + "output_path = os.path.expanduser(\"~\") + \"/fog_x/examples/dataloader/feather_output/\"\n", + "os.makedirs(output_path, exist_ok=True)\n", + "exporter = FeatherExporter()\n", + "exporter.export(rtx_loader, output_path)\n", + "\n", + "feather_loader = FeatherLoader(output_path)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "7364020c", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "218424901" + ] + }, + "execution_count": 17, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "os.path.getsize(\"/home/davidh/fog_x_fork/examples/dataloader/pq_output/output_0.parquet\")" + ] + }, + { + "cell_type": "code", + "execution_count": 20, + "id": "d4566c75", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "I 2024-06-23 06:09:07,749 dataset_info.py:595] Load dataset info from /home/davidh/datasets/berkeley_autolab_ur5/0.1.0\n", + "I 2024-06-23 06:09:07,996 logging_logger.py:49] Constructing tf.data.Dataset berkeley_autolab_ur5 for split train[:1], from /home/davidh/datasets/berkeley_autolab_ur5/0.1.0\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Exported /home/davidh/fog_x/examples/dataloader/feather_output/output_0.feather\n" + ] + } + ], + "source": [ + "import os\n", + "import pickle\n", + "import pandas as pd\n", + "import pyarrow.feather as feather\n", + "import numpy as np\n", + "from logging import getLogger\n", + "\n", + "\n", + "class FeatherExporter(BaseExporter):\n", + " def __init__(self):\n", + " super(FeatherExporter, self).__init__()\n", + " self.logger = getLogger(__name__)\n", + "\n", + " def _serialize(self, data):\n", + " return pickle.dumps(np.array(data))\n", + "\n", + " def _step_data_to_df(self, step_data):\n", + " step = {}\n", + " for dataset_key, element in step_data.items():\n", + " if dataset_key == \"observation\":\n", + " for obs_key, obs_element in element.items():\n", + " step[obs_key] = self._serialize(obs_element)\n", + " elif dataset_key == \"action\":\n", + " for action_key, action_element in element.items():\n", + " step[action_key] = self._serialize(action_element)\n", + " else:\n", + " step[dataset_key] = self._serialize(element)\n", + " return step\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " if not os.path.exists(output_path):\n", + " os.makedirs(output_path)\n", + " i = 0\n", + " for steps_data in loader:\n", + " step_data_as_df = [self._step_data_to_df(step_data) for step_data in steps_data]\n", + " combined_df = pd.DataFrame(step_data_as_df)\n", + " output_file = os.path.join(output_path, f'output_{i}.feather')\n", + " feather.write_feather(combined_df, output_file)\n", + " print(f'Exported {output_file}')\n", + " i += 1\n", + "\n", + "class FeatherLoader(BaseLoader):\n", + " def __init__(self, data_path):\n", + " super(FeatherLoader, self).__init__(data_path)\n", + " self.files = [os.path.join(data_path, f) for f in os.listdir(data_path) if f.endswith('.feather')]\n", + " self.index = 0\n", + "\n", + " def __len__(self):\n", + " return len(self.files)\n", + " \n", + " def __iter__(self):\n", + " return self\n", + "\n", + " def __next__(self):\n", + " if self.index < len(self.files):\n", + " result = self._load_file(self.files[self.index])\n", + " self.index += 1\n", + " return result\n", + " else:\n", + " raise StopIteration\n", + "\n", + " def _load_file(self, filename):\n", + " df = feather.read_feather(filename)\n", + " steps = [dict(row) for _, row in df.iterrows()]\n", + " return steps\n", + "\n", + "number_of_samples = 1\n", + "\n", + "rtx_loader = RTXLoader(os.path.expanduser(\"~/datasets/berkeley_autolab_ur5/0.1.0\"), split=f'train[:{number_of_samples}]')\n", + "\n", + "output_path = os.path.expanduser(\"~\") + \"/fog_x/examples/dataloader/feather_output/\"\n", + "os.makedirs(output_path, exist_ok=True)\n", + "\n", + "exporter = FeatherExporter()\n", + "exporter.export(rtx_loader, output_path)\n", + "\n", + "feather_loader = FeatherLoader(output_path)\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": 21, + "id": "53c1529a", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "91502858" + ] + }, + "execution_count": 21, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "os.path.getsize(\"/home/davidh/fog_x/examples/dataloader/feather_output/output_0.feather\")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "1d56f44d", + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "class ParquetLoader():\n", + " def __init__(self, data_path):\n", + " super(ParquetLoader, self).__init__()\n", + " self.data_dir = data_path\n", + " self.logger = getLogger(__name__)\n", + "\n", + " def __len__(self):\n", + " raise NotImplementedError\n", + "\n", + " def __iter___(self):\n", + " raise NotImplementedError\n" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "80867561", + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "exporter = MKVExporter()\n", + "output_path = \"/home/davidh/fog_x_fork/examples/dataloader/mkv_output/\"\n", + "exporter.export(rtx_loader, output_path)" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "id": "fcfc1bdb", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "/home/davidh/fog_x_fork/examples/dataloader/mkv_output/output_11.mkv\n", + "408 101 101 101 101\n", + "/home/davidh/fog_x_fork/examples/dataloader/mkv_output/output_16.mkv\n", + "436 108 108 108 108\n" + ] + } + ], + "source": [ + "mkv_loader = MKVLoader(output_path)\n", + "def iterate_dataset(loader: BaseLoader, number_of_samples = 50):\n", + " for i, data in enumerate(loader): \n", + " if i == number_of_samples:\n", + " break\n", + "iterate_dataset(mkv_loader, number_of_samples)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "0822a45a", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": 9, + "id": "30ba398b", + "metadata": {}, + "outputs": [ + { + "ename": "ImportError", + "evalue": "cannot import name 'RTXLoader' from 'fog_x' (/home/davidh/miniconda3/envs/fog_x_env/lib/python3.8/site-packages/fog_x/__init__.py)", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mImportError\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[9], line 7\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mpyarrow\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mparquet\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mpq\u001b[39;00m\n\u001b[1;32m 6\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mnumpy\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mnp\u001b[39;00m\n\u001b[0;32m----> 7\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mfog_x\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m RTXLoader, BaseLoader, BaseExporter\n\u001b[1;32m 9\u001b[0m \u001b[38;5;28;01mclass\u001b[39;00m \u001b[38;5;21;01mParquetExporter\u001b[39;00m(BaseExporter):\n\u001b[1;32m 10\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21m__init__\u001b[39m(\u001b[38;5;28mself\u001b[39m):\n", + "\u001b[0;31mImportError\u001b[0m: cannot import name 'RTXLoader' from 'fog_x' (/home/davidh/miniconda3/envs/fog_x_env/lib/python3.8/site-packages/fog_x/__init__.py)" + ] + } + ], + "source": [ + "import os\n", + "import pickle\n", + "import pandas as pd\n", + "import pyarrow as pa\n", + "import pyarrow.parquet as pq\n", + "import numpy as np\n", + "from fog_x import RTXLoader, BaseLoader, BaseExporter\n", + "\n", + "class ParquetExporter(BaseExporter):\n", + " def __init__(self):\n", + " super(ParquetExporter, self).__init__()\n", + "\n", + " def _serialize(self, data):\n", + " return pickle.dumps(np.array(data))\n", + "\n", + " def _step_data_to_df(self, step_data):\n", + " step = {}\n", + " for dataset_key, element in step_data.items():\n", + " if dataset_key == \"observation\":\n", + " for obs_key, obs_element in element.items():\n", + " step[obs_key] = self._serialize(obs_element)\n", + " elif dataset_key == \"action\":\n", + " for action_key, action_element in element.items():\n", + " step[action_key] = self._serialize(action_element)\n", + " else:\n", + " step[dataset_key] = self._serialize(element)\n", + " return step\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " for steps_data in loader:\n", + " step_data_as_df = [self._step_data_to_df(step_data) for step_data in steps_data]\n", + " combined_df = pd.DataFrame(step_data_as_df)\n", + " table = pa.Table.from_pandas(combined_df)\n", + " pq.write_table(table, output_path)\n", + "\n", + "class ParquetLoader(BaseLoader):\n", + " def __init__(self, data_path):\n", + " super(ParquetLoader, self).__init__(data_path)\n", + " self.files = [os.path.join(data_path, f) for f in os.listdir(data_path) if f.endswith('.parquet')]\n", + " self.index = 0\n", + "\n", + " def __len__(self):\n", + " return len(self.files)\n", + " \n", + " def __iter__(self):\n", + " return self\n", + "\n", + " def __next__(self):\n", + " if self.index < len(self.files):\n", + " result = self._load_file(self.files[self.index])\n", + " self.index += 1\n", + " return result\n", + " else:\n", + " raise StopIteration\n", + "\n", + " def _load_file(self, filename):\n", + " table = pq.read_table(filename)\n", + " df = table.to_pandas()\n", + " steps = [dict(row) for _, row in df.iterrows()]\n", + " return steps\n", + "\n", + "# Example usage\n", + "rtx_loader = RTXLoader(os.path.expanduser(\"~/datasets/berkeley_autolab_ur5/0.1.0\"), split='train[:51]')\n", + "exporter = ParquetExporter()\n", + "exporter.export(rtx_loader, \"output.parquet\")\n", + "\n", + "parquet_loader = ParquetLoader(\"/home/davidh/fog_x_fork/benchmarking/\")\n", + "print(parquet_loader._load_file(\"/home/davidh/fog_x_fork/benchmarking/output.parquet\"))\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "359bb163", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.19" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} From 36169c5f325314405591629b6e851d002517c222 Mon Sep 17 00:00:00 2001 From: davidh Date: Sun, 23 Jun 2024 07:56:28 +0000 Subject: [PATCH 14/19] loaders --- benchmarking/tf_record.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/benchmarking/tf_record.py b/benchmarking/tf_record.py index 4bbfe42..b1e4a84 100644 --- a/benchmarking/tf_record.py +++ b/benchmarking/tf_record.py @@ -3,7 +3,8 @@ import time import numpy as np -PATH = os.path.expanduser("~") +PATH = "/shared/ryanhoque/datasets/datasets/" +os.path.expanduser("~") sys.path.append(PATH + "/fog_x_fork") os.environ['TF_CPP_MIN_LOG_LEVEL'] = "2" From b980f7f0064b084e49d2c2b58b59b0c6632734d6 Mon Sep 17 00:00:00 2001 From: davidh Date: Sun, 23 Jun 2024 08:06:07 +0000 Subject: [PATCH 15/19] loaders refactor --- benchmarking/pq_arrow_loaders.py | 259 +++++++++++++++++++++++++++++++ 1 file changed, 259 insertions(+) create mode 100644 benchmarking/pq_arrow_loaders.py diff --git a/benchmarking/pq_arrow_loaders.py b/benchmarking/pq_arrow_loaders.py new file mode 100644 index 0000000..9f3b3ea --- /dev/null +++ b/benchmarking/pq_arrow_loaders.py @@ -0,0 +1,259 @@ +import os +import time +from logging import getLogger +import numpy as np +import pickle +import av +import pandas as pd +import pyarrow.feather as feather +import pyarrow as pa +import pyarrow.parquet as pq +import tensorflow_datasets as tfds +import tensorflow as tf +import fastparquet as fp + +os.environ['TF_CPP_MIN_LOG_LEVEL'] = '3' # or any {'0', '1', '2'} + +class BaseLoader(): + def __init__(self, data_path): + super(BaseLoader, self).__init__() + self.data_dir = data_path + self.logger = getLogger(__name__) + self.index = 0 + + def __len__(self): + raise NotImplementedError + + def __iter___(self): + raise NotImplementedError + + +class BaseExporter(): + def __init__(self): + super(BaseExporter, self).__init__() + self.logger = getLogger(__name__) + + def export(self, loader: BaseLoader, output_path: str): + raise NotImplementedError + +class RTXLoader(BaseLoader): + def __init__(self, data_path, split): + super(RTXLoader, self).__init__(data_path) + builder = tfds.builder_from_directory(data_path) + self.ds = builder.as_dataset(split=split) + + def __len__(self): + return len(self.ds) + + def __next__(self): + if self.index < len(self.ds): + self.index += 1 + nested_dataset = self.ds.__iter__() + trajectory = list(nested_dataset)[0]["steps"] + ret = [] + for step_data in trajectory: + step = {} + for dataset_key, element in step_data.items(): + if dataset_key == "observation": + step["observation"] = {} + for obs_key, obs_element in element.items(): + step["observation"][obs_key] = np.array(obs_element) + elif dataset_key == "action": + step["action"] = {} + for action_key, action_element in element.items(): + step["action"][action_key] = np.array(action_element) + else: + step[dataset_key] = np.array(element) + ret.append(step) + return ret + else: + raise StopIteration + + def __iter__(self): + return self + +class RTXExporter(BaseExporter): + def __init__(self): + super(RTXExporter, self).__init__() + + def export(self, loader: BaseLoader, output_path: str): + raise NotImplementedError + + +class ParquetExporter(BaseExporter): + def __init__(self): + super(ParquetExporter, self).__init__() + self.logger = getLogger(__name__) + + def _serialize(self, data): + return pickle.dumps(np.array(data)) + + def _step_data_to_df(self, step_data): + step = {} + for dataset_key, element in step_data.items(): + if dataset_key == "observation": + for obs_key, obs_element in element.items(): + step[obs_key] = self._serialize(obs_element) + elif dataset_key == "action": + for action_key, action_element in element.items(): + step[action_key] = self._serialize(action_element) + else: + step[dataset_key] = self._serialize(element) + return step + + def export(self, loader: BaseLoader, output_path: str): + if not os.path.exists(output_path): + os.makedirs(output_path) + i = 0 + for steps_data in loader: + step_data_as_df = [self._step_data_to_df(step_data) for step_data in steps_data] + combined_df = pd.DataFrame(step_data_as_df) + output_file = os.path.join(output_path, f'output_{i}.parquet') + fp.write(output_file, combined_df) + print(f'Exported {output_file}') + i += 1 + +class ParquetLoader(BaseLoader): + def __init__(self, data_path): + super(ParquetLoader, self).__init__(data_path) + self.files = [os.path.join(data_path, f) for f in os.listdir(data_path) if f.endswith('.parquet')] + self.index = 0 + + def __len__(self): + return len(self.files) + + def __iter__(self): + return self + + def __next__(self): + if self.index < len(self.files): + result = self._load_file(self.files[self.index]) + self.index += 1 + return result + else: + raise StopIteration + + def _load_file(self, filename): + table = pq.read_table(filename) + df = table.to_pandas() + steps = [dict(row) for _, row in df.iterrows()] + return steps + +class FeatherExporter(BaseExporter): + def __init__(self): + super(FeatherExporter, self).__init__() + self.logger = getLogger(__name__) + + def _serialize(self, data): + return pickle.dumps(np.array(data)) + + def _step_data_to_df(self, step_data): + step = {} + for dataset_key, element in step_data.items(): + if dataset_key == "observation": + for obs_key, obs_element in element.items(): + step[obs_key] = self._serialize(obs_element) + elif dataset_key == "action": + for action_key, action_element in element.items(): + step[action_key] = self._serialize(action_element) + else: + step[dataset_key] = self._serialize(element) + return step + + def export(self, loader: BaseLoader, output_path: str): + if not os.path.exists(output_path): + os.makedirs(output_path) + i = 0 + for steps_data in loader: + step_data_as_df = [self._step_data_to_df(step_data) for step_data in steps_data] + combined_df = pd.DataFrame(step_data_as_df) + output_file = os.path.join(output_path, f'output_{i}.feather') + feather.write_feather(combined_df, output_file) + print(f'Exported {output_file}') + i += 1 + +class FeatherLoader(BaseLoader): + def __init__(self, data_path): + super(FeatherLoader, self).__init__(data_path) + self.files = [os.path.join(data_path, f) for f in os.listdir(data_path) if f.endswith('.feather')] + self.index = 0 + + def __len__(self): + return len(self.files) + + def __iter__(self): + return self + + def __next__(self): + if self.index < len(self.files): + result = self._load_file(self.files[self.index]) + self.index += 1 + return result + else: + raise StopIteration + + def _load_file(self, filename): + df = feather.read_feather(filename) + steps = [dict(row) for _, row in df.iterrows()] + return steps + +def iterate_parquet(rtx_loader, parquet_exporter, n): + read_time, write_time, data_size = 0, 0, 0 + path = os.path.expanduser("~/fog_x_fork/examples/dataloader/pq_output/") + os.makedirs(path, exist_ok=True) + + stop = time.time() + parquet_exporter.export(rtx_loader, path) + write_time += time.time() - stop + + parquet_loader = ParquetLoader(path) + + stop = time.time() + for i, data in enumerate(parquet_loader): + print(f"Reading trajectory {i}") + if i == n: break + read_time += time.time() - stop + + for i in range(n): + data_size += os.path.getsize(f"{path}/output_{i}.parquet") + + return read_time, write_time, data_size / 1024**2 + +def iterate_feather(rtx_loader, feather_exporter, n): + read_time, write_time, data_size = 0, 0, 0 + path = os.path.expanduser("~/fog_x/examples/dataloader/feather_output/") + os.makedirs(path, exist_ok=True) + + stop = time.time() + feather_exporter.export(rtx_loader, path) + write_time += time.time() - stop + + feather_loader = FeatherLoader(path) + + stop = time.time() + for i, data in enumerate(feather_loader): + print(f"Reading trajectory {i}") + if i == n: break + read_time += time.time() - stop + + for i in range(n): + data_size += os.path.getsize(f"{path}/output_{i}.feather") + + return read_time, write_time, data_size / 1024**2 + +# parquet use case +rtx_loader = RTXLoader(os.path.expanduser("~/datasets/berkeley_autolab_ur5/0.1.0"), split='train[:51]') +parquet_exporter = ParquetExporter() +rt, wt, mb = iterate_parquet(rtx_loader, parquet_exporter, 51) + +print(f"\nParquet Data: \nMem. size = {mb:.4f} MB; Num. traj = 51") +print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {51 / rt :.4f} traj/s") +print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {51 / wt :.4f} traj/s") + +# feather pyarrow version use case +feather_exporter = FeatherExporter() +rt, wt, mb = iterate_feather(rtx_loader, feather_exporter, 51) + +print(f"\nFeather Data: \nMem. size = {mb:.4f} MB; Num. traj = 51") +print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {51 / rt :.4f} traj/s") +print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {51 / wt :.4f} traj/s") From ea4366e6cd801a131f19a53c0eec3b55a8b2b244 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Sun, 23 Jun 2024 08:45:16 +0000 Subject: [PATCH 16/19] new mkv data --- benchmarking/ffmpeg_loaders.py | 348 +++++++++++++++++++++++++++++++++ 1 file changed, 348 insertions(+) create mode 100644 benchmarking/ffmpeg_loaders.py diff --git a/benchmarking/ffmpeg_loaders.py b/benchmarking/ffmpeg_loaders.py new file mode 100644 index 0000000..534e01e --- /dev/null +++ b/benchmarking/ffmpeg_loaders.py @@ -0,0 +1,348 @@ +import os +import av +import sys +import time +import pickle +import numpy as np +from logging import getLogger + +os.environ['TF_CPP_MIN_LOG_LEVEL'] = "2" +import tensorflow_datasets as tfds +import tensorflow as tf + +PATH = os.path.expanduser("~") +sys.path.append(PATH + "/fog_x_fork") +PATH += "/datasets/" + + +class BaseLoader(): + def __init__(self, path): + super(BaseLoader, self).__init__() + self.path = path + self.logger = getLogger(__name__) + + def __len__(self): + raise NotImplementedError + + def __iter___(self): + raise NotImplementedError + + +class BaseWriter(): + def __init__(self): + super(BaseWriter, self).__init__() + self.logger = getLogger(__name__) + + def export(self, loader, path): + raise NotImplementedError + + +class RTXLoader(BaseLoader): + + def __init__(self, path, split): + super(RTXLoader, self).__init__(path) + builder = tfds.builder_from_directory(path) + self.ds = builder.as_dataset(split) + self.index = 0 + + def __len__(self): + return len(self.ds) + + def __next__(self): + if self.index < len(self.ds): + self.index += 1 + nest_ds = self.ds.__iter__() + traj = list(nest_ds)[0]["steps"] + data = [] + + for step_data in traj: + step = {} + for key, val in step_data.items(): + + if key == "observation": + step["observation"] = {} + for obs_key, obs_val in val.items(): + step["observation"][obs_key] = np.array(obs_val) + + elif key == "action": + step["action"] = {} + for act_key, act_val in val.items(): + step["action"][act_key] = np.array(act_val) + else: + step[key] = np.array(val) + + data.append(step) + return data + else: + self.index = 0 + raise StopIteration + + def __iter__(self): + return self + + +class RTXWriter(BaseWriter): + + def __init__(self): + super(RTXWriter, self).__init__() + self.wr = tf.io.TFRecordWriter + + def export(self, loader, path): + for i, data in enumerate(loader): + # data_list = list(data["steps"].as_numpy_iterator()) + # data_flat = flatten(data_list) + + with self.wr(f"{path}/output_{i}.tfrecord") as writer: + for dl in data: + writer.write(dl) + + def export_temp(self, data, path): + with self.wr(path + "/temp.tfrecord") as writer: + for dl in data: + writer.write(dl) + + +N = 51 +MB = 1024 * 1024 + +def flatten(data): + if isinstance(data, dict): + data = list(data.values()) + if isinstance(data, list): + return [x for lst in data for x in flatten(lst)] + if isinstance(data, bytes): + return [data] + return [data.tobytes()] + + +def iterate_rtx(num_iters): + read_time, write_time, data_size = 0, 0, 0 + + # Read time + stop = time.time() + rtx_loader = RTXLoader(PATH + "berkeley_autolab_ur5", f"train[:{N}]") + + for i, data in enumerate(rtx_loader): + print(f"Reading trajectory {i}") + if i == num_iters: + break + read_time = time.time() - stop + + # Write time + rtx_writer = RTXWriter() + for i, data in enumerate(rtx_loader): + print(f"Writing trajectory {i}") + flat = flatten(data) + + stop = time.time() + rtx_writer.export_temp(flat, PATH) + write_time += time.time() - stop + if i == num_iters: + break + + # Data size + for i in range(num_iters): + name = "berkeley_autolab_ur5" + num = f"{str(i).zfill(5)}-of-00412" + data_size += os.path.getsize(f"{PATH}/{name}/{name}-train.tfrecord-{num}") + + return read_time, write_time, data_size / MB + + +rt, wt, mb = iterate_rtx(N) +print(f"\nRTX Data: \nMem. size = {mb:.4f} MB; Num. traj = {N}") +print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") +print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") + + +class MKVLoader(BaseLoader): + + def __init__(self, path): + super(MKVLoader, self).__init__(path) + self.files = [path + f for f in os.listdir(path) if f.endswith(".mkv")] + self.index = 0 + + def __len__(self): + return len(self.files) + + def __iter__(self): + return self + + def __next__(self): + if self.index < len(self): + result = self.files[self.index] + self.index += 1 + return self._parse_mkv_file(result) + else: + raise StopIteration + + def _parse_mkv_file(self, file): + inp_cont = av.open(file) + print(file) + + vid_str1 = inp_cont.streams.video[0] + vid_str1.thread_type = "AUTO" + vid_str2 = inp_cont.streams.video[1] + vid_str2.thread_type = "AUTO" + dpth_str = inp_cont.streams.video[2] + dpth_str.thread_type = "AUTO" + data_str = inp_cont.streams[3] + + dec_str1, dec_str2, dec_dpth, dec_data = [], [], [], [] + + pkt_counter = 0 + for packet in inp_cont.demux(vid_str1, vid_str2, dpth_str, data_str): + pkt_counter += 1 + if packet.stream.index == vid_str1.index: + frame = packet.decode() + if frame: + for f in frame: + image = f.to_ndarray(format="rgb24") + dec_str1.append(image) + elif packet.stream.index == vid_str2.index: + frame = packet.decode() + if frame: + for f in frame: + image = f.to_ndarray(format="rgb24") + dec_str2.append(image) + elif packet.stream.index == dpth_str.index: + frame = packet.decode() + if frame: + for f in frame: + image = f.to_ndarray(format="gray") + dec_dpth.append(image) + elif packet.stream.index == data_str.index: + pib = bytes(packet) + if pib: + non_dict = pickle.loads(pib) + dec_data.append(non_dict) + else: + print("Unknown stream") + + print(pkt_counter, len(dec_str1), len(dec_str2), len(dec_dpth), len(dec_data)) + inp_cont.close() + + +class MKVWriter(BaseWriter): + + def __init__(self): + super(MKVWriter, self).__init__() + + def create_frame(self, image, stream): + frame = av.VideoFrame.from_ndarray(np.array(image), format="rgb24") + frame.pict_type = "NONE" + frame.time_base = stream.time_base + return frame + + def create_frame_depth(self, image, stream): + image = np.array(image) + + if image.dtype == np.float32: + image = (image * 255).astype(np.uint8) + if len(image.shape) == 3: + image = image[:,:,0] + + frame = av.VideoFrame.from_ndarray(image, format="gray") + frame.pict_type = "NONE" + frame.time_base = stream.time_base + return frame + + def export(self, loader, path): + i = -1 + for traj in loader: + i += 1 + outdir = f"{path}/output_{i}.mkv" + output = av.open(outdir, mode="w") + print(outdir) + + vid_str1 = output.add_stream('libx264', rate=1) + vid_str1.width = 640 + vid_str1.height = 480 + vid_str1.pix_fmt = 'yuv420p' + + vid_str2 = output.add_stream('libx264', rate=1) + vid_str2.width = 640 + vid_str2.height = 480 + vid_str2.pix_fmt = 'yuv420p' + + dpth_str = output.add_stream('libx264', rate=1) + data_str = output.add_stream('rawvideo', rate=1) + + ts = 0 + for step in traj: + obs = step["observation"].copy() + obs.pop("image") + obs.pop("hand_image") + obs.pop("image_with_depth") + misc_step = step.copy() + misc_step["observation"] = obs + + misc_byte = pickle.dumps(misc_step) + packet = av.Packet(misc_byte) + packet.stream = data_str + packet.pts = ts + output.mux(packet) + + image = np.array(step["observation"]["image"]) + frame = self.create_frame(image, vid_str1) + frame.pts = ts + packet = vid_str1.encode(frame) + output.mux(packet) + + hand_image = np.array(step["observation"]["hand_image"]) + frame = self.create_frame(hand_image, vid_str2) + frame.pts = ts + packet = vid_str2.encode(frame) + output.mux(packet) + + frame = self.create_frame_depth(step["observation"]["image_with_depth"], dpth_str) + # frame.pts = ts + packet = dpth_str.encode(frame) + output.mux(packet) + ts += 1 + + for packet in vid_str1.encode(): + output.mux(packet) + + for packet in vid_str2.encode(): + output.mux(packet) + + for packet in dpth_str.encode(): + output.mux(packet) + output.close() + + +def iterate_mkv(loader, num_iters): + read_time, write_time, data_size = 0, 0, 0 + path = PATH + "mkv_convert/" + + if len(os.listdir(path)) != 0: + raise SystemError(f"{path} must be empty.") + + # Write time + stop = time.time() + mkv_writer = MKVWriter() + mkv_writer.export(loader, path) + write_time = time.time() - stop + + # Read time + mkv_loader = MKVLoader(path) + stop = time.time() + for i, data in enumerate(mkv_loader): + if i == num_iters: + break + read_time = time.time() - stop + + # Data size + for i in range(num_iters): + data_size += os.path.getsize(f"{path}/output_{i}.mkv") + + return read_time, write_time, data_size / MB + + +rtx_loader = RTXLoader(PATH + "berkeley_autolab_ur5", f"train[:{N}]") +rt, wt, mb = iterate_mkv(rtx_loader, N) + +print(f"\nMKV Data: \nMem. size = {mb:.4f} MB; Num. traj = {N}") +print(f"Read: latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s") +print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s") \ No newline at end of file From e4489c26271bb488c349db2d9a998f996c699be6 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Sun, 23 Jun 2024 08:50:03 +0000 Subject: [PATCH 17/19] new mkv data --- benchmarking/{ => davidh}/PQ_Arrow_Loaders.ipynb | 0 benchmarking/{ => davidh}/plot_notes.py | 0 benchmarking/{ => davidh}/pq_arrow_loaders.py | 0 benchmarking/{loaders.py => old_loaders.py} | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename benchmarking/{ => davidh}/PQ_Arrow_Loaders.ipynb (100%) rename benchmarking/{ => davidh}/plot_notes.py (100%) rename benchmarking/{ => davidh}/pq_arrow_loaders.py (100%) rename benchmarking/{loaders.py => old_loaders.py} (100%) diff --git a/benchmarking/PQ_Arrow_Loaders.ipynb b/benchmarking/davidh/PQ_Arrow_Loaders.ipynb similarity index 100% rename from benchmarking/PQ_Arrow_Loaders.ipynb rename to benchmarking/davidh/PQ_Arrow_Loaders.ipynb diff --git a/benchmarking/plot_notes.py b/benchmarking/davidh/plot_notes.py similarity index 100% rename from benchmarking/plot_notes.py rename to benchmarking/davidh/plot_notes.py diff --git a/benchmarking/pq_arrow_loaders.py b/benchmarking/davidh/pq_arrow_loaders.py similarity index 100% rename from benchmarking/pq_arrow_loaders.py rename to benchmarking/davidh/pq_arrow_loaders.py diff --git a/benchmarking/loaders.py b/benchmarking/old_loaders.py similarity index 100% rename from benchmarking/loaders.py rename to benchmarking/old_loaders.py From 3ddf4cded20dce252fd05c8257933ee257ba2361 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Sun, 23 Jun 2024 23:33:18 +0000 Subject: [PATCH 18/19] refactoring + hdf5 --- benchmarking/{misc => davidh}/tf_record.ipynb | 0 benchmarking/misc/hdf5_loader.ipynb | 59220 ++++++++++++++++ benchmarking/{davidh => plots}/plot_notes.py | 0 3 files changed, 59220 insertions(+) rename benchmarking/{misc => davidh}/tf_record.ipynb (100%) create mode 100644 benchmarking/misc/hdf5_loader.ipynb rename benchmarking/{davidh => plots}/plot_notes.py (100%) diff --git a/benchmarking/misc/tf_record.ipynb b/benchmarking/davidh/tf_record.ipynb similarity index 100% rename from benchmarking/misc/tf_record.ipynb rename to benchmarking/davidh/tf_record.ipynb diff --git a/benchmarking/misc/hdf5_loader.ipynb b/benchmarking/misc/hdf5_loader.ipynb new file mode 100644 index 0000000..6036f99 --- /dev/null +++ b/benchmarking/misc/hdf5_loader.ipynb @@ -0,0 +1,59220 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Requirement already satisfied: fog_x in /home/lifelong/anaconda3/envs/fog_rtx_env/lib/python3.10/site-packages (0.1.0b4)\n", + "Requirement already satisfied: pandas in /home/lifelong/.local/lib/python3.10/site-packages (from fog_x) (2.1.4)\n", + "Requirement already satisfied: numpy in /home/lifelong/.local/lib/python3.10/site-packages (from fog_x) (1.26.2)\n", + "Requirement already satisfied: polars in /home/lifelong/anaconda3/envs/fog_rtx_env/lib/python3.10/site-packages (from fog_x) (0.20.31)\n", + "Requirement 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simple-parsing, promise, importlib_resources, immutabledict, fsspec, etils, array-record, tensorflow_datasets\n", + "Successfully installed array-record-0.5.1 dm-tree-0.1.8 etils-1.7.0 fsspec-2024.6.0 immutabledict-4.2.0 importlib_resources-6.4.0 promise-2.3 simple-parsing-0.1.5 tensorflow-metadata-1.15.0 tensorflow_datasets-4.9.6 toml-0.10.2\n", + "\n", + "\u001b[1m[\u001b[0m\u001b[34;49mnotice\u001b[0m\u001b[1;39;49m]\u001b[0m\u001b[39;49m A new release of pip is available: \u001b[0m\u001b[31;49m23.3.1\u001b[0m\u001b[39;49m -> \u001b[0m\u001b[32;49m24.1\u001b[0m\n", + "\u001b[1m[\u001b[0m\u001b[34;49mnotice\u001b[0m\u001b[1;39;49m]\u001b[0m\u001b[39;49m To update, run: \u001b[0m\u001b[32;49mpip install --upgrade pip\u001b[0m\n" + ] + } + ], + "source": [ + "!pip install fog_x\n", + "!pip install tensorflow[and-cuda]\n", + "!pip install tensorflow_datasets" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "metadata": {}, + "outputs": [], + "source": [ + "import fog_x \n", + "import os\n", + "from logging import getLogger\n", + "import numpy as np\n", + "import os\n", + "os.environ['TF_CPP_MIN_LOG_LEVEL'] = '3' # or any {'0', '1', '2'}\n", + "import tensorflow as tf\n", + "\n", + "class BaseLoader():\n", + " def __init__(self, data_path):\n", + " super(BaseLoader, self).__init__()\n", + " self.data_dir = data_path\n", + " self.logger = getLogger(__name__)\n", + " self.index = 0\n", + "\n", + "\n", + " def __len__(self):\n", + " raise NotImplementedError\n", + "\n", + " def __iter___(self):\n", + " raise NotImplementedError\n", + "\n", + "class BaseExporter():\n", + " def __init__(self):\n", + " super(BaseExporter, self).__init__()\n", + " self.logger = getLogger(__name__)\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " raise NotImplementedError" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "metadata": {}, + "outputs": [], + "source": [ + "class RTXLoader(BaseLoader):\n", + " def __init__(self, data_path, split):\n", + " super(RTXLoader, self).__init__(data_path)\n", + " import tensorflow_datasets as tfds\n", + "\n", + " builder = tfds.builder_from_directory(data_path)\n", + "\n", + " self.ds = builder.as_dataset(split=split)\n", + " # https://www.determined.ai/blog/tf-dataset-the-bad-parts\n", + "\n", + " def __len__(self):\n", + " return len(self.ds)\n", + " \n", + " def __next__(self):\n", + " if self.index < len(self.ds):\n", + " self.index += 1\n", + " nested_dataset = self.ds.__iter__()\n", + " trajectory = list(nested_dataset)[0][\"steps\"]\n", + " ret = []\n", + " # Iterate through the outer dataset\n", + " for step_data in trajectory:\n", + " step = {}\n", + " for dataset_key, element in step_data.items():\n", + " # print(np.array(element))\n", + " if dataset_key == \"observation\":\n", + " step[\"observation\"] = {}\n", + " for obs_key, obs_element in element.items():\n", + " step[\"observation\"][obs_key] = np.array(obs_element)\n", + " elif dataset_key == \"action\":\n", + " step[\"action\"] = {}\n", + " for action_key, action_element in element.items():\n", + " step[\"action\"][action_key] = np.array(action_element)\n", + " else:\n", + " step[dataset_key] = np.array(element)\n", + " ret.append(step)\n", + " return ret\n", + " else:\n", + " raise StopIteration\n", + " \n", + "\n", + " \n", + " def __iter__(self):\n", + " return self\n", + "\n", + "\n", + "class RTXExporter(BaseExporter):\n", + " def __init__(self):\n", + " super(RTXExporter, self).__init__()\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " raise NotImplementedError" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [], + "source": [ + "import h5py\n", + "class HDF5Loader(BaseLoader):\n", + " def __init__(self, data_path):\n", + " super(HDF5Loader, self).__init__(data_path)\n", + " self.ds = []\n", + " with h5py.File(data_path, \"r\") as f:\n", + " print(\"Trajectories: %s\" % f.keys())\n", + " trajectories = []\n", + " for trajectory_key in f.keys():\n", + " traj_hdf5 = f[trajectory_key]\n", + " print(\"Steps: %s\" % traj_hdf5.keys())\n", + " steps = []\n", + " for step_key in traj_hdf5.keys():\n", + " step = {}\n", + " step_hdf5 = traj_hdf5[step_key]\n", + " for item_key,item_value in step_hdf5.items():\n", + " if(item_key == 'action'):\n", + " action_dict = {}\n", + " for action_key,action_value in item_value.items():\n", + " if(action_key == 'gripper_closedness_action'):\n", + " action_dict['gripper_closedness_action'] = action_value[()]\n", + " elif(action_key == 'rotation_delta'):\n", + " action_dict['rotation_delta'] = action_value[()]\n", + " elif(action_key == 'terminate_episode'):\n", + " action_dict['terminate_episode'] = action_value[()]\n", + " elif(action_key == 'world_vector'):\n", + " action_dict['world_vector'] = action_value[()]\n", + " step['action'] = action_dict\n", + " elif(item_key == 'is_first'):\n", + " step['is_first'] = item_value[()]\n", + " elif(item_key == 'is_last'):\n", + " step['is_last'] = item_value[()]\n", + " elif(item_key == 'is_terminal'):\n", + " step['is_terminal'] = item_value[()]\n", + " elif(item_key == 'observation'):\n", + " observation_dict = {}\n", + " for observation_key,observation_value in item_value.items():\n", + " if(observation_key == 'hand_image'):\n", + " observation_dict['hand_image'] = observation_value[()]\n", + " elif(observation_key == 'image'):\n", + " observation_dict['image'] = observation_value[()]\n", + " elif(observation_key == 'image_with_depth'):\n", + " observation_dict['image_with_depth'] = observation_value[()]\n", + " elif(observation_key == 'natural_language_embedding'):\n", + " observation_dict['natural_language_embedding'] = observation_value[()]\n", + " elif(observation_key == 'natural_language_instruction'):\n", + " observation_dict['natural_language_instruction'] = observation_value[()]\n", + " elif(observation_key == 'robot_state'):\n", + " observation_dict['robot_state'] = observation_value[()]\n", + " step['observation'] = observation_dict\n", + " elif(item_key == 'reward'):\n", + " step['reward'] = item_value[()]\n", + " steps.append(step)\n", + " trajectories.append(steps)\n", + " self.ds = trajectories\n", + " \n", + " def __len__(self):\n", + " return len(self.ds)\n", + " \n", + " def __iter__(self):\n", + " return self.ds.__iter__()\n", + " \n", + "class HDF5Exporter(BaseExporter):\n", + " def __init__(self):\n", + " super(HDF5Exporter, self).__init__()\n", + "\n", + " def export(self, loader: BaseLoader, output_path: str):\n", + " with h5py.File(output_path, 'w') as hdf:\n", + " for i,trajectory in enumerate(loader):\n", + " traj_key = \"traj\" + str(i).zfill(5)\n", + " traj_hdf5 = hdf.create_group(traj_key)\n", + " for j,data in enumerate(trajectory):\n", + " step_key = \"step\" + str(j).zfill(5)\n", + " step_hdf5 = traj_hdf5.create_group(step_key)\n", + " for key,value in data.items():\n", + " if(key == 'action'):\n", + " action_hdf5 = step_hdf5.create_group(\"action\")\n", + " for action_key,action_value in value.items():\n", + " if(action_key == 'gripper_closedness_action'):\n", + " action_hdf5.create_dataset('gripper_closedness_action',data=action_value)\n", + " elif(action_key == 'rotation_delta'):\n", + " action_hdf5.create_dataset('rotation_delta',data=action_value)\n", + " elif(action_key == 'terminate_episode'):\n", + " action_hdf5.create_dataset('terminate_episode',data=action_value)\n", + " elif(action_key == 'world_vector'):\n", + " action_hdf5.create_dataset('world_vector',data=action_value)\n", + " elif(key == 'is_first'):\n", + " step_hdf5.create_dataset('is_first',data=np.array(value))\n", + " elif(key=='is_last'):\n", + " step_hdf5.create_dataset('is_last',data=value)\n", + " elif(key=='is_terminal'):\n", + " step_hdf5.create_dataset('is_terminal',data=value)\n", + " elif(key=='observation'):\n", + " observation_hdf5 = step_hdf5.create_group(\"observation\")\n", + " for observation_key,observation_value in value.items():\n", + " if(observation_key == 'hand_image'):\n", + " observation_hdf5.create_dataset('hand_image',data=observation_value)\n", + " elif(observation_key == 'image'):\n", + " observation_hdf5.create_dataset('image',data=observation_value)\n", + " elif(observation_key == 'image_with_depth'):\n", + " observation_hdf5.create_dataset('image_with_depth',data=observation_value)\n", + " elif(observation_key == 'natural_language_embedding'):\n", + " observation_hdf5.create_dataset('natural_language_embedding',data=observation_value)\n", + " elif(observation_key == 'natural_language_instruction'):\n", + " observation_hdf5.create_dataset('natural_language_instruction',data=observation_value)\n", + " elif(observation_key == 'robot_state'):\n", + " observation_hdf5.create_dataset('robot_state',data=observation_value)\n", + " elif(key=='reward'):\n", + " step_hdf5.create_dataset('reward',data=value)" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "I 2024-06-23 14:37:21,456 dataset_info.py:617] Load dataset info from /home/lifelong/fog_x/datasets/0.1.0\n", + "I 2024-06-23 14:37:21,461 reader.py:261] Creating a tf.data.Dataset reading 1 files located in folders: /home/lifelong/fog_x/datasets/0.1.0.\n", + "I 2024-06-23 14:37:21,500 logging_logger.py:49] Constructing tf.data.Dataset berkeley_autolab_ur5 for split train[:3], from /home/lifelong/fog_x/datasets/0.1.0\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Trajectories: \n", + "Steps: \n", + "Steps: \n", + "Steps: \n", + "3\n", + "{'action': {'gripper_closedness_action': 0.0, 'rotation_delta': array([-0.00038095, 0. , 0.00057143], dtype=float32), 'terminate_episode': 0.0, 'world_vector': array([-0.00228571, 0.00685714, 0.00354286], dtype=float32)}, 'is_first': True, 'is_last': False, 'is_terminal': False, 'observation': {'hand_image': array([[[ 47, 33, 26],\n", + " [ 49, 35, 29],\n", + " [ 48, 34, 27],\n", + " ...,\n", + " [ 20, 14, 12],\n", + " [ 19, 12, 11],\n", + " [ 22, 16, 15]],\n", + "\n", + " [[ 48, 34, 27],\n", + " [ 48, 34, 27],\n", + " [ 47, 33, 26],\n", + " ...,\n", + " [ 20, 14, 12],\n", + " [ 20, 14, 12],\n", + " [ 20, 14, 12]],\n", + "\n", + " [[ 48, 34, 27],\n", + " [ 48, 34, 27],\n", + " [ 47, 33, 26],\n", + " ...,\n", + " [ 20, 14, 12],\n", + " [ 20, 14, 12],\n", + " [ 20, 14, 12]],\n", + "\n", + " ...,\n", + "\n", + " [[207, 233, 169],\n", + " [207, 233, 169],\n", + " [207, 233, 169],\n", + " ...,\n", + " [158, 176, 198],\n", + " [159, 177, 199],\n", + " [159, 177, 199]],\n", + "\n", + " [[207, 233, 169],\n", + " [207, 233, 169],\n", + " [208, 234, 170],\n", + " ...,\n", + " [159, 177, 199],\n", + " [158, 176, 198],\n", + " [158, 176, 198]],\n", + "\n", + " [[207, 233, 169],\n", + " [208, 234, 170],\n", + " [208, 234, 170],\n", + " ...,\n", + " [158, 176, 198],\n", + " [157, 175, 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5.92441894e-02, 4.19832505e-02,\n", + " -3.15530300e-02, 2.43271478e-02, 5.33346198e-02, -4.92140539e-02,\n", + " -9.49010253e-03, 3.35166082e-02, 7.96948597e-02, 9.35266688e-02,\n", + " -4.21452597e-02, -5.03690504e-02, 4.95838672e-02, -7.24544451e-02,\n", + " 4.57415506e-02, 1.42656928e-02, 5.59303071e-03, 1.50836948e-02,\n", + " -1.77703751e-03, 1.00079803e-02, -2.58569662e-02, 5.30980574e-03,\n", + " 2.51242071e-02, -3.68951224e-02, 3.00628059e-02, -1.42559465e-02,\n", + " -2.35112458e-02, -9.47278291e-02, -4.53135557e-02, 2.40880251e-03,\n", + " 2.55071688e-02, -1.19579537e-02, -8.40864703e-02, -1.58306805e-03,\n", + " -6.34560734e-02, 3.60815786e-02, 2.66716946e-02, -3.81297246e-02,\n", + " 4.38378938e-02, 5.16037643e-02, -3.69294658e-02, -9.29967090e-02,\n", + " -3.08340956e-02, -1.02270888e-02, 4.18634452e-02, -1.11618266e-03,\n", + " -2.74340622e-02, -3.29741500e-02, 5.96650504e-02, -8.76902938e-02,\n", + " 7.31772333e-02, 2.98777800e-02, -5.76180592e-02, 5.00687063e-02,\n", + " -5.89269064e-02, -4.65865172e-02, 2.06374954e-02, -1.54341422e-02,\n", + " 4.64191586e-02, 4.95909201e-03, -7.48227015e-02, -3.97210196e-02,\n", + " -2.59292647e-02, -6.54241955e-03, -5.74038625e-02, 9.24727619e-02,\n", + " 4.26558331e-02, -6.28618449e-02, 4.24557067e-02, 5.47703058e-02,\n", + " 4.19440959e-03, 2.13806406e-02, 5.36382049e-02, -1.85115691e-02,\n", + " -2.43785027e-02, -2.73437425e-02, 1.80081073e-02, -6.24120049e-02,\n", + " -6.18575811e-02, 2.71372329e-02, -3.99724431e-02, 8.47561881e-02,\n", + " 4.09930618e-03, 5.22739813e-02, 3.64478528e-02, -1.22416150e-02,\n", + " 4.01362889e-02, -3.25129963e-02, -5.94159216e-02, -3.41437459e-02,\n", + " 4.01273966e-02, 1.35184750e-02, -1.03093870e-02, -1.81289595e-02,\n", + " -1.23641565e-02, -4.45375144e-02, 1.42934918e-02, 7.27783889e-03,\n", + " -7.73354294e-03, -4.47413512e-02, -8.41288790e-02, -3.38747608e-03,\n", + " -4.19294648e-02, 1.28766904e-02, -9.22035333e-03, 2.22486015e-02,\n", + " 1.35514943e-04, -3.00303362e-02, 5.59921116e-02, -4.55022305e-02,\n", + " -7.23699778e-02, -5.21848239e-02, 3.07216309e-02, -5.69595844e-02,\n", + " -1.75060984e-02, -3.47700925e-03, -5.66009469e-02, -7.95593951e-03,\n", + " -7.46362358e-02, -1.07114641e-02, 3.81466374e-02, -3.68379578e-02,\n", + " 7.73133859e-02, -3.80876996e-02, -5.92719913e-02, -7.04052597e-02],\n", + " dtype=float32), 'natural_language_instruction': b'sweep the green cloth to the left side of the table', 'robot_state': array([-3.0464277 , -1.5272526 , 2.3538566 , -2.5545247 , -1.5915655 ,\n", + " 3.390477 , 0.40496254, 0.14374796, -0.00899097, 0.75652575,\n", + " 0.64914 , 0.05783392, 0.05423374, 0. , 0. ],\n", + " dtype=float32)}, 'reward': 0.0}\n" + ] + } + ], + "source": [ + "number_of_samples = 3\n", + "rtx_loader = RTXLoader(os.path.expanduser(\"/home/lifelong/fog_x/datasets/0.1.0\"), split=f'train[:{number_of_samples}]')\n", + "hdf5_exporter = HDF5Exporter()\n", + "hdf5_exporter.export(rtx_loader,'please.hdf5')\n", + "hdf5_loader = HDF5Loader('/home/lifelong/fog_x/please.hdf5')\n", + "print(hdf5_loader.__len__())\n", + "for trajectory in hdf5_loader:\n", + " for step in trajectory:\n", + " print(step)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.14" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/benchmarking/davidh/plot_notes.py b/benchmarking/plots/plot_notes.py similarity index 100% rename from benchmarking/davidh/plot_notes.py rename to benchmarking/plots/plot_notes.py From d4c26cda77823fc4cb8a32088223f7976c9a13c5 Mon Sep 17 00:00:00 2001 From: Josh Zhang Date: Mon, 24 Jun 2024 23:39:30 +0000 Subject: [PATCH 19/19] cleanup to plots --- benchmarking/plots/Disk size (MB).png | Bin 0 -> 30591 bytes benchmarking/plots/Disk size.png | Bin 32945 -> 0 bytes benchmarking/plots/Read latency (s).png | Bin 0 -> 26506 bytes benchmarking/plots/Read latency.png | Bin 34324 -> 0 bytes .../plots/Read throughput (traj_s).png | Bin 0 -> 26125 bytes benchmarking/plots/Read throughput MB_s.png | Bin 36287 -> 0 bytes benchmarking/plots/Read throughput traj_s.png | Bin 35977 -> 0 bytes benchmarking/plots/Write latency (s).png | Bin 0 -> 27257 bytes benchmarking/plots/Write latency.png | Bin 33276 -> 0 bytes .../plots/Write throughput (traj_s).png | Bin 0 -> 31387 bytes benchmarking/plots/Write throughput MB_s.png | Bin 37016 -> 0 bytes .../plots/Write throughput traj_s.png | Bin 38513 -> 0 bytes benchmarking/plots/plot_notes.py | 250 ++++++++---------- 13 files changed, 104 insertions(+), 146 deletions(-) create mode 100644 benchmarking/plots/Disk size (MB).png delete mode 100644 benchmarking/plots/Disk size.png create mode 100644 benchmarking/plots/Read latency (s).png delete mode 100644 benchmarking/plots/Read latency.png create mode 100644 benchmarking/plots/Read throughput (traj_s).png delete mode 100644 benchmarking/plots/Read throughput MB_s.png delete mode 100644 benchmarking/plots/Read throughput traj_s.png create mode 100644 benchmarking/plots/Write latency (s).png delete mode 100644 benchmarking/plots/Write latency.png create mode 100644 benchmarking/plots/Write throughput (traj_s).png delete mode 100644 benchmarking/plots/Write throughput MB_s.png delete mode 100644 benchmarking/plots/Write throughput traj_s.png diff --git a/benchmarking/plots/Disk size (MB).png b/benchmarking/plots/Disk size (MB).png new file mode 100644 index 0000000000000000000000000000000000000000..d11752c64a81c8f1d759dc4845d37fa7ace24bf2 GIT binary patch literal 30591 zcmeFa2UL~mwk3*MhQeG5W-x#fL`;An!K|PlIR`O-u*o^2Whx_zU?8d>IY`*#pi(NL zfD$F6-zIHHWt=mf`X=hzF?cVm7(Al{k}}R$tLZKfwu=#q)q@Oc> zd?UfYHvj3?{kw`kiVDf@SSur+w>2)-(fWj}tg`%1%d4}c#x4779{F9HaFXO`u@q#u 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