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Significantly improved convergence for mesh and cuboid, new ESDF coll…
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balakumar-s committed Mar 18, 2024
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55 changes: 45 additions & 10 deletions CHANGELOG.md
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# Changelog

## Version 0.6.3
## Version 0.7.0
### Changes in default behavior
- Increased default collision cache to 50 in RobotWorld.
- Changed `CSpaceConfig.position_limit_clip` default to 0 as previous default of 0.01 can make
default start state in examples be out of bounds.
- MotionGen uses parallel_finetune by default. To get previous motion gen behavior, pass
`warmup(parallel_finetune=False)` and `MotionGenPlanConfig(parallel_finetune=False)`.
- MotionGen loads Mesh Collision checker instead of Primitive by default.
- UR10e and UR5e now don't have a collision sphere at tool frame for world collision checking. This
sphere is only active for self collision avoidance.
- With torch>=2.0, cuRobo will use `torch.compile` instead of `torch.jit.script` to generate fused
kernels. This can take several seconds during the first run. To enable this feature, set
environment variable `export CUROBO_TORCH_COMPILE_DISABLE=0`.

### Breaking Changes
- Renamed `copy_if_not_none` to `clone_if_not_none` to be more descriptive. Now `copy_if_not_none`
Expand All @@ -26,6 +31,9 @@ will try to copy data into reference.
parallel problems in optimization.
- Added more inputs to pose distance kernels. Check `curobolib/geom.py`.
- Pose cost `run_vec_weight` should now be `[0,0,0,0,0,0]` instead of `[1,1,1,1,1,1]`
- ``max_distance`` is now tensor from ``float`` and is an input to collision kernels.
- Order of inputs to ``SweptSdfMeshWarpPy`` has changed.


### New Features
- Add function to disable and enable collision for specific links in KinematicsTensorConfig.
Expand All @@ -37,6 +45,19 @@ calling plan_single after warmup of goalset.
add error when `velocity_scale<0.1`.
- Add experimental robot image segmentation module to enable robot removal in depth images.
- Add constrained planning mode to motion_gen.
- Use `torch.compile` to leverage better kernel fusion in place of `torch.jit.script`.
- Significantly improved collision computation for cuboids and meshes. Mesh collision checker is
now only 2x slower than cuboid (from 5x slower). Optimization convergence is also improved.
- LBFGS kernels now support ``history <= 31`` from ``history <= 15``.
- 2x faster LBFGS kernel that allocates upto 68kb of shared memory, preventing use in CUDA devices
with compute capability ``<7.0``.
- On benchmarking Dataset, Planning time is now 42ms on average from 50ms. Higher quality solutions
are also obtained. See [benchmarks](https://curobo.org/source/getting_started/4_benchmarks.html) for more details.
- Add ``WorldCollisionVoxel``, a new collision checking implementation that uses a voxel grid
of signed distances (SDF) to compute collision avoidance metrics. Documentation coming soon, see
``benchmark/curobo_voxel_benchmark.py`` for an example.
- Add API for ESDF computation from world representations, see
``WorldCollision.get_esdf_in_bounding_box()``.

### BugFixes & Misc.
- refactored wp.index() instances to `[]` to avoid errors in future releases of warp.
Expand All @@ -47,7 +68,7 @@ BATCH_GOALSET.
- Added package data to also export `.so` files.
- Fixed bug in transforming link visual mesh offset when reading from urdf.
- Fixed bug in MotionGenPlanConfig.clone() that didn't clone the state of parallel_finetune.
- Increased weighting from 1.0 to 5.0 for optimized_dt in TrajEvaluator to select shorter
- Increased weighting from 1.0 to 10.0 for optimized_dt in TrajEvaluator to select shorter
trajectories.
- Improved determinism by setting global seed for random in `graph_nx.py`.
- Added option to clear obstacles in WorldPrimitiveCollision.
Expand All @@ -57,10 +78,24 @@ is enabled.
graph.
- plan_goalset will pad for extra goals when called with less number of goal than initial creation.
- Improved API documentation for Optimizer class.
- Improved benchmark timings, now within 15ms of results reported in technical report. Added
numbers to benchmark [webpage](https://curobo.org/source/getting_started/4_benchmarks.html) for
easy reference.
- Set `use_cuda_graph` to `True` as default from `None` in `MotionGenConfig.load_from_robot_config`
- Add batched mode to robot image segmentation, supports single robot multiple camera and batch
robot batch camera.
- Add `log_warn` import to `arm_reacher.py`
- Remove negative radius check in self collision kernel to allow for self collision checking with
spheres of negative radius.
- Added `conftest.py` to disable `torch.compile` for tests.
- Added UR5e robot with robotiq gripper (2f-140) with improved sphere model.
- Fix bug in aarch64.dockerfile where curobo was cloned to wrong path.
- Fix bug in aarch64.dockerfile where python was used instead of python3.
- Remove unused variables in kernels.
- Added ``pybind11`` as a dependency as some pytorch dockers for Jetson do not have this installed.
- Fix incorrect dimensions in ``MotionGenResult.success`` in ``MotionGen.plan_batch()`` when
trajectory optimization fails.
- Added unit tests for collision checking functions.
- Fix bug in linear interpolation which was not reading the new ``optimized_dt`` to interpolate
velocity, acceleration, and jerk.


### Known Bugs (WIP)
- Examples don't run in Isaac Sim 2023.1.1 due to behavior change in urdf importer.
Expand Down Expand Up @@ -104,11 +139,11 @@ fails.

### Performance Regressions
- cuRobo now generates significantly shorter paths then previous version. E.g., cuRobo obtains
2.2 seconds 98th percentile motion time on the 2600 problems (`benchmark/curobo_benchmark.py`), where
previously it was at 3 seconds (1.36x quicker motions). This was obtained by retuning the weights and
slight reformulations of trajectory optimization. These changes have led to a slight degrade in
planning time, 20ms slower on 4090 and 40ms on ORIN MAXN. We will address this slow down in a later
release. One way to avoid this regression is to set `finetune_dt_scale=1.05` in
2.2 seconds 98th percentile motion time on the 2600 problems (`benchmark/curobo_benchmark.py`),
where previously it was at 3 seconds (1.36x quicker motions). This was obtained by retuning the
weights and slight reformulations of trajectory optimization. These changes have led to a slight
degrade in planning time, 20ms slower on 4090 and 40ms on ORIN MAXN. We will address this slow down
in a later release. One way to avoid this regression is to set `finetune_dt_scale=1.05` in
`MotionGenConfig.load_from_robot_config()`.


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47 changes: 1 addition & 46 deletions benchmark/README.md
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This folder contains scripts to run the motion planning benchmarks.

Refer to Benchmarks & Profiling instructions: https://curobo.org/source/getting_started/4_benchmarks.html.

Results in the arxiv paper were obtained from v0.6.0.

v0.6.2+ has significant changes to improve motion quality with lower motion time, lower path length, higher pose accuracy (<1mm). v0.6.2+ sacrifices 15ms (RTX 4090) of compute time to achieve signficantly better solutions. The new results are yet to be added to the technical report. For now, to get the latest benchmark results follow instructions here: https://curobo.org/source/getting_started/4_benchmarks.html.

To get results similar to in the technical report, pass `--report_edition` to `curobo_benchmark.py`.


# Latest Results (Feb 2024)

Motion Generation on 2600 problems from motion benchmaker and motion policy networks, gives the
following values on a RTX 4090:

| Metric | Value |
|-------------------|--------------------------------------------------------------|
|Success % | 99.84 |
|Plan Time (s) | mean: 0.068 ± 0.158 median:0.042 75%: 0.055 98%: 0.246 |
|Motion Time (s) | mean: 1.169 ± 0.360 median:1.140 75%: 1.381 98%: 2.163 |
|Path Length (rad.) | mean: 3.177 ± 1.072 median:3.261 75%: 3.804 98%: 5.376 |
|Jerk | mean: 97.700 ± 48.630 median:88.993 75%: 126.092 98%: 199.540|
|Position Error (mm)| mean: 0.119 ± 0.341 median:0.027 75%: 0.091 98%: 1.039 |


## Motion Benchmaker (800 problems):

| Metric | Value |
|-------------------|--------------------------------------------------------------|
|Success % | 100 |
|Plan Time (s) | mean: 0.063 ± 0.137 median:0.042 75%: 0.044 98%: 0.206 |
|Motion Time (s) | mean: 1.429 ± 0.330 median:1.392 75%: 1.501 98%: 2.473 |
|Path Length (rad.) | mean: 3.956 ± 0.783 median:3.755 75%: 4.352 98%: 6.041 |
|Jerk | mean: 67.284 ± 27.788 median:61.853 75%: 83.337 98%: 143.118 |
|Position Error (mm)| mean: 0.079 ± 0.139 median:0.032 75%: 0.077 98%: 0.472 |


## Motion Policy Networks (1800 problems):

| Metric | Value |
|-------------------|-----------------------------------------------------------------|
|Success % | 99.77 |
|Plan Time (s) | mean: 0.068 ± 0.117 median:0.042 75%: 0.059 98%: 0.243 |
|Motion Time (s) | mean: 1.051 ± 0.306 median:1.016 75%: 1.226 98%: 1.760 |
|Path Length (rad.) | mean: 2.829 ± 1.000 median:2.837 75%: 3.482 98%: 4.905 |
|Jerk | mean: 110.610 ± 47.586 median:105.271 75%: 141.517 98%: 217.158 |
|Position Error (mm)| mean: 0.122 ± 0.343 median:0.024 75%: 0.095 98%: 1.114 |
Refer to Benchmarks & Profiling page for latest resutls: https://curobo.org/source/getting_started/4_benchmarks.html.
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