some profiling + optimization

poetry.lock

@@ -1196,6 +1196,28 @@ files = [
     {file = "nvidia_nvtx_cu12-12.1.105-py3-none-win_amd64.whl", hash = "sha256:65f4d98982b31b60026e0e6de73fbdfc09d08a96f4656dd3665ca616a11e1e82"},
 ]
 
+[[package]]
+name = "opencv-python"
+version = "4.10.0.84"
+description = "Wrapper package for OpenCV python bindings."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "opencv-python-4.10.0.84.tar.gz", hash = "sha256:72d234e4582e9658ffea8e9cae5b63d488ad06994ef12d81dc303b17472f3526"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:fc182f8f4cda51b45f01c64e4cbedfc2f00aff799debebc305d8d0210c43f251"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:71e575744f1d23f79741450254660442785f45a0797212852ee5199ef12eed98"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:09a332b50488e2dda866a6c5573ee192fe3583239fb26ff2f7f9ceb0bc119ea6"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9ace140fc6d647fbe1c692bcb2abce768973491222c067c131d80957c595b71f"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-win32.whl", hash = "sha256:2db02bb7e50b703f0a2d50c50ced72e95c574e1e5a0bb35a8a86d0b35c98c236"},
+    {file = "opencv_python-4.10.0.84-cp37-abi3-win_amd64.whl", hash = "sha256:32dbbd94c26f611dc5cc6979e6b7aa1f55a64d6b463cc1dcd3c95505a63e48fe"},
+]
+
+[package.dependencies]
+numpy = [
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""},
+]
+
 [[package]]
 name = "packaging"
 version = "24.1"
@@ -1559,6 +1581,46 @@ files = [
 [package.extras]
 windows-terminal = ["colorama (>=0.4.6)"]
 
+[[package]]
+name = "pyinstrument"
+version = "4.1.1"
+description = "Call stack profiler for Python. Shows you why your code is slow!"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pyinstrument-4.1.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:fd0b92d9dfe97222e65ecec811e2923776f096f8df8a53ece24db18683755131"},
+    {file = "pyinstrument-4.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:15837ac5188334d684555f1edc7ea3cf4e859ccb12fc813353cff30f327ea23f"},
+    {file = "pyinstrument-4.1.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f7dad2844048cf1438dfccdc1a126711a422cc1fb4b2989685b727ae85af27d7"},
+    {file = "pyinstrument-4.1.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:848d7cd1e8a6b6d8efc3a0658f949ca8e05e0fd008101d22ec2c720079840ae0"},
+    {file = "pyinstrument-4.1.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d156d80cea866a3f67fab750acce6b2e8c7f3dcb6aceb33c20f0baee49ff078e"},
+    {file = "pyinstrument-4.1.1-cp310-cp310-win32.whl", hash = "sha256:4776484afbdf9cc1ec090f5933ec297a4b38e545dace4728b29d3d338c037898"},
+    {file = "pyinstrument-4.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:917017b100efce161b9de0cd3aa60a8bc177a95ce8c6c195269b4b4a9fbea169"},
+    {file = "pyinstrument-4.1.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:ad9e4bc40939eced2621fd41740d4e730fa9ef3efe10250b4307a51ed679de65"},
+    {file = "pyinstrument-4.1.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6262c876534b0734bcd23ca65004a1f40c47b7af60e801612a876562d1792b54"},
+    {file = "pyinstrument-4.1.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:5b0228271c8799504d0638255a0666a68db45f9938dc6e739d7facc8d5aa65dd"},
+    {file = "pyinstrument-4.1.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:75eade68081645d5deb073e93c18a0c1194724ebe63e43d94b13d922714209fe"},
+    {file = "pyinstrument-4.1.1-cp37-cp37m-win32.whl", hash = "sha256:01920b3b3d1d5fb063e1f7ae00711f2bcbdb1ab987133ed46ef208e9c0d59a3a"},
+    {file = "pyinstrument-4.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:54c94dd9f196ed3510cfb951b6930d89162e5279cc0f793b456e68e3b5f2c087"},
+    {file = "pyinstrument-4.1.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:a2b112a9b1d59017dede3e965aafe1faed716e671d3be4c3e507a3c0bbb76d20"},
+    {file = "pyinstrument-4.1.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:a1fabafc10bec10e431a0b9fb535c90f96e40cd9b185292c01e8bbeb774b4132"},
+    {file = "pyinstrument-4.1.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e73c05b393ea48fefd5e06a78fb90385eecdc0c6ad8b83ffb95b00ff3fe00a22"},
+    {file = "pyinstrument-4.1.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:88d358ca7de27b65dbe88a8926922ebca236172072620bdaab0bb85933d0e665"},
+    {file = "pyinstrument-4.1.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f7c4589f5027ac9bdd24d59f76ee7f31091a92ca1f60dac22262789bba97db2c"},
+    {file = "pyinstrument-4.1.1-cp38-cp38-win32.whl", hash = "sha256:f9b94bd788a3c07df4dbc4275ffab258a19b927462b3e0463a95a8963b04b9c6"},
+    {file = "pyinstrument-4.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:50a0a260e0867717991d0b8b35568e03451d4e4adcdf3e693fc0dd0e01a2a86a"},
+    {file = "pyinstrument-4.1.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:5a562ed5febecf7e76f9b58bb1a77e4c76973dee3fe96d63c7df6d861b8198ef"},
+    {file = "pyinstrument-4.1.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0fc6a26a2088471e5fa5dba8e410044eba62f8206ab7dc59c8e44ae8291b472d"},
+    {file = "pyinstrument-4.1.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:beb4b3347b3f1403d34f32d864540c1a57b322268fc632f422d05ceb826f6eb2"},
+    {file = "pyinstrument-4.1.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:634f431037fdf3311fc7592e4f250e2657f82e97c4592234de567d674fd9d8e1"},
+    {file = "pyinstrument-4.1.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d59ca2ff6929e87b60eca6ce1405d160db7ce048d57f4b681790c29778c023be"},
+    {file = "pyinstrument-4.1.1-cp39-cp39-win32.whl", hash = "sha256:8a57444ce2098777b031b7b88d80832f93162b44a930c95d86b55d96b11d39f8"},
+    {file = "pyinstrument-4.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:864fd4ef0651bca4c304a89da8736400a6c12469b28d6799d961e0f4babb3033"},
+    {file = "pyinstrument-4.1.1.tar.gz", hash = "sha256:1dc2791d2cd2fd3459cb55010004a5cc2a9a8b4625a0cbea45a4b1aebbe2c3a2"},
+]
+
+[package.extras]
+jupyter = ["ipython"]
+
 [[package]]
 name = "pylatexenc"
 version = "2.10"
@@ -2023,6 +2085,21 @@ files = [
 [package.dependencies]
 streamlit = ">=0.75"
 
+[[package]]
+name = "streamlit-profiler"
+version = "0.2.4"
+description = "Runtime profiler for Streamlit, powered by pyinstrument"
+optional = false
+python-versions = ">=3.7,<4.0"
+files = [
+    {file = "streamlit-profiler-0.2.4.tar.gz", hash = "sha256:0d87494abdbd9d8372fc004360e06e18dfce316432853d210334026bf616cd2b"},
+    {file = "streamlit_profiler-0.2.4-py3-none-any.whl", hash = "sha256:66b0a95da4bd2377ee1c7c9020f5b535bb03cd77ffe801b341dfaa2490676506"},
+]
+
+[package.dependencies]
+pyinstrument = "4.1.1"
+streamlit = ">=1.0.0,<2.0.0"
+
 [[package]]
 name = "swig"
 version = "4.2.1"
@@ -2329,4 +2406,4 @@ watchmedo = ["PyYAML (>=3.10)"]
 [metadata]
 lock-version = "2.0"
 python-versions = "3.10.14"
-content-hash = "f767bbf8a5395a83cb5196ec5a0313fcc057af9023b4430c635f5135e65c1eff"
+content-hash = "416c59da9e4c75ce8414c2caab4106cebf9547e4ced9b170e8572bbdc4658041"

pyproject.toml

@@ -34,6 +34,8 @@ streamlit = "^1.39.0"
 st-pages = "^1.0.1"
 streamlit-javascript = "^0.1.5"
 pylatexenc = "^2.10"
+streamlit-profiler = "^0.2.4"
+opencv-python = "^4.10.0.84"
 
 
 [build-system]

requirements.txt

@@ -4,7 +4,7 @@ blinker==1.8.2
 box2d-py==2.3.5
 cachetools==5.5.0
 certifi==2024.8.30
-charset-normalizer==3.3.2
+charset-normalizer==3.4.0
 click==8.1.7
 cloudpickle==3.0.0
 contourpy==1.3.0
@@ -25,12 +25,12 @@ jsonschema-specifications==2024.10.1
 kiwisolver==1.4.7
 lazy_loader==0.4
 markdown-it-py==3.0.0
-MarkupSafe==3.0.0
+MarkupSafe==3.0.1
 matplotlib==3.9.2
 mdurl==0.1.2
 mpmath==1.3.0
-narwhals==1.9.1
-networkx==3.3
+narwhals==1.9.2
+networkx==3.4
 numpy==1.24.4
 nvidia-cublas-cu12==12.1.3.1
 nvidia-cuda-cupti-cu12==12.1.105
@@ -44,6 +44,7 @@ nvidia-cusparse-cu12==12.1.0.106
 nvidia-nccl-cu12==2.20.5
 nvidia-nvjitlink-cu12==12.6.77
 nvidia-nvtx-cu12==12.1.105
+opencv-python==4.10.0.84
 packaging==24.1
 pandas==2.2.3
 pillow==10.4.0
@@ -52,6 +53,7 @@ pyarrow==17.0.0
 pydeck==0.9.1
 pygame==2.6.1
 Pygments==2.18.0
+pyinstrument==4.1.1
 pylatexenc==2.10
 pyparsing==3.1.4
 python-dateutil==2.9.0.post0
@@ -68,6 +70,7 @@ smmap==5.0.1
 st-pages==1.0.1
 streamlit==1.39.0
 streamlit-javascript==0.1.5
+streamlit-profiler==0.2.4
 swig==4.2.1
 sympy==1.13.3
 tenacity==9.0.0

resources/Acrobot-v1/info.json

@@ -1,11 +1,11 @@
 {
     "env_name": "Acrobot-v1",
     "state": {
-	"0":["$\\sin{\\theta_1}$","Sine of the first link" ],
-	"1":["$\\cos{\\theta_1}$","Cosine of the first link" ],
-	"2":["$\\sin{\\theta_2}$","Sine of the second link" ],
-	"3":["$\\cos{\\theta_2}$","Cosine of the second link" ],
-	"4":["$\\dot{\\theta}_1$","Angular velocity of first link" ],
-	"5":["$\\dot{\\theta}_2$","Angular velocity of second link" ]
+	"0":["$\\sin{\\theta_1}$","Sine of 1st link" ],
+	"1":["$\\cos{\\theta_1}$","Cosine of 1st link" ],
+	"2":["$\\sin{\\theta_2}$","Sine of 2nd link" ],
+	"3":["$\\cos{\\theta_2}$","Cosine of 2nd link" ],
+	"4":["$\\dot{\\theta}_1$","Angular vel 1st link" ],
+	"5":["$\\dot{\\theta}_2$","Angular vel 2nd link" ]
     }
 }

udrl/app/sim.py

@@ -15,6 +15,7 @@ from udrl.policies import SklearnPolicy, NeuralPolicy
 import altair as alt
 import pandas as pd
 import json
+import cv2
 
 # from pylatexenc.latex2text import LatexNodes2Text
 
@@ -63,9 +64,15 @@ def next_epoch(state: State):
 
 def update_frame(state: State):
     state.prev_frame = state.frame
-    state.frame = resize(state.env.render(), (400, 600, 3))
+    # state.frame = resize(state.env.render(), (400, 600, 3))
+    state.frame = cv2.resize(
+        state.env.render(), (600, 400), interpolation=cv2.INTER_AREA
+    )
     while len(state.frame) < 1:
-        state.frame = resize(state.env.render(), (400, 600, 3))
+        state.frame = cv2.resize(
+            state.env.render(), (600, 400), interpolation=cv2.INTER_AREA
+        )
+        # state.frame = resize(state.env.render(), (400, 600, 3))
 
 
 def reset_env(state: State):
@@ -226,7 +233,6 @@ def make_viz(state):
                     {
                         "f": state.feature_importances,
                         "index": [
-                            # LatexNodes2Text().latex_to_text(v[0])
                             v[1][:17]
                             for v in load_env_info(state.env_name)[
                                 "state"
@@ -250,7 +256,7 @@ def make_viz(state):
                 )
 
                 st.altair_chart(
-                    base + base.mark_text(align="left", dx=2),
+                    base,
                     use_container_width=True,
                 )
 
@@ -381,7 +387,11 @@ def run(state: State):
     sidebar_container = st.sidebar.container()
     with sidebar_container:
         st.slider(
-            "Refresh Rate", min_value=1, max_value=20, key="refresh_rate"
+            "Refresh Rate",
+            min_value=1,
+            max_value=15,
+            key="refresh_rate",
+            value=7,
         )
         st.header("Environment Info")
         for line in env_info_md(state.env_name).split("\n"):
@@ -406,4 +416,7 @@ def run(state: State):
 if "sim" not in st.session_state:
     st.session_state.sim = init()
 
+# from streamlit_profiler import Profiler
+# with Profiler():
+#     run(st.session_state.sim)
 run(st.session_state.sim)