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Noisy or unreadable images when rendering

See original GitHub issue

Hi!

In some instances (embodied algos in my case) the new mujoco rendering gives unreadable images after a little while, e.g. here’s a grid of 3 views of the same body: image

This occurs after a little while, i.e. the first images rendered are perfectly fine. I tried to narrow it down to a minimal reproductible example but I can’t find a way to do it (sorry about that!) When using the old bindings (mujoco-py and such) thiis issue disappears.

I’m using MUJOCO_GL=egl and have installed glew in my conda (working on a cluster where I have no sudo access).

I’m working with either G100 or A100 GPUs, and using them for training and rendering. Also to mention: I’m running a bunch of envs in parallel (not multithrerad but multiprocessing) for fast collection of data.

Here is my conda env

# packages in environment at /fsx/users/vmoens/conda/envs/rl4:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
_tflow_select             2.3.0                       mkl
absl-py                   1.0.0              pyhd8ed1ab_0    conda-forge
aiohttp                   3.8.1            py39hb9d737c_1    conda-forge
aiosignal                 1.2.0              pyhd8ed1ab_0    conda-forge
ale-py                    0.7.5                    pypi_0    pypi
alsa-lib                  1.2.6.1              h7f98852_0    conda-forge
anyio                     3.6.1                    pypi_0    pypi
aom                       3.3.0                h27087fc_1    conda-forge
argon2-cffi               21.3.0             pyhd8ed1ab_0    conda-forge
argon2-cffi-bindings      21.2.0           py39hb9d737c_2    conda-forge
astor                     0.8.1              pyh9f0ad1d_0    conda-forge
asttokens                 2.0.5              pyhd8ed1ab_0    conda-forge
astunparse                1.6.3              pyhd8ed1ab_0    conda-forge
async-timeout             4.0.2              pyhd8ed1ab_0    conda-forge
atari-py                  0.2.9                    pypi_0    pypi
attr                      2.5.1                h166bdaf_0    conda-forge
attrs                     21.4.0             pyhd8ed1ab_0    conda-forge
autorom                   0.4.2                    pypi_0    pypi
autorom-accept-rom-license 0.4.2                    pypi_0    pypi
babel                     2.10.1                   pypi_0    pypi
backcall                  0.2.0              pyh9f0ad1d_0    conda-forge
backports                 1.0                        py_2    conda-forge
backports.functools_lru_cache 1.6.4              pyhd8ed1ab_0    conda-forge
beautifulsoup4            4.11.1             pyha770c72_0    conda-forge
blas                      1.0                         mkl
bleach                    5.0.0              pyhd8ed1ab_0    conda-forge
blinker                   1.4                        py_1    conda-forge
brotlipy                  0.7.0           py39hb9d737c_1004    conda-forge
bzip2                     1.0.8                h7f98852_4    conda-forge
c-ares                    1.18.1               h7f98852_0    conda-forge
ca-certificates           2022.5.18.1          ha878542_0    conda-forge
cachetools                5.2.0                    pypi_0    pypi
certifi                   2022.5.18.1              pypi_0    pypi
cffi                      1.15.0           py39h4bc2ebd_0    conda-forge
charset-normalizer        2.0.12             pyhd8ed1ab_0    conda-forge
click                     8.1.3            py39hf3d152e_0    conda-forge
cloudpickle               1.2.2                    pypi_0    pypi
configargparse            1.5.3                    pypi_0    pypi
cryptography              37.0.1           py39h9ce1e76_0
cudatoolkit               11.3.1               h2bc3f7f_2
cycler                    0.11.0                   pypi_0    pypi
cython                    0.29.30                  pypi_0    pypi
dbus                      1.13.6               h5008d03_3    conda-forge
debugpy                   1.6.0            py39h5a03fae_0    conda-forge
decorator                 4.4.2                    pypi_0    pypi
defusedxml                0.7.1              pyhd8ed1ab_0    conda-forge
dm-control                1.0.3.post1              pypi_0    pypi
dm-env                    1.5                      pypi_0    pypi
dm-tree                   0.1.7                    pypi_0    pypi
elfutils                  0.186                he364ef2_0    conda-forge
entrypoints               0.4                pyhd8ed1ab_0    conda-forge
executing                 0.8.3              pyhd8ed1ab_0    conda-forge
expat                     2.4.8                h27087fc_0    conda-forge
fasteners                 0.17.3                   pypi_0    pypi
ffmpeg                    5.0.1                h964e5f1_2    conda-forge
fftw                      3.3.8           nompi_hfc0cae8_1114    conda-forge
flatten-dict              0.4.2                    pypi_0    pypi
flit-core                 3.7.1              pyhd8ed1ab_0    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 hab24e00_0    conda-forge
fontconfig                2.14.0               h8e229c2_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fonttools                 4.33.3                   pypi_0    pypi
freetype                  2.10.4               h0708190_1    conda-forge
freetype-py               2.3.0                    pypi_0    pypi
frozenlist                1.3.0            py39hb9d737c_1    conda-forge
functorch                 0.3.0a0+693bcee          pypi_0    pypi
gast                      0.4.0              pyh9f0ad1d_0    conda-forge
gettext                   0.19.8.1          h73d1719_1008    conda-forge
giflib                    5.2.1                h36c2ea0_2    conda-forge
glew                      2.1.0                h9c3ff4c_2    conda-forge
glew-osmesa               1.13.0.20151117               0    menpo
glfw                      2.5.3                    pypi_0    pypi
glfw3                     3.2.1                         0    menpo
gmp                       6.2.1                h58526e2_0    conda-forge
gnutls                    3.6.13               h85f3911_1    conda-forge
google-auth               2.6.6                    pypi_0    pypi
google-auth-oauthlib      0.4.6              pyhd8ed1ab_0    conda-forge
google-pasta              0.2.0              pyh8c360ce_0    conda-forge
grpcio                    1.46.3           py39h0f497a6_0    conda-forge
gst-plugins-base          1.20.2               hf6a322e_1    conda-forge
gstreamer                 1.20.2               hd4edc92_1    conda-forge
gym                       0.24.1                   pypi_0    pypi
gym-notices               0.0.6                    pypi_0    pypi
h5py                      2.10.0          nompi_py39h98ba4bc_106    conda-forge
hdf5                      1.10.6          nompi_h3c11f04_101    conda-forge
icu                       70.1                 h27087fc_0    conda-forge
idna                      3.3                pyhd8ed1ab_0    conda-forge
imageio                   2.19.3                   pypi_0    pypi
imageio-ffmpeg            0.4.7                    pypi_0    pypi
importlib-metadata        4.11.4           py39hf3d152e_0    conda-forge
importlib_resources       5.7.1              pyhd8ed1ab_1    conda-forge
iniconfig                 1.1.1                    pypi_0    pypi
intel-openmp              2021.4.0          h06a4308_3561
ipykernel                 6.13.0                   pypi_0    pypi
ipython                   8.4.0            py39hf3d152e_0    conda-forge
ipython-genutils          0.2.0                    pypi_0    pypi
ipython_genutils          0.2.0                      py_1    conda-forge
ipywidgets                7.7.0              pyhd8ed1ab_0    conda-forge
jack                      1.9.18            h8c3723f_1002    conda-forge
jedi                      0.18.1           py39hf3d152e_1    conda-forge
jinja2                    3.1.2              pyhd8ed1ab_1    conda-forge
jpeg                      9e                   h166bdaf_1    conda-forge
json-c                    0.16                 hc379101_0    conda-forge
json5                     0.9.8                    pypi_0    pypi
jsonschema                4.5.1                    pypi_0    pypi
jupyter                   1.0.0            py39hf3d152e_7    conda-forge
jupyter-client            7.3.1                    pypi_0    pypi
jupyter-server            1.17.0                   pypi_0    pypi
jupyter_client            7.3.4              pyhd8ed1ab_0    conda-forge
jupyter_console           6.4.3              pyhd8ed1ab_0    conda-forge
jupyter_core              4.10.0           py39hf3d152e_0    conda-forge
jupyterlab                3.4.2                    pypi_0    pypi
jupyterlab-server         2.14.0                   pypi_0    pypi
jupyterlab_pygments       0.2.2              pyhd8ed1ab_0    conda-forge
jupyterlab_widgets        1.1.0              pyhd8ed1ab_0    conda-forge
keras-preprocessing       1.1.2              pyhd8ed1ab_0    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
kiwisolver                1.4.2                    pypi_0    pypi
krb5                      1.19.3               h3790be6_0    conda-forge
labmaze                   1.0.5                    pypi_0    pypi
lame                      3.100             h7f98852_1001    conda-forge
lcms2                     2.12                 hddcbb42_0    conda-forge
ld_impl_linux-64          2.36.1               hea4e1c9_2    conda-forge
lerc                      3.0                  h9c3ff4c_0    conda-forge
libarchive                3.5.2                hb890918_2    conda-forge
libcap                    2.64                 ha37c62d_0    conda-forge
libclang                  14.0.4          default_h2e3cab8_0    conda-forge
libclang13                14.0.4          default_h3a83d3e_0    conda-forge
libcups                   2.3.3                hf5a7f15_1    conda-forge
libcurl                   7.83.1               h7bff187_0    conda-forge
libdb                     6.2.32               h9c3ff4c_0    conda-forge
libdeflate                1.10                 h7f98852_0    conda-forge
libdrm                    2.4.109              h7f98852_0    conda-forge
libdrm-cos6-x86_64        2.4.65                        4    anaconda
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 h516909a_1    conda-forge
libevent                  2.1.10               h9b69904_4    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.3.4                h27087fc_0    conda-forge
libgcc-ng                 12.1.0              h8d9b700_16    conda-forge
libgfortran-ng            7.5.0               h14aa051_20    conda-forge
libgfortran4              7.5.0               h14aa051_20    conda-forge
libglib                   2.70.2               h174f98d_4    conda-forge
libglu                    9.0.0             he1b5a44_1001    conda-forge
libgomp                   12.1.0              h8d9b700_16    conda-forge
libiconv                  1.16                 h516909a_0    conda-forge
libllvm14                 14.0.4               he0ac6c6_0    conda-forge
libmicrohttpd             0.9.75               h7f98852_0    conda-forge
libnghttp2                1.47.0               h727a467_0    conda-forge
libnsl                    2.0.0                h7f98852_0    conda-forge
libogg                    1.3.4                h7f98852_1    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libpciaccess              0.16                 h516909a_0    conda-forge
libpng                    1.6.37               h21135ba_2    conda-forge
libpq                     14.3                 hd77ab85_0    conda-forge
libprotobuf               3.20.1               h6239696_0    conda-forge
libsndfile                1.0.31               h9c3ff4c_1    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libssh2                   1.10.0               ha56f1ee_2    conda-forge
libstdcxx-ng              12.1.0              ha89aaad_16    conda-forge
libtiff                   4.3.0                h0fcbabc_4    conda-forge
libtool                   2.4.6             h9c3ff4c_1008    conda-forge
libuuid                   2.32.1            h7f98852_1000    conda-forge
libva                     2.14.0               h7f98852_0    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.11.0               h9c3ff4c_3    conda-forge
libwebp                   1.2.2                h3452ae3_0    conda-forge
libwebp-base              1.2.2                h7f98852_1    conda-forge
libx11-common-cos6-x86_64 1.6.4                         4    anaconda
libx11-cos6-x86_64        1.6.4                         4    anaconda
libxcb                    1.13              h7f98852_1004    conda-forge
libxkbcommon              1.0.3                he3ba5ed_0    conda-forge
libxml2                   2.9.14               h22db469_0    conda-forge
libzlib                   1.2.12               h166bdaf_0    conda-forge
lockfile                  0.12.2                   pypi_0    pypi
lxml                      4.8.0                    pypi_0    pypi
lz4-c                     1.9.3                h9c3ff4c_1    conda-forge
lzo                       2.10              h516909a_1000    conda-forge
markdown                  3.3.7              pyhd8ed1ab_0    conda-forge
markupsafe                2.1.1            py39hb9d737c_1    conda-forge
matplotlib                3.5.2                    pypi_0    pypi
matplotlib-inline         0.1.3              pyhd8ed1ab_0    conda-forge
mesa-libgl-cos6-x86_64    11.0.7                        4    anaconda
mesalib                   21.2.5               h0e4506f_3    conda-forge
mistune                   0.8.4           py39h3811e60_1005    conda-forge
mj-envs                   1.0.0                     dev_0    <develop>
mjrl                      0.1.1                     dev_0    <develop>
mkl                       2021.4.0           h06a4308_640
mkl-service               2.4.0            py39h7e14d7c_0    conda-forge
mkl_fft                   1.3.1            py39h0c7bc48_1    conda-forge
mkl_random                1.2.2            py39hde0f152_0    conda-forge
moviepy                   1.0.3                    pypi_0    pypi
mujoco                    2.2.0                    pypi_0    pypi
mujoco-py                 2.0.2.2                   dev_0    <develop>
multidict                 6.0.2            py39hb9d737c_1    conda-forge
mysql-common              8.0.29               haf5c9bc_1    conda-forge
mysql-libs                8.0.29               h28c427c_1    conda-forge
nbclassic                 0.3.7                    pypi_0    pypi
nbclient                  0.6.3                    pypi_0    pypi
nbconvert                 6.5.0              pyhd8ed1ab_0    conda-forge
nbconvert-core            6.5.0              pyhd8ed1ab_0    conda-forge
nbconvert-pandoc          6.5.0              pyhd8ed1ab_0    conda-forge
nbformat                  5.4.0              pyhd8ed1ab_0    conda-forge
ncurses                   6.3                  h27087fc_1    conda-forge
nest-asyncio              1.5.5              pyhd8ed1ab_0    conda-forge
nettle                    3.6                  he412f7d_0    conda-forge
networkx                  2.8.3                    pypi_0    pypi
notebook                  6.4.11                   pypi_0    pypi
notebook-shim             0.1.0                    pypi_0    pypi
nspr                      4.32                 h9c3ff4c_1    conda-forge
nss                       3.78                 h2350873_0    conda-forge
numpy                     1.22.4                   pypi_0    pypi
numpy-base                1.22.3           py39hf524024_0
oauthlib                  3.2.0              pyhd8ed1ab_0    conda-forge
openh264                  2.1.1                h780b84a_0    conda-forge
openjpeg                  2.4.0                hb52868f_1    conda-forge
openssl                   1.1.1o               h166bdaf_0    conda-forge
opt_einsum                3.3.0              pyhd8ed1ab_1    conda-forge
osmesa                    12.2.2.dev                    0    menpo
packaging                 21.3               pyhd8ed1ab_0    conda-forge
pandas                    1.4.2                    pypi_0    pypi
pandoc                    2.18                 ha770c72_0    conda-forge
pandocfilters             1.5.0              pyhd8ed1ab_0    conda-forge
parso                     0.8.3              pyhd8ed1ab_0    conda-forge
patchelf                  0.14.5.0                 pypi_0    pypi
pcre                      8.45                 h9c3ff4c_0    conda-forge
pexpect                   4.8.0              pyh9f0ad1d_2    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pillow                    9.1.1            py39hae2aec6_0    conda-forge
pip                       22.1.1             pyhd8ed1ab_0    conda-forge
pluggy                    1.0.0                    pypi_0    pypi
portaudio                 19.6.0               h57a0ea0_5    conda-forge
proglog                   0.1.10                   pypi_0    pypi
prometheus_client         0.14.1             pyhd8ed1ab_0    conda-forge
prompt-toolkit            3.0.29             pyha770c72_0    conda-forge
prompt_toolkit            3.0.29               hd8ed1ab_0    conda-forge
protobuf                  3.19.4                   pypi_0    pypi
psutil                    5.9.1            py39hb9d737c_0    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pulseaudio                14.0                 h583eb01_5    conda-forge
pure_eval                 0.2.2              pyhd8ed1ab_0    conda-forge
py                        1.11.0                   pypi_0    pypi
pyasn1                    0.4.8                      py_0    conda-forge
pyasn1-modules            0.2.8                    pypi_0    pypi
pycparser                 2.21               pyhd8ed1ab_0    conda-forge
pygame                    2.1.2                    pypi_0    pypi
pyglet                    1.5.26                   pypi_0    pypi
pygments                  2.12.0             pyhd8ed1ab_0    conda-forge
pyjwt                     2.4.0              pyhd8ed1ab_0    conda-forge
pyopengl                  3.1.6                    pypi_0    pypi
pyopenssl                 22.0.0             pyhd8ed1ab_0    conda-forge
pyparsing                 2.4.7                    pypi_0    pypi
pyqt                      5.15.4           py39h18e9c17_1    conda-forge
pyqt5-sip                 12.9.0           py39h5a03fae_1    conda-forge
pyrender                  0.1.45                   pypi_0    pypi
pyrsistent                0.18.1           py39hb9d737c_1    conda-forge
pysocks                   1.7.1            py39hf3d152e_5    conda-forge
pytest                    7.1.2                    pypi_0    pypi
python                    3.9.13          h9a8a25e_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python-fastjsonschema     2.15.3             pyhd8ed1ab_0    conda-forge
python-flatbuffers        2.0                pyhd8ed1ab_0    conda-forge
python_abi                3.9                      2_cp39    conda-forge
pytorch                   1.13.0.dev20220531 py3.9_cuda11.3_cudnn8.3.2_0    pytorch-nightly
pytorch-mutex             1.0                        cuda    pytorch-nightly
pytz                      2022.1                   pypi_0    pypi
pyu2f                     0.1.5              pyhd8ed1ab_0    conda-forge
pyyaml                    6.0                      pypi_0    pypi
pyzmq                     23.0.0                   pypi_0    pypi
qt-main                   5.15.4               ha5833f6_1    conda-forge
qtconsole                 5.3.1              pyhd8ed1ab_0    conda-forge
qtconsole-base            5.3.1              pyha770c72_0    conda-forge
qtpy                      2.1.0              pyhd8ed1ab_0    conda-forge
readline                  8.1                  h46c0cb4_0    conda-forge
requests                  2.27.1             pyhd8ed1ab_0    conda-forge
requests-oauthlib         1.3.1              pyhd8ed1ab_0    conda-forge
rsa                       4.8                pyhd8ed1ab_0    conda-forge
scipy                     1.8.1                    pypi_0    pypi
send2trash                1.8.0              pyhd8ed1ab_0    conda-forge
setuptools                62.3.2           py39hf3d152e_0    conda-forge
sip                       6.5.1            py39he80948d_2    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
sk-video                  1.1.10                   pypi_0    pypi
sniffio                   1.2.0                    pypi_0    pypi
soupsieve                 2.3.2.post1              pypi_0    pypi
sqlite                    3.38.5               h4ff8645_0    conda-forge
stack_data                0.2.0              pyhd8ed1ab_0    conda-forge
submitit                  1.4.2                    pypi_0    pypi
svt-av1                   1.1.0                h27087fc_1    conda-forge
tensorboard               2.9.1                    pypi_0    pypi
tensorboard-data-server   0.6.1                    pypi_0    pypi
tensorboard-plugin-wit    1.8.1              pyhd8ed1ab_0    conda-forge
tensorflow                2.4.1           mkl_py39h4683426_0
tensorflow-base           2.4.1           mkl_py39h43e0292_0
tensorflow-estimator      2.6.0            py39he80948d_0    conda-forge
termcolor                 1.1.0                      py_2    conda-forge
terminado                 0.15.0           py39hf3d152e_0    conda-forge
tinycss2                  1.1.1              pyhd8ed1ab_0    conda-forge
tk                        8.6.12               h27826a3_0    conda-forge
toml                      0.10.2             pyhd8ed1ab_0    conda-forge
tomli                     2.0.1                    pypi_0    pypi
torch-tb-profiler         0.4.0                    pypi_0    pypi
torchaudio                0.12.0.dev20220531      py39_cu113    pytorch-nightly
torchrl                   0.1                       dev_0    <develop>
torchvision               0.14.0.dev20220531      py39_cu113    pytorch-nightly
tornado                   6.1              py39hb9d737c_3    conda-forge
tqdm                      4.64.0                   pypi_0    pypi
traitlets                 5.2.1.post0              pypi_0    pypi
trimesh                   3.12.6                   pypi_0    pypi
typing-extensions         4.2.0                hd8ed1ab_1    conda-forge
typing_extensions         4.2.0              pyha770c72_1    conda-forge
tzdata                    2022a                h191b570_0    conda-forge
urllib3                   1.26.9             pyhd8ed1ab_0    conda-forge
wcwidth                   0.2.5              pyh9f0ad1d_2    conda-forge
webencodings              0.5.1                    pypi_0    pypi
websocket-client          1.3.2                    pypi_0    pypi
werkzeug                  2.1.2              pyhd8ed1ab_1    conda-forge
wheel                     0.37.1             pyhd8ed1ab_0    conda-forge
widgetsnbextension        3.6.0            py39hf3d152e_0    conda-forge
wrapt                     1.14.1           py39hb9d737c_0    conda-forge
x264                      1!161.3030           h7f98852_1    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xorg-damageproto          1.2.1             h7f98852_1002    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-glproto              1.4.17            h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libx11               1.7.2                h7f98852_0    conda-forge
xorg-libxau               1.0.9                h7f98852_0    conda-forge
xorg-libxcursor           1.2.0                h7f98852_0    conda-forge
xorg-libxdamage           1.1.5                h7f98852_1    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h7f98852_1    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxinerama          1.1.4             h9c3ff4c_1001    conda-forge
xorg-libxrandr            1.5.2                h7f98852_1    conda-forge
xorg-libxrender           0.9.10            h7f98852_1003    conda-forge
xorg-randrproto           1.5.0             h7f98852_1001    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-util-macros          1.19.3               h7f98852_0    conda-forge
xorg-xextproto            7.3.0             h7f98852_1002    conda-forge
xorg-xf86vidmodeproto     2.3.1             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.5                h516909a_1    conda-forge
yarl                      1.7.2            py39hb9d737c_2    conda-forge
zeromq                    4.3.4                h9c3ff4c_1    conda-forge
zipp                      3.8.0              pyhd8ed1ab_0    conda-forge
zlib                      1.2.12               h166bdaf_0    conda-forge
zstd                      1.5.2                h8a70e8d_1    conda-forge

Issue Analytics

  • State:closed
  • Created a year ago
  • Comments:19 (11 by maintainers)

github_iconTop GitHub Comments

2reactions
saran-tcommented, Jun 21, 2022

Can you please try running with DISABLE_RENDER_THREAD_OFFLOADING=1 (environment variable)?

1reaction
saran-tcommented, Sep 5, 2022

I’ll have this fixed in our 1.0.6 release later this week.

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