def test_parser_validate():
args = ['game', '--validate']
result = parser.parse_args(args)
assert result.game == 'game'
assert result.validate is True
assert result.binary is False
assert result.compile is None
def test_parser_compile():
args = ['game', '--compile', 'filename']
result = parser.parse_args(args)
assert result.game == 'game'
assert result.validate is False
assert result.binary is False
assert result.compile == 'filename'
def main():
print(torch.__version__)
# torch.autograd.set_detect_anomaly(True)
global opt, model
opt = parser.parse_args()
print(opt)
param_suffix = f"{opt.prefix}_bs={opt.batchSize}_beta={opt.weight_rec}_KL={opt.weight_kl}_KLneg={opt.weight_neg}_fd={opt.flow_depth}_m={opt.m_plus}_lambda_me={opt.lambda_me}_kernel={opt.kernel}_tanh={opt.tanh_flag}_C={opt.C}_linearb={opt.linear_benchmark}_J={opt.J}"
opt.outf = f'results{param_suffix}/'
try:
os.makedirs(opt.outf)
except OSError:
pass
if opt.manualSeed is None:
opt.manualSeed = random.randint(1, 10000)
print("Random Seed: ", opt.manualSeed)
random.seed(opt.manualSeed)
torch.manual_seed(opt.manualSeed)
if opt.cuda:
torch.cuda.manual_seed_all(opt.manualSeed)
base_gpu_list= GPUtil.getAvailable(order='memory',limit=2)
if 5 in base_gpu_list:
base_gpu_list.remove(5)
base_gpu = base_gpu_list[0]
cudnn.benchmark = True
elif torch.cuda.is_available() and not opt.cuda:
print("WARNING: You have a CUDA device, so you should probably run with --cuda")
#--------------build models -------------------------
model = DIF_netv2(flow_C=opt.C,
flow_depth=opt.flow_depth,
tanh_flag=opt.tanh_flag,
cdim=opt.cdim,
hdim=opt.hdim,
channels=str_to_list(opt.channels),
image_size=opt.output_height).cuda(base_gpu)
if opt.pretrained:
load_model(model, opt.pretrained)
print(model)
# optimizerE = optim.Adam(chain(model.encoder.parameters(),model.flow.parameters()), lr=opt.lr_e)
# optimizerG = optim.Adam(model.decoder.parameters(), lr=opt.lr_g)
optimizerE = optim.Adam(model.encoder.parameters(), lr=opt.lr_e)
optimizerG = optim.Adam(model.decoder.parameters(), lr=opt.lr_g)
if opt.fp_16:
scaler = GradScaler()
#-----------------load dataset--------------------------
train_data = pd.read_csv(opt.class_indicator_file,random_state=0)
train_data = train_data.sample(frac=1)
train_list = train_data['file_name'].values.tolist()[:opt.trainsize]
property_indicator = train_data['class'].values.tolist()[:opt.trainsize]
#swap out the train files
assert len(train_list) > 0
train_set = ImageDatasetFromFile_DIF(property_indicator,train_list, opt.dataroot, input_height=None, crop_height=None, output_height=opt.output_height, is_mirror=True,is_gray=opt.cdim!=3)
train_data_loader = torch.utils.data.DataLoader(train_set, batch_size=opt.batchSize, shuffle=True, num_workers=int(opt.workers))
min_features = 0
if opt.lambda_me!=0:
if opt.linear_benchmark:
me_obj = linear_benchmark(d=opt.hdim).cuda(base_gpu)
else:
me_obj = MEstat(J=opt.J,
test_nx=len(train_set.property_indicator)-sum(train_set.property_indicator),
test_ny=sum(train_set.property_indicator),
asymp_n=opt.asymp_n,
kernel_type=opt.kernel).cuda(base_gpu)
min_features = 1./opt.J
if opt.tensorboard:
from tensorboardX import SummaryWriter
writer = SummaryWriter(log_dir=opt.outf)
start_time = time.time()
cur_iter = 0
def train_vae(epoch, iteration, batch,c,cur_iter):
if len(batch.size()) == 3:
batch = batch.unsqueeze(0)
real= Variable(batch).cuda(base_gpu)
info = "\n====> Cur_iter: [{}]: Epoch[{}]({}/{}): time: {:4.4f}: ".format(cur_iter, epoch, iteration, len(train_data_loader), time.time()-start_time)
loss_info = '[loss_rec, loss_margin, lossE_real_kl, lossE_rec_kl, lossE_fake_kl, lossG_rec_kl, lossG_fake_kl,]'
#=========== Update E ================
def VAE_forward():
# real_mu, real_logvar, z_real, rec, flow_log_det_real, xi_real = model(real)
real_mu, real_logvar, z_real, rec = model(real)
loss_rec = model.reconstruction_loss(rec, real, True)
loss_kl = model.kl_loss(real_mu, real_logvar).mean() #- flow_log_det_real.mean()
if opt.lambda_me==0:
T = torch.zeros_like(loss_rec)
else:
T = me_obj(z_real, c)*opt.lambda_me
loss = loss_rec + loss_kl - T
return loss,loss_rec,loss_kl,rec,T
if opt.fp_16:
with autocast():
loss,loss_rec,loss_kl,rec,T = VAE_forward()
optimizerG.zero_grad()
optimizerE.zero_grad()
scaler.scale(loss).backward()
scaler.step(optimizerE) # .step()
scaler.step(optimizerG) # .step()
scaler.update()
else:
loss,loss_rec,loss_kl,rec,T = VAE_forward()
loss.backward()
optimizerE.step()
optimizerG.step()
info += 'Rec: {:.4f}, KL: {:.4f}, ME: {:.4f} '.format(loss_rec.item(), loss_kl.item(),T.item())
print(info)
if cur_iter % opt.test_iter is 0:
if opt.tensorboard:
record_scalar(writer, eval(loss_info), loss_info, cur_iter)
if cur_iter % 1000 == 0:
record_image(writer, [real, rec], cur_iter)
else:
vutils.save_image(torch.cat([real, rec], dim=0).data.cpu(), '{}/vae_image_{}.jpg'.format(opt.outf, cur_iter),nrow=opt.nrow)
def train(epoch, iteration, batch,c, cur_iter):
if len(batch.size()) == 3:
batch = batch.unsqueeze(0)
batch_size = batch.size(0)
c = c.cuda(base_gpu)
noise = torch.randn(batch_size, opt.hdim).cuda(base_gpu)
# noise_logvar = torch.zeros_like(noise)
real= batch.cuda(base_gpu)
info = "\n====> Cur_iter: [{}]: Epoch[{}]({}/{}): time: {:4.4f}: ".format(cur_iter, epoch, iteration, len(train_data_loader), time.time()-start_time)
loss_info = '[loss_rec, loss_margin, lossE_real_kl, lossE_rec_kl, lossE_fake_kl, lossG_rec_kl, lossG_fake_kl,]'
#Problem is flow is trained with competing objectives on the same entity? Still unstable training!
# Tune parameters?! Fake part is giving me a hard time...
def update_E():
# fake = model.sample(noise,noise_logvar)
fake = model.sample(noise)
# real_mu, real_logvar, z_real, rec,flow_log_det_real,xi_real = model(real)
real_mu, real_logvar, z, rec = model(real)
# rec_mu, rec_logvar,z_recon, flow_log_det_recon,xi_recon = model.encode_and_flow(rec.detach())
# fake_mu, fake_logvar,z_fake, flow_log_det_fake,xi_fake = model.encode_and_flow(fake.detach())
rec_mu, rec_logvar = model.encode(rec.detach())
fake_mu, fake_logvar = model.encode(fake.detach())
loss_rec = model.reconstruction_loss(rec, real, True)
lossE_real_kl = model.kl_loss(real_mu, real_logvar).mean()#-flow_log_det_real.mean()
lossE_rec_kl = model.kl_loss(rec_mu, rec_logvar).mean()#-flow_log_det_recon.mean()
lossE_fake_kl = model.kl_loss(fake_mu, fake_logvar).mean()#-flow_log_det_fake.mean()
loss_margin = lossE_real_kl +(torch.relu(opt.m_plus-lossE_rec_kl)+torch.relu(opt.m_plus-lossE_fake_kl)) * 0.5 * opt.weight_neg
# + \
if opt.lambda_me==0:
T = torch.zeros_like(loss_rec)
else:
T = me_obj(z, c)*opt.lambda_me
# Also, ok might want to add more parametrization of hyper parameters.
#weight neg should control adversarial objective. Want fakes and (reconstructions?!) to deviate from prior, want reals to be close to prior.
#Don't know why reconstructions should be adversarial... Might want to rebalance
lossE = loss_rec * opt.weight_rec + loss_margin * opt.weight_kl-T
return lossE,rec,fake,loss_rec,lossE_real_kl,\
lossE_rec_kl,lossE_fake_kl,real_logvar,rec_logvar,loss_margin,T
#=========== Update E ================
if opt.fp_16:
with autocast():
lossE,rec,fake,loss_rec,lossE_real_kl,\
lossE_rec_kl,lossE_fake_kl,\
real_logvar,rec_logvar,loss_margin,T_loss= update_E()
optimizerG.zero_grad()
optimizerE.zero_grad()
scaler.scale(lossE).backward(retain_graph=True)
else:
lossE,rec,fake,loss_rec,lossE_real_kl,lossE_rec_kl,\
lossE_fake_kl,real_logvar\
,rec_logvar,loss_margin,T_loss = update_E()
optimizerG.zero_grad()
optimizerE.zero_grad()
lossE.backward(retain_graph=True)
# def flow_separate_backward():
# # z_real = model.flow_forward_only(xi_real.detach(),real_logvar.detach())
# # z_recon = model.flow_forward_only(xi_recon.detach(),rec_logvar.detach())
# T_real = me_obj(xi_real,c)
# # T_recon = me_obj(z_recon,c)
# return T_real#+T_recon
# if opt.fp_16:
# with autocast():
# T_loss = -opt.lambda_me*flow_separate_backward()
# scaler.scale(T_loss).backward()
# else:
# T_loss = -opt.lambda_me*flow_separate_backward()
# T_loss.backward()
#Backprop everything on everything... NOT! Make sure the FLOW trains only one ONE of the saddlepoint objectives!
# nn.utils.clip_grad_norm(model.encoder.parameters(), 1.0)
for m in model.encoder.parameters():
m.requires_grad=False
# for m in model.flow.parameters(): #Controls whether which objectives apply to flow
# m.requires_grad=False
#========= Update G ==================
def update_G():
# rec_mu, rec_logvar, z_recon, flow_log_det_recon,xi_recon = model.encode_and_flow(rec)
# fake_mu, fake_logvar, z_fake, flow_log_det_fake,xi_fake = model.encode_and_flow(fake)
rec_mu, rec_logvar = model.encode(rec)
fake_mu, fake_logvar = model.encode(fake)
lossG_rec_kl = model.kl_loss(rec_mu, rec_logvar).mean() #- flow_log_det_recon.mean()
lossG_fake_kl = model.kl_loss(fake_mu, fake_logvar).mean() #- flow_log_det_fake.mean()
lossG = (lossG_rec_kl + lossG_fake_kl) * 0.5 * opt.weight_kl
return lossG,lossG_rec_kl,lossG_fake_kl
if opt.fp_16:
with autocast():
lossG,lossG_rec_kl,lossG_fake_kl = update_G()
scaler.scale(lossG).backward()
# nn.utils.clip_grad_norm(model.decoder.parameters(), 1.0)
scaler.step(optimizerE) # .step()
scaler.step(optimizerG) # .step()
scaler.update()
else:
lossG,lossG_rec_kl,lossG_fake_kl = update_G()
lossG.backward()
# nn.utils.clip_grad_norm(model.decoder.parameters(), 1.0)
optimizerE.step()
optimizerG.step()
for m in model.encoder.parameters():
m.requires_grad = True
# for m in model.flow.parameters(): #Controls whether which objectives apply to flow
# m.requires_grad=True
#Write down setups, carefully consider gradient updates to avoid positive feedback loop!
#. The key is to hold the regularization term LREG in Eq. (11) and Eq. (12) below the margin value m for most of the time
info += 'Rec: {:.4f}, '.format(loss_rec.item()*opt.weight_rec)
info += 'Margin loss: {:.4f}, '.format(opt.weight_kl*loss_margin.item())
info += 'Total loss E: {:.4f}, '.format(lossE.item())
info += 'Total loss G: {:.4f}, '.format(lossG.item())
info += 'Kl_E: {:.4f}, {:.4f}, {:.4f}, '.format(lossE_real_kl.item(),
lossE_rec_kl.item(), lossE_fake_kl.item())
info += 'Kl_G: {:.4f}, {:.4f}, '.format(lossG_rec_kl.item(), lossG_fake_kl.item())
info += 'ME_flow: {:.4f}'.format(T_loss.item())
print(info)
if cur_iter % opt.test_iter is 0:
if opt.tensorboard:
record_scalar(writer, eval(loss_info), loss_info, cur_iter)
if cur_iter % 1000 == 0:
record_image(writer, [real, rec, fake], cur_iter)
else:
vutils.save_image(torch.cat([real, rec, fake], dim=0).data.cpu(), '{}/image_{}.jpg'.format(opt.outf, cur_iter),nrow=opt.nrow)
#----------------Train by epochs--------------------------
for epoch in range(opt.start_epoch, opt.nEpochs + 1):
#save models
if epoch % opt.save_iter == 0:
save_checkpoint(model, epoch, cur_iter, '', folder_name=f"model{param_suffix}")
model.train()
for iteration, (batch,c) in enumerate(train_data_loader, 0):
if (c.sum()<min_features) or ((~c).sum()<min_features):
print('skip')
continue
else:
#--------------train------------
if epoch < opt.num_vae:
train_vae(epoch, iteration, batch,c, cur_iter)
else:
train(epoch, iteration, batch,c, cur_iter)
cur_iter += 1
import os
import json
import random
import numpy as np
from gym import spaces
from ENV.DigitalPose2D.render import render
from main import parser
args = parser.parse_args()
class Pose_Env_Base:
def __init__(
self,
reset_type,
nav='Goal', # Random, Goal
config_path="PoseEnvLarge_multi.json",
render_save=False,
setting_path=None):
self.nav = nav
self.reset_type = reset_type
self.ENV_PATH = 'ENV/DigitalPose2DBase'
if setting_path:
self.SETTING_PATH = setting_path
else:
self.SETTING_PATH = os.path.join(self.ENV_PATH, config_path)
with open(self.SETTING_PATH, encoding='utf-8') as f:
setting = json.load(f)
def dataset_load_func(i):
# get images from the list
image_left = imread(img_left[i]).astype('float32')
image_right = imread(img_right[i]).astype('float32')
# print(img_disp)
if dataset == "SceneFlow":
from main import parser
args = parser.parse_args()
image_disp, scale = readPFM(img_disp[i])
image_disp = np.ascontiguousarray(image_disp, dtype=np.float32)
elif dataset == "Kitti":
from finetune import parser
args = parser.parse_args()
image_disp = imread(img_disp[i]).astype('float32')
image_disp = image_disp.reshape(
image_disp.shape[0], image_disp.shape[1], 1)
mean_imagenet = np.asarray([0.485, 0.456, 0.406]).astype(
np.float32).reshape(3, 1, 1)
std_imagenet = np.asarray([0.229, 0.224, 0.225]).astype(
np.float32).reshape(3, 1, 1)
if train:
w, h = image_left.shape[1], image_left.shape[0]
th, tw = args.crop_height, args.crop_width
x1 = random.randint(0, w - tw)
y1 = random.randint(0, h - th)
# crop
image_left = image_left[y1:y1 + th, x1:x1 + tw]
image_right = image_right[y1:y1 + th, x1:x1 + tw]
if dataset == "Kitti":
image_disp = np.ascontiguousarray(
image_disp, dtype=np.float32)/256
image_disp = image_disp[y1:y1 + th, x1:x1 + tw]
# normalize with mean and std
image_left, image_right, image_disp = np.rollaxis(
image_left, 2), np.rollaxis(image_right, 2), np.rollaxis(image_disp, 2)
image_left = (image_left/255).astype(np.float32)
image_right = (image_right/255).astype(np.float32)
image_left -= mean_imagenet
image_left /= std_imagenet
image_right -= mean_imagenet
image_right /= std_imagenet
else:
# crop
if dataset == "SceneFlow":
image_left = image_left[:args.im_height, :args.im_width, :]
image_right = image_right[:args.im_height, :args.im_width, :]
image_disp = image_disp[:args.im_height, :args.im_width, :]
elif dataset == "Kitti":
w, h = image_left.shape[1], image_left.shape[0]
image_left = image_left[h -
args.im_height:h, w-args.im_width:w, :]
image_right = image_right[h -
args.im_height:h, w-args.im_width:w, :]
image_disp = image_disp[h -
args.im_height:h, w-args.im_width:w, :]
image_disp = np.ascontiguousarray(
image_disp, dtype=np.float32)/256
# normalize
image_left, image_right, image_disp = np.rollaxis(
image_left, 2), np.rollaxis(image_right, 2), np.rollaxis(image_disp, 2)
image_left = (image_left/255).astype(np.float32)
image_right = (image_right/255).astype(np.float32)
image_left -= mean_imagenet
image_left /= std_imagenet
image_right -= mean_imagenet
image_right /= std_imagenet
return image_left, image_right, image_disp
def test_main():
main(parser.parse_args(['--grammar_file', 'examples/grammar1.txt', '--word', '()']))
main(parser.parse_args(['--grammar_file', 'examples/grammar3.txt', '--word_file', 'examples/word3.txt']))
main(parser.parse_args(['--grammar_file', 'examples/grammar3.txt', '--max_length', '2']))