def __init__(self,
embedding_dim,
input_dims,
hidden_dim,
num_slots,
encoder='cswm',
cnn_size='small',
decoder='broadcast',
trans_model='gnn',
identity_action=False,
residual=False,
canonical=False):
super(NodModel, self).__init__()
self.embedding_dim = embedding_dim
self.input_dims = input_dims
self.hidden_dims = hidden_dim
self.num_slots = num_slots
self.identity_action_flag = identity_action
self.canonical = canonical
if encoder == 'cswm':
self.encoder = modules.EncoderCSWM(
input_dims=self.input_dims,
embedding_dim=self.embedding_dim,
num_objects=self.num_slots,
cnn_size=cnn_size)
if trans_model == 'gnn':
self.transition_model = modules.TransitionGNN(
input_dim=self.embedding_dim,
hidden_dim=512,
action_dim=12,
num_objects=self.num_slots,
residual=residual)
elif trans_model == 'attention':
self.transition_model = attention.MultiHeadCondAttention(
n_head=5,
input_feature_dim=self.embedding_dim + 12,
out_dim=self.embedding_dim,
dim_k=128,
dim_v=128)
if decoder == 'broadcast':
self.decoder = spd.BroadcastDecoder(
latent_dim=self.embedding_dim,
output_dim=4, # 3 rgb channels and one mask
hidden_channels=32,
num_layers=4,
img_dims=self.
input_dims[1:], # width and height of square image
act_fn='elu')
elif decoder == 'cnn':
out_shape = self.input_dims
out_shape[0] += 1
self.decoder = modules.DecoderCNNMedium(
input_dim=self.embedding_dim,
hidden_dim=32,
num_objects=self.num_slots,
output_size=out_shape)
print('Number of params in encoder ', util.count_params(self.encoder))
print(f'Number of params in transition model ',
util.count_params(self.transition_model))
print('Number of params in decoder ', util.count_params(self.decoder))
self.l2_loss = nn.MSELoss(reduction="mean")
copy_action=args.copy_action,
encoder=args.encoder).to(device)
model.apply(utils.weights_init)
optimizer = torch.optim.Adam(model.parameters(), lr=args.learning_rate)
if args.decoder:
if args.encoder == 'large':
decoder = modules.DecoderCNNLarge(input_dim=args.embedding_dim,
num_objects=args.num_objects,
hidden_dim=args.hidden_dim // 16,
output_size=input_shape).to(device)
elif args.encoder == 'medium':
decoder = modules.DecoderCNNMedium(input_dim=args.embedding_dim,
num_objects=args.num_objects,
hidden_dim=args.hidden_dim // 16,
output_size=input_shape).to(device)
elif args.encoder == 'small':
decoder = modules.DecoderCNNSmall(input_dim=args.embedding_dim,
num_objects=args.num_objects,
hidden_dim=args.hidden_dim // 16,
output_size=input_shape).to(device)
decoder.apply(utils.weights_init)
optimizer_dec = torch.optim.Adam(decoder.parameters(),
lr=args.learning_rate)
# Train model.
print('Starting model training...')
step = 0
best_loss = 1e9
def train_c_swm(args):
args.cuda = not args.no_cuda and torch.cuda.is_available()
print("Inside train_c_swm")
now = datetime.datetime.now()
timestamp = now.isoformat()
if args.name == 'none':
exp_name = timestamp
else:
exp_name = args.name
np.random.seed(args.seed)
torch.manual_seed(args.seed)
if args.cuda:
torch.cuda.manual_seed(args.seed)
exp_counter = 0
save_folder = '{}/{}/'.format(args.save_folder, exp_name)
if not os.path.exists(save_folder):
os.makedirs(save_folder)
meta_file = os.path.join(save_folder, 'metadata.pkl')
model_file = os.path.join(save_folder, 'model.pt')
log_file = os.path.join(save_folder, 'log.txt')
logging.basicConfig(level=logging.INFO, format='%(message)s')
logger = logging.getLogger()
logger.addHandler(logging.FileHandler(log_file, 'a'))
#print = logger.info
pickle.dump({'args': args}, open(meta_file, "wb"))
device = torch.device('cuda' if args.cuda else 'cpu')
print("About to get dataset")
dataset = utils.StateTransitionsDataset(hdf5_file=args.dataset)
train_loader = data.DataLoader(dataset,
batch_size=args.batch_size,
shuffle=True,
num_workers=args.num_workers)
print("Dataset loaded")
# Get data sample
obs = train_loader.__iter__().next()[0]
input_shape = obs[0].size()
model = modules.ContrastiveSWM(embedding_dim=args.embedding_dim,
hidden_dim=args.hidden_dim,
action_dim=args.action_dim,
input_dims=input_shape,
num_objects=args.num_objects,
sigma=args.sigma,
hinge=args.hinge,
ignore_action=args.ignore_action,
copy_action=args.copy_action,
encoder=args.encoder).to(device)
model.apply(utils.weights_init)
optimizer = torch.optim.Adam(model.parameters(), lr=args.learning_rate)
if args.decoder:
if args.encoder == 'large':
decoder = modules.DecoderCNNLarge(
input_dim=args.embedding_dim,
num_objects=args.num_objects,
hidden_dim=args.hidden_dim // 16,
output_size=input_shape).to(device)
elif args.encoder == 'medium':
decoder = modules.DecoderCNNMedium(
input_dim=args.embedding_dim,
num_objects=args.num_objects,
hidden_dim=args.hidden_dim // 16,
output_size=input_shape).to(device)
elif args.encoder == 'small':
decoder = modules.DecoderCNNSmall(
input_dim=args.embedding_dim,
num_objects=args.num_objects,
hidden_dim=args.hidden_dim // 16,
output_size=input_shape).to(device)
decoder.apply(utils.weights_init)
optimizer_dec = torch.optim.Adam(decoder.parameters(),
lr=args.learning_rate)
# Train model.
print('Starting model training...')
step = 0
best_loss = 1e9
for epoch in range(1, args.epochs + 1):
model.train()
train_loss = 0
for batch_idx, data_batch in enumerate(train_loader):
data_batch = [tensor.to(device) for tensor in data_batch]
optimizer.zero_grad()
if args.decoder:
optimizer_dec.zero_grad()
obs, action, next_obs = data_batch
objs = model.obj_extractor(obs)
state = model.obj_encoder(objs)
rec = torch.sigmoid(decoder(state))
loss = F.binary_cross_entropy(rec, obs,
reduction='sum') / obs.size(0)
next_state_pred = state + model.transition_model(state, action)
next_rec = torch.sigmoid(decoder(next_state_pred))
next_loss = F.binary_cross_entropy(
next_rec, next_obs, reduction='sum') / obs.size(0)
loss += next_loss
else:
loss = model.contrastive_loss(*data_batch)
loss.backward()
train_loss += loss.item()
optimizer.step()
if args.decoder:
optimizer_dec.step()
if batch_idx % args.log_interval == 0:
print('Epoch: {} [{}/{} ({:.0f}%)]\tLoss: {:.6f}'.format(
epoch, batch_idx * len(data_batch[0]),
len(train_loader.dataset),
100. * batch_idx / len(train_loader),
loss.item() / len(data_batch[0])))
step += 1
avg_loss = train_loss / len(train_loader.dataset)
# print('====> Epoch: {} Average loss: {:.6f}'.format(
# epoch, avg_loss))
if avg_loss < best_loss:
best_loss = avg_loss
torch.save(model.state_dict(), model_file)
return model
