def main():
# Parse flags
config = forge.config()
config.batch_size = 1
config.load_instances = True
fet.print_flags()
# Restore original model flags
pretrained_flags = AttrDict(
fet.json_load(os.path.join(config.model_dir, 'flags.json')))
# Get validation loader
train_loader, val_loader, test_loader = fet.load(config.data_config,
config)
fprint(f"Split: {config.split}")
if config.split == 'train':
batch_loader = train_loader
elif config.split == 'val':
batch_loader = val_loader
elif config.split == 'test':
batch_loader = test_loader
# Shuffle and prefetch to get same data for different models
if 'gqn' not in config.data_config:
batch_loader = torch.utils.data.DataLoader(batch_loader.dataset,
batch_size=1,
num_workers=0,
shuffle=True)
# Prefetch batches
prefetched_batches = []
for i, x in enumerate(batch_loader):
if i == config.num_images:
break
prefetched_batches.append(x)
# Load model
model = fet.load(config.model_config, pretrained_flags)
fprint(model)
model_path = os.path.join(config.model_dir, config.model_file)
fprint(f"Restoring model from {model_path}")
checkpoint = torch.load(model_path, map_location='cpu')
model_state_dict = checkpoint['model_state_dict']
model_state_dict.pop('comp_vae.decoder_module.seq.0.pixel_coords.g_1',
None)
model_state_dict.pop('comp_vae.decoder_module.seq.0.pixel_coords.g_2',
None)
model.load_state_dict(model_state_dict)
# Set experiment folder and fprint file for logging
fet.EXPERIMENT_FOLDER = config.model_dir
fet.FPRINT_FILE = 'segmentation_metrics.txt'
# Compute metrics
model.eval()
ari_fg_list, sc_fg_list, msc_fg_list = [], [], []
with torch.no_grad():
for i, x in enumerate(tqdm(prefetched_batches)):
_, _, stats, _, _ = model(x['input'])
# ARI
ari_fg, _ = average_ari(stats.log_m_k,
x['instances'],
foreground_only=True)
# Segmentation covering - foreground only
iseg = torch.argmax(torch.cat(stats.log_m_k, 1), 1, True)
msc_fg, _ = average_segcover(x['instances'], iseg, True)
# Recording
ari_fg_list.append(ari_fg)
msc_fg_list.append(msc_fg)
# Print average metrics
fprint(f"Average FG ARI: {sum(ari_fg_list)/len(ari_fg_list)}")
fprint(f"Average FG MSC: {sum(msc_fg_list)/len(msc_fg_list)}")
def main():
# Parse flags
config = forge.config()
# Restore flags of pretrained model
flag_path = osp.join(config.model_dir, 'flags.json')
fprint(f"Restoring flags from {flag_path}")
pretrained_flags = AttrDict(fet.json_load(flag_path))
pretrained_flags.batch_size = 1
pretrained_flags.gpu = False
pretrained_flags.debug = True
fet.print_flags()
# Fix seeds. Always first thing to be done after parsing the config!
torch.manual_seed(0)
np.random.seed(0)
random.seed(0)
# Make CUDA operations deterministic
torch.backends.cudnn.deterministic = True
torch.backends.cudnn.benchmark = False
# Load model
model = fet.load(config.model_config, pretrained_flags)
model_path = osp.join(config.model_dir, config.model_file)
fprint(f"Restoring model from {model_path}")
checkpoint = torch.load(model_path, map_location='cpu')
model_state_dict = checkpoint['model_state_dict']
model_state_dict.pop('comp_vae.decoder_module.seq.0.pixel_coords.g_1',
None)
model_state_dict.pop('comp_vae.decoder_module.seq.0.pixel_coords.g_2',
None)
model.load_state_dict(model_state_dict)
fprint(model)
# Visualise
model.eval()
for _ in range(100):
y, stats = model.sample(1, pretrained_flags.K_steps)
fig, axes = plt.subplots(nrows=4, ncols=1 + pretrained_flags.K_steps)
# Generated
plot(axes, 0, 0, y, title='Generated scene', fontsize=12)
# Empty plots
plot(axes, 1, 0, fontsize=12)
plot(axes, 2, 0, fontsize=12)
plot(axes, 3, 0, fontsize=12)
# Put K generation steps in separate subfigures
for step in range(pretrained_flags.K_steps):
x_step = stats['x_k'][step]
m_step = stats['log_m_k'][step].exp()
mx_step = stats['mx_k'][step]
if 'log_s_k' in stats:
s_step = stats['log_s_k'][step].exp()
pre = 'Mask x RGB ' if step == 0 else ''
plot(axes, 0, 1 + step, mx_step, pre + f'k={step+1}', fontsize=12)
pre = 'RGB ' if step == 0 else ''
plot(axes, 1, 1 + step, x_step, pre + f'k={step+1}', fontsize=12)
pre = 'Mask ' if step == 0 else ''
plot(axes,
2,
1 + step,
m_step,
pre + f'k={step+1}',
True,
fontsize=12)
if 'log_s_k' in stats:
pre = 'Scope ' if step == 0 else ''
plot(axes,
3,
1 + step,
s_step,
pre + f'k={step+1}',
True,
axis=step == 0,
fontsize=12)
# Beautify and show figure
plt.subplots_adjust(wspace=0.05, hspace=0.05)
manager = plt.get_current_fig_manager()
manager.resize(*manager.window.maxsize())
plt.show()
def main():
# Parse flags
config = forge.config()
fet.print_flags()
# Restore flags of pretrained model
flag_path = osp.join(config.model_dir, 'flags.json')
fprint(f"Restoring flags from {flag_path}")
pretrained_flags = AttrDict(fet.json_load(flag_path))
pretrained_flags.debug = True
# Fix seeds. Always first thing to be done after parsing the config!
torch.manual_seed(0)
np.random.seed(0)
random.seed(0)
# Make CUDA operations deterministic
torch.backends.cudnn.deterministic = True
torch.backends.cudnn.benchmark = False
# Load data
config.batch_size = 1
_, _, test_loader = fet.load(config.data_config, config)
# Load model
model = fet.load(config.model_config, pretrained_flags)
model_path = osp.join(config.model_dir, config.model_file)
fprint(f"Restoring model from {model_path}")
checkpoint = torch.load(model_path, map_location='cpu')
model_state_dict = checkpoint['model_state_dict']
model_state_dict.pop('comp_vae.decoder_module.seq.0.pixel_coords.g_1',
None)
model_state_dict.pop('comp_vae.decoder_module.seq.0.pixel_coords.g_2',
None)
model.load_state_dict(model_state_dict)
fprint(model)
# Visualise
model.eval()
for count, batch in enumerate(test_loader):
if count >= config.num_images:
break
# Forward pass
output, _, stats, _, _ = model(batch['input'])
# Set up figure
fig, axes = plt.subplots(nrows=4, ncols=1 + pretrained_flags.K_steps)
# Input and reconstruction
plot(axes, 0, 0, batch['input'], title='Input image', fontsize=12)
plot(axes, 1, 0, output, title='Reconstruction', fontsize=12)
# Empty plots
plot(axes, 2, 0, fontsize=12)
plot(axes, 3, 0, fontsize=12)
# Put K reconstruction steps into separate subfigures
x_k = stats['x_r_k']
log_m_k = stats['log_m_k']
mx_k = [x * m.exp() for x, m in zip(x_k, log_m_k)]
log_s_k = stats['log_s_k'] if 'log_s_k' in stats else None
for step in range(pretrained_flags.K_steps):
mx_step = mx_k[step]
x_step = x_k[step]
m_step = log_m_k[step].exp()
if log_s_k:
s_step = log_s_k[step].exp()
pre = 'Mask x RGB ' if step == 0 else ''
plot(axes, 0, 1 + step, mx_step, pre + f'k={step+1}', fontsize=12)
pre = 'RGB ' if step == 0 else ''
plot(axes, 1, 1 + step, x_step, pre + f'k={step+1}', fontsize=12)
pre = 'Mask ' if step == 0 else ''
plot(axes,
2,
1 + step,
m_step,
pre + f'k={step+1}',
True,
fontsize=12)
if log_s_k:
pre = 'Scope ' if step == 0 else ''
plot(axes,
3,
1 + step,
s_step,
pre + f'k={step+1}',
True,
axis=step == 0,
fontsize=12)
# Beautify and show figure
plt.subplots_adjust(wspace=0.05, hspace=0.15)
manager = plt.get_current_fig_manager()
manager.resize(*manager.window.maxsize())
plt.show()
def main():
# Parse flags
config = forge.config()
# Load data
dataloaders, num_species, charge_scale, ds_stats, data_name = fet.load(
config.data_config, config=config)
config.num_species = num_species
config.charge_scale = charge_scale
config.ds_stats = ds_stats
# Load model
model, model_name = fet.load(config.model_config, config)
model.to(device)
config.charge_scale = float(config.charge_scale.numpy())
config.ds_stats = [float(stat.numpy()) for stat in config.ds_stats]
# Prepare environment
run_name = (config.run_name + "_bs" + str(config.batch_size) + "_lr" +
str(config.learning_rate))
if config.batch_fit != 0:
run_name += "_bf" + str(config.batch_fit)
if config.lr_schedule != "none":
run_name += "_" + config.lr_schedule
# Print flags
fet.print_flags()
# Setup optimizer
model_params = model.predictor.parameters()
opt_learning_rate = config.learning_rate
model_opt = torch.optim.Adam(
model_params,
lr=opt_learning_rate,
betas=(config.beta1, config.beta2),
eps=1e-8,
)
# model_opt = torch.optim.SGD(model_params, lr=opt_learning_rate)
# Cosine annealing learning rate
if config.lr_schedule == "cosine":
cos = cosLr(config.train_epochs)
lr_sched = lambda e: max(cos(e), config.lr_floor * config.learning_rate
)
lr_schedule = optim.lr_scheduler.LambdaLR(model_opt, lr_sched)
elif config.lr_schedule == "cosine_warmup":
cos = cosLr(config.train_epochs)
lr_sched = lambda e: max(
min(e / (config.warmup_length * config.train_epochs), 1) * cos(e),
config.lr_floor * config.learning_rate,
)
lr_schedule = optim.lr_scheduler.LambdaLR(model_opt, lr_sched)
elif config.lr_schedule == "quadratic_warmup":
lr_sched = lambda e: min(e / (0.01 * config.train_epochs), 1) * (
1.0 / sqrt(1.0 + 10000.0 * (e / config.train_epochs)
) # finish at 1/100 of initial lr
)
lr_schedule = optim.lr_scheduler.LambdaLR(model_opt, lr_sched)
elif config.lr_schedule == "none":
lr_sched = lambda e: 1.0
lr_schedule = optim.lr_scheduler.LambdaLR(model_opt, lr_sched)
else:
raise ValueError(
f"{config.lr_schedule} is not a recognised learning rate schedule")
num_params = param_count(model)
if config.parameter_count:
for (name, parameter) in model.predictor.named_parameters():
print(name, parameter.dtype)
print(model)
print("============================================================")
print(f"{model_name} parameters: {num_params:.5e}")
print("============================================================")
# from torchsummary import summary
# data = next(iter(dataloaders["train"]))
# data = {k: v.to(device) for k, v in data.items()}
# print(
# summary(
# model.predictor,
# data,
# batch_size=config.batch_size,
# )
# )
parameters = sum(parameter.numel()
for parameter in model.predictor.parameters())
parameters_grad = sum(
parameter.numel() if parameter.requires_grad else 0
for parameter in model.predictor.parameters())
print(f"Parameters: {parameters:,}")
print(f"Parameters grad: {parameters_grad:,}")
memory_allocations = []
for batch_idx, data in enumerate(dataloaders["train"]):
print(batch_idx)
data = {k: v.to(device) for k, v in data.items()}
model_opt.zero_grad()
outputs = model(data, compute_loss=True)
# torch.cuda.empty_cache()
# memory_allocations.append(torch.cuda.memory_reserved() / 1024 / 1024 / 1024)
# outputs.loss.backward()
print(
f"max memory reserved in one pass: {max(memory_allocations):0.4}GB"
)
sys.exit(0)
else:
print(f"{model_name} parameters: {num_params:.5e}")
# set up results folders
results_folder_name = osp.join(
data_name,
model_name,
run_name,
)
logdir = osp.join(config.results_dir,
results_folder_name.replace(".", "_"))
logdir, resume_checkpoint = fet.init_checkpoint(logdir, config.data_config,
config.model_config,
config.resume)
checkpoint_name = osp.join(logdir, "model.ckpt")
# Try to restore model and optimizer from checkpoint
if resume_checkpoint is not None:
start_epoch, best_valid_mae = load_checkpoint(resume_checkpoint, model,
model_opt, lr_schedule)
else:
start_epoch = 1
best_valid_mae = 1e12
train_iter = (start_epoch - 1) * (len(dataloaders["train"].dataset) //
config.batch_size) + 1
print("Starting training at epoch = {}, iter = {}".format(
start_epoch, train_iter))
# Setup tensorboard writing
summary_writer = SummaryWriter(logdir)
report_all = defaultdict(list)
# Saving model at epoch 0 before training
print("saving model at epoch 0 before training ... ")
save_checkpoint(checkpoint_name, 0, model, model_opt, lr_schedule, 0.0)
print("finished saving model at epoch 0 before training")
if (config.debug and config.model_config
== "configs/dynamics/eqv_transformer_model.py"):
model_components = ([(0, [], "embedding_layer")] + list(
chain.from_iterable((
(k, [], f"ema_{k}"),
(
k,
["ema", "kernel", "location_kernel"],
f"ema_{k}_location_kernel",
),
(
k,
["ema", "kernel", "feature_kernel"],
f"ema_{k}_feature_kernel",
),
) for k in range(1, config.num_layers + 1))) +
[(config.num_layers + 2, [], "output_mlp")]
) # components to track for debugging
grad_flows = []
if config.init_activations:
activation_tracked = [(name, module)
for name, module in model.named_modules()
if isinstance(module, Expression)
| isinstance(module, nn.Linear)
| isinstance(module, MultiheadLinear)
| isinstance(module, MaskBatchNormNd)]
activations = {}
def save_activation(name, mod, inpt, otpt):
if isinstance(inpt, tuple):
if isinstance(inpt[0], list) | isinstance(inpt[0], tuple):
activations[name + "_inpt"] = inpt[0][1].detach().cpu()
else:
if len(inpt) == 1:
activations[name + "_inpt"] = inpt[0].detach().cpu()
else:
activations[name + "_inpt"] = inpt[1].detach().cpu()
else:
activations[name + "_inpt"] = inpt.detach().cpu()
if isinstance(otpt, tuple):
if isinstance(otpt[0], list):
activations[name + "_otpt"] = otpt[0][1].detach().cpu()
else:
if len(otpt) == 1:
activations[name + "_otpt"] = otpt[0].detach().cpu()
else:
activations[name + "_otpt"] = otpt[1].detach().cpu()
else:
activations[name + "_otpt"] = otpt.detach().cpu()
for name, tracked_module in activation_tracked:
tracked_module.register_forward_hook(partial(
save_activation, name))
# Training
start_t = time.perf_counter()
iters_per_epoch = len(dataloaders["train"])
last_valid_loss = 1000.0
for epoch in tqdm(range(start_epoch, config.train_epochs + 1)):
model.train()
for batch_idx, data in enumerate(dataloaders["train"]):
data = {k: v.to(device) for k, v in data.items()}
model_opt.zero_grad()
outputs = model(data, compute_loss=True)
outputs.loss.backward()
if config.clip_grad:
# Clip gradient L2-norm at 1
torch.nn.utils.clip_grad.clip_grad_norm_(
model.predictor.parameters(), 1.0)
model_opt.step()
if config.init_activations:
model_opt.zero_grad()
outputs = model(data, compute_loss=True)
outputs.loss.backward()
for name, activation in activations.items():
print(name)
summary_writer.add_histogram(f"activations/{name}",
activation.numpy(), 0)
sys.exit(0)
if config.log_train_values:
reports = parse_reports(outputs.reports)
if batch_idx % config.report_loss_every == 0:
log_tensorboard(summary_writer, train_iter, reports,
"train/")
report_all = log_reports(report_all, train_iter, reports,
"train")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(dataloaders["train"].dataset) // config.batch_size,
prefix="train",
)
# Logging
if batch_idx % config.evaluate_every == 0:
model.eval()
with torch.no_grad():
valid_mae = 0.0
for data in dataloaders["valid"]:
data = {k: v.to(device) for k, v in data.items()}
outputs = model(data, compute_loss=True)
valid_mae = valid_mae + outputs.mae
model.train()
outputs["reports"].valid_mae = valid_mae / len(
dataloaders["valid"])
reports = parse_reports(outputs.reports)
log_tensorboard(summary_writer, train_iter, reports, "valid")
report_all = log_reports(report_all, train_iter, reports,
"valid")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(dataloaders["train"].dataset) // config.batch_size,
prefix="valid",
)
loss_diff = (last_valid_loss -
(valid_mae / len(dataloaders["valid"])).item())
if loss_diff and config.find_spikes < -0.1:
save_checkpoint(
checkpoint_name + "_spike",
epoch,
model,
model_opt,
lr_schedule,
outputs.loss,
)
last_valid_loss = (valid_mae /
len(dataloaders["valid"])).item()
if outputs["reports"].valid_mae < best_valid_mae:
save_checkpoint(
checkpoint_name,
"best_valid_mae",
model,
model_opt,
lr_schedule,
best_valid_mae,
)
best_valid_mae = outputs["reports"].valid_mae
train_iter += 1
# Step the LR schedule
lr_schedule.step(train_iter / iters_per_epoch)
# Track stuff for debugging
if config.debug:
model.eval()
with torch.no_grad():
curr_params = {
k: v.detach().clone()
for k, v in model.state_dict().items()
}
# updates norm
if train_iter == 1:
update_norm = 0
else:
update_norms = []
for (k_prev,
v_prev), (k_curr,
v_curr) in zip(prev_params.items(),
curr_params.items()):
assert k_prev == k_curr
if (
"tracked" not in k_prev
): # ignore batch norm tracking. TODO: should this be ignored? if not, fix!
update_norms.append(
(v_curr - v_prev).norm(1).item())
update_norm = sum(update_norms)
# gradient norm
grad_norm = 0
for p in model.parameters():
try:
grad_norm += p.grad.norm(1)
except AttributeError:
pass
# weights norm
if (config.model_config ==
"configs/dynamics/eqv_transformer_model.py"):
model_norms = {}
for comp_name in model_components:
comp = get_component(model.predictor.net,
comp_name)
norm = get_average_norm(comp)
model_norms[comp_name[2]] = norm
log_tensorboard(
summary_writer,
train_iter,
model_norms,
"debug/avg_model_norms/",
)
log_tensorboard(
summary_writer,
train_iter,
{
"avg_update_norm1": update_norm / num_params,
"avg_grad_norm1": grad_norm / num_params,
},
"debug/",
)
prev_params = curr_params
# gradient flow
ave_grads = []
max_grads = []
layers = []
for n, p in model.named_parameters():
if (p.requires_grad) and ("bias" not in n):
layers.append(n)
ave_grads.append(p.grad.abs().mean().item())
max_grads.append(p.grad.abs().max().item())
grad_flow = {
"layers": layers,
"ave_grads": ave_grads,
"max_grads": max_grads,
}
grad_flows.append(grad_flow)
model.train()
# Test model at end of batch
with torch.no_grad():
model.eval()
test_mae = 0.0
for data in dataloaders["test"]:
data = {k: v.to(device) for k, v in data.items()}
outputs = model(data, compute_loss=True)
test_mae = test_mae + outputs.mae
outputs["reports"].test_mae = test_mae / len(dataloaders["test"])
reports = parse_reports(outputs.reports)
log_tensorboard(summary_writer, train_iter, reports, "test")
report_all = log_reports(report_all, train_iter, reports, "test")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(dataloaders["train"].dataset) // config.batch_size,
prefix="test",
)
reports = {
"lr": lr_schedule.get_lr()[0],
"time": time.perf_counter() - start_t,
"epoch": epoch,
}
log_tensorboard(summary_writer, train_iter, reports, "stats")
report_all = log_reports(report_all, train_iter, reports, "stats")
# Save the reports
dd.io.save(logdir + "/results_dict.h5", report_all)
# Save a checkpoint
if epoch % config.save_check_points == 0:
save_checkpoint(
checkpoint_name,
epoch,
model,
model_opt,
lr_schedule,
best_valid_mae,
)
if config.only_store_last_checkpoint:
delete_checkpoint(checkpoint_name,
epoch - config.save_check_points)
save_checkpoint(
checkpoint_name,
"final",
model,
model_opt,
lr_schedule,
outputs.loss,
)
checkpoint_name = osp.join(logdir, 'model.ckpt')
# Build the graph
tf.reset_default_graph()
# load data
data_dict = fet.load(config.data_config, config)
# load the model
loss, stats, _ = fet.load(config.model_config, config, **data_dict)
# Add summaries for reported stats
# summaries can be set up in the model config file
for (k, v) in stats.items():
tf.summary.scalar(k, v)
# Print model stats
fet.print_flags()
fet.print_variables_by_scope()
fet.print_num_params()
# Setup the optimizer
global_step = tf.train.get_or_create_global_step()
opt = tf.train.RMSPropOptimizer(config.learning_rate, momentum=.9)
# Create the train step
update_ops = tf.get_collection(tf.GraphKeys.UPDATE_OPS)
with tf.control_dependencies(update_ops):
train_step = opt.minimize(loss, global_step=global_step)
# create session and initializer variables
sess = fet.get_session()
sess.run(tf.global_variables_initializer())
def main():
# Parse flags
config = forge.config()
# Set device
if torch.cuda.is_available():
device = f"cuda:{config.device}"
torch.cuda.set_device(device)
else:
device = "cpu"
# Load data
dataloaders, data_name = fet.load(config.data_config, config=config)
train_loader = dataloaders["train"]
test_loader = dataloaders["test"]
val_loader = dataloaders["val"]
# Load model
model, model_name = fet.load(config.model_config, config)
model = model.to(device)
print(model)
# Prepare environment
params_in_run_name = [
("batch_size", "bs"),
("learning_rate", "lr"),
("num_heads", "nheads"),
("num_layers", "nlayers"),
("dim_hidden", "hdim"),
("kernel_dim", "kdim"),
("location_attention", "locatt"),
("model_seed", "mseed"),
("lr_schedule", "lrsched"),
("layer_norm", "ln"),
("batch_norm", "bn"),
("channel_width", "width"),
("attention_fn", "attfn"),
("output_mlp_scale", "mlpscale"),
("train_epochs", "epochs"),
("block_norm", "block"),
("kernel_type", "ktype"),
("architecture", "arch"),
("activation_function", "act"),
("space_dim", "spacedim"),
("num_particles", "prtcls"),
("n_train", "ntrain"),
("group", "group"),
("lift_samples", "ls"),
]
run_name = ""
for config_param in params_in_run_name:
attr = config_param[0]
abbrev = config_param[1]
if hasattr(config, attr):
run_name += abbrev
run_name += str(getattr(config, attr))
run_name += "_"
if config.clip_grad_norm:
run_name += "clipnorm" + str(config.max_grad_norm) + "_"
results_folder_name = osp.join(
data_name,
model_name,
config.run_name,
run_name,
)
logdir = osp.join(config.results_dir,
results_folder_name.replace(".", "_"))
logdir, resume_checkpoint = fet.init_checkpoint(logdir, config.data_config,
config.model_config,
config.resume)
checkpoint_name = osp.join(logdir, "model.ckpt")
# Print flags
fet.print_flags()
# Setup optimizer
model_params = model.predictor.parameters()
opt_learning_rate = config.learning_rate
model_opt = torch.optim.Adam(model_params,
lr=opt_learning_rate,
betas=(config.beta1, config.beta2))
if config.lr_schedule == "cosine_annealing":
scheduler = torch.optim.lr_scheduler.CosineAnnealingLR(
model_opt, config.train_epochs)
elif config.lr_schedule == "cosine_annealing_warmup":
num_warmup_epochs = int(0.05 * config.train_epochs)
num_warmup_steps = len(train_loader) * num_warmup_epochs
num_training_steps = len(train_loader) * config.train_epochs
scheduler = transformers.get_cosine_schedule_with_warmup(
model_opt,
num_warmup_steps=num_warmup_steps,
num_training_steps=num_training_steps,
)
# Try to restore model and optimizer from checkpoint
if resume_checkpoint is not None:
start_epoch = load_checkpoint(resume_checkpoint, model, model_opt)
else:
start_epoch = 1
train_iter = (start_epoch - 1) * (len(train_loader.dataset) //
config.batch_size) + 1
print("Starting training at epoch = {}, iter = {}".format(
start_epoch, train_iter))
# Setup tensorboard writing
summary_writer = SummaryWriter(logdir)
train_reports = []
report_all = {}
report_all_val = {}
# Saving model at epoch 0 before training
print("saving model at epoch 0 before training ... ")
save_checkpoint(checkpoint_name, 0, model, model_opt, loss=0.0)
print("finished saving model at epoch 0 before training")
# if (
# config.debug
# and config.model_config == "configs/dynamics/eqv_transformer_model.py"
# ):
# model_components = (
# [(0, [], "embedding_layer")]
# + list(
# chain.from_iterable(
# (
# (k, [], f"ema_{k}"),
# (
# k,
# ["ema", "kernel", "location_kernel"],
# f"ema_{k}_location_kernel",
# ),
# (
# k,
# ["ema", "kernel", "feature_kernel"],
# f"ema_{k}_feature_kernel",
# ),
# )
# for k in range(1, config.num_layers + 1)
# )
# )
# + [(config.num_layers + 2, [], "output_mlp")]
# ) # components to track for debugging
num_params = param_count(model)
print(f"Number of model parameters: {num_params}")
# Training
start_t = time.time()
total_train_iters = len(train_loader) * config.train_epochs
iters_per_eval = int(total_train_iters /
100) # evaluate 100 times over the course of training
assert (
config.n_train % min(config.batch_size, config.n_train) == 0
), "Batch size doesn't divide dataset size. Can be problematic for loss computation (see below)."
training_failed = False
best_val_loss_so_far = 1e+7
for epoch in tqdm(range(start_epoch, config.train_epochs + 1)):
model.train()
for batch_idx, data in enumerate(train_loader):
data = nested_to(
data, device, torch.float32
) # the format is ((z0, sys_params, ts), true_zs) for data
outputs = model(data)
if torch.isnan(outputs.loss):
if not training_failed:
epoch_of_nan = epoch
if (epoch > epoch_of_nan + 1) and training_failed:
raise ValueError("Loss Nan-ed.")
training_failed = True
model_opt.zero_grad()
outputs.loss.backward(retain_graph=False)
if config.clip_grad_norm:
torch.nn.utils.clip_grad_norm_(model.parameters(),
config.max_grad_norm,
norm_type=1)
model_opt.step()
train_reports.append(parse_reports_cpu(outputs.reports))
if config.log_train_values:
reports = parse_reports(outputs.reports)
if batch_idx % config.report_loss_every == 0:
log_tensorboard(summary_writer, train_iter, reports,
"train/")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(train_loader.dataset) // config.batch_size,
prefix="train",
)
log_tensorboard(
summary_writer,
train_iter,
{"lr": model_opt.param_groups[0]["lr"]},
"hyperparams/",
)
# Do learning rate schedule steps per STEP for cosine_annealing_warmup
if config.lr_schedule == "cosine_annealing_warmup":
scheduler.step()
# Track stuff for debugging
if config.debug:
model.eval()
with torch.no_grad():
curr_params = {
k: v.detach().clone()
for k, v in model.state_dict().items()
}
# updates norm
if train_iter == 1:
update_norm = 0
else:
update_norms = []
for (k_prev,
v_prev), (k_curr,
v_curr) in zip(prev_params.items(),
curr_params.items()):
assert k_prev == k_curr
if ("tracked" not in k_prev):
update_norms.append(
(v_curr - v_prev).norm(1).item())
update_norm = sum(update_norms)
# gradient norm
grad_norm = 0
for p in model.parameters():
try:
grad_norm += p.grad.norm(1)
except AttributeError:
pass
# Average V size:
(z0, sys_params, ts), true_zs = data
z = z0
m = sys_params[
..., 0] # assume the first component encodes masses
D = z.shape[-1] # of ODE dims, 2*num_particles*space_dim
q = z[:, :D // 2].reshape(*m.shape, -1)
k = sys_params[..., 1]
V = model.predictor.compute_V((q, sys_params))
V_true = SpringV(q, k)
log_tensorboard(
summary_writer,
train_iter,
{
"avg_update_norm1":
update_norm / num_params,
"avg_grad_norm1":
grad_norm / num_params,
"avg_predicted_potential_norm":
V.norm(1) / V.numel(),
"avg_true_potential_norm":
V_true.norm(1) / V_true.numel(),
},
"debug/",
)
prev_params = curr_params
model.train()
# Logging
if train_iter % iters_per_eval == 0 or (
train_iter == total_train_iters
): # batch_idx % config.evaluate_every == 0:
model.eval()
with torch.no_grad():
reports = None
for data in test_loader:
data = nested_to(data, device, torch.float32)
outputs = model(data)
if reports is None:
reports = {
k: v.detach().clone().cpu()
for k, v in outputs.reports.items()
}
else:
for k, v in outputs.reports.items():
reports[k] += v.detach().clone().cpu()
for k, v in reports.items():
reports[k] = v / len(test_loader)
reports = parse_reports(reports)
reports["time"] = time.time() - start_t
if report_all == {}:
report_all = deepcopy(reports)
for d in reports.keys():
report_all[d] = [report_all[d]]
else:
for d in reports.keys():
report_all[d].append(reports[d])
log_tensorboard(summary_writer, train_iter, reports,
"test/")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(train_loader.dataset) // config.batch_size,
prefix="test",
)
if config.kill_if_poor:
if epoch > config.train_epochs * 0.2:
if reports["mse"] > 0.01:
raise RuntimeError(
f"Killed run due to poor performance.")
# repeat for validation data
reports = None
for data in val_loader:
data = nested_to(data, device, torch.float32)
outputs = model(data)
if reports is None:
reports = {
k: v.detach().clone().cpu()
for k, v in outputs.reports.items()
}
else:
for k, v in outputs.reports.items():
reports[k] += v.detach().clone().cpu()
for k, v in reports.items():
reports[k] = v / len(val_loader)
reports = parse_reports(reports)
reports["time"] = time.time() - start_t
if report_all_val == {}:
report_all_val = deepcopy(reports)
for d in reports.keys():
report_all_val[d] = [report_all_val[d]]
else:
for d in reports.keys():
report_all_val[d].append(reports[d])
log_tensorboard(summary_writer, train_iter, reports,
"val/")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(train_loader.dataset) // config.batch_size,
prefix="val",
)
if report_all_val['mse'][-1] < best_val_loss_so_far:
save_checkpoint(checkpoint_name,
f"early_stop",
model,
model_opt,
loss=outputs.loss)
best_val_loss_so_far = report_all_val['mse'][-1]
model.train()
train_iter += 1
if config.lr_schedule == "cosine_annealing":
scheduler.step()
if epoch % config.save_check_points == 0:
save_checkpoint(checkpoint_name,
train_iter,
model,
model_opt,
loss=outputs.loss)
dd.io.save(logdir + "/results_dict_train.h5", train_reports)
dd.io.save(logdir + "/results_dict.h5", report_all)
dd.io.save(logdir + "/results_dict_val.h5", report_all_val)
# always save final model
save_checkpoint(checkpoint_name,
train_iter,
model,
model_opt,
loss=outputs.loss)
if config.save_test_predictions:
print(
"Starting to make model predictions on test sets for *final model*."
)
for chunk_len in [5, 100]:
start_t_preds = time.time()
data_config = SimpleNamespace(
**{
**config.__dict__["__flags"],
**{
"chunk_len": chunk_len,
"batch_size": 500
}
})
dataloaders, data_name = fet.load(config.data_config,
config=data_config)
test_loader_preds = dataloaders["test"]
torch.cuda.empty_cache()
with torch.no_grad():
preds = []
true = []
num_datapoints = 0
for idx, d in enumerate(test_loader_preds):
true.append(d[-1])
d = nested_to(d, device, torch.float32)
outputs = model(d)
pred_zs = outputs.prediction
preds.append(pred_zs)
num_datapoints += len(pred_zs)
if num_datapoints >= 2000:
break
preds = torch.cat(preds, dim=0).cpu()
true = torch.cat(true, dim=0).cpu()
save_dir = osp.join(
logdir, f"traj_preds_{chunk_len}_steps_2k_test.pt")
torch.save(preds, save_dir)
save_dir = osp.join(logdir,
f"traj_true_{chunk_len}_steps_2k_test.pt")
torch.save(true, save_dir)
print(
f"Completed making test predictions for chunk_len = {chunk_len} in {time.time() - start_t_preds:.2f} seconds."
)
def main():
# Parse flags
config = forge.config()
# Set device
if torch.cuda.is_available():
device = f"cuda:{config.device}"
torch.cuda.set_device(device)
else:
device = "cpu"
# Load data
train_loader, test_loader, data_name = fet.load(config.data_config,
config=config)
# Load model
model, model_name = fet.load(config.model_config, config)
model = model.to(device)
print(model)
torch.manual_seed(0)
# Prepare environment
if "set_transformer" in config.model_config:
params_in_run_name = [
("batch_size", "bs"),
("learning_rate", "lr"),
("num_heads", "nheads"),
("patterns_reps", "reps"),
("model_seed", "mseed"),
("train_epochs", "epochs"),
("naug", "naug"),
]
else:
params_in_run_name = [
("batch_size", "bs"),
("learning_rate", "lr"),
("num_heads", "nheads"),
("num_layers", "nlayers"),
("dim_hidden", "hdim"),
("kernel_dim", "kdim"),
("location_attention", "locatt"),
("model_seed", "mseed"),
("lr_schedule", "lrsched"),
("layer_norm", "ln"),
("batch_norm_att", "bnatt"),
("batch_norm", "bn"),
("batch_norm_final_mlp", "bnfinalmlp"),
("k", "k"),
("attention_fn", "attfn"),
("output_mlp_scale", "mlpscale"),
("train_epochs", "epochs"),
("block_norm", "block"),
("kernel_type", "ktype"),
("architecture", "arch"),
("kernel_act", "actv"),
("patterns_reps", "reps"),
("lift_samples", "nsamples"),
("content_type", "content"),
("naug", "naug"),
]
run_name = "" # config.run_name
for config_param in params_in_run_name:
attr = config_param[0]
abbrev = config_param[1]
if hasattr(config, attr):
run_name += abbrev
run_name += str(getattr(config, attr))
run_name += "_"
results_folder_name = osp.join(
data_name,
model_name,
config.run_name,
run_name,
)
# results_folder_name = osp.join(data_name, model_name, run_name,)
logdir = osp.join(config.results_dir,
results_folder_name.replace(".", "_"))
logdir, resume_checkpoint = fet.init_checkpoint(logdir, config.data_config,
config.model_config,
config.resume)
checkpoint_name = osp.join(logdir, "model.ckpt")
# Print flags
fet.print_flags()
# Setup optimizer
model_params = model.encoder.parameters()
opt_learning_rate = config.learning_rate
model_opt = torch.optim.Adam(model_params,
lr=opt_learning_rate,
betas=(config.beta1, config.beta2))
# Try to restore model and optimizer from checkpoint
if resume_checkpoint is not None:
start_epoch = load_checkpoint(resume_checkpoint, model, model_opt)
else:
start_epoch = 1
train_iter = (start_epoch - 1) * (len(train_loader.dataset) //
config.batch_size) + 1
print("Starting training at epoch = {}, iter = {}".format(
start_epoch, train_iter))
# Setup tensorboard writing
summary_writer = SummaryWriter(logdir)
train_reports = []
report_all = {}
# Saving model at epoch 0 before training
print("saving model at epoch 0 before training ... ")
save_checkpoint(checkpoint_name, 0, model, model_opt, loss=0.0)
print("finished saving model at epoch 0 before training")
if (config.debug and config.model_config
== "configs/constellation/eqv_transformer_model.py"):
model_components = ([(0, [], "embedding_layer")] + list(
chain.from_iterable((
(k, [], f"ema_{k}"),
(
k,
["ema", "kernel", "location_kernel"],
f"ema_{k}_location_kernel",
),
(
k,
["ema", "kernel", "feature_kernel"],
f"ema_{k}_feature_kernel",
),
) for k in range(1, config.num_layers + 1))) +
[(config.num_layers + 2, [], "output_mlp")]
) # components to track for debugging
num_params = param_count(model)
print(f"Number of model parameters: {num_params}")
# Training
start_t = time.time()
grad_flows = []
training_failed = False
for epoch in tqdm(range(start_epoch, config.train_epochs + 1)):
model.train()
for batch_idx, data in enumerate(train_loader):
data, presence, target = [d.to(device).float() for d in data]
if config.train_aug_t2:
unifs = np.random.normal(
1
) # torch.rand(1) * 2 * math.pi # torch.randn(1).to(device) * 10
data += unifs
if config.train_aug_se2:
# angle = torch.rand(1) * 2 * math.pi
angle = np.random.random(size=1) * 2 * math.pi
unifs = np.random.normal(1) # torch.randn(1).to(device) * 10
data = rotate(data, angle.item())
data += unifs
outputs = model([data, presence], target)
if torch.isnan(outputs.loss):
if not training_failed:
epoch_of_nan = epoch
if (epoch > epoch_of_nan + 1) and training_failed:
raise ValueError("Loss Nan-ed.")
training_failed = True
model_opt.zero_grad()
outputs.loss.backward(retain_graph=False)
model_opt.step()
train_reports.append(parse_reports_cpu(outputs.reports))
if config.log_train_values:
reports = parse_reports(outputs.reports)
if batch_idx % config.report_loss_every == 0:
log_tensorboard(summary_writer, train_iter, reports,
"train/")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(train_loader.dataset) // config.batch_size,
prefix="train",
)
# Track stuff for debugging
if config.debug:
model.eval()
with torch.no_grad():
curr_params = {
k: v.detach().clone()
for k, v in model.state_dict().items()
}
# updates norm
if train_iter == 1:
update_norm = 0
else:
update_norms = []
for (k_prev,
v_prev), (k_curr,
v_curr) in zip(prev_params.items(),
curr_params.items()):
assert k_prev == k_curr
if (
"tracked" not in k_prev
): # ignore batch norm tracking. TODO: should this be ignored? if not, fix!
update_norms.append(
(v_curr - v_prev).norm(1).item())
update_norm = sum(update_norms)
# gradient norm
grad_norm = 0
for p in model.parameters():
try:
grad_norm += p.grad.norm(1)
except AttributeError:
pass
# # weights norm
# if config.model_config == 'configs/constellation/eqv_transformer_model.py':
# model_norms = {}
# for comp_name in model_components:
# comp = get_component(model.encoder.net, comp_name)
# norm = get_average_norm(comp)
# model_norms[comp_name[2]] = norm
# log_tensorboard(
# summary_writer,
# train_iter,
# model_norms,
# "debug/avg_model_norms/",
# )
log_tensorboard(
summary_writer,
train_iter,
{
"avg_update_norm1": update_norm / num_params,
"avg_grad_norm1": grad_norm / num_params,
},
"debug/",
)
prev_params = curr_params
# # gradient flow
# ave_grads = []
# max_grads= []
# layers = []
# for n, p in model.named_parameters():
# if (p.requires_grad) and (p.grad is not None): # and ("bias" not in n):
# layers.append(n)
# ave_grads.append(p.grad.abs().mean().item())
# max_grads.append(p.grad.abs().max().item())
# grad_flow = {"layers": layers, "ave_grads": ave_grads, "max_grads": max_grads}
# grad_flows.append(grad_flow)
model.train()
# Logging
if batch_idx % config.evaluate_every == 0:
model.eval()
with torch.no_grad():
reports = None
for data in test_loader:
data, presence, target = [
d.to(device).float() for d in data
]
# if config.data_config == "configs/constellation/constellation.py":
# if config.global_rotation_angle != 0.0:
# data = rotate(data, config.global_rotation_angle)
outputs = model([data, presence], target)
if reports is None:
reports = {
k: v.detach().clone().cpu()
for k, v in outputs.reports.items()
}
else:
for k, v in outputs.reports.items():
reports[k] += v.detach().clone().cpu()
for k, v in reports.items():
reports[k] = v / len(
test_loader
) # XXX: note this is slightly incorrect since mini-batch sizes can vary (if batch_size doesn't divide train_size), but approximately correct.
reports = parse_reports(reports)
reports["time"] = time.time() - start_t
if report_all == {}:
report_all = deepcopy(reports)
for d in reports.keys():
report_all[d] = [report_all[d]]
else:
for d in reports.keys():
report_all[d].append(reports[d])
log_tensorboard(summary_writer, train_iter, reports,
"test/")
print_reports(
reports,
start_t,
epoch,
batch_idx,
len(train_loader.dataset) // config.batch_size,
prefix="test",
)
model.train()
train_iter += 1
if epoch % config.save_check_points == 0:
save_checkpoint(checkpoint_name,
train_iter,
model,
model_opt,
loss=outputs.loss)
dd.io.save(logdir + "/results_dict_train.h5", train_reports)
dd.io.save(logdir + "/results_dict.h5", report_all)
# if config.debug:
# # dd.io.save(logdir + "/grad_flows.h5", grad_flows)
save_checkpoint(checkpoint_name,
train_iter,
model,
model_opt,
loss=outputs.loss)