def build_graph(self, x, y):
with freeze_variables(stop_gradient=False, skip_collection=True):
step_size = FLAGS.step_size / 255.0
max_epsilon = FLAGS.max_epsilon / 255.0
x_max = tf.clip_by_value(x + max_epsilon, 0., 1.0)
x_min = tf.clip_by_value(x - max_epsilon, 0., 1.0)
logits, _, _ = network.model(x, FLAGS.attack_networks[0])
loss = tf.nn.sparse_softmax_cross_entropy_with_logits(
logits=logits, labels=y)
noise = tf.gradients(loss, x)[0]
with tf.variable_scope('RHP'):
noise = conv_with_rn(noise)
with freeze_variables(stop_gradient=False, skip_collection=True):
G = tf.get_default_graph()
with G.gradient_override_map({"Sign": "Identity"}):
x = x + step_size * tf.sign(noise)
x = tf.clip_by_value(x, x_min, x_max)
# evaluate after add perturbation
logits, _, _ = network.model(x, FLAGS.attack_networks[0])
loss_to_optimize = tf.reduce_mean(
tf.nn.sparse_softmax_cross_entropy_with_logits(logits=logits,
labels=y),
name='train_loss')
return -loss_to_optimize
def build_graph(self, *args):
costs = []
for i, name in enumerate(self.agent_names):
joint_state, action, reward, isOver, comb_mask, joint_fine_mask = args[i * 6:(i + 1) * 6]
with tf.variable_scope(name):
with conditional(name is None, varreplace.freeze_variables()):
state = tf.identity(joint_state[:, 0, :, :, :], name='state')
fine_mask = tf.identity(joint_fine_mask[:, 0, :], name='fine_mask')
self.predict_value = self.get_DQN_prediction(state, comb_mask, fine_mask)
if not get_current_tower_context().is_training:
continue
# reward = tf.clip_by_value(reward, -1, 1)
next_state = tf.identity(joint_state[:, 1, :, :, :], name='next_state')
next_fine_mask = tf.identity(joint_fine_mask[:, 1, :], name='next_fine_mask')
action_onehot = tf.one_hot(action, self.num_actions, 1.0, 0.0)
pred_action_value = tf.reduce_sum(self.predict_value * action_onehot, 1) # N,
max_pred_reward = tf.reduce_mean(tf.reduce_max(
self.predict_value, 1), name='predict_reward')
summary.add_moving_summary(max_pred_reward)
with tf.variable_scope('target'), varreplace.freeze_variables(skip_collection=True):
# we are alternating between comb and fine states
targetQ_predict_value = self.get_DQN_prediction(next_state, tf.logical_not(comb_mask), next_fine_mask) # NxA
if self.method != 'Double':
# DQN
best_v = tf.reduce_max(targetQ_predict_value, 1) # N,
else:
# Double-DQN
next_predict_value = self.get_DQN_prediction(next_state, tf.logical_not(comb_mask), next_fine_mask)
self.greedy_choice = tf.argmax(next_predict_value, 1) # N,
predict_onehot = tf.one_hot(self.greedy_choice, self.num_actions, 1.0, 0.0)
best_v = tf.reduce_sum(targetQ_predict_value * predict_onehot, 1)
target = reward + (1.0 - tf.cast(isOver, tf.float32)) * self.gamma * tf.stop_gradient(best_v)
# target = tf.Print(target, [target], summarize=100)
# tf.assert_greater(target, -100., message='target error')
# tf.assert_greater(pred_action_value, -100., message='pred value error')
# pred_action_value = tf.Print(pred_action_value, [pred_action_value], summarize=100)
l2_loss = tensorpack.regularize_cost(name + '/dqn.*W{1}', l2_regularizer(1e-3))
# cost = tf.losses.mean_squared_error(target, pred_action_value)
with tf.control_dependencies([tf.assert_greater(target, -100., message='target error'), tf.assert_greater(pred_action_value, -100., message='pred value error')]):
cost = tf.losses.huber_loss(
target, pred_action_value, reduction=tf.losses.Reduction.MEAN)
summary.add_param_summary((name + '.*/W', ['histogram', 'rms'])) # monitor all W
summary.add_moving_summary(cost)
costs.append(cost)
if not get_current_tower_context().is_training:
return
return tf.add_n([costs[i] * self.cost_weights[i] for i in range(3)])
def resnet_backbone(image, num_blocks, group_func, group_func_dilation,
block_func, block_func_dilation):
with argscope(Conv2D,
use_bias=False,
kernel_initializer=tf.variance_scaling_initializer(
scale=2.0, mode='fan_out')):
with freeze_variables(stop_gradient=True, skip_collection=True):
logits = (LinearWrap(image).Conv2D(
'conv0', 64, 7, strides=2, activation=BNReLU).MaxPooling(
'pool0', shape=3, stride=2, padding='SAME').apply(
group_func, 'group0', block_func, 64, num_blocks[0],
1).apply(group_func, 'group1', block_func, 128,
num_blocks[1],
2).apply(group_func_dilation, 'group2',
block_func_dilation, 256,
num_blocks[2], 1,
2).apply(group_func_dilation,
'group3',
block_func_dilation, 512,
num_blocks[3], 1, 4))
# logits = (logits.Conv2D('conv102', 21, 1, stride=1, activation=tf.identity)())
logits = (logits.apply(aspp, 'aspp', 21)())
# logits = logits.Conv2D('conv102', 21, 1, stride=1, nl=tf.identity)()
# tf.get_default_graph().clear_collection(tf.GraphKeys.TRAINABLE_VARIABLES)
# with tf.variable_scope('conv102', reuse=True):
# W = tf.get_variable('W')
# tf.add_to_collection(tf.GraphKeys.TRAINABLE_VARIABLES, W)
return logits
def fastrcnn_outputs(feature, num_classes, class_agnostic_regression=False):
"""
Args:
feature (any shape):
num_classes(int): num_category + 1
class_agnostic_regression (bool): if True, regression to N x 1 x 4
Returns:
cls_logits: N x num_class classification logits 2-D
reg_logits: N x num_class x 4 or Nx2x4 if class agnostic 3-D
"""
# cls
with varreplace.freeze_variables(stop_gradient=False,
skip_collection=True):
classification = FullyConnected(
'class',
feature,
num_classes,
kernel_initializer=tf.random_normal_initializer(stddev=0.01))
num_classes_for_box = 1 if class_agnostic_regression else num_classes
# reg
box_regression = FullyConnected(
'box',
feature,
num_classes_for_box * 4,
kernel_initializer=tf.random_normal_initializer(stddev=0.001))
box_regression = tf.reshape(box_regression,
(-1, num_classes_for_box, 4),
name='output_box')
return classification, box_regression
def resnet_conv5(image, num_block):
with varreplace.freeze_variables(stop_gradient=False,
skip_collection=True):
with backbone_scope(freeze=False):
l = resnet_group('group3', image, resnet_bottleneck, 512,
num_block, 2)
return l
def resnet_c4_backbone(image, num_blocks):
with varreplace.freeze_variables(stop_gradient=False,
skip_collection=True):
assert len(num_blocks) == 3
freeze_at = cfg.BACKBONE.FREEZE_AT
with backbone_scope(freeze=freeze_at > 0):
l = tf.pad(image, [[0, 0], [0, 0],
maybe_reverse_pad(2, 3),
maybe_reverse_pad(2, 3)])
l = Conv2D('conv0', l, 64, 7, strides=2, padding='VALID')
l = tf.pad(l, [[0, 0], [0, 0],
maybe_reverse_pad(0, 1),
maybe_reverse_pad(0, 1)])
l = MaxPooling('pool0', l, 3, strides=2, padding='VALID')
with backbone_scope(freeze=freeze_at > 1):
c2 = resnet_group('group0', l, resnet_bottleneck, 64,
num_blocks[0], 1)
with backbone_scope(freeze=False):
c3 = resnet_group('group1', c2, resnet_bottleneck, 128,
num_blocks[1], 2)
c4 = resnet_group('group2', c3, resnet_bottleneck, 256,
num_blocks[2], 2)
# 16x downsampling up to now
return c4
def rounded(label, factor=MAX_LABEL, name='quantized'):
with G.gradient_override_map({"Round": "Identity"}):
with freeze_variables():
with tf.name_scope(name=name):
# label = cvt2imag(label, maxVal=factor)
# label = tf.round(label)
# label = cvt2tanh(label, maxVal=factor)
# cvt from -1 ~ 1 to 0 255
# label = cvt2imag(label, maxVal=255.0)
cond0 = tf.equal(label, -1.0 * tf.ones_like(label))
label = tf.where(
cond0,
tf.zeros_like(label),
label,
name='removedBackground') # From -1 to 0
label = label * factor # From 0~1 to 0~MAXLABEL
label = tf.round(label)
label = label / factor # From 0~MAXLABEL to 0~1
cond1 = tf.equal(label, 0.0 * tf.zeros_like(label))
label = tf.where(
cond1,
-1.0 * tf.ones_like(label),
label,
name='addedBackground') # From -1 to 0
return tf.identity(label, name=name)
def backbone_scope(freeze):
"""
Args:
freeze (bool): whether to freeze all the variables under the scope
"""
def nonlin(x):
x = get_norm()(x)
return tf.nn.relu(x)
with argscope([Conv2D, MaxPooling, BatchNorm], data_format='channels_first'), \
argscope(Conv2D, use_bias=False, activation=nonlin,
kernel_initializer=tf.variance_scaling_initializer(
scale=2.0, mode='fan_out')), \
ExitStack() as stack:
if cfg.BACKBONE.NORM in ['FreezeBN', 'SyncBN']:
if freeze or cfg.BACKBONE.NORM == 'FreezeBN':
stack.enter_context(argscope(BatchNorm, training=False))
else:
stack.enter_context(
argscope(BatchNorm,
sync_statistics='nccl'
if cfg.TRAINER == 'replicated' else 'horovod'))
if freeze:
stack.enter_context(
freeze_variables(stop_gradient=False, skip_collection=True))
else:
# the layers are not completely freezed, but we may want to only freeze the affine
if cfg.BACKBONE.FREEZE_AFFINE:
stack.enter_context(custom_getter_scope(freeze_affine_getter))
yield
def rpn_head(featuremap, channel, num_anchors): # ,filters=1024,15
"""
Returns:
label_logits: fHxfWxNA
box_logits: fHxfWxNAx4
"""
with varreplace.freeze_variables(stop_gradient=False,
skip_collection=True):
with argscope(
Conv2D,
data_format='channels_first',
kernel_initializer=tf.random_normal_initializer(stddev=0.01)):
hidden = Conv2D(
'conv0', featuremap, channel, 3,
activation=tf.nn.relu) # kernel_size=3,strides=(1,1)
label_logits = Conv2D(
'class', hidden, num_anchors,
1) # kernel_size = 1;filters = num_anchors = 15
box_logits = Conv2D('box', hidden, 4 * num_anchors, 1)
# 1, NA(*4), im/16, im/16 (NCHW)
label_logits = tf.transpose(label_logits,
[0, 2, 3, 1]) # 1xfHxfWxNA
label_logits = tf.squeeze(label_logits, 0) # fHxfWxNA
shp = tf.shape(box_logits) # 1x(NAx4)xfHxfW
box_logits = tf.transpose(box_logits,
[0, 2, 3, 1]) # 1xfHxfWx(NAx4)
box_logits = tf.reshape(box_logits,
tf.stack([shp[2], shp[3], num_anchors,
4])) # fHxfWxNAx4
return label_logits, box_logits
def backbone_scope(freeze):
"""
Args:
freeze (bool): whether to freeze all the variables under the scope
"""
def nonlin(x):
x = get_norm()(x)
return tf.nn.relu(x)
with argscope([Conv2D, MaxPooling, BatchNorm], data_format='channels_first'), \
argscope(Conv2D, use_bias=False, activation=nonlin,
kernel_initializer=tf.variance_scaling_initializer(
scale=2.0, mode='fan_out')), \
ExitStack() as stack:
if cfg.BACKBONE.NORM in ['FreezeBN', 'SyncBN']:
if freeze or cfg.BACKBONE.NORM == 'FreezeBN':
stack.enter_context(argscope(BatchNorm, training=False))
else:
stack.enter_context(argscope(
BatchNorm, sync_statistics='nccl' if cfg.TRAINER == 'replicated' else 'horovod'))
if freeze:
stack.enter_context(freeze_variables(stop_gradient=False, skip_collection=True))
else:
# the layers are not completely freezed, but we may want to only freeze the affine
if cfg.BACKBONE.FREEZE_AFFINE:
stack.enter_context(custom_getter_scope(freeze_affine_getter))
yield
def rounded(label, factor=MAX_LABEL, name='quantized'):
with G.gradient_override_map({"Round": "Identity"}):
with freeze_variables():
with tf.name_scope(name=name):
label = cvt2imag(label, maxVal=factor)
label = tf.round(label)
label = cvt2tanh(label, maxVal=factor)
return tf.identity(label, name=name)
def backbone_scope(freeze, freeze_bn=False):
with ExitStack() as stack:
if freeze_bn:
stack.enter_context(argscope(BatchNorm, training=False))
if freeze:
stack.enter_context(
freeze_variables(stop_gradient=False, skip_collection=True))
yield
def build_graph(self, comb_state, action, reward, isOver):
comb_state = tf.cast(comb_state, tf.float32)
input_rank = comb_state.shape.rank
state = tf.slice(comb_state, [0] * input_rank,
[-1] * (input_rank - 1) + [self.history],
name='state')
self.predict_value = self.get_DQN_prediction(state)
if not self.training:
return
reward = tf.clip_by_value(reward, -1, 1)
next_state = tf.slice(comb_state, [0] * (input_rank - 1) + [1],
[-1] * (input_rank - 1) + [self.history],
name='next_state')
next_state = tf.reshape(next_state, self._stacked_state_shape)
action_onehot = tf.one_hot(action, self.num_actions, 1.0, 0.0)
pred_action_value = tf.reduce_sum(input_tensor=self.predict_value *
action_onehot,
axis=1) # N,
max_pred_reward = tf.reduce_mean(input_tensor=tf.reduce_max(
input_tensor=self.predict_value, axis=1),
name='predict_reward')
summary.add_moving_summary(max_pred_reward)
with tf.compat.v1.variable_scope(
'target'), varreplace.freeze_variables(skip_collection=True):
targetQ_predict_value = self.get_DQN_prediction(next_state) # NxA
if self.method != 'Double':
# DQN
best_v = tf.reduce_max(input_tensor=targetQ_predict_value,
axis=1) # N,
else:
# Double-DQN
next_predict_value = self.get_DQN_prediction(next_state)
self.greedy_choice = tf.argmax(input=next_predict_value,
axis=1) # N,
predict_onehot = tf.one_hot(self.greedy_choice, self.num_actions,
1.0, 0.0)
best_v = tf.reduce_sum(input_tensor=targetQ_predict_value *
predict_onehot,
axis=1)
target = reward + (1.0 - tf.cast(
isOver, tf.float32)) * self.gamma * tf.stop_gradient(best_v)
cost = tf.compat.v1.losses.huber_loss(
target,
pred_action_value,
reduction=tf.compat.v1.losses.Reduction.MEAN)
summary.add_param_summary(
('conv.*/W', ['histogram', 'rms']),
('fc.*/W', ['histogram', 'rms'])) # monitor all W
summary.add_moving_summary(cost)
return cost
def build_graph(self, query, key):
# setup queue
queue_init = tf.math.l2_normalize(tf.random.normal(
[self.queue_size, self.feature_dim]),
axis=1)
queue = tf.get_variable('queue',
initializer=queue_init,
trainable=False)
queue_ptr = tf.get_variable('queue_ptr', [],
initializer=tf.zeros_initializer(),
dtype=tf.int64,
trainable=False)
tf.add_to_collection(tf.GraphKeys.MODEL_VARIABLES, queue)
tf.add_to_collection(tf.GraphKeys.MODEL_VARIABLES, queue_ptr)
# query encoder
q_feat = self.net.forward(query) # NxC
q_feat = tf.math.l2_normalize(q_feat, axis=1)
# key encoder
shuffled_key, shuffle_idxs = batch_shuffle(key)
shuffled_key.set_shape([self.batch_size, None, None, None])
with tf.variable_scope("momentum_encoder"), \
varreplace.freeze_variables(skip_collection=True), \
argscope(BatchNorm, ema_update='skip'): # don't maintain EMA (will not be used at all)
key_feat = xla.compile(lambda: self.net.forward(shuffled_key))[0]
# key_feat = self.net.forward(shuffled_key)
key_feat = tf.math.l2_normalize(key_feat, axis=1) # NxC
key_feat = batch_unshuffle(key_feat, shuffle_idxs)
key_feat = tf.stop_gradient(key_feat)
# loss
l_pos = tf.reshape(tf.einsum('nc,nc->n', q_feat, key_feat),
(-1, 1)) # nx1
l_neg = tf.einsum('nc,kc->nk', q_feat, queue) # nxK
logits = tf.concat([l_pos, l_neg], axis=1) # nx(1+k)
logits = logits * (1 / self.temp)
labels = tf.zeros(self.batch_size, dtype=tf.int64) # n
loss = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=logits,
labels=labels)
loss = tf.reduce_mean(loss, name='xentropy-loss')
acc = tf.reduce_mean(tf.cast(
tf.equal(tf.math.argmax(logits, axis=1), labels), tf.float32),
name='train-acc')
# update queue (depend on l_neg)
with tf.control_dependencies([l_neg]):
queue_push_op = self.push_queue(queue, queue_ptr, key_feat)
tf.add_to_collection(tf.GraphKeys.UPDATE_OPS, queue_push_op)
wd_loss = regularize_cost(".*",
l2_regularizer(1e-4),
name='l2_regularize_loss')
add_moving_summary(acc, loss, wd_loss)
total_cost = tf.add_n([loss, wd_loss], name='cost')
return total_cost
def backbone_scope(freeze):
"""
Args:
freeze (bool): whether to freeze all the variables under the scope
"""
with ExitStack() as stack:
if freeze:
stack.enter_context(
freeze_variables(stop_gradient=False, skip_collection=True))
yield
def rpn(self, image, features, inputs):
if cfg.EXTRACT_GT_FEATURES:
boxes = inputs['roi_boxes']
return BoxProposals(boxes), tf.constant(0, dtype=tf.float32)
if cfg.BACKBONE.FREEZE_AT > 3:
with freeze_variables(stop_gradient=False, skip_collection=True):
return super().rpn(image, features, inputs)
else:
return super().rpn(image, features, inputs)
def build_graph(self, comb_state, action, reward, isOver):
comb_state = tf.cast(comb_state, tf.float32)
comb_state = tf.reshape(comb_state, [-1] + list(self._shape2d) +
[self.history + 1, self.channel])
state = tf.slice(comb_state, [0, 0, 0, 0, 0],
[-1, -1, -1, self.history, -1])
state = tf.reshape(state, self._shape4d_for_prediction, name='state')
self.predict_value = self.get_DQN_prediction(state)
if not get_current_tower_context().is_training:
return
reward = tf.clip_by_value(reward, -1, 1)
next_state = tf.slice(comb_state, [0, 0, 0, 1, 0],
[-1, -1, -1, self.history, -1],
name='next_state')
next_state = tf.reshape(next_state, self._shape4d_for_prediction)
action_onehot = tf.one_hot(action, self.num_actions, 1.0, 0.0)
pred_action_value = tf.reduce_sum(self.predict_value * action_onehot,
1) # N,
max_pred_reward = tf.reduce_mean(tf.reduce_max(self.predict_value, 1),
name='predict_reward')
summary.add_moving_summary(max_pred_reward)
with tf.variable_scope('target'), varreplace.freeze_variables(
skip_collection=True):
targetQ_predict_value = self.get_DQN_prediction(next_state) # NxA
if self.method != 'Double':
# DQN
best_v = tf.reduce_max(targetQ_predict_value, 1) # N,
else:
# Double-DQN
next_predict_value = self.get_DQN_prediction(next_state)
self.greedy_choice = tf.argmax(next_predict_value, 1) # N,
predict_onehot = tf.one_hot(self.greedy_choice, self.num_actions,
1.0, 0.0)
best_v = tf.reduce_sum(targetQ_predict_value * predict_onehot, 1)
target = reward + (1.0 - tf.cast(
isOver, tf.float32)) * self.gamma * tf.stop_gradient(best_v)
cost = tf.losses.huber_loss(target,
pred_action_value,
reduction=tf.losses.Reduction.MEAN)
summary.add_param_summary(
('conv.*/W', ['histogram', 'rms']),
('fc.*/W', ['histogram', 'rms'])) # monitor all W
summary.add_moving_summary(cost)
return cost
def build_graph(self, joint_state, next_mask, action, reward, isOver):
state = tf.identity(joint_state[:, 0, ...], name='state')
self.predict_value = self.get_DQN_prediction(state)
if not get_current_tower_context().is_training:
return
next_state = tf.identity(joint_state[:, 1, ...], name='next_state')
action_onehot = tf.one_hot(action, self.num_actions, 1.0, 0.0)
pred_action_value = tf.reduce_sum(self.predict_value * action_onehot,
1) # N,
max_pred_reward = tf.reduce_mean(tf.reduce_max(self.predict_value, 1),
name='predict_reward')
summary.add_moving_summary(max_pred_reward)
with tf.variable_scope('target'), varreplace.freeze_variables(
skip_collection=True):
# we are alternating between comb and fine states
targetQ_predict_value = self.get_DQN_prediction(next_state) # NxA
if self.method != 'Double':
# DQN
self.greedy_choice = tf.argmax(targetQ_predict_value +
(tf.to_float(next_mask) * 1e4),
1) # N,
predict_onehot = tf.one_hot(self.greedy_choice, self.num_actions,
1.0, 0.0)
best_v = tf.reduce_sum(targetQ_predict_value * predict_onehot, 1)
else:
# Double-DQN
next_predict_value = self.get_DQN_prediction(next_state)
self.greedy_choice = tf.argmax(
next_predict_value + (tf.to_float(next_mask) * 1e4), 1) # N,
predict_onehot = tf.one_hot(self.greedy_choice, self.num_actions,
1.0, 0.0)
best_v = tf.reduce_sum(targetQ_predict_value * predict_onehot, 1)
target = reward + (1.0 - tf.cast(
isOver, tf.float32)) * self.gamma * tf.stop_gradient(best_v)
l2_loss = tensorpack.regularize_cost('.*W{1}', l2_regularizer(1e-3))
# cost = tf.losses.mean_squared_error(target, pred_action_value)
cost = tf.losses.huber_loss(target,
pred_action_value,
reduction=tf.losses.Reduction.MEAN)
summary.add_param_summary(('.*/W', ['histogram',
'rms'])) # monitor all W
summary.add_moving_summary(cost)
return cost
def build_graph(self, input, label):
with argscope(BatchNorm, training=False), \
varreplace.freeze_variables(skip_collection=True):
from tensorflow.python.compiler.xla import xla
feature = xla.compile(lambda: self.net.forward(input))[0]
# feature = self.net.forward(input)
feature = tf.stop_gradient(feature) # double safe
logits = FullyConnected(
'linear_cls', feature, 1000,
kernel_initializer=tf.random_normal_initializer(stddev=0.01),
bias_initializer=tf.constant_initializer())
tf.nn.softmax(logits, name='prob')
loss = self.compute_loss_and_error(logits, label)
# weight decay is 0
add_moving_summary(loss)
return loss
def build_graph(self, comb_state, action, reward, isOver):
comb_state = tf.cast(comb_state, tf.float32)
comb_state = tf.reshape(
comb_state, [-1] + list(self._shape2d) + [self.history + 1, self.channel])
state = tf.slice(comb_state, [0, 0, 0, 0, 0], [-1, -1, -1, self.history, -1])
state = tf.reshape(state, self._shape4d_for_prediction, name='state')
self.predict_value = self.get_DQN_prediction(state)
if not get_current_tower_context().is_training:
return
reward = tf.clip_by_value(reward, -1, 1)
next_state = tf.slice(comb_state, [0, 0, 0, 1, 0], [-1, -1, -1, self.history, -1], name='next_state')
next_state = tf.reshape(next_state, self._shape4d_for_prediction)
action_onehot = tf.one_hot(action, self.num_actions, 1.0, 0.0)
pred_action_value = tf.reduce_sum(self.predict_value * action_onehot, 1) # N,
max_pred_reward = tf.reduce_mean(tf.reduce_max(
self.predict_value, 1), name='predict_reward')
summary.add_moving_summary(max_pred_reward)
with tf.variable_scope('target'), varreplace.freeze_variables(skip_collection=True):
targetQ_predict_value = self.get_DQN_prediction(next_state) # NxA
if self.method != 'Double':
# DQN
best_v = tf.reduce_max(targetQ_predict_value, 1) # N,
else:
# Double-DQN
next_predict_value = self.get_DQN_prediction(next_state)
self.greedy_choice = tf.argmax(next_predict_value, 1) # N,
predict_onehot = tf.one_hot(self.greedy_choice, self.num_actions, 1.0, 0.0)
best_v = tf.reduce_sum(targetQ_predict_value * predict_onehot, 1)
target = reward + (1.0 - tf.cast(isOver, tf.float32)) * self.gamma * tf.stop_gradient(best_v)
cost = tf.losses.huber_loss(
target, pred_action_value, reduction=tf.losses.Reduction.MEAN)
summary.add_param_summary(('conv.*/W', ['histogram', 'rms']),
('fc.*/W', ['histogram', 'rms'])) # monitor all W
summary.add_moving_summary(cost)
return cost
def dense_net(name):
with tf.variable_scope('MASK') as MASK_scope:
assert MASK_scope.name == 'MASK'
with freeze_variables(stop_gradient=False, skip_collection=False):
l = conv('conv0', image, 16, 1)
store_con = []
store_ker = []
with tf.variable_scope('block1') as scope:
with tf.variable_scope('dense_bottleneck.0'):
for i in range(LAYER_NUM):
l, store_con, store_ker = add_layer('dense_layer.{}'.format(i), l, store_con, store_ker, 16, MASK_scope, reuse=False, i=i)
l = add_transition('transition', l, 16)
for i in range(1, self.N):
l = add_bottleneck('dense_bottleneck.{}'.format(i), l, store_con, store_ker, 16, MASK_scope, reuse=True, increase_dim=True if i == (self.N-1) else False, pool=True)
with tf.variable_scope('block2') as scope:
for i in range(self.N):
l = add_bottleneck('dense_bottleneck.{}'.format(i), l, store_con, store_ker, 32, MASK_scope, reuse=True, increase_dim=True if i == (self.N-1) else False, pool=False)
with tf.variable_scope('block3') as scope:
for i in range(self.N):
l = add_bottleneck('dense_bottleneck.{}'.format(i), l, store_con, store_ker, 64, MASK_scope, reuse=True, increase_dim=True if i == (self.N-1) else False, pool=True)
with tf.variable_scope('block4') as scope:
for i in range(self.N):
l = add_bottleneck('dense_bottleneck.{}'.format(i), l, store_con, store_ker, 128, MASK_scope, reuse=True,increase_dim=True if i == (self.N-1) else False, pool=False)
l = BatchNorm('bnlast', l)
l = tf.nn.relu(l)
l = GlobalAvgPooling('gap', l)
logits = FullyConnected('fc', l, out_dim=10, nl=tf.identity)
return logits
def backbone_scope(freeze):
"""
Args:
freeze (bool): whether to freeze all the variables under the scope
创建如下上下文
Conv,MaxPool,BatchNorm的输入格式都是(NCHW)
Conv没有bias,使用Norm->Relu作为activation
1)如果BACKBONE.NORM=FreezeBN,BatchNorm.traing=False
2)如果BACKBONE.NORM=SyncBN,BatchNorm.sync_statistics=nccl|horovod(收集所有GPU的batch,求mean,var)
a)如果freeze=True,所有变量不会被训练,变量加入到MODEL_VARIABLES而不是TRAINABLE_VARIABLES
"""
def nonlin(x):
x = get_norm()(x)
return tf.nn.relu(x)
with argscope([Conv2D, MaxPooling, BatchNorm], data_format='channels_first'), \
argscope(Conv2D, use_bias=False, activation=nonlin,
kernel_initializer=tf.variance_scaling_initializer(
scale=2.0, mode='fan_out')), \
ExitStack() as stack:
if cfg.BACKBONE.NORM in ['FreezeBN', 'SyncBN']:
if freeze or cfg.BACKBONE.NORM == 'FreezeBN':
stack.enter_context(argscope(BatchNorm, training=False))
else:
stack.enter_context(
argscope(BatchNorm,
sync_statistics='nccl'
if cfg.TRAINER == 'replicated' else 'horovod'))
if freeze:
stack.enter_context(
freeze_variables(stop_gradient=False, skip_collection=True))
else:
# the layers are not completely freezed, but we may want to only freeze the affine
if cfg.BACKBONE.FREEZE_AFFINE:
stack.enter_context(custom_getter_scope(freeze_affine_getter))
yield
def maskrcnn_upXconv_head(feature, num_category, num_convs, norm=None):
"""
Args:
feature (NxCx s x s): size is 7 in C4 models and 14 in FPN models.
num_category(int):
num_convs (int): number of convolution layers
norm (str or None): either None or 'GN'
Returns:
mask_logits (N x num_category x 2s x 2s):
"""
assert norm in [None, 'GN'], norm
l = feature
with varreplace.freeze_variables(stop_gradient=False,
skip_collection=True):
with argscope([Conv2D, Conv2DTranspose],
data_format='channels_first',
kernel_initializer=tf.variance_scaling_initializer(
scale=2.0, mode='fan_out', distribution='normal')):
# c2's MSRAFill is fan_out
for k in range(num_convs):
l = Conv2D('fcn{}'.format(k),
l,
cfg.MRCNN.HEAD_DIM,
3,
activation=tf.nn.relu)
if norm is not None:
l = GroupNorm('gn{}'.format(k), l)
l = Conv2DTranspose('deconv',
l,
cfg.MRCNN.HEAD_DIM,
2,
strides=2,
activation=tf.nn.relu)
l = Conv2D('conv', l, num_category, 1)
return l
def build_graph(self, joint_state, action, reward, isOver, joint_history,
joint_state_refine, action_refine, reward_refine,
isOver_refine, joint_history_refine):
# vgg are shared among stage-1 and stage-2
state = self.get_features(
tf.identity(joint_state[:, 0, ...], name='state'))
history = tf.identity(joint_history[:, 0, ...], name='history')
next_state = self.get_features(
tf.identity(joint_state[:, 1, ...], name='next_state'))
next_history = tf.identity(joint_history[:, 1, ...],
name='next_history')
state_refine = self.get_features(
tf.identity(joint_state_refine[:, 0, ...], name='state_refine'))
history_refine = tf.identity(joint_history_refine[:, 0, ...],
name='history_refine')
next_state_refine = self.get_features(
tf.identity(joint_state_refine[:, 1, ...],
name='next_state_refine'))
next_history_refine = tf.identity(joint_history_refine[:, 1, ...],
name='next_history_refine')
total_cost = []
for i, data in enumerate([
[state, history, next_state, next_history, action, reward, isOver],
[
state_refine, history_refine, next_state_refine,
next_history_refine, action_refine, reward_refine,
isOver_refine
]
]):
with tf.variable_scope('stage%d' % (i + 1)):
st, hist, next_st, next_hist, act, rw, over = data
predict_value = self.get_DQN_prediction(
st, hist, self.num_actions[i])
if not get_current_tower_context().is_training:
if i == 0:
continue
elif i == 1:
return
action_onehot = tf.one_hot(act, self.num_actions[i], 1.0, 0.0)
pred_action_value = tf.reduce_sum(predict_value *
action_onehot, 1) # N,
# max_pred_reward = tf.reduce_mean(pred_action_value, name='predict_reward')
max_pred_reward = tf.reduce_mean(tf.reduce_max(
predict_value, 1),
name='predict_reward')
summary.add_moving_summary(max_pred_reward)
with tf.variable_scope('target'), varreplace.freeze_variables(
skip_collection=True):
targetQ_predict_value = self.get_DQN_prediction(
next_st, next_hist, self.num_actions[i]) # NxA
if self.method != 'Double':
# DQN
best_v = tf.reduce_max(targetQ_predict_value, 1) # N,
else:
# Double-DQN
next_predict_value = self.get_DQN_prediction(
next_st, next_hist, self.num_actions[i])
greedy_choice = tf.argmax(next_predict_value, 1) # N,
predict_onehot = tf.one_hot(greedy_choice,
self.num_actions[i], 1.0, 0.0)
best_v = tf.reduce_sum(
targetQ_predict_value * predict_onehot, 1)
target = rw + (1.0 - tf.cast(
over, tf.float32)) * self.gamma * tf.stop_gradient(best_v)
average_target = tf.reduce_mean(target, name='average_target')
# average_target = tf.Print(average_target, [], name='average_target')
cost = tf.losses.mean_squared_error(
target,
pred_action_value,
reduction=tf.losses.Reduction.MEAN)
total_cost.append(cost)
summary.add_moving_summary(cost)
summary.add_moving_summary(average_target)
return tf.add_n(total_cost)
def build_graph(self, pc, pc_feature):
pc_symmetry = tf.stack([-pc[..., 0], pc[..., 1], pc[..., 2]], -1) # -x
dist2sym = tf.reduce_sum((pc[:, :, None] - pc_symmetry[:, None])**2,
-1)
nearest_idx = tf.argmin(dist2sym, -1, output_type=tf.int32)
# smoothnet encoder, only local features are used
embedding = SmoothNet(pc_feature, self.cfg)
with tf.variable_scope('encoder'):
z = tf.sigmoid(embedding[:, :, -1], name='z')
output_x = tf.nn.l2_normalize(embedding[:, :, :-1],
axis=-1,
name='feature')
gp_loss = 0.
loss_d = 0.
loss_g = 0.
if get_current_tower_context().is_training:
beta_dist = tf.distributions.Beta(
concentration1=self.cfg.beta.concentration1,
concentration0=self.cfg.beta.concentration0)
with tf.variable_scope('GAN'):
real_z = beta_dist.sample(tf.shape(z))
fake_val = self.discriminator(tf.stop_gradient(z))
real_val = self.discriminator(real_z)
loss_d = tf.reduce_mean(fake_val - real_val, name='loss_d')
with varreplace.freeze_variables(stop_gradient=True):
loss_g = tf.reduce_mean(-self.discriminator(z),
name='loss_g')
z_interp = z + tf.random_uniform(
(tf.shape(fake_val)[0], 1)) * (real_z - z)
gradient_f = tf.gradients(self.discriminator(z_interp),
[z_interp])[0]
gp_loss = tf.reduce_mean(tf.maximum(
tf.norm(gradient_f, axis=-1) - 1, 0)**2,
name='gp_loss')
code = tf.concat([
tf.reduce_max(tf.nn.relu(output_x) * z[..., None], 1),
tf.reduce_max(tf.nn.relu(-output_x) * z[..., None], 1)
],
axis=-1,
name='code')
code = FullyConnected('fc_global',
code,
self.cfg.topnet.code_nfts,
activation=None)
# topnet decoder
tarch = get_arch(self.cfg.topnet.nlevels, self.cfg.num_points)
def create_level(level, input_channels, output_channels, inputs, bn):
with tf.variable_scope('level_%d' % level, reuse=tf.AUTO_REUSE):
features = mlp_conv(inputs, [
input_channels,
int(input_channels / 2),
int(input_channels / 4),
int(input_channels / 8),
output_channels * int(tarch[level])
],
get_current_tower_context().is_training,
bn)
features = tf.reshape(
features, [tf.shape(features)[0], -1, output_channels])
return features
Nin = self.cfg.topnet.nfeat + self.cfg.topnet.code_nfts
Nout = self.cfg.topnet.nfeat
bn = True
N0 = int(tarch[0])
nlevels = len(tarch)
with tf.variable_scope('decoder', reuse=tf.AUTO_REUSE):
level0 = mlp(code, [256, 64, self.cfg.topnet.nfeat * N0],
get_current_tower_context().is_training,
bn=True)
level0 = tf.tanh(level0, name='tanh_0')
level0 = tf.reshape(level0, [-1, N0, self.cfg.topnet.nfeat])
outs = [
level0,
]
for i in range(1, nlevels):
if i == nlevels - 1:
Nout = 3
bn = False
inp = outs[-1]
y = tf.expand_dims(code, 1)
y = tf.tile(y, [1, tf.shape(inp)[1], 1])
y = tf.concat([inp, y], 2)
outs.append(
tf.tanh(create_level(i, Nin, Nout, y, bn),
name='tanh_%d' % (i)))
reconstruction = tf.reshape(outs[-1], [-1, self.cfg.num_points, 3],
name='recon_pc')
loss_recon = chamfer(reconstruction, pc)
loss_recon = tf.identity(self.cfg.recon_factor *
tf.reduce_mean(loss_recon),
name='recon_loss')
batch_size = tf.shape(output_x)[0]
batch_idx = tf.tile(
tf.range(batch_size)[:, None], [1, tf.shape(nearest_idx)[1]])
feature_sym = tf.gather_nd(embedding,
tf.stack([batch_idx, nearest_idx], -1))
loss_sym = tf.identity(
self.cfg.symmetry_factor *
tf.reduce_mean(tf.reduce_sum(tf.abs(feature_sym - embedding), -1)),
'symmetry_loss')
wd_cost = tf.multiply(1e-4,
regularize_cost('.*(_W|kernel)', tf.nn.l2_loss),
name='regularize_loss')
loss_gan = loss_d + loss_g + gp_loss
total_cost = tf.add_n([loss_recon, wd_cost, loss_gan, loss_sym],
name='total_cost')
summary.add_moving_summary(loss_recon, loss_sym)
summary.add_param_summary(['.*(_W|kernel)', ['histogram', 'rms']])
return total_cost
def build_graph(self, *inputs):
is_training = get_current_tower_context().is_training
if cfg.MODE_MASK:
image, anchor_labels, anchor_boxes, gt_boxes, gt_labels, gt_masks = inputs
else:
image, anchor_labels, anchor_boxes, gt_boxes, gt_labels = inputs
image = self.preprocess(image) # 1CHW
with varreplace.freeze_variables(stop_gradient=True, skip_collection=True):
featuremap = resnet_c4_backbone(image, cfg.BACKBONE.RESNET_NUM_BLOCK[:3])
# freeze
# featuremap = tf.stop_gradient(featuremap)
rpn_label_logits, rpn_box_logits = rpn_head('rpn', featuremap, cfg.RPN.HEAD_DIM, cfg.RPN.NUM_ANCHOR)
# freeze
# rpn_label_logits = tf.stop_gradient(rpn_label_logits)
# rpn_box_logits = tf.stop_gradient(rpn_box_logits)
anchors = RPNAnchors(get_all_anchors(), anchor_labels, anchor_boxes)
anchors = anchors.narrow_to(featuremap)
image_shape2d = tf.shape(image)[2:] # h,w
pred_boxes_decoded = anchors.decode_logits(rpn_box_logits) # fHxfWxNAx4, floatbox
proposal_boxes, proposal_scores = generate_rpn_proposals(
tf.reshape(pred_boxes_decoded, [-1, 4]),
tf.reshape(rpn_label_logits, [-1]),
image_shape2d,
cfg.RPN.TRAIN_PRE_NMS_TOPK if is_training else cfg.RPN.TEST_PRE_NMS_TOPK,
cfg.RPN.TRAIN_POST_NMS_TOPK if is_training else cfg.RPN.TEST_POST_NMS_TOPK)
if is_training:
# sample proposal boxes in training
rcnn_boxes, rcnn_labels, fg_inds_wrt_gt = sample_fast_rcnn_targets(
proposal_boxes, gt_boxes, gt_labels)
else:
# The boxes to be used to crop RoIs.
# Use all proposal boxes in inference
rcnn_boxes = proposal_boxes
boxes_on_featuremap = rcnn_boxes * (1.0 / cfg.RPN.ANCHOR_STRIDE)
roi_resized = roi_align(featuremap, boxes_on_featuremap, 14)
feature_fastrcnn = resnet_conv5(roi_resized, cfg.BACKBONE.RESNET_NUM_BLOCK[-1], useDropout=True) # nxcx7x7
# Keep C5 feature to be shared with mask branch
# feature_fastrcnn = tf.stop_gradient(feature_fastrcnn)
feature_gap = GlobalAvgPooling('gap', feature_fastrcnn, data_format='channels_first')
fastrcnn_label_logits, fastrcnn_box_logits = fastrcnn_outputs('fastrcnn', feature_gap, cfg.DATA.NUM_CLASS, useDropout=True)
if is_training:
# rpn loss
rpn_label_loss, rpn_box_loss = rpn_losses(
anchors.gt_labels, anchors.encoded_gt_boxes(), rpn_label_logits, rpn_box_logits)
# fastrcnn loss
matched_gt_boxes = tf.gather(gt_boxes, fg_inds_wrt_gt)
fg_inds_wrt_sample = tf.reshape(tf.where(rcnn_labels > 0), [-1]) # fg inds w.r.t all samples
fg_sampled_boxes = tf.gather(rcnn_boxes, fg_inds_wrt_sample)
fg_fastrcnn_box_logits = tf.gather(fastrcnn_box_logits, fg_inds_wrt_sample)
fastrcnn_label_loss, fastrcnn_box_loss = self.fastrcnn_training(
image, rcnn_labels, fg_sampled_boxes,
matched_gt_boxes, fastrcnn_label_logits, fg_fastrcnn_box_logits)
if cfg.MODE_MASK:
# maskrcnn loss
fg_labels = tf.gather(rcnn_labels, fg_inds_wrt_sample)
# In training, mask branch shares the same C5 feature.
fg_feature = tf.gather(feature_fastrcnn, fg_inds_wrt_sample)
mask_logits = maskrcnn_upXconv_head(
'maskrcnn', fg_feature, cfg.DATA.NUM_CATEGORY, num_convs=0) # #fg x #cat x 14x14
target_masks_for_fg = crop_and_resize(
tf.expand_dims(gt_masks, 1),
fg_sampled_boxes,
fg_inds_wrt_gt, 14,
pad_border=False) # nfg x 1x14x14
target_masks_for_fg = tf.squeeze(target_masks_for_fg, 1, 'sampled_fg_mask_targets')
mrcnn_loss = maskrcnn_loss(mask_logits, fg_labels, target_masks_for_fg)
else:
mrcnn_loss = 0.0
wd_cost = regularize_cost(
'(fastrcnn|rpn|group3)/.*/W', l2_regularizer(cfg.TRAIN.WEIGHT_DECAY), name='wd_cost')
total_cost = tf.add_n([
rpn_label_loss, rpn_box_loss,
fastrcnn_label_loss, fastrcnn_box_loss,
mrcnn_loss, wd_cost], 'total_cost')
add_moving_summary(total_cost, wd_cost)
return total_cost
else:
final_boxes, final_labels = self.fastrcnn_inference(
image_shape2d, rcnn_boxes, fastrcnn_label_logits, fastrcnn_box_logits)
if cfg.MODE_MASK:
roi_resized = roi_align(featuremap, final_boxes * (1.0 / cfg.RPN.ANCHOR_STRIDE), 14)
feature_maskrcnn = resnet_conv5(roi_resized, cfg.BACKBONE.RESNET_NUM_BLOCK[-1])
mask_logits = maskrcnn_upXconv_head(
'maskrcnn', feature_maskrcnn, cfg.DATA.NUM_CATEGORY, 0) # #result x #cat x 14x14
indices = tf.stack([tf.range(tf.size(final_labels)), tf.to_int32(final_labels) - 1], axis=1)
final_mask_logits = tf.gather_nd(mask_logits, indices) # #resultx14x14
tf.sigmoid(final_mask_logits, name='final_masks')
