def __init__(self, params):
self.params = params
self.loss_function = nn.MSELoss().cuda()
# choose device
self.cuda = params["cuda"] and torch.cuda.is_available()
torch.manual_seed(params["seed"])
# Fix numeric divergence due to bug in Cudnn
torch.backends.cudnn.benchmark = True
self.device = torch.device("cuda" if self.cuda else "cpu")
# Initialize model
if params["noreload"]:
self.frame_predictor = lstm_models.lstm(params["g_dim"] + params["z_dim"]+params["action_size"], params["g_dim"], params["rnn_size"], params["predictor_rnn_layers"],
params["batch_size"]).cuda()
self.posterior = lstm_models.gaussian_lstm(params["g_dim"], params["z_dim"], params["rnn_size"], params["posterior_rnn_layers"],
params["batch_size"]).cuda()
self.encoder = model.encoder(params["g_dim"], params["n_channels"]).cuda()
self.decoder = model.decoder(params["g_dim"], params["n_channels"]).cuda()
else:
self.load_checkpoint()
self.frame_predictor.apply(svp_utils.init_weights)
self.posterior.apply(svp_utils.init_weights)
self.encoder.apply(svp_utils.init_weights)
self.decoder.apply(svp_utils.init_weights)
# Init optimizers
self.frame_predictor_optimizer = optim.Adam(self.frame_predictor.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
self.posterior_optimizer = optim.Adam(self.posterior.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
self.encoder_optimizer = optim.Adam(self.encoder.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
self.decoder_optimizer = optim.Adam(self.decoder.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
if params["plot_visdom"]:
self.plotter = VisdomLinePlotter(env_name=params['env'])
self.img_plotter = VisdomImagePlotter(env_name=params['env'])
# Select transformations
transform = transforms.Lambda(
lambda x: np.transpose(x, (0, 3, 1, 2)) / 255)
self.train_loader = DataLoader(
RolloutSequenceDataset(params["path_data"], params["seq_len"], transform, buffer_size=params["train_buffer_size"]),
batch_size=params['batch_size'], num_workers=2, shuffle=True, drop_last=True)
self.test_loader = DataLoader(
RolloutSequenceDataset(params["path_data"], params["seq_len"], transform, train=False, buffer_size=params["test_buffer_size"]),
batch_size=params['batch_size'], num_workers=2, shuffle=False, drop_last=True)
class SVG_FP_TRAINER():
def __init__(self, params):
self.params = params
self.loss_function = nn.MSELoss().cuda()
# choose device
self.cuda = params["cuda"] and torch.cuda.is_available()
torch.manual_seed(params["seed"])
# Fix numeric divergence due to bug in Cudnn
torch.backends.cudnn.benchmark = True
self.device = torch.device("cuda" if self.cuda else "cpu")
# Initialize model
if params["noreload"]:
self.frame_predictor = lstm_models.lstm(params["g_dim"] + params["z_dim"]+params["action_size"], params["g_dim"], params["rnn_size"], params["predictor_rnn_layers"],
params["batch_size"]).cuda()
self.posterior = lstm_models.gaussian_lstm(params["g_dim"], params["z_dim"], params["rnn_size"], params["posterior_rnn_layers"],
params["batch_size"]).cuda()
self.encoder = model.encoder(params["g_dim"], params["n_channels"]).cuda()
self.decoder = model.decoder(params["g_dim"], params["n_channels"]).cuda()
else:
self.load_checkpoint()
self.frame_predictor.apply(svp_utils.init_weights)
self.posterior.apply(svp_utils.init_weights)
self.encoder.apply(svp_utils.init_weights)
self.decoder.apply(svp_utils.init_weights)
# Init optimizers
self.frame_predictor_optimizer = optim.Adam(self.frame_predictor.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
self.posterior_optimizer = optim.Adam(self.posterior.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
self.encoder_optimizer = optim.Adam(self.encoder.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
self.decoder_optimizer = optim.Adam(self.decoder.parameters(), lr=params["learning_rate"], betas=(params["beta1"], 0.999))
if params["plot_visdom"]:
self.plotter = VisdomLinePlotter(env_name=params['env'])
self.img_plotter = VisdomImagePlotter(env_name=params['env'])
# Select transformations
transform = transforms.Lambda(
lambda x: np.transpose(x, (0, 3, 1, 2)) / 255)
self.train_loader = DataLoader(
RolloutSequenceDataset(params["path_data"], params["seq_len"], transform, buffer_size=params["train_buffer_size"]),
batch_size=params['batch_size'], num_workers=2, shuffle=True, drop_last=True)
self.test_loader = DataLoader(
RolloutSequenceDataset(params["path_data"], params["seq_len"], transform, train=False, buffer_size=params["test_buffer_size"]),
batch_size=params['batch_size'], num_workers=2, shuffle=False, drop_last=True)
def load_checkpoint(self):
tmp = torch.load(self.params["model_path"])
print("LOADING CHECKPOINT.............")
self.frame_predictor = tmp['frame_predictor']
self.posterior = tmp['posterior']
self.encoder = tmp['encoder']
self.decoder = tmp['decoder']
self.frame_predictor.batch_size = self.params["batch_size"]
self.posterior.batch_size = self.params["batch_size"]
def plot_samples(self, x, actions, epoch):
# Create a gif of sequences
nsample = 5
gen_seq = [[] for i in range(nsample)]
gt_seq = [x[:,i] for i in range(x.shape[1])]
#h_seq = [self.encoder(x[:,i]) for i in range(params["n_past"])]
for s in range(nsample):
self.frame_predictor.hidden = self.frame_predictor.init_hidden()
self.posterior.hidden = self.posterior.init_hidden()
gen_seq[s].append(x[:,0])
x_in = x[:,0]
for i in range(1, self.params["n_eval"]):
h = self.encoder(x_in)
if self.params["last_frame_skip"] or i < self.params["n_past"]:
h, skip = h
h = h.detach()
else:
h, _ = h
h = h.detach()
if i < self.params["n_past"]:
h_target = self.encoder(x[:, i])[0].detach()
z_t, _, _ = self.posterior(h_target)
self.frame_predictor(torch.cat([h, z_t, actions[:,i-1]], 1))
x_in = x[:,i]
gen_seq[s].append(x_in)
else:
z_t = torch.cuda.FloatTensor(self.params["batch_size"], self.params["z_dim"]).normal_()
h = self.frame_predictor(torch.cat([h, z_t, actions[:,i-1]], 1)).detach()
x_in = self.decoder([h, skip]).detach()
gen_seq[s].append(x_in)
to_plot = []
gifs = [[] for t in range(self.params["n_eval"])]
nrow = min(self.params["batch_size"], 10)
for i in range(nrow):
# ground truth sequence
row = []
for t in range(self.params["n_eval"]):
row.append(gt_seq[t][i])
to_plot.append(row)
for s in range(nsample):
row = []
for t in range(self.params["n_eval"]):
row.append(gen_seq[s][t][i])
to_plot.append(row)
for t in range(self.params["n_eval"]):
row = []
row.append(gt_seq[t][i])
for s in range(nsample):
row.append(gen_seq[s][t][i])
gifs[t].append(row)
fname = '%s/gen/sample_%d.png' % (self.params["logdir"], epoch)
svp_utils.save_tensors_image(fname, to_plot)
fname = '%s/gen/sample_%d.gif' % (self.params["logdir"], epoch)
svp_utils.save_gif(fname, gifs)
def plot_rec(self, x, actions, epoch):
self.frame_predictor.hidden = self.frame_predictor.init_hidden()
self.posterior.hidden = self.posterior.init_hidden()
gen_seq = []
gen_seq.append(x[:,0])
x_in = x[:,0]
h_seq = [self.encoder(x[:,i]) for i in range(params["seq_len"])]
for i in range(1, self.params["seq_len"]):
h_target = h_seq[i][0].detach()
if self.params["last_frame_skip"] or i < self.params["n_past"]:
h, skip = h_seq[i - 1]
else:
h, _ = h_seq[i - 1]
h = h.detach()
z_t, mu, logvar = self.posterior(h_target)
if i < self.params["n_past"]:
self.frame_predictor(torch.cat([h, z_t, actions[:,i-1]], 1))
gen_seq.append(x[:,i])
else:
h = self.frame_predictor(torch.cat([h, z_t, actions[:,i-1]], 1)).detach()
x_pred = self.decoder([h, skip]).detach()
gen_seq.append(x_pred)
to_plot = []
nrow = min(self.params["batch_size"], 10)
for i in range(nrow):
row = []
for t in range(self.params["seq_len"]):
row.append(gen_seq[t][i])
to_plot.append(row)
check_dir(params["logdir"], "gen")
fname = '%s/gen/rec_%d.png' % (self.params["logdir"], epoch)
svp_utils.save_tensors_image(fname, to_plot)
def data_pass(self, epoch, train):
if train:
self.frame_predictor.train()
self.posterior.train()
self.encoder.train()
self.decoder.train()
loader = self.train_loader
mode = "train"
else:
self.frame_predictor.eval()
self.posterior.eval()
self.encoder.eval()
self.decoder.eval()
loader = self.test_loader
mode = "test"
num_of_files = len(loader.dataset._files)
buffer_size = loader.dataset._buffer_size
iteration = 0
final_loss = 0
all_files = 0
loader.dataset._buffer_index = 0
break_cond = False
plot_epoch = True
while True:
loader.dataset.load_next_buffer()
cum_loss = 0
cum_mse = 0.0
cum_dl = 0.0
pbar = tqdm(total=len(loader.dataset), desc="Epoch {} - {}".format(epoch, mode))
for i, data in enumerate(loader):
obs, action, next_obs = [arr.to(self.device) for arr in data]
obs = torch.cat([obs, next_obs[:,-1].unsqueeze(1)], 1)
# initialize the hidden state.
self.frame_predictor.hidden = self.frame_predictor.init_hidden()
self.posterior.hidden = self.posterior.init_hidden()
seq_len = obs.shape[1]
if not train:
if plot_epoch:
print(">>>>>>>>>>>PLOT<<<<<<<<<<<<<")
self.plot_rec(obs, action, epoch)
self.plot_samples(obs, action, epoch)
plot_epoch = False
h_seq = [self.encoder(obs[:, j]) for j in range(params["n_past"])]
mse = 0
kld = 0
x_in = obs[:, 0]
for t in range(1, seq_len):
h = self.encoder(x_in)
if t < params["n_past"] and params["last_frame_skip"]:
h, skip = h
else:
h, _ = h
if t < self.params["n_past"]:
h_target = self.encoder(obs[:, t])[0]
_, z_t, _ = self.posterior(h_target)
else:
z_t = torch.cuda.FloatTensor(self.params["batch_size"], self.params["z_dim"]).normal_()
if t < self.params["n_past"]:
self.frame_predictor(torch.cat([h, z_t, action[:,t-1]], 1))
x_in = obs[:, t]
else:
h = self.frame_predictor(torch.cat([h, z_t, action[:,t-1]], 1))
x_in = self.decoder([h, skip])
x_pred = x_in
with torch.no_grad():
mse += self.loss_function(x_pred, obs[:, t])
kld = 0
mse /= params["seq_len"]
kld /= params["seq_len"]
loss = mse + kld*params["beta"]
else:
self.frame_predictor.zero_grad()
self.posterior.zero_grad()
self.encoder.zero_grad()
self.decoder.zero_grad()
h_seq = [self.encoder(obs[:,j]) for j in range(seq_len)]
mse = 0
kld = 0
for t in range(1, seq_len):
h_target = h_seq[t][0]
if t < params["n_past"] or params["last_frame_skip"]:
h, skip = h_seq[t-1]
else:
h = h_seq[t-1][0]
z_t, mu, logvar = self.posterior(h_target)
h_pred = self.frame_predictor(torch.cat([h, z_t, action[:,t-1]], 1))
x_pred = self.decoder([h_pred, skip])
mse += self.loss_function(x_pred, obs[:, t])
kld += kl_criterion(mu, logvar, params["batch_size"])
mse /= params["seq_len"]
kld /= params["seq_len"]
loss = mse + kld*params["beta"]
loss.backward()
self.frame_predictor_optimizer.step()
self.posterior_optimizer.step()
self.encoder_optimizer.step()
self.decoder_optimizer.step()
cum_loss += loss
cum_mse += mse
cum_dl += kld*params["beta"]
pbar.set_postfix_str("loss={loss:5.4f} , MSE={mse_loss:5.4f}, DL_loss={dl_loss:5.4f} ".format(
loss=cum_loss / (i + 1), mse_loss=cum_mse/ (i + 1), dl_loss=cum_dl/ (i + 1)))
pbar.update(params['batch_size'])
pbar.close()
final_loss += cum_loss
all_files += len(loader.dataset)
iteration += 1
print("Iteration: " + str(iteration))
print("Buffer index: " + str(loader.dataset._buffer_index))
if buffer_size < num_of_files:
if params["shorten_epoch"]==iteration:
break_cond = True
if loader.dataset._buffer_index == 0 or break_cond:
final_loss = final_loss * params['batch_size'] / all_files
break
if num_of_files - loader.dataset._buffer_index < buffer_size:
break_cond = True
else:
final_loss = final_loss * params['batch_size'] / all_files
break
print("Average loss {}".format(final_loss))
if self.params["plot_visdom"]:
if train:
self.plotter.plot('loss', 'train', 'SVG_FP Train Loss', epoch, final_loss.item())
else:
self.plotter.plot('loss', 'test', 'SVG_FP Test Loss', epoch, final_loss.item())
return final_loss.item()
def init_svg_model(self):
self.svg_dir = os.path.join(self.params["logdir"], 'svg')
check_dir(self.svg_dir, 'samples')
def checkpoint(self, cur_best, test_loss):
best_filename = os.path.join(self.svg_dir, 'best.tar')
filename = os.path.join(self.svg_dir, 'checkpoint.tar')
is_best = not cur_best or test_loss < cur_best
if is_best:
cur_best = test_loss
save_checkpoint({
'encoder': self.encoder,
'decoder': self.decoder,
'frame_predictor': self.frame_predictor,
'posterior': self.posterior,
'test_loss': test_loss,
'params': self.params
}, is_best, filename, best_filename)
return cur_best
def plot(self, train, test, epochs):
plt.plot(epochs, train, label="train loss")
plt.plot(epochs, test, label="test loss")
plt.legend()
plt.grid()
plt.savefig(self.params["logdir"] + "/svg_fp_training_curve.png")
plt.close()
class VAE_TRAINER():
def __init__(self, params):
self.params = params
self.loss_function = {
'ms-ssim': ms_ssim_loss,
'mse': mse_loss,
'mix': mix_loss
}[params["loss"]]
# Choose device
self.cuda = params["cuda"] and torch.cuda.is_available()
torch.manual_seed(params["seed"])
# Fix numeric divergence due to bug in Cudnn
torch.backends.cudnn.benchmark = True
self.device = torch.device("cuda" if self.cuda else "cpu")
# Prepare data transformations
red_size = params["img_size"]
transform_train = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((red_size, red_size)),
transforms.RandomHorizontalFlip(),
transforms.ToTensor(),
])
transform_val = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((red_size, red_size)),
transforms.ToTensor(),
])
# Initialize Data loaders
op_dataset = RolloutObservationDataset(params["path_data"],
transform_train,
train=True)
val_dataset = RolloutObservationDataset(params["path_data"],
transform_val,
train=False)
self.train_loader = torch.utils.data.DataLoader(
op_dataset,
batch_size=params["batch_size"],
shuffle=True,
num_workers=0)
self.eval_loader = torch.utils.data.DataLoader(
val_dataset,
batch_size=params["batch_size"],
shuffle=False,
num_workers=0)
# Initialize model and hyperparams
self.model = VAE(nc=3,
ngf=64,
ndf=64,
latent_variable_size=params["latent_size"],
cuda=self.cuda).to(self.device)
self.optimizer = optim.Adam(self.model.parameters())
self.init_vae_model()
self.visualize = params["visualize"]
if self.visualize:
self.plotter = VisdomLinePlotter(env_name=params['env'])
self.img_plotter = VisdomImagePlotter(env_name=params['env'])
self.alpha = params["alpha"] if params["alpha"] else 1.0
def train(self, epoch):
self.model.train()
# dataset_train.load_next_buffer()
mse_loss = 0
ssim_loss = 0
train_loss = 0
# Train step
for batch_idx, data in enumerate(self.train_loader):
data = data.to(self.device)
self.optimizer.zero_grad()
recon_batch, mu, logvar = self.model(data)
loss, mse, ssim = self.loss_function(recon_batch, data, mu, logvar,
self.alpha)
loss.backward()
train_loss += loss.item()
ssim_loss += ssim
mse_loss += mse
self.optimizer.step()
if batch_idx % params["log_interval"] == 0:
print('Train Epoch: {} [{}/{} ({:.0f}%)]\tLoss: {:.6f}'.format(
epoch, batch_idx * len(data),
len(self.train_loader.dataset),
100. * batch_idx / len(self.train_loader), loss.item()))
print('MSE: {} , SSIM: {:.4f}'.format(mse, ssim))
step = len(self.train_loader.dataset) / float(
self.params["batch_size"])
mean_train_loss = train_loss / step
mean_ssim_loss = ssim_loss / step
mean_mse_loss = mse_loss / step
print('-- Epoch: {} Average loss: {:.4f}'.format(
epoch, mean_train_loss))
print('-- Average MSE: {:.5f} Average SSIM: {:.4f}'.format(
mean_mse_loss, mean_ssim_loss))
if self.visualize:
self.plotter.plot('loss', 'train', 'VAE Train Loss', epoch,
mean_train_loss)
return
def eval(self):
self.model.eval()
# dataset_test.load_next_buffer()
eval_loss = 0
mse_loss = 0
ssim_loss = 0
vis = True
with torch.no_grad():
# Eval step
for data in self.eval_loader:
data = data.to(self.device)
recon_batch, mu, logvar = self.model(data)
loss, mse, ssim = self.loss_function(recon_batch, data, mu,
logvar, self.alpha)
eval_loss += loss.item()
ssim_loss += ssim
mse_loss += mse
if vis:
org_title = "Epoch: " + str(epoch)
comparison1 = torch.cat([
data[:4],
recon_batch.view(params["batch_size"], 3,
params["img_size"],
params["img_size"])[:4]
])
if self.visualize:
self.img_plotter.plot(comparison1, org_title)
vis = False
step = len(self.eval_loader.dataset) / float(params["batch_size"])
mean_eval_loss = eval_loss / step
mean_ssim_loss = ssim_loss / step
mean_mse_loss = mse_loss / step
print('-- Eval set loss: {:.4f}'.format(mean_eval_loss))
print('-- Eval MSE: {:.5f} Eval SSIM: {:.4f}'.format(
mean_mse_loss, mean_ssim_loss))
if self.visualize:
self.plotter.plot('loss', 'eval', 'VAE Eval Loss', epoch,
mean_eval_loss)
self.plotter.plot('loss', 'mse train', 'VAE MSE Loss', epoch,
mean_mse_loss)
self.plotter.plot('loss', 'ssim train', 'VAE MSE Loss', epoch,
mean_ssim_loss)
return mean_eval_loss
def init_vae_model(self):
self.vae_dir = os.path.join(self.params["logdir"], 'vae')
check_dir(self.vae_dir, 'samples')
if not self.params["noreload"]: # and os.path.exists(reload_file):
reload_file = os.path.join(self.params["vae_location"], 'best.tar')
state = torch.load(reload_file)
print("Reloading model at epoch {}"
", with eval error {}".format(state['epoch'],
state['precision']))
self.model.load_state_dict(state['state_dict'])
self.optimizer.load_state_dict(state['optimizer'])
def checkpoint(self, cur_best, eval_loss):
# Save the best and last checkpoint
best_filename = os.path.join(self.vae_dir, 'best.tar')
filename = os.path.join(self.vae_dir, 'checkpoint.tar')
is_best = not cur_best or eval_loss < cur_best
if is_best:
cur_best = eval_loss
save_checkpoint(
{
'epoch': epoch,
'state_dict': self.model.state_dict(),
'precision': eval_loss,
'optimizer': self.optimizer.state_dict()
}, is_best, filename, best_filename)
return cur_best
def plot(self, train, eval, epochs):
plt.plot(epochs, train, label="train loss")
plt.plot(epochs, eval, label="eval loss")
plt.legend()
plt.grid()
plt.savefig(self.params["logdir"] + "/vae_training_curve.png")
plt.close()
def __init__(self, params):
self.params = params
self.loss_function = {
'ms-ssim': ms_ssim_loss,
'mse': mse_loss,
'mix': mix_loss
}[params["loss"]]
# Choose device
self.cuda = params["cuda"] and torch.cuda.is_available()
torch.manual_seed(params["seed"])
# Fix numeric divergence due to bug in Cudnn
torch.backends.cudnn.benchmark = True
self.device = torch.device("cuda" if self.cuda else "cpu")
# Prepare data transformations
red_size = params["img_size"]
transform_train = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((red_size, red_size)),
transforms.RandomHorizontalFlip(),
transforms.ToTensor(),
])
transform_val = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((red_size, red_size)),
transforms.ToTensor(),
])
# Initialize Data loaders
op_dataset = RolloutObservationDataset(params["path_data"],
transform_train,
train=True)
val_dataset = RolloutObservationDataset(params["path_data"],
transform_val,
train=False)
self.train_loader = torch.utils.data.DataLoader(
op_dataset,
batch_size=params["batch_size"],
shuffle=True,
num_workers=0)
self.eval_loader = torch.utils.data.DataLoader(
val_dataset,
batch_size=params["batch_size"],
shuffle=False,
num_workers=0)
# Initialize model and hyperparams
self.model = VAE(nc=3,
ngf=64,
ndf=64,
latent_variable_size=params["latent_size"],
cuda=self.cuda).to(self.device)
self.optimizer = optim.Adam(self.model.parameters())
self.init_vae_model()
self.visualize = params["visualize"]
if self.visualize:
self.plotter = VisdomLinePlotter(env_name=params['env'])
self.img_plotter = VisdomImagePlotter(env_name=params['env'])
self.alpha = params["alpha"] if params["alpha"] else 1.0
final_loss = final_loss * params['batch_size'] / all_files
break
print("Average loss {}".format(final_loss))
if train:
mdn_plotter.plot('loss', 'train', 'MDRNN Train Loss', epoch, final_loss)
else:
mdn_plotter.plot('loss', 'test', 'MDRNN Test Loss', epoch, final_loss)
return final_loss
train = partial(data_pass, train=True)
test = partial(data_pass, train=False)
cur_best = None
global mdn_plotter
mdn_plotter = VisdomLinePlotter(env_name=params['env'])
cum_train_loss = []
cum_test_loss = []
epochs_list = []
for e in range(params['epochs']):
train_loss=train(e)
test_loss = test(e)
cum_test_loss.append(test_loss)
cum_train_loss.append(train_loss)
epochs_list.append(e)
plot_curve(cum_train_loss, cum_test_loss, epochs_list)
scheduler.step(test_loss)
is_best = not cur_best or test_loss < cur_best
if is_best:
cur_best = test_loss