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train_nf.py
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train_nf.py
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import os
import sys
import pickle
import argparse
import time
from torch import optim
from torch.utils.tensorboard import SummaryWriter
import matplotlib.pyplot as plt
sys.path.append(os.getcwd())
from utils import *
from motion_pred.utils.config import Config
from motion_pred.utils.dataset_h36m import DatasetH36M
from motion_pred.utils.dataset_humaneva import DatasetHumanEva
from models.motion_pred import *
from utils import util
def loss_function(prior_lkh, log_det_jacobian):
loss_p = -prior_lkh.mean()
loss_jac = - log_det_jacobian.mean()
loss_r = loss_p + loss_jac
return loss_r, np.array([loss_r.item(), loss_p.item(), loss_jac.item()])
def train(epoch):
model.train()
t_s = time.time()
train_losses = 0
train_grad = 0
total_num_sample = 0
loss_names = ['LKH', 'log_p(z)', 'log_det']
generator = dataset.sampling_generator(num_samples=cfg.num_data_sample, batch_size=cfg.batch_size)
prior = torch.distributions.Normal(torch.tensor(0, dtype=dtype, device=device),
torch.tensor(1, dtype=dtype, device=device))
for traj_np in generator:
with torch.no_grad():
traj_np = traj_np[:, 0]
traj_np[:, 0] = 0
traj_np = util.absolute2relative(traj_np, parents=dataset.skeleton.parents())
traj = tensor(traj_np, device=device, dtype=dtype) # .permute(0, 2, 1).contiguous()
bs, nj, _ = traj.shape
x = traj.reshape([bs, -1])
z, log_det_jacobian = model(x)
prior_likelihood = prior.log_prob(z).sum(dim=1)
loss, losses = loss_function(prior_likelihood, log_det_jacobian)
optimizer.zero_grad()
loss.backward()
# grad_norm = torch.nn.utils.clip_grad_norm_(list(model.parameters()), max_norm=10000)
grad_norm = 0
train_grad += grad_norm
optimizer.step()
train_losses += losses
total_num_sample += 1
del loss, z, prior_likelihood, log_det_jacobian
scheduler.step()
# dt = time.time() - t_s
train_losses /= total_num_sample
lr = optimizer.param_groups[0]['lr']
losses_str = ' '.join(['{}: {:.4f}'.format(x, y) for x, y in zip(loss_names, train_losses)])
# average cost of log time 20s
tb_logger.add_scalar('train_grad', train_grad / total_num_sample, epoch)
for name, loss in zip(loss_names, train_losses):
tb_logger.add_scalars(name, {'train': loss}, epoch)
logger.info('====> Epoch: {} Time: {:.2f} {} lr: {:.5f}'.format(epoch, time.time() - t_s, losses_str, lr))
def val(epoch):
model.eval()
t_s = time.time()
train_losses = 0
total_num_sample = 0
loss_names = ['LKH', 'log_p(z)', 'log_det']
generator = dataset.sampling_generator(num_samples=cfg.num_data_sample // 2, batch_size=cfg.batch_size)
prior = torch.distributions.Normal(torch.tensor(0, dtype=dtype, device=device),
torch.tensor(1, dtype=dtype, device=device))
loginfos = None
with torch.no_grad():
xx = []
for traj_np in generator:
traj_np = traj_np[:, 0]
traj_np[:, 0] = 0
traj_np = util.absolute2relative(traj_np, parents=dataset.skeleton.parents())
traj = tensor(traj_np, device=device, dtype=dtype) # .permute(0, 2, 1).contiguous()
bs, nj, _ = traj.shape
x = traj.reshape([bs, -1])
z, log_det_jacobian = model(x)
prior_likelihood = prior.log_prob(z).sum(dim=1)
loginf = {}
loginf[f'z'] = z.cpu().data.numpy()
loss, losses = loss_function(prior_likelihood, log_det_jacobian)
train_losses += losses
total_num_sample += 1
del loss, z, prior_likelihood, log_det_jacobian
loginfos = combine_dict(loginf, loginfos)
# dt = time.time() - t_s
train_losses /= total_num_sample
lr = optimizer.param_groups[0]['lr']
losses_str = ' '.join(['{}: {:.4f}'.format(x, y) for x, y in zip(loss_names, train_losses)])
# average cost of log time 20s
for name, loss in zip(loss_names, train_losses):
tb_logger.add_scalars(name, {'val': loss}, epoch)
logger.info('====> Epoch: {} Val Time: {:.2f} {} lr: {:.5f}'.format(epoch, time.time() - t_s, losses_str, lr))
t_s = time.time()
generator = dataset_test.sampling_generator(num_samples=cfg.num_data_sample // 2, batch_size=cfg.batch_size)
loginfos_test = None
with torch.no_grad():
xx = []
for traj_np in generator:
traj_np = traj_np[:, 0]
traj_np[:, 0] = 0
traj_np = util.absolute2relative(traj_np, parents=dataset.skeleton.parents())
traj = tensor(traj_np, device=device, dtype=dtype) # .permute(0, 2, 1).contiguous()
bs, nj, _ = traj.shape
x = traj.reshape([bs, -1])
z, log_det_jacobian = model(x)
prior_likelihood = prior.log_prob(z).sum(dim=1)
loginf = {}
loginf[f'z'] = z.cpu().data.numpy()
loss, losses = loss_function(prior_likelihood, log_det_jacobian)
train_losses += losses
total_num_sample += 1
del loss, z, prior_likelihood, log_det_jacobian
loginfos_test = combine_dict(loginf, loginfos_test)
# dt = time.time() - t_s
train_losses /= total_num_sample
lr = optimizer.param_groups[0]['lr']
losses_str = ' '.join(['{}: {:.4f}'.format(x, y) for x, y in zip(loss_names, train_losses)])
# average cost of log time 20s
for name, loss in zip(loss_names, train_losses):
tb_logger.add_scalars(name, {'test': loss}, epoch)
logger.info('====> Epoch: {} Test Time: {:.2f} {} lr: {:.5f}'.format(epoch, time.time() - t_s, losses_str, lr))
t_s = time.time()
zz = loginfos['z']
zz = zz.reshape([zz.shape[0], -1])
bs, data_dim = zz.shape
zz_test = loginfos_test['z']
zz_test = zz_test.reshape([zz.shape[0], -1])
# bs, data_dim = zz_test.shape
for ii in range(data_dim):
fig = plt.figure()
ax1 = plt.subplot(121)
_ = plt.hist(zz[:, ii].reshape(-1), bins=100, density=True, alpha=0.5, color='b')
x = torch.from_numpy(np.arange(-5, 5, 0.01)).float().to(device)
y = prior.cdf(x)
x = x[1:]
y = (y[1:] - y[:-1]) * 100
plt.plot(x.cpu().data, y.cpu().data)
ax1.set_title(f'z_val_{ii}')
ax2 = plt.subplot(122)
_ = plt.hist(zz_test[:, ii].reshape(-1), bins=100, density=True, alpha=0.5, color='b')
x = torch.from_numpy(np.arange(-5, 5, 0.01)).float().to(device)
y = prior.cdf(x)
x = x[1:]
y = (y[1:] - y[:-1]) * 100
plt.plot(x.cpu().data, y.cpu().data)
ax2.set_title(f'z_test_{ii}')
tb_logger.add_figure(f'z_{ii}', fig, epoch)
plt.clf()
plt.cla()
plt.close(fig)
# plot covariance matrix
fig = plt.figure()
ax1 = plt.subplot(121)
# zz = zz.reshape([bs, -1])
zz = zz - zz.mean(axis=0)
cov = 1 / bs * np.abs(np.matmul(zz.transpose([1, 0]), zz))
std = np.sqrt(np.diag(cov))[:, None] * np.sqrt(np.diag(cov))[None, :]
corr = cov / (std + 1e-10) - np.eye(cov.shape[0])
plt.imshow(corr)
plt.colorbar()
ax1.set_title('z_val_corr')
ax2 = plt.subplot(122)
# zz = zz.reshape([bs, -1])
zz_test = zz_test - zz_test.mean(axis=0)
cov = 1 / bs * np.abs(np.matmul(zz_test.transpose([1, 0]), zz_test))
std = np.sqrt(np.diag(cov))[:, None] * np.sqrt(np.diag(cov))[None, :]
corr = cov / (std + 1e-10) - np.eye(cov.shape[0])
plt.imshow(corr)
plt.colorbar()
ax2.set_title('z_test_corr')
tb_logger.add_figure('z_corr', plt.gcf(), epoch)
plt.close(fig)
print(f'>>>>log time {time.time() - t_s:.3f}')
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--cfg', default='h36m_nf')
parser.add_argument('--mode', default='train')
parser.add_argument('--test', action='store_true', default=False)
parser.add_argument('--iter', type=int, default=0)
parser.add_argument('--seed', type=int, default=0)
parser.add_argument('--gpu_index', type=int, default=1)
parser.add_argument('--n_pre', type=int, default=10)
parser.add_argument('--n_his', type=int, default=5)
parser.add_argument('--trial', type=int, default=1)
parser.add_argument('--num_coupling_layer', type=int, default=6)
parser.add_argument('--nz', type=int, default=10)
args = parser.parse_args()
"""setup"""
np.random.seed(args.seed)
torch.manual_seed(args.seed)
dtype = torch.float32
torch.set_default_dtype(dtype)
device = torch.device('cuda')#, index=args.gpu_index) if torch.cuda.is_available() else torch.device('cpu')
# if torch.cuda.is_available():
# torch.cuda.set_device(args.gpu_index)
cfg = Config(f'{args.cfg}', test=args.test, nf=True)
tb_logger = SummaryWriter(cfg.tb_dir) if args.mode == 'train' else None
logger = create_logger(os.path.join(cfg.log_dir, 'log.txt'))
"""parameter"""
mode = args.mode
nz = cfg.nz
t_his = cfg.t_his
t_pred = cfg.t_pred
cfg.n_his = args.n_his
cfg.n_pre = args.n_pre
cfg.num_coupling_layer = args.num_coupling_layer
cfg.nz = args.nz
"""data"""
dataset_cls = DatasetH36M if cfg.dataset == 'h36m' else DatasetHumanEva
dataset = dataset_cls('train', t_his, t_pred, actions='all', use_vel=cfg.use_vel)
dataset_test = dataset_cls('test', t_his, t_pred, actions='all', use_vel=cfg.use_vel)
if cfg.normalize_data:
dataset.normalize_data()
dataset_test.normalize_data(dataset.mean, dataset.std)
"""model"""
model = get_model(cfg, dataset, args.cfg+'_nf')
print(model)
model.float()
optimizer = optim.Adam(model.parameters(), lr=cfg.lr, weight_decay=1e-3)
scheduler = get_scheduler(optimizer, policy='lambda', nepoch_fix=cfg.num_epoch_fix, nepoch=cfg.num_epoch)
logger.info(">>> total params: {:.5f}M".format(sum(p.numel() for p in list(model.parameters())) / 1000000.0))
if args.iter > 0:
cp_path = cfg.model_path % args.iter
print('loading model from checkpoint: %s' % cp_path)
model_cp = pickle.load(open(cp_path, "rb"))
model.load_state_dict(model_cp['model_dict'])
if mode == 'train':
model.to(device)
overall_iter = 0
for i in range(args.iter, cfg.num_epoch):
model.train()
train(i)
model.eval()
val(i)
# test(i)
if cfg.save_model_interval > 0 and (i + 1) % cfg.save_model_interval == 0:
with to_cpu(model):
cp_path = cfg.model_path % (i + 1)
model_cp = {'model_dict': model.state_dict(), 'meta': {'std': dataset.std, 'mean': dataset.mean}}
pickle.dump(model_cp, open(cp_path, 'wb'))