[Feature] Support Uncertain L1 Loss

mmdet3d/models/losses/__init__.py

@@ -3,9 +3,10 @@
 from .axis_aligned_iou_loss import AxisAlignedIoULoss, axis_aligned_iou_loss
 from .chamfer_distance import ChamferDistance, chamfer_distance
 from .paconv_regularization_loss import PAConvRegularizationLoss
+from .uncertain_smooth_l1_loss import UncertainL1Loss, UncertainSmoothL1Loss
 
 __all__ = [
     'FocalLoss', 'SmoothL1Loss', 'binary_cross_entropy', 'ChamferDistance',
     'chamfer_distance', 'axis_aligned_iou_loss', 'AxisAlignedIoULoss',
-    'PAConvRegularizationLoss'
+    'PAConvRegularizationLoss', 'UncertainL1Loss', 'UncertainSmoothL1Loss'
 ]

mmdet3d/models/losses/uncertain_smooth_l1_loss.py

@@ -0,0 +1,175 @@
+import torch
+from torch import nn as nn
+
+from mmdet.models.builder import LOSSES
+from mmdet.models.losses.utils import weighted_loss
+
+
+@weighted_loss
+def uncertain_smooth_l1_loss(pred, target, sigma, alpha=1.0, beta=1.0):
+    """Smooth L1 loss with uncertainty.
+
+    Args:
+        pred (torch.Tensor): The prediction.
+        target (torch.Tensor): The learning target of the prediction.
+        sigma (torch.Tensor): The sigma for uncertainty.
+        alpha (float, optional): The coefficient of log(sigma).
+            Defaults to 1.0.
+        beta (float, optional): The threshold in the piecewise function.
+            Defaults to 1.0.
+
+    Returns:
+        torch.Tensor: Calculated loss
+    """
+    assert beta > 0
+    assert target.numel() > 0
+    assert pred.size() == target.size() == sigma.size(), 'The size of pred ' \
+        f'{pred.size()}, target {target.size()}, and sigma {sigma.size()} ' \
+        'are inconsistent.'
+    diff = torch.abs(pred - target)
+    loss = torch.where(diff < beta, 0.5 * diff * diff / beta,
+                       diff - 0.5 * beta)
+    loss = torch.exp(-sigma) * loss + alpha * sigma
+
+    return loss
+
+
+@weighted_loss
+def uncertain_l1_loss(pred, target, sigma, alpha=1.0):
+    """L1 loss with uncertainty.
+
+    Args:
+        pred (torch.Tensor): The prediction.
+        target (torch.Tensor): The learning target of the prediction.
+        sigma (torch.Tensor): The sigma for uncertainty.
+        alpha (float, optional): The coefficient of log(sigma).
+            Defaults to 1.0.
+
+    Returns:
+        torch.Tensor: Calculated loss
+    """
+    assert target.numel() > 0
+    assert pred.size() == target.size() == sigma.size(), 'The size of pred ' \
+        f'{pred.size()}, target {target.size()}, and sigma {sigma.size()} ' \
+        'are inconsistent.'
+    loss = torch.abs(pred - target)
+    loss = torch.exp(-sigma) * loss + alpha * sigma
+    return loss
+
+
+@LOSSES.register_module()
+class UncertainSmoothL1Loss(nn.Module):
+    r"""Smooth L1 loss with uncertainty.
+
+    Please refer to `PGD <https://arxiv.org/abs/2107.14160>`_ and
+    `Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry
+    and Semantics <https://arxiv.org/abs/1705.07115>`_ for more details.
+
+    Args:
+        alpha (float, optional): The coefficient of log(sigma).
+            Defaults to 1.0.
+        beta (float, optional): The threshold in the piecewise function.
+            Defaults to 1.0.
+        reduction (str, optional): The method to reduce the loss.
+            Options are 'none', 'mean' and 'sum'. Defaults to 'mean'.
+        loss_weight (float, optional): The weight of loss. Defaults to 1.0
+    """
+
+    def __init__(self, alpha=1.0, beta=1.0, reduction='mean', loss_weight=1.0):
+        super(UncertainSmoothL1Loss, self).__init__()
+        assert reduction in ['none', 'sum', 'mean']
+        self.alpha = alpha
+        self.beta = beta
+        self.reduction = reduction
+        self.loss_weight = loss_weight
+
+    def forward(self,
+                pred,
+                target,
+                sigma,
+                weight=None,
+                avg_factor=None,
+                reduction_override=None,
+                **kwargs):
+        """Forward function.
+
+        Args:
+            pred (torch.Tensor): The prediction.
+            target (torch.Tensor): The learning target of the prediction.
+            sigma (torch.Tensor): The sigma for uncertainty.
+            weight (torch.Tensor, optional): The weight of loss for each
+                prediction. Defaults to None.
+            avg_factor (int, optional): Average factor that is used to average
+                the loss. Defaults to None.
+            reduction_override (str, optional): The reduction method used to
+                override the original reduction method of the loss.
+                Defaults to None.
+        """
+        assert reduction_override in (None, 'none', 'mean', 'sum')
+        reduction = (
+            reduction_override if reduction_override else self.reduction)
+        loss_bbox = self.loss_weight * uncertain_smooth_l1_loss(
+            pred,
+            target,
+            weight,
+            sigma=sigma,
+            alpha=self.alpha,
+            beta=self.beta,
+            reduction=reduction,
+            avg_factor=avg_factor,
+            **kwargs)
+        return loss_bbox
+
+
+@LOSSES.register_module()
+class UncertainL1Loss(nn.Module):
+    """L1 loss with uncertainty.
+
+    Args:
+        alpha (float, optional): The coefficient of log(sigma).
+            Defaults to 1.0.
+        reduction (str, optional): The method to reduce the loss.
+            Options are 'none', 'mean' and 'sum'. Defaults to 'mean'.
+        loss_weight (float, optional): The weight of loss. Defaults to 1.0.
+    """
+
+    def __init__(self, alpha=1.0, reduction='mean', loss_weight=1.0):
+        super(UncertainL1Loss, self).__init__()
+        assert reduction in ['none', 'sum', 'mean']
+        self.alpha = alpha
+        self.reduction = reduction
+        self.loss_weight = loss_weight
+
+    def forward(self,
+                pred,
+                target,
+                sigma,
+                weight=None,
+                avg_factor=None,
+                reduction_override=None):
+        """Forward function.
+
+        Args:
+            pred (torch.Tensor): The prediction.
+            target (torch.Tensor): The learning target of the prediction.
+            sigma (torch.Tensor): The sigma for uncertainty.
+            weight (torch.Tensor, optional): The weight of loss for each
+                prediction. Defaults to None.
+            avg_factor (int, optional): Average factor that is used to average
+                the loss. Defaults to None.
+            reduction_override (str, optional): The reduction method used to
+                override the original reduction method of the loss.
+                Defaults to None.
+        """
+        assert reduction_override in (None, 'none', 'mean', 'sum')
+        reduction = (
+            reduction_override if reduction_override else self.reduction)
+        loss_bbox = self.loss_weight * uncertain_l1_loss(
+            pred,
+            target,
+            weight,
+            sigma=sigma,
+            alpha=self.alpha,
+            reduction=reduction,
+            avg_factor=avg_factor)
+        return loss_bbox

tests/test_metrics/test_losses.py

@@ -3,6 +3,8 @@
 import torch
 from torch import nn as nn
 
+from mmdet.models import build_loss
+
 
 def test_chamfer_disrance():
     from mmdet3d.models.losses import ChamferDistance, chamfer_distance
@@ -109,3 +111,38 @@ def __init__(self):
         model.modules(), reduction_override='none')
     assert none_corr_loss.shape[0] == 3
     assert torch.allclose(none_corr_loss.mean(), mean_corr_loss)
+
+
+def test_uncertain_smooth_l1_loss():
+    from mmdet3d.models.losses import UncertainL1Loss, UncertainSmoothL1Loss
+
+    # reduction shoule be in ['none', 'mean', 'sum']
+    with pytest.raises(AssertionError):
+        uncertain_l1_loss = UncertainL1Loss(reduction='l2')
+    with pytest.raises(AssertionError):
+        uncertain_smooth_l1_loss = UncertainSmoothL1Loss(reduction='l2')
+
+    pred = torch.tensor([1.5783, 0.5972, 1.4821, 0.9488])
+    target = torch.tensor([1.0813, -0.3466, -1.1404, -0.9665])
+    sigma = torch.tensor([-1.0053, 0.4710, -1.7784, -0.8603])
+
+    # test uncertain l1 loss
+    uncertain_l1_loss_cfg = dict(
+        type='UncertainL1Loss', alpha=1.0, reduction='mean', loss_weight=1.0)
+    uncertain_l1_loss = build_loss(uncertain_l1_loss_cfg)
+    mean_l1_loss = uncertain_l1_loss(pred, target, sigma)
+    expected_l1_loss = torch.tensor(4.7069)
+    assert torch.allclose(mean_l1_loss, expected_l1_loss, atol=1e-4)
+
+    # test uncertain smooth l1 loss
+    uncertain_smooth_l1_loss_cfg = dict(
+        type='UncertainSmoothL1Loss',
+        alpha=1.0,
+        beta=0.5,
+        reduction='mean',
+        loss_weight=1.0)
+    uncertain_smooth_l1_loss = build_loss(uncertain_smooth_l1_loss_cfg)
+    mean_smooth_l1_loss = uncertain_smooth_l1_loss(pred, target, sigma)
+    expected_smooth_l1_loss = torch.tensor(3.9795)
+    assert torch.allclose(
+        mean_smooth_l1_loss, expected_smooth_l1_loss, atol=1e-4)