575 lines
20 KiB
Python
575 lines
20 KiB
Python
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import logging
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import math
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import os
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import random
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import threading
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import numpy as np
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import psutil
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import torch
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import torch.nn.functional as F
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from safetensors.torch import load_file
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from torch.optim.lr_scheduler import LambdaLR
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from transformers import AutoProcessor
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from wall_x.model.core.action.normalizer import Normalizer
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from wall_x.model.qact.tokenizer_mixin import get_action_tokenizer_mixin
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from wall_x.utils.metrics import dtw_distance, frechet_distance, get_action_accuracy
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_logger = logging.getLogger(__name__)
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def load_wallx_processors(
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config,
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normalizer=None,
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action_statistic_dof=None,
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device: str = "cpu",
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):
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"""
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Load Wall-X processors, including tokenizer and action mapper.
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Args:
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config: Configuration dictionary.
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device: Tokenizer device. Training usually uses "cpu"; inference
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usually uses "cuda".
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Returns:
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Dictionary containing:
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- processor: HuggingFace processor
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- train_action_tokenizer: action tokenizer for training
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- val_action_tokenizer: action tokenizer for validation
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- action_mapper: action mapper dictionary
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- num_added_tokens: number of added tokens
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- tokenizer_mixin: ActionTokenizerMixin instance
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"""
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processor = AutoProcessor.from_pretrained(config["processor_path"], use_fast=True)
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# pad side = left
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processor.tokenizer.padding_side = "left"
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new_tokens = ["<|propri|>", "<|action|>"]
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if config.get("new_special_tokens", None) is not None:
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new_tokens.extend(config.get("new_special_tokens"))
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action_tokenizer_type = config.get("action_tokenizer_type", None)
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train_action_tokenizer = None
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val_action_tokenizer = None
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action_mapper = None
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tokenizer_mixin = None
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if action_tokenizer_type:
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# Use tokenizer_mixin as the single action-tokenizer interface.
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action_tokenizer_config = config.get("action_tokenizer", {})
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# Backward compatibility: read top-level keys as fallback values.
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action_tokenizer_config.setdefault(
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"action_tokenizer_path", config.get("action_tokenizer_path")
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)
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action_tokenizer_config.setdefault(
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"action_tokenizer_checkpoint_path",
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config.get("action_tokenizer_checkpoint_path"),
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)
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action_tokenizer_config.setdefault(
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"action_tokenizer_config_dir", config.get("action_tokenizer_config_dir")
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)
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# Pass action_horizon_ar to the tokenizer for DLLM.
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data_config = config.get("data", {})
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action_tokenizer_config.setdefault(
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"action_horizon_ar", data_config.get("action_horizon_ar", 32)
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)
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# Fall back to dof_config when ar_dof_config is not provided.
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ar_dof_config = config.get("ar_dof_config") or config.get("dof_config")
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assert ar_dof_config is not None, "Missing ar_dof_config and dof_config"
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if normalizer is None:
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if action_statistic_dof is None:
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raise ValueError(
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"Action tokenizer setup requires an explicit normalizer or "
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"action statistics. Public Wall-X builds do not bundle "
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"default action statistics."
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)
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ar_normalizer = Normalizer(action_statistic_dof, ar_dof_config)
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else:
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ar_normalizer = normalizer
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tokenizer_mixin = get_action_tokenizer_mixin(action_tokenizer_type)
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tokenizer_mixin.load_tokenizer(
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action_tokenizer_config, ar_normalizer, device=device
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)
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# Collect special tokens.
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_new_tokens, special_tokens = tokenizer_mixin.get_all_special_tokens()
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new_tokens += _new_tokens
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# Add tokens to the vocabulary.
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num_added_tokens = processor.tokenizer.add_tokens(new_tokens)
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# Set placeholder_seq for discrete diffusion.
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if special_tokens and action_tokenizer_config.get(
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"input_placeholder_flag", False
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):
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processor.placeholder_seq = [
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processor.tokenizer.convert_tokens_to_ids(token)
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for token in special_tokens
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]
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# Backward compatibility: use the first added token when
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# <|action_token_0|> does not exist.
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ar_first_token_id = processor.tokenizer.convert_tokens_to_ids(
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"<|action_token_0|>"
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)
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if (
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ar_first_token_id is None
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or ar_first_token_id == processor.tokenizer.unk_token_id
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):
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ar_first_token_id = processor.tokenizer.convert_tokens_to_ids(
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_new_tokens[0]
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)
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processor.ar_first_token = ar_first_token_id
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# Build action_mapper.
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action_mapper = tokenizer_mixin.build_action_mapper(processor)
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# Fetch the underlying tokenizer.
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train_action_tokenizer = tokenizer_mixin.tokenizer
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# Fast tokenizers need a separate validation instance; others share one.
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val_action_tokenizer = tokenizer_mixin.get_val_tokenizer(config)
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else:
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num_added_tokens = processor.tokenizer.add_tokens(new_tokens)
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return {
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"processor": processor,
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"train_action_tokenizer": train_action_tokenizer,
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"val_action_tokenizer": val_action_tokenizer,
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"action_mapper": action_mapper,
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"num_added_tokens": num_added_tokens,
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"tokenizer_mixin": tokenizer_mixin,
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}
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def load_wallx_processors_from_cfg(
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cfg,
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normalizer=None,
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action_statistic_dof=None,
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device: str = "cpu",
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):
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"""Typed convenience wrapper around ``load_wallx_processors``.
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Builds the flat dict that the legacy function expects from typed
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TrainConfig sub-configs, then delegates. Callers using TrainConfig
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can use this directly instead of hand-flattening.
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"""
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import dataclasses
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flat = dataclasses.asdict(cfg.model)
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flat["model_type"] = cfg.model_type
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flat["data"] = dict(cfg._raw_data or {})
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flat["dof_config"] = cfg.task.dof_config
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flat["agent_pos_config"] = cfg.task.agent_pos_config
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if cfg.task.ar_dof_config is not None:
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flat["ar_dof_config"] = cfg.task.ar_dof_config
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flat["batch_size_per_gpu"] = cfg.hyperparams.batch_size_per_gpu
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return load_wallx_processors(
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flat,
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normalizer=normalizer,
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action_statistic_dof=action_statistic_dof,
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device=device,
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)
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def load_qwen_pretrain_weight(model, pretrain_weight_path):
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weight_files = sorted(
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[f for f in os.listdir(pretrain_weight_path) if f.endswith(".safetensors")]
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)
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# Initialize empty dictionary to store merged weights
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merged_weights = {}
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# Load and merge each file sequentially
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for weight_file in weight_files:
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file_path = os.path.join(pretrain_weight_path, weight_file)
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weights = load_file(file_path)
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merged_weights.update(weights)
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renamed_weights = model.rename_vlm_weights_for_vla(merged_weights)
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renamed_weights = {
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k: v
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for k, v in renamed_weights.items()
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if "action_preprocessor.normalizer_" not in k
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} # remove normalizer weights
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if (
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model.config.model_type == "qwen2_5_vl"
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and model.model.embed_tokens.weight.shape[0]
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!= renamed_weights["model.embed_tokens.weight"].shape[0]
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):
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_logger.info(
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"resize_token_embeddings from %d to %d",
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model.model.embed_tokens.weight.shape[0],
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renamed_weights["model.embed_tokens.weight"].shape[0],
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)
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model.model.resize_token_embeddings(
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renamed_weights["model.embed_tokens.weight"].shape[0]
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)
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err = model.load_state_dict(renamed_weights, strict=False)
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return model, err
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def update_model_config(train_config, model_config):
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model_config.use_state_string_representation = train_config["data"].get(
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"use_state_string_representation", False
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)
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model_config.ar_loss_weight = train_config.get("ar_loss_weight", 1.0)
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model_config.dof_config = train_config["dof_config"]
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model_config.agent_pos_config = train_config["agent_pos_config"]
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model_config.action_horizon_flow = train_config["data"].get(
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"action_horizon_flow", 32
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)
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if train_config.get("_attn_implementation", None) is not None:
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model_config._attn_implementation = train_config["_attn_implementation"]
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if train_config.get("attn_deterministic", None) is not None:
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model_config.attn_deterministic = train_config["attn_deterministic"]
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model_config.vision_config.attn_deterministic = train_config[
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"attn_deterministic"
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]
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_logger.info("Attention is using deterministic kernel for this run")
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else:
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model_config.attn_deterministic = True
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model_config.vision_config.attn_deterministic = True
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if train_config.get("noise_scheduler", None) is not None:
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model_config.noise_scheduler = train_config["noise_scheduler"]
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return model_config
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def update_data_config(config):
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"""Keep the top-level model type aligned with the nested data config."""
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config["data"]["model_type"] = config.get("model_type")
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if config.get("use_state_string_representation", None) is not None:
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config["data"]["use_state_string_representation"] = config[
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"use_state_string_representation"
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]
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return config
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def get_detailed_memory_usage():
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"""Return process memory and thread-count diagnostics."""
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process = psutil.Process()
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memory_info = process.memory_info()
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current_threads = threading.active_count()
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return {
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"rss": f"{memory_info.rss / 1024 / 1024:.2f}MB ",
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"vms": f"{memory_info.vms / 1024 / 1024:.2f}MB ",
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"threads_count": current_threads,
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}
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def is_last_rank():
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return torch.distributed.get_rank() == (torch.distributed.get_world_size() - 1)
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def print_rank_last(message):
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"""If distributed is initialized, log only on last rank."""
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if torch.distributed.is_initialized():
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if is_last_rank():
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_logger.info(message)
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else:
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_logger.info(message)
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def seed_all(seed):
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np.random.seed(seed)
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random.seed(seed)
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torch.manual_seed(seed)
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torch.cuda.manual_seed_all(seed)
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torch.backends.cudnn.deterministic = True
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torch.backends.cudnn.benchmark = False
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os.environ["PYTHONHASHSEED"] = str(seed)
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def save_text_results_to_file(
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current_step, all_input_texts, all_gt_texts, all_pred_texts, save_dir
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):
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"""Save text-generation results to a local JSON file."""
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import json
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os.makedirs(save_dir, exist_ok=True)
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results = []
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for i, (input_text, gt_text, pred_text) in enumerate(
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zip(all_input_texts, all_gt_texts, all_pred_texts)
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):
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# Some callers pass one-item lists instead of plain strings.
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input_clean = input_text[0] if isinstance(input_text, list) else input_text
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gt_clean = gt_text[0] if isinstance(gt_text, list) else gt_text
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pred_clean = pred_text[0] if isinstance(pred_text, list) else pred_text
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results.append(
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{
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"sample_id": i,
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"input": input_clean,
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"ground_truth": gt_clean,
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"prediction": pred_clean,
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"step": current_step,
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}
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)
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filename = os.path.join(save_dir, f"text_predictions_step_{current_step}.json")
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with open(filename, "w", encoding="utf-8") as f:
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json.dump(results, f, ensure_ascii=False, indent=2)
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# Add accuracy metrics.
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# Add ade, fde, dtw, and frechet metrics from Ryan.
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def compute_action_metrics(all_preds, all_actions, config, step_log={}):
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metrics_settings = config.get("metrics_settings", "default")
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metrics_available = ["l1", "mse", "accuracy", "ade", "fde", "dtw", "frechet"]
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metrics_default = ["l1", "mse", "accuracy"]
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if metrics_settings == "all":
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metrics_enabled = metrics_available
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elif metrics_settings == "default":
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metrics_enabled = metrics_default
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elif isinstance(metrics_settings, str):
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metrics_enabled = [
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m.strip()
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for m in metrics_settings.split(" ")
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if m.strip() in metrics_available
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]
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elif isinstance(metrics_settings, list):
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metrics_enabled = [m for m in metrics_settings if m in metrics_available]
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else:
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metrics_enabled = metrics_default
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_logger.warning(
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'Unknown metrics_settings "%s". Using default metrics: %s',
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metrics_settings,
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metrics_enabled,
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)
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overall_l1 = F.l1_loss(all_preds, all_actions)
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overall_mse = F.mse_loss(all_preds, all_actions)
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step_log["val_action_l1"] = overall_l1.item()
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step_log["val_action_mse"] = overall_mse.item()
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if "accuracy" in metrics_enabled:
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accuracy_thresholds = [0.05, 0.1, 0.2, 0.4]
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|
|
# The accuracy that all predicted action dimensions are within a certain range of the ground truth.
|
||
|
|
accuracies = get_action_accuracy(
|
||
|
|
all_preds, all_actions, thresholds=accuracy_thresholds
|
||
|
|
)
|
||
|
|
for th_idx, threshold in enumerate(accuracy_thresholds):
|
||
|
|
step_log[f"val_action_acc_thr{threshold}"] = accuracies[th_idx].item()
|
||
|
|
|
||
|
|
start_idx = 0
|
||
|
|
dof_config = config["dof_config"]
|
||
|
|
for dof_key, dof_dim in dof_config.items():
|
||
|
|
end_idx = start_idx + dof_dim
|
||
|
|
# all_preds.shape = (B, T, action_dim)
|
||
|
|
pred_dof = all_preds[..., start_idx:end_idx]
|
||
|
|
action_dof = all_actions[..., start_idx:end_idx]
|
||
|
|
dof_l1 = F.l1_loss(pred_dof, action_dof)
|
||
|
|
dof_mse = F.mse_loss(pred_dof, action_dof)
|
||
|
|
step_log[f"val_l1/{dof_key}"] = dof_l1.item()
|
||
|
|
step_log[f"val_mse/{dof_key}"] = dof_mse.item()
|
||
|
|
|
||
|
|
if "accuracy" in metrics_enabled:
|
||
|
|
accuracies = get_action_accuracy(
|
||
|
|
action_dof, pred_dof, thresholds=accuracy_thresholds
|
||
|
|
)
|
||
|
|
for th_idx, threshold in enumerate(accuracy_thresholds):
|
||
|
|
step_log[f"val_acc/{dof_key}_thr{threshold}"] = accuracies[
|
||
|
|
th_idx
|
||
|
|
].item()
|
||
|
|
|
||
|
|
if "ee_cartesian_pos" in dof_key:
|
||
|
|
if "ade" in metrics_enabled:
|
||
|
|
displacement_error = torch.norm(pred_dof - action_dof, dim=-1)
|
||
|
|
ade = torch.mean(displacement_error)
|
||
|
|
step_log[f"val_ade/{dof_key}"] = ade.item()
|
||
|
|
|
||
|
|
if "fde" in metrics_enabled:
|
||
|
|
final_pred = pred_dof[:, -1, :]
|
||
|
|
final_gt = action_dof[:, -1, :]
|
||
|
|
fde = torch.mean(torch.norm(final_pred - final_gt, dim=-1))
|
||
|
|
step_log[f"val_fde/{dof_key}"] = fde.item()
|
||
|
|
|
||
|
|
if "dtw" in metrics_enabled or "frechet" in metrics_enabled:
|
||
|
|
dtw_distances = []
|
||
|
|
frechet_distances = []
|
||
|
|
batch_size = pred_dof.shape[0]
|
||
|
|
for i in range(batch_size):
|
||
|
|
pred_seq = pred_dof[i] # shape: (T, D)
|
||
|
|
gt_seq = action_dof[i] # shape: (T, D)
|
||
|
|
dtw_dist = dtw_distance(pred_seq, gt_seq)
|
||
|
|
dtw_distances.append(dtw_dist)
|
||
|
|
|
||
|
|
frechet_dist = frechet_distance(pred_seq, gt_seq)
|
||
|
|
frechet_distances.append(frechet_dist)
|
||
|
|
|
||
|
|
avg_dtw = torch.mean(torch.stack(dtw_distances))
|
||
|
|
if "dtw" in metrics_enabled:
|
||
|
|
step_log[f"val_dtw/{dof_key}"] = avg_dtw.item()
|
||
|
|
|
||
|
|
avg_frechet = torch.mean(torch.stack(frechet_distances))
|
||
|
|
if "frechet" in metrics_enabled:
|
||
|
|
step_log[f"val_frechet/{dof_key}"] = avg_frechet.item()
|
||
|
|
|
||
|
|
start_idx = end_idx
|
||
|
|
|
||
|
|
return step_log
|
||
|
|
|
||
|
|
|
||
|
|
def get_warmup_cosine_schedule(
|
||
|
|
optimizer,
|
||
|
|
num_warmup_steps: int,
|
||
|
|
num_training_steps: int,
|
||
|
|
peak_lr: float = None,
|
||
|
|
end_lr: float = None,
|
||
|
|
last_epoch: int = -1,
|
||
|
|
):
|
||
|
|
"""
|
||
|
|
Create a schedule with linear warmup followed by cosine decay:
|
||
|
|
- Warmup: linearly increases from peak_lr/(warmup_steps+1) to peak_lr
|
||
|
|
- Decay: cosine decay from peak_lr to end_lr
|
||
|
|
|
||
|
|
Args:
|
||
|
|
optimizer: The optimizer for which to schedule the learning rate.
|
||
|
|
num_warmup_steps: The number of steps for the warmup phase.
|
||
|
|
num_training_steps: The total number of training steps.
|
||
|
|
peak_lr: The peak learning rate. If None, uses optimizer's initial lr.
|
||
|
|
end_lr: The minimum learning rate at the end. If None, defaults to peak_lr * 0.1.
|
||
|
|
last_epoch: The index of the last epoch when resuming training.
|
||
|
|
|
||
|
|
Return:
|
||
|
|
torch.optim.lr_scheduler.LambdaLR with the appropriate schedule.
|
||
|
|
"""
|
||
|
|
if peak_lr is None:
|
||
|
|
peak_lr = optimizer.defaults["lr"]
|
||
|
|
if end_lr is None:
|
||
|
|
end_lr = peak_lr * 0.1
|
||
|
|
|
||
|
|
def lr_lambda(current_step: int):
|
||
|
|
if current_step < num_warmup_steps:
|
||
|
|
# Start from peak_lr / (warmup_steps + 1).
|
||
|
|
init_lr = peak_lr / (num_warmup_steps + 1)
|
||
|
|
current_lr = init_lr + (peak_lr - init_lr) * current_step / num_warmup_steps
|
||
|
|
return current_lr / peak_lr # LambdaLR multiplies by base_lr
|
||
|
|
else:
|
||
|
|
# Cosine decay
|
||
|
|
decay_steps = num_training_steps - num_warmup_steps
|
||
|
|
progress = min(1.0, (current_step - num_warmup_steps) / max(1, decay_steps))
|
||
|
|
cos = 0.5 * (1 + math.cos(math.pi * progress))
|
||
|
|
current_lr = end_lr + (peak_lr - end_lr) * cos
|
||
|
|
return current_lr / peak_lr
|
||
|
|
|
||
|
|
return LambdaLR(optimizer, lr_lambda, last_epoch)
|
||
|
|
|
||
|
|
|
||
|
|
def plot_openloop(
|
||
|
|
action_pred_list,
|
||
|
|
action_gt_list,
|
||
|
|
l1_loss,
|
||
|
|
episode_index,
|
||
|
|
save_path,
|
||
|
|
is_static_list=None,
|
||
|
|
):
|
||
|
|
"""
|
||
|
|
Plot openloop action comparison visualization.
|
||
|
|
|
||
|
|
Args:
|
||
|
|
action_pred_list: List of predicted actions, each with shape (horizon, action_dim)
|
||
|
|
action_gt_list: List of ground truth actions, each with shape (horizon, action_dim)
|
||
|
|
l1_loss: L1 loss array with shape (total_frames, action_dim)
|
||
|
|
episode_index: Index of the episode being visualized
|
||
|
|
save_path: Directory path to save the plot
|
||
|
|
is_static_list: Optional list of booleans indicating static frames
|
||
|
|
"""
|
||
|
|
import matplotlib
|
||
|
|
|
||
|
|
matplotlib.use("Agg")
|
||
|
|
import matplotlib.pyplot as plt
|
||
|
|
|
||
|
|
assert len(action_pred_list) == len(
|
||
|
|
action_gt_list
|
||
|
|
), "Predicted action and ground truth action must have the same shape."
|
||
|
|
|
||
|
|
dim = action_pred_list[0].shape[1]
|
||
|
|
plt.figure(figsize=(12, 4 * dim))
|
||
|
|
|
||
|
|
for i in range(dim):
|
||
|
|
plt.subplot(dim, 1, i + 1)
|
||
|
|
|
||
|
|
has_labeled_static = False
|
||
|
|
for j in range(len(action_gt_list)):
|
||
|
|
gt_action = action_gt_list[j]
|
||
|
|
predict_action = action_pred_list[j]
|
||
|
|
|
||
|
|
x_vals_gt = np.linspace(j, j + 1, len(gt_action))
|
||
|
|
x_vals_pred = np.linspace(j, j + 1, len(predict_action))
|
||
|
|
|
||
|
|
if is_static_list is not None and is_static_list[j]:
|
||
|
|
label = None
|
||
|
|
if not has_labeled_static:
|
||
|
|
label = "Static GT"
|
||
|
|
has_labeled_static = True
|
||
|
|
plt.axvspan(j, j + 1, color="gray", alpha=0.2, label=label)
|
||
|
|
|
||
|
|
if j == 0:
|
||
|
|
plt.plot(
|
||
|
|
x_vals_gt,
|
||
|
|
gt_action[:, i],
|
||
|
|
label="Ground Truth",
|
||
|
|
color="blue",
|
||
|
|
linewidth=2,
|
||
|
|
linestyle="-",
|
||
|
|
marker="o",
|
||
|
|
markersize=3,
|
||
|
|
)
|
||
|
|
plt.plot(
|
||
|
|
x_vals_pred,
|
||
|
|
predict_action[:, i],
|
||
|
|
label="Model Output",
|
||
|
|
color="orange",
|
||
|
|
linewidth=2,
|
||
|
|
linestyle="--",
|
||
|
|
marker="x",
|
||
|
|
markersize=4,
|
||
|
|
)
|
||
|
|
else:
|
||
|
|
plt.plot(
|
||
|
|
x_vals_gt,
|
||
|
|
gt_action[:, i],
|
||
|
|
color="blue",
|
||
|
|
linewidth=2,
|
||
|
|
linestyle="-",
|
||
|
|
marker="o",
|
||
|
|
markersize=3,
|
||
|
|
)
|
||
|
|
plt.plot(
|
||
|
|
x_vals_pred,
|
||
|
|
predict_action[:, i],
|
||
|
|
color="orange",
|
||
|
|
linewidth=2,
|
||
|
|
linestyle="--",
|
||
|
|
marker="x",
|
||
|
|
markersize=4,
|
||
|
|
)
|
||
|
|
|
||
|
|
plt.title(f"Action Dimension {i + 1}, L1 Loss: {l1_loss[:, i].mean():.6f}")
|
||
|
|
plt.xlabel("Number of Chunk")
|
||
|
|
plt.ylabel("Action Value")
|
||
|
|
plt.legend()
|
||
|
|
|
||
|
|
plt.suptitle(
|
||
|
|
f"Openloop Action Comparison for Episode {episode_index}, L1 Loss: {l1_loss.mean():.6f}"
|
||
|
|
)
|
||
|
|
plt.tight_layout(rect=[0, 0, 1, 0.98])
|
||
|
|
os.makedirs(save_path, exist_ok=True)
|
||
|
|
plt.savefig(f"{save_path}/{episode_index}.png")
|
||
|
|
plt.close()
|
||
|
|
_logger.info("Saved openloop plot to %s/%s.png", save_path, episode_index)
|