X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=world.py;h=d32d545c62b4a243bee86995b4f04ad8747f51e9;hb=1f6f5e352af881e57e26fa39ca5bf793c5d2c9c5;hp=5ba0f36a1d389040eccf1c27f2858a5273c0a3ed;hpb=62e273047aee0a1d606fbe0312abc16a74d23906;p=picoclvr.git diff --git a/world.py b/world.py index 5ba0f36..d32d545 100755 --- a/world.py +++ b/world.py @@ -1,6 +1,6 @@ #!/usr/bin/env python -import math +import math, sys, tqdm import torch, torchvision @@ -30,7 +30,7 @@ class Box: return False -def scene2tensor(xh, yh, scene, size=64): +def scene2tensor(xh, yh, scene, size): width, height = size, size pixel_map = torch.ByteTensor(width, height, 4).fill_(255) data = pixel_map.numpy() @@ -67,7 +67,7 @@ def random_scene(): colors = [ (1.00, 0.00, 0.00), (0.00, 1.00, 0.00), - (0.00, 0.00, 1.00), + (0.60, 0.60, 1.00), (1.00, 1.00, 0.00), (0.75, 0.75, 0.75), ] @@ -85,7 +85,7 @@ def random_scene(): return scene -def sequence(nb_steps=10, all_frames=False): +def generate_sequence(nb_steps=10, all_frames=False, size=64): delta = 0.1 effects = [ (False, 0, 0), @@ -100,13 +100,12 @@ def sequence(nb_steps=10, all_frames=False): ] while True: - - frames =[] + frames = [] scene = random_scene() xh, yh = tuple(x.item() for x in torch.rand(2)) - frames.append(scene2tensor(xh, yh, scene)) + frames.append(scene2tensor(xh, yh, scene, size=size)) actions = torch.randint(len(effects), (nb_steps,)) change = False @@ -139,10 +138,10 @@ def sequence(nb_steps=10, all_frames=False): xh, yh = x, y if all_frames: - frames.append(scene2tensor(xh, yh, scene)) + frames.append(scene2tensor(xh, yh, scene, size=size)) if not all_frames: - frames.append(scene2tensor(xh, yh, scene)) + frames.append(scene2tensor(xh, yh, scene, size=size)) if change: break @@ -150,8 +149,237 @@ def sequence(nb_steps=10, all_frames=False): return frames, actions +###################################################################### + + +# ||x_i - c_j||^2 = ||x_i||^2 + ||c_j||^2 - 2 +def sq2matrix(x, c): + nx = x.pow(2).sum(1) + nc = c.pow(2).sum(1) + return nx[:, None] + nc[None, :] - 2 * x @ c.t() + + +def update_centroids(x, c, nb_min=1): + _, b = sq2matrix(x, c).min(1) + b.squeeze_() + nb_resets = 0 + + for k in range(0, c.size(0)): + i = b.eq(k).nonzero(as_tuple=False).squeeze() + if i.numel() >= nb_min: + c[k] = x.index_select(0, i).mean(0) + else: + n = torch.randint(x.size(0), (1,)) + nb_resets += 1 + c[k] = x[n] + + return c, b, nb_resets + + +def kmeans(x, nb_centroids, nb_min=1): + if x.size(0) < nb_centroids * nb_min: + print("Not enough points!") + exit(1) + + c = x[torch.randperm(x.size(0))[:nb_centroids]] + t = torch.full((x.size(0),), -1) + n = 0 + + while True: + c, u, nb_resets = update_centroids(x, c, nb_min) + n = n + 1 + nb_changes = (u - t).sign().abs().sum() + nb_resets + t = u + if nb_changes == 0: + break + + return c, t + + +###################################################################### + + +def patchify(x, factor, invert_size=None): + if invert_size is None: + return ( + x.reshape( + x.size(0), # 0 + x.size(1), # 1 + factor, # 2 + x.size(2) // factor, # 3 + factor, # 4 + x.size(3) // factor, # 5 + ) + .permute(0, 2, 4, 1, 3, 5) + .reshape(-1, x.size(1), x.size(2) // factor, x.size(3) // factor) + ) + else: + return ( + x.reshape( + invert_size[0], # 0 + factor, # 1 + factor, # 2 + invert_size[1], # 3 + invert_size[2] // factor, # 4 + invert_size[3] // factor, # 5 + ) + .permute(0, 3, 1, 4, 2, 5) + .reshape(invert_size) + ) + + +class Normalizer(nn.Module): + def __init__(self, mu, std): + super().__init__() + self.mu = nn.Parameter(mu) + self.log_var = nn.Parameter(2 * torch.log(std)) + + def forward(self, x): + return (x - self.mu) / torch.exp(self.log_var / 2.0) + + +class SignSTE(nn.Module): + def __init__(self): + super().__init__() + + def forward(self, x): + # torch.sign() takes three values + s = (x >= 0).float() * 2 - 1 + if self.training: + u = torch.tanh(x) + return s + u - u.detach() + else: + return s + + +def train_encoder( + train_input, + dim_hidden=64, + block_size=16, + nb_bits_per_block=10, + lr_start=1e-3, + lr_end=1e-5, + nb_epochs=10, + batch_size=25, + device=torch.device("cpu"), +): + mu, std = train_input.mean(), train_input.std() + + encoder = nn.Sequential( + Normalizer(mu, std), + nn.Conv2d(3, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d(dim_hidden, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d(dim_hidden, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d(dim_hidden, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d(dim_hidden, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d( + dim_hidden, + nb_bits_per_block, + kernel_size=block_size, + stride=block_size, + padding=0, + ), + SignSTE(), + ) + + decoder = nn.Sequential( + nn.ConvTranspose2d( + nb_bits_per_block, + dim_hidden, + kernel_size=block_size, + stride=block_size, + padding=0, + ), + nn.ReLU(), + nn.Conv2d(dim_hidden, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d(dim_hidden, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d(dim_hidden, dim_hidden, kernel_size=5, stride=1, padding=2), + nn.ReLU(), + nn.Conv2d(dim_hidden, 3, kernel_size=5, stride=1, padding=2), + ) + + model = nn.Sequential(encoder, decoder) + + nb_parameters = sum(p.numel() for p in model.parameters()) + + print(f"nb_parameters {nb_parameters}") + + model.to(device) + + for k in range(nb_epochs): + lr = math.exp( + math.log(lr_start) + math.log(lr_end / lr_start) / (nb_epochs - 1) * k + ) + print(f"lr {lr}") + optimizer = torch.optim.Adam(model.parameters(), lr=lr) + acc_loss, nb_samples = 0.0, 0 + + for input in tqdm.tqdm( + train_input.split(batch_size), + dynamic_ncols=True, + desc="vqae-train", + total=train_input.size(0) // batch_size, + ): + output = model(input) + loss = F.mse_loss(output, input) + acc_loss += loss.item() * input.size(0) + nb_samples += input.size(0) + + optimizer.zero_grad() + loss.backward() + optimizer.step() + + print(f"loss {k} {acc_loss/nb_samples}") + sys.stdout.flush() + + return encoder, decoder + + +###################################################################### + if __name__ == "__main__": - frames, actions = sequence(nb_steps=31,all_frames=True) - frames = torch.cat(frames,0) - print(f"{frames.size()=}") - torchvision.utils.save_image(frames, "seq.png", nrow=8) + import time + + all_frames = [] + nb = 25000 + start_time = time.perf_counter() + for n in tqdm.tqdm( + range(nb), + dynamic_ncols=True, + desc="world-data", + ): + frames, actions = generate_sequence(nb_steps=31) + all_frames += frames + end_time = time.perf_counter() + print(f"{nb / (end_time - start_time):.02f} samples per second") + + input = torch.cat(all_frames, 0) + encoder, decoder = train_encoder(input) + + # x = patchify(input, 8) + # y = x.reshape(x.size(0), -1) + # print(f"{x.size()=} {y.size()=}") + # centroids, t = kmeans(y, 4096) + # results = centroids[t] + # results = results.reshape(x.size()) + # results = patchify(results, 8, input.size()) + + z = encoder(input) + results = decoder(z) + + print(f"{input.size()=} {z.size()=} {results.size()=}") + + torchvision.utils.save_image(input[:64], "orig.png", nrow=8) + + torchvision.utils.save_image(results[:64], "qtiz.png", nrow=8) + + # frames, actions = generate_sequence(nb_steps=31, all_frames=True) + # frames = torch.cat(frames, 0) + # torchvision.utils.save_image(frames, "seq.png", nrow=8)