Merge pull request #54 from bit-bots/feature/destillation

Add distillation script for faster inference

Author: Flova

.gitignore

@@ -209,5 +209,8 @@ ENV/
 # Torch models
 *.pth
 
+# Wandb Logs
+ddlitlab2024/ml/training/wandb/
+
 # Input data
 input/

ddlitlab2024/dataset/models.py

@@ -11,8 +11,8 @@
 
 
 class RobotState(str, Enum):
-    POSITIONING = "POSITIONING"
     PLAYING = "PLAYING"
+    POSITIONING = "POSITIONING"
     STOPPED = "STOPPED"
     UNKNOWN = "UNKNOWN"
 
@@ -219,7 +219,8 @@ class JointStates(Base):
         Index(None, "recording_id", asc("stamp")),
     )
 
-    def get_ordered_joint_names(self) -> list[str]:
+    @staticmethod
+    def get_ordered_joint_names() -> list[str]:
         return [
             JointStates.head_pan.name,
             JointStates.head_tilt.name,

ddlitlab2024/dataset/pytorch.py

@@ -4,14 +4,15 @@
 from collections.abc import Iterable
 from dataclasses import asdict, dataclass
 from pathlib import Path
-from typing import Literal
+from typing import Literal, Optional
 
+import cv2
 import numpy as np
 import pandas as pd
 import torch
-from profilehooks import profile
 from tabulate import tabulate
 from torch.utils.data import DataLoader, Dataset
+from torchvision.transforms import v2
 
 from ddlitlab2024 import DB_PATH
 from ddlitlab2024.dataset import logger
@@ -40,15 +41,15 @@ class DDLITLab2024Dataset(Dataset):
     @dataclass
     class Result:
         joint_command: torch.Tensor
-        joint_command_history: torch.Tensor
-        joint_state: torch.Tensor
-        rotation: torch.Tensor
-        game_state: torch.Tensor
-        image_data: torch.Tensor
-        image_stamps: torch.Tensor
+        joint_command_history: Optional[torch.Tensor]
+        joint_state: Optional[torch.Tensor]
+        rotation: Optional[torch.Tensor]
+        game_state: Optional[torch.Tensor]
+        image_data: Optional[torch.Tensor]
+        image_stamps: Optional[torch.Tensor]
 
         def shapes(self) -> dict[str, tuple[int, ...]]:
-            return {k: v.shape for k, v in asdict(self).items()}
+            return {k: v.shape for k, v in asdict(self).items() if v is not None}
 
     def __init__(
         self,
@@ -61,8 +62,14 @@ def __init__(
         sampling_rate: int = 100,
         max_fps_video: int = 10,
         num_frames_video: int = 50,
-        trajectory_stride: int = 10,
+        image_resolution: int = 480,
+        trajectory_stride: int = 1,
         num_joints: int = 20,
+        use_images: bool = True,
+        use_imu: bool = True,
+        use_joint_states: bool = True,
+        use_action_history: bool = True,
+        use_game_state: bool = True,
     ):
         # Initialize the database connection
         self.db_connection: sqlite3.Connection = db_connection if db_connection else connect_to_db()
@@ -76,8 +83,15 @@ def __init__(
         self.sampling_rate = sampling_rate
         self.max_fps_video = max_fps_video
         self.num_frames_video = num_frames_video
+        self.image_resolution = image_resolution
         self.trajectory_stride = trajectory_stride
         self.num_joints = num_joints
+        self.joint_names = JointStates.get_ordered_joint_names()
+        self.use_images = use_images
+        self.use_imu = use_imu
+        self.use_joint_states = use_joint_states
+        self.use_action_history = use_action_history
+        self.use_game_state = use_game_state
 
         # Print out metadata
         cursor = self.db_connection.cursor()
@@ -100,7 +114,9 @@ def __init__(
             assert num_data_points > 0, "Recording length is negative or zero"
             total_samples_before = self.num_samples
             # Calculate the number of batches that can be build from the recording including the stride
-            self.num_samples += int(num_data_points / self.trajectory_stride)
+            self.num_samples += int(
+                (num_data_points - self.num_samples_joint_trajectory_future) / self.trajectory_stride
+            )
             # Store the boundaries of the samples for later retrieval
             self.sample_boundaries.append((total_samples_before, self.num_samples, recording_id))
 
@@ -119,7 +135,7 @@ def query_joint_data(
         )
 
         # Convert to numpy array, keep only the joint angle columns in alphabetical order
-        raw_joint_data = raw_joint_data[JointStates.get_ordered_joint_names()].to_numpy(dtype=np.float32)
+        raw_joint_data = raw_joint_data[self.joint_names].to_numpy(dtype=np.float32)
 
         assert raw_joint_data.shape[1] == self.num_joints, "The number of joints is not correct"
 
@@ -155,7 +171,7 @@ def query_joint_data_history(
         return raw_joint_data
 
     def query_image_data(
-        self, recording_id: int, end_time_stamp: float, context_len: float, num_frames: int
+        self, recording_id: int, end_time_stamp: float, context_len: float, num_frames: int, resolution: int
     ) -> tuple[torch.Tensor, torch.Tensor]:
         # Get the image data
         cursor = self.db_connection.cursor()
@@ -178,25 +194,36 @@ def query_image_data(
         stamps = []
         image_data = []
 
+        # Define the preprocessing pipeline
+        preprocessing = v2.Compose(
+            [
+                v2.ToImage(),
+                v2.ToDtype(torch.float32, scale=True),
+                v2.Normalize((0.485, 0.456, 0.406), (0.229, 0.224, 0.225)),
+            ]
+        )
+
         # Get the raw image data
         for stamp, data in response:
             # Deserialize the image data
             image = np.frombuffer(data, dtype=np.uint8).reshape(480, 480, 3)
-            # Make chw from hwc
-            image = np.moveaxis(image, -1, 0)
+            # Resize the image
+            image = cv2.resize(image, (resolution, resolution), interpolation=cv2.INTER_AREA)
+            # Apply the preprocessing pipeline
+            image = preprocessing(image)
             # Append to the list
             image_data.append(image)
             stamps.append(stamp)
 
         # Apply zero padding if necessary
         if len(image_data) < num_frames:
             image_data = [
-                np.zeros((3, 480, 480), dtype=np.uint8) for _ in range(num_frames - len(image_data))
+                torch.zeros((3, resolution, resolution), dtype=torch.float32)
+                for _ in range(num_frames - len(image_data))
             ] + image_data
             stamps = [end_time_stamp - context_len for _ in range(num_frames - len(stamps))] + stamps
 
-        # Convert to tensor
-        image_data = torch.from_numpy(np.stack(image_data, axis=0)).float()
+        image_data = torch.stack(image_data, axis=0)
         stamps = torch.tensor(stamps)
 
         return stamps, image_data
@@ -244,7 +271,7 @@ def query_imu_data(self, recording_id: int, end_sample: int, num_samples: int) -
             case rep:
                 raise NotImplementedError(f"Unknown IMU representation {rep}")
 
-        return torch.from_numpy(imu_data)
+        return torch.from_numpy(imu_data).float()
 
     def query_current_game_state(self, recording_id: int, stamp: float) -> torch.Tensor:
         cursor = self.db_connection.cursor()
@@ -265,7 +292,6 @@ def query_current_game_state(self, recording_id: int, stamp: float) -> torch.Ten
 
         return torch.tensor(int(game_state))
 
-    @profile
     def __getitem__(self, idx: int) -> Result:
         # Find the recording that contains the sample
         for start_sample, end_sample, recording_id in self.sample_boundaries:
@@ -288,20 +314,30 @@ def __getitem__(self, idx: int) -> Result:
         stamp = sample_joint_command_index / self.sampling_rate
 
         # Get the image data
-        image_stamps, image_data = self.query_image_data(
-            recording_id,
-            stamp,
-            # The duration is used to narrow down the query for a faster retrieval, so we consider it as an upper bound
-            (self.num_frames_video + 1) / self.max_fps_video,
-            self.num_frames_video,
-        )
-        # Some sanity checks
-        assert all([stamp >= image_stamp for image_stamp in image_stamps]), "The image data is not synchronized"
-        assert len(image_stamps) == self.num_frames_video, "The image data is not the correct length"
-        assert image_data.shape == (self.num_frames_video, 3, 480, 480), "The image data has the wrong shape"
-        assert (
-            image_stamps[0] >= stamp - (self.num_frames_video + 1) / self.max_fps_video
-        ), "The image data is not synchronized"
+        if self.use_images:
+            image_stamps, image_data = self.query_image_data(
+                recording_id,
+                stamp,
+                # The duration is used to narrow down the query for a faster retrieval,
+                # so we consider it as an upper bound
+                (self.num_frames_video + 1) / self.max_fps_video,
+                self.num_frames_video,
+                self.image_resolution,
+            )
+            # Some sanity checks
+            assert all([stamp >= image_stamp for image_stamp in image_stamps]), "The image data is not synchronized"
+            assert len(image_stamps) == self.num_frames_video, "The image data is not the correct length"
+            assert image_data.shape == (
+                self.num_frames_video,
+                3,
+                self.image_resolution,
+                self.image_resolution,
+            ), "The image data has the wrong shape"
+            assert (
+                image_stamps[0] >= stamp - (self.num_frames_video + 1) / self.max_fps_video
+            ), "The image data is not synchronized"
+        else:
+            image_stamps, image_data = None, None
 
         # Get the joint command target (future)
         joint_command = self.query_joint_data(
@@ -310,20 +346,32 @@ def __getitem__(self, idx: int) -> Result:
         assert len(joint_command) == self.num_samples_joint_trajectory_future, "The joint command has the wrong length"
 
         # Get the joint command history
-        joint_command_history = self.query_joint_data_history(
-            recording_id, sample_joint_command_index, self.num_samples_joint_trajectory, "JointCommands"
-        )
+        if self.use_action_history:
+            joint_command_history = self.query_joint_data_history(
+                recording_id, sample_joint_command_index, self.num_samples_joint_trajectory, "JointCommands"
+            )
+        else:
+            joint_command_history = None
 
         # Get the joint state
-        joint_state = self.query_joint_data_history(
-            recording_id, sample_joint_command_index, self.num_samples_joint_states, "JointStates"
-        )
+        if self.use_joint_states:
+            joint_state = self.query_joint_data_history(
+                recording_id, sample_joint_command_index, self.num_samples_joint_states, "JointStates"
+            )
+        else:
+            joint_state = None
 
         # Get the robot rotation (IMU data)
-        robot_rotation = self.query_imu_data(recording_id, sample_joint_command_index, self.num_samples_imu)
+        if self.use_imu:
+            robot_rotation = self.query_imu_data(recording_id, sample_joint_command_index, self.num_samples_imu)
+        else:
+            robot_rotation = None
 
         # Get the game state
-        game_state = self.query_current_game_state(recording_id, stamp)
+        if self.use_game_state:
+            game_state = self.query_current_game_state(recording_id, stamp)
+        else:
+            game_state = None
 
         return self.Result(
             joint_command=joint_command,
@@ -339,12 +387,14 @@ def __getitem__(self, idx: int) -> Result:
     def collate_fn(batch: Iterable[Result]) -> Result:
         return DDLITLab2024Dataset.Result(
             joint_command=torch.stack([x.joint_command for x in batch]),
-            joint_command_history=torch.stack([x.joint_command_history for x in batch]),
-            joint_state=torch.stack([x.joint_state for x in batch]),
-            image_data=torch.stack([x.image_data for x in batch]),
-            image_stamps=torch.stack([x.image_stamps for x in batch]),
-            rotation=torch.stack([x.rotation for x in batch]),
-            game_state=torch.tensor([x.game_state for x in batch]),
+            joint_command_history=torch.stack([x.joint_command_history for x in batch])
+            if batch[0].joint_command_history is not None
+            else None,
+            joint_state=torch.stack([x.joint_state for x in batch]) if batch[0].joint_state is not None else None,
+            image_data=torch.stack([x.image_data for x in batch]) if batch[0].image_data is not None else None,
+            image_stamps=torch.stack([x.image_stamps for x in batch]) if batch[0].image_stamps is not None else None,
+            rotation=torch.stack([x.rotation for x in batch]) if batch[0].rotation is not None else None,
+            game_state=torch.tensor([x.game_state for x in batch]) if batch[0].game_state is not None else None,
         )
 
 

ddlitlab2024/ml/inference/plot.py

@@ -25,7 +25,7 @@
     # Parse the command line arguments
     parser = argparse.ArgumentParser(description="Inference Plot")
     parser.add_argument("checkpoint", type=str, help="Path to the checkpoint to load")
-    parser.add_argument("--steps", type=int, default=30, help="Number of denoising steps")
+    parser.add_argument("--steps", type=int, default=30, help="Number of denoising steps (not used for distilled)")
     parser.add_argument("--num_samples", type=int, default=10, help="Number of samples to generate")
     args = parser.parse_args()
 
@@ -55,8 +55,12 @@
         image_encoder_type=ImageEncoderType(params["image_encoder_type"]),
         num_image_sequence_encoder_layers=params["num_image_sequence_encoder_layers"],
         image_context_length=params["image_context_length"],
+        image_use_final_avgpool=params.get("image_use_final_avgpool", True),
+        image_resolution=params.get("image_resolution", 480),
         num_decoder_layers=params["num_decoder_layers"],
         trajectory_prediction_length=params["trajectory_prediction_length"],
+        use_gamestate=params["use_gamestate"],
+        encoder_patch_size=params["encoder_patch_size"],
     ).to(device)
     normalizer = Normalizer(model.mean, model.std)
     model.load_state_dict(checkpoint["model_state_dict"])
@@ -76,6 +80,13 @@
         num_samples_joint_trajectory=params["action_context_length"],
         num_samples_imu=params["imu_context_length"],
         num_samples_joint_states=params["joint_state_context_length"],
+        imu_representation=IMUEncoder.OrientationEmbeddingMethod(params["imu_orientation_embedding_method"]),
+        use_action_history=params["use_action_history"],
+        use_imu=params["use_imu"],
+        use_joint_states=params["use_joint_states"],
+        use_images=params["use_images"],
+        use_game_state=params["use_gamestate"],
+        image_resolution=params.get("image_resolution", 480),
     )
 
     # Create DataLoader object
@@ -104,15 +115,20 @@
         noisy_trajectory = torch.randn_like(joint_targets).to(device)
         trajectory = noisy_trajectory
 
-        # Perform the denoising process
-        scheduler.set_timesteps(args.steps)
-        for t in scheduler.timesteps:
+        if params.get("distilled_decoder", False):
+            # Directly predict the trajectory based on the noise
             with torch.no_grad():
-                # Predict the noise residual
-                noise_pred = model(batch, trajectory, torch.tensor([t], device=device))
-
-                # Update the trajectory based on the predicted noise and the current step of the denoising process
-                trajectory = scheduler.step(noise_pred, t, trajectory).prev_sample
+                trajectory = model(batch, noisy_trajectory, torch.tensor([0], device=device))
+        else:
+            # Perform the denoising process
+            scheduler.set_timesteps(args.steps)
+            for t in scheduler.timesteps:
+                with torch.no_grad():
+                    # Predict the noise residual
+                    noise_pred = model(batch, trajectory, torch.tensor([t], device=device))
+
+                    # Update the trajectory based on the predicted noise and the current step of the denoising process
+                    trajectory = scheduler.step(noise_pred, t, trajectory).prev_sample
 
         # Undo the normalization
         trajectory = normalizer.denormalize(trajectory)