597 lines
24 KiB
Python
597 lines
24 KiB
Python
"""Diffusion Policy as per "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"
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TODO(alexander-soare):
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- Remove reliance on Robomimic for SpatialSoftmax.
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- Remove reliance on diffusers for DDPMScheduler and LR scheduler.
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"""
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import math
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from collections import deque
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from typing import Callable
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import einops
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import torch
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import torch.nn.functional as F # noqa: N812
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import torchvision
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from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
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from huggingface_hub import PyTorchModelHubMixin
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from robomimic.models.base_nets import SpatialSoftmax
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from torch import Tensor, nn
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from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig
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from lerobot.common.policies.normalize import Normalize, Unnormalize
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from lerobot.common.policies.utils import (
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get_device_from_parameters,
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get_dtype_from_parameters,
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populate_queues,
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)
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class DiffusionPolicy(nn.Module, PyTorchModelHubMixin):
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"""
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Diffusion Policy as per "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"
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(paper: https://arxiv.org/abs/2303.04137, code: https://github.com/real-stanford/diffusion_policy).
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"""
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name = "diffusion"
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def __init__(
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self,
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config: DiffusionConfig | None = None,
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dataset_stats: dict[str, dict[str, Tensor]] | None = None,
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):
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"""
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Args:
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config: Policy configuration class instance or None, in which case the default instantiation of
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the configuration class is used.
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dataset_stats: Dataset statistics to be used for normalization. If not passed here, it is expected
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that they will be passed with a call to `load_state_dict` before the policy is used.
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"""
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super().__init__()
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if config is None:
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config = DiffusionConfig()
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self.config = config
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self.normalize_inputs = Normalize(
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config.input_shapes, config.input_normalization_modes, dataset_stats
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)
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self.normalize_targets = Normalize(
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config.output_shapes, config.output_normalization_modes, dataset_stats
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)
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self.unnormalize_outputs = Unnormalize(
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config.output_shapes, config.output_normalization_modes, dataset_stats
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)
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# queues are populated during rollout of the policy, they contain the n latest observations and actions
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self._queues = None
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self.diffusion = DiffusionModel(config)
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def reset(self):
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"""
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Clear observation and action queues. Should be called on `env.reset()`
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"""
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self._queues = {
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"observation.image": deque(maxlen=self.config.n_obs_steps),
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"observation.state": deque(maxlen=self.config.n_obs_steps),
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"action": deque(maxlen=self.config.n_action_steps),
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}
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@torch.no_grad
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def select_action(self, batch: dict[str, Tensor]) -> Tensor:
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"""Select a single action given environment observations.
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This method handles caching a history of observations and an action trajectory generated by the
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underlying diffusion model. Here's how it works:
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- `n_obs_steps` steps worth of observations are cached (for the first steps, the observation is
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copied `n_obs_steps` times to fill the cache).
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- The diffusion model generates `horizon` steps worth of actions.
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- `n_action_steps` worth of actions are actually kept for execution, starting from the current step.
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Schematically this looks like:
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----------------------------------------------------------------------------------------------
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(legend: o = n_obs_steps, h = horizon, a = n_action_steps)
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|timestep | n-o+1 | n-o+2 | ..... | n | ..... | n+a-1 | n+a | ..... |n-o+1+h|
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|observation is used | YES | YES | YES | NO | NO | NO | NO | NO | NO |
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|action is generated | YES | YES | YES | YES | YES | YES | YES | YES | YES |
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|action is used | NO | NO | NO | YES | YES | YES | NO | NO | NO |
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----------------------------------------------------------------------------------------------
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Note that this means we require: `n_action_steps < horizon - n_obs_steps + 1`. Also, note that
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"horizon" may not the best name to describe what the variable actually means, because this period is
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actually measured from the first observation which (if `n_obs_steps` > 1) happened in the past.
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"""
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assert "observation.image" in batch
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assert "observation.state" in batch
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batch = self.normalize_inputs(batch)
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self._queues = populate_queues(self._queues, batch)
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if len(self._queues["action"]) == 0:
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# stack n latest observations from the queue
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batch = {key: torch.stack(list(self._queues[key]), dim=1) for key in batch}
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actions = self.diffusion.generate_actions(batch)
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# TODO(rcadene): make above methods return output dictionary?
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actions = self.unnormalize_outputs({"action": actions})["action"]
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self._queues["action"].extend(actions.transpose(0, 1))
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action = self._queues["action"].popleft()
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return action
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def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
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"""Run the batch through the model and compute the loss for training or validation."""
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batch = self.normalize_inputs(batch)
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batch = self.normalize_targets(batch)
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loss = self.diffusion.compute_loss(batch)
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return {"loss": loss}
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class DiffusionModel(nn.Module):
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def __init__(self, config: DiffusionConfig):
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super().__init__()
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self.config = config
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self.rgb_encoder = DiffusionRgbEncoder(config)
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self.unet = DiffusionConditionalUnet1d(
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config,
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global_cond_dim=(config.output_shapes["action"][0] + self.rgb_encoder.feature_dim)
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* config.n_obs_steps,
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)
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self.noise_scheduler = DDPMScheduler(
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num_train_timesteps=config.num_train_timesteps,
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beta_start=config.beta_start,
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beta_end=config.beta_end,
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beta_schedule=config.beta_schedule,
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variance_type="fixed_small",
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clip_sample=config.clip_sample,
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clip_sample_range=config.clip_sample_range,
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prediction_type=config.prediction_type,
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)
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if config.num_inference_steps is None:
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self.num_inference_steps = self.noise_scheduler.config.num_train_timesteps
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else:
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self.num_inference_steps = config.num_inference_steps
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# ========= inference ============
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def conditional_sample(
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self, batch_size: int, global_cond: Tensor | None = None, generator: torch.Generator | None = None
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) -> Tensor:
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device = get_device_from_parameters(self)
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dtype = get_dtype_from_parameters(self)
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# Sample prior.
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sample = torch.randn(
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size=(batch_size, self.config.horizon, self.config.output_shapes["action"][0]),
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dtype=dtype,
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device=device,
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generator=generator,
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)
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self.noise_scheduler.set_timesteps(self.num_inference_steps)
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for t in self.noise_scheduler.timesteps:
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# Predict model output.
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model_output = self.unet(
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sample,
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torch.full(sample.shape[:1], t, dtype=torch.long, device=sample.device),
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global_cond=global_cond,
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)
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# Compute previous image: x_t -> x_t-1
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sample = self.noise_scheduler.step(model_output, t, sample, generator=generator).prev_sample
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return sample
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def generate_actions(self, batch: dict[str, Tensor]) -> Tensor:
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"""
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This function expects `batch` to have (at least):
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{
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"observation.state": (B, n_obs_steps, state_dim)
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"observation.image": (B, n_obs_steps, C, H, W)
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}
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"""
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assert set(batch).issuperset({"observation.state", "observation.image"})
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batch_size, n_obs_steps = batch["observation.state"].shape[:2]
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assert n_obs_steps == self.config.n_obs_steps
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# Extract image feature (first combine batch and sequence dims).
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img_features = self.rgb_encoder(einops.rearrange(batch["observation.image"], "b n ... -> (b n) ..."))
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# Separate batch and sequence dims.
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img_features = einops.rearrange(img_features, "(b n) ... -> b n ...", b=batch_size)
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# Concatenate state and image features then flatten to (B, global_cond_dim).
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global_cond = torch.cat([batch["observation.state"], img_features], dim=-1).flatten(start_dim=1)
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# run sampling
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sample = self.conditional_sample(batch_size, global_cond=global_cond)
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# `horizon` steps worth of actions (from the first observation).
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actions = sample[..., : self.config.output_shapes["action"][0]]
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# Extract `n_action_steps` steps worth of actions (from the current observation).
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start = n_obs_steps - 1
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end = start + self.config.n_action_steps
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actions = actions[:, start:end]
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return actions
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def compute_loss(self, batch: dict[str, Tensor]) -> Tensor:
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"""
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This function expects `batch` to have (at least):
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{
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"observation.state": (B, n_obs_steps, state_dim)
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"observation.image": (B, n_obs_steps, C, H, W)
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"action": (B, horizon, action_dim)
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"action_is_pad": (B, horizon)
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}
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"""
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# Input validation.
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assert set(batch).issuperset({"observation.state", "observation.image", "action", "action_is_pad"})
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batch_size, n_obs_steps = batch["observation.state"].shape[:2]
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horizon = batch["action"].shape[1]
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assert horizon == self.config.horizon
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assert n_obs_steps == self.config.n_obs_steps
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# Extract image feature (first combine batch and sequence dims).
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img_features = self.rgb_encoder(einops.rearrange(batch["observation.image"], "b n ... -> (b n) ..."))
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# Separate batch and sequence dims.
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img_features = einops.rearrange(img_features, "(b n) ... -> b n ...", b=batch_size)
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# Concatenate state and image features then flatten to (B, global_cond_dim).
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global_cond = torch.cat([batch["observation.state"], img_features], dim=-1).flatten(start_dim=1)
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trajectory = batch["action"]
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# Forward diffusion.
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# Sample noise to add to the trajectory.
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eps = torch.randn(trajectory.shape, device=trajectory.device)
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# Sample a random noising timestep for each item in the batch.
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timesteps = torch.randint(
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low=0,
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high=self.noise_scheduler.config.num_train_timesteps,
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size=(trajectory.shape[0],),
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device=trajectory.device,
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).long()
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# Add noise to the clean trajectories according to the noise magnitude at each timestep.
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noisy_trajectory = self.noise_scheduler.add_noise(trajectory, eps, timesteps)
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# Run the denoising network (that might denoise the trajectory, or attempt to predict the noise).
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pred = self.unet(noisy_trajectory, timesteps, global_cond=global_cond)
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# Compute the loss.
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# The target is either the original trajectory, or the noise.
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if self.config.prediction_type == "epsilon":
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target = eps
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elif self.config.prediction_type == "sample":
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target = batch["action"]
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else:
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raise ValueError(f"Unsupported prediction type {self.config.prediction_type}")
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loss = F.mse_loss(pred, target, reduction="none")
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# Mask loss wherever the action is padded with copies (edges of the dataset trajectory).
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if "action_is_pad" in batch:
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in_episode_bound = ~batch["action_is_pad"]
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loss = loss * in_episode_bound.unsqueeze(-1)
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return loss.mean()
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class DiffusionRgbEncoder(nn.Module):
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"""Encoder an RGB image into a 1D feature vector.
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Includes the ability to normalize and crop the image first.
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"""
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def __init__(self, config: DiffusionConfig):
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super().__init__()
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# Set up optional preprocessing.
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if config.crop_shape is not None:
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self.do_crop = True
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# Always use center crop for eval
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self.center_crop = torchvision.transforms.CenterCrop(config.crop_shape)
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if config.crop_is_random:
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self.maybe_random_crop = torchvision.transforms.RandomCrop(config.crop_shape)
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else:
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self.maybe_random_crop = self.center_crop
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else:
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self.do_crop = False
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# Set up backbone.
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backbone_model = getattr(torchvision.models, config.vision_backbone)(
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weights=config.pretrained_backbone_weights
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)
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# Note: This assumes that the layer4 feature map is children()[-3]
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# TODO(alexander-soare): Use a safer alternative.
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self.backbone = nn.Sequential(*(list(backbone_model.children())[:-2]))
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if config.use_group_norm:
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if config.pretrained_backbone_weights:
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raise ValueError(
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"You can't replace BatchNorm in a pretrained model without ruining the weights!"
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)
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self.backbone = _replace_submodules(
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root_module=self.backbone,
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predicate=lambda x: isinstance(x, nn.BatchNorm2d),
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func=lambda x: nn.GroupNorm(num_groups=x.num_features // 16, num_channels=x.num_features),
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)
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# Set up pooling and final layers.
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# Use a dry run to get the feature map shape.
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with torch.inference_mode():
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feat_map_shape = tuple(
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self.backbone(torch.zeros(size=(1, *config.input_shapes["observation.image"]))).shape[1:]
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)
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self.pool = SpatialSoftmax(feat_map_shape, num_kp=config.spatial_softmax_num_keypoints)
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self.feature_dim = config.spatial_softmax_num_keypoints * 2
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self.out = nn.Linear(config.spatial_softmax_num_keypoints * 2, self.feature_dim)
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self.relu = nn.ReLU()
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def forward(self, x: Tensor) -> Tensor:
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"""
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Args:
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x: (B, C, H, W) image tensor with pixel values in [0, 1].
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Returns:
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(B, D) image feature.
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"""
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# Preprocess: maybe crop (if it was set up in the __init__).
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if self.do_crop:
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if self.training: # noqa: SIM108
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x = self.maybe_random_crop(x)
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else:
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# Always use center crop for eval.
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x = self.center_crop(x)
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# Extract backbone feature.
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x = torch.flatten(self.pool(self.backbone(x)), start_dim=1)
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# Final linear layer with non-linearity.
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x = self.relu(self.out(x))
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return x
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def _replace_submodules(
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root_module: nn.Module, predicate: Callable[[nn.Module], bool], func: Callable[[nn.Module], nn.Module]
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) -> nn.Module:
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"""
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Args:
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root_module: The module for which the submodules need to be replaced
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predicate: Takes a module as an argument and must return True if the that module is to be replaced.
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func: Takes a module as an argument and returns a new module to replace it with.
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Returns:
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The root module with its submodules replaced.
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"""
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if predicate(root_module):
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return func(root_module)
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replace_list = [k.split(".") for k, m in root_module.named_modules(remove_duplicate=True) if predicate(m)]
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for *parents, k in replace_list:
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parent_module = root_module
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if len(parents) > 0:
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parent_module = root_module.get_submodule(".".join(parents))
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if isinstance(parent_module, nn.Sequential):
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src_module = parent_module[int(k)]
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else:
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src_module = getattr(parent_module, k)
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tgt_module = func(src_module)
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if isinstance(parent_module, nn.Sequential):
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parent_module[int(k)] = tgt_module
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else:
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setattr(parent_module, k, tgt_module)
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# verify that all BN are replaced
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assert not any(predicate(m) for _, m in root_module.named_modules(remove_duplicate=True))
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return root_module
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class DiffusionSinusoidalPosEmb(nn.Module):
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"""1D sinusoidal positional embeddings as in Attention is All You Need."""
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def __init__(self, dim: int):
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super().__init__()
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self.dim = dim
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def forward(self, x: Tensor) -> Tensor:
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device = x.device
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half_dim = self.dim // 2
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emb = math.log(10000) / (half_dim - 1)
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emb = torch.exp(torch.arange(half_dim, device=device) * -emb)
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emb = x.unsqueeze(-1) * emb.unsqueeze(0)
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emb = torch.cat((emb.sin(), emb.cos()), dim=-1)
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return emb
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class DiffusionConv1dBlock(nn.Module):
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"""Conv1d --> GroupNorm --> Mish"""
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def __init__(self, inp_channels, out_channels, kernel_size, n_groups=8):
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super().__init__()
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self.block = nn.Sequential(
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nn.Conv1d(inp_channels, out_channels, kernel_size, padding=kernel_size // 2),
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nn.GroupNorm(n_groups, out_channels),
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nn.Mish(),
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)
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def forward(self, x):
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return self.block(x)
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class DiffusionConditionalUnet1d(nn.Module):
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"""A 1D convolutional UNet with FiLM modulation for conditioning.
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Note: this removes local conditioning as compared to the original diffusion policy code.
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"""
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def __init__(self, config: DiffusionConfig, global_cond_dim: int):
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super().__init__()
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self.config = config
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# Encoder for the diffusion timestep.
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self.diffusion_step_encoder = nn.Sequential(
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DiffusionSinusoidalPosEmb(config.diffusion_step_embed_dim),
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nn.Linear(config.diffusion_step_embed_dim, config.diffusion_step_embed_dim * 4),
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nn.Mish(),
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nn.Linear(config.diffusion_step_embed_dim * 4, config.diffusion_step_embed_dim),
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)
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# The FiLM conditioning dimension.
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cond_dim = config.diffusion_step_embed_dim + global_cond_dim
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# In channels / out channels for each downsampling block in the Unet's encoder. For the decoder, we
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# just reverse these.
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in_out = [(config.output_shapes["action"][0], config.down_dims[0])] + list(
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zip(config.down_dims[:-1], config.down_dims[1:], strict=True)
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)
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# Unet encoder.
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common_res_block_kwargs = {
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"cond_dim": cond_dim,
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"kernel_size": config.kernel_size,
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"n_groups": config.n_groups,
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"use_film_scale_modulation": config.use_film_scale_modulation,
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}
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self.down_modules = nn.ModuleList([])
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for ind, (dim_in, dim_out) in enumerate(in_out):
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is_last = ind >= (len(in_out) - 1)
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self.down_modules.append(
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nn.ModuleList(
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[
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DiffusionConditionalResidualBlock1d(dim_in, dim_out, **common_res_block_kwargs),
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DiffusionConditionalResidualBlock1d(dim_out, dim_out, **common_res_block_kwargs),
|
|
# Downsample as long as it is not the last block.
|
|
nn.Conv1d(dim_out, dim_out, 3, 2, 1) if not is_last else nn.Identity(),
|
|
]
|
|
)
|
|
)
|
|
|
|
# Processing in the middle of the auto-encoder.
|
|
self.mid_modules = nn.ModuleList(
|
|
[
|
|
DiffusionConditionalResidualBlock1d(
|
|
config.down_dims[-1], config.down_dims[-1], **common_res_block_kwargs
|
|
),
|
|
DiffusionConditionalResidualBlock1d(
|
|
config.down_dims[-1], config.down_dims[-1], **common_res_block_kwargs
|
|
),
|
|
]
|
|
)
|
|
|
|
# Unet decoder.
|
|
self.up_modules = nn.ModuleList([])
|
|
for ind, (dim_out, dim_in) in enumerate(reversed(in_out[1:])):
|
|
is_last = ind >= (len(in_out) - 1)
|
|
self.up_modules.append(
|
|
nn.ModuleList(
|
|
[
|
|
# dim_in * 2, because it takes the encoder's skip connection as well
|
|
DiffusionConditionalResidualBlock1d(dim_in * 2, dim_out, **common_res_block_kwargs),
|
|
DiffusionConditionalResidualBlock1d(dim_out, dim_out, **common_res_block_kwargs),
|
|
# Upsample as long as it is not the last block.
|
|
nn.ConvTranspose1d(dim_out, dim_out, 4, 2, 1) if not is_last else nn.Identity(),
|
|
]
|
|
)
|
|
)
|
|
|
|
self.final_conv = nn.Sequential(
|
|
DiffusionConv1dBlock(config.down_dims[0], config.down_dims[0], kernel_size=config.kernel_size),
|
|
nn.Conv1d(config.down_dims[0], config.output_shapes["action"][0], 1),
|
|
)
|
|
|
|
def forward(self, x: Tensor, timestep: Tensor | int, global_cond=None) -> Tensor:
|
|
"""
|
|
Args:
|
|
x: (B, T, input_dim) tensor for input to the Unet.
|
|
timestep: (B,) tensor of (timestep_we_are_denoising_from - 1).
|
|
global_cond: (B, global_cond_dim)
|
|
output: (B, T, input_dim)
|
|
Returns:
|
|
(B, T, input_dim) diffusion model prediction.
|
|
"""
|
|
# For 1D convolutions we'll need feature dimension first.
|
|
x = einops.rearrange(x, "b t d -> b d t")
|
|
|
|
timesteps_embed = self.diffusion_step_encoder(timestep)
|
|
|
|
# If there is a global conditioning feature, concatenate it to the timestep embedding.
|
|
if global_cond is not None:
|
|
global_feature = torch.cat([timesteps_embed, global_cond], axis=-1)
|
|
else:
|
|
global_feature = timesteps_embed
|
|
|
|
# Run encoder, keeping track of skip features to pass to the decoder.
|
|
encoder_skip_features: list[Tensor] = []
|
|
for resnet, resnet2, downsample in self.down_modules:
|
|
x = resnet(x, global_feature)
|
|
x = resnet2(x, global_feature)
|
|
encoder_skip_features.append(x)
|
|
x = downsample(x)
|
|
|
|
for mid_module in self.mid_modules:
|
|
x = mid_module(x, global_feature)
|
|
|
|
# Run decoder, using the skip features from the encoder.
|
|
for resnet, resnet2, upsample in self.up_modules:
|
|
x = torch.cat((x, encoder_skip_features.pop()), dim=1)
|
|
x = resnet(x, global_feature)
|
|
x = resnet2(x, global_feature)
|
|
x = upsample(x)
|
|
|
|
x = self.final_conv(x)
|
|
|
|
x = einops.rearrange(x, "b d t -> b t d")
|
|
return x
|
|
|
|
|
|
class DiffusionConditionalResidualBlock1d(nn.Module):
|
|
"""ResNet style 1D convolutional block with FiLM modulation for conditioning."""
|
|
|
|
def __init__(
|
|
self,
|
|
in_channels: int,
|
|
out_channels: int,
|
|
cond_dim: int,
|
|
kernel_size: int = 3,
|
|
n_groups: int = 8,
|
|
# Set to True to do scale modulation with FiLM as well as bias modulation (defaults to False meaning
|
|
# FiLM just modulates bias).
|
|
use_film_scale_modulation: bool = False,
|
|
):
|
|
super().__init__()
|
|
|
|
self.use_film_scale_modulation = use_film_scale_modulation
|
|
self.out_channels = out_channels
|
|
|
|
self.conv1 = DiffusionConv1dBlock(in_channels, out_channels, kernel_size, n_groups=n_groups)
|
|
|
|
# FiLM modulation (https://arxiv.org/abs/1709.07871) outputs per-channel bias and (maybe) scale.
|
|
cond_channels = out_channels * 2 if use_film_scale_modulation else out_channels
|
|
self.cond_encoder = nn.Sequential(nn.Mish(), nn.Linear(cond_dim, cond_channels))
|
|
|
|
self.conv2 = DiffusionConv1dBlock(out_channels, out_channels, kernel_size, n_groups=n_groups)
|
|
|
|
# A final convolution for dimension matching the residual (if needed).
|
|
self.residual_conv = (
|
|
nn.Conv1d(in_channels, out_channels, 1) if in_channels != out_channels else nn.Identity()
|
|
)
|
|
|
|
def forward(self, x: Tensor, cond: Tensor) -> Tensor:
|
|
"""
|
|
Args:
|
|
x: (B, in_channels, T)
|
|
cond: (B, cond_dim)
|
|
Returns:
|
|
(B, out_channels, T)
|
|
"""
|
|
out = self.conv1(x)
|
|
|
|
# Get condition embedding. Unsqueeze for broadcasting to `out`, resulting in (B, out_channels, 1).
|
|
cond_embed = self.cond_encoder(cond).unsqueeze(-1)
|
|
if self.use_film_scale_modulation:
|
|
# Treat the embedding as a list of scales and biases.
|
|
scale = cond_embed[:, : self.out_channels]
|
|
bias = cond_embed[:, self.out_channels :]
|
|
out = scale * out + bias
|
|
else:
|
|
# Treat the embedding as biases.
|
|
out = out + cond_embed
|
|
|
|
out = self.conv2(out)
|
|
out = out + self.residual_conv(x)
|
|
return out
|