groot/vla/common/utils/misc/torch_utils.py

from __future__ import annotations

from copy import deepcopy
import os
import random
import time
from typing import List, Optional, Tuple, Union

import numpy as np
import torch
import torch.nn as nn
import tree
from typing_extensions import Literal

from ..data_structure.tree_utils import tree_value_at_path
from ..io.file_utils import f_join
from ..io.print_utils import to_readable_count_str
from .functional_utils import assert_implements_method, implements_method


def weight_init(m):
    """Custom weight init for Conv2D and Linear layers."""
    if isinstance(m, nn.Linear):
        nn.init.orthogonal_(m.weight.data)
        if hasattr(m.bias, "data"):
            m.bias.data.fill_(0.0)
    elif isinstance(m, nn.Conv2d) or isinstance(m, nn.ConvTranspose2d):
        gain = nn.init.calculate_gain("relu")
        nn.init.orthogonal_(m.weight.data, gain)
        if hasattr(m.bias, "data"):
            m.bias.data.fill_(0.0)


def get_seed(
    seed: Union[int, str, None],
    handle_invalid_seed: Literal["none", "system", "raise"] = "none",
) -> Optional[int]:
    """
    Args:
      seed:
        "system": use scrambled int based on system time
        None or int < 0: invalid seed values, see `handle_invalid_seed`
        int >= 0: returns seed
      handle_invalid_seed: None or int < 0
        - "none": returns None
        - "system": returns scrambled int based on system time
        - "raise": raise Exception
    """
    handle_invalid_seed = handle_invalid_seed.lower()
    assert handle_invalid_seed in ["none", "system", "raise"]
    if isinstance(seed, str):
        assert seed in ["system"]
        invalid = False
    else:
        assert seed is None or isinstance(seed, int)
        invalid = seed is None or seed < 0

    if seed == "system" or invalid and handle_invalid_seed == "system":
        # https://stackoverflow.com/questions/27276135/python-random-system-time-seed
        t = int(time.time() * 100000)
        return (
            ((t & 0xFF000000) >> 24)
            + ((t & 0x00FF0000) >> 8)
            + ((t & 0x0000FF00) << 8)
            + ((t & 0x000000FF) << 24)
        )
    elif invalid:
        if handle_invalid_seed == "none":
            return None
        elif handle_invalid_seed == "raise":
            raise ValueError(
                f"Invalid random seed: {seed}, " f'must be a non-negative integer or "system"'
            )
        else:
            raise NotImplementedError
    else:
        return seed


def set_deterministic(flag: bool = True):
    if not flag:
        return

    os.environ["CUBLAS_WORKSPACE_CONFIG"] = ":4096:8"
    os.environ["HOROVOD_FUSION_THRESHOLD"] = "0"
    import torch.backends.cudnn as cudnn

    cudnn.deterministic = True
    cudnn.benchmark = False
    if hasattr(torch, "use_deterministic_algorithms"):
        # only available in PyTorch >= 1.9
        torch.use_deterministic_algorithms(True)
    elif hasattr(torch, "set_deterministic"):
        # only available in PyTorch >= 1.7
        torch.set_deterministic(True)


def set_seed_everywhere(
    seed: Optional[Union[int, str]],
    deterministic=False,
    set_tensorflow=False,
    handle_invalid_seed: Literal["none", "system", "raise"] = "none",
) -> Optional[int]:
    """
    References:
    - https://github.com/NVIDIA/framework-determinism/blob/master/pytorch.md
    - https://pytorch.org/docs/stable/notes/randomness.html
    - CUBLAS env var:
        https://docs.nvidia.com/cuda/cublas/index.html#cublasApi_reproducibility

    Args:
        seed: see `get_seed()`
        handle_invalid_seed: see `get_seed()`
    """
    set_deterministic(deterministic)

    seed = get_seed(seed, handle_invalid_seed=handle_invalid_seed)
    if seed is None:
        return None

    os.environ["PYTHONHASHSEED"] = str(seed)
    random.seed(seed)
    np.random.seed(seed)
    torch.manual_seed(seed)
    if torch.cuda.is_available():
        torch.cuda.manual_seed_all(seed)
    if set_tensorflow:
        try:
            import tensorflow as tf

            tf.random.set_seed(seed)
        except ImportError:
            pass
    return seed


class eval_mode(object):
    def __init__(self, *models):
        self.models = models

    def __enter__(self):
        self.prev_states = []
        for model in self.models:
            self.prev_states.append(model.training)
            model.train(False)

    def __exit__(self, *args):
        for model, state in zip(self.models, self.prev_states):
            model.train(state)
        return False


def get_device(x, strict: bool = False) -> int:
    """
    Args:
        x: can be any arbitrary nested structure of np array and torch tensor
        strict: True to check all batch sizes are the same
    """
    xs = tree.flatten(x)

    def _get_device(x):
        if torch.is_tensor(x):
            return x.device
        elif isinstance(x, nn.Module):
            return get_module_device(x)
        else:
            return None

    if strict:
        devices = [_get_device(x) for x in xs]
        assert all(
            b == devices[0] for b in devices
        ), f"devices must all be the same in nested structure: {devices}"
        return devices[0]
    else:
        return _get_device(xs[0])


def load_torch(*fpath: str, map_location="cpu") -> dict:
    """
    Default maps to "cpu"
    """
    fpath = str(f_join(fpath))
    try:
        return torch.load(fpath, map_location=map_location)
    except RuntimeError as e:
        raise RuntimeError(f"{e}\n\n --- Error loading {fpath}")


def save_torch(D, *fpath):
    """
    Supports both (D, fpath) and (fpath, D) arg order, as long as one of them is a str
    """
    if isinstance(D, str):
        assert not isinstance(fpath, str), "Either torch_save(D, fpath) " "or torch_save(fpath, D)"
        fpath, D = D, fpath
    torch.save(D, str(f_join(fpath)))


# Aliases for consistency with load_pickle, load_text, load_json/yaml, etc.
torch_load = load_torch
torch_save = save_torch
dump_torch = save_torch


def torch_compute_stats(x, precision: int = 2):
    x = x.to(dtype=torch.float32)
    return (
        f"mean|std: {torch.mean(x):.{precision}f} +/- {torch.std(x):.{precision}f}, "
        f"median: {torch.median(x):.{precision}f}, "
        f"max: {torch.max(x):.{precision}f}, min: {torch.min(x):.{precision}f}"
    )


def tensor_hash(x: torch.Tensor, mode: str = "mean"):
    if isinstance(x, np.ndarray):
        x = torch.from_numpy(x)
    x = x.float().abs()
    if mode == "sum":
        x = x.sum()
    elif mode == "mean":
        x = x.mean()
    else:
        raise NotImplementedError
    return float(x)


def torch_flatten_indices(indices: torch.Tensor, shape: Tuple[int]):
    """
    Convert M dim indices to 1D indices with the given shape

    Args:
        indices: BxM, batch_size x M-dimensional
    """
    offsets = np.array(shape)  # e.g. [3, 4, 5, 6]
    offsets = np.append(offsets[1:], 1)  # [4, 5, 6, 1]
    offsets = np.cumprod(offsets[::-1])[::-1]  # [4*5*6, 5*6, 6, 1]
    offsets = torch.tensor(offsets.copy(), dtype=torch.long)
    assert offsets.size() == (len(shape),)
    return (indices * offsets.to(device=indices.device)).sum(dim=1)


def torch_multi_index_select(x: torch.Tensor, indices: torch.Tensor):
    """
    Args:
        x: N dim
        indices: [B x M], M <= N, will select the first M-D from N-D

    Returns:
        (N - M + 1) dim
    """
    assert indices.ndim == 2
    B, idx_dim = indices.size()
    x_shape = x.size()
    assert len(x_shape) >= idx_dim
    remainder_dim = len(x_shape) - idx_dim
    if remainder_dim == 0:
        x = torch.flatten(x)
    else:
        x = x.view(-1, *x_shape[-remainder_dim:])  # flatten the first M dims
    # convert indices to a 1D flattened array
    indices = torch_flatten_indices(indices, x_shape[:idx_dim])
    selected = x[indices]
    return selected


# ========== module operations =========
def set_requires_grad(model, requires_grad):
    if torch.is_tensor(model):
        model.requires_grad = requires_grad
    else:
        for param in model.parameters():
            param.requires_grad = requires_grad


def freeze_params(model):
    set_requires_grad(model, False)
    if not torch.is_tensor(model):
        model.eval()


def unfreeze_params(model):
    set_requires_grad(model, True)
    if not torch.is_tensor(model):
        model.train()


def clip_grad_value(model, max_value):
    with torch.no_grad():
        nn.utils.clip_grad_value_(model.parameters(), max_value)


def clip_grad_norm(model, max_norm, norm_type=2):
    """
    Returns:
        Total norm of the parameters (viewed as a single vector).
    """
    with torch.no_grad():
        return nn.utils.clip_grad_norm_(model.parameters(), max_norm=max_norm, norm_type=norm_type)


def implements_state_dict(object, requires_load_method: bool = False):
    cond = implements_method(object, "state_dict")
    if requires_load_method:
        return cond and implements_method(object, "load_state_dict")
    else:
        return cond


def unwrap_ddp_model(model):
    if hasattr(model, "module") and len(list(model.children())) == 1:
        model = model.module
    return model


class DDPMethodWrapper(nn.Module):
    """
    Wraps another module's method as forward(), because DDP only works on forward()
    This module can be wrapped with DDP and directly called.
    It will not save any extra parameters
    """

    def __init__(self, net: nn.Module, method_name: str):
        super().__init__()
        self.net = net
        assert_implements_method(net, method_name)
        self._method_name = method_name

    def forward(self, *args, **kwargs):
        return getattr(self.net, self._method_name)(*args, **kwargs)

    def state_dict(self):
        return {}


def to_state_dict(objects, to_cpu: bool = False, copy: bool = False, unwrap_ddp: bool = False):
    """
    Anything that has state_dict() method, e.g. nn.Module, Optimizer, LRScheduler, etc.

    Args:
        to_cpu: True to copy to CPU. The original tensors will still be on GPU.
        copy: takes effect if and only if to_cpu is False
    """

    def _transfer(x):
        if torch.is_tensor(x):
            x = x.detach()
            if to_cpu:
                return x.cpu()
            elif copy:
                return x.clone()
        return x

    def _to_state_dict(m):
        if implements_state_dict(m):
            if isinstance(m, nn.Module) and unwrap_ddp:
                m = unwrap_ddp_model(m)
            return tree.map_structure(_transfer, m.state_dict())
        else:
            return _transfer(m)

    return tree.map_structure(_to_state_dict, objects)


def load_state_dict(objects, states, strip_prefix=None, strict=False):
    """
    Args:
        strict: objects and states must match exactly
        strip_prefix: only match the keys that have the prefix, and strip it
    """

    def _load(paths, obj):
        if not implements_method(obj, "load_state_dict"):
            raise ValueError(f"Object {type(obj)} does not support load_state_dict() method")
        try:
            state = tree_value_at_path(states, paths)
        except ValueError:  # paths do not exist in `states` structure
            if strict:
                raise
            else:
                return
        if strip_prefix:
            assert isinstance(strip_prefix, str)
            state = {
                k[len(strip_prefix) :]: v for k, v in state.items() if k.startswith(strip_prefix)
            }
        if isinstance(obj, nn.Module):
            return obj.load_state_dict(state, strict=strict)
        else:
            return obj.load_state_dict(state)

    return tree.map_structure_with_path(_load, objects)


def count_parameters(model):
    return sum(x.numel() for x in model.parameters())


def readable_count_parameters(model, precision: int = 2):
    return to_readable_count_str(count_parameters(model), precision=precision)


def get_module_device(model):
    """
    Returns:
        first model parameter's device
    """
    return next(model.parameters()).device


def maybe_transfer_module(model, device):
    """
    Transfer a module to another device if and only if they are on different devices.
    Assumes that the module's first parameter determines the module device, i.e.
    no model parallelism.

    Returns:
        True if module is transferred to a different device, False otherwise
    """
    if device is None:
        return False
    device = torch.device(device)
    if get_module_device(model) != device:
        model.to(device=device)
        return True
    else:
        return False


def clone_model(model):
    with torch.no_grad():
        new_model = deepcopy(model).to(get_module_device(model))
    # new_model.load_state_dict(model.state_dict())
    return new_model


def update_soft_params(net, target_net, tau):
    for param, target_param in zip(net.parameters(), target_net.parameters()):
        target_param.data.copy_(tau * param.data + (1 - tau) * target_param.data)


def tie_weights(src, trg):
    # TODO deprecate this
    assert type(src) is type(trg)
    trg.weight = src.weight
    trg.bias = src.bias


def torch_normalize(tensor: torch.Tensor, mean, std, inplace=False):
    """
    Adapted from https://pytorch.org/docs/stable/_modules/torchvision/transforms/functional.html#normalize

    Normalize a tensor image with mean and standard deviation.

    .. note::
        This transform acts out of place by default, i.e., it does not mutates the input tensor.

    See :class:`~torchvision.transforms.Normalize` for more details.

    Args:
        tensor (Tensor): Tensor image of size (C, H, W) to be normalized.
        mean (sequence): Sequence of means for each channel.
        std (sequence): Sequence of standard deviations for each channel.
        inplace(bool,optional): Bool to make this operation inplace.

    Returns:
        Tensor: Normalized Tensor image.
    """
    if not torch.is_tensor(tensor):
        raise TypeError("tensor should be a torch tensor. Got {}.".format(type(tensor)))

    if not inplace:
        tensor = tensor.clone()

    dtype = tensor.dtype
    mean = torch.as_tensor(mean, dtype=dtype, device=tensor.device)
    std = torch.as_tensor(std, dtype=dtype, device=tensor.device)
    if (std == 0).any():
        raise ValueError(
            f"std evaluated to zero after conversion to {dtype}, leading to division by zero."
        )
    if mean.ndim == 1:
        mean = mean[:, None, None]
    if std.ndim == 1:
        std = std[:, None, None]
    tensor.sub_(mean).div_(std)
    return tensor


def contains_rnn(net: nn.Module) -> bool:
    for m in net.modules():
        if isinstance(m, nn.RNNBase):
            return True
    return False


def multi_one_hot(x, num_classes: List[int], to_float=True):
    """
    Concatenates multiple one-hot matrices, useful for embedding MultiDiscrete action space

    Args:
        x: torch.long, [*N, D]
        num_classes: list len == D, match the last dim of x

    Returns:
        [*N, sum(num_classes)]
    """
    from torch.nn.functional import one_hot

    assert x.dtype == torch.long
    assert x.dim() >= 2, x.size()
    assert len(num_classes) == x.size(-1), f"{len(num_classes)} != {x.size(1)}"
    result = torch.cat(
        [one_hot(t, c) for t, c in zip(torch.unbind(x, dim=-1), num_classes)], dim=-1
    )
    if to_float:
        return result.float()
    else:
        return result


def _random_derangement(n):
    while True:
        v = [i for i in range(n)]
        for j in range(n - 1, -1, -1):
            p = random.randint(0, j)
            if v[p] == j:
                break
            else:
                v[j], v[p] = v[p], v[j]
        else:
            if v[0] != 0:
                return tuple(v)


def random_derangement(n, format: Literal["list", "numpy", "torch"] = "torch"):
    """
    Early refusal algorithm, described at
    https://stackoverflow.com/questions/25200220/generate-a-random-derangement-of-a-list
    Derangement is permuation without fixed point, useful for constructing negative
    pairs in contrastive learning.
    """
    assert format in ["list", "numpy", "torch"]
    D = _random_derangement(n)
    if format == "list":
        return D
    elif format == "numpy":
        return np.array(D, dtype=np.long)
    elif format == "torch":
        return torch.tensor(D, dtype=torch.long)
    else:
        raise NotImplementedError(f"Unknown format {format}")


def classify_accuracy(
    output,
    target,
    topk: Union[int, List[int], Tuple[int]] = 1,
    mask=None,
    reduction="mean",
    scale_100=False,
):
    """
    Computes the accuracy over the k top predictions for the specified values of k.
    Accuracy is a float between 0.0 and 1.0

    Args:
        topk: if int, return a single acc. If tuple, return a tuple of accs
        mask: shape [batch_size,], binary mask of whether to include this sample or not
    """
    if isinstance(topk, int):
        topk = [topk]
        is_int = True
    else:
        is_int = False

    batch_size = target.size(0)
    assert output.size(0) == batch_size
    if mask is not None:
        assert mask.dim() == 1
        assert mask.size(0) == batch_size

    assert reduction in ["sum", "mean", "none"]
    if reduction != "mean":
        assert not scale_100, f"reduce={reduction} does not support scale_100=True"

    with torch.no_grad():
        maxk = max(topk)

        _, pred = output.topk(maxk, 1, True, True)
        pred = pred.t()
        correct = pred.eq(target.view(1, -1).expand_as(pred))
        if mask is not None:
            correct = mask * correct

        mult = 100.0 if scale_100 else 1.0
        res = []
        for k in topk:
            correct_k = correct[:k].int().sum(dim=0)
            if reduction == "mean":
                if mask is not None:
                    # fmt: off
                    res.append(
                        float(correct_k.float().sum().mul_(mult / mask.sum().item()).item())
                    )
                    # fmt: on
                else:
                    res.append(float(correct_k.float().sum().mul_(mult / batch_size).item()))
            elif reduction == "sum":
                res.append(int(correct_k.sum().item()))
            elif reduction == "none":
                res.append(correct_k)
            else:
                raise NotImplementedError(f"Unknown reduce={reduction}")

    if is_int:
        assert len(res) == 1, "INTERNAL"
        return res[0]
    else:
        return res


def sequential_split_dataset(dataset: torch.utils.data.Dataset, split_portions: list[float]):
    """
    Split a dataset into multiple datasets, each with a different portion of the
    original dataset. Uses torch.utils.data.Subset.
    """
    from .functional_utils import accumulate

    assert len(split_portions) > 0, "split_portions must be a non-empty list"
    assert all(0.0 <= p <= 1.0 for p in split_portions), f"{split_portions=}"
    assert abs(sum(split_portions) - 1.0) < 1e-6, f"{sum(split_portions)=} != 1.0"
    L = len(dataset)
    assert L > 0, "dataset must be non-empty"
    # split the list with proportions
    lengths = [int(p * L) for p in split_portions]
    # make sure the last split fills the full dataset
    lengths[-1] += L - sum(lengths)
    indices = list(range(L))

    return [
        torch.utils.data.Subset(dataset, indices[offset - length : offset])
        for offset, length in zip(accumulate(lengths), lengths)
    ]


class RunningMeanStd:
    def __init__(self):
        """
        Calulates the running mean and std of a data stream
        https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algorithm
        """
        self._mean = None
        self._var = None
        self._count = 0

    @property
    def mean(self):
        return self._mean

    @property
    def var(self):
        return self._var

    @property
    def std(self):
        if isinstance(self._var, np.ndarray):
            return np.sqrt(self._var)
        else:
            return self._var.sqrt()

    @property
    def count(self):
        return self._count

    def update(self, values: np.ndarray | torch.Tensor) -> None:
        from .array_tensor_utils import any_mean, any_variance, get_batch_size

        batch_mean = any_mean(values, dim=0)
        # our running var calculation currently only supports unbiased=False
        batch_var = any_variance(values, dim=0, unbiased=False)
        batch_count = get_batch_size(values)
        self.update_from_moments(batch_mean, batch_var, batch_count)

    def update_from_moments(
        self,
        batch_mean: np.ndarray | torch.Tensor,
        batch_var: np.ndarray | torch.Tensor,
        batch_count: int,
    ) -> None:
        from .array_tensor_utils import any_get_shape

        is_tensor = torch.is_tensor(batch_mean)
        _zeros = batch_mean.new_zeros if is_tensor else np.zeros
        if self._mean is None:
            self._mean = _zeros(any_get_shape(batch_mean))
        if self._var is None:
            self._var = _zeros(any_get_shape(batch_var)) + 1.0

        delta = batch_mean - self._mean
        tot_count = self._count + batch_count
        assert tot_count > 0, "count must be > 0"

        new_mean = self._mean + delta * batch_count / tot_count
        m_a = self._var * self._count
        m_b = batch_var * batch_count
        m_2 = m_a + m_b + delta * delta * self._count * batch_count / tot_count
        new_var = m_2 / tot_count

        self._mean = new_mean
        self._var = new_var
        self._count = tot_count


class AverageMeter:
    """Computes and stores the average and current value"""

    def __init__(self, name="", fmt="f"):
        self._name = name
        self._fmt = fmt
        self.reset()

    def reset(self):
        self._sum = 0.0
        self._count = 0.0

    @torch.no_grad()
    def update(self, value, n=1):
        if torch.is_tensor(value):
            value = value.detach()
        self._sum += value * n
        self._count += n

    @torch.no_grad()
    def compute(self):
        return float(self._sum / self._count)

    def __float__(self):
        return self.compute()

    def __str__(self):
        if self._fmt:
            s = f"{float(self):{self._fmt}}"
        else:
            s = str(float(self))
        if self._name:
            return f"{self._name}: {s}"
        return s