openpi_runtime/openpi/models/vit.py

# Copyright 2024 Google LLC.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
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"""ViT implementation adapted from https://github.com/google-research/vision_transformer/blob/main/vit_jax/models_vit.py."""

from collections.abc import Callable
from typing import Any

import flax.linen as nn
import jax
import jax.numpy as jnp

from openpi.models import resnet as models_resnet

Array = Any
PRNGKey = Any
Shape = tuple[int]
Dtype = Any


class IdentityLayer(nn.Module):
    """Identity layer, convenient for giving a name to an array."""

    @nn.compact
    def __call__(self, x):
        return x


class AddPositionEmbs(nn.Module):
    """Adds learned positional embeddings to the inputs.

    Attributes:
      posemb_init: positional embedding initializer.
    """

    posemb_init: Callable[[PRNGKey, Shape, Dtype], Array]
    param_dtype: Dtype = jnp.float32

    @nn.compact
    def __call__(self, inputs):
        """Applies the AddPositionEmbs module.

        Args:
          inputs: Inputs to the layer.

        Returns:
          Output tensor with shape `(bs, timesteps, in_dim)`.
        """
        # inputs.shape is (batch_size, seq_len, emb_dim).
        assert inputs.ndim == 3, f"Number of dimensions should be 3, but it is: {inputs.ndim}"
        pos_emb_shape = (1, inputs.shape[1], inputs.shape[2])
        pe = self.param("pos_embedding", self.posemb_init, pos_emb_shape, self.param_dtype)
        return inputs + pe


class MlpBlock(nn.Module):
    """Transformer MLP / feed-forward block."""

    mlp_dim: int
    dtype: Dtype = jnp.float32
    param_dtype: Dtype = jnp.float32
    out_dim: int | None = None
    dropout_rate: float = 0.1
    kernel_init: Callable[[PRNGKey, Shape, Dtype], Array] = nn.initializers.xavier_uniform()
    bias_init: Callable[[PRNGKey, Shape, Dtype], Array] = nn.initializers.normal(stddev=1e-6)

    @nn.compact
    def __call__(self, inputs, *, deterministic):
        """Applies Transformer MlpBlock module."""
        actual_out_dim = inputs.shape[-1] if self.out_dim is None else self.out_dim
        x = nn.Dense(
            features=self.mlp_dim,
            dtype=self.dtype,
            param_dtype=self.param_dtype,
            kernel_init=self.kernel_init,
            bias_init=self.bias_init,
        )(  # pytype: disable=wrong-arg-types
            inputs
        )
        x = nn.gelu(x)
        x = nn.Dropout(rate=self.dropout_rate)(x, deterministic=deterministic)
        output = nn.Dense(
            features=actual_out_dim,
            dtype=self.dtype,
            param_dtype=self.param_dtype,
            kernel_init=self.kernel_init,
            bias_init=self.bias_init,
        )(  # pytype: disable=wrong-arg-types
            x
        )
        return nn.Dropout(rate=self.dropout_rate)(output, deterministic=deterministic)


class Encoder1DBlock(nn.Module):
    """Transformer encoder layer.

    Attributes:
      inputs: input data.
      mlp_dim: dimension of the mlp on top of attention block.
      dtype: the dtype of the computation (default: float32).
      dropout_rate: dropout rate.
      attention_dropout_rate: dropout for attention heads.
      deterministic: bool, deterministic or not (to apply dropout).
      num_heads: Number of heads in nn.MultiHeadDotProductAttention
    """

    mlp_dim: int
    num_heads: int
    dtype: Dtype = jnp.float32
    dropout_rate: float = 0.1
    attention_dropout_rate: float = 0.1

    @nn.compact
    def __call__(self, inputs, deterministic):
        """Applies Encoder1DBlock module.

        Args:
          inputs: Inputs to the layer.
          deterministic: Dropout will not be applied when set to true.

        Returns:
          output after transformer encoder block.
        """

        # Attention block.
        assert inputs.ndim == 3, f"Expected (batch, seq, hidden) got {inputs.shape}"
        x = nn.LayerNorm(dtype=self.dtype)(inputs)
        x = nn.MultiHeadDotProductAttention(
            dtype=self.dtype,
            kernel_init=nn.initializers.xavier_uniform(),
            broadcast_dropout=False,
            deterministic=deterministic,
            dropout_rate=self.attention_dropout_rate,
            num_heads=self.num_heads,
            # why isn't this true by default???
            force_fp32_for_softmax=True,
        )(x, x)
        x = nn.Dropout(rate=self.dropout_rate)(x, deterministic=deterministic)
        x = x + inputs

        # MLP block.
        y = nn.LayerNorm(dtype=self.dtype)(x)
        y = MlpBlock(mlp_dim=self.mlp_dim, dtype=self.dtype, dropout_rate=self.dropout_rate)(
            y, deterministic=deterministic
        )

        return x + y, None


class Encoder(nn.Module):
    """Transformer Model Encoder for sequence to sequence translation.

    Attributes:
      num_layers: number of layers
      mlp_dim: dimension of the mlp on top of attention block
      num_heads: Number of heads in nn.MultiHeadDotProductAttention
      dropout_rate: dropout rate.
      attention_dropout_rate: dropout rate in self attention.
    """

    dtype: jax.typing.DTypeLike
    num_layers: int
    mlp_dim: int
    num_heads: int
    dropout_rate: float = 0.1
    attention_dropout_rate: float = 0.1
    add_position_embedding: bool = True

    @nn.compact
    def __call__(self, x, *, train):
        """Applies Transformer model on the inputs.

        Args:
          x: Inputs to the layer.
          train: Set to `True` when training.

        Returns:
          output of a transformer encoder.
        """
        assert x.ndim == 3  # (batch, len, emb)

        if self.add_position_embedding:
            x = AddPositionEmbs(
                posemb_init=nn.initializers.normal(stddev=0.02),  # from BERT.
                name="posembed_input",
            )(x)
            x = nn.Dropout(rate=self.dropout_rate)(x, deterministic=not train)

        x = x.astype(self.dtype)
        # Input Encoder
        block = nn.remat(Encoder1DBlock, prevent_cse=False, static_argnums=(2,))
        x, _ = nn.scan(
            block,
            variable_axes={"params": 0},
            split_rngs={"params": True, "dropout": True},
            in_axes=nn.broadcast,
            length=self.num_layers,
        )(
            name="encoderblock",
            mlp_dim=self.mlp_dim,
            dropout_rate=self.dropout_rate,
            attention_dropout_rate=self.attention_dropout_rate,
            dtype=self.dtype,
            num_heads=self.num_heads,
        )(x, not train)
        return nn.LayerNorm(name="encoder_norm", dtype=self.dtype)(x)


class VisionTransformer(nn.Module):
    """VisionTransformer."""

    dtype: jax.typing.DTypeLike
    num_classes: int
    patches: Any
    transformer: Any
    hidden_size: int
    resnet: Any | None = None
    representation_size: int | None = None
    classifier: str = "token"
    head_bias_init: float = 0.0
    encoder: type[nn.Module] = Encoder
    model_name: str | None = None

    @nn.compact
    def __call__(self, inputs, *, train):
        x = inputs
        # (Possibly partial) ResNet root.
        if self.resnet is not None:
            width = int(64 * self.resnet.width_factor)

            # Root block.
            x = models_resnet.StdConv(
                features=width, kernel_size=(7, 7), strides=(2, 2), use_bias=False, name="conv_root"
            )(x)
            x = nn.GroupNorm(name="gn_root")(x)
            x = nn.relu(x)
            x = nn.max_pool(x, window_shape=(3, 3), strides=(2, 2), padding="SAME")

            # ResNet stages.
            if self.resnet.num_layers:
                x = models_resnet.ResNetStage(
                    block_size=self.resnet.num_layers[0], nout=width, first_stride=(1, 1), name="block1"
                )(x)
                for i, block_size in enumerate(self.resnet.num_layers[1:], 1):
                    x = models_resnet.ResNetStage(
                        block_size=block_size, nout=width * 2**i, first_stride=(2, 2), name=f"block{i + 1}"
                    )(x)

        n, h, w, c = x.shape

        # We can merge s2d+emb into a single conv; it's the same.
        x = nn.Conv(
            features=self.hidden_size,
            kernel_size=self.patches.size,
            strides=self.patches.size,
            padding="VALID",
            name="embedding",
        )(x)

        # Here, x is a grid of embeddings.

        # (Possibly partial) Transformer.
        if self.transformer is not None:
            n, h, w, c = x.shape
            x = jnp.reshape(x, [n, h * w, c])

            # If we want to add a class token, add it here.
            if self.classifier in ["token", "token_unpooled"]:
                cls = self.param("cls", nn.initializers.zeros, (1, 1, c))
                cls = jnp.tile(cls, [n, 1, 1])
                x = jnp.concatenate([cls, x], axis=1)

            x = self.encoder(name="Transformer", **self.transformer, dtype=self.dtype)(x, train=train)

        if self.classifier == "token":
            x = x[:, 0]
        elif self.classifier == "gap":
            x = jnp.mean(x, axis=list(range(1, x.ndim - 1)))  # (1,) or (1,2)
        elif self.classifier in ["unpooled", "token_unpooled"]:
            pass
        else:
            raise ValueError(f"Invalid classifier={self.classifier}")

        if self.representation_size is not None:
            x = nn.Dense(features=self.representation_size, name="pre_logits")(x)
            x = nn.tanh(x)
        else:
            x = IdentityLayer(name="pre_logits")(x)

        if self.num_classes:
            x = nn.Dense(
                features=self.num_classes,
                name="head",
                kernel_init=nn.initializers.zeros,
                bias_init=nn.initializers.constant(self.head_bias_init),
            )(x)
        return x