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@@ -33,3 +33,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+272-dim-Motion-Representation/gif/recover_position.gif filter=lfs diff=lfs merge=lfs -text
+272-dim-Motion-Representation/gif/recover_rotation.gif filter=lfs diff=lfs merge=lfs -text
+272-dim-Motion-Representation/gif/spin_ik.gif filter=lfs diff=lfs merge=lfs -text
+assets/teaser.jpg filter=lfs diff=lfs merge=lfs -text

Causal_TAE/net_last.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8becaeebbd0588d7080ea3baf19ca036fe06851035c8b5f214dac1a5cf23949c
+size 304843534

EVAL_GT.sh

@@ -0,0 +1,2 @@
+ln -s ./humanml3d_272 ./Evaluator_272/
+python eval_gt.py

EVAL_causal_TAE.sh

@@ -0,0 +1,6 @@
+ln -s ../utils ./Evaluator_272/
+ln -s ../humanml3d_272 ./Evaluator_272/
+ln -s ../options ./Evaluator_272/
+ln -s ../models ./Evaluator_272/
+ln -s ../visualization ./Evaluator_272/
+python eval_causal_TAE.py --resume-pth output/causal_TAE/net_last.pth

EVAL_t2m.sh

@@ -0,0 +1,7 @@
+ln -s ../utils ./Evaluator_272/
+ln -s ../humanml3d_272 ./Evaluator_272/
+ln -s ../options ./Evaluator_272/
+ln -s ../models ./Evaluator_272/
+ln -s ../visualization ./Evaluator_272/
+ln -s ../Causal_TAE ./Evaluator_272/
+python eval_t2m.py --resume-pth Causal_TAE/net_last.pth --resume-trans /cpfs03/shared/IDC/wangjingbo_group/motionstreamer/Open_source_Train_AR_16_1024_fps_30_111M_9/latest.pth

Evaluator_272/configs/assets.yaml

@@ -0,0 +1,13 @@
+FOLDER: './experiments' # Experiment files saving path
+
+TEST:
+  FOLDER: './results' # Testing files saving path
+
+DATASET:
+  HUMANML3D_272:
+    ROOT: './datasets/humanml3d_272' # HumanML3D_272 directory
+    SPLIT_ROOT: './datasets/humanml3d_272/split' # HumanML3D_272 splits directory
+
+model:
+  bert_path: './deps/distilbert-base-uncased' 
+

Evaluator_272/configs/base.yaml

@@ -0,0 +1,92 @@
+SEED_VALUE: 1234
+DEBUG: True
+TRAIN:
+  SPLIT: 'train'
+  NUM_WORKERS: 2 # Number of workers
+  BATCH_SIZE: 4 # Size of batches
+  START_EPOCH: 0 # Start epoch
+  END_EPOCH: 400 # End epoch
+  RESUME: '' # Experiment path to be resumed training
+  PRETRAINED_VAE: ''
+  PRETRAINED: '' # Pretrained model path
+
+  OPTIM:
+    OPTIM.TYPE: 'AdamW' # Optimizer type
+    OPTIM.LR: 1e-4 # Learning rate
+
+  ABLATION:
+    VAE_TYPE: 'actor' # vae ablation: actor or mcross
+    VAE_ARCH: 'encoder_decoder' # mdiffusion vae architecture
+    PE_TYPE: 'actor' # mdiffusion mld or actor
+    DIFF_PE_TYPE: 'actor' # mdiffusion mld or actor
+    SKIP_CONNECT: False # skip connection for denoiser va
+    # use linear to expand mean and std rather expand token nums
+    MLP_DIST: False
+    IS_DIST: False # Mcross distribution kl
+    PREDICT_EPSILON: True # noise or motion
+
+EVAL:
+  SPLIT: 'gtest'
+  BATCH_SIZE: 1 # Evaluating Batch size
+  NUM_WORKERS: 12 # Evaluating Batch size
+
+TEST:
+  TEST_DIR: ''
+  CHECKPOINTS: '' # Pretrained model path
+  SPLIT: 'gtest'
+  BATCH_SIZE: 1 # Testing Batch size
+  NUM_WORKERS: 12 # Evaluating Batch size
+  SAVE_PREDICTIONS: False # Weather to save predictions
+  COUNT_TIME: False # Weather to count time during test
+  REPLICATION_TIMES: 20 # Number of times to replicate the test
+  MM_NUM_SAMPLES: 100 # Number of samples for multimodal test
+  MM_NUM_REPEATS: 30 # Number of repeats for multimodal test
+  MM_NUM_TIMES: 10 # Number of times to repeat the multimodal test
+  DIVERSITY_TIMES: 300 # Number of times to repeat the diversity test
+  REP_I: 0
+model:
+  target: 'modules'
+  t2m_textencoder:
+    dim_word: 300
+    dim_pos_ohot: 15
+    dim_text_hidden: 512
+    dim_coemb_hidden: 512
+
+  t2m_motionencoder:
+    dim_move_hidden: 512
+    dim_move_latent: 512
+    dim_motion_hidden: 1024
+    dim_motion_latent: 512
+LOSS:
+  LAMBDA_LATENT: 1e-5 # Lambda for latent losses
+  LAMBDA_KL: 1e-5 # Lambda for kl losses
+  LAMBDA_REC: 1.0 # Lambda for reconstruction losses
+  LAMBDA_JOINT: 1.0 # Lambda for joint losses
+  LAMBDA_GEN: 1.0 # Lambda for text-motion generation losses
+  LAMBDA_CROSS: 1.0 # Lambda for cross-reconstruction losses
+  LAMBDA_CYCLE: 1.0 # Lambda for cycle losses
+  LAMBDA_PRIOR: 0.0
+  DIST_SYNC_ON_STEP: True
+METRIC:
+  FORCE_IN_METER: True
+  DIST_SYNC_ON_STEP: True
+DATASET:
+  NCLASSES: 10
+  SAMPLER:
+    MAX_SQE: -1
+    MAX_LEN: 196
+    MIN_LEN: 40
+    MAX_TEXT_LEN: 20
+  HUMANML3D_272:
+    UNIT_LEN: 4
+
+
+LOGGER:
+  SACE_CHECKPOINT_EPOCH: 1
+  LOG_EVERY_STEPS: 1
+  VAL_EVERY_STEPS: 10
+  TENSORBOARD: true
+  WANDB:
+    OFFLINE: false
+    PROJECT: null
+    RESUME_ID: null

Evaluator_272/configs/configs_evaluator_272/H3D-TMR.yaml

@@ -0,0 +1,95 @@
+NAME: EXP1 # Experiment name
+DEBUG: False # Debug mode
+ACCELERATOR: 'gpu' # Devices optioncal: “cpu”, “gpu”, “tpu”, “ipu”, “hpu”, “mps, “auto”
+DEVICE: [0] # Index of gpus eg. [0] or [0,1,2,3]
+# DEVICE: [0] # Index of gpus eg. [0] or [0,1,2,3]
+
+# Training configuration
+TRAIN:
+  #---------------------------------
+  STAGE: temos # stage "vae" or "diffusion", "vae_diffusion"
+  #---------------------------------
+  DATASETS: ['humanml3d_272'] # Training datasets
+  NUM_WORKERS: 11 # Number of workers
+  BATCH_SIZE: 256 # Size of batches
+  START_EPOCH: 0 # Start epochMMOTIONENCODER
+  END_EPOCH: 100 # End epoch
+  RESUME: '' # Resume training from this path
+  OPTIM:
+    TYPE: AdamW # Optimizer type
+    LR: 1e-4 # Learning rate
+  PRETRAINED_MLD: False
+
+# Evaluating Configuration
+EVAL:
+  DATASETS: ['humanml3d_272'] # Evaluating datasets
+  BATCH_SIZE: 32 # Evaluating Batch size
+  SPLIT: test
+  eval_self_on_gt: True
+
+# Test Configuration
+TEST:
+  PRETRAINED_CHECKPOINTS_VAE: ''
+  SAVE_PREDICTIONS: False
+  CHECKPOINTS: '' # Pretrained model path
+  DATASETS: ['humanml3d_272'] # training datasets
+  SPLIT: test
+  BATCH_SIZE: 32 # training Batch size
+  MEAN: False
+  NUM_SAMPLES: 1
+  FACT: 1
+  inference_vq_code: False
+  # REPLICATION_TIM
+
+# Datasets Configuration
+DATASET:
+  JOINT_TYPE: 'humanml3d_v3' # join type
+  VERSION: ''
+  MOTION_TYPE: ''
+METRIC:
+  TYPE: ['TMR_TM2TMetrics']
+# Losses Configuration
+LOSS:
+  TYPE: temos # Losses type
+  USE_INFONCE: True
+  USE_INFONCE_FILTER: True
+  LAMBDA_LATENT: 1.0e-5 # Lambda for latent Losses
+  LAMBDA_KL: 1.0e-5 # Lambda for kl Losses
+  LAMBDA_REC: 1.0 # Lambda for reconstruction Losses
+  LAMBDA_GEN: 1.0 # Lambda for text-motion generation losses
+  LAMBDA_CROSS: 1.0 # Lambda for reconstruction Losses
+  LAMBDA_CYCLE: 0.0 # Lambda for cycle Losses
+  LAMBDA_PRIOR: 0.0
+  LAMBDA_INFONCE: 0.1 # Lambda for infonce
+  INFONCE_TEMP: 0.1
+  DIST_SYNC_ON_STEP: False # Sync Losses on step when distributed trained
+  USE_RECLIPLOSS: False
+  SYNC: False
+  TRAIN_TMR: False
+
+# Model Configuration
+model:
+  vae: true # whether vae model
+  model_type: temos # model type
+  condition: 'text'
+  target: modules_temos
+  #####
+  latent_dim: 256 # latent dimension
+  ff_size: 1024 #
+  num_layers: 4 # number of layers
+  num_head: 6 # number of head layers
+  dropout: 0.1 # dropout rate
+  activation: gelu # activation type
+  eval_text_encode_way: given_glove
+  eval_text_source: token
+
+# Logger configuration
+LOGGER:
+  SAVE_CHECKPOINT_EPOCH: 10
+  LOG_EVERY_STEPS: 1
+  VAL_EVERY_STEPS: 5
+  TENSORBOARD: True
+  WANDB:
+    PROJECT: null
+    OFFLINE: False
+    RESUME_ID: null

Evaluator_272/configs/modules/denoiser.yaml

@@ -0,0 +1,22 @@
+denoiser:
+  target: mld.models.architectures.mld_denoiser.MldDenoiser
+  params:
+    text_encoded_dim: 768
+    ff_size: 1024
+    num_layers: 9
+    num_heads: 4
+    dropout: 0.1
+    normalize_before: False
+    activation: 'gelu'
+    flip_sin_to_cos: True
+    return_intermediate_dec: False
+    position_embedding: 'learned'
+    arch: trans_enc
+    freq_shift: 0
+    condition: ${model.condition}
+    latent_dim: ${model.latent_dim}
+    guidance_scale: ${model.guidance_scale}
+    guidance_uncondp: ${model.guidance_uncondp}
+    nfeats: ${DATASET.NFEATS}
+    nclasses: ${DATASET.NCLASSES}
+    ablation: ${TRAIN.ABLATION}

Evaluator_272/configs/modules/evaluators.yaml

@@ -0,0 +1,20 @@
+t2m_textencoder:
+  target: mld.models.architectures.t2m_textenc.TextEncoderBiGRUCo
+  params:
+    word_size: 300
+    pos_size: 15
+    hidden_size: 512
+    output_size: 512
+
+t2m_moveencoder:
+  target: mld.models.architectures.t2m_textenc.MovementConvEncoder
+  params:
+    hidden_size: 512
+    output_size: 512
+
+t2m_motionencoder:
+  target: mld.models.architectures.t2m_motionenc.MotionEncoder
+  params:
+    input_size: ${model.t2m_moveencoder.output_size}
+    hidden_size: 1024
+    output_size: 512

Evaluator_272/configs/modules/motion_vae.yaml

@@ -0,0 +1,15 @@
+motion_vae:
+  # Optional: mld_vae, vposert_vae
+  target: mld.models.architectures.mld_vae.MldVae
+  params:
+    arch: 'encoder_decoder'
+    ff_size: 1024
+    num_layers: 9
+    num_heads: 4
+    dropout: 0.1
+    normalize_before: false
+    activation: 'gelu'
+    position_embedding: 'learned'
+    latent_dim: ${model.latent_dim}
+    nfeats: ${DATASET.NFEATS}
+    ablation: ${TRAIN.ABLATION}

Evaluator_272/configs/modules/scheduler.yaml

@@ -0,0 +1,25 @@
+scheduler:
+  target: diffusers.DDIMScheduler
+  num_inference_timesteps: 50
+  eta: 0.0
+  params:
+    num_train_timesteps: 1000
+    beta_start: 0.00085
+    beta_end: 0.012
+    beta_schedule: 'scaled_linear' # Optional: ['linear', 'scaled_linear', 'squaredcos_cap_v2']
+    # variance_type: 'fixed_small'
+    clip_sample: false # clip sample to -1~1
+    # below are for ddim
+    set_alpha_to_one: false
+    steps_offset: 1
+
+
+noise_scheduler:
+  target: diffusers.DDPMScheduler
+  params:
+    num_train_timesteps: 1000
+    beta_start: 0.00085
+    beta_end: 0.012
+    beta_schedule: 'scaled_linear' # Optional: ['linear', 'scaled_linear', 'squaredcos_cap_v2']
+    variance_type: 'fixed_small'
+    clip_sample: false # clip sample to -1~1

Evaluator_272/configs/modules/text_encoder.yaml

@@ -0,0 +1,8 @@
+text_encoder:
+  # Optional: mld_clip, mld_bert
+  target: mld.models.architectures.mld_clip.MldTextEncoder
+  params:
+    finetune: false # if false, model weights are frozen
+    last_hidden_state: false # if true, the last hidden state is used as the text embedding
+    latent_dim: ${model.latent_dim}
+    modelpath: ${model.clip_path}

Evaluator_272/configs/modules_temos/motiondecoder.yaml

@@ -0,0 +1,11 @@
+motiondecoder:
+  name: actor_decoder
+  target: mld.models.architectures.temos.motiondecoder.actor.ActorAgnosticDecoder
+  params:
+    latent_dim: ${model.latent_dim}
+    ff_size: ${model.ff_size}
+    num_layers: ${model.num_layers}
+    num_head: ${model.num_head}
+    droupout: ${model.dropout}
+    activation: ${model.activation}
+    nfeats: ${DATASET.NFEATS}

Evaluator_272/configs/modules_temos/motionencoder.yaml

@@ -0,0 +1,12 @@
+motionencoder:
+  name: actor_encoder
+  target: mld.models.architectures.temos.motionencoder.actor.ActorAgnosticEncoder
+  params:
+    latent_dim: ${model.latent_dim}
+    vae: ${model.vae}
+    ff_size: ${model.ff_size}
+    num_layers: ${model.num_layers}
+    num_head: ${model.num_head}
+    droupout: ${model.dropout}
+    activation: ${model.activation}
+    nfeats: ${DATASET.NFEATS}

Evaluator_272/configs/modules_temos/text_encoder.yaml

@@ -0,0 +1,13 @@
+textencoder:
+  name: distilbert_actor
+  target: mld.models.architectures.temos.textencoder.distillbert_actor.DistilbertActorAgnosticEncoder
+  params:
+    latent_dim: ${model.latent_dim}
+    vae: ${model.vae}
+    ff_size: ${model.ff_size}
+    num_layers: ${model.num_layers}
+    num_head: ${model.num_head}
+    droupout: ${model.dropout}
+    activation: ${model.activation}
+    finetune: false
+    modelpath: ${model.bert_path}

Evaluator_272/mld/callback/__init__.py

@@ -0,0 +1 @@
+from .progress import ProgressLogger

Evaluator_272/mld/callback/progress.py

@@ -0,0 +1,54 @@
+import logging
+
+from pytorch_lightning import LightningModule, Trainer
+from pytorch_lightning.callbacks import Callback
+import psutil
+
+logger = logging.getLogger()
+
+
+class ProgressLogger(Callback):
+
+    def __init__(self, metric_monitor: dict, precision: int = 3):
+        # Metric to monitor
+        self.metric_monitor = metric_monitor
+        self.precision = precision
+
+    def on_train_start(self, trainer: Trainer, pl_module: LightningModule,
+                       **kwargs) -> None:
+        logger.info("Training started")
+
+    def on_train_end(self, trainer: Trainer, pl_module: LightningModule,
+                     **kwargs) -> None:
+        logger.info("Training done")
+
+    def on_validation_epoch_end(self, trainer: Trainer,
+                                pl_module: LightningModule, **kwargs) -> None:
+        if trainer.sanity_checking:
+            logger.info("Sanity checking ok.")
+
+    def on_train_epoch_end(self,
+                           trainer: Trainer,
+                           pl_module: LightningModule,
+                           padding=False,
+                           **kwargs) -> None:
+        metric_format = f"{{:.{self.precision}e}}"
+        line = f"Epoch {trainer.current_epoch}"
+        if padding:
+            line = f"{line:>{len('Epoch xxxx')}}"  # Right padding
+        metrics_str = []
+
+        losses_dict = trainer.callback_metrics
+        for metric_name, dico_name in self.metric_monitor.items():
+            if dico_name in losses_dict:
+                metric = losses_dict[dico_name].item()
+                metric = metric_format.format(metric)
+                metric = f"{metric_name} {metric}"
+                metrics_str.append(metric)
+
+        if len(metrics_str) == 0:
+            return
+
+        memory = f"Memory {psutil.virtual_memory().percent}%"
+        line = line + ": " + "   ".join(metrics_str) + "   " + memory
+        logger.info(line)

Evaluator_272/mld/config.py

@@ -0,0 +1,104 @@
+import importlib
+from argparse import ArgumentParser
+from omegaconf import OmegaConf
+import os
+
+
+def get_module_config(cfg_model, path="modules"):
+    module_conf = OmegaConf.create()
+    files = os.listdir(f'./configs/{path}/')
+    for file in files:
+        if file.endswith('.yaml'):
+            with open(f'./configs/{path}/' + file, 'r') as f:
+                module_conf.merge_with(OmegaConf.load(f))
+    module_conf.merge_with(cfg_model)
+    return module_conf
+
+
+def get_obj_from_str(string, reload=False):
+    module, cls = string.rsplit(".", 1)
+    if reload:
+        module_imp = importlib.import_module(module)
+        importlib.reload(module_imp)
+    return getattr(importlib.import_module(module, package=None), cls)
+
+
+def instantiate_from_config(config):
+    if not "target" in config:
+        if config == '__is_first_stage__':
+            return None
+        elif config == "__is_unconditional__":
+            return None
+        raise KeyError("Expected key `target` to instantiate.")
+    return get_obj_from_str(config["target"])(**config.get("params", dict()))
+
+
+def parse_args(phase="train"):
+    parser = ArgumentParser()
+
+    group = parser.add_argument_group("Training options")
+    if phase in ["train", "test"]:
+        group.add_argument(
+            "--cfg",
+            type=str,
+            required=False,
+            default="./configs/config.yaml",
+            help="config file",
+        )
+        group.add_argument(
+            "--cfg_assets",
+            type=str,
+            required=False,
+            default="./configs/assets.yaml",
+            help="config file for asset paths",
+        )
+        group.add_argument("--batch_size",
+                           type=int,
+                           required=False,
+                           help="training batch size")
+        group.add_argument("--device",
+                           type=int,
+                           nargs="+",
+                           required=False,
+                           help="training device")
+        group.add_argument("--nodebug",
+                           action="store_true",
+                           required=False,
+                           help="debug or not")
+        group.add_argument("--dir",
+                           type=str,
+                           required=False,
+                           help="evaluate existing npys")
+
+    # remove None params, and create a dictionnary
+    params = parser.parse_args()
+    # params = {key: val for key, val in vars(opt).items() if val is not None}
+
+    # update config from files
+    cfg_base = OmegaConf.load('./configs/base.yaml')
+    cfg_exp = OmegaConf.merge(cfg_base, OmegaConf.load(params.cfg))
+    cfg_model = get_module_config(cfg_exp.model, cfg_exp.model.target)
+    cfg_exp.model = cfg_model
+    cfg_assets = OmegaConf.load(params.cfg_assets)
+    cfg = OmegaConf.merge(cfg_exp, cfg_model, cfg_assets)
+
+    if phase in ["train", "test"]:
+        cfg.TRAIN.BATCH_SIZE = (params.batch_size
+                                if params.batch_size else cfg.TRAIN.BATCH_SIZE)
+        cfg.DEVICE = params.device if params.device else cfg.DEVICE
+        cfg.DEBUG = not params.nodebug if params.nodebug is not None else cfg.DEBUG
+
+        cfg.DEBUG = False if phase == "test" else cfg.DEBUG
+        if phase == "test":
+            cfg.DEBUG = False
+            cfg.DEVICE = [0]
+            print("Force no debugging and one gpu when testing")
+        cfg.TEST.TEST_DIR = params.dir if params.dir else cfg.TEST.TEST_DIR
+
+    # debug mode
+    if cfg.DEBUG:
+        cfg.NAME = "debug--" + cfg.NAME
+        cfg.LOGGER.WANDB.OFFLINE = True
+        cfg.LOGGER.VAL_EVERY_STEPS = 1
+
+    return cfg

Evaluator_272/mld/data/HumanML3D_272.py

@@ -0,0 +1,131 @@
+import numpy as np
+import torch
+
+from mld.data.humanml.scripts.motion_process import (process_file,
+                                                     recover_from_ric, recover_from_root_rot6d)
+
+from .base import BASEDataModule
+from .humanml.data.dataset import Text2MotionDatasetV2
+from .humanml.common.skeleton import Skeleton
+import torch.nn.functional as F
+
+
+class HumanML3D_272_DataModule(BASEDataModule):
+
+    def __init__(self,
+                 cfg,
+                 batch_size,
+                 num_workers,
+                 collate_fn=None,
+                 phase="train",
+                 **kwargs):
+        super().__init__(batch_size=batch_size,
+                         num_workers=num_workers,
+                         collate_fn=collate_fn)
+        
+        self.save_hyperparameters(logger=False)
+        self.name = "humanml3d_272"
+        self.njoints = 22
+        self.hparams['njoints']=22
+        if phase == "text_only":
+            self.Dataset = TextOnlyDataset
+        else:
+            if cfg.TRAIN.STAGE in ['gpt'] and (not cfg.TEST.inference_vq_code):
+                if cfg.model.vae_type in ['humanvq']:
+                    self.Dataset = Text2MotionDatasetV2_VQToken
+                elif cfg.model.vae_type in ['hvq']:
+                    self.Dataset = Text2MotionDatasetV2_Dual_codebook_VQToken
+                else:
+                    raise NotImplementedError
+            elif cfg.TEST.inference_vq_code:
+                self.Dataset = VQMotionDataset
+            else:
+                self.Dataset = Text2MotionDatasetV2
+        self.cfg = cfg
+        sample_overrides = {
+            "split": "val",
+            "tiny": True,
+            "progress_bar": False
+        }
+
+        self._sample_set = self.get_sample_set(overrides=sample_overrides)
+        
+        self.nfeats = self._sample_set.nfeats
+
+    def recover_from_local_position(self, final_x, njoint):
+        
+        def accumulate_rotations(relative_rotations):
+            R_total = [relative_rotations[0]]
+            for R_rel in relative_rotations[1:]:
+                R_total.append(np.matmul(R_rel, R_total[-1]))
+            
+            return np.array(R_total)
+        
+        def rotation_6d_to_matrix(d6: torch.Tensor) -> torch.Tensor:
+            a1, a2 = d6[..., :3], d6[..., 3:]
+            b1 = F.normalize(a1, dim=-1)
+            b2 = a2 - (b1 * a2).sum(-1, keepdim=True) * b1
+            b2 = F.normalize(b2, dim=-1)
+            b3 = torch.cross(b1, b2, dim=-1)
+            return torch.stack((b1, b2, b3), dim=-2)
+        
+        nfrm, _ = final_x.shape
+        positions_no_heading = final_x[:,8:8+3*njoint].reshape(nfrm, -1, 3)
+        velocities_root_xy_no_heading = final_x[:,:2] 
+        global_heading_diff_rot = final_x[:,2:8] 
+
+        global_heading_rot = accumulate_rotations(rotation_6d_to_matrix(torch.from_numpy(global_heading_diff_rot)).numpy())
+        inv_global_heading_rot = np.transpose(global_heading_rot, (0, 2, 1))
+        positions_with_heading = np.matmul(np.repeat(inv_global_heading_rot[:, None,:, :], njoint, axis=1), positions_no_heading[...,None]).squeeze(-1)
+        velocities_root_xyz_no_heading = np.zeros((velocities_root_xy_no_heading.shape[0], 3))
+        velocities_root_xyz_no_heading[:, 0] = velocities_root_xy_no_heading[:, 0]
+        velocities_root_xyz_no_heading[:, 2] = velocities_root_xy_no_heading[:, 1]
+        velocities_root_xyz_no_heading[1:, :] = np.matmul(inv_global_heading_rot[:-1], velocities_root_xyz_no_heading[1:, :,None]).squeeze(-1)
+
+        root_translation = np.cumsum(velocities_root_xyz_no_heading, axis=0)
+        positions_with_heading[:, :, 0] += root_translation[:, 0:1]
+        positions_with_heading[:, :, 2] += root_translation[:, 2:]
+
+        return positions_with_heading
+
+    def feats2joints(self, features, skel=None, motion_type=''):
+        assert motion_type in ['']
+        assert features.shape[2] == 272
+        mean = torch.tensor(self.hparams.mean).to(features)
+        std = torch.tensor(self.hparams.std).to(features)
+        features = features * std + mean
+        return self.recover_from_local_position(features.reshape(-1, 272).detach().cpu().numpy(), self.njoints).reshape(features.shape[0], -1, 22, 3)
+        
+
+    def joints2feats(self, features):
+        features = process_file(features, self.njoints)[0]
+        return features
+
+    def renorm4t2m(self, features):
+        ori_mean = torch.tensor(self.hparams.mean).to(features)
+        ori_std = torch.tensor(self.hparams.std).to(features)
+        eval_mean = torch.tensor(self.hparams.mean_eval).to(features)
+        eval_std = torch.tensor(self.hparams.std_eval).to(features)
+        features = features * ori_std + ori_mean
+        features = (features - eval_mean) / eval_std
+        return features
+
+    def renorm2ori(self, features):
+        mean = torch.tensor(self.hparams.mean).to(features)
+        std = torch.tensor(self.hparams.std).to(features)
+        features = features * std + mean
+
+        return features
+
+
+    def mm_mode(self, mm_on=True):
+        if mm_on:
+            self.is_mm = True
+            self.name_list = self.test_dataset.name_list
+            self.mm_list = np.random.choice(self.name_list,
+                                            self.cfg.TEST.MM_NUM_SAMPLES,
+                                            replace=False)
+            self.test_dataset.name_list = self.mm_list
+        else:
+            self.is_mm = False
+            self.test_dataset.name_list = self.name_list

Evaluator_272/mld/data/base.py

@@ -0,0 +1,105 @@
+from os.path import join as pjoin
+import numpy as np
+import pytorch_lightning as pl
+from torch.utils.data import DataLoader
+
+
+class BASEDataModule(pl.LightningDataModule):
+
+    def __init__(self, collate_fn, batch_size: int, num_workers: int):
+        super().__init__()
+
+        self.dataloader_options = {
+            "batch_size": batch_size,
+            "num_workers": num_workers,
+            "collate_fn": collate_fn,
+        }
+
+        self.persistent_workers = True
+        self.is_mm = False
+
+    def get_sample_set(self, overrides={}):
+        sample_params = self.hparams.copy()
+        sample_params.update(overrides)
+        split_file = pjoin(
+            eval(f"self.cfg.DATASET.{self.name.upper()}.SPLIT_ROOT"), self.cfg.DATASET.VERSION, 
+            self.cfg.EVAL.SPLIT + ".txt",
+        )
+        return self.Dataset(split_file=split_file, **sample_params)
+
+    def __getattr__(self, item):
+        # train_dataset/val_dataset etc cached like properties
+        if item.endswith("_dataset") and not item.startswith("_"):
+            subset = item[:-len("_dataset")]
+            item_c = "_" + item
+            if item_c not in self.__dict__:
+                # todo: config name not consistent
+                subset = subset.upper() if subset != "val" else "EVAL"
+                split = eval(f"self.cfg.{subset}.SPLIT")
+                split_file = pjoin(
+                    eval(f"self.cfg.DATASET.{self.name.upper()}.SPLIT_ROOT"),
+                    self.cfg.DATASET.VERSION, 
+                    eval(f"self.cfg.{subset}.SPLIT") + ".txt",
+                )
+                self.__dict__[item_c] = self.Dataset(split_file=split_file,
+                                                     split=split,
+                                                     **self.hparams)
+            return getattr(self, item_c)
+        classname = self.__class__.__name__
+        raise AttributeError(f"'{classname}' object has no attribute '{item}'")
+
+    def setup(self, stage=None):
+        self.stage = stage
+        # Use the getter the first time to load the data
+        if stage in (None, "fit"):
+            _ = self.train_dataset
+            _ = self.val_dataset
+        if stage in (None, "test"):
+            _ = self.test_dataset
+
+    def train_dataloader(self):
+        return DataLoader(
+            self.train_dataset,
+            shuffle=True,
+            persistent_workers=True,
+            **self.dataloader_options,
+        )
+
+    def predict_dataloader(self):
+        dataloader_options = self.dataloader_options.copy()
+        dataloader_options[
+            "batch_size"] = 1 if self.is_mm else self.cfg.TEST.BATCH_SIZE
+        dataloader_options["num_workers"] = self.cfg.TEST.NUM_WORKERS
+        dataloader_options["shuffle"] = False
+        return DataLoader(
+            self.test_dataset,
+            persistent_workers=True,
+            **dataloader_options,
+        )
+
+    def val_dataloader(self):
+        # overrides batch_size and num_workers
+        dataloader_options = self.dataloader_options.copy()
+        dataloader_options["batch_size"] = self.cfg.EVAL.BATCH_SIZE
+        dataloader_options["num_workers"] = self.cfg.EVAL.NUM_WORKERS
+        dataloader_options["shuffle"] = False
+
+        return DataLoader(
+            self.val_dataset,
+            persistent_workers=True,
+            **dataloader_options,
+        )
+
+    def test_dataloader(self):
+        # overrides batch_size and num_workers
+        dataloader_options = self.dataloader_options.copy()
+        dataloader_options[
+            "batch_size"] = 1 if self.is_mm else self.cfg.TEST.BATCH_SIZE
+        dataloader_options["num_workers"] = self.cfg.TEST.NUM_WORKERS
+        # dataloader_options["drop_last"] = True
+        dataloader_options["shuffle"] = False
+        return DataLoader(
+            self.test_dataset,
+            persistent_workers=True,
+            **dataloader_options,
+        )

Evaluator_272/mld/data/get_data.py

@@ -0,0 +1,183 @@
+from os.path import join as pjoin
+import numpy as np
+# from .humanml.utils.word_vectorizer import WordVectorizer, WordVectorizer_only_text_token
+from .utils import *
+from .HumanML3D_272 import HumanML3D_272_DataModule
+
+
+def get_mean_std(phase, cfg, dataset_name):
+    assert dataset_name == 'humanml3d_272'
+        
+    data_root = eval(f"cfg.DATASET.{dataset_name.upper()}.ROOT")
+    mean = np.load(pjoin(data_root, 'mean_std', cfg.DATASET.VERSION, cfg.DATASET.MOTION_TYPE, "Mean.npy"))
+    std = np.load(pjoin(data_root, 'mean_std', cfg.DATASET.VERSION, cfg.DATASET.MOTION_TYPE, "Std.npy"))
+    return mean, std
+
+
+
+def get_njoints(dataset_name):
+    njoints = 22
+    return njoints
+
+
+def reget_mean_std(cfg, dataset_name, mean, std):
+    if 'MINOR_MOTION_TYPE' in cfg.DATASET:
+        select_motion_type = cfg.DATASET.MINOR_MOTION_TYPE
+    else:
+        select_motion_type = cfg.DATASET.MOTION_TYPE
+    
+    njoints = get_njoints(dataset_name)
+    if select_motion_type == 'root_position':
+        mean = mean[..., :4+(njoints - 1) * 3]
+    elif select_motion_type == 'root_position_vel':
+        mean = np.concatenate((mean[..., :4+(njoints - 1) * 3], mean[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=0)
+    elif select_motion_type == 'root_position_rot6d':
+        mean = np.concatenate((mean[..., :4+(njoints - 1) * 3], mean[..., 4+(njoints - 1) * 3: 4+(njoints - 1) * 9]), axis=0)
+    elif select_motion_type == 'root_rot6d':
+        mean = np.concatenate((mean[..., :4], mean[..., 4+(njoints - 1) * 3: 4+(njoints - 1) * 9]), axis=0)
+    elif select_motion_type in ['all', 'smplx_212', 'vector_263', 'vector_263_ori_humanml', 'smplx_159', '']:
+        pass
+    elif select_motion_type == 'root_body_pos_vel_hand_all':
+        mean = np.concatenate((mean[..., :4+(njoints - 1) * 3], mean[..., 4+(njoints - 1) * 3 + 21 * 6 : 4+(njoints - 1) * 9], mean[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=0)
+        # pass
+    elif select_motion_type == 'root_body_pos_vel_hand_pos_vel':
+        mean = np.concatenate((mean[..., :4+(njoints - 1) * 3], mean[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=0)
+    elif select_motion_type == 'root_body_pos_vel_hand_pos':
+        mean = np.concatenate((mean[..., :4+(njoints - 1) * 3], mean[..., 4+(njoints - 1) * 9 + 22 * 3: 4+(njoints - 1) * 9 + 52*3]), axis=0)
+    elif select_motion_type == 'root_body_pos_vel_hand_rot':
+        mean = np.concatenate((mean[..., :4+(22 - 1) * 3], mean[..., 4+(52 - 1) * 3 + (22-1)*6 : 4+(52-1)*9], mean[..., 4+(52 - 1) * 9: 4+(52 - 1) * 9 + 22*3]), axis=0)
+    elif select_motion_type == 'root_position_vel_only_body':
+        mean = np.concatenate((mean[..., :4+(22 - 1) * 3], mean[..., 4+(52 - 1) * 9: 4+(52 - 1) * 9 + 22*3]), axis=0)
+    elif select_motion_type == 'root_body_pos_vel_hand_pos_vel_hand_wrist':
+        body_pos_mean = mean[..., :4+(22 - 1) * 3] # 67
+        left_hand_pos_mean = (mean[..., 4+(22 - 1) * 3:4+(37 - 1) * 3].reshape(15, 3) - body_pos_mean[..., -6:-3]).reshape(-1) # 45
+        right_hand_pos_mean = (mean[..., 4+(37 - 1) * 3:4+(52 - 1) * 3].reshape(15, 3) - body_pos_mean[..., -3:]).reshape(-1) # 45
+
+        body_vel_mean = mean[..., 4+(52 - 1) * 9: 4+(52 - 1) * 9 + 22*3] # 66
+        left_hand_vel_mean = (mean[..., 4+(52 - 1) * 9 + 22*3: 4+(52 - 1) * 9 + 22*3 + 15 * 3].reshape(15, 3) - body_vel_mean[..., -6:-3]).reshape(-1)
+        right_hand_vel_mean = (mean[..., 4+(52 - 1) * 9 + 22*3+ 15 * 3: 4+(52 - 1) * 9 + 22*3 + 15 * 3 + 15 * 3].reshape(15, 3) - body_vel_mean[..., -3:]).reshape(-1)
+        
+        mean = np.concatenate((body_pos_mean, left_hand_pos_mean, right_hand_pos_mean, body_vel_mean, left_hand_vel_mean, right_hand_vel_mean), axis=0)
+    else:
+        raise NotImplementedError
+    
+    if select_motion_type == 'root_position':
+        std = std[..., :4+(njoints-1)*3]
+    elif select_motion_type == 'root_position_vel':
+        std = np.concatenate((std[..., :4+(njoints - 1) * 3], std[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=0)
+    elif select_motion_type == 'root_position_rot6d':
+        std = np.concatenate((std[..., :4+(njoints - 1) * 3], std[..., 4+(njoints - 1) * 3: 4+(njoints - 1) * 9]), axis=0)
+    elif select_motion_type == 'root_rot6d':
+        std = np.concatenate((std[..., :4], std[..., 4+(njoints - 1) * 3: 4+(njoints - 1) * 9]), axis=0)
+    elif select_motion_type in ['all', 'smplx_212', 'vector_263', 'vector_263_ori_humanml', 'smplx_159', '']:
+        pass
+    elif select_motion_type == 'root_body_pos_vel_hand_all':
+        std = np.concatenate((std[..., :4+(njoints - 1) * 3], std[..., 4+(njoints - 1) * 3 + 21 * 6 : 4+(njoints - 1) * 9], std[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=0)
+        # pass
+    elif select_motion_type == 'root_body_pos_vel_hand_pos_vel':
+        std = np.concatenate((std[..., :4+(njoints - 1) * 3], std[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=0)
+    elif select_motion_type == 'root_body_pos_vel_hand_pos':
+        std = np.concatenate((std[..., :4+(njoints - 1) * 3], std[..., 4+(njoints - 1) * 9 + 22 * 3: 4+(njoints - 1) * 9 + 52*3]), axis=0)
+    elif select_motion_type == 'root_body_pos_vel_hand_rot':
+        std = np.concatenate((std[..., :4+(22 - 1) * 3], std[..., 4+(52 - 1) * 3 + (22-1)*6 : 4+(52-1)*9], std[..., 4+(52 - 1) * 9: 4+(52 - 1) * 9 + 22*3]), axis=0)
+    elif select_motion_type == 'root_position_vel_only_body':
+        std = np.concatenate((std[..., :4+(22 - 1) * 3], std[..., 4+(52 - 1) * 9: 4+(52 - 1) * 9 + 22*3]), axis=0)
+    elif select_motion_type == 'root_body_pos_vel_hand_pos_vel_hand_wrist':
+        std = np.concatenate((std[..., :4+(njoints - 1) * 3], std[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=0)
+    else:
+        raise NotImplementedError
+
+    return mean, std
+
+# def get_WordVectorizer(cfg, phase, dataset_name):
+#     if phase not in ["text_only"]:
+#         if dataset_name.lower() in ['humanml3d_272']:
+#             if cfg.model.eval_text_source == 'token':
+#                 return WordVectorizer(cfg.DATASET.WORD_VERTILIZER_PATH, "our_vab", cfg.model.eval_text_encode_way)
+#             else:
+#                 return WordVectorizer_only_text_token(cfg.DATASET.WORD_VERTILIZER_PATH, "our_vab", cfg.model.eval_text_encode_way)
+#         else:
+#             raise ValueError("Only support WordVectorizer for HumanML3D_272")
+#     else:
+#         return None
+
+
+def get_collate_fn(name, cfg, phase="train"):
+    if name.lower() in ['humanml3d_272']:
+        if cfg.model.condition in ['text_all', 'text_face', 'text_body', 'text_hand', 'text_face_body', 'text_seperate', 'only_pose_concat', 'only_pose_fusion'] and (not cfg.TEST.inference_vq_code):
+            return mld_collate_text_all
+        elif cfg.TEST.inference_vq_code:
+            return vq_collate
+        elif cfg.TRAIN.STAGE in ['gpt'] and (not cfg.TEST.inference_vq_code):
+            return mld_collate_vq_token
+        else:
+            return mld_collate
+    else:
+        raise NotImplementedError
+
+
+# map config name to module&path
+dataset_module_map = {
+    'humanml3d_272': HumanML3D_272_DataModule
+}
+motion_subdir = {'humanml3d_272': 'motion_data'}
+
+
+def get_datasets(cfg, logger=None, phase="train"):
+    # get dataset names form cfg
+    dataset_names = eval(f"cfg.{phase.upper()}.DATASETS")
+    datasets = []
+    for dataset_name in dataset_names:
+        if dataset_name.lower() in ["humanml3d_272"]:
+    
+            if 'MINOR_MOTION_TYPE' in cfg.DATASET:
+                input_format = cfg.DATASET.MINOR_MOTION_TYPE
+            else:
+                input_format = cfg.DATASET.MOTION_TYPE
+            
+            data_root = eval(f"cfg.DATASET.{dataset_name.upper()}.ROOT")
+            # get mean and std corresponding to dataset
+            mean, std = get_mean_std(phase, cfg, dataset_name)
+            mean_eval, std_eval = get_mean_std("val", cfg, dataset_name)
+
+            mean, std = reget_mean_std(cfg, dataset_name, mean, std)
+            mean_eval, std_eval = reget_mean_std(cfg, dataset_name, mean_eval, std_eval)
+            
+            # get WordVectorizer
+            # wordVectorizer = get_WordVectorizer(cfg, phase, dataset_name)
+            # get collect_fn
+            collate_fn = get_collate_fn(dataset_name, cfg, phase)
+            # get dataset module
+            
+            dataset = dataset_module_map[dataset_name.lower()](
+                cfg=cfg,
+                batch_size=cfg.TRAIN.BATCH_SIZE,
+                num_workers=cfg.TRAIN.NUM_WORKERS,
+                debug=cfg.DEBUG,
+                collate_fn=collate_fn,
+                mean=mean,
+                std=std,
+                mean_eval=mean_eval,
+                std_eval=std_eval,
+                # w_vectorizer=wordVectorizer,
+                input_format=cfg.DATASET.MOTION_TYPE, 
+                text_dir=pjoin(data_root, "texts"),
+                motion_dir=pjoin(data_root, motion_subdir[dataset_name]),
+                max_motion_length=cfg.DATASET.SAMPLER.MAX_LEN,
+                min_motion_length=cfg.DATASET.SAMPLER.MIN_LEN,
+                max_text_len=cfg.DATASET.SAMPLER.MAX_TEXT_LEN,
+                unit_length=eval(
+                    f"cfg.DATASET.{dataset_name.upper()}.UNIT_LEN"),
+            )
+            datasets.append(dataset)
+                
+        else:
+            raise NotImplementedError
+
+    if input_format == 'root_body_pos_vel_hand_pos_vel':
+        cfg.DATASET.NFEATS = 313
+    else:
+        cfg.DATASET.NFEATS = datasets[0].nfeats
+
+    cfg.DATASET.NJOINTS = datasets[0].njoints
+    return datasets

Evaluator_272/mld/data/humanml/common/quaternion.py

@@ -0,0 +1,423 @@
+# Copyright (c) 2018-present, Facebook, Inc.
+# All rights reserved.
+#
+# This source code is licensed under the license found in the
+# LICENSE file in the root directory of this source tree.
+#
+
+import torch
+import numpy as np
+
+_EPS4 = np.finfo(float).eps * 4.0
+
+_FLOAT_EPS = np.finfo(np.float64).eps
+
+# PyTorch-backed implementations
+def qinv(q):
+    assert q.shape[-1] == 4, 'q must be a tensor of shape (*, 4)'
+    mask = torch.ones_like(q)
+    mask[..., 1:] = -mask[..., 1:]
+    return q * mask
+
+
+def qinv_np(q):
+    assert q.shape[-1] == 4, 'q must be a tensor of shape (*, 4)'
+    return qinv(torch.from_numpy(q).float()).numpy()
+
+
+def qnormalize(q):
+    assert q.shape[-1] == 4, 'q must be a tensor of shape (*, 4)'
+    return q / torch.norm(q, dim=-1, keepdim=True)
+
+
+def qmul(q, r):
+    """
+    Multiply quaternion(s) q with quaternion(s) r.
+    Expects two equally-sized tensors of shape (*, 4), where * denotes any number of dimensions.
+    Returns q*r as a tensor of shape (*, 4).
+    """
+    assert q.shape[-1] == 4
+    assert r.shape[-1] == 4
+
+    original_shape = q.shape
+
+    # Compute outer product
+    terms = torch.bmm(r.view(-1, 4, 1), q.view(-1, 1, 4))
+
+    w = terms[:, 0, 0] - terms[:, 1, 1] - terms[:, 2, 2] - terms[:, 3, 3]
+    x = terms[:, 0, 1] + terms[:, 1, 0] - terms[:, 2, 3] + terms[:, 3, 2]
+    y = terms[:, 0, 2] + terms[:, 1, 3] + terms[:, 2, 0] - terms[:, 3, 1]
+    z = terms[:, 0, 3] - terms[:, 1, 2] + terms[:, 2, 1] + terms[:, 3, 0]
+    return torch.stack((w, x, y, z), dim=1).view(original_shape)
+
+
+def qrot(q, v):
+    """
+    Rotate vector(s) v about the rotation described by quaternion(s) q.
+    Expects a tensor of shape (*, 4) for q and a tensor of shape (*, 3) for v,
+    where * denotes any number of dimensions.
+    Returns a tensor of shape (*, 3).
+    """
+    assert q.shape[-1] == 4
+    assert v.shape[-1] == 3
+    assert q.shape[:-1] == v.shape[:-1]
+
+    original_shape = list(v.shape)
+    # print(q.shape)
+    q = q.contiguous().view(-1, 4)
+    v = v.contiguous().view(-1, 3)
+
+    qvec = q[:, 1:]
+    uv = torch.cross(qvec, v, dim=1)
+    uuv = torch.cross(qvec, uv, dim=1)
+    return (v + 2 * (q[:, :1] * uv + uuv)).view(original_shape)
+
+
+def qeuler(q, order, epsilon=0, deg=True):
+    """
+    Convert quaternion(s) q to Euler angles.
+    Expects a tensor of shape (*, 4), where * denotes any number of dimensions.
+    Returns a tensor of shape (*, 3).
+    """
+    assert q.shape[-1] == 4
+
+    original_shape = list(q.shape)
+    original_shape[-1] = 3
+    q = q.view(-1, 4)
+
+    q0 = q[:, 0]
+    q1 = q[:, 1]
+    q2 = q[:, 2]
+    q3 = q[:, 3]
+
+    if order == 'xyz':
+        x = torch.atan2(2 * (q0 * q1 - q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
+        y = torch.asin(torch.clamp(2 * (q1 * q3 + q0 * q2), -1 + epsilon, 1 - epsilon))
+        z = torch.atan2(2 * (q0 * q3 - q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
+    elif order == 'yzx':
+        x = torch.atan2(2 * (q0 * q1 - q2 * q3), 1 - 2 * (q1 * q1 + q3 * q3))
+        y = torch.atan2(2 * (q0 * q2 - q1 * q3), 1 - 2 * (q2 * q2 + q3 * q3))
+        z = torch.asin(torch.clamp(2 * (q1 * q2 + q0 * q3), -1 + epsilon, 1 - epsilon))
+    elif order == 'zxy':
+        x = torch.asin(torch.clamp(2 * (q0 * q1 + q2 * q3), -1 + epsilon, 1 - epsilon))
+        y = torch.atan2(2 * (q0 * q2 - q1 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
+        z = torch.atan2(2 * (q0 * q3 - q1 * q2), 1 - 2 * (q1 * q1 + q3 * q3))
+    elif order == 'xzy':
+        x = torch.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q3 * q3))
+        y = torch.atan2(2 * (q0 * q2 + q1 * q3), 1 - 2 * (q2 * q2 + q3 * q3))
+        z = torch.asin(torch.clamp(2 * (q0 * q3 - q1 * q2), -1 + epsilon, 1 - epsilon))
+    elif order == 'yxz':
+        x = torch.asin(torch.clamp(2 * (q0 * q1 - q2 * q3), -1 + epsilon, 1 - epsilon))
+        y = torch.atan2(2 * (q1 * q3 + q0 * q2), 1 - 2 * (q1 * q1 + q2 * q2))
+        z = torch.atan2(2 * (q1 * q2 + q0 * q3), 1 - 2 * (q1 * q1 + q3 * q3))
+    elif order == 'zyx':
+        x = torch.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
+        y = torch.asin(torch.clamp(2 * (q0 * q2 - q1 * q3), -1 + epsilon, 1 - epsilon))
+        z = torch.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
+    else:
+        raise
+
+    if deg:
+        return torch.stack((x, y, z), dim=1).view(original_shape) * 180 / np.pi
+    else:
+        return torch.stack((x, y, z), dim=1).view(original_shape)
+
+
+# Numpy-backed implementations
+
+def qmul_np(q, r):
+    q = torch.from_numpy(q).contiguous().float()
+    r = torch.from_numpy(r).contiguous().float()
+    return qmul(q, r).numpy()
+
+
+def qrot_np(q, v):
+    q = torch.from_numpy(q).contiguous().float()
+    v = torch.from_numpy(v).contiguous().float()
+    return qrot(q, v).numpy()
+
+
+def qeuler_np(q, order, epsilon=0, use_gpu=False):
+    if use_gpu:
+        q = torch.from_numpy(q).cuda().float()
+        return qeuler(q, order, epsilon).cpu().numpy()
+    else:
+        q = torch.from_numpy(q).contiguous().float()
+        return qeuler(q, order, epsilon).numpy()
+
+
+def qfix(q):
+    """
+    Enforce quaternion continuity across the time dimension by selecting
+    the representation (q or -q) with minimal distance (or, equivalently, maximal dot product)
+    between two consecutive frames.
+
+    Expects a tensor of shape (L, J, 4), where L is the sequence length and J is the number of joints.
+    Returns a tensor of the same shape.
+    """
+    assert len(q.shape) == 3
+    assert q.shape[-1] == 4
+
+    result = q.copy()
+    dot_products = np.sum(q[1:] * q[:-1], axis=2)
+    mask = dot_products < 0
+    mask = (np.cumsum(mask, axis=0) % 2).astype(bool)
+    result[1:][mask] *= -1
+    return result
+
+
+def euler2quat(e, order, deg=True):
+    """
+    Convert Euler angles to quaternions.
+    """
+    assert e.shape[-1] == 3
+
+    original_shape = list(e.shape)
+    original_shape[-1] = 4
+
+    e = e.view(-1, 3)
+
+    ## if euler angles in degrees
+    if deg:
+        e = e * np.pi / 180.
+
+    x = e[:, 0]
+    y = e[:, 1]
+    z = e[:, 2]
+
+    rx = torch.stack((torch.cos(x / 2), torch.sin(x / 2), torch.zeros_like(x), torch.zeros_like(x)), dim=1)
+    ry = torch.stack((torch.cos(y / 2), torch.zeros_like(y), torch.sin(y / 2), torch.zeros_like(y)), dim=1)
+    rz = torch.stack((torch.cos(z / 2), torch.zeros_like(z), torch.zeros_like(z), torch.sin(z / 2)), dim=1)
+
+    result = None
+    for coord in order:
+        if coord == 'x':
+            r = rx
+        elif coord == 'y':
+            r = ry
+        elif coord == 'z':
+            r = rz
+        else:
+            raise
+        if result is None:
+            result = r
+        else:
+            result = qmul(result, r)
+
+    # Reverse antipodal representation to have a non-negative "w"
+    if order in ['xyz', 'yzx', 'zxy']:
+        result *= -1
+
+    return result.view(original_shape)
+
+
+def expmap_to_quaternion(e):
+    """
+    Convert axis-angle rotations (aka exponential maps) to quaternions.
+    Stable formula from "Practical Parameterization of Rotations Using the Exponential Map".
+    Expects a tensor of shape (*, 3), where * denotes any number of dimensions.
+    Returns a tensor of shape (*, 4).
+    """
+    assert e.shape[-1] == 3
+
+    original_shape = list(e.shape)
+    original_shape[-1] = 4
+    e = e.reshape(-1, 3)
+
+    theta = np.linalg.norm(e, axis=1).reshape(-1, 1)
+    w = np.cos(0.5 * theta).reshape(-1, 1)
+    xyz = 0.5 * np.sinc(0.5 * theta / np.pi) * e
+    return np.concatenate((w, xyz), axis=1).reshape(original_shape)
+
+
+def euler_to_quaternion(e, order):
+    """
+    Convert Euler angles to quaternions.
+    """
+    assert e.shape[-1] == 3
+
+    original_shape = list(e.shape)
+    original_shape[-1] = 4
+
+    e = e.reshape(-1, 3)
+
+    x = e[:, 0]
+    y = e[:, 1]
+    z = e[:, 2]
+
+    rx = np.stack((np.cos(x / 2), np.sin(x / 2), np.zeros_like(x), np.zeros_like(x)), axis=1)
+    ry = np.stack((np.cos(y / 2), np.zeros_like(y), np.sin(y / 2), np.zeros_like(y)), axis=1)
+    rz = np.stack((np.cos(z / 2), np.zeros_like(z), np.zeros_like(z), np.sin(z / 2)), axis=1)
+
+    result = None
+    for coord in order:
+        if coord == 'x':
+            r = rx
+        elif coord == 'y':
+            r = ry
+        elif coord == 'z':
+            r = rz
+        else:
+            raise
+        if result is None:
+            result = r
+        else:
+            result = qmul_np(result, r)
+
+    # Reverse antipodal representation to have a non-negative "w"
+    if order in ['xyz', 'yzx', 'zxy']:
+        result *= -1
+
+    return result.reshape(original_shape)
+
+
+def quaternion_to_matrix(quaternions):
+    """
+    Convert rotations given as quaternions to rotation matrices.
+    Args:
+        quaternions: quaternions with real part first,
+            as tensor of shape (..., 4).
+    Returns:
+        Rotation matrices as tensor of shape (..., 3, 3).
+    """
+    r, i, j, k = torch.unbind(quaternions, -1)
+    two_s = 2.0 / (quaternions * quaternions).sum(-1)
+
+    o = torch.stack(
+        (
+            1 - two_s * (j * j + k * k),
+            two_s * (i * j - k * r),
+            two_s * (i * k + j * r),
+            two_s * (i * j + k * r),
+            1 - two_s * (i * i + k * k),
+            two_s * (j * k - i * r),
+            two_s * (i * k - j * r),
+            two_s * (j * k + i * r),
+            1 - two_s * (i * i + j * j),
+        ),
+        -1,
+    )
+    return o.reshape(quaternions.shape[:-1] + (3, 3))
+
+
+def quaternion_to_matrix_np(quaternions):
+    q = torch.from_numpy(quaternions).contiguous().float()
+    return quaternion_to_matrix(q).numpy()
+
+
+def quaternion_to_cont6d_np(quaternions):
+    rotation_mat = quaternion_to_matrix_np(quaternions)
+    cont_6d = np.concatenate([rotation_mat[..., 0], rotation_mat[..., 1]], axis=-1)
+    return cont_6d
+
+
+def quaternion_to_cont6d(quaternions):
+    rotation_mat = quaternion_to_matrix(quaternions)
+    cont_6d = torch.cat([rotation_mat[..., 0], rotation_mat[..., 1]], dim=-1)
+    return cont_6d
+
+
+def cont6d_to_matrix(cont6d):
+    assert cont6d.shape[-1] == 6, "The last dimension must be 6"
+    x_raw = cont6d[..., 0:3]
+    y_raw = cont6d[..., 3:6]
+
+    x = x_raw / torch.norm(x_raw, dim=-1, keepdim=True)
+    z = torch.cross(x, y_raw, dim=-1)
+    z = z / torch.norm(z, dim=-1, keepdim=True)
+
+    y = torch.cross(z, x, dim=-1)
+
+    x = x[..., None]
+    y = y[..., None]
+    z = z[..., None]
+
+    mat = torch.cat([x, y, z], dim=-1)
+    return mat
+
+
+def cont6d_to_matrix_np(cont6d):
+    q = torch.from_numpy(cont6d).contiguous().float()
+    return cont6d_to_matrix(q).numpy()
+
+
+def qpow(q0, t, dtype=torch.float):
+    ''' q0 : tensor of quaternions
+    t: tensor of powers
+    '''
+    q0 = qnormalize(q0)
+    theta0 = torch.acos(q0[..., 0])
+
+    ## if theta0 is close to zero, add epsilon to avoid NaNs
+    mask = (theta0 <= 10e-10) * (theta0 >= -10e-10)
+    theta0 = (1 - mask) * theta0 + mask * 10e-10
+    v0 = q0[..., 1:] / torch.sin(theta0).view(-1, 1)
+
+    if isinstance(t, torch.Tensor):
+        q = torch.zeros(t.shape + q0.shape)
+        theta = t.view(-1, 1) * theta0.view(1, -1)
+    else:  ## if t is a number
+        q = torch.zeros(q0.shape)
+        theta = t * theta0
+
+    q[..., 0] = torch.cos(theta)
+    q[..., 1:] = v0 * torch.sin(theta).unsqueeze(-1)
+
+    return q.to(dtype)
+
+
+def qslerp(q0, q1, t):
+    '''
+    q0: starting quaternion
+    q1: ending quaternion
+    t: array of points along the way
+
+    Returns:
+    Tensor of Slerps: t.shape + q0.shape
+    '''
+
+    q0 = qnormalize(q0)
+    q1 = qnormalize(q1)
+    q_ = qpow(qmul(q1, qinv(q0)), t)
+
+    return qmul(q_,
+                q0.contiguous().view(torch.Size([1] * len(t.shape)) + q0.shape).expand(t.shape + q0.shape).contiguous())
+
+
+def qbetween(v0, v1):
+    '''
+    find the quaternion used to rotate v0 to v1
+    '''
+    assert v0.shape[-1] == 3, 'v0 must be of the shape (*, 3)'
+    assert v1.shape[-1] == 3, 'v1 must be of the shape (*, 3)'
+
+    v = torch.cross(v0, v1)
+    w = torch.sqrt((v0 ** 2).sum(dim=-1, keepdim=True) * (v1 ** 2).sum(dim=-1, keepdim=True)) + (v0 * v1).sum(dim=-1,
+                                                                                                              keepdim=True)
+    return qnormalize(torch.cat([w, v], dim=-1))
+
+
+def qbetween_np(v0, v1):
+    '''
+    find the quaternion used to rotate v0 to v1
+    '''
+    assert v0.shape[-1] == 3, 'v0 must be of the shape (*, 3)'
+    assert v1.shape[-1] == 3, 'v1 must be of the shape (*, 3)'
+
+    v0 = torch.from_numpy(v0).float()
+    v1 = torch.from_numpy(v1).float()
+    return qbetween(v0, v1).numpy()
+
+
+def lerp(p0, p1, t):
+    if not isinstance(t, torch.Tensor):
+        t = torch.Tensor([t])
+
+    new_shape = t.shape + p0.shape
+    new_view_t = t.shape + torch.Size([1] * len(p0.shape))
+    new_view_p = torch.Size([1] * len(t.shape)) + p0.shape
+    p0 = p0.view(new_view_p).expand(new_shape)
+    p1 = p1.view(new_view_p).expand(new_shape)
+    t = t.view(new_view_t).expand(new_shape)
+
+    return p0 + t * (p1 - p0)

Evaluator_272/mld/data/humanml/common/skeleton.py

@@ -0,0 +1,199 @@
+from .quaternion import *
+import scipy.ndimage.filters as filters
+
+class Skeleton(object):
+    def __init__(self, offset, kinematic_tree, device):
+        self.device = device
+        self._raw_offset_np = offset.numpy()
+        self._raw_offset = offset.clone().detach().to(device).float()
+        self._kinematic_tree = kinematic_tree
+        self._offset = None
+        self._parents = [0] * len(self._raw_offset)
+        self._parents[0] = -1
+        for chain in self._kinematic_tree:
+            for j in range(1, len(chain)):
+                self._parents[chain[j]] = chain[j-1]
+
+    def njoints(self):
+        return len(self._raw_offset)
+
+    def offset(self):
+        return self._offset
+
+    def set_offset(self, offsets):
+        self._offset = offsets.clone().detach().to(self.device).float()
+
+    def kinematic_tree(self):
+        return self._kinematic_tree
+
+    def parents(self):
+        return self._parents
+
+    # joints (batch_size, joints_num, 3)
+    def get_offsets_joints_batch(self, joints):
+        assert len(joints.shape) == 3
+        _offsets = self._raw_offset.expand(joints.shape[0], -1, -1).clone()
+        for i in range(1, self._raw_offset.shape[0]):
+            _offsets[:, i] = torch.norm(joints[:, i] - joints[:, self._parents[i]], p=2, dim=1)[:, None] * _offsets[:, i]
+
+        self._offset = _offsets.detach()
+        return _offsets
+
+    # joints (joints_num, 3)
+    def get_offsets_joints(self, joints):
+        assert len(joints.shape) == 2
+        _offsets = self._raw_offset.clone()
+        for i in range(1, self._raw_offset.shape[0]):
+            # print(joints.shape)
+            _offsets[i] = torch.norm(joints[i] - joints[self._parents[i]], p=2, dim=0) * _offsets[i]
+
+        self._offset = _offsets.detach()
+        return _offsets
+
+    # face_joint_idx should follow the order of right hip, left hip, right shoulder, left shoulder
+    # joints (batch_size, joints_num, 3)
+    def inverse_kinematics_np(self, joints, face_joint_idx, smooth_forward=False):
+        assert len(face_joint_idx) == 4
+        '''Get Forward Direction'''
+        l_hip, r_hip, sdr_r, sdr_l = face_joint_idx
+        across1 = joints[:, r_hip] - joints[:, l_hip]
+        across2 = joints[:, sdr_r] - joints[:, sdr_l]
+        across = across1 + across2
+        across = across / np.sqrt((across**2).sum(axis=-1))[:, np.newaxis]
+        # print(across1.shape, across2.shape)
+
+        # forward (batch_size, 3)
+        forward = np.cross(np.array([[0, 1, 0]]), across, axis=-1)
+        if smooth_forward:
+            forward = filters.gaussian_filter1d(forward, 20, axis=0, mode='nearest')
+            # forward (batch_size, 3)
+        forward = forward / np.sqrt((forward**2).sum(axis=-1))[..., np.newaxis]
+
+        '''Get Root Rotation'''
+        target = np.array([[0,0,1]]).repeat(len(forward), axis=0)
+        root_quat = qbetween_np(forward, target)
+
+        '''Inverse Kinematics'''
+        # quat_params (batch_size, joints_num, 4)
+        # print(joints.shape[:-1])
+        quat_params = np.zeros(joints.shape[:-1] + (4,))
+        # print(quat_params.shape)
+        root_quat[0] = np.array([[1.0, 0.0, 0.0, 0.0]])
+        quat_params[:, 0] = root_quat
+        # quat_params[0, 0] = np.array([[1.0, 0.0, 0.0, 0.0]])
+        for chain in self._kinematic_tree:
+            R = root_quat
+            for j in range(len(chain) - 1):
+                # (batch, 3)
+                u = self._raw_offset_np[chain[j+1]][np.newaxis,...].repeat(len(joints), axis=0)
+                # print(u.shape)
+                # (batch, 3)
+                v = joints[:, chain[j+1]] - joints[:, chain[j]]
+                v = v / np.sqrt((v**2).sum(axis=-1))[:, np.newaxis]
+                # print(u.shape, v.shape)
+                rot_u_v = qbetween_np(u, v)
+
+                R_loc = qmul_np(qinv_np(R), rot_u_v)
+
+                quat_params[:,chain[j + 1], :] = R_loc
+                R = qmul_np(R, R_loc)
+
+        return quat_params
+
+    # Be sure root joint is at the beginning of kinematic chains
+    def forward_kinematics(self, quat_params, root_pos, skel_joints=None, do_root_R=True):
+        # quat_params (batch_size, joints_num, 4)
+        # joints (batch_size, joints_num, 3)
+        # root_pos (batch_size, 3)
+        if skel_joints is not None:
+            offsets = self.get_offsets_joints_batch(skel_joints)
+        if len(self._offset.shape) == 2:
+            offsets = self._offset.expand(quat_params.shape[0], -1, -1)
+        joints = torch.zeros(quat_params.shape[:-1] + (3,)).to(self.device)
+        joints[:, 0] = root_pos
+        for chain in self._kinematic_tree:
+            if do_root_R:
+                R = quat_params[:, 0]
+            else:
+                R = torch.tensor([[1.0, 0.0, 0.0, 0.0]]).expand(len(quat_params), -1).detach().to(self.device)
+            for i in range(1, len(chain)):
+                R = qmul(R, quat_params[:, chain[i]])
+                offset_vec = offsets[:, chain[i]]
+                joints[:, chain[i]] = qrot(R, offset_vec) + joints[:, chain[i-1]]
+        return joints
+
+    # Be sure root joint is at the beginning of kinematic chains
+    def forward_kinematics_np(self, quat_params, root_pos, skel_joints=None, do_root_R=True):
+        # quat_params (batch_size, joints_num, 4)
+        # joints (batch_size, joints_num, 3)
+        # root_pos (batch_size, 3)
+        if skel_joints is not None:
+            skel_joints = torch.from_numpy(skel_joints)
+            offsets = self.get_offsets_joints_batch(skel_joints)
+        if len(self._offset.shape) == 2:
+            offsets = self._offset.expand(quat_params.shape[0], -1, -1)
+        offsets = offsets.numpy()
+        joints = np.zeros(quat_params.shape[:-1] + (3,))
+        joints[:, 0] = root_pos
+        for chain in self._kinematic_tree:
+            if do_root_R:
+                R = quat_params[:, 0]
+            else:
+                R = np.array([[1.0, 0.0, 0.0, 0.0]]).repeat(len(quat_params), axis=0)
+            for i in range(1, len(chain)):
+                R = qmul_np(R, quat_params[:, chain[i]])
+                offset_vec = offsets[:, chain[i]]
+                joints[:, chain[i]] = qrot_np(R, offset_vec) + joints[:, chain[i - 1]]
+        return joints
+
+    def forward_kinematics_cont6d_np(self, cont6d_params, root_pos, skel_joints=None, do_root_R=True):
+        # cont6d_params (batch_size, joints_num, 6)
+        # joints (batch_size, joints_num, 3)
+        # root_pos (batch_size, 3)
+        if skel_joints is not None:
+            skel_joints = torch.from_numpy(skel_joints)
+            offsets = self.get_offsets_joints_batch(skel_joints)
+        if len(self._offset.shape) == 2:
+            offsets = self._offset.expand(cont6d_params.shape[0], -1, -1)
+        offsets = offsets.numpy()
+        joints = np.zeros(cont6d_params.shape[:-1] + (3,))
+        joints[:, 0] = root_pos
+        for chain in self._kinematic_tree:
+            if do_root_R:
+                matR = cont6d_to_matrix_np(cont6d_params[:, 0])
+            else:
+                matR = np.eye(3)[np.newaxis, :].repeat(len(cont6d_params), axis=0)
+            for i in range(1, len(chain)):
+                matR = np.matmul(matR, cont6d_to_matrix_np(cont6d_params[:, chain[i]]))
+                offset_vec = offsets[:, chain[i]][..., np.newaxis]
+                # print(matR.shape, offset_vec.shape)
+                joints[:, chain[i]] = np.matmul(matR, offset_vec).squeeze(-1) + joints[:, chain[i-1]]
+        return joints
+
+    def forward_kinematics_cont6d(self, cont6d_params, root_pos, skel_joints=None, do_root_R=True):
+        # cont6d_params (batch_size, joints_num, 6)
+        # joints (batch_size, joints_num, 3)
+        # root_pos (batch_size, 3)
+        if skel_joints is not None:
+            # skel_joints = torch.from_numpy(skel_joints)
+            offsets = self.get_offsets_joints_batch(skel_joints)
+        if len(self._offset.shape) == 2:
+            offsets = self._offset.expand(cont6d_params.shape[0], -1, -1)
+        joints = torch.zeros(cont6d_params.shape[:-1] + (3,)).to(cont6d_params.device)
+        joints[..., 0, :] = root_pos
+        for chain in self._kinematic_tree:
+            if do_root_R:
+                matR = cont6d_to_matrix(cont6d_params[:, 0])
+            else:
+                matR = torch.eye(3).expand((len(cont6d_params), -1, -1)).detach().to(cont6d_params.device)
+            for i in range(1, len(chain)):
+                matR = torch.matmul(matR, cont6d_to_matrix(cont6d_params[:, chain[i]]))
+                offset_vec = offsets[:, chain[i]].unsqueeze(-1)
+                # print(matR.shape, offset_vec.shape)
+                joints[:, chain[i]] = torch.matmul(matR, offset_vec).squeeze(-1) + joints[:, chain[i-1]]
+        return joints
+
+
+
+
+

Evaluator_272/mld/data/humanml/data/dataset.py

@@ -0,0 +1,227 @@
+import codecs as cs
+import os
+import random
+from os.path import join as pjoin
+
+import numpy as np
+import spacy
+import torch
+from rich.progress import track
+from torch.utils import data
+from torch.utils.data._utils.collate import default_collate
+from tqdm import tqdm
+import json
+
+
+def collate_fn(batch):
+    batch.sort(key=lambda x: x[3], reverse=True)
+    return default_collate(batch)
+
+
+
+def findAllFile(base):
+    file_path = []
+    for root, ds, fs in os.walk(base, followlinks=True):
+        for f in fs:
+            fullname = os.path.join(root, f)
+            file_path.append(fullname)
+    return file_path
+
+
+class Text2MotionDatasetV2(data.Dataset):
+
+    def __init__(
+        self,
+        mean,
+        std,
+        split_file,
+        max_motion_length,
+        min_motion_length,
+        max_text_len,
+        unit_length,
+        motion_dir,
+        text_dir,
+        input_format, 
+        njoints, 
+        tiny=False,
+        debug=False,
+        progress_bar=True,
+        **kwargs,
+    ):
+        
+        self.max_length = 20
+        self.pointer = 0
+        self.max_motion_length = max_motion_length
+
+        self.min_motion_length = min_motion_length
+        self.max_text_len = max_text_len
+        self.unit_length = unit_length
+        data_dict = {}
+        id_list = []
+        with cs.open(split_file, "r") as f:
+            for line in f.readlines():
+                id_list.append(line.strip())
+        self.id_list = id_list
+        if tiny or debug:
+            progress_bar = False
+            maxdata = 10 if tiny else 100
+        else:
+            maxdata = 1e10
+
+        if progress_bar:
+            enumerator = enumerate(
+                track(
+                    id_list,
+                    f"Loading {split_file.split('/')[-2]} {split_file.split('/')[-1].split('.')[0]}",
+                ))
+        else:
+            enumerator = enumerate(id_list)
+        count = 0
+        bad_count = 0
+        miss_count = 0
+        new_name_list = []
+        length_list = []
+
+        for i, name in enumerator:
+            if count > maxdata:
+                break
+            try:
+                
+                motion = np.load(pjoin(motion_dir, name + ".npy"))
+
+                if input_format == 'root_position':
+                    motion = motion[..., :4+(njoints-1)*3]
+                elif input_format == 'root_position_vel':
+                    motion = np.concatenate((motion[..., :4+(njoints - 1) * 3], motion[..., 4+(njoints - 1) * 9: 4+(njoints - 1) * 9 + njoints*3]), axis=-1)
+                elif input_format == 'root_position_rot6d':
+                    motion = np.concatenate((motion[..., :4+(njoints - 1) * 3], motion[..., 4+(njoints - 1) * 3: 4+(njoints - 1) * 9]), axis=-1)
+                elif input_format == 'root_rot6d':
+                    motion = np.concatenate((motion[..., :4], motion[..., 4+(njoints - 1) * 3: 4+(njoints - 1) * 9]), axis=-1)
+                elif input_format in ['vector_263', '']:
+                    pass
+                else:
+                    raise NotImplementedError
+
+                
+                text_data = []
+                flag = False
+                with cs.open(pjoin(text_dir, name + ".txt")) as f:
+                    for line in f.readlines():
+                        text_dict = {}
+                        line_split = line.strip().split("#")
+                        caption = line_split[0]
+                        tokens = line_split[1].split(" ")
+                        f_tag = float(line_split[2])
+                        to_tag = float(line_split[3])
+                        f_tag = 0.0 if np.isnan(f_tag) else f_tag
+                        to_tag = 0.0 if np.isnan(to_tag) else to_tag
+
+                        text_dict["caption"] = caption
+                        text_dict["tokens"] = tokens
+                        if f_tag == 0.0 and to_tag == 0.0:
+                            flag = True
+                            text_data.append(text_dict)
+                        else:
+                            try:
+                                n_motion = motion[int(f_tag * 30):int(to_tag * 30)]
+                                
+                                new_name = (
+                                    random.choice("ABCDEFGHIJKLMNOPQRSTUVW") +
+                                    "_" + name)
+                                while new_name in data_dict:
+                                    new_name = (random.choice(
+                                        "ABCDEFGHIJKLMNOPQRSTUVW") + "_" +
+                                                name)
+                                data_dict[new_name] = {
+                                    "motion": n_motion,
+                                    "length": len(n_motion),
+                                    "text": [text_dict],
+                                }
+                                new_name_list.append(new_name)
+                                length_list.append(len(n_motion))
+                            except:
+                                print(line_split)
+                                print(line_split[2], line_split[3], f_tag,
+                                        to_tag, name)
+                            
+
+                if flag:
+                    data_dict[name] = {
+                        "motion": motion,
+                        "length": len(motion),
+                        "text": text_data,
+                    }
+                    new_name_list.append(name)
+                    length_list.append(len(motion))
+                    count += 1
+                    
+            except:
+                miss_count += 1
+                pass
+
+        print(f'Here are {miss_count} not in dataset!')
+
+        name_list, length_list = zip(
+            *sorted(zip(new_name_list, length_list), key=lambda x: x[1]))
+
+
+
+        self.mean = mean
+        self.std = std
+
+        self.length_arr = np.array(length_list)
+        self.data_dict = data_dict
+        self.nfeats = motion.shape[1]
+        self.name_list = name_list
+        self.reset_max_len(self.max_length)
+
+
+    def reset_max_len(self, length):
+        assert length <= self.max_motion_length
+        self.pointer = np.searchsorted(self.length_arr, length)
+        print("Pointer Pointing at %d" % self.pointer)
+        self.max_length = length
+
+    def inv_transform(self, data):
+        return data * self.std + self.mean
+
+    def __len__(self):
+        return len(self.name_list) - self.pointer
+
+    def __getitem__(self, item):
+        idx = self.pointer + item
+        data = self.data_dict[self.name_list[idx]]
+
+        retrieval_name = self.name_list[idx].split('_')[-1]
+
+        motion, m_length, text_list = data["motion"], data["length"], data["text"]
+
+        # Randomly select a caption
+        text_data = random.choice(text_list)
+        # caption, tokens = text_data["caption"], text_data["tokens"]
+        caption = text_data["caption"]
+
+        # Crop the motions in to times of 4, and introduce small variations
+        if self.unit_length < 10:
+            coin2 = np.random.choice(["single", "single", "double"])
+        else:
+            coin2 = "single"
+
+        if coin2 == "double":
+            m_length = (m_length // self.unit_length - 1) * self.unit_length
+        elif coin2 == "single":
+            m_length = (m_length // self.unit_length) * self.unit_length
+        idx = random.randint(0, len(motion) - m_length)
+        motion = motion[idx:idx + m_length]
+        "Normalization"
+        motion = (motion - self.mean) / self.std
+
+        if np.any(np.isnan(motion)):
+            raise ValueError("nan in motion")
+
+        return (
+            caption,
+            motion,
+            m_length,
+            retrieval_name
+        )

Evaluator_272/mld/data/humanml/scripts/motion_process.py

@@ -0,0 +1,576 @@
+from os.path import join as pjoin
+
+from ..common.skeleton import Skeleton
+import numpy as np
+import os
+from ..common.quaternion import *
+from ..utils.paramUtil import *
+
+import torch
+from tqdm import tqdm
+
+# positions (batch, joint_num, 3)
+def uniform_skeleton(positions, target_offset):
+    src_skel = Skeleton(n_raw_offsets, kinematic_chain, 'cpu')
+    src_offset = src_skel.get_offsets_joints(torch.from_numpy(positions[0]))
+    src_offset = src_offset.numpy()
+    tgt_offset = target_offset.numpy()
+    # print(src_offset)
+    # print(tgt_offset)
+    '''Calculate Scale Ratio as the ratio of legs'''
+    src_leg_len = np.abs(src_offset[l_idx1]).max() + np.abs(src_offset[l_idx2]).max()
+    tgt_leg_len = np.abs(tgt_offset[l_idx1]).max() + np.abs(tgt_offset[l_idx2]).max()
+
+    scale_rt = tgt_leg_len / src_leg_len
+    # print(scale_rt)
+    src_root_pos = positions[:, 0]
+    tgt_root_pos = src_root_pos * scale_rt
+
+    '''Inverse Kinematics'''
+    quat_params = src_skel.inverse_kinematics_np(positions, face_joint_indx)
+    # print(quat_params.shape)
+
+    '''Forward Kinematics'''
+    src_skel.set_offset(target_offset)
+    new_joints = src_skel.forward_kinematics_np(quat_params, tgt_root_pos)
+    return new_joints
+
+
+def extract_features(positions, feet_thre, n_raw_offsets, kinematic_chain, face_joint_indx, fid_r, fid_l):
+    global_positions = positions.copy()
+    """ Get Foot Contacts """
+
+    def foot_detect(positions, thres):
+        velfactor, heightfactor = np.array([thres, thres]), np.array([3.0, 2.0])
+
+        feet_l_x = (positions[1:, fid_l, 0] - positions[:-1, fid_l, 0]) ** 2
+        feet_l_y = (positions[1:, fid_l, 1] - positions[:-1, fid_l, 1]) ** 2
+        feet_l_z = (positions[1:, fid_l, 2] - positions[:-1, fid_l, 2]) ** 2
+        #     feet_l_h = positions[:-1,fid_l,1]
+        #     feet_l = (((feet_l_x + feet_l_y + feet_l_z) < velfactor) & (feet_l_h < heightfactor)).astype(np.float64)
+        feet_l = ((feet_l_x + feet_l_y + feet_l_z) < velfactor).astype(np.float64)
+
+        feet_r_x = (positions[1:, fid_r, 0] - positions[:-1, fid_r, 0]) ** 2
+        feet_r_y = (positions[1:, fid_r, 1] - positions[:-1, fid_r, 1]) ** 2
+        feet_r_z = (positions[1:, fid_r, 2] - positions[:-1, fid_r, 2]) ** 2
+        #     feet_r_h = positions[:-1,fid_r,1]
+        #     feet_r = (((feet_r_x + feet_r_y + feet_r_z) < velfactor) & (feet_r_h < heightfactor)).astype(np.float64)
+        feet_r = (((feet_r_x + feet_r_y + feet_r_z) < velfactor)).astype(np.float64)
+        return feet_l, feet_r
+
+    #
+    feet_l, feet_r = foot_detect(positions, feet_thre)
+    # feet_l, feet_r = foot_detect(positions, 0.002)
+
+    '''Quaternion and Cartesian representation'''
+    r_rot = None
+
+    def get_rifke(positions):
+        '''Local pose'''
+        positions[..., 0] -= positions[:, 0:1, 0]
+        positions[..., 2] -= positions[:, 0:1, 2]
+        '''All pose face Z+'''
+        positions = qrot_np(np.repeat(r_rot[:, None], positions.shape[1], axis=1), positions)
+        return positions
+
+    def get_quaternion(positions):
+        skel = Skeleton(n_raw_offsets, kinematic_chain, "cpu")
+        # (seq_len, joints_num, 4)
+        quat_params = skel.inverse_kinematics_np(positions, face_joint_indx, smooth_forward=False)
+
+        '''Fix Quaternion Discontinuity'''
+        quat_params = qfix(quat_params)
+        # (seq_len, 4)
+        r_rot = quat_params[:, 0].copy()
+        #     print(r_rot[0])
+        '''Root Linear Velocity'''
+        # (seq_len - 1, 3)
+        velocity = (positions[1:, 0] - positions[:-1, 0]).copy()
+        #     print(r_rot.shape, velocity.shape)
+        velocity = qrot_np(r_rot[1:], velocity)
+        '''Root Angular Velocity'''
+        # (seq_len - 1, 4)
+        r_velocity = qmul_np(r_rot[1:], qinv_np(r_rot[:-1]))
+        quat_params[1:, 0] = r_velocity
+        # (seq_len, joints_num, 4)
+        return quat_params, r_velocity, velocity, r_rot
+
+    def get_cont6d_params(positions):
+        skel = Skeleton(n_raw_offsets, kinematic_chain, "cpu")
+        # (seq_len, joints_num, 4)
+        quat_params = skel.inverse_kinematics_np(positions, face_joint_indx, smooth_forward=True)
+
+        '''Quaternion to continuous 6D'''
+        cont_6d_params = quaternion_to_cont6d_np(quat_params)
+        # (seq_len, 4)
+        r_rot = quat_params[:, 0].copy()
+        #     print(r_rot[0])
+        '''Root Linear Velocity'''
+        # (seq_len - 1, 3)
+        velocity = (positions[1:, 0] - positions[:-1, 0]).copy()
+        #     print(r_rot.shape, velocity.shape)
+        velocity = qrot_np(r_rot[1:], velocity)
+        '''Root Angular Velocity'''
+        # (seq_len - 1, 4)
+        r_velocity = qmul_np(r_rot[1:], qinv_np(r_rot[:-1]))
+        # (seq_len, joints_num, 4)
+        return cont_6d_params, r_velocity, velocity, r_rot
+
+    cont_6d_params, r_velocity, velocity, r_rot = get_cont6d_params(positions)
+    positions = get_rifke(positions)
+
+    #     trejec = np.cumsum(np.concatenate([np.array([[0, 0, 0]]), velocity], axis=0), axis=0)
+    #     r_rotations, r_pos = recover_ric_glo_np(r_velocity, velocity[:, [0, 2]])
+
+    # plt.plot(positions_b[:, 0, 0], positions_b[:, 0, 2], marker='*')
+    # plt.plot(ground_positions[:, 0, 0], ground_positions[:, 0, 2], marker='o', color='r')
+    # plt.plot(trejec[:, 0], trejec[:, 2], marker='^', color='g')
+    # plt.plot(r_pos[:, 0], r_pos[:, 2], marker='s', color='y')
+    # plt.xlabel('x')
+    # plt.ylabel('z')
+    # plt.axis('equal')
+    # plt.show()
+
+    '''Root height'''
+    root_y = positions[:, 0, 1:2]
+
+    '''Root rotation and linear velocity'''
+    # (seq_len-1, 1) rotation velocity along y-axis
+    # (seq_len-1, 2) linear velovity on xz plane
+    r_velocity = np.arcsin(r_velocity[:, 2:3])
+    l_velocity = velocity[:, [0, 2]]
+    #     print(r_velocity.shape, l_velocity.shape, root_y.shape)
+    root_data = np.concatenate([r_velocity, l_velocity, root_y[:-1]], axis=-1)
+
+    '''Get Joint Rotation Representation'''
+    # (seq_len, (joints_num-1) *6) quaternion for skeleton joints
+    rot_data = cont_6d_params[:, 1:].reshape(len(cont_6d_params), -1)
+
+    '''Get Joint Rotation Invariant Position Represention'''
+    # (seq_len, (joints_num-1)*3) local joint position
+    ric_data = positions[:, 1:].reshape(len(positions), -1)
+
+    '''Get Joint Velocity Representation'''
+    # (seq_len-1, joints_num*3)
+    local_vel = qrot_np(np.repeat(r_rot[:-1, None], global_positions.shape[1], axis=1),
+                        global_positions[1:] - global_positions[:-1])
+    local_vel = local_vel.reshape(len(local_vel), -1)
+
+    data = root_data
+    data = np.concatenate([data, ric_data[:-1]], axis=-1)
+    data = np.concatenate([data, rot_data[:-1]], axis=-1)
+    #     print(dataset.shape, local_vel.shape)
+    data = np.concatenate([data, local_vel], axis=-1)
+    data = np.concatenate([data, feet_l, feet_r], axis=-1)
+
+    return data
+
+
+def process_file(positions, feet_thre):
+    # (seq_len, joints_num, 3)
+    #     '''Down Sample'''
+    #     positions = positions[::ds_num]
+
+    '''Uniform Skeleton'''
+    positions = uniform_skeleton(positions, tgt_offsets)
+
+    '''Put on Floor'''
+    floor_height = positions.min(axis=0).min(axis=0)[1]
+    positions[:, :, 1] -= floor_height
+    #     print(floor_height)
+
+    #     plot_3d_motion("./positions_1.mp4", kinematic_chain, positions, 'title', fps=20)
+
+    '''XZ at origin'''
+    root_pos_init = positions[0]
+    root_pose_init_xz = root_pos_init[0] * np.array([1, 0, 1])
+    positions = positions - root_pose_init_xz
+
+    # '''Move the first pose to origin '''
+    # root_pos_init = positions[0]
+    # positions = positions - root_pos_init[0]
+
+    '''All initially face Z+'''
+    r_hip, l_hip, sdr_r, sdr_l = face_joint_indx
+    across1 = root_pos_init[r_hip] - root_pos_init[l_hip]
+    across2 = root_pos_init[sdr_r] - root_pos_init[sdr_l]
+    across = across1 + across2
+    across = across / np.sqrt((across ** 2).sum(axis=-1))[..., np.newaxis]
+
+    # forward (3,), rotate around y-axis
+    forward_init = np.cross(np.array([[0, 1, 0]]), across, axis=-1)
+    # forward (3,)
+    forward_init = forward_init / np.sqrt((forward_init ** 2).sum(axis=-1))[..., np.newaxis]
+
+    #     print(forward_init)
+
+    target = np.array([[0, 0, 1]])
+    root_quat_init = qbetween_np(forward_init, target)
+    root_quat_init = np.ones(positions.shape[:-1] + (4,)) * root_quat_init
+
+    positions_b = positions.copy()
+
+    positions = qrot_np(root_quat_init, positions)
+
+    #     plot_3d_motion("./positions_2.mp4", kinematic_chain, positions, 'title', fps=20)
+
+    '''New ground truth positions'''
+    global_positions = positions.copy()
+
+    # plt.plot(positions_b[:, 0, 0], positions_b[:, 0, 2], marker='*')
+    # plt.plot(positions[:, 0, 0], positions[:, 0, 2], marker='o', color='r')
+    # plt.xlabel('x')
+    # plt.ylabel('z')
+    # plt.axis('equal')
+    # plt.show()
+
+    """ Get Foot Contacts """
+
+    def foot_detect(positions, thres):
+        velfactor, heightfactor = np.array([thres, thres]), np.array([3.0, 2.0])
+
+        feet_l_x = (positions[1:, fid_l, 0] - positions[:-1, fid_l, 0]) ** 2
+        feet_l_y = (positions[1:, fid_l, 1] - positions[:-1, fid_l, 1]) ** 2
+        feet_l_z = (positions[1:, fid_l, 2] - positions[:-1, fid_l, 2]) ** 2
+        #     feet_l_h = positions[:-1,fid_l,1]
+        #     feet_l = (((feet_l_x + feet_l_y + feet_l_z) < velfactor) & (feet_l_h < heightfactor)).astype(np.float64)
+        feet_l = ((feet_l_x + feet_l_y + feet_l_z) < velfactor).astype(np.float64)
+
+        feet_r_x = (positions[1:, fid_r, 0] - positions[:-1, fid_r, 0]) ** 2
+        feet_r_y = (positions[1:, fid_r, 1] - positions[:-1, fid_r, 1]) ** 2
+        feet_r_z = (positions[1:, fid_r, 2] - positions[:-1, fid_r, 2]) ** 2
+        #     feet_r_h = positions[:-1,fid_r,1]
+        #     feet_r = (((feet_r_x + feet_r_y + feet_r_z) < velfactor) & (feet_r_h < heightfactor)).astype(np.float64)
+        feet_r = (((feet_r_x + feet_r_y + feet_r_z) < velfactor)).astype(np.float64)
+        return feet_l, feet_r
+    #
+    feet_l, feet_r = foot_detect(positions, feet_thre)
+    # feet_l, feet_r = foot_detect(positions, 0.002)
+
+    '''Quaternion and Cartesian representation'''
+    r_rot = None
+
+    def get_rifke(positions):
+        '''Local pose'''
+        positions[..., 0] -= positions[:, 0:1, 0]
+        positions[..., 2] -= positions[:, 0:1, 2]
+        '''All pose face Z+'''
+        positions = qrot_np(np.repeat(r_rot[:, None], positions.shape[1], axis=1), positions)
+        return positions
+
+    def get_quaternion(positions):
+        skel = Skeleton(n_raw_offsets, kinematic_chain, "cpu")
+        # (seq_len, joints_num, 4)
+        quat_params = skel.inverse_kinematics_np(positions, face_joint_indx, smooth_forward=False)
+
+        '''Fix Quaternion Discontinuity'''
+        quat_params = qfix(quat_params)
+        # (seq_len, 4)
+        r_rot = quat_params[:, 0].copy()
+        #     print(r_rot[0])
+        '''Root Linear Velocity'''
+        # (seq_len - 1, 3)
+        velocity = (positions[1:, 0] - positions[:-1, 0]).copy()
+        #     print(r_rot.shape, velocity.shape)
+        velocity = qrot_np(r_rot[1:], velocity)
+        '''Root Angular Velocity'''
+        # (seq_len - 1, 4)
+        r_velocity = qmul_np(r_rot[1:], qinv_np(r_rot[:-1]))
+        quat_params[1:, 0] = r_velocity
+        # (seq_len, joints_num, 4)
+        return quat_params, r_velocity, velocity, r_rot
+
+    def get_cont6d_params(positions):
+        skel = Skeleton(n_raw_offsets, kinematic_chain, "cpu")
+        # (seq_len, joints_num, 4)
+        quat_params = skel.inverse_kinematics_np(positions, face_joint_indx, smooth_forward=True)
+
+        '''Quaternion to continuous 6D'''
+        cont_6d_params = quaternion_to_cont6d_np(quat_params)
+        # (seq_len, 4)
+        r_rot = quat_params[:, 0].copy()
+        #     print(r_rot[0])
+        '''Root Linear Velocity'''
+        # (seq_len - 1, 3)
+        velocity = (positions[1:, 0] - positions[:-1, 0]).copy()
+        #     print(r_rot.shape, velocity.shape)
+        velocity = qrot_np(r_rot[1:], velocity)
+        '''Root Angular Velocity'''
+        # (seq_len - 1, 4)
+        r_velocity = qmul_np(r_rot[1:], qinv_np(r_rot[:-1]))
+        # (seq_len, joints_num, 4)
+        return cont_6d_params, r_velocity, velocity, r_rot
+
+    cont_6d_params, r_velocity, velocity, r_rot = get_cont6d_params(positions)
+    positions = get_rifke(positions)
+
+    #     trejec = np.cumsum(np.concatenate([np.array([[0, 0, 0]]), velocity], axis=0), axis=0)
+    #     r_rotations, r_pos = recover_ric_glo_np(r_velocity, velocity[:, [0, 2]])
+
+    # plt.plot(positions_b[:, 0, 0], positions_b[:, 0, 2], marker='*')
+    # plt.plot(ground_positions[:, 0, 0], ground_positions[:, 0, 2], marker='o', color='r')
+    # plt.plot(trejec[:, 0], trejec[:, 2], marker='^', color='g')
+    # plt.plot(r_pos[:, 0], r_pos[:, 2], marker='s', color='y')
+    # plt.xlabel('x')
+    # plt.ylabel('z')
+    # plt.axis('equal')
+    # plt.show()
+
+    '''Root height'''
+    root_y = positions[:, 0, 1:2]
+
+    '''Root rotation and linear velocity'''
+    # (seq_len-1, 1) rotation velocity along y-axis
+    # (seq_len-1, 2) linear velovity on xz plane
+    r_velocity = np.arcsin(r_velocity[:, 2:3])
+    l_velocity = velocity[:, [0, 2]]
+    #     print(r_velocity.shape, l_velocity.shape, root_y.shape)
+    root_data = np.concatenate([r_velocity, l_velocity, root_y[:-1]], axis=-1)
+
+    '''Get Joint Rotation Representation'''
+    # (seq_len, (joints_num-1) *6) quaternion for skeleton joints
+    rot_data = cont_6d_params[:, 1:].reshape(len(cont_6d_params), -1)
+
+    '''Get Joint Rotation Invariant Position Represention'''
+    # (seq_len, (joints_num-1)*3) local joint position
+    ric_data = positions[:, 1:].reshape(len(positions), -1)
+
+    '''Get Joint Velocity Representation'''
+    # (seq_len-1, joints_num*3)
+    local_vel = qrot_np(np.repeat(r_rot[:-1, None], global_positions.shape[1], axis=1),
+                        global_positions[1:] - global_positions[:-1])
+    local_vel = local_vel.reshape(len(local_vel), -1)
+
+    data = root_data
+    data = np.concatenate([data, ric_data[:-1]], axis=-1)
+    data = np.concatenate([data, rot_data[:-1]], axis=-1)
+    #     print(dataset.shape, local_vel.shape)
+    data = np.concatenate([data, local_vel], axis=-1)
+    data = np.concatenate([data, feet_l, feet_r], axis=-1)
+
+    return data, global_positions, positions, l_velocity
+
+
+# Recover global angle and positions for rotation dataset
+# root_rot_velocity (B, seq_len, 1)
+# root_linear_velocity (B, seq_len, 2)
+# root_y (B, seq_len, 1)
+# ric_data (B, seq_len, (joint_num - 1)*3)
+# rot_data (B, seq_len, (joint_num - 1)*6)
+# local_velocity (B, seq_len, joint_num*3)
+# foot contact (B, seq_len, 4)
+def recover_root_rot_pos(data):
+    rot_vel = data[..., 0]
+    r_rot_ang = torch.zeros_like(rot_vel).to(data.device)
+    '''Get Y-axis rotation from rotation velocity'''
+    r_rot_ang[..., 1:] = rot_vel[..., :-1]
+    r_rot_ang = torch.cumsum(r_rot_ang, dim=-1)
+
+    r_rot_quat = torch.zeros(data.shape[:-1] + (4,)).to(data.device)
+    r_rot_quat[..., 0] = torch.cos(r_rot_ang)
+    r_rot_quat[..., 2] = torch.sin(r_rot_ang)
+
+    r_pos = torch.zeros(data.shape[:-1] + (3,)).to(data.device)
+    r_pos[..., 1:, [0, 2]] = data[..., :-1, 1:3]
+    '''Add Y-axis rotation to root position'''
+    r_pos = qrot(qinv(r_rot_quat), r_pos)
+
+    r_pos = torch.cumsum(r_pos, dim=-2)
+
+    r_pos[..., 1] = data[..., 3]
+    return r_rot_quat, r_pos
+
+
+def recover_from_rot(data, joints_num, skeleton):
+    r_rot_quat, r_pos = recover_root_rot_pos(data)
+
+    r_rot_cont6d = quaternion_to_cont6d(r_rot_quat)
+
+    start_indx = 1 + 2 + 1 + (joints_num - 1) * 3
+    end_indx = start_indx + (joints_num - 1) * 6
+    cont6d_params = data[..., start_indx:end_indx]
+    #     print(r_rot_cont6d.shape, cont6d_params.shape, r_pos.shape)
+    cont6d_params = torch.cat([r_rot_cont6d, cont6d_params], dim=-1)
+    cont6d_params = cont6d_params.view(-1, joints_num, 6)
+
+    positions = skeleton.forward_kinematics_cont6d(cont6d_params, r_pos)
+
+    return positions
+
+def recover_from_root_rot6d(data, joints_num, skeleton):
+
+    r_rot_quat, r_pos = recover_root_rot_pos(data)
+
+    r_rot_cont6d = quaternion_to_cont6d(r_rot_quat)
+
+    start_indx = 1 + 2 + 1
+    end_indx = start_indx + (joints_num - 1) * 6
+    cont6d_params = data[..., start_indx:end_indx]
+    #     print(r_rot_cont6d.shape, cont6d_params.shape, r_pos.shape)
+    cont6d_params = torch.cat([r_rot_cont6d, cont6d_params], dim=-1)
+    cont6d_params = cont6d_params.view(-1, joints_num, 6)
+    r_pos = r_pos.view(-1,3)
+    positions = skeleton.forward_kinematics_cont6d(cont6d_params, r_pos)
+    return positions
+
+def recover_from_body_pos_vel_hand_rot(data, joints_num, skeleton):
+    assert len(skeleton) == 2
+    body_skel = skeleton[0]
+    all_skel = skeleton[1]
+    assert joints_num == 52
+    face_joint_indx = [2, 1, 17, 16]
+
+    r_rot_quat, r_pos = recover_root_rot_pos(data)
+
+    r_rot_cont6d = quaternion_to_cont6d(r_rot_quat)
+
+    pos_body_data = data[..., : 4 + 21 * 3]
+    pos_body_data_global = recover_from_ric(pos_body_data, 22)
+    # pos_body_data_global shape (bs, frame, 22, 3)
+    quat_params = body_skel.inverse_kinematics(pos_body_data_global, face_joint_indx)
+    bs = quat_params.shape[0]
+    frame = quat_params.shape[1]
+    cont6d_params = quaternion_to_cont6d(quat_params).view(bs, frame, -1)
+
+    # cont6d_params
+    rot6d_hand_data = data[..., 4 + 21 * 3: 4 + 21 * 3 + 30 * 6]
+
+    cont6d_params = torch.cat([cont6d_params, rot6d_hand_data], dim=-1)
+    cont6d_params = cont6d_params.view(-1, joints_num, 6)
+    r_pos = r_pos.view(-1,3)
+    positions = all_skel.forward_kinematics_cont6d(cont6d_params, r_pos)
+    return positions
+
+
+def recover_rot(data):
+    # dataset [bs, seqlen, 263/251] HumanML/KIT
+    joints_num = 22 if data.shape[-1] == 263 else 21
+    r_rot_quat, r_pos = recover_root_rot_pos(data)
+    r_pos_pad = torch.cat([r_pos, torch.zeros_like(r_pos)], dim=-1).unsqueeze(-2)
+    r_rot_cont6d = quaternion_to_cont6d(r_rot_quat)
+    start_indx = 1 + 2 + 1 + (joints_num - 1) * 3
+    end_indx = start_indx + (joints_num - 1) * 6
+    cont6d_params = data[..., start_indx:end_indx]
+    cont6d_params = torch.cat([r_rot_cont6d, cont6d_params], dim=-1)
+    cont6d_params = cont6d_params.view(-1, joints_num, 6)
+    cont6d_params = torch.cat([cont6d_params, r_pos_pad], dim=-2)
+    return cont6d_params
+
+
+def recover_from_ric(data, joints_num):
+    r_rot_quat, r_pos = recover_root_rot_pos(data)
+    positions = data[..., 4:(joints_num - 1) * 3 + 4]
+    positions = positions.view(positions.shape[:-1] + (-1, 3))
+
+    '''Add Y-axis rotation to local joints'''
+    positions = qrot(qinv(r_rot_quat[..., None, :]).expand(positions.shape[:-1] + (4,)), positions)
+
+    '''Add root XZ to joints'''
+    positions[..., 0] += r_pos[..., 0:1]
+    positions[..., 2] += r_pos[..., 2:3]
+
+    '''Concate root and joints'''
+    positions = torch.cat([r_pos.unsqueeze(-2), positions], dim=-2)
+
+    return positions
+
+
+'''
+For Text2Motion Dataset
+'''
+'''
+if __name__ == "__main__":
+    example_id = "000021"
+    # Lower legs
+    l_idx1, l_idx2 = 5, 8
+    # Right/Left foot
+    fid_r, fid_l = [8, 11], [7, 10]
+    # Face direction, r_hip, l_hip, sdr_r, sdr_l
+    face_joint_indx = [2, 1, 17, 16]
+    # l_hip, r_hip
+    r_hip, l_hip = 2, 1
+    joints_num = 22
+    # ds_num = 8
+    data_dir = '../dataset/pose_data_raw/joints/'
+    save_dir1 = '../dataset/pose_data_raw/new_joints/'
+    save_dir2 = '../dataset/pose_data_raw/new_joint_vecs/'
+
+    n_raw_offsets = torch.from_numpy(t2m_raw_offsets)
+    kinematic_chain = t2m_kinematic_chain
+
+    # Get offsets of target skeleton
+    example_data = np.load(os.path.join(data_dir, example_id + '.npy'))
+    example_data = example_data.reshape(len(example_data), -1, 3)
+    example_data = torch.from_numpy(example_data)
+    tgt_skel = Skeleton(n_raw_offsets, kinematic_chain, 'cpu')
+    # (joints_num, 3)
+    tgt_offsets = tgt_skel.get_offsets_joints(example_data[0])
+    # print(tgt_offsets)
+
+    source_list = os.listdir(data_dir)
+    frame_num = 0
+    for source_file in tqdm(source_list):
+        source_data = np.load(os.path.join(data_dir, source_file))[:, :joints_num]
+        try:
+            dataset, ground_positions, positions, l_velocity = process_file(source_data, 0.002)
+            rec_ric_data = recover_from_ric(torch.from_numpy(dataset).unsqueeze(0).float(), joints_num)
+            np.save(pjoin(save_dir1, source_file), rec_ric_data.squeeze().numpy())
+            np.save(pjoin(save_dir2, source_file), dataset)
+            frame_num += dataset.shape[0]
+        except Exception as e:
+            print(source_file)
+            print(e)
+
+    print('Total clips: %d, Frames: %d, Duration: %fm' %
+          (len(source_list), frame_num, frame_num / 20 / 60))
+'''
+
+if __name__ == "__main__":
+    example_id = "03950_gt"
+    # Lower legs
+    l_idx1, l_idx2 = 17, 18
+    # Right/Left foot
+    fid_r, fid_l = [14, 15], [19, 20]
+    # Face direction, r_hip, l_hip, sdr_r, sdr_l
+    face_joint_indx = [11, 16, 5, 8]
+    # l_hip, r_hip
+    r_hip, l_hip = 11, 16
+    joints_num = 21
+    # ds_num = 8
+    data_dir = '../dataset/kit_mocap_dataset/joints/'
+    save_dir1 = '../dataset/kit_mocap_dataset/new_joints/'
+    save_dir2 = '../dataset/kit_mocap_dataset/new_joint_vecs/'
+
+    n_raw_offsets = torch.from_numpy(kit_raw_offsets)
+    kinematic_chain = kit_kinematic_chain
+
+    '''Get offsets of target skeleton'''
+    example_data = np.load(os.path.join(data_dir, example_id + '.npy'))
+    example_data = example_data.reshape(len(example_data), -1, 3)
+    example_data = torch.from_numpy(example_data)
+    tgt_skel = Skeleton(n_raw_offsets, kinematic_chain, 'cpu')
+    # (joints_num, 3)
+    tgt_offsets = tgt_skel.get_offsets_joints(example_data[0])
+    # print(tgt_offsets)
+
+    source_list = os.listdir(data_dir)
+    frame_num = 0
+    '''Read source dataset'''
+    for source_file in tqdm(source_list):
+        source_data = np.load(os.path.join(data_dir, source_file))[:, :joints_num]
+        try:
+            name = ''.join(source_file[:-7].split('_')) + '.npy'
+            data, ground_positions, positions, l_velocity = process_file(source_data, 0.05)
+            rec_ric_data = recover_from_ric(torch.from_numpy(data).unsqueeze(0).float(), joints_num)
+            if np.isnan(rec_ric_data.numpy()).any():
+                print(source_file)
+                continue
+            np.save(pjoin(save_dir1, name), rec_ric_data.squeeze().numpy())
+            np.save(pjoin(save_dir2, name), data)
+            frame_num += data.shape[0]
+        except Exception as e:
+            print(source_file)
+            print(e)
+
+    print('Total clips: %d, Frames: %d, Duration: %fm' %
+          (len(source_list), frame_num, frame_num / 12.5 / 60))

Evaluator_272/mld/data/humanml/utils/metrics.py

@@ -0,0 +1,142 @@
+import numpy as np
+from scipy import linalg
+
+def euclidean_distance_matrix(matrix1, matrix2):
+    """
+        Params:
+        -- matrix1: N1 x D
+        -- matrix2: N2 x D
+        Returns:
+        -- dist: N1 x N2
+        dist[i, j] == distance(matrix1[i], matrix2[j])
+    """
+    assert matrix1.shape[1] == matrix2.shape[1]
+    d1 = -2 * np.dot(matrix1, matrix2.T)    
+    d2 = np.sum(np.square(matrix1), axis=1, keepdims=True)    
+    d3 = np.sum(np.square(matrix2), axis=1)    
+    dists = np.sqrt(d1 + d2 + d3)  
+    return dists
+
+def calculate_top_k(mat, top_k):
+    size = mat.shape[0]
+    gt_mat = np.expand_dims(np.arange(size), 1).repeat(size, 1)
+    bool_mat = (mat == gt_mat)
+    correct_vec = False
+    top_k_list = []
+    for i in range(top_k):
+        correct_vec = (correct_vec | bool_mat[:, i])
+        top_k_list.append(correct_vec[:, None])
+    top_k_mat = np.concatenate(top_k_list, axis=1)
+    return top_k_mat
+
+
+def calculate_R_precision(embedding1, embedding2, top_k, sum_all=False):
+    dist_mat = euclidean_distance_matrix(embedding1, embedding2)
+    argmax = np.argsort(dist_mat, axis=1)
+    top_k_mat = calculate_top_k(argmax, top_k)
+    if sum_all:
+        return top_k_mat.sum(axis=0)
+    else:
+        return top_k_mat
+
+
+def calculate_matching_score(embedding1, embedding2, sum_all=False):
+    assert len(embedding1.shape) == 2
+    assert embedding1.shape[0] == embedding2.shape[0]
+    assert embedding1.shape[1] == embedding2.shape[1]
+
+    dist = linalg.norm(embedding1 - embedding2, axis=1)
+    if sum_all:
+        return dist.sum(axis=0)
+    else:
+        return dist
+
+
+
+def calculate_activation_statistics(activations):
+    """
+    Params:
+    -- activation: num_samples x dim_feat
+    Returns:
+    -- mu: dim_feat
+    -- sigma: dim_feat x dim_feat
+    """
+    mu = np.mean(activations, axis=0)
+    cov = np.cov(activations, rowvar=False)
+    return mu, cov
+
+
+def calculate_diversity(activation, diversity_times):
+    assert len(activation.shape) == 2
+    assert activation.shape[0] > diversity_times
+    num_samples = activation.shape[0]
+
+    first_indices = np.random.choice(num_samples, diversity_times, replace=False)
+    second_indices = np.random.choice(num_samples, diversity_times, replace=False)
+    dist = linalg.norm(activation[first_indices] - activation[second_indices], axis=1)
+    return dist.mean()
+
+
+def calculate_multimodality(activation, multimodality_times):
+    assert len(activation.shape) == 3
+    assert activation.shape[1] > multimodality_times
+    num_per_sent = activation.shape[1]
+
+    first_dices = np.random.choice(num_per_sent, multimodality_times, replace=False)
+    second_dices = np.random.choice(num_per_sent, multimodality_times, replace=False)
+    dist = linalg.norm(activation[:, first_dices] - activation[:, second_dices], axis=2)
+    return dist.mean()
+
+
+def calculate_frechet_distance(mu1, sigma1, mu2, sigma2, eps=1e-6):
+    """Numpy implementation of the Frechet Distance.
+    The Frechet distance between two multivariate Gaussians X_1 ~ N(mu_1, C_1)
+    and X_2 ~ N(mu_2, C_2) is
+            d^2 = ||mu_1 - mu_2||^2 + Tr(C_1 + C_2 - 2*sqrt(C_1*C_2)).
+    Stable version by Dougal J. Sutherland.
+    Params:
+    -- mu1   : Numpy array containing the activations of a layer of the
+               inception net (like returned by the function 'get_predictions')
+               for generated samples.
+    -- mu2   : The sample mean over activations, precalculated on an
+               representative dataset set.
+    -- sigma1: The covariance matrix over activations for generated samples.
+    -- sigma2: The covariance matrix over activations, precalculated on an
+               representative dataset set.
+    Returns:
+    --   : The Frechet Distance.
+    """
+
+    mu1 = np.atleast_1d(mu1)
+    mu2 = np.atleast_1d(mu2)
+
+    sigma1 = np.atleast_2d(sigma1)
+    sigma2 = np.atleast_2d(sigma2)
+
+    assert mu1.shape == mu2.shape, \
+        'Training and test mean vectors have different lengths'
+    assert sigma1.shape == sigma2.shape, \
+        'Training and test covariances have different dimensions'
+
+    diff = mu1 - mu2
+
+    # Product might be almost singular
+    covmean, _ = linalg.sqrtm(sigma1.dot(sigma2), disp=False)
+    if not np.isfinite(covmean).all():
+        msg = ('fid calculation produces singular product; '
+               'adding %s to diagonal of cov estimates') % eps
+        print(msg)
+        offset = np.eye(sigma1.shape[0]) * eps
+        covmean = linalg.sqrtm((sigma1 + offset).dot(sigma2 + offset))
+
+    # Numerical error might give slight imaginary component
+    if np.iscomplexobj(covmean):
+        if not np.allclose(np.diagonal(covmean).imag, 0, atol=1e-3):
+            m = np.max(np.abs(covmean.imag))
+            raise ValueError('Imaginary component {}'.format(m))
+        covmean = covmean.real
+
+    tr_covmean = np.trace(covmean)
+
+    return (diff.dot(diff) + np.trace(sigma1) +
+            np.trace(sigma2) - 2 * tr_covmean)

Evaluator_272/mld/data/humanml/utils/paramUtil.py

@@ -0,0 +1,63 @@
+import numpy as np
+
+# Define a kinematic tree for the skeletal struture
+kit_kinematic_chain = [[0, 11, 12, 13, 14, 15], [0, 16, 17, 18, 19, 20], [0, 1, 2, 3, 4], [3, 5, 6, 7], [3, 8, 9, 10]]
+
+kit_raw_offsets = np.array(
+    [
+        [0, 0, 0],
+        [0, 1, 0],
+        [0, 1, 0],
+        [0, 1, 0],
+        [0, 1, 0],
+        [1, 0, 0],
+        [0, -1, 0],
+        [0, -1, 0],
+        [-1, 0, 0],
+        [0, -1, 0],
+        [0, -1, 0],
+        [1, 0, 0],
+        [0, -1, 0],
+        [0, -1, 0],
+        [0, 0, 1],
+        [0, 0, 1],
+        [-1, 0, 0],
+        [0, -1, 0],
+        [0, -1, 0],
+        [0, 0, 1],
+        [0, 0, 1]
+    ]
+)
+
+t2m_raw_offsets = np.array([[0,0,0],
+                           [1,0,0],
+                           [-1,0,0],
+                           [0,1,0],
+                           [0,-1,0],
+                           [0,-1,0],
+                           [0,1,0],
+                           [0,-1,0],
+                           [0,-1,0],
+                           [0,1,0],
+                           [0,0,1],
+                           [0,0,1],
+                           [0,1,0],
+                           [1,0,0],
+                           [-1,0,0],
+                           [0,0,1],
+                           [0,-1,0],
+                           [0,-1,0],
+                           [0,-1,0],
+                           [0,-1,0],
+                           [0,-1,0],
+                           [0,-1,0]])
+
+t2m_kinematic_chain = [[0, 2, 5, 8, 11], [0, 1, 4, 7, 10], [0, 3, 6, 9, 12, 15], [9, 14, 17, 19, 21], [9, 13, 16, 18, 20]]
+t2m_left_hand_chain = [[20, 22, 23, 24], [20, 34, 35, 36], [20, 25, 26, 27], [20, 31, 32, 33], [20, 28, 29, 30]]
+t2m_right_hand_chain = [[21, 43, 44, 45], [21, 46, 47, 48], [21, 40, 41, 42], [21, 37, 38, 39], [21, 49, 50, 51]]
+
+
+kit_tgt_skel_id = '03950'
+
+t2m_tgt_skel_id = '000021'
+

Evaluator_272/mld/data/humanml/utils/plot_script.py

@@ -0,0 +1,103 @@
+import math
+# import cv2
+from textwrap import wrap
+
+import matplotlib
+import matplotlib.pyplot as plt
+import mpl_toolkits.mplot3d.axes3d as p3
+import numpy as np
+from matplotlib.animation import FFMpegFileWriter, FuncAnimation
+from mpl_toolkits.mplot3d import Axes3D
+from mpl_toolkits.mplot3d.art3d import Poly3DCollection
+
+import mld.data.humanml.utils.paramUtil as paramUtil
+
+skeleton = paramUtil.t2m_kinematic_chain
+
+
+def list_cut_average(ll, intervals):
+    if intervals == 1:
+        return ll
+
+    bins = math.ceil(len(ll) * 1.0 / intervals)
+    ll_new = []
+    for i in range(bins):
+        l_low = intervals * i
+        l_high = l_low + intervals
+        l_high = l_high if l_high < len(ll) else len(ll)
+        ll_new.append(np.mean(ll[l_low:l_high]))
+    return ll_new
+
+
+def plot_3d_motion(save_path, joints, title, figsize=(3, 3), fps=120, radius=3, kinematic_tree=skeleton):
+    matplotlib.use('Agg')
+    title = '\n'.join(wrap(title, 20))
+
+    def init():
+        ax.set_xlim3d([-radius / 2, radius / 2])
+        ax.set_ylim3d([0, radius])
+        ax.set_zlim3d([-radius / 3., radius * 2 / 3.])
+        fig.suptitle(title, fontsize=10)
+        ax.grid(b=False)
+
+    def plot_xzPlane(minx, maxx, miny, minz, maxz):
+        verts = [
+            [minx, miny, minz],
+            [minx, miny, maxz],
+            [maxx, miny, maxz],
+            [maxx, miny, minz]
+        ]
+        xz_plane = Poly3DCollection([verts])
+        xz_plane.set_facecolor((0.5, 0.5, 0.5, 0.5))
+        ax.add_collection3d(xz_plane)
+
+    
+    data = joints.copy().reshape(len(joints), -1, 3)
+    fig = plt.figure(figsize=figsize)
+    plt.tight_layout()
+    ax = p3.Axes3D(fig)
+    init()
+    MINS = data.min(axis=0).min(axis=0)
+    MAXS = data.max(axis=0).max(axis=0)
+    
+    colors = ["#DD5A37", "#D69E00", "#B75A39", "#DD5A37", "#D69E00",
+              "#FF6D00", "#FF6D00", "#FF6D00", "#FF6D00", "#FF6D00",
+              "#DDB50E", "#DDB50E", "#DDB50E", "#DDB50E", "#DDB50E", ]
+
+    frame_number = data.shape[0]
+
+    height_offset = MINS[1]
+    data[:, :, 1] -= height_offset
+    trajec = data[:, 0, [0, 2]]
+
+    data[..., 0] -= data[:, 0:1, 0]
+    data[..., 2] -= data[:, 0:1, 2]
+
+
+    def update(index):
+        
+        ax.view_init(elev=120, azim=-90)
+        ax.dist = 7.5
+        plot_xzPlane(MINS[0] - trajec[index, 0], MAXS[0] - trajec[index, 0], 0, MINS[2] - trajec[index, 1],
+                     MAXS[2] - trajec[index, 1])
+        
+
+        for i, (chain, color) in enumerate(zip(kinematic_tree, colors)):
+            #             print(color)
+            if i < 5:
+                linewidth = 4.0
+            else:
+                linewidth = 2.0
+            ax.plot3D(data[index, chain, 0], data[index, chain, 1], data[index, chain, 2], linewidth=linewidth,
+                      color=color)
+
+        plt.axis('off')
+        ax.set_xticklabels([])
+        ax.set_yticklabels([])
+        ax.set_zticklabels([])
+
+    ani = FuncAnimation(fig, update, frames=frame_number,
+                        interval=1000 / fps, repeat=False)
+
+    ani.save(save_path, fps=fps)
+    plt.close()

Evaluator_272/mld/data/humanml/utils/utils.py

@@ -0,0 +1,163 @@
+import os
+import numpy as np
+# import cv2
+from PIL import Image
+import paramUtil
+import math
+import time
+import matplotlib.pyplot as plt
+from scipy.ndimage import gaussian_filter
+
+
+def mkdir(path):
+    if not os.path.exists(path):
+        os.makedirs(path)
+
+COLORS = [[255, 0, 0], [255, 85, 0], [255, 170, 0], [255, 255, 0], [170, 255, 0], [85, 255, 0], [0, 255, 0],
+          [0, 255, 85], [0, 255, 170], [0, 255, 255], [0, 170, 255], [0, 85, 255], [0, 0, 255], [85, 0, 255],
+          [170, 0, 255], [255, 0, 255], [255, 0, 170], [255, 0, 85]]
+
+MISSING_VALUE = -1
+
+def save_image(image_numpy, image_path):
+    img_pil = Image.fromarray(image_numpy)
+    img_pil.save(image_path)
+
+
+def save_logfile(log_loss, save_path):
+    with open(save_path, 'wt') as f:
+        for k, v in log_loss.items():
+            w_line = k
+            for digit in v:
+                w_line += ' %.3f' % digit
+            f.write(w_line + '\n')
+
+
+def print_current_loss(start_time, niter_state, losses, epoch=None, sub_epoch=None,
+                       inner_iter=None, tf_ratio=None, sl_steps=None):
+
+    def as_minutes(s):
+        m = math.floor(s / 60)
+        s -= m * 60
+        return '%dm %ds' % (m, s)
+
+    def time_since(since, percent):
+        now = time.time()
+        s = now - since
+        es = s / percent
+        rs = es - s
+        return '%s (- %s)' % (as_minutes(s), as_minutes(rs))
+
+    if epoch is not None:
+        print('epoch: %3d niter: %6d sub_epoch: %2d inner_iter: %4d' % (epoch, niter_state, sub_epoch, inner_iter), end=" ")
+
+    
+    now = time.time()
+    message = '%s'%(as_minutes(now - start_time))
+
+    for k, v in losses.items():
+        message += ' %s: %.4f ' % (k, v)
+    message += ' sl_length:%2d tf_ratio:%.2f'%(sl_steps, tf_ratio)
+    print(message)
+
+def print_current_loss_decomp(start_time, niter_state, total_niters, losses, epoch=None, inner_iter=None):
+
+    def as_minutes(s):
+        m = math.floor(s / 60)
+        s -= m * 60
+        return '%dm %ds' % (m, s)
+
+    def time_since(since, percent):
+        now = time.time()
+        s = now - since
+        es = s / percent
+        rs = es - s
+        return '%s (- %s)' % (as_minutes(s), as_minutes(rs))
+
+    print('epoch: %03d inner_iter: %5d' % (epoch, inner_iter), end=" ")
+    # now = time.time()
+    message = '%s niter: %07d completed: %3d%%)'%(time_since(start_time, niter_state / total_niters), niter_state, niter_state / total_niters * 100)
+    for k, v in losses.items():
+        message += ' %s: %.4f ' % (k, v)
+    print(message)
+
+
+def compose_gif_img_list(img_list, fp_out, duration):
+    img, *imgs = [Image.fromarray(np.array(image)) for image in img_list]
+    img.save(fp=fp_out, format='GIF', append_images=imgs, optimize=False,
+             save_all=True, loop=0, duration=duration)
+
+
+def save_images(visuals, image_path):
+    if not os.path.exists(image_path):
+        os.makedirs(image_path)
+
+    for i, (label, img_numpy) in enumerate(visuals.items()):
+        img_name = '%d_%s.jpg' % (i, label)
+        save_path = os.path.join(image_path, img_name)
+        save_image(img_numpy, save_path)
+
+
+def save_images_test(visuals, image_path, from_name, to_name):
+    if not os.path.exists(image_path):
+        os.makedirs(image_path)
+
+    for i, (label, img_numpy) in enumerate(visuals.items()):
+        img_name = "%s_%s_%s" % (from_name, to_name, label)
+        save_path = os.path.join(image_path, img_name)
+        save_image(img_numpy, save_path)
+
+
+def compose_and_save_img(img_list, save_dir, img_name, col=4, row=1, img_size=(256, 200)):
+    # print(col, row)
+    compose_img = compose_image(img_list, col, row, img_size)
+    if not os.path.exists(save_dir):
+        os.makedirs(save_dir)
+    img_path = os.path.join(save_dir, img_name)
+    compose_img.save(img_path)
+
+
+def compose_image(img_list, col, row, img_size):
+    to_image = Image.new('RGB', (col * img_size[0], row * img_size[1]))
+    for y in range(0, row):
+        for x in range(0, col):
+            from_img = Image.fromarray(img_list[y * col + x])
+            
+            paste_area = (x * img_size[0], y*img_size[1],
+                                      (x + 1) * img_size[0], (y + 1) * img_size[1])
+            to_image.paste(from_img, paste_area)
+    return to_image
+
+
+def plot_loss_curve(losses, save_path, intervals=500):
+    plt.figure(figsize=(10, 5))
+    plt.title("Loss During Training")
+    for key in losses.keys():
+        plt.plot(list_cut_average(losses[key], intervals), label=key)
+    plt.xlabel("Iterations/" + str(intervals))
+    plt.ylabel("Loss")
+    plt.legend()
+    plt.savefig(save_path)
+    plt.show()
+
+
+def list_cut_average(ll, intervals):
+    if intervals == 1:
+        return ll
+
+    bins = math.ceil(len(ll) * 1.0 / intervals)
+    ll_new = []
+    for i in range(bins):
+        l_low = intervals * i
+        l_high = l_low + intervals
+        l_high = l_high if l_high < len(ll) else len(ll)
+        ll_new.append(np.mean(ll[l_low:l_high]))
+    return ll_new
+
+
+def motion_temporal_filter(motion, sigma=1):
+    motion = motion.reshape(motion.shape[0], -1)
+    for i in range(motion.shape[1]):
+        motion[:, i] = gaussian_filter(motion[:, i], sigma=sigma, mode="nearest")
+    return motion.reshape(motion.shape[0], -1, 3)
+

Evaluator_272/mld/data/humanml/utils/word_vectorizer.py

@@ -0,0 +1,143 @@
+import numpy as np
+import pickle
+from os.path import join as pjoin
+
+POS_enumerator = {
+    'VERB': 0,
+    'NOUN': 1,
+    'DET': 2,
+    'ADP': 3,
+    'NUM': 4,
+    'AUX': 5,
+    'PRON': 6,
+    'ADJ': 7,
+    'ADV': 8,
+    'Loc_VIP': 9,
+    'Body_VIP': 10,
+    'Obj_VIP': 11,
+    'Act_VIP': 12,
+    'Desc_VIP': 13,
+    'OTHER': 14,
+}
+
+Loc_list = ('left', 'right', 'clockwise', 'counterclockwise', 'anticlockwise', 'forward', 'back', 'backward',
+            'up', 'down', 'straight', 'curve')
+
+Body_list = ('arm', 'chin', 'foot', 'feet', 'face', 'hand', 'mouth', 'leg', 'waist', 'eye', 'knee', 'shoulder', 'thigh')
+
+Obj_List = ('stair', 'dumbbell', 'chair', 'window', 'floor', 'car', 'ball', 'handrail', 'baseball', 'basketball')
+
+Act_list = ('walk', 'run', 'swing', 'pick', 'bring', 'kick', 'put', 'squat', 'throw', 'hop', 'dance', 'jump', 'turn',
+            'stumble', 'dance', 'stop', 'sit', 'lift', 'lower', 'raise', 'wash', 'stand', 'kneel', 'stroll',
+            'rub', 'bend', 'balance', 'flap', 'jog', 'shuffle', 'lean', 'rotate', 'spin', 'spread', 'climb')
+
+Desc_list = ('slowly', 'carefully', 'fast', 'careful', 'slow', 'quickly', 'happy', 'angry', 'sad', 'happily',
+             'angrily', 'sadly')
+
+VIP_dict = {
+    'Loc_VIP': Loc_list,
+    'Body_VIP': Body_list,
+    'Obj_VIP': Obj_List,
+    'Act_VIP': Act_list,
+    'Desc_VIP': Desc_list,
+}
+
+
+class WordVectorizer(object):
+    def __init__(self, meta_root, prefix, text_encode_way):
+
+        self.text_encode_way = text_encode_way
+
+        vectors = np.load(pjoin(meta_root, '%s_data.npy'%prefix))
+        words = pickle.load(open(pjoin(meta_root, '%s_words.pkl'%prefix), 'rb'))
+        word2idx = pickle.load(open(pjoin(meta_root, '%s_idx.pkl'%prefix), 'rb'))
+        self.word2vec = {w: vectors[word2idx[w]] for w in words}
+
+        if 'glove_6B' in self.text_encode_way:
+            from torchtext.vocab import GloVe
+            glove_6b = GloVe(name='6B', dim=300)
+            self.word2vec_glove_6b = glove_6b.get_vecs_by_tokens
+
+    def _get_pos_ohot(self, pos):
+        pos_vec = np.zeros(len(POS_enumerator))
+        if pos in POS_enumerator:
+            pos_vec[POS_enumerator[pos]] = 1
+        else:
+            pos_vec[POS_enumerator['OTHER']] = 1
+        return pos_vec
+
+    def __len__(self):
+        return len(self.word2vec)
+
+    def __getitem__(self, item):
+        word, pos = item.split('/')
+        if 'given_glove' in self.text_encode_way:
+            if word in self.word2vec:
+                word_vec = self.word2vec[word]
+                vip_pos = None
+                for key, values in VIP_dict.items():
+                    if word in values:
+                        vip_pos = key
+                        break
+                if vip_pos is not None:
+                    pos_vec = self._get_pos_ohot(vip_pos)
+                else:
+                    pos_vec = self._get_pos_ohot(pos)
+            else:
+                word_vec = self.word2vec['unk']
+                pos_vec = self._get_pos_ohot('OTHER')
+                
+        elif 'glove_6B' in self.text_encode_way:
+            word_vec = self.word2vec_glove_6b([word]).squeeze()
+
+            if word in self.word2vec:
+                vip_pos = None
+                for key, values in VIP_dict.items():
+                    if word in values:
+                        vip_pos = key
+                        break
+                if vip_pos is not None:
+                    pos_vec = self._get_pos_ohot(vip_pos)
+                else:
+                    pos_vec = self._get_pos_ohot(pos)
+            else:
+                pos_vec = self._get_pos_ohot('OTHER')
+
+
+        
+        return word_vec, pos_vec
+
+class WordVectorizer_only_text_token(object):
+    def __init__(self, meta_root, prefix, text_encode_way):
+        
+        self.text_encode_way = text_encode_way
+
+        vectors = np.load(pjoin(meta_root, '%s_data.npy'%prefix))
+        words = pickle.load(open(pjoin(meta_root, '%s_words.pkl'%prefix), 'rb'))
+        word2idx = pickle.load(open(pjoin(meta_root, '%s_idx.pkl'%prefix), 'rb'))
+        self.word2vec = {w: vectors[word2idx[w]] for w in words}
+
+        if 'glove_6B' in self.text_encode_way:
+            from torchtext.vocab import GloVe
+            glove_6b = GloVe(name='6B', dim=300)
+            self.word2vec_glove_6b = glove_6b.get_vecs_by_tokens
+
+    def __len__(self):
+        return len(self.word2vec)
+
+    def __getitem__(self, item):
+        word = item
+        
+        if 'given_glove' in self.text_encode_way:
+            if word in self.word2vec:
+                word_vec = self.word2vec[word]
+            else:
+                word_vec = self.word2vec['unk']
+                
+        elif 'glove_6B' in self.text_encode_way:
+            word_vec = self.word2vec_glove_6b([word]).squeeze()
+
+        return word_vec
+
+
+

Evaluator_272/mld/data/sampling/__init__.py

@@ -0,0 +1,2 @@
+from .base import FrameSampler
+from .framerate import subsample, upsample

Evaluator_272/mld/data/sampling/base.py

@@ -0,0 +1,41 @@
+from .frames import get_frameix_from_data_index
+
+class FrameSampler:
+    def __init__(self, sampling="conseq", sampling_step=1, request_frames=None,threshold_reject=0.75,max_len=1000,min_len=10):
+        self.sampling  = sampling
+
+        self.sampling_step = sampling_step
+        self.request_frames = request_frames
+        self.threshold_reject = threshold_reject
+        self.max_len = max_len
+        self.min_len = min_len
+
+    def __call__(self, num_frames):
+
+        return get_frameix_from_data_index(num_frames,
+                                           self.request_frames,
+                                           self.sampling,
+                                           self.sampling_step)
+
+    def accept(self, duration):
+        # Outputs have original lengths
+        # Check if it is too long
+        if self.request_frames is None:
+            if duration > self.max_len:
+                return False
+            elif duration < self.min_len:
+                return False
+        else:
+            # Reject sample if the length is
+            # too little relative to
+            # the request frames
+            min_number = self.threshold_reject * self.request_frames
+            if duration < min_number:
+                return False
+        return True
+
+    def get(self, key, default=None):
+        return getattr(self, key, default)
+
+    def __getitem__(self, key):
+        return getattr(self, key)

Evaluator_272/mld/data/sampling/framerate.py

@@ -0,0 +1,32 @@
+import numpy as np
+
+def subsample(num_frames, last_framerate, new_framerate):
+    step = int(last_framerate / new_framerate)
+    assert step >= 1
+    frames = np.arange(0, num_frames, step)
+    return frames
+
+
+
+def upsample(motion, last_framerate, new_framerate):
+    step = int(new_framerate / last_framerate)
+    assert step >= 1
+
+    # Alpha blending => interpolation
+    alpha = np.linspace(0, 1, step+1)
+    last = np.einsum("l,...->l...", 1-alpha, motion[:-1])
+    new = np.einsum("l,...->l...", alpha, motion[1:])
+
+    chuncks = (last + new)[:-1]
+    output = np.concatenate(chuncks.swapaxes(1, 0))
+    # Don't forget the last one
+    output = np.concatenate((output, motion[[-1]]))
+    return output
+
+
+if __name__ == "__main__":
+    motion = np.arange(105)
+    submotion = motion[subsample(len(motion), 100.0, 12.5)]
+    newmotion = upsample(submotion, 12.5, 100)
+
+    print(newmotion)

Evaluator_272/mld/data/sampling/frames.py

@@ -0,0 +1,58 @@
+from typing import Optional
+
+import numpy as np
+from numpy import ndarray as Array
+import random
+
+
+def get_frameix_from_data_index(num_frames: int,
+                                request_frames: Optional[int],
+                                sampling: str = "conseq",
+                                sampling_step: int = 1) -> Array:
+    nframes = num_frames
+
+    if request_frames is None:
+        frame_ix = np.arange(nframes)
+    else:
+
+        if request_frames > nframes:
+            fair = False  # True
+            if fair:
+                # distills redundancy everywhere
+                choices = np.random.choice(range(nframes),
+                                           request_frames,
+                                           replace=True)
+                frame_ix = sorted(choices)
+            else:
+                # adding the last frame until done
+                ntoadd = max(0, request_frames - nframes)
+                lastframe = nframes - 1
+                padding = lastframe * np.ones(ntoadd, dtype=int)
+                frame_ix = np.concatenate((np.arange(0, nframes),
+                                           padding))
+
+        elif sampling in ["conseq", "random_conseq"]:
+            step_max = (nframes - 1) // (request_frames - 1)
+            if sampling == "conseq":
+                if sampling_step == -1 or sampling_step * (request_frames - 1) >= nframes:
+                    step = step_max
+                else:
+                    step = sampling_step
+            elif sampling == "random_conseq":
+                step = random.randint(1, step_max)
+
+            lastone = step * (request_frames - 1)
+            shift_max = nframes - lastone - 1
+            shift = random.randint(0, max(0, shift_max - 1))
+            frame_ix = shift + np.arange(0, lastone + 1, step)
+
+        elif sampling == "random":
+            choices = np.random.choice(range(nframes),
+                                       request_frames,
+                                       replace=False)
+            frame_ix = sorted(choices)
+
+        else:
+            raise ValueError("Sampling not recognized.")
+
+    return frame_ix

Evaluator_272/mld/data/utils.py

@@ -0,0 +1,38 @@
+import torch
+
+
+def lengths_to_mask(lengths):
+    max_len = max(lengths)
+    mask = torch.arange(max_len, device=lengths.device).expand(
+        len(lengths), max_len) < lengths.unsqueeze(1)
+    return mask
+
+
+def collate_tensors(batch):
+    dims = batch[0].dim()
+    max_size = [max([b.size(i) for b in batch]) for i in range(dims)]
+    size = (len(batch), ) + tuple(max_size)
+    canvas = batch[0].new_zeros(size=size)
+    for i, b in enumerate(batch):
+        sub_tensor = canvas[i]
+        for d in range(dims):
+            sub_tensor = sub_tensor.narrow(d, 0, b.size(d))
+        sub_tensor.add_(b)
+    return canvas
+
+def mld_collate(batch):
+    notnone_batches = [b for b in batch if b is not None]
+    notnone_batches.sort(key=lambda x: x[2], reverse=True)
+    adapted_batch = {
+        "motion":
+        collate_tensors([torch.tensor(b[1]).float() for b in notnone_batches]),
+        "text": [b[0] for b in notnone_batches],
+        "length": [b[2] for b in notnone_batches],
+        "retrieval_name": [b[3] for b in notnone_batches]
+    }
+    return adapted_batch
+
+
+
+
+

Evaluator_272/mld/launch/blender.py

@@ -0,0 +1,23 @@
+# Fix blender path
+import sys
+import os
+# local packages
+sys.path.append(os.path.expanduser("~/.local/lib/python3.9/site-packages"))
+import bpy
+import os
+from argparse import ArgumentParser
+
+# Monkey patch argparse such that
+# blender / python / hydra parsing works
+def parse_args(self, args=None, namespace=None):
+    if args is not None:
+        return self.parse_args_bak(args=args, namespace=namespace)
+    try:
+        idx = sys.argv.index("--")
+        args = sys.argv[idx+1:]  # the list after '--'
+    except ValueError as e:  # '--' not in the list:
+        args = []
+    return self.parse_args_bak(args=args, namespace=namespace)
+
+setattr(ArgumentParser, 'parse_args_bak', ArgumentParser.parse_args)
+setattr(ArgumentParser, 'parse_args', parse_args)

Evaluator_272/mld/launch/prepare.py

@@ -0,0 +1,66 @@
+import os
+import warnings
+from pathlib import Path
+
+import hydra
+from mld.tools.runid import generate_id
+from omegaconf import OmegaConf
+
+
+# Local paths
+def code_path(path=""):
+    code_dir = hydra.utils.get_original_cwd()
+    code_dir = Path(code_dir)
+    return str(code_dir / path)
+
+
+def working_path(path):
+    return str(Path(os.getcwd()) / path)
+
+
+# fix the id for this run
+ID = generate_id()
+
+
+def generate_id():
+    return ID
+
+
+def get_last_checkpoint(path, ckpt_name="last.ckpt"):
+    output_dir = Path(hydra.utils.to_absolute_path(path))
+    last_ckpt_path = output_dir / "checkpoints" / ckpt_name
+    return str(last_ckpt_path)
+
+
+def get_kitname(load_amass_data: bool, load_with_rot: bool):
+    if not load_amass_data:
+        return "kit-mmm-xyz"
+    if load_amass_data and not load_with_rot:
+        return "kit-amass-xyz"
+    if load_amass_data and load_with_rot:
+        return "kit-amass-rot"
+
+
+OmegaConf.register_new_resolver("code_path", code_path)
+OmegaConf.register_new_resolver("working_path", working_path)
+OmegaConf.register_new_resolver("generate_id", generate_id)
+OmegaConf.register_new_resolver("absolute_path", hydra.utils.to_absolute_path)
+OmegaConf.register_new_resolver("get_last_checkpoint", get_last_checkpoint)
+OmegaConf.register_new_resolver("get_kitname", get_kitname)
+
+
+# Remove warnings
+warnings.filterwarnings(
+    "ignore", ".*Trying to infer the `batch_size` from an ambiguous collection.*"
+)
+
+warnings.filterwarnings(
+    "ignore", ".*does not have many workers which may be a bottleneck*"
+)
+
+warnings.filterwarnings(
+    "ignore", ".*Our suggested max number of worker in current system is*"
+)
+
+
+os.environ["NUMEXPR_MAX_THREADS"] = "24"

Evaluator_272/mld/launch/tools.py

@@ -0,0 +1,9 @@
+from pathlib import Path
+from omegaconf import DictConfig, OmegaConf
+import hydra
+import os
+
+
+def resolve_cfg_path(cfg: DictConfig):
+    working_dir = os.getcwd()
+    cfg.working_dir = working_dir

Evaluator_272/mld/models/architectures/actor_vae.py

@@ -0,0 +1,258 @@
+from typing import List, Optional, Union
+import numpy as np
+import torch
+import torch.nn as nn
+from torch import Tensor, nn
+from torch.distributions.distribution import Distribution
+from mld.utils.temos_utils import lengths_to_mask
+from mld.models.operator import PositionalEncoding
+
+
+class ActorVae(nn.Module):
+
+    def __init__(self,
+                 ablation,
+                 nfeats: int,
+                 latent_dim: list = [1, 256],
+                 ff_size: int = 1024,
+                 num_layers: int = 9,
+                 num_heads: int = 4,
+                 dropout: float = 0.1,
+                 is_vae: bool = True,
+                 activation: str = "gelu",
+                 position_embedding: str = "learned",
+                 **kwargs) -> None:
+
+        super().__init__()
+
+        self.latent_size = latent_dim[0]
+        self.latent_dim = latent_dim[-1]
+        self.is_vae = is_vae
+        input_feats = nfeats
+        output_feats = nfeats
+
+        self.encoder = ActorAgnosticEncoder(nfeats=input_feats,
+                                            vae=True,
+                                            latent_dim=self.latent_dim,
+                                            ff_size=ff_size,
+                                            num_layers=num_layers,
+                                            num_heads=num_heads,
+                                            dropout=dropout,
+                                            activation=activation,
+                                            **kwargs)
+
+        self.decoder = ActorAgnosticDecoder(nfeats=output_feats,
+                                            vae=True,
+                                            latent_dim=self.latent_dim,
+                                            ff_size=ff_size,
+                                            num_layers=num_layers,
+                                            num_heads=num_heads,
+                                            dropout=dropout,
+                                            activation=activation,
+                                            **kwargs)
+
+    def forward(self, features: Tensor, lengths: Optional[List[int]] = None):
+        # Temp
+        # Todo
+        # remove and test this function
+        print("Should Not enter here")
+
+        z, dist = self.encode(features, lengths)
+        feats_rst = self.decode(z, lengths)
+        return feats_rst, z, dist
+
+    def encode(
+            self,
+            features: Tensor,
+            lengths: Optional[List[int]] = None
+    ) -> Union[Tensor, Distribution]:
+
+        dist = self.encoder(features, lengths)
+        if self.is_vae:
+            latent = sample_from_distribution(dist)
+        else:
+            latent = dist.unsqueeze(0)
+
+        return latent, dist
+
+    def decode(self, z: Tensor, lengths: List[int]):
+
+        feats = self.decoder(z, lengths)
+        return feats
+
+
+class ActorAgnosticEncoder(nn.Module):
+
+    def __init__(self,
+                 nfeats: int,
+                 vae: bool,
+                 latent_dim: int = 256,
+                 ff_size: int = 1024,
+                 num_layers: int = 4,
+                 num_heads: int = 4,
+                 dropout: float = 0.1,
+                 activation: str = "gelu",
+                 **kwargs) -> None:
+        super().__init__()
+
+        input_feats = nfeats
+        self.vae = vae
+        self.skel_embedding = nn.Linear(input_feats, latent_dim)
+
+        # Action agnostic: only one set of params
+        if vae:
+            self.mu_token = nn.Parameter(torch.randn(latent_dim))
+            self.logvar_token = nn.Parameter(torch.randn(latent_dim))
+        else:
+            self.emb_token = nn.Parameter(torch.randn(latent_dim))
+
+        self.sequence_pos_encoding = PositionalEncoding(latent_dim, dropout)
+
+        seq_trans_encoder_layer = nn.TransformerEncoderLayer(
+            d_model=latent_dim,
+            nhead=num_heads,
+            dim_feedforward=ff_size,
+            dropout=dropout,
+            activation=activation)
+
+        self.seqTransEncoder = nn.TransformerEncoder(seq_trans_encoder_layer,
+                                                     num_layers=num_layers)
+
+    def forward(
+            self,
+            features: Tensor,
+            lengths: Optional[List[int]] = None
+    ) -> Union[Tensor, Distribution]:
+        if lengths is None:
+            lengths = [len(feature) for feature in features]
+
+        device = features.device
+
+        bs, nframes, nfeats = features.shape
+        mask = lengths_to_mask(lengths, device)
+
+        x = features
+        # Embed each human poses into latent vectors
+        x = self.skel_embedding(x)
+
+        # Switch sequence and batch_size because the input of
+        # Pytorch Transformer is [Sequence, Batch size, ...]
+        x = x.permute(1, 0, 2)  # now it is [nframes, bs, latent_dim]
+
+        # Each batch has its own set of tokens
+        if self.vae:
+            mu_token = torch.tile(self.mu_token, (bs, )).reshape(bs, -1)
+            logvar_token = torch.tile(self.logvar_token,
+                                      (bs, )).reshape(bs, -1)
+
+            # adding the distribution tokens for all sequences
+            xseq = torch.cat((mu_token[None], logvar_token[None], x), 0)
+
+            # create a bigger mask, to allow attend to mu and logvar
+            token_mask = torch.ones((bs, 2), dtype=bool, device=x.device)
+            aug_mask = torch.cat((token_mask, mask), 1)
+        else:
+            emb_token = torch.tile(self.emb_token, (bs, )).reshape(bs, -1)
+
+            # adding the embedding token for all sequences
+            xseq = torch.cat((emb_token[None], x), 0)
+
+            # create a bigger mask, to allow attend to emb
+            token_mask = torch.ones((bs, 1), dtype=bool, device=x.device)
+            aug_mask = torch.cat((token_mask, mask), 1)
+
+        # add positional encoding
+        xseq = self.sequence_pos_encoding(xseq)
+        final = self.seqTransEncoder(xseq, src_key_padding_mask=~aug_mask)
+
+        if self.vae:
+            mu, logvar = final[0], final[1]
+            std = logvar.exp().pow(0.5)
+            # https://github.com/kampta/pytorch-distributions/blob/master/gaussian_vae.py
+            dist = torch.distributions.Normal(mu, std)
+            return dist
+        else:
+            return final[0]
+
+
+class ActorAgnosticDecoder(nn.Module):
+
+    def __init__(self,
+                 nfeats: int,
+                 latent_dim: int = 256,
+                 ff_size: int = 1024,
+                 num_layers: int = 4,
+                 num_heads: int = 4,
+                 dropout: float = 0.1,
+                 activation: str = "gelu",
+                 **kwargs) -> None:
+        super().__init__()
+
+        output_feats = nfeats
+        self.latent_dim = latent_dim
+        self.nfeats = nfeats
+
+        self.sequence_pos_encoding = PositionalEncoding(latent_dim, dropout)
+
+        seq_trans_decoder_layer = nn.TransformerDecoderLayer(
+            d_model=latent_dim,
+            nhead=num_heads,
+            dim_feedforward=ff_size,
+            dropout=dropout,
+            activation=activation)
+
+        self.seqTransDecoder = nn.TransformerDecoder(seq_trans_decoder_layer,
+                                                     num_layers=num_layers)
+
+        self.final_layer = nn.Linear(latent_dim, output_feats)
+
+    def forward(self, z: Tensor, lengths: List[int]):
+        mask = lengths_to_mask(lengths, z.device)
+        # latent_dim = z.shape[1]
+        bs, nframes = mask.shape
+        nfeats = self.nfeats
+
+        # z = z[None]  # sequence of 1 element for the memory
+
+        # Construct time queries
+        time_queries = torch.zeros(nframes,
+                                   bs,
+                                   self.latent_dim,
+                                   device=z.device)
+        time_queries = self.sequence_pos_encoding(time_queries)
+
+        # Pass through the transformer decoder
+        # with the latent vector for memory
+        output = self.seqTransDecoder(tgt=time_queries,
+                                      memory=z,
+                                      tgt_key_padding_mask=~mask)
+
+        output = self.final_layer(output)
+        # zero for padded area
+        output[~mask.T] = 0
+        # Pytorch Transformer: [Sequence, Batch size, ...]
+        feats = output.permute(1, 0, 2)
+        return feats
+
+
+def sample_from_distribution(
+    dist,
+    *,
+    fact=1.0,
+    sample_mean=False,
+) -> Tensor:
+
+    if sample_mean:
+        return dist.loc.unsqueeze(0)
+
+    # Reparameterization trick
+    if fact is None:
+        return dist.rsample().unsqueeze(0)
+
+    # Resclale the eps
+    eps = dist.rsample() - dist.loc
+    z = dist.loc + fact * eps
+
+    # add latent size
+    z = z.unsqueeze(0)
+    return z