import os import gc import torch import torch.nn as nn import torch.nn.functional as F import decord import numpy as np from torch.utils.data import Dataset, DataLoader from transformers import AutoModel, AutoConfig, AutoTokenizer, get_cosine_schedule_with_warmup from tqdm import tqdm from torch.optim import AdamW from torch.cuda.amp import autocast import torchvision.transforms.v2 as T from sklearn.metrics import accuracy_score import warnings warnings.filterwarnings("ignore") # 🔥 强行指定国内镜像 os.environ["HF_ENDPOINT"] = "https://hf-mirror.com" os.environ["PYTORCH_CUDA_ALLOC_CONF"] = "expandable_segments:True" # ================= 1. 语义字典 (30类) ================= SEMANTIC_DICT = { 'DeliverObject': ('Deliver', 'Forward', 'Object'), 'MoveBackwardsWhileDrilling': ('Move', 'Backwards', 'Drill'), 'MoveBackwardsWhilePolishing': ('Move', 'Backwards', 'Polisher'), 'MoveDiagonallyBackwardLeftWithDrill': ('Move', 'Diagonally Backward Left', 'Drill'), 'MoveDiagonallyBackwardLeftWithPolisher': ('Move', 'Diagonally Backward Left', 'Polisher'), 'MoveDiagonallyBackwardRightWithDrill': ('Move', 'Diagonally Backward Right', 'Drill'), 'MoveDiagonallyBackwardRightWithPolisher': ('Move', 'Diagonally Backward Right', 'Polisher'), 'MoveDiagonallyForwardLeftWithDrill': ('Move', 'Diagonally Forward Left', 'Drill'), 'MoveDiagonallyForwardLeftWithPolisher': ('Move', 'Diagonally Forward Left', 'Polisher'), 'MoveDiagonallyForwardRightWithDrill': ('Move', 'Diagonally Forward Right', 'Drill'), 'MoveDiagonallyForwardRightWithPolisher': ('Move', 'Diagonally Forward Right', 'Polisher'), 'MoveForwardWhileDrilling': ('Move', 'Forward', 'Drill'), 'MoveForwardWhilePolishing': ('Move', 'Forward', 'Polisher'), 'MoveLeftWhileDrilling': ('Move', 'Left', 'Drill'), 'MoveLeftWhilePolishing': ('Move', 'Left', 'Polisher'), 'MoveRightWhileDrilling': ('Move', 'Right', 'Drill'), 'MoveRightWhilePolishing': ('Move', 'Right', 'Polisher'), 'NoCollaborativeWithDrilll': ('Stand', 'No Action', 'Drill'), 'NoCollaborativeWithPolisher': ('Stand', 'No Action', 'Polisher'), 'PickUpDrill': ('Pick Up', 'Upward', 'Drill'), 'PickUpPolisher': ('Pick Up', 'Upward', 'Polisher'), 'PickUpTheObject': ('Pick Up', 'Upward', 'Object'), 'PutDownDrill': ('Put Down', 'Downward', 'Drill'), 'PutDownPolisher': ('Put Down', 'Downward', 'Polisher'), 'UsingTheDrill': ('Operate', 'Stationary', 'Drill'), 'UsingThePolisher': ('Operate', 'Stationary', 'Polisher'), 'Walking': ('Walk', 'Forward', 'Nothing'), 'WalkingWithDrill': ('Walk', 'Forward', 'Drill'), 'WalkingWithObject': ('Walk', 'Forward', 'Object'), 'WalkingWithPolisher': ('Walk', 'Forward', 'Polisher') } ALL_CLASSES = list(SEMANTIC_DICT.keys()) # ================= 配置 ================= PRETRAINED_PATH = "/root/autodl-tmp/checkpoints/sota_v2_best.pth" BERT_ID = "bert-base-uncased" MODEL_ID = "OpenGVLab/VideoMAEv2-giant" NUM_FRAMES = 16 IMG_SIZE = 224 BATCH_SIZE = 1 GRAD_ACCUM = 32 LR = 2e-5 EPOCHS = 30 CACHE_DIR = "/root/autodl-tmp/hf_cache" SAVE_DIR = "/root/autodl-tmp/checkpoints_final" os.makedirs(CACHE_DIR, exist_ok=True) os.makedirs(SAVE_DIR, exist_ok=True) # ================= 2. 离线计算 Prototypes ================= def compute_text_prototypes(): print("🚀 Pre-computing Semantic Prototypes...") tokenizer = AutoTokenizer.from_pretrained(BERT_ID, cache_dir=CACHE_DIR) bert = AutoModel.from_pretrained(BERT_ID, cache_dir=CACHE_DIR).cuda() bert.eval() prompts = [f"A worker {SEMANTIC_DICT[c][0]} {SEMANTIC_DICT[c][1]} using {SEMANTIC_DICT[c][2]}" for c in ALL_CLASSES] with torch.no_grad(): inputs = tokenizer(prompts, padding=True, truncation=True, return_tensors="pt").to('cuda') outputs = bert(**inputs) embeddings = outputs.last_hidden_state[:, 0, :] embeddings = F.normalize(embeddings, dim=-1) protos = embeddings.cpu() del bert, tokenizer, inputs, outputs torch.cuda.empty_cache() gc.collect() return protos TEXT_PROTOTYPES = compute_text_prototypes() # ================= 3. 数据增强 (手动 Normalize 版) ================= class VideoAugmentation: def __init__(self): # ⚠️ 删除了 T.Normalize，改为手动实现 self.spatial_transform = T.Compose([ T.ConvertImageDtype(torch.float32), T.RandomResizedCrop(size=(IMG_SIZE, IMG_SIZE), scale=(0.8, 1.0), antialias=True), T.RandomHorizontalFlip(p=0.5), ]) self.mean = torch.tensor([0.485, 0.456, 0.406]).view(3, 1, 1, 1) self.std = torch.tensor([0.229, 0.224, 0.225]).view(3, 1, 1, 1) def __call__(self, video_tensor): # input: [C, T, H, W] # 1. 空间增强 video_tensor = self.spatial_transform(video_tensor) # 2. 手动 Normalize (广播机制，绝对不会错) video_tensor = (video_tensor - self.mean) / self.std return video_tensor # ================= 4. 完整数据集 ================= class HRI30_FullDataset(Dataset): def __init__(self, root="/root/hri30/train"): self.data = [] self.aug = VideoAugmentation() target_root = root if os.path.exists(root) and os.listdir(root) else "/root/hri30/train_set" print(f"Scanning FULL dataset from {target_root}...") for i in range(1, 31): p = f"{target_root}/{i}" if not os.path.exists(p): continue for f in os.listdir(p): if f.endswith('.avi'): self.data.append((os.path.join(p, f), i-1)) print(f"Loaded {len(self.data)} videos.") def __len__(self): return len(self.data) def __getitem__(self, i): path, label = self.data[i] vr = decord.VideoReader(path) if len(vr) > NUM_FRAMES: start = np.random.randint(0, len(vr) - NUM_FRAMES) idx = torch.arange(start, start + NUM_FRAMES) else: idx = torch.linspace(0, len(vr)-1, NUM_FRAMES).long() batch = vr.get_batch(idx) # [T, H, W, C] -> [C, T, H, W] buffer = torch.from_numpy(batch.asnumpy()).permute(3, 0, 1, 2) # 应用增强 (包含手动 Norm) buffer = self.aug(buffer) # 还原为 [C, T, H, W] -> DataLoader -> [B, C, T, H, W] # VideoMAE 需要 [B, C, T, H, W] return buffer, torch.tensor(label) # ================= 5. Dual-Head 模型 ================= class DualHeadMAE(nn.Module): def __init__(self, video_model_id, prototypes): super().__init__() print("Loading Video Backbone...") v_config = AutoConfig.from_pretrained(video_model_id, trust_remote_code=True, cache_dir=CACHE_DIR) v_config.use_cache = False self.visual = AutoModel.from_pretrained(video_model_id, trust_remote_code=True, config=v_config, cache_dir=CACHE_DIR, torch_dtype=torch.bfloat16) if hasattr(v_config, "hidden_size"): self.v_dim = v_config.hidden_size else: self.v_dim = 1408 self.fc_cls = nn.Linear(self.v_dim, 30) self.register_buffer("text_prototypes", prototypes) self.video_proj = nn.Linear(self.v_dim, 768) self.logit_scale = nn.Parameter(torch.ones([]) * np.log(1 / 0.07)) self.dropout = nn.Dropout(0.5) def forward(self, x, labels=None): # x is [B, C, T, H, W] outputs = self.visual(x) if hasattr(outputs, 'last_hidden_state'): feat = outputs.last_hidden_state.mean(dim=1) elif isinstance(outputs, tuple): feat = outputs[0].mean(dim=1) if outputs[0].dim()==3 else outputs[0] else: feat = outputs.mean(dim=1) if outputs.dim()==3 else outputs feat = self.dropout(feat) logits_cls = self.fc_cls(feat) v_emb = F.normalize(self.video_proj(feat), dim=-1) text_protos = self.text_prototypes.to(feat.device).to(feat.dtype) logits_sem = torch.matmul(v_emb, text_protos.t()) * self.logit_scale.exp() loss = None if labels is not None: loss_cls = F.cross_entropy(logits_cls, labels) loss_sem = F.cross_entropy(logits_sem, labels) loss = 0.7 * loss_cls + 0.3 * loss_sem return loss, logits_cls # ================= 6. 训练流程 ================= print("\n=== STARTING FINAL SOTA TRAINING (30 EPOCHS) ===") ds = HRI30_FullDataset() dl = DataLoader(ds, batch_size=BATCH_SIZE, shuffle=True, num_workers=4, pin_memory=True) model = DualHeadMAE(MODEL_ID, TEXT_PROTOTYPES).cuda().to(torch.bfloat16) print(f"Loading weights from {PRETRAINED_PATH}...") checkpoint = torch.load(PRETRAINED_PATH) new_sd = {} for k, v in checkpoint.items(): if "backbone" in k: new_sd[k.replace("backbone.", "")] = v elif "fc" in k: new_sd["fc_cls." + k.replace("fc.", "")] = v model.visual.load_state_dict(new_sd, strict=False) model.load_state_dict(new_sd, strict=False) param_groups = [ {'params': model.visual.parameters(), 'lr': 1e-5}, {'params': model.fc_cls.parameters(), 'lr': 1e-4}, {'params': model.video_proj.parameters(), 'lr': 1e-3}, {'params': [model.logit_scale], 'lr': 1e-3} ] opt = AdamW(param_groups, weight_decay=0.05) total_steps = len(dl) * EPOCHS // GRAD_ACCUM scheduler = get_cosine_schedule_with_warmup(opt, num_warmup_steps=int(0.1*total_steps), num_training_steps=total_steps) model.train() global_step = 0 best_loss = 999.0 for epoch in range(1, EPOCHS+1): pbar = tqdm(dl, desc=f"Epoch {epoch}/{EPOCHS}") epoch_loss = 0 step_in_epoch = 0 for x, y in pbar: x, y = x.cuda().to(torch.bfloat16), y.cuda() with autocast(dtype=torch.bfloat16): loss, _ = model(x, y) loss = loss / GRAD_ACCUM loss.backward() global_step += 1 if global_step % GRAD_ACCUM == 0: opt.step() scheduler.step() opt.zero_grad() step_in_epoch += 1 epoch_loss += loss.item() * GRAD_ACCUM pbar.set_postfix(loss=epoch_loss/step_in_epoch, lr=f"{scheduler.get_last_lr()[0]:.1e}") avg_loss = epoch_loss / len(dl) if avg_loss < best_loss: best_loss = avg_loss torch.save(model.state_dict(), f"{SAVE_DIR}/final_sota_best.pth") print("🌟 Saved Best Final Model") torch.save(model.state_dict(), f"{SAVE_DIR}/final_sota_latest.pth") print("🏆 最终 SOTA 训练完成！")