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tac_ssl.py
429
tac_ssl.py
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import os
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import wandb
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import pickle
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import argparse
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from PIL import Image
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from train_mm_moco import evaluate_and_plot, compute_tsne, MultiModalMoCo
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import matplotlib.pyplot as plt
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from util import *
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from generate_dataset import TouchFolderLabel
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from linear_classifier import LinearClassifierResNet
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from train_mm_moco import evaluate_and_plot, compute_tsne, MultiModalMoCo
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import torch
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import torch.optim as optim
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from torchvision import transforms
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from torch.utils.data import random_split
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from torch.optim.lr_scheduler import StepLR
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from torch.utils.data import DataLoader, Dataset
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from torch.utils.tensorboard import SummaryWriter
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device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
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writer = SummaryWriter('runs/mmssl')
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# Custom dataset
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class CustomMultiModalDataset(Dataset):
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def __init__(self, vision_folder, tactile_folder, transform=None):
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self.vision_folder = vision_folder
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self.tactile_folder = tactile_folder
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self.transform = transform
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def parse_option():
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parser = argparse.ArgumentParser('argument for training')
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self.vision_files = sorted(os.listdir(vision_folder))
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self.tactile_files = sorted(os.listdir(tactile_folder))
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parser.add_argument('--print_freq', type=int, default=10, help='print frequency')
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parser.add_argument('--save_freq', type=int, default=10, help='save frequency')
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parser.add_argument('--batch_size', type=int, default=256, help='batch_size')
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parser.add_argument('--num_workers', type=int, default=18, help='num of workers to use')
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parser.add_argument('--epochs', type=int, default=61, help='number of training epochs')
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parser.add_argument('--num_layers', type=int, default=5, help='number of layers in resnet')
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def __len__(self):
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return len(self.vision_files)
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# optimization
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parser.add_argument('--learning_rate', type=float, default=0.03, help='learning rate')
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parser.add_argument('--lr_decay_epochs', type=str, default='120,160', help='where to decay lr, can be a list')
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parser.add_argument('--lr_decay_rate', type=float, default=0.1, help='decay rate for learning rate')
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parser.add_argument('--beta1', type=float, default=0.5, help='beta1 for adam')
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parser.add_argument('--beta2', type=float, default=0.999, help='beta2 for Adam')
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parser.add_argument('--weight_decay', type=float, default=1e-4, help='weight decay')
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parser.add_argument('--momentum', type=float, default=0.9, help='momentum')
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def __getitem__(self, idx):
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vision_path = os.path.join(self.vision_folder, self.vision_files[idx])
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tactile_path = os.path.join(self.tactile_folder, self.tactile_files[idx])
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# resume path
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parser.add_argument('--resume', default='', type=str, metavar='PATH',
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help='path to latest checkpoint (default: none)')
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vision_image = Image.open(vision_path).convert("RGB")
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tactile_image = Image.open(tactile_path).convert("RGB")
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# model definition
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parser.add_argument('--model', type=str, default='alexnet', choices=[
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'resnet50t1', 'resnet101t1', 'resnet18t1',
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'resnet50t2', 'resnet101t2', 'resnet18t2',
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'resnet50t3', 'resnet101t3', 'resnet18t3'])
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parser.add_argument('--softmax', action='store_true', help='using softmax contrastive loss rather than NCE')
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parser.add_argument('--feat_dim', type=int, default=128, help='dim of feat for inner product')
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if self.transform:
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vision_image = self.transform(vision_image)
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tactile_image = self.transform(tactile_image)
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# dataset
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parser.add_argument('--dataset', type=str, default='touch_and_go', choices=['touch_and_go', 'pretrain', 'touch_rough', 'touch_hard'])
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return vision_image, tactile_image
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# specify folder
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parser.add_argument('--data_folder', type=str, default="dataset/", help='path to dataset')
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parser.add_argument('--data_loader', type=str, default='touch_and_go', choices=['touch_and_go'])
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parser.add_argument('--model_path', type=str, default="ckpt/mmssl", help='path to save model')
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# Initialize augmentation
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simple_transforms = transforms.Compose([
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transforms.Resize((275, 275)),
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#transforms.CenterCrop(500),
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transforms.ToTensor(),
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transforms.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225])
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])
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# add new views
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parser.add_argument('--view', type=str, default='Touch', choices=['Touch'])
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data_transforms = transforms.Compose([
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transforms.RandomApply([transforms.RandomRotation(150)], p=0.50),
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transforms.RandomResizedCrop(224, scale=(0.2, 1.0)),
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transforms.RandomApply([transforms.RandomHorizontalFlip()], p=0.50),
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#transforms.RandomApply([transforms.ColorJitter(0.4, 0.4, 0.4, 0.1)], p=0.8),
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transforms.RandomGrayscale(p=0.2),
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#transforms.RandomApply([transforms.GaussianBlur(3, sigma=(0.1, 2.0))], p=0.5),
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])
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# mixed precision setting
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parser.add_argument('--amp', action='store_true', help='using mixed precision')
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parser.add_argument('--opt_level', type=str, default='O2', choices=['O1', 'O2'])
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# Initialize dataset and dataloader
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vision_folder = "/home/vedant/Downloads/ssvtp_data/images_rgb"
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tactile_folder = "/home/vedant/Downloads/ssvtp_data/images_tac"
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dataset = CustomMultiModalDataset(vision_folder, tactile_folder, transform=simple_transforms)
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# data crop threshold
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parser.add_argument('--crop_low', type=float, default=0.2, help='low area in crop')
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preload = True
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if not preload:
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# Split the dataset into 80-20
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train_size = int(0.8 * len(dataset))
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test_size = len(dataset) - train_size
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train_dataset, test_dataset = random_split(dataset, [train_size, test_size])
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# data amount
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parser.add_argument('--data_amount', type=int, default=100, help='how much data used')
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parser.add_argument('--comment', type=str, default='', help='comment')
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# Get the indices of the training and test sets
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train_indices = train_dataset.indices
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test_indices = test_dataset.indices
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# wandb
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parser.add_argument('--wandb', action='store_true', help='Enable wandb')
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parser.add_argument('--wandb_name', type=str, default=None, help='username of wandb')
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# Save these indices to disk
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with open('indices/train_indices.pkl', 'wb') as f:
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pickle.dump(train_indices, f)
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with open('indices/test_indices.pkl', 'wb') as f:
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pickle.dump(test_indices, f)
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opt = parser.parse_args()
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# Initialize dataloaders for train and test
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train_dataloader = DataLoader(train_dataset, batch_size=96, shuffle=True)
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test_dataloader = DataLoader(test_dataset, batch_size=32, shuffle=False)
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else:
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# Load the indices from disk
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with open('indices/train_indices.pkl', 'rb') as f:
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train_indices = pickle.load(f)
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with open('indices/test_indices.pkl', 'rb') as f:
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test_indices = pickle.load(f)
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if (opt.data_folder is None) or (opt.model_path is None):
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raise ValueError('one or more of the folders is None: data_folder | model_path')
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return opt
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# Create subset datasets and DataLoaders
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train_subset = torch.utils.data.Subset(dataset, train_indices)
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test_subset = torch.utils.data.Subset(dataset, test_indices)
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train_dataloader = DataLoader(train_subset, batch_size=96, shuffle=True)
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test_dataloader = DataLoader(test_subset, batch_size=32, shuffle=False)
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def logging(epoch, idx, train_loader_len, loss, acc1, acc5, losses, top1, top5, pretrain, train=True):
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if pretrain:
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print('Epoch: [{0}][{1}/{2}]\t'
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'Loss {loss:.4f}'.format(
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epoch, idx, train_loader_len, loss=loss))
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wandb.log({"training loss": loss}, step=epoch * train_loader_len + idx)
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else:
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print('Epoch: [{0}][{1}/{2}]\t'
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'Loss {loss.val:.4f} ({loss.avg:.4f})\t'
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'Acc@1 {top1.val:.3f} ({top1.avg:.3f})'.format(
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epoch, idx, train_loader_len, loss=losses, top1=top1))
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if train:
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wandb.log({"training loss": loss,
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"training accuracy": acc1[0],
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"training top5 accuracy": acc5[0]},
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step=epoch)
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else:
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wandb.log({"validation loss": loss,
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"validation accuracy": acc1[0],
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"validation top5 accuracy": acc5[0]},
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step=epoch)
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# Initialize model
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model = MultiModalMoCo(writer, K=4096, m=0.99, T=0.07).to(device)
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def train(epoch, train_loader, model, optimizer, classifier=None, criterion=None, task=None, scheduler=None):
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# Logging setup
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losses = AverageMeter()
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top1 = AverageMeter()
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top5 = AverageMeter()
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# Initialize optimizer
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vision_module = list(model.vision_base_q.parameters()) + list(model.vision_head_intra_q.parameters()) + list(model.vision_head_inter_q.parameters())
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tactile_module = list(model.tactile_base_q.parameters()) + list(model.tactile_head_intra_q.parameters()) + list(model.tactile_head_inter_q.parameters())
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optim_vision = optim.Adam(vision_module, lr=0.1)
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optim_tactile = optim.Adam(tactile_module, lr=0.1)
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# Training loop
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for idx, values in enumerate(train_loader):
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if classifier is None:
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inputs, _, index = values
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model.train()
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else:
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inputs, target = values
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classifier = classifier.to(device)
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criterion = criterion.to(device)
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model.eval()
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classifier.train()
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# Training loop
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n_epochs = 500 # Number of epochs
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for epoch in range(n_epochs):
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for i, (x_vision, x_tactile) in enumerate(train_dataloader):
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x_vision, x_tactile = inputs[:,:3,:,:], inputs[:,3:,:,:]
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# Augment images
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x_vision_q = data_transforms(x_vision).to(device)
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@ -122,22 +135,240 @@ for epoch in range(n_epochs):
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x_tactile_k = data_transforms(x_tactile).to(device)
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# Forward pass to get the loss
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loss = model(x_vision_q, x_vision_k, x_tactile_q, x_tactile_k, epoch, i, len(train_dataloader))
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if classifier is None:
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loss = model(x_vision_q, x_vision_k, x_tactile_q, x_tactile_k, epoch, idx, len(train_loader))
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# Backward pass and optimization
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optim_vision.zero_grad()
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optim_tactile.zero_grad()
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loss.backward()
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optim_vision.step()
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optim_tactile.step()
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# Backward pass and optimization
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optimizer.zero_grad()
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loss.backward()
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optimizer.step()
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#scheduler.step()
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# Logging
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if i % 10 == 0:
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print(f"Epoch [{epoch+1}/{n_epochs}], Step [{i+1}/{len(train_dataloader)}], Loss: {loss.item():.4f}")
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writer.add_scalar('training loss', loss.item(), epoch * len(train_dataloader) + i)
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# For logging
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acc1, acc5, losses, top1, top5 = 0, 0, 0, 0, 0
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else:
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feat = model.tactile_base_q(x_tactile_q)
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if args.num_layers == 3:
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feat = model.phi_vision_q(feat)
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# Evaluate and plot
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#compute_tsne(model, test_dataloader, writer, epoch)
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#evaluate_and_plot(model, test_dataloader, epoch, writer, device)
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if epoch % 10 == 0:
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torch.save(model.state_dict(), 'models/model.pth')
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output = classifier(feat)
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target = target.cuda()
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loss = criterion(output, target)
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acc1, acc5 = accuracy(output, target, topk=(1, 1))
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losses.update(loss.item(), inputs.size(0))
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top1.update(acc1[0], inputs.size(0))
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top5.update(acc5[0], inputs.size(0))
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# Backward pass and optimization
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optimizer.zero_grad()
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loss.backward()
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optimizer.step()
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#scheduler.step()
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if idx % 100 == 0 and idx!=0:
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logging(epoch, idx, len(train_loader), loss.item(), acc1, acc5, losses, top1, top5, pretrain=(classifier is None))
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def val(epoch, test_loader, model, optimizer, classifier=None, criterion=None, task=None):
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# Logging setup
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losses = AverageMeter()
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top1 = AverageMeter()
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top5 = AverageMeter()
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# Training loop
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for idx, values in enumerate(test_loader):
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if classifier is None:
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inputs, _, index = values
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model.eval()
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else:
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inputs, target = values
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classifier = classifier.to(device)
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criterion = criterion.to(device)
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model.eval()
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classifier.eval()
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x_vision, x_tactile = inputs[:,:3,:,:], inputs[:,3:,:,:]
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# Augment images
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x_vision_q = data_transforms(x_vision).to(device)
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x_vision_k = data_transforms(x_vision).to(device)
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x_tactile_q = data_transforms(x_tactile).to(device)
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x_tactile_k = data_transforms(x_tactile).to(device)
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# Forward pass to get the loss
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if classifier is None:
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loss = model(x_vision_q, x_vision_k, x_tactile_q, x_tactile_k, epoch, idx, len(test_loader))
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# For logging
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acc1, acc5, losses, top1, top5 = 0, 0, 0, 0, 0
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else:
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feat = model.tactile_base_q(x_tactile_q)
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if args.num_layers == 3:
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feat = model.phi_vision_q(feat)
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output = classifier(feat)
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target = target.cuda()
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loss = criterion(output, target)
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acc1, acc5 = accuracy(output, target, topk=(1, 1))
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losses.update(loss.item(), inputs.size(0))
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top1.update(acc1[0], inputs.size(0))
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top5.update(acc5[0], inputs.size(0))
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if len(test_loader) > 100:
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if idx % 100 == 0 and idx!=0:
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logging(epoch, idx, len(test_loader), loss.item(), acc1, acc5, losses, top1, top5, pretrain=(classifier is None), train=False)
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wandb.log({"val accuracy": top1.avg.item()}, step=epoch)
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print(' * Acc@1 {top1.avg:.3f}'.format(top1=top1))
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else:
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if idx % 30 == 0 and idx!=0:
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logging(epoch, idx, len(test_loader), loss.item(), acc1, acc5, losses, top1, top5, pretrain=(classifier is None), train=False)
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#wandb.log({"val accuracy": top1.avg.item()}, step=epoch)
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print(' * Acc@1 {top1.avg:.3f}'.format(top1=top1))
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if classifier is None:
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return 0, 0, 0
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return top1.avg, top5.avg, losses.avg
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if __name__ == "__main__":
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# Best Accuracy
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global best_acc1
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best_acc1 = 0
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# Parse arguments
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args = parse_option()
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# Initialize wandb
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wandb.login()
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#wandb.init(project='tac_tag')
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# Initialize augmentation
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simple_transforms = transforms.Compose([
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transforms.Resize((256, 256)),
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#transforms.CenterCrop(500),
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transforms.ToTensor(),
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transforms.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225])
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])
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data_transforms = transforms.Compose([
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#transforms.RandomApply([transforms.RandomRotation(150)], p=0.50),
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transforms.RandomResizedCrop(224, scale=(0.2, 1.0)),
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transforms.RandomApply([transforms.RandomHorizontalFlip()], p=0.50),
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#transforms.RandomApply([transforms.ColorJitter(0.4, 0.4, 0.4, 0.1)], p=0.8),
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transforms.RandomGrayscale(p=0.2),
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#transforms.RandomApply([transforms.GaussianBlur(3, sigma=(0.1, 2.0))], p=0.5),
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])
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# Initialize dataset and dataloader
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data_folder = args.data_folder
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train_sampler = None
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if args.dataset == 'touch_and_go' or args.dataset == 'touch_rough' or args.dataset == 'touch_hard' or args.dataset == 'pretrain':
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if args.dataset == 'touch_hard':
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print('hard')
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train_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='train', label='hard')
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val_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='test', label='hard')
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n_labels = 2
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elif args.dataset == 'touch_rough':
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print('rough')
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train_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='train', label='rough')
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val_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='test', label='rough')
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n_labels = 2
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elif args.dataset == 'touch_and_go':
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train_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='train')
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val_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='test')
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n_labels = 20
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elif args.dataset == 'pretrain':
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train_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='pretrain')
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val_dataset = TouchFolderLabel(data_folder, transform=simple_transforms, mode='pretrain')
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else:
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raise NotImplementedError('dataset not supported {}'.format(args.dataset))
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train_loader = torch.utils.data.DataLoader(
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train_dataset, batch_size=args.batch_size, shuffle=(train_sampler is None),
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||||
num_workers=args.num_workers, pin_memory=True, sampler=train_sampler)
|
||||
|
||||
test_loader = torch.utils.data.DataLoader(
|
||||
val_dataset, batch_size=args.batch_size, shuffle=(train_sampler is None),
|
||||
num_workers=args.num_workers, pin_memory=True, sampler=train_sampler)
|
||||
|
||||
# num of samples
|
||||
n_data = len(train_dataset)
|
||||
print('number of samples: {}'.format(n_data))
|
||||
|
||||
# Initialize model
|
||||
nn_model = 'resnet18'
|
||||
model = MultiModalMoCo(m=0.99, T=0.07, nn_model=nn_model).to(device)
|
||||
|
||||
# Initialize task
|
||||
if args.dataset == 'pretrain':
|
||||
task = "pretrain"
|
||||
elif args.dataset == 'touch_and_go':
|
||||
task = "material"
|
||||
elif args.dataset == 'touch_rough':
|
||||
task = "rough"
|
||||
elif args.dataset == 'touch_hard':
|
||||
task = "hard"
|
||||
|
||||
if task == "pretrain":
|
||||
# Initialize optimizer
|
||||
modules = list(model.vision_base_q.parameters()) + list(model.tactile_base_q.parameters()) + list(model.phi_vision_q.parameters()) + list(model.phi_tactile_q.parameters())
|
||||
optimizer = optim.Adam(modules, lr=0.03)
|
||||
classifier, criterion = None, None
|
||||
else:
|
||||
# Initialize training
|
||||
#model.load_state_dict(torch.load('/home/cpsadmin/TAG/models/model_tag_238.pth'))
|
||||
model.load_state_dict(torch.load('/media/vedant/cpsDataStorageWK/Vedant/Tactile/TAG/models/model_tag_pretrain_220.pth')['model'])
|
||||
classifier = LinearClassifierResNet(layer=args.num_layers, n_label=n_labels)
|
||||
optimizer = optim.Adam(classifier.parameters(), lr=1e-4)
|
||||
criterion = torch.nn.CrossEntropyLoss()
|
||||
|
||||
|
||||
# Initialize wandb
|
||||
wandb.init(project=task+"_mm")
|
||||
|
||||
# Train
|
||||
for epoch in range(args.epochs):
|
||||
train(epoch, train_loader, model, optimizer, classifier=classifier, criterion=criterion, task=task)
|
||||
|
||||
if task == "pretrain":
|
||||
pass
|
||||
else:
|
||||
print("==> testing...")
|
||||
test_acc, test_acc5, test_loss = val(epoch, test_loader, model, optimizer, classifier=classifier, criterion=criterion, task=task)
|
||||
|
||||
# save the best model
|
||||
print('test_acc: {}'.format(test_acc))
|
||||
print('best_acc1: {}'.format(best_acc1))
|
||||
if test_acc > best_acc1:
|
||||
best_acc1 = test_acc
|
||||
state = {
|
||||
'opt': args,
|
||||
'epoch': epoch,
|
||||
'classifier': classifier.state_dict(),
|
||||
'best_acc1': best_acc1,
|
||||
'optimizer': optimizer.state_dict(),
|
||||
}
|
||||
save_name = f'models/model_tag_{task}_best.pth'
|
||||
print('saving best model!')
|
||||
torch.save(state, save_name)
|
||||
|
||||
if epoch % 10 == 0:
|
||||
print('==> Saving...')
|
||||
classifier_ = classifier if task != "pretrain" else optimizer
|
||||
optimizer_ = optimizer
|
||||
best_acc1 = best_acc1 if task != "pretrain" else 0
|
||||
state = {
|
||||
'opt': args,
|
||||
'epoch': epoch,
|
||||
'model': model.state_dict(),
|
||||
'classifier': classifier_.state_dict(),
|
||||
'best_acc1': best_acc1,
|
||||
'optimizer': optimizer_.state_dict(),
|
||||
}
|
||||
torch.save(state, f'models/model_tag_{task}_{epoch}.pth')
|
||||
wandb.save('models/model_{}.pth'.format(epoch))
|
||||
Loading…
Reference in New Issue
Block a user