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convLSTM_slip_detection_1.py
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convLSTM_slip_detection_1.py
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import torch.nn as nn
from torch.autograd import Variable
import torch
class ConvLSTMCell(nn.Module):
def __init__(self, input_size, input_dim, hidden_dim, kernel_size, bias):
"""
Initialize ConvLSTM cell.
Parameters
----------
input_size: (int, int)
Height and width of input tensor as (height, width).
input_dim: int
Number of channels of input tensor.
hidden_dim: int
Number of channels of hidden state.
kernel_size: (int, int)
Size of the convolutional kernel.
bias: bool
Whether or not to add the bias.
"""
super(ConvLSTMCell, self).__init__()
self.height, self.width = input_size
self.input_dim = input_dim
self.hidden_dim = hidden_dim
self.kernel_size = kernel_size
self.padding = kernel_size[0] // 2, kernel_size[1] // 2
self.bias = bias
self.conv = nn.Conv2d(in_channels=self.input_dim + self.hidden_dim,
out_channels=4 * self.hidden_dim,
kernel_size=self.kernel_size,
padding=self.padding,
bias=self.bias)
def forward(self, input_tensor, cur_state):
h_cur, c_cur = cur_state
combined = torch.cat([input_tensor, h_cur], dim=1) # concatenate along channel axis
combined_conv = self.conv(combined)
cc_i, cc_f, cc_o, cc_g = torch.split(combined_conv, self.hidden_dim, dim=1)
i = torch.sigmoid(cc_i)
f = torch.sigmoid(cc_f)
o = torch.sigmoid(cc_o)
g = torch.tanh(cc_g)
c_next = f * c_cur + i * g
h_next = o * torch.tanh(c_next)
return h_next, c_next
def init_hidden(self, batch_size):
return (Variable(torch.zeros(batch_size, self.hidden_dim, self.height, self.width)).cuda(),
Variable(torch.zeros(batch_size, self.hidden_dim, self.height, self.width)).cuda())
class ConvLSTM(nn.Module):
def __init__(self, input_size, input_dim, hidden_dim, kernel_size, num_layers,
batch_first=False, bias=True, return_all_layers=False):
super(ConvLSTM, self).__init__()
self._check_kernel_size_consistency(kernel_size)
# Make sure that both `kernel_size` and `hidden_dim` are lists having len == num_layers
kernel_size = self._extend_for_multilayer(kernel_size, num_layers)
hidden_dim = self._extend_for_multilayer(hidden_dim, num_layers)
if not len(kernel_size) == len(hidden_dim) == num_layers:
raise ValueError('Inconsistent list length.')
self.height, self.width = input_size
self.input_dim = input_dim
self.hidden_dim = hidden_dim
self.kernel_size = kernel_size
self.num_layers = num_layers
self.batch_first = batch_first
self.bias = bias
self.return_all_layers = return_all_layers
cell_list = []
for i in range(0, self.num_layers):
cur_input_dim = self.input_dim if i == 0 else self.hidden_dim[i - 1]
cell_list.append(ConvLSTMCell(input_size=(self.height, self.width),
input_dim=cur_input_dim,
hidden_dim=self.hidden_dim[i],
kernel_size=self.kernel_size[i],
bias=self.bias))
self.cell_list = nn.ModuleList(cell_list)
def forward(self, input_tensor, hidden_state=None):
"""
Parameters
----------
input_tensor: todo
5-D Tensor either of shape (t, b, c, h, w) or (b, t, c, h, w)
hidden_state: todo
None. todo implement stateful
Returns
-------
last_state_list, layer_output
"""
if not self.batch_first:
# (t, b, c, h, w) -> (b, t, c, h, w)
input_tensor.permute(1, 0, 2, 3, 4)
# Implement stateful ConvLSTM
if hidden_state is not None:
raise NotImplementedError()
else:
hidden_state = self._init_hidden(batch_size=input_tensor.size(0))
layer_output_list = []
last_state_list = []
seq_len = input_tensor.size(1)
cur_layer_input = input_tensor
for layer_idx in range(self.num_layers):
h, c = hidden_state[layer_idx]
output_inner = []
for t in range(seq_len):
h, c = self.cell_list[layer_idx](input_tensor=cur_layer_input[:, t, :, :, :],
cur_state=[h, c])
output_inner.append(h)
layer_output = torch.stack(output_inner, dim=1)
cur_layer_input = layer_output
layer_output_list.append(layer_output)
last_state_list.append([h, c])
if not self.return_all_layers:
layer_output_list = layer_output_list[-1:]
last_state_list = last_state_list[-1:]
print layer_output_list[0].size()
print last_state_list.size[0].size()
return layer_output_list, last_state_list
def _init_hidden(self, batch_size):
init_states = []
for i in range(self.num_layers):
init_states.append(self.cell_list[i].init_hidden(batch_size))
return init_states
@staticmethod
def _check_kernel_size_consistency(kernel_size):
if not (isinstance(kernel_size, tuple) or
(isinstance(kernel_size, list) and all([isinstance(elem, tuple) for elem in kernel_size]))):
raise ValueError('`kernel_size` must be tuple or list of tuples')
@staticmethod
def _extend_for_multilayer(param, num_layers):
if not isinstance(param, list):
param = [param] * num_layers
return param
def weights_init(m):
classname = m.__class__.__name__
if classname.find('Conv') != -1:
m.weight.data.normal_(0.0, 0.02)
elif classname.find('BatchNorm') != -1:
m.weight.data.normal_(1.0, 0.02)
m.bias.data.fill_(0)
###########Usage#######################################
num_hidden = [64, 64]
kernel_size = (5, 5)
batch_size = 10
shape = (25, 25) # H,W
inp_chans = 3
nlayers = 2
seq_len = 4
# If using this format, then we need to transpose in CLSTM
input = Variable(torch.rand(batch_size, seq_len, inp_chans, shape[0], shape[1])).cuda()
conv_lstm = ConvLSTM(shape, inp_chans, num_hidden, kernel_size, nlayers)
# conv_lstm.apply(weights_init)
conv_lstm.cuda()
print 'convlstm module:', conv_lstm
print 'params:'
params = conv_lstm.parameters()
for p in params:
print 'param ', p.size()
print 'mean ', torch.mean(p)
# hidden_state = conv_lstm._init_hidden(batch_size)
# print 'hidden_h shape ', len(hidden_state)
# print 'hidden_h shape ', hidden_state[0][0].size()
out = conv_lstm(input, hidden_state=None)
# print 'out shape', out[1]
# print 'len hidden ', len(out[0])
# print 'next hidden', out[0][0][0]
# print 'convlstm dict', conv_lstm.state_dict().keys()
# L = torch.sum(out[1])
# L.backward()
def get_n_params(model):
pp=0
for p in list(model.parameters()):
nn=1
for s in list(p.size()):
nn = nn*s
pp += nn
return pp
print 'number of model parameters:{}'.format(get_n_params(conv_lstm))