run_models.py

import os
import sys
from lib.new_dataLoader import ParseData
from tqdm import tqdm
import argparse
import numpy as np
from random import SystemRandom
import torch
import torch.optim as optim
import lib.utils as utils
from torch.distributions.normal import Normal
from lib.create_latent_ode_model import create_LatentODE_model
from lib.utils import compute_loss_all_batches
from torch.utils.tensorboard import SummaryWriter
from pathlib import Path
import pdb

# Generative model for noisy data based on ODE
parser = argparse.ArgumentParser('Latent ODE')
parser.add_argument('--n-balls', type=int, default=2,
                    help='Number of objects in the dataset.')
parser.add_argument('--niters', type=int, default=600)
parser.add_argument('--lr', type=float, default=1e-5, help="Starting learning rate.")
parser.add_argument('-b', '--batch-size', type=int, default=256)
parser.add_argument('--save', type=str, default='experiments/', help="Path for save checkpoints")
parser.add_argument('--save-graph', type=str, default='plot/', help="Path for save checkpoints")
parser.add_argument('--load', type=str, default=None, help="name of ckpt. If None, run a new experiment.")
parser.add_argument('-r', '--random-seed', type=int, default=1991, help="Random_seed")
parser.add_argument('--data', type=str, default='Attractor', help="simple_spring,damped_spring,forced_spring,charged,pendulum")
parser.add_argument('--z0-encoder', type=str, default='GTrans', help="GTrans")
parser.add_argument('-l', '--latents', type=int, default=16, help="Size of the latent state")
parser.add_argument('--rec-dims', type=int, default=64, help="Dimensionality of the recognition model .")
parser.add_argument('--ode-dims', type=int, default=128, help="Dimensionality of the ODE func")
parser.add_argument('--rec-layers', type=int, default=2, help="Number of layers in recognition model ")
parser.add_argument('--n-heads', type=int, default=1, help="Number of heads in GTrans")
parser.add_argument('--gen-layers', type=int, default=1, help="Number of layers  ODE func ")
parser.add_argument('--extrap', type=str, default="True",
                    help="Set extrapolation mode. If this flag is not set, run interpolation mode.")
parser.add_argument('--dropout', type=float, default=0.2, help='Dropout rate (1 - keep probability).')
parser.add_argument('--sample-percent-train', type=float, default= 1, help='Percentage of training observtaion data')
parser.add_argument('--sample-percent-test', type=float, default=1, help='Percentage of testing observtaion data')
parser.add_argument('--augment_dim', type=int, default=64, help='augmented dimension')
parser.add_argument('--edge_types', type=int, default=2, help='edge number in NRI')
parser.add_argument('--odenet', type=str, default="NRI", help='NRI')
parser.add_argument('--solver', type=str, default="rk4", help='dopri5,rk4,euler')
parser.add_argument('--step_size', type=float, default=1/120, help='')
parser.add_argument('--l2', type=float, default=1e-3, help='l2 regulazer')
parser.add_argument('--optimizer', type=str, default="AdamW", help='Adam, AdamW')
parser.add_argument('--clip', type=float, default=10, help='Gradient Norm Clipping')
parser.add_argument('--cutting_edge', type=bool, default=True, help='True/False')
parser.add_argument('--extrap_num', type=int, default=40, help='extrap num ')
parser.add_argument('--rec_attention', type=str, default="attention")
parser.add_argument('--alias', type=str, default="run")
parser.add_argument('--train_cut', type=int, default=10, help='maximum number of train samples')
parser.add_argument('--test_cut', type=int, default=10, help='maximum number of test samples')
parser.add_argument('--total_ode_step', type=int, default=60, help='total number of ode steps')
parser.add_argument('--dataset', type=str, default='data', help='dataset directory')
parser.add_argument('--tensorboard_dir', type=str, default='tensorboards', help='tensorboard root directory')
parser.add_argument('--warmup_epoch', type=int, default=20, help='number of warmup epoch to train with forward mse only')
parser.add_argument('--reverse_f_lambda', type=float, default=0, help='weight of reverse_f mse after warmup')
parser.add_argument('--reverse_gt_lambda', type=float, default=0, help='weight of reverse_gt mse after warmup')
parser.add_argument('--energy_lambda', type=float, default=0, help='weight of energy mse after warmup')
parser.add_argument('--device', type=int, default=0, help='running device')
parser.add_argument('--Tmax', type=float, default=2000, help='optimazor')
parser.add_argument('--eta_min', type=float, default=0, help='optimazor')
parser.add_argument('--visdata_dir', type=str, default='visdata', help='vis root directory')
parser.add_argument('--name', type=str, default="LGODE",help="LGODE,DCGODE")
parser.add_argument('--stditer', type=int, default=0,help="1,2,3,4,5")
parser.add_argument('--use_trsode', action='store_true', default=False)







args = parser.parse_args()
assert (int(args.rec_dims % args.n_heads) == 0)
if args.data == "Attractor":
    args.suffix = '_attractor2'
    args.dataset='data/attractor'

if args.data == "simple_spring":
    args.suffix = '_springs_simpled_long5'
    args.dataset='data/simple_spring'

if args.data == "multi_large_damped_spring":
    args.suffix = 'multi_large_springs_damped5.'
    args.dataset = 'data/damped_spring'

if args.data == "multi_large_simple_spring":
    args.suffix = '_multi_large_springs_simpled5'
    args.dataset = 'data/simple_spring'

if args.data == "multi_simple_spring":
    args.suffix = '_multi_springs_simpled5'
    args.dataset = 'data/simple_spring'

if args.data == "multi_large_forced_spring":
    args.suffix = '_multi_large_forced_spring5'
    args.dataset = 'data/forced_spring'


if args.data == "simple_spring_3d":
    args.suffix = '_3d_springs_simpled5'
    args.dataset='data/simple_spring'

if args.data == "damped_spring":
    args.suffix = '_springs_damped5'
    args.dataset='data/damped_spring'

if args.data == "forced_spring":
    args.suffix = '_forced_spring5'
    args.dataset='data/forced_spring'

if args.data == "charged":
    args.suffix = '_charged5'
    args.dataset='data/charged'

if args.data == "pendulum":
    args.suffix = '_pendulum3'
    args.dataset='data/pendulum'

if args.data == "motion_dance":
    args.dataset = 'data/motion_dance'
    args.suffix = '_motion_dance'
    args.total_ode_step=49
    args.n_balls = 31
if args.data == "motion_run":
    args.dataset = 'data/motion_run'
    args.suffix = '_motion_run'
    args.total_ode_step=49
    args.n_balls = 31

if args.reverse_f_lambda==0 and args.reverse_gt_lambda==0:
    args.name='LGODE'
else:
    args.name = 'TANGO'


task = 'extrapolation' if args.extrap == 'True' else 'intrapolation'

############ CPU AND GPU related, Mode related, Dataset Related
if torch.cuda.is_available():
    print("Using GPU" + "-" * 80)
    device = torch.device("cuda:%d"%args.device)
else:
    print("Using CPU" + "-" * 80)
    device = torch.device("cpu")

if args.extrap == "True":
    print("Running extrap mode" + "-" * 80)
    args.mode = "extrap"
elif args.extrap == "False":
    print("Running interp mode" + "-" * 80)
    args.mode = "interp"

#####################################################################################################

if __name__ == '__main__':
    torch.manual_seed(args.random_seed)
    np.random.seed(args.random_seed)

    ############ Saving Path and Preload.
    file_name = os.path.basename(__file__)[:-3]  # run_models
    utils.makedirs(args.save)
    utils.makedirs(args.save_graph)

    experimentID = args.load
    if experimentID is None:
        # Make a new experiment ID
        experimentID = int(SystemRandom().random() * 100000)

    ############ Loading Data
    print("Loading dataset: " + args.dataset)
    dataloader = ParseData(args.dataset, suffix=args.suffix, mode=args.mode, args=args)
    test_encoder, test_decoder, test_graph, test_batch = dataloader.load_data(sample_percent=args.sample_percent_test,
                                                                              batch_size=args.batch_size,
                                                                              data_type="test",
                                                                              cut_num=args.test_cut)
    train_encoder, train_decoder, train_graph, train_batch = dataloader.load_data(
        sample_percent=args.sample_percent_train, batch_size=args.batch_size, data_type="train",
        cut_num=args.train_cut)

    input_dim = dataloader.feature

    ############ Command Related
    input_command = sys.argv
    ind = [i for i in range(len(input_command)) if input_command[i] == "--load"]
    if len(ind) == 1:
        ind = ind[0]
        input_command = input_command[:ind] + input_command[(ind + 2):]
    input_command = " ".join(input_command)

    ############ Model Select
    # Create the model
    obsrv_std = 0.01
    obsrv_std = torch.Tensor([obsrv_std]).to(device)
    z0_prior = Normal(torch.Tensor([0.0]).to(device), torch.Tensor([1.]).to(device))

    model = create_LatentODE_model(args, input_dim, z0_prior, obsrv_std, device)

    ##################################################################
    # Load checkpoint and evaluate the model
    if args.load is not None:
        ckpt_path = os.path.join(args.save, args.load)
        utils.get_ckpt_model(ckpt_path, model, device)
        # exit()

    ##################################################################
    # Training

    # log_dir = os.path.join("./home/zijiehuang/LGODE_logs/", '%s_%s'%(args.data, task))
    log_dir = os.path.join("/home/zijiehuang", "TANGO_logs", '%s_%d_%s' % (args.data, args.total_ode_step, args.name))

    # args.alias + "_" + args.z0_encode./home/zijiehuang/LGODE_logsr + "_" + args.data + "_" + str(
    #     args.sample_percent_train) + "_" + args.mode + "_" + str(experimentID) + ".log"
    Path(log_dir).mkdir(parents=True, exist_ok=True)


    logname = 'abaltion_stditer%d_stepsize%.6f_niters%d_lr%f-%f-%f_warmup-epoch%d_reverse_f_lambda%.2f_reverse_gt_lambda%.2f_traincut%d_testcut%d_observ-ratio_train%.2f_test%.2f.log'%(
                                       args.random_seed, args.step_size, args.niters, args.lr, args.Tmax, args.eta_min,
                                        args.warmup_epoch,  args.reverse_f_lambda,
                                        args.reverse_gt_lambda,args.train_cut,args.test_cut,args.sample_percent_train,args.sample_percent_test
                                    )
    logger = utils.get_logger(logpath=os.path.join(log_dir,logname), filepath=os.path.abspath(__file__))
    logger.info(input_command)
    logger.info(str(args))
    logger.info(args.alias)

    # Optimizer

    if args.optimizer == "AdamW":
        optimizer = optim.AdamW(model.parameters(), lr=args.lr, weight_decay=args.l2)
    elif args.optimizer == "Adam":
        optimizer = optim.Adam(model.parameters(), lr=args.lr, weight_decay=args.l2)

    scheduler = torch.optim.lr_scheduler.CosineAnnealingLR(optimizer, args.Tmax, args.eta_min)


    wait_until_kl_inc = 10
    best_test_mse = np.inf
    best_train_mse = np.inf

    n_iters_to_viz = 1

    # #weight of reverse:
    # reverse_f_lambda=None
    # reverse_gt_lambda=None

    writer = SummaryWriter(log_dir=os.path.join(
        args.tensorboard_dir,
        '%s_%d_%s' % (args.data, args.total_ode_step,args.name),
        'observe_ratio_train%.2f_test%.2f' % (args.sample_percent_train, args.sample_percent_test),
        'stditer%d_stepsize%.4f_niters%d_lr%f-%d-%f_warmup_epoch%d_reverse_f_lambda%.2f_reverse_gt_lambda%.2f_traincut%d_testcut%d' % (
            args.stditer, args.step_size, args.niters, args.lr, args.Tmax, args.eta_min,
            args.warmup_epoch, args.reverse_f_lambda,
            args.reverse_gt_lambda,args.sample_percent_train,args.sample_percent_test)
    ))
    def train_single_batch(model, batch_dict_encoder, batch_dict_decoder, batch_dict_graph, energy_lambda ,reverse_f_lambda,reverse_gt_lambda):

        optimizer.zero_grad()
        train_res,_,_,_ = model.compute_all_losses(batch_dict_encoder, batch_dict_decoder, batch_dict_graph,
                                             n_traj_samples=3,reverse_f_lambda=reverse_f_lambda,reverse_gt_lambda=reverse_gt_lambda)

        loss = train_res["loss"]
        loss.backward()
        torch.nn.utils.clip_grad_norm_(model.parameters(), args.clip)

        optimizer.step()

        loss_value = loss.data.item()

        del loss
        torch.cuda.empty_cache()
        # train_res, loss
        # return loss_value, train_res["mse"], train_res["likelihood"],train_res["energy_mse"],train_res["forward_gt_mse"],train_res["reverse_f_mse"],train_res["reverse_gt_mse"]
        return loss_value, train_res["mse"], train_res["likelihood"],train_res["forward_gt_mse"],train_res["reverse_f_mse"],train_res["reverse_gt_mse"],train_res["forward_gt_mape"]


    def train_epoch(epo):
        model.train()
        loss_list = []
        mse_list = []
        forward_gt_mse_list =[]
        reverse_f_mse_list = []
        reverse_gt_mse_list = []
        forward_gt_mape_list = []
        likelihood_list = []
        # energy_mse_list=[]
        kl_first_p_list = []
        std_first_p_list = []

        torch.cuda.empty_cache()

        for itr in tqdm(range(train_batch)):

            batch_dict_encoder = utils.get_next_batch_new(train_encoder, device)

            batch_dict_graph = utils.get_next_batch_new(train_graph, device)

            batch_dict_decoder = utils.get_next_batch(train_decoder, device)

            loss, mse, likelihood,forward_gt_mse,reverse_f_mse,reverse_gt_mse,forward_gt_mape = train_single_batch(model, batch_dict_encoder, batch_dict_decoder, batch_dict_graph,energy_lambda,
                                                       reverse_f_lambda,reverse_gt_lambda)



            # saving results
            loss_list.append(loss), mse_list.append(mse), likelihood_list.append(
                likelihood),  forward_gt_mse_list.append(
                forward_gt_mse), reverse_f_mse_list.append(reverse_f_mse), reverse_gt_mse_list.append(reverse_gt_mse),forward_gt_mape_list.append(
                forward_gt_mape)
            #
            del batch_dict_encoder, batch_dict_graph, batch_dict_decoder
            # train_res, loss
            torch.cuda.empty_cache()

        scheduler.step()

        # message_train = 'Epoch {:04d} | [Train seq (cond on sampled tp)] | Loss {:.6f} | Energy MSE {:.6f} | Forward gt MSE {:.6f} | Reverse f MSE {:.6f} | Reverse gt MSE {:.6f}'.format(
        #     epo,
        #     np.mean(loss_list),np.mean(energy_mse_list),
        #     np.mean(forward_gt_mse_list), np.mean(reverse_f_mse_list),np.mean(reverse_gt_mse_list))

        message_train = 'Epoch {:04d} | [Train seq (cond on sampled tp)] | Loss {:.6f} |  Forward gt MSE {:.6f} | Reverse f MSE {:.6f} | Reverse gt MSE {:.6f} | Forward gt MAPE {:.6f} '.format(
            epo,
            np.mean(loss_list),
            np.mean(forward_gt_mse_list), np.mean(reverse_f_mse_list),np.mean(reverse_gt_mse_list),np.mean(forward_gt_mape_list))




        # return message_train ,np.mean(energy_mse_list), np.mean(forward_gt_mse_list), np.mean(reverse_f_mse_list),np.mean(reverse_gt_mse_list)
        return message_train , np.mean(forward_gt_mse_list), np.mean(reverse_f_mse_list),np.mean(reverse_gt_mse_list)




    for epo in range(1, args.niters + 1):
        if epo<=args.warmup_epoch:
            reverse_f_lambda = 0
            reverse_gt_lambda = 0
            energy_lambda=0
        else:
            reverse_f_lambda = args.reverse_f_lambda
            reverse_gt_lambda = args.reverse_gt_lambda
            energy_lambda =  args.energy_lambda
        # message_train,train_energy_mse,train_forward_gt_mse,train_reverse_f_mse,train_reverse_gt_mse = train_epoch(epo)
        message_train,train_forward_gt_mse,train_reverse_f_mse,train_reverse_gt_mse = train_epoch(epo)

        if epo % n_iters_to_viz == 0:
            model.eval()



            test_res,gt,f, r = compute_loss_all_batches(model, test_encoder, test_graph, test_decoder,
                                                n_batches=test_batch, device=device,
                                                n_traj_samples=3, energy_lambda=energy_lambda,reverse_f_lambda= reverse_f_lambda,reverse_gt_lambda=reverse_gt_lambda)
            # pdb.set_trace()


            message_test = 'Epoch {:04d} [Test seq (cond on sampled tp)] | r_f_lambda {:.4f} | r_gt_lambda {:.4f} | Loss {:.6f} | Forward gt MSE {:.6f} | Reverse f MSE {:.6f} | Reverse gt MSE {:.6f}| Forward gt MAPE {:.6f}'.format(
                epo,  reverse_f_lambda, reverse_gt_lambda,
                test_res["loss"],
                test_res["forward_gt_mse"], test_res["reverse_f_mse"], test_res["reverse_gt_mse"],test_res["forward_gt_mape"])

            logger.info("Experiment " + str(experimentID))
            logger.info(message_train)
            logger.info(message_test)
            # logger.info(
            # "KL coef: {}".format(kl_coef))
            print("stditer: %d, stepsize: %.4f, data: %s, encoder: %s, lr: %s, epoch: %s, train_sample: %s,test_sample: %s, mode: %s, energy_lambda: %s, reverse_f_lambda: %s , reverse_gt_lambda: %s" % (
                args.stditer, args.step_size, args.data, args.z0_encoder, str(args.lr), str(args.niters), str(args.sample_percent_train), str(args.sample_percent_test), args.mode,energy_lambda,reverse_f_lambda,reverse_gt_lambda))

            if test_res["forward_gt_mse"] < best_test_mse:
                best_test_mse = test_res["forward_gt_mse"]
                best_test_mape=test_res["forward_gt_mape"]
                message_test_best = 'Epoch {:04d} [Test seq (cond on sampled tp)] | Best forward gt mse {:.6f}| Best forward gt mape {:.6f}'.format(epo,
                                                                                                        best_test_mse,best_test_mape)
                ckpt_path = os.path.join(args.save, "experiment_" + str(
                    experimentID) + "_"  + args.data + "_" + str(
                    args.total_ode_step) + "_" + args.name +"_obratio_"+str(args.sample_percent_train)+"_rflambda_"+str(args.reverse_f_lambda)+ "_epoch_" + str(epo) + "_mse_" + str(
                    best_test_mse) + "_mape_" + str(
                    best_test_mape) + '.ckpt')
                torch.save({
                    'args': args,
                    'state_dict': model.state_dict(),
                }, ckpt_path)

                # groundtruth_dir = os.path.join(
                #     args.visdata_dir,
                #     '%s_%d' % (args.data, args.total_ode_step),
                #     'observe_ratio_train%.2f_test%.2f' % (args.sample_percent_train, args.sample_percent_test),
                #     'train_cut%d_test_cut%d' % (args.train_cut, args.test_cut),
                #     'reverse_f_lambda%.2f_reverse_gt_lambda%.2f' % (args.reverse_f_lambda, args.reverse_gt_lambda )
                # )
                #
                # forward_dir = os.path.join(
                #     args.visdata_dir,
                #     '%s_%d' % (args.data, args.total_ode_step),
                #     'observe_ratio_train%.2f_test%.2f' % (args.sample_percent_train, args.sample_percent_test),
                #     'train_cut%d_test_cut%d' % (args.train_cut, args.test_cut),
                #     'reverse_f_lambda%.2f_reverse_gt_lambda%.2f' % (args.reverse_f_lambda, args.reverse_gt_lambda )
                # )
                #
                # reverse_dir = os.path.join(
                #     args.visdata_dir,
                #     '%s_%d' % (args.data, args.total_ode_step),
                #     'observe_ratio_train%.2f_test%.2f' % (args.sample_percent_train, args.sample_percent_test),
                #     'train_cut%d_test_cut%d' % (args.train_cut, args.test_cut),
                #     'reverse_f_lambda%.2f_reverse_gt_lambda%.2f' % (args.reverse_f_lambda, args.reverse_gt_lambda )
                # )

                # # Create directories
                # Path(groundtruth_dir).mkdir(parents=True, exist_ok=True)
                # Path(forward_dir).mkdir(parents=True, exist_ok=True)
                # Path(reverse_dir).mkdir(parents=True, exist_ok=True)
                #
                # # Save files
                # np.save(os.path.join(groundtruth_dir, 'groundtruth_trajectory.npy'), gt)
                # np.save(os.path.join(forward_dir, 'forward_trajectory.npy'), f)
                # np.save(os.path.join(reverse_dir, 'reverse_trajectory.npy'), r)


                logger.info(message_test_best)


            if train_forward_gt_mse < best_train_mse:
                best_train_mse = train_forward_gt_mse
                message_train_best = 'Epoch {:04d} [Train seq (cond on sampled tp)] | B train forward gt  mse {:.6f}'.format(
                    epo,best_train_mse)
                logger.info(message_train_best)




            writer.add_scalar('train_MSE/train_forward_gt_mse', train_forward_gt_mse, epo)
            writer.add_scalar('train_MSE/train_reverse_f_mse', train_reverse_f_mse,epo)
            writer.add_scalar('train_MSE/train_reverse_gt_mse', train_reverse_gt_mse, epo)
            # writer.add_scalar('train_MSE/train_energy_mse', train_energy_mse, epo)

            writer.add_scalar('test_MSE/test_forward_gt_mse', test_res["forward_gt_mse"], epo)
            writer.add_scalar('test_MSE/test_reverse_f_mse', test_res["reverse_f_mse"], epo)
            writer.add_scalar('test_MSE/test_reverse_gt_mse', test_res["reverse_gt_mse"], epo)
            # writer.add_scalar('test_MSE/test_energy_mse', test_res["energy_mse"], epo)



            # writer.add_scalar('Weight/FGT_RF', test_res["forward_gt_mse"] / test_res["reverse_f_mse"], epo)
            # writer.add_scalar('Weight/FGT_RGT', test_res["forward_gt_mse"] / test_res["reverse_gt_mse"], epo)

            torch.cuda.empty_cache()

    writer.close()