feat(actpred): 新增 Hailo HEF 推理封装 HailoPredictor，附 AI HAT 2 调研与测速报告
零 torch 依赖（hailo_platform + numpy + PIL），vstream 形状/量化参数从 HEF 动态推导，支持 uint8 量化边缘与动作归一化 stats；新增 6 个免硬件 单测（fake hailo_platform 注入）。调研报告记录 hailort 5.x 新 API 踩坑， 测速报告给出 CPU(ORT 5.9ms) vs NPU(resnet50 4.29ms) 基准与部署建议。
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"""actpred HEF（Hailo）推理封装 —— AI HAT 2 / Hailo-10H 部署后端
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接口对齐 predict.ActionPredictorInference：predict(images, action_history)。
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HEF 由 actpred ONNX 经 Hailo DFC 编译生成（量化校准后）。本封装不硬编码
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vstream 名称/形状/量化参数，全部从 HEF 的 input/output vstream info 动态推导：
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图像输入: (1, F, 3, S, S) → NHWC uint8 (1, F, S, S, 3)
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或 (1, S, S, F*3) → 帧沿通道拼接
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动作输入: (1, H, D) float32，uint8 边缘时按 quant_info 量化
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动作输出: (1, D)，uint8 边缘时按 quant_info 反量化
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背景与踩坑记录见
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docs/reports/actpred_hailo_hat2_inference_research_20260813.md：
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- hailort 5.x 对 Hailo-10 仅支持新 API（create_infer_model），
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旧版 VDevice.configure(hef) 报 HAILO_NOT_IMPLEMENTED；
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- 绑定缓冲区 dtype/大小必须匹配 HEF 边缘格式（量化 uint8）；
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- 图像输入按 Hailo 惯例为 uint8 原始像素（ImageNet 归一化由
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DFC 编译时折叠进网络）。
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"""
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import argparse
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import contextlib
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import json
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import os
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import numpy as np
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from PIL import Image
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# 与 predict.parse_action_history 相同逻辑；此处内联以保持
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# 本模块零 torch 依赖（HAT 部署环境只装 hailo_platform + numpy + PIL）
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def parse_action_history(s: str, action_dim: int) -> np.ndarray:
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steps = s.split(":")
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history = []
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for step in steps:
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values = [float(v) for v in step.split(",")]
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if len(values) != action_dim:
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raise ValueError(
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f"Expected {action_dim} values per step, got {len(values)}")
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history.append(values)
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return np.array(history, dtype=np.float32)
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class HailoPredictor:
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"""HEF 动作预测推理器（Hailo NPU 后端）
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用法：
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with HailoPredictor("actpred.hef") as predictor:
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action = predictor.predict(images, action_history)
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"""
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def __init__(self, hef_path: str, stats_path: str = None, vdevice=None):
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from hailo_platform import HEF, VDevice
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self._stack = contextlib.ExitStack()
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if vdevice is None:
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vdevice = self._stack.enter_context(VDevice())
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self._vdevice = vdevice
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self._infer_model = self._vdevice.create_infer_model(str(hef_path))
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self._configured = self._stack.enter_context(
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self._infer_model.configure())
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try:
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hef = HEF(str(hef_path))
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self._in_infos = hef.get_input_vstream_infos()
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self._out_infos = hef.get_output_vstream_infos()
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if len(self._out_infos) != 1:
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raise ValueError(
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f"HEF 应只有一个输出 vstream，实际 {len(self._out_infos)}")
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self._image_info = self._find_image_input()
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self._history_info = self._find_history_input()
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self._out_info = self._out_infos[0]
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self._derive_dims()
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self._action_mean = None
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self._action_std = None
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if stats_path is not None:
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if not os.path.exists(stats_path):
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raise FileNotFoundError(f"统计文件不存在: {stats_path}")
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stats = np.load(stats_path)
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if stats.shape != (2, self.action_dim):
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raise ValueError(
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f"action_stats.npy 形状应为 (2, {self.action_dim})，"
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f"实际为 {stats.shape}: {stats_path}")
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self._action_mean = stats[0].astype(np.float32)
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self._action_std = stats[1].astype(np.float32)
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except Exception:
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self._stack.close() # 初始化失败也释放设备，避免 fd 泄漏
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raise
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# ---------------- 形状推导 ----------------
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def _find_image_input(self):
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cands = [i for i in self._in_infos if len(i.shape) in (4, 5)]
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if len(cands) != 1:
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raise ValueError(
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"HEF 输入中无法唯一识别图像 vstream（期望一个 4/5 维输入），"
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f"实际: {[(i.name, tuple(i.shape)) for i in self._in_infos]}")
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return cands[0]
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def _find_history_input(self):
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cands = [i for i in self._in_infos
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if len(i.shape) == 3 and i is not self._image_info]
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if len(cands) != 1:
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raise ValueError(
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"HEF 输入中无法唯一识别动作历史 vstream（期望一个 3 维输入），"
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f"实际: {[(i.name, tuple(i.shape)) for i in self._in_infos]}")
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return cands[0]
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def _derive_dims(self):
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shape = tuple(self._image_info.shape)
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if len(shape) == 5:
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_, self.frame_len, c, self.image_size, _ = shape
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if c != 3:
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raise ValueError(f"图像输入通道维应为 3，实际形状 {shape}")
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self._image_layout = "ncfhw"
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else: # (1, S, S, F*3) NHWC 帧拼通道
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_, self.image_size, s2, c = shape
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if s2 != self.image_size or c % 3 != 0 or c == 3:
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raise ValueError(
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f"无法从 4 维图像输入推导帧数（期望 (1,S,S,F*3)），"
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f"实际形状 {shape}")
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self.frame_len = c // 3
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self._image_layout = "nhwc_fused"
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h_shape = tuple(self._history_info.shape)
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self.history_len, self.action_dim = h_shape[1], h_shape[2]
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out_shape = tuple(self._out_info.shape)
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out_dim = out_shape[-1]
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if out_dim != self.action_dim:
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raise ValueError(
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f"输出动作维度 {out_dim} 与动作历史维度 {self.action_dim} 不一致")
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# ---------------- 生命周期 ----------------
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def close(self):
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self._stack.close()
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def __enter__(self):
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return self
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def __exit__(self, exc_type, exc, tb):
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self.close()
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return False
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# ---------------- 推理 ----------------
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def predict(self, images, action_history: np.ndarray) -> np.ndarray:
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"""images: 长度为 frame_len 的 RGB 图像列表（旧→新，末帧为当前帧）
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返回 (action_dim,) float32 动作向量。
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"""
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if not isinstance(images, (list, tuple)):
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images = [images]
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if len(images) != self.frame_len:
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raise ValueError(
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f"images 应为 {self.frame_len} 帧，实际为 {len(images)} 帧。"
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"冷启动时可重复传入同一帧。")
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action_history = np.asarray(action_history, dtype=np.float32)
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expected = (self.history_len, self.action_dim)
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if action_history.shape != expected:
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raise ValueError(
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f"action_history 形状应为 {expected}，实际为 {action_history.shape}")
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if self._action_mean is not None:
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action_history = (action_history - self._action_mean) / self._action_std
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from hailo_platform import FormatType
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bindings = self._configured.create_bindings()
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frames = np.stack([self._preprocess(img) for img in images])
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bindings.input(self._image_info.name).set_buffer(
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self._image_buffer(frames))
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h_shape = tuple(self._history_info.shape)
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if self._history_info.format.type == FormatType.UINT8:
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q = self._history_info.quant_info
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buf = np.clip(np.round(action_history / q.qp_scale + q.qp_zp),
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0, 255).astype(np.uint8).reshape(h_shape)
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else:
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buf = action_history.astype(np.float32).reshape(h_shape)
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bindings.input(self._history_info.name).set_buffer(buf)
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out_shape = tuple(self._out_info.shape)
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if self._out_info.format.type == FormatType.UINT8:
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out_buf = np.zeros(out_shape, dtype=np.uint8)
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else:
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out_buf = np.zeros(out_shape, dtype=np.float32)
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bindings.output(self._out_info.name).set_buffer(out_buf)
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self._configured.run([bindings], timeout=10000)
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result = np.asarray(
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bindings.output(self._out_info.name).get_buffer(),
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dtype=np.float32)
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if self._out_info.format.type == FormatType.UINT8:
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q = self._out_info.quant_info
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result = (result - q.qp_zp) * q.qp_scale
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result = result.reshape(-1)
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if self._action_mean is not None:
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result = result * self._action_std + self._action_mean
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return result
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def _preprocess(self, image) -> np.ndarray:
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img = Image.fromarray(image) if isinstance(image, np.ndarray) else image
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img = img.convert("RGB").resize(
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(self.image_size, self.image_size), Image.BILINEAR)
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return np.asarray(img, dtype=np.uint8) # HWC uint8
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def _image_buffer(self, frames: np.ndarray) -> np.ndarray:
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"""(F, S, S, 3) → HEF 图像输入缓冲区（按编译后布局）"""
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if self._image_layout == "ncfhw":
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return frames.transpose(0, 3, 1, 2)[np.newaxis] # (1,F,3,S,S)
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# nhwc_fused: 帧沿通道拼接 (1, S, S, F*3)
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return frames.reshape(1, self.image_size, self.image_size,
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self.frame_len * 3)
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def main():
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parser = argparse.ArgumentParser(description="actpred HEF (Hailo) inference")
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parser.add_argument("--hef", required=True, help="HEF 模型路径")
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parser.add_argument("--images", required=True, nargs="+",
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help="按时间顺序（旧→新）传入 frame_len 个图像路径")
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parser.add_argument("--action-history", required=True,
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help="冒号分隔各步，每步 action_dim 个值")
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parser.add_argument("--stats", default=None,
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help="action_stats.npy 路径（训练时启用归一化才需要）")
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parser.add_argument("--output-format", choices=["json", "raw"],
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default="json")
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args = parser.parse_args()
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with HailoPredictor(args.hef, stats_path=args.stats) as predictor:
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if len(args.images) != predictor.frame_len:
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raise SystemExit(
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f"--images 需传入 {predictor.frame_len} 个路径（旧→新），"
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f"实际为 {len(args.images)} 个")
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images = [np.array(Image.open(p).convert("RGB")) for p in args.images]
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history = parse_action_history(args.action_history, predictor.action_dim)
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predicted = predictor.predict(images, history)
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if args.output_format == "json":
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print(json.dumps({"predicted_action": predicted.tolist()}, indent=2))
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else:
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print(" ".join(f"{v:.4f}" for v in predicted))
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if __name__ == "__main__":
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main()
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