qing
0fa32cb5e7
v4 onehot 模型 HEF 输出 (1,1,1864)，原回归假设（输出=action_dim）导致 输入分类与维度校验失败。_classify_inputs 改为 pred_token 先判（s[1]==1）、 其余 3 维归 history；_derive_dims 识别 TOTAL_BINS 输出；predict 经 bins.decode 期望值解码并固定权重 0 列（与 predict.py 同语义），新增 column_weights 参数。 _npu_test.py 指向 v4 并增加 onehot 参考分支，NPU 实测 4 角 PASS、 HEF vs torch max_diff 0.5°。
467 lines
22 KiB
Python
467 lines
22 KiB
Python
"""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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支持两种布局：
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新版 5/6 输入（export_deploy.py + dfc_compile.py 产物）：
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frame0~2 各 (H,W,3) NHWC uint8（ImageNet 归一化校准，负零偏自动识别）
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+ action_history (1,H_len,D) + pred_token (1,1,d)
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+ imu (1,1,1,imu_dim)（R2 方案一可选输入，原始姿态内部归一化）
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旧版单图像输入：
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(1, F, 3, H, W) → NHWC uint8 (1, F, H, W, 3)
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或 (1, H, W, F*3) → 帧沿通道拼接；action_history (1, H, D)
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uint8 边缘按 quant_info 量化/反量化；pred_token 输入默认喂零，
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新编译 HEF（抖动校准，见 gen_calibration.py --pred-jitter）应喂
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checkpoint 的学习值（--pred-token npy 或 predict(pred_token=...)），
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否则该 token 语义与训练时不一致。
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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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"""
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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 re
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import numpy as np
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from PIL import Image
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from imu_norm import normalize_imu
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from action_norm import (normalize_action, denormalize_action,
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is_range_mode)
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from utils import parse_action_history
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from bins import TOTAL_BINS, decode as bin_decode, fixed_zero_columns
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IMAGENET_MEAN = np.array([0.485, 0.456, 0.406], dtype=np.float32)
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IMAGENET_STD = np.array([0.229, 0.224, 0.225], dtype=np.float32)
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def _input_layer_index(name: str) -> int:
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m = re.search(r"input_layer(\d+)$", name)
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return int(m.group(1)) if m else 0
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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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支持新版 5 输入 HEF（逐帧输入 + pred_token）与旧版单图像输入 HEF，
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布局与量化参数从 vstream info 自动推导。
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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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predict_delta: bool = False, pred_token=None,
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normalize_mode: str = "zscore", column_weights=None):
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"""HEF 推理器。
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predict_delta: 模型用 --predict-delta 训练时须置 True，推理输出
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（归一化空间）会加回 history 末步再反归一化，与 predict.py 对齐。
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pred_token: np.ndarray 或 .npy 路径；export_deploy.py --pred-token-out
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产物。缺省时喂零（仅适合 pred_token 恰好全零的模型）。
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normalize_mode: 与训练时 DataConfig.normalize_mode 一致。
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"zscore"（默认）需传 stats_path；"fixed_range" / "log_range"
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免 stats 文件，按固定物理范围归一化（action_norm.py）。
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column_weights: 逐列损失权重（onehot HEF 的权重 0 列按
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bins.FIXED_OUTPUT 固定，防闭环垃圾回写）；None 时用
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action_norm.default_column_weights。
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"""
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from hailo_platform import HEF, VDevice
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self._predict_delta = predict_delta
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self._range_mode = (normalize_mode
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if is_range_mode(normalize_mode) else None)
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self._column_weights = None
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if column_weights is not None:
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self._column_weights = np.asarray(column_weights,
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dtype=np.float32)
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self._default_pred_token = None
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if pred_token is not None:
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if isinstance(pred_token, str):
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self._default_pred_token = np.load(pred_token)
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else:
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self._default_pred_token = np.asarray(pred_token,
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dtype=np.float32)
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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._out_info = self._out_infos[0]
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self._frame_infos, self._history_info, self._pred_info, \
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self._imu_info = self._classify_inputs()
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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 and not self._range_mode:
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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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# ---------------- 输入分类与形状推导 ----------------
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def _classify_inputs(self):
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"""将 HEF 输入分为 帧列表 / 动作历史 / pred_token / imu（后两者可为 None）
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多帧输入的绑定顺序按 input_layerN 数字后缀排序，而非 vstream
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报告顺序：hailort 5.3.0 实测报告顺序被打乱（1,5,4,3,2），
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按报告顺序绑定会导致 frame1/frame2 错位。
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imu 为 R2 方案一新增输入（1,1,1,imu_dim），旧 HEF 无此输入。
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"""
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ins = list(self._in_infos)
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# 新版：每帧独立 (H,W,3) 输入
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frames = [i for i in ins if len(i.shape) == 3
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and i.shape[2] == 3 and i.shape[0] > 3]
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if frames:
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frames.sort(key=lambda i: _input_layer_index(i.name))
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else:
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# 旧版：单一 4/5 维图像输入
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frames = [i for i in ins if len(i.shape) in (4, 5)]
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rest = [i for i in ins if i not in frames]
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history, pred, imu = None, None, None
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for i in rest:
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s = tuple(i.shape)
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if len(s) == 3 and s[1] == 1:
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pred = i # pred_token (1,1,d)
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elif len(s) == 3:
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history = i # 动作历史 (1,H_len,D)
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elif len(s) == 4 and s[0] == 1 and s[1] == 1 and s[2] == 1:
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imu = i # R2：imu (1,1,1,imu_dim)
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else:
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raise ValueError(
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f"无法识别 HEF 输入 {i.name} 形状 {s}（期望动作历史 "
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f"(1,H_len,D)、pred_token (1,1,d) 或 imu (1,1,1,imu_dim)）")
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if not frames:
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raise ValueError("HEF 输入中未找到图像输入")
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if history is None:
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raise ValueError(
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f"HEF 输入中未找到动作历史输入（输出维度 "
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f"{tuple(self._out_info.shape)}），"
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f"实际: {[(i.name, tuple(i.shape)) for i in ins]}")
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return frames, history, pred, imu
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def _derive_dims(self):
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# 帧输入布局
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if len(self._frame_infos) == 1 and len(self._frame_infos[0].shape) in (4, 5):
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shape = tuple(self._frame_infos[0].shape)
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if len(shape) == 5:
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_, self.frame_len, c, self.image_height, self.image_width = 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, H, W, F*3) NHWC 帧拼通道
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_, self.image_height, self.image_width, c = shape
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if 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,H,W,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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else:
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# 新版：每帧独立 (H,W,3) 输入，形状须一致
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shapes = [tuple(i.shape) for i in self._frame_infos]
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if any(len(s) != 3 or s[2] != 3
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or s[0] != shapes[0][0] or s[1] != shapes[0][1]
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for s in shapes):
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raise ValueError(f"帧输入形状不一致: {shapes}")
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self.image_height, self.image_width, _ = shapes[0]
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self.frame_len = len(self._frame_infos)
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self._image_layout = "nhwc_frames"
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self._frame_quant = self._frame_infos[0].quant_info
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# 帧输入是否需 ImageNet 归一化，由量化网格判定：DFC 的 zp 恒非负
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# （zp = round(-min/scale)），码 0 反量化值 dequant(0) = -zp*scale。
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# 原始像素输入（min=0, zp=0）下为 0；归一化输入（min≈-2.1）下
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# ≈ -2.1（实测 HEF zp=114, scale=0.0187）。旧启发式 zp*scale<0
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# 把归一化输入误判为原始像素直通，图像路径被饱和破坏。
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self._normalize_frames = \
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(0 - self._frame_quant.qp_zp) * self._frame_quant.qp_scale < -0.5
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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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# R2：imu 输入存在时暴露 imu_dim（pybot 闭环鸭子类型据此传 imu=），
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# 无则 None（旧 HEF 保持旧两参调用路径）
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self.imu_dim = tuple(self._imu_info.shape)[-1] \
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if self._imu_info is not None else None
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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 == TOTAL_BINS:
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# onehot 模型：输出为多头 logits，predict 时经 bins.decode
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# 解码为 action_dim 原始量纲（无需反归一化）
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self._onehot = True
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else:
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self._onehot = False
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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 "
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f"{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,
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pred_token: np.ndarray = None,
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imu: np.ndarray = None) -> 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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imu: 可选原始姿态向量（roll,pitch,ax,ay,az,gx,gy,gz，HEF 含 imu
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输入时生效，内部按物理量程归一化；None 等价零向量）
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返回 (action_dim,) float32 动作向量。pred_token 仅新版 5 输入 HEF
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需要；默认喂零，抖动校准的新 HEF 建议喂 checkpoint 学习值。
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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._range_mode:
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action_history = normalize_action(action_history, self.action_dim,
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mode=self._range_mode)
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elif 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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frame_float = np.stack([self._frame_float(img) for img in images])
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self._bind_frames(bindings, frame_float)
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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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if self._pred_info is not None:
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p_shape = tuple(self._pred_info.shape)
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if pred_token is None:
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pred_token = self._default_pred_token
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if pred_token is None:
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values = np.zeros(p_shape, dtype=np.float32)
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else:
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values = np.asarray(pred_token, dtype=np.float32).reshape(p_shape)
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if self._pred_info.format.type == FormatType.UINT8:
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q = self._pred_info.quant_info
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values = np.clip(np.round(values / q.qp_scale + q.qp_zp),
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0, 255).astype(np.uint8)
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bindings.input(self._pred_info.name).set_buffer(values)
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if self._imu_info is not None:
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i_shape = tuple(self._imu_info.shape)
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# 原始姿态 → 物理量程归一化（与训练 dataset 同口径）
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values = normalize_imu(imu, i_shape[-1]).reshape(i_shape)
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if self._imu_info.format.type == FormatType.UINT8:
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q = self._imu_info.quant_info
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values = np.clip(np.round(values / q.qp_scale + q.qp_zp),
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0, 255).astype(np.uint8)
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bindings.input(self._imu_info.name).set_buffer(values)
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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._onehot:
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# 多头 logits → 期望值解码 → 原始量纲（箱生活在原始空间，
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# 无需反归一化）；权重 0 列固定为常量（与 predict.py 对齐），
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# 防闭环垃圾回写
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result = bin_decode(result, self.action_dim).reshape(-1)
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if self._column_weights is None:
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from action_norm import default_column_weights
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self._column_weights = default_column_weights(
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self.action_dim)
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w = np.asarray(self._column_weights, dtype=np.float32)
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fixed = fixed_zero_columns(w, self.action_dim)
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result[w[:self.action_dim] <= 0.0] = (
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fixed[w[:self.action_dim] <= 0.0])
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if not np.all(np.isfinite(result)):
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print("WARNING: HEF output contains NaN/Inf, replacing with zeros")
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result = np.nan_to_num(result, nan=0.0, posinf=0.0, neginf=0.0)
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return result
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if self._predict_delta:
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# 残差模式：Δ̂ + a_{t-1}（归一化空间），与 predict.py 对齐
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result = result + action_history[-1]
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if self._range_mode:
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result = denormalize_action(result, self.action_dim,
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mode=self._range_mode)
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elif self._action_mean is not None:
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result = result * self._action_std + self._action_mean
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if not np.all(np.isfinite(result)):
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print("WARNING: HEF output contains NaN/Inf, replacing with zeros")
|
||
result = np.nan_to_num(result, nan=0.0, posinf=0.0, neginf=0.0)
|
||
return result
|
||
|
||
def _frame_float(self, image) -> np.ndarray:
|
||
"""Resize → float32 HWC；归一化 HEF（负零偏）再走 ImageNet 归一化"""
|
||
img = Image.fromarray(image) if isinstance(image, np.ndarray) else image
|
||
img = img.convert("RGB").resize(
|
||
(self.image_width, self.image_height), Image.BILINEAR)
|
||
x = np.asarray(img, dtype=np.float32) # HWC 0..255
|
||
if self._normalize_frames:
|
||
x = (x / 255.0 - IMAGENET_MEAN) / IMAGENET_STD
|
||
return x
|
||
|
||
def _bind_frames(self, bindings, frame_float: np.ndarray):
|
||
"""(F,H,W,3) float 帧 → HEF 帧输入缓冲区（按布局与量化）"""
|
||
from hailo_platform import FormatType
|
||
|
||
def quantize(buf, q):
|
||
return np.clip(np.round(buf / q.qp_scale + q.qp_zp),
|
||
0, 255).astype(np.uint8)
|
||
|
||
if self._image_layout == "ncfhw":
|
||
buf = frame_float.transpose(0, 3, 1, 2)[np.newaxis] # (1,F,3,H,W)
|
||
info = self._frame_infos[0]
|
||
if info.format.type == FormatType.UINT8:
|
||
buf = quantize(buf, info.quant_info)
|
||
bindings.input(info.name).set_buffer(buf)
|
||
elif self._image_layout == "nhwc_fused":
|
||
buf = frame_float.reshape(
|
||
1, self.image_height, self.image_width, self.frame_len * 3)
|
||
info = self._frame_infos[0]
|
||
if info.format.type == FormatType.UINT8:
|
||
buf = quantize(buf, info.quant_info)
|
||
bindings.input(info.name).set_buffer(buf)
|
||
else: # nhwc_frames：每帧独立输入
|
||
for i, info in enumerate(self._frame_infos):
|
||
buf = frame_float[i]
|
||
if info.format.type == FormatType.UINT8:
|
||
buf = quantize(buf, info.quant_info)
|
||
bindings.input(info.name).set_buffer(buf)
|
||
|
||
|
||
def main():
|
||
parser = argparse.ArgumentParser(description="actpred HEF (Hailo) inference")
|
||
parser.add_argument("--hef", required=True, help="HEF 模型路径")
|
||
parser.add_argument("--images", required=True, nargs="+",
|
||
help="按时间顺序（旧→新）传入 frame_len 个图像路径")
|
||
parser.add_argument("--action-history", required=True,
|
||
help="冒号分隔各步，每步 action_dim 个值")
|
||
parser.add_argument("--stats", default=None,
|
||
help="action_stats.npy 路径（zscore 归一化训练才需要）")
|
||
parser.add_argument("--normalize-mode", choices=["zscore", "fixed_range"],
|
||
default=None,
|
||
help="与训练时 normalize_mode 一致；fixed_range 免 --stats。"
|
||
"缺省按 --ckpt 配置自动判定，无 --ckpt 时为 zscore")
|
||
parser.add_argument("--pred-token", default=None,
|
||
help="pred_token .npy 路径（export_deploy.py "
|
||
"--pred-token-out 产物；缺省喂零）")
|
||
parser.add_argument("--ckpt", default=None,
|
||
help="checkpoint .pt 路径（自动检测 predict_delta；"
|
||
"HEF 部署时需要以恢复训练配置）")
|
||
parser.add_argument("--imu", type=str, default=None,
|
||
help="可选姿态向量（逗号分隔，原始量纲：roll,pitch 度 / "
|
||
"ax..gz int16 原始值）；HEF 含 imu 输入且缺省时按零向量")
|
||
parser.add_argument("--output-format", choices=["json", "raw"],
|
||
default="json")
|
||
args = parser.parse_args()
|
||
|
||
pred_token = np.load(args.pred_token) if args.pred_token else None
|
||
imu = None
|
||
if args.imu is not None:
|
||
imu = np.array([float(v) for v in args.imu.split(",")],
|
||
dtype=np.float32)
|
||
|
||
predict_delta = False
|
||
normalize_mode = args.normalize_mode or "zscore"
|
||
if args.ckpt:
|
||
import torch
|
||
ck = torch.load(args.ckpt, map_location="cpu", weights_only=True)
|
||
cfg = ck.get("config", {})
|
||
predict_delta = cfg.get("train", {}).get("predict_delta", False)
|
||
if predict_delta:
|
||
print("predict_delta=True: HEF 输出将加回历史末步（残差模式）")
|
||
if args.normalize_mode is None:
|
||
# 未显式指定时按 checkpoint 配置判定归一化方式（旧 checkpoint 无
|
||
# normalize_mode 键，默认 zscore，行为不变）
|
||
data_cfg = cfg.get("data", {})
|
||
if (data_cfg.get("normalize_actions")
|
||
and data_cfg.get("normalize_mode") == "fixed_range"):
|
||
normalize_mode = "fixed_range"
|
||
print("normalize_mode=fixed_range: 固定物理范围归一化（免 stats）")
|
||
|
||
with HailoPredictor(args.hef, stats_path=args.stats,
|
||
predict_delta=predict_delta,
|
||
normalize_mode=normalize_mode) as predictor:
|
||
if len(args.images) != predictor.frame_len:
|
||
raise SystemExit(
|
||
f"--images 需传入 {predictor.frame_len} 个路径（旧→新），"
|
||
f"实际为 {len(args.images)} 个")
|
||
images = [np.array(Image.open(p).convert("RGB")) for p in args.images]
|
||
history = parse_action_history(args.action_history, predictor.action_dim)
|
||
predicted = predictor.predict(images, history, pred_token=pred_token,
|
||
imu=imu)
|
||
|
||
if args.output_format == "json":
|
||
print(json.dumps({"predicted_action": predicted.tolist()}, indent=2))
|
||
else:
|
||
print(" ".join(f"{v:.4f}" for v in predicted))
|
||
|
||
|
||
if __name__ == "__main__":
|
||
main()
|