qing
63cfdd2066
- 第 1 轮安全审计修复: F-1~F-10（路径校验、预训练架构修正等） - 第 2 轮复审修复 11 项: 3 项上轮修复不完整（R01 checkpoint 键校验/ R02 fused_hidden_dim 值域/R03 pretrained=False）+ 8 项新问题 （actions.npy 形状校验、帧数警告、CLI 值域校验、stats 形状与路径、 onnxscript 依赖、归一化语义、解析去重） - 单元测试由 17 扩展至 51 用例（50 通过 + 1 环境性跳过） - 审计文档两轮合并至 actpred_CODE_AUDIT_20260808.md，更新 INDEX
283 lines
10 KiB
Python
283 lines
10 KiB
Python
"""actpred 预训练入口：从 .mt 脚本学习动作动力学（无需图像）
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用法:
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bash _run.sh pretrain --mt-dir ../bot4cj/scripts --epochs 200
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流程:
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1. 解析 .mt 文件中的 @Action 矩阵 → 动作序列
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2. 滑动窗口采样: action_history[H] → target action（下一行）
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3. 用零图像占位训练完整 ActionPredictor（保持 checkpoint 兼容性）
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4. 保存 checkpoint，格式与 train.py 一致，可直接用于推理或微调
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数据增强:
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--noise-std 控制高斯噪声标准差。因 .mt 脚本数据量有限，
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适度噪声（如 0.5~2.0）可有效防止过拟合。
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"""
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import json
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import os
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import random
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import numpy as np
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import torch
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from torch.utils.data import Dataset, DataLoader
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from tqdm import tqdm
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from config import Config, build_argparser, apply_overrides, validate_config_values
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from model import ActionPredictor
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from mt_parser import parse_mt_directory
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class MTActionDataset(Dataset):
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"""从 .mt @Action 矩阵构建的滑动窗口数据集（无图像）
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每个样本: (action_history[history_len, action_dim], target[action_dim])
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"""
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def __init__(self, mt_dir: str, history_len: int, action_dim: int,
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file_indices: list = None, files: list = None):
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self.history_len = history_len
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self.action_dim = action_dim
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self.samples = []
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# 复用调用方已解析的结果（避免 train/val 各自重复解析同一目录）
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all_files = files if files is not None else parse_mt_directory(mt_dir)
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if file_indices is not None:
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all_files = [all_files[i] for i in file_indices]
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for path, matrix in all_files:
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n_cols = matrix.shape[1]
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if n_cols < action_dim:
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matrix = np.pad(
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matrix,
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((0, 0), (0, action_dim - n_cols)),
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mode="constant",
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)
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elif n_cols > action_dim:
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matrix = matrix[:, :action_dim]
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for i in range(len(matrix) - history_len):
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history = matrix[i : i + history_len]
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target = matrix[i + history_len]
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self.samples.append((history.copy(), target.copy()))
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print(f"MTActionDataset: {len(self.samples)} samples "
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f"from {len(all_files)} files "
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f"(history_len={history_len}, action_dim={action_dim})")
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def __len__(self):
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return len(self.samples)
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def __getitem__(self, idx):
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history, target = self.samples[idx]
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return {
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"action_history": torch.from_numpy(history.copy()),
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"target": torch.from_numpy(target.copy()),
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}
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def pretrain_one_epoch(model, loader, optimizer, device, image_size,
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max_grad_norm=None, noise_std=0.0):
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model.train()
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total_loss = 0.0
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count = 0
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zero_image = None
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for batch in tqdm(loader, desc=" pretrain", leave=False):
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history = batch["action_history"].to(device)
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target = batch["target"].to(device)
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if noise_std > 0:
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history = history + torch.randn_like(history) * noise_std
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target = target + torch.randn_like(target) * noise_std
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if zero_image is None or zero_image.size(0) != history.size(0):
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zero_image = torch.zeros(
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history.size(0), 3, image_size, image_size, device=device
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)
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optimizer.zero_grad()
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pred = model(zero_image, history)
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loss = torch.nn.functional.mse_loss(pred, target)
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loss.backward()
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if max_grad_norm:
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torch.nn.utils.clip_grad_norm_(model.parameters(), max_grad_norm)
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optimizer.step()
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total_loss += loss.item() * history.size(0)
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count += history.size(0)
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return total_loss / max(count, 1)
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@torch.no_grad()
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def validate(model, loader, device, image_size):
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model.eval()
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total_loss = 0.0
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count = 0
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zero_image = None
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for batch in tqdm(loader, desc=" val ", leave=False):
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history = batch["action_history"].to(device)
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target = batch["target"].to(device)
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if zero_image is None or zero_image.size(0) != history.size(0):
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zero_image = torch.zeros(
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history.size(0), 3, image_size, image_size, device=device
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)
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pred = model(zero_image, history)
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loss = torch.nn.functional.mse_loss(pred, target)
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total_loss += loss.item() * history.size(0)
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count += history.size(0)
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if count == 0:
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return float("inf")
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return total_loss / count
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def main():
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parser = build_argparser("actpred pre-training from .mt scripts")
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parser.add_argument("--mt-dir", type=str, required=True,
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help=".mt 脚本目录（如 ../bot4cj/scripts）")
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parser.add_argument("--noise-std", type=float, default=0.0,
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help="高斯噪声标准差（数据增强，建议 0.5~2.0）")
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args = parser.parse_args()
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cfg = apply_overrides(Config(), args)
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validate_config_values(cfg.data, cfg.model, cfg.train)
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cfg.data.data_dir = args.mt_dir
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os.makedirs(cfg.train.checkpoint_dir, exist_ok=True)
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random.seed(cfg.train.seed)
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np.random.seed(cfg.train.seed)
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torch.manual_seed(cfg.train.seed)
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if torch.cuda.is_available():
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torch.cuda.manual_seed_all(cfg.train.seed)
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device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
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print(f"Device: {device}")
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# 按文件级划分 train/val，避免滑动窗口样本重叠导致的数据泄漏
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all_files = parse_mt_directory(args.mt_dir)
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if len(all_files) == 0:
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raise ValueError(
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f"数据集为空。请检查 mt-dir={args.mt_dir} "
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f"及 .mt 文件中 @Action 行数 > history_len={cfg.data.history_len}"
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)
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n_files = len(all_files)
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file_indices = list(range(n_files))
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rng = np.random.RandomState(cfg.train.seed)
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rng.shuffle(file_indices)
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val_file_count = max(1, int(n_files * cfg.train.val_split))
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val_file_indices = file_indices[:val_file_count]
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train_file_indices = file_indices[val_file_count:]
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train_ds = MTActionDataset(
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args.mt_dir, cfg.data.history_len, cfg.data.action_dim,
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file_indices=train_file_indices, files=all_files,
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)
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val_ds = MTActionDataset(
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args.mt_dir, cfg.data.history_len, cfg.data.action_dim,
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file_indices=val_file_indices, files=all_files,
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)
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print(f"Files: {len(train_file_indices)} train, {len(val_file_indices)} val")
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print(f"Samples: {len(train_ds)} train, {len(val_ds)} val")
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if len(train_ds) == 0:
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raise ValueError("训练集为空（样本数不足）")
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if len(val_ds) == 0:
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print("WARNING: 验证集为空，模型选择禁用")
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loader_gen = torch.Generator()
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loader_gen.manual_seed(cfg.train.seed)
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train_loader = DataLoader(
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train_ds, batch_size=cfg.train.batch_size,
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shuffle=True, num_workers=cfg.train.num_workers,
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generator=loader_gen,
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)
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val_loader = DataLoader(
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val_ds, batch_size=cfg.train.batch_size,
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shuffle=False, num_workers=cfg.train.num_workers,
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)
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model = ActionPredictor(cfg.model, cfg.data, pretrained=False).to(device)
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n_params = sum(p.numel() for p in model.parameters())
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print(f"Model params: {n_params:,}")
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print(f"Config: action_dim={cfg.data.action_dim}, "
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f"history_len={cfg.data.history_len}, "
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f"backbone={cfg.model.cnn_backbone}, "
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f"encoder={cfg.model.history_encoder}")
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print(f"Pre-training: noise_std={args.noise_std}")
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optimizer = torch.optim.AdamW(
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model.parameters(), lr=cfg.train.lr,
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weight_decay=cfg.train.weight_decay,
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)
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scheduler = torch.optim.lr_scheduler.CosineAnnealingLR(
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optimizer, T_max=cfg.train.epochs
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)
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best_val_loss = float("inf")
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patience_counter = 0
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best_path = os.path.join(cfg.train.checkpoint_dir, "pretrain_best.pt")
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inference_path = os.path.join(
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cfg.train.checkpoint_dir, "pretrain_best_inference.pt"
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)
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for epoch in range(1, cfg.train.epochs + 1):
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print(f"\nEpoch {epoch}/{cfg.train.epochs} "
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f"lr={optimizer.param_groups[0]['lr']:.6f}")
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train_loss = pretrain_one_epoch(
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model, train_loader, optimizer, device,
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cfg.data.image_size, cfg.train.max_grad_norm, args.noise_std,
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)
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val_loss = validate(model, val_loader, device, cfg.data.image_size)
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scheduler.step()
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print(f" train_loss={train_loss:.6f} val_loss={val_loss:.6f}")
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if val_loss < best_val_loss:
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best_val_loss = val_loss
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patience_counter = 0
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torch.save(
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{
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"epoch": epoch,
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"model_state_dict": model.state_dict(),
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"optimizer_state_dict": optimizer.state_dict(),
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"val_loss": val_loss,
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"config": cfg.to_dict(),
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},
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best_path,
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)
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torch.save(
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{
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"model_state_dict": model.state_dict(),
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"config": cfg.to_dict(),
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},
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inference_path,
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)
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print(f" -> saved best (val_loss={val_loss:.6f})")
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else:
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patience_counter += 1
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if patience_counter >= cfg.train.patience:
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print(f"\nEarly stopping at epoch {epoch} "
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f"(patience={cfg.train.patience})")
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break
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print(f"\nPre-training done. Best val_loss={best_val_loss:.6f}")
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if best_val_loss == float("inf"):
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torch.save(
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{
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"model_state_dict": model.state_dict(),
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"config": cfg.to_dict(),
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},
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inference_path,
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)
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print("WARNING: saved final weights (no valid validation loss)")
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else:
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print(f"Best pre-trained model: {inference_path}")
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print("Fine-tune: bash _run.sh train --data-dir ./data "
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f"--init-from {inference_path}")
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if args.save_config:
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with open(args.save_config, "w") as f:
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json.dump(cfg.to_dict(), f, indent=2, ensure_ascii=False)
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print(f"Config saved to: {args.save_config}")
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if __name__ == "__main__":
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main()
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