qing
aa271e395a
P1-1: export_deploy.py forward() 从硬编码 3 帧改为 *inputs 动态解析
P1-2: hailo_infer.py 补 predict_delta 支持（残差模式 + --ckpt 自动检测）
P1-3: pybot _load_predictor 自动查找 pred_token.npy/action_stats.npy/
companion checkpoint，恢复 Hailo 推理训练语义
P1-4: pretrain_mt.py random_images 每 batch 重新生成噪声，防 BN 退化
P2-1: predict.py/hailo_infer.py/robot.py 三层 NaN/Inf 防线
P2-3: recorder.py imu_dim 默认 8→0，避免外部直接使用时形状错误
P2-5: _npu_test.py imu_dim 移到函数定义前，消除执行顺序依赖
404 lines
16 KiB
Python
404 lines
16 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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图像占位:
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--random-images 用 ImageNet 归一化的均匀噪声替代全零占位。
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全零图像会让 BN running_var 停在初始小值（推理时每级放大 ~50 倍，
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特征达 ±1e6），导致 HEF uint8 量化不可行；微调阶段必须用噪声或
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真实图像恢复 BN 统计。
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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,
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validate_config_values, warn_init_from_mismatch)
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from model import ActionPredictor
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from mt_parser import parse_mt_directory
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_IMAGENET_MEAN = [0.485, 0.456, 0.406]
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_IMAGENET_STD = [0.229, 0.224, 0.225]
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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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action_mean=None, action_std=None):
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self.history_len = history_len
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self.action_dim = action_dim
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self._action_mean = action_mean
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self._action_std = action_std
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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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history = torch.from_numpy(history.copy())
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target = torch.from_numpy(target.copy())
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if self._action_mean is not None:
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history = (history - self._action_mean) / self._action_std
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target = (target - self._action_mean) / self._action_std
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return {
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"action_history": history,
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"target": target,
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}
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def _placeholder_images(batch, frame_len, image_height, image_width,
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device, random_images: bool):
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"""构建 (B,F,3,H,W) 图像占位：全零或 ImageNet 归一化均匀噪声"""
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if not random_images:
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return torch.zeros(batch, frame_len, 3, image_height, image_width,
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device=device)
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x = torch.rand(batch, frame_len, 3, image_height, image_width,
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device=device)
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mean = torch.tensor(_IMAGENET_MEAN, device=device).view(1, 1, 3, 1, 1)
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std = torch.tensor(_IMAGENET_STD, device=device).view(1, 1, 3, 1, 1)
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return (x - mean) / std
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def pretrain_one_epoch(model, loader, optimizer, device, image_width,
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image_height, frame_len,
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max_grad_norm=None, noise_std=0.0,
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random_images: bool = False):
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model.train()
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total_loss = 0.0
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count = 0
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images = 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 images is None or images.size(0) != history.size(0) or random_images:
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images = _placeholder_images(
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history.size(0), frame_len, image_height, image_width,
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device, random_images)
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optimizer.zero_grad()
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pred = model(images, 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_width, image_height, frame_len,
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random_images: bool = False):
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model.eval()
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total_loss = 0.0
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count = 0
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images = 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 images is None or images.size(0) != history.size(0) or random_images:
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images = _placeholder_images(
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history.size(0), frame_len, image_height, image_width,
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device, random_images)
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pred = model(images, 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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parser.add_argument("--random-images", action="store_true",
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help="用 ImageNet 归一化均匀噪声替代全零图像占位"
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"（微调时恢复 BN 统计，避免 HEF 量化退化）")
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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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# 动作归一化（与 train.py 语义一致）：无 stats 文件时按训练集
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# targets 计算并保存到 checkpoint_dir，验证集复用同一 stats
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action_mean = action_std = None
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if cfg.data.normalize_actions:
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if cfg.data.action_stats_path:
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if not os.path.exists(cfg.data.action_stats_path):
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raise FileNotFoundError(
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f"指定的 action_stats_path 不存在: "
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f"{cfg.data.action_stats_path}")
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stats = np.load(cfg.data.action_stats_path)
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else:
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# 统计量必须覆盖 history 与 target 并集：只按 targets 算时，
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# targets 中恒定的列 std 落到 1e-8 地板值，而 history 窗口
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# 可能含该列的其他取值（如 .mt 脚本前几行），z-score 会爆炸
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# （实测 (90-45)/1e-8=4.5e9），后续 act_tokens ±1e9 直接
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# 打爆 DFC 量化（NegativeSlopeExponentNonFixable）
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all_actions = np.stack(
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[np.concatenate([s[0], s[1][None]]) for s in train_ds.samples]
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).reshape(-1, cfg.data.action_dim)
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stats = np.stack([all_actions.mean(axis=0),
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all_actions.std(axis=0) + 1e-8])
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stats_path = os.path.join(cfg.train.checkpoint_dir,
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"action_stats.npy")
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np.save(stats_path, stats)
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# 只存裸文件名：推理端按 checkpoint 目录解析相对路径
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# （predict.py/export_deploy.py/gen_calibration.py 同语义），
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# 存 "./checkpoints/..." 会被二次拼接成 checkpoints/./checkpoints
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cfg.data.action_stats_path = "action_stats.npy"
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print(f"action_stats 已保存: {stats_path}（训练集 targets 统计）")
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if stats.shape != (2, cfg.data.action_dim):
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raise ValueError(
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f"action stats 形状应为 (2, {cfg.data.action_dim})，"
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f"实际为 {stats.shape}")
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action_mean, action_std = stats[0], stats[1]
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train_ds._action_mean = action_mean
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train_ds._action_std = action_std
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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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action_mean=action_mean, action_std=action_std,
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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"frame_len={cfg.data.frame_len}, "
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f"backbone={cfg.model.cnn_backbone}, "
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f"attn={cfg.model.attn_layers}x{cfg.model.attn_heads}h"
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f"@{cfg.model.attn_dim}")
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print(f"Pre-training: noise_std={args.noise_std}, "
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f"random_images={args.random_images}")
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if args.init_from:
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init_ckpt = torch.load(args.init_from, map_location="cpu",
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weights_only=True)
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warn_init_from_mismatch(init_ckpt.get("config", {}), cfg)
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missing, unexpected = model.load_state_dict(
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init_ckpt["model_state_dict"], strict=False)
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if missing:
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print(f" init-from missing keys: {missing}")
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if unexpected:
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print(f" init-from unexpected keys: {unexpected}")
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print(f"Loaded pretrained weights from: {args.init_from}")
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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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start_epoch = 1
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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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last_path = os.path.join(cfg.train.checkpoint_dir, "pretrain_last.pt")
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if args.resume:
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resume_ckpt = torch.load(args.resume, map_location=device, weights_only=True)
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model.load_state_dict(resume_ckpt["model_state_dict"])
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optimizer.load_state_dict(resume_ckpt["optimizer_state_dict"])
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scheduler.load_state_dict(resume_ckpt["scheduler_state_dict"])
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start_epoch = resume_ckpt["epoch"] + 1
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best_val_loss = resume_ckpt.get("best_val_loss", float("inf"))
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patience_counter = resume_ckpt.get("patience_counter", 0)
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print(f"Resumed from {args.resume} at epoch {start_epoch} "
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f"(best_val_loss={best_val_loss:.6f})")
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for epoch in range(start_epoch, 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_width, cfg.data.image_height, cfg.data.frame_len,
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cfg.train.max_grad_norm, args.noise_std, args.random_images,
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)
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val_loss = validate(model, val_loader, device,
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cfg.data.image_width, cfg.data.image_height,
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cfg.data.frame_len, args.random_images)
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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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# 每 epoch 保存 last.pt，支持 --resume 断点续训练
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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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"scheduler_state_dict": scheduler.state_dict(),
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"best_val_loss": best_val_loss,
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"patience_counter": patience_counter,
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"config": cfg.to_dict(),
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},
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last_path,
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)
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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__":
|
||
main()
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