58 lines
2.0 KiB
Python
58 lines
2.0 KiB
Python
import argparse
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import torch
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from config import parse_checkpoint_config
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from model import ActionPredictor
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def main():
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parser = argparse.ArgumentParser(description="Export actpred model to ONNX")
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parser.add_argument("--model", required=True, help="checkpoint path (best_inference.pt)")
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parser.add_argument("--output", default="model.onnx", help="output ONNX file path")
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args = parser.parse_args()
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checkpoint = torch.load(args.model, map_location="cpu", weights_only=True)
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cfg = parse_checkpoint_config(checkpoint["config"])
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data_cfg = cfg.data
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model_cfg = cfg.model
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model = ActionPredictor(model_cfg, data_cfg, pretrained=False)
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model.load_state_dict(checkpoint["model_state_dict"])
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model.eval()
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dummy_images = torch.randn(
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1, data_cfg.frame_len, 3, data_cfg.image_size, data_cfg.image_size)
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dummy_history = torch.randn(1, data_cfg.history_len, data_cfg.action_dim)
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torch.onnx.export(
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model, (dummy_images, dummy_history),
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args.output,
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input_names=["images", "action_history"],
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output_names=["predicted_action"],
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dynamic_axes={
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"images": {0: "batch"},
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"action_history": {0: "batch"},
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"predicted_action": {0: "batch"},
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},
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opset_version=17,
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)
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print(f"ONNX model exported to: {args.output}")
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# 可选：验证导出的 ONNX 模型一致性
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try:
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import onnxruntime as ort
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import numpy as np
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sess = ort.InferenceSession(args.output)
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img_np = dummy_images.numpy()
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hist_np = dummy_history.numpy()
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ort_out = sess.run(None, {"images": img_np, "action_history": hist_np})[0]
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with torch.no_grad():
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torch_out = model(dummy_images, dummy_history).numpy()
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max_diff = np.abs(ort_out - torch_out).max()
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print(f"ONNX 一致性验证通过（最大差异: {max_diff:.6e}）")
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except ImportError:
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print("提示: 安装 onnxruntime 可验证导出模型一致性 (pip install onnxruntime)")
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if __name__ == "__main__":
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main()
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