第一次完整测例跑完

src/unifolm_wma/models/diffusion_head/base_nets.py

@@ -0,0 +1,217 @@
+"""
+Contains torch Modules that correspond to basic network building blocks, like 
+MLP, RNN, and CNN backbones.
+"""
+
+import abc
+import numpy as np
+import torch
+import torch.nn.functional as F
+
+
+class Module(torch.nn.Module):
+    """
+    Base class for networks. The only difference from torch.nn.Module is that it
+    requires implementing @output_shape.
+    """
+
+    @abc.abstractmethod
+    def output_shape(self, input_shape=None):
+        """
+        Function to compute output shape from inputs to this module. 
+
+        Args:
+            input_shape (iterable of int): shape of input. Does not include batch dimension.
+                Some modules may not need this argument, if their output does not depend 
+                on the size of the input, or if they assume fixed size input.
+
+        Returns:
+            out_shape ([int]): list of integers corresponding to output shape
+        """
+        raise NotImplementedError
+
+
+"""
+================================================
+Visual Backbone Networks
+================================================
+"""
+
+
+class ConvBase(Module):
+    """
+    Base class for ConvNets.
+    """
+
+    def __init__(self):
+        super(ConvBase, self).__init__()
+
+    # dirty hack - re-implement to pass the buck onto subclasses from ABC parent
+    def output_shape(self, input_shape):
+        """
+        Function to compute output shape from inputs to this module. 
+
+        Args:
+            input_shape (iterable of int): shape of input. Does not include batch dimension.
+                Some modules may not need this argument, if their output does not depend 
+                on the size of the input, or if they assume fixed size input.
+
+        Returns:
+            out_shape ([int]): list of integers corresponding to output shape
+        """
+        raise NotImplementedError
+
+    def forward(self, inputs):
+        x = self.nets(inputs)
+        if list(self.output_shape(list(inputs.shape)[1:])) != list(
+                x.shape)[1:]:
+            raise ValueError('Size mismatch: expect size %s, but got size %s' %
+                             (str(self.output_shape(list(
+                                 inputs.shape)[1:])), str(list(x.shape)[1:])))
+        return x
+
+
+class SpatialSoftmax(ConvBase):
+    """
+    Spatial Softmax Layer.
+
+    Based on Deep Spatial Autoencoders for Visuomotor Learning by Finn et al.
+    https://rll.berkeley.edu/dsae/dsae.pdf
+    """
+
+    def __init__(
+        self,
+        input_shape,
+        num_kp=32,
+        temperature=1.,
+        learnable_temperature=False,
+        output_variance=False,
+        noise_std=0.0,
+    ):
+        """
+        Args:
+            input_shape (list): shape of the input feature (C, H, W)
+            num_kp (int): number of keypoints (None for not using spatialsoftmax)
+            temperature (float): temperature term for the softmax.
+            learnable_temperature (bool): whether to learn the temperature
+            output_variance (bool): treat attention as a distribution, and compute second-order statistics to return
+            noise_std (float): add random spatial noise to the predicted keypoints
+        """
+        super(SpatialSoftmax, self).__init__()
+        assert len(input_shape) == 3
+        self._in_c, self._in_h, self._in_w = input_shape  # (C, H, W)
+
+        if num_kp is not None:
+            self.nets = torch.nn.Conv2d(self._in_c, num_kp, kernel_size=1)
+            self._num_kp = num_kp
+        else:
+            self.nets = None
+            self._num_kp = self._in_c
+        self.learnable_temperature = learnable_temperature
+        self.output_variance = output_variance
+        self.noise_std = noise_std
+
+        if self.learnable_temperature:
+            # temperature will be learned
+            temperature = torch.nn.Parameter(torch.ones(1) * temperature,
+                                             requires_grad=True)
+            self.register_parameter('temperature', temperature)
+        else:
+            # temperature held constant after initialization
+            temperature = torch.nn.Parameter(torch.ones(1) * temperature,
+                                             requires_grad=False)
+            self.register_buffer('temperature', temperature)
+
+        pos_x, pos_y = np.meshgrid(np.linspace(-1., 1., self._in_w),
+                                   np.linspace(-1., 1., self._in_h))
+        pos_x = torch.from_numpy(pos_x.reshape(1, self._in_h *
+                                               self._in_w)).float()
+        pos_y = torch.from_numpy(pos_y.reshape(1, self._in_h *
+                                               self._in_w)).float()
+        self.register_buffer('pos_x', pos_x)
+        self.register_buffer('pos_y', pos_y)
+
+        self.kps = None
+
+    def __repr__(self):
+        """Pretty print network."""
+        header = format(str(self.__class__.__name__))
+        return header + '(num_kp={}, temperature={}, noise={})'.format(
+            self._num_kp, self.temperature.item(), self.noise_std)
+
+    def output_shape(self, input_shape):
+        """
+        Function to compute output shape from inputs to this module. 
+
+        Args:
+            input_shape (iterable of int): shape of input. Does not include batch dimension.
+                Some modules may not need this argument, if their output does not depend 
+                on the size of the input, or if they assume fixed size input.
+
+        Returns:
+            out_shape ([int]): list of integers corresponding to output shape
+        """
+        assert (len(input_shape) == 3)
+        assert (input_shape[0] == self._in_c)
+        return [self._num_kp, 2]
+
+    def forward(self, feature):
+        """
+        Forward pass through spatial softmax layer. For each keypoint, a 2D spatial 
+        probability distribution is created using a softmax, where the support is the 
+        pixel locations. This distribution is used to compute the expected value of 
+        the pixel location, which becomes a keypoint of dimension 2. K such keypoints
+        are created.
+
+        Returns:
+            out (torch.Tensor or tuple): mean keypoints of shape [B, K, 2], and possibly
+                keypoint variance of shape [B, K, 2, 2] corresponding to the covariance
+                under the 2D spatial softmax distribution
+        """
+        assert (feature.shape[1] == self._in_c)
+        assert (feature.shape[2] == self._in_h)
+        assert (feature.shape[3] == self._in_w)
+        if self.nets is not None:
+            feature = self.nets(feature)
+
+        # [B, K, H, W] -> [B * K, H * W] where K is number of keypoints
+        feature = feature.reshape(-1, self._in_h * self._in_w)
+        # 2d softmax normalization
+        attention = F.softmax(feature / self.temperature, dim=-1)
+        # [1, H * W] x [B * K, H * W] -> [B * K, 1] for spatial coordinate mean in x and y dimensions
+        expected_x = torch.sum(self.pos_x * attention, dim=1, keepdim=True)
+        expected_y = torch.sum(self.pos_y * attention, dim=1, keepdim=True)
+        # stack to [B * K, 2]
+        expected_xy = torch.cat([expected_x, expected_y], 1)
+        # reshape to [B, K, 2]
+        feature_keypoints = expected_xy.view(-1, self._num_kp, 2)
+
+        if self.training:
+            noise = torch.randn_like(feature_keypoints) * self.noise_std
+            feature_keypoints += noise
+
+        if self.output_variance:
+            # treat attention as a distribution, and compute second-order statistics to return
+            expected_xx = torch.sum(self.pos_x * self.pos_x * attention,
+                                    dim=1,
+                                    keepdim=True)
+            expected_yy = torch.sum(self.pos_y * self.pos_y * attention,
+                                    dim=1,
+                                    keepdim=True)
+            expected_xy = torch.sum(self.pos_x * self.pos_y * attention,
+                                    dim=1,
+                                    keepdim=True)
+            var_x = expected_xx - expected_x * expected_x
+            var_y = expected_yy - expected_y * expected_y
+            var_xy = expected_xy - expected_x * expected_y
+            # stack to [B * K, 4] and then reshape to [B, K, 2, 2] where last 2 dims are covariance matrix
+            feature_covar = torch.cat([var_x, var_xy, var_xy, var_y],
+                                      1).reshape(-1, self._num_kp, 2, 2)
+            feature_keypoints = (feature_keypoints, feature_covar)
+
+        if isinstance(feature_keypoints, tuple):
+            self.kps = (feature_keypoints[0].detach(),
+                        feature_keypoints[1].detach())
+        else:
+            self.kps = feature_keypoints.detach()
+        return feature_keypoints

src/unifolm_wma/models/diffusion_head/common/lr_scheduler.py

@@ -0,0 +1,83 @@
+from diffusers.optimization import (Union, SchedulerType, Optional, Optimizer,
+                                    TYPE_TO_SCHEDULER_FUNCTION)
+
+
+def get_scheduler(name: Union[str, SchedulerType],
+                  optimizer: Optimizer,
+                  num_warmup_steps: Optional[int] = None,
+                  num_training_steps: Optional[int] = None,
+                  **kwargs):
+    """
+    Added kwargs vs diffuser's original implementation
+
+    Unified API to get any scheduler from its name.
+
+    Args:
+        name (`str` or `SchedulerType`):
+            The name of the scheduler to use.
+        optimizer (`torch.optim.Optimizer`):
+            The optimizer that will be used during training.
+        num_warmup_steps (`int`, *optional*):
+            The number of warmup steps to do. This is not required by all schedulers (hence the argument being
+            optional), the function will raise an error if it's unset and the scheduler type requires it.
+        num_training_steps (`int``, *optional*):
+            The number of training steps to do. This is not required by all schedulers (hence the argument being
+            optional), the function will raise an error if it's unset and the scheduler type requires it.
+    """
+    name = SchedulerType(name)
+    schedule_func = TYPE_TO_SCHEDULER_FUNCTION[name]
+    if name == SchedulerType.CONSTANT:
+        return schedule_func(optimizer, **kwargs)
+
+    # All other schedulers require `num_warmup_steps`
+    if num_warmup_steps is None:
+        raise ValueError(
+            f"{name} requires `num_warmup_steps`, please provide that argument."
+        )
+
+    if name == SchedulerType.CONSTANT_WITH_WARMUP:
+        return schedule_func(optimizer,
+                             num_warmup_steps=num_warmup_steps,
+                             **kwargs)
+
+    # All other schedulers require `num_training_steps`
+    if num_training_steps is None:
+        raise ValueError(
+            f"{name} requires `num_training_steps`, please provide that argument."
+        )
+
+    return schedule_func(optimizer,
+                         num_warmup_steps=num_warmup_steps,
+                         num_training_steps=num_training_steps,
+                         **kwargs)
+
+
+import torch
+from torch.optim.lr_scheduler import _LRScheduler
+import pytorch_lightning as pl
+from diffusers.optimization import TYPE_TO_SCHEDULER_FUNCTION, SchedulerType
+
+
+class SelectiveLRScheduler(_LRScheduler):
+
+    def __init__(self,
+                 optimizer,
+                 base_scheduler,
+                 group_indices,
+                 default_lr=[1e-5, 1e-4],
+                 last_epoch=-1):
+        self.base_scheduler = base_scheduler
+        self.group_indices = group_indices  # Indices of parameter groups to update
+        self.default_lr = default_lr
+        super().__init__(optimizer, last_epoch)
+
+    def step(self, epoch=None):
+        self.base_scheduler.step()
+        base_lrs = self.base_scheduler.get_last_lr()
+
+        for idx, group in enumerate(self.optimizer.param_groups):
+            if idx in self.group_indices:
+                group['lr'] = base_lrs[idx]
+            else:
+                # Reset the learning rate to its initial value
+                group['lr'] = self.default_lr[idx]

src/unifolm_wma/models/diffusion_head/common/module_attr_mixin.py

@@ -0,0 +1,16 @@
+import torch.nn as nn
+
+
+class ModuleAttrMixin(nn.Module):
+
+    def __init__(self):
+        super().__init__()
+        self._dummy_variable = nn.Parameter()
+
+    @property
+    def device(self):
+        return next(iter(self.parameters())).device
+
+    @property
+    def dtype(self):
+        return next(iter(self.parameters())).dtype

src/unifolm_wma/models/diffusion_head/common/pytorch_util.py

@@ -0,0 +1,91 @@
+import collections
+import torch
+import torch.nn as nn
+from typing import Dict, Callable, List
+
+
+def dict_apply(
+        x: Dict[str, torch.Tensor],
+        func: Callable[[torch.Tensor],
+                       torch.Tensor]) -> Dict[str, torch.Tensor]:
+    result = dict()
+    for key, value in x.items():
+        if isinstance(value, dict):
+            result[key] = dict_apply(value, func)
+        else:
+            result[key] = func(value)
+    return result
+
+
+def pad_remaining_dims(x, target):
+    assert x.shape == target.shape[:len(x.shape)]
+    return x.reshape(x.shape + (1, ) * (len(target.shape) - len(x.shape)))
+
+
+def dict_apply_split(
+    x: Dict[str, torch.Tensor], split_func: Callable[[torch.Tensor],
+                                                     Dict[str, torch.Tensor]]
+) -> Dict[str, torch.Tensor]:
+    results = collections.defaultdict(dict)
+    for key, value in x.items():
+        result = split_func(value)
+        for k, v in result.items():
+            results[k][key] = v
+    return results
+
+
+def dict_apply_reduce(
+    x: List[Dict[str,
+                 torch.Tensor]], reduce_func: Callable[[List[torch.Tensor]],
+                                                       torch.Tensor]
+) -> Dict[str, torch.Tensor]:
+    result = dict()
+    for key in x[0].keys():
+        result[key] = reduce_func([x_[key] for x_ in x])
+    return result
+
+
+def replace_submodules(root_module: nn.Module, predicate: Callable[[nn.Module],
+                                                                   bool],
+                       func: Callable[[nn.Module], nn.Module]) -> nn.Module:
+    """
+    predicate: Return true if the module is to be replaced.
+    func: Return new module to use.
+    """
+    if predicate(root_module):
+        return func(root_module)
+
+    bn_list = [
+        k.split('.')
+        for k, m in root_module.named_modules(remove_duplicate=True)
+        if predicate(m)
+    ]
+    for *parent, k in bn_list:
+        parent_module = root_module
+        if len(parent) > 0:
+            parent_module = root_module.get_submodule('.'.join(parent))
+        if isinstance(parent_module, nn.Sequential):
+            src_module = parent_module[int(k)]
+        else:
+            src_module = getattr(parent_module, k)
+        tgt_module = func(src_module)
+        if isinstance(parent_module, nn.Sequential):
+            parent_module[int(k)] = tgt_module
+        else:
+            setattr(parent_module, k, tgt_module)
+    # verify that all BN are replaced
+    bn_list = [
+        k.split('.')
+        for k, m in root_module.named_modules(remove_duplicate=True)
+        if predicate(m)
+    ]
+    assert len(bn_list) == 0
+    return root_module
+
+
+def optimizer_to(optimizer, device):
+    for state in optimizer.state.values():
+        for k, v in state.items():
+            if isinstance(v, torch.Tensor):
+                state[k] = v.to(device=device)
+    return optimizer

src/unifolm_wma/models/diffusion_head/common/tensor_util.py

@@ -0,0 +1,960 @@
+"""
+A collection of utilities for working with nested tensor structures consisting
+of numpy arrays and torch tensors.
+"""
+import collections
+import numpy as np
+import torch
+
+
+def recursive_dict_list_tuple_apply(x, type_func_dict):
+    """
+    Recursively apply functions to a nested dictionary or list or tuple, given a dictionary of 
+    {data_type: function_to_apply}.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        type_func_dict (dict): a mapping from data types to the functions to be 
+            applied for each data type.
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    assert (list not in type_func_dict)
+    assert (tuple not in type_func_dict)
+    assert (dict not in type_func_dict)
+
+    if isinstance(x, (dict, collections.OrderedDict)):
+        new_x = collections.OrderedDict() if isinstance(
+            x, collections.OrderedDict) else dict()
+        for k, v in x.items():
+            new_x[k] = recursive_dict_list_tuple_apply(v, type_func_dict)
+        return new_x
+    elif isinstance(x, (list, tuple)):
+        ret = [recursive_dict_list_tuple_apply(v, type_func_dict) for v in x]
+        if isinstance(x, tuple):
+            ret = tuple(ret)
+        return ret
+    else:
+        for t, f in type_func_dict.items():
+            if isinstance(x, t):
+                return f(x)
+        else:
+            raise NotImplementedError('Cannot handle data type %s' %
+                                      str(type(x)))
+
+
+def map_tensor(x, func):
+    """
+    Apply function @func to torch.Tensor objects in a nested dictionary or
+    list or tuple.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        func (function): function to apply to each tensor
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(x, {
+        torch.Tensor: func,
+        type(None): lambda x: x,
+    })
+
+
+def map_ndarray(x, func):
+    """
+    Apply function @func to np.ndarray objects in a nested dictionary or
+    list or tuple.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        func (function): function to apply to each array
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(x, {
+        np.ndarray: func,
+        type(None): lambda x: x,
+    })
+
+
+def map_tensor_ndarray(x, tensor_func, ndarray_func):
+    """
+    Apply function @tensor_func to torch.Tensor objects and @ndarray_func to 
+    np.ndarray objects in a nested dictionary or list or tuple.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        tensor_func (function): function to apply to each tensor
+        ndarray_Func (function): function to apply to each array
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: tensor_func,
+            np.ndarray: ndarray_func,
+            type(None): lambda x: x,
+        })
+
+
+def clone(x):
+    """
+    Clones all torch tensors and numpy arrays in nested dictionary or list
+    or tuple and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x.clone(),
+            np.ndarray: lambda x: x.copy(),
+            type(None): lambda x: x,
+        })
+
+
+def detach(x):
+    """
+    Detaches all torch tensors in nested dictionary or list
+    or tuple and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(x, {
+        torch.Tensor: lambda x: x.detach(),
+    })
+
+
+def to_batch(x):
+    """
+    Introduces a leading batch dimension of 1 for all torch tensors and numpy 
+    arrays in nested dictionary or list or tuple and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x[None, ...],
+            np.ndarray: lambda x: x[None, ...],
+            type(None): lambda x: x,
+        })
+
+
+def to_sequence(x):
+    """
+    Introduces a time dimension of 1 at dimension 1 for all torch tensors and numpy 
+    arrays in nested dictionary or list or tuple and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x[:, None, ...],
+            np.ndarray: lambda x: x[:, None, ...],
+            type(None): lambda x: x,
+        })
+
+
+def index_at_time(x, ind):
+    """
+    Indexes all torch tensors and numpy arrays in dimension 1 with index @ind in
+    nested dictionary or list or tuple and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        ind (int): index
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x[:, ind, ...],
+            np.ndarray: lambda x: x[:, ind, ...],
+            type(None): lambda x: x,
+        })
+
+
+def unsqueeze(x, dim):
+    """
+    Adds dimension of size 1 at dimension @dim in all torch tensors and numpy arrays
+    in nested dictionary or list or tuple and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        dim (int): dimension
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x.unsqueeze(dim=dim),
+            np.ndarray: lambda x: np.expand_dims(x, axis=dim),
+            type(None): lambda x: x,
+        })
+
+
+def contiguous(x):
+    """
+    Makes all torch tensors and numpy arrays contiguous in nested dictionary or 
+    list or tuple and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x.contiguous(),
+            np.ndarray: lambda x: np.ascontiguousarray(x),
+            type(None): lambda x: x,
+        })
+
+
+def to_device(x, device):
+    """
+    Sends all torch tensors in nested dictionary or list or tuple to device
+    @device, and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        device (torch.Device): device to send tensors to
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x, d=device: x.to(d),
+            type(None): lambda x: x,
+        })
+
+
+def to_tensor(x):
+    """
+    Converts all numpy arrays in nested dictionary or list or tuple to
+    torch tensors (and leaves existing torch Tensors as-is), and returns 
+    a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x,
+            np.ndarray: lambda x: torch.from_numpy(x),
+            type(None): lambda x: x,
+        })
+
+
+def to_numpy(x):
+    """
+    Converts all torch tensors in nested dictionary or list or tuple to
+    numpy (and leaves existing numpy arrays as-is), and returns 
+    a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+
+    def f(tensor):
+        if tensor.is_cuda:
+            return tensor.detach().cpu().numpy()
+        else:
+            return tensor.detach().numpy()
+
+    return recursive_dict_list_tuple_apply(x, {
+        torch.Tensor: f,
+        np.ndarray: lambda x: x,
+        type(None): lambda x: x,
+    })
+
+
+def to_list(x):
+    """
+    Converts all torch tensors and numpy arrays in nested dictionary or list 
+    or tuple to a list, and returns a new nested structure. Useful for
+    json encoding.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+
+    def f(tensor):
+        if tensor.is_cuda:
+            return tensor.detach().cpu().numpy().tolist()
+        else:
+            return tensor.detach().numpy().tolist()
+
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: f,
+            np.ndarray: lambda x: x.tolist(),
+            type(None): lambda x: x,
+        })
+
+
+def to_float(x):
+    """
+    Converts all torch tensors and numpy arrays in nested dictionary or list 
+    or tuple to float type entries, and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x.float(),
+            np.ndarray: lambda x: x.astype(np.float32),
+            type(None): lambda x: x,
+        })
+
+
+def to_uint8(x):
+    """
+    Converts all torch tensors and numpy arrays in nested dictionary or list 
+    or tuple to uint8 type entries, and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x.byte(),
+            np.ndarray: lambda x: x.astype(np.uint8),
+            type(None): lambda x: x,
+        })
+
+
+def to_torch(x, device):
+    """
+    Converts all numpy arrays and torch tensors in nested dictionary or list or tuple to 
+    torch tensors on device @device and returns a new nested structure.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        device (torch.Device): device to send tensors to
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return to_device(to_float(to_tensor(x)), device)
+
+
+def to_one_hot_single(tensor, num_class):
+    """
+    Convert tensor to one-hot representation, assuming a certain number of total class labels.
+
+    Args:
+        tensor (torch.Tensor): tensor containing integer labels
+        num_class (int): number of classes
+
+    Returns:
+        x (torch.Tensor): tensor containing one-hot representation of labels
+    """
+    x = torch.zeros(tensor.size() + (num_class, )).to(tensor.device)
+    x.scatter_(-1, tensor.unsqueeze(-1), 1)
+    return x
+
+
+def to_one_hot(tensor, num_class):
+    """
+    Convert all tensors in nested dictionary or list or tuple to one-hot representation, 
+    assuming a certain number of total class labels.
+
+    Args:
+        tensor (dict or list or tuple): a possibly nested dictionary or list or tuple
+        num_class (int): number of classes
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return map_tensor(tensor,
+                      func=lambda x, nc=num_class: to_one_hot_single(x, nc))
+
+
+def flatten_single(x, begin_axis=1):
+    """
+    Flatten a tensor in all dimensions from @begin_axis onwards.
+
+    Args:
+        x (torch.Tensor): tensor to flatten
+        begin_axis (int): which axis to flatten from
+
+    Returns:
+        y (torch.Tensor): flattened tensor
+    """
+    fixed_size = x.size()[:begin_axis]
+    _s = list(fixed_size) + [-1]
+    return x.reshape(*_s)
+
+
+def flatten(x, begin_axis=1):
+    """
+    Flatten all tensors in nested dictionary or list or tuple, from @begin_axis onwards.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        begin_axis (int): which axis to flatten from
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(x, {
+        torch.Tensor:
+        lambda x, b=begin_axis: flatten_single(x, begin_axis=b),
+    })
+
+
+def reshape_dimensions_single(x, begin_axis, end_axis, target_dims):
+    """
+    Reshape selected dimensions in a tensor to a target dimension.
+
+    Args:
+        x (torch.Tensor): tensor to reshape
+        begin_axis (int): begin dimension
+        end_axis (int): end dimension
+        target_dims (tuple or list): target shape for the range of dimensions
+            (@begin_axis, @end_axis)
+
+    Returns:
+        y (torch.Tensor): reshaped tensor
+    """
+    assert (begin_axis <= end_axis)
+    assert (begin_axis >= 0)
+    assert (end_axis < len(x.shape))
+    assert (isinstance(target_dims, (tuple, list)))
+    s = x.shape
+    final_s = []
+    for i in range(len(s)):
+        if i == begin_axis:
+            final_s.extend(target_dims)
+        elif i < begin_axis or i > end_axis:
+            final_s.append(s[i])
+    return x.reshape(*final_s)
+
+
+def reshape_dimensions(x, begin_axis, end_axis, target_dims):
+    """
+    Reshape selected dimensions for all tensors in nested dictionary or list or tuple 
+    to a target dimension.
+    
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        begin_axis (int): begin dimension
+        end_axis (int): end dimension
+        target_dims (tuple or list): target shape for the range of dimensions
+            (@begin_axis, @end_axis)
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor:
+            lambda x, b=begin_axis, e=end_axis, t=target_dims:
+            reshape_dimensions_single(
+                x, begin_axis=b, end_axis=e, target_dims=t),
+            np.ndarray:
+            lambda x, b=begin_axis, e=end_axis, t=target_dims:
+            reshape_dimensions_single(
+                x, begin_axis=b, end_axis=e, target_dims=t),
+            type(None):
+            lambda x: x,
+        })
+
+
+def join_dimensions(x, begin_axis, end_axis):
+    """
+    Joins all dimensions between dimensions (@begin_axis, @end_axis) into a flat dimension, for
+    all tensors in nested dictionary or list or tuple.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        begin_axis (int): begin dimension
+        end_axis (int): end dimension
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor:
+            lambda x, b=begin_axis, e=end_axis: reshape_dimensions_single(
+                x, begin_axis=b, end_axis=e, target_dims=[-1]),
+            np.ndarray:
+            lambda x, b=begin_axis, e=end_axis: reshape_dimensions_single(
+                x, begin_axis=b, end_axis=e, target_dims=[-1]),
+            type(None):
+            lambda x: x,
+        })
+
+
+def expand_at_single(x, size, dim):
+    """
+    Expand a tensor at a single dimension @dim by @size
+
+    Args:
+        x (torch.Tensor): input tensor
+        size (int): size to expand
+        dim (int): dimension to expand
+
+    Returns:
+        y (torch.Tensor): expanded tensor
+    """
+    assert dim < x.ndimension()
+    assert x.shape[dim] == 1
+    expand_dims = [-1] * x.ndimension()
+    expand_dims[dim] = size
+    return x.expand(*expand_dims)
+
+
+def expand_at(x, size, dim):
+    """
+    Expand all tensors in nested dictionary or list or tuple at a single
+    dimension @dim by @size.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        size (int): size to expand
+        dim (int): dimension to expand
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return map_tensor(x, lambda t, s=size, d=dim: expand_at_single(t, s, d))
+
+
+def unsqueeze_expand_at(x, size, dim):
+    """
+    Unsqueeze and expand a tensor at a dimension @dim by @size.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        size (int): size to expand
+        dim (int): dimension to unsqueeze and expand
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    x = unsqueeze(x, dim)
+    return expand_at(x, size, dim)
+
+
+def repeat_by_expand_at(x, repeats, dim):
+    """
+    Repeat a dimension by combining expand and reshape operations.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        repeats (int): number of times to repeat the target dimension
+        dim (int): dimension to repeat on
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    x = unsqueeze_expand_at(x, repeats, dim + 1)
+    return join_dimensions(x, dim, dim + 1)
+
+
+def named_reduce_single(x, reduction, dim):
+    """
+    Reduce tensor at a dimension by named reduction functions.
+
+    Args:
+        x (torch.Tensor): tensor to be reduced
+        reduction (str): one of ["sum", "max", "mean", "flatten"]
+        dim (int): dimension to be reduced (or begin axis for flatten)
+
+    Returns:
+        y (torch.Tensor): reduced tensor
+    """
+    assert x.ndimension() > dim
+    assert reduction in ["sum", "max", "mean", "flatten"]
+    if reduction == "flatten":
+        x = flatten(x, begin_axis=dim)
+    elif reduction == "max":
+        x = torch.max(x, dim=dim)[0]  # [B, D]
+    elif reduction == "sum":
+        x = torch.sum(x, dim=dim)
+    else:
+        x = torch.mean(x, dim=dim)
+    return x
+
+
+def named_reduce(x, reduction, dim):
+    """
+    Reduces all tensors in nested dictionary or list or tuple at a dimension
+    using a named reduction function.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        reduction (str): one of ["sum", "max", "mean", "flatten"]
+        dim (int): dimension to be reduced (or begin axis for flatten)
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return map_tensor(
+        x, func=lambda t, r=reduction, d=dim: named_reduce_single(t, r, d))
+
+
+def gather_along_dim_with_dim_single(x, target_dim, source_dim, indices):
+    """
+    This function indexes out a target dimension of a tensor in a structured way,
+    by allowing a different value to be selected for each member of a flat index 
+    tensor (@indices) corresponding to a source dimension. This can be interpreted
+    as moving along the source dimension, using the corresponding index value
+    in @indices to select values for all other dimensions outside of the
+    source and target dimensions. A common use case is to gather values
+    in target dimension 1 for each batch member (target dimension 0).
+
+    Args:
+        x (torch.Tensor): tensor to gather values for
+        target_dim (int): dimension to gather values along
+        source_dim (int): dimension to hold constant and use for gathering values
+            from the other dimensions
+        indices (torch.Tensor): flat index tensor with same shape as tensor @x along
+            @source_dim
+    
+    Returns:
+        y (torch.Tensor): gathered tensor, with dimension @target_dim indexed out
+    """
+    assert len(indices.shape) == 1
+    assert x.shape[source_dim] == indices.shape[0]
+
+    # unsqueeze in all dimensions except the source dimension
+    new_shape = [1] * x.ndimension()
+    new_shape[source_dim] = -1
+    indices = indices.reshape(*new_shape)
+
+    # repeat in all dimensions - but preserve shape of source dimension,
+    # and make sure target_dimension has singleton dimension
+    expand_shape = list(x.shape)
+    expand_shape[source_dim] = -1
+    expand_shape[target_dim] = 1
+    indices = indices.expand(*expand_shape)
+
+    out = x.gather(dim=target_dim, index=indices)
+    return out.squeeze(target_dim)
+
+
+def gather_along_dim_with_dim(x, target_dim, source_dim, indices):
+    """
+    Apply @gather_along_dim_with_dim_single to all tensors in a nested 
+    dictionary or list or tuple.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        target_dim (int): dimension to gather values along
+        source_dim (int): dimension to hold constant and use for gathering values
+            from the other dimensions
+        indices (torch.Tensor): flat index tensor with same shape as tensor @x along
+            @source_dim
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple
+    """
+    return map_tensor(x,
+                      lambda y, t=target_dim, s=source_dim, i=indices:
+                      gather_along_dim_with_dim_single(y, t, s, i))
+
+
+def gather_sequence_single(seq, indices):
+    """
+    Given a tensor with leading dimensions [B, T, ...], gather an element from each sequence in 
+    the batch given an index for each sequence.
+
+    Args:
+        seq (torch.Tensor): tensor with leading dimensions [B, T, ...]
+        indices (torch.Tensor): tensor indices of shape [B]
+
+    Return:
+        y (torch.Tensor): indexed tensor of shape [B, ....]
+    """
+    return gather_along_dim_with_dim_single(seq,
+                                            target_dim=1,
+                                            source_dim=0,
+                                            indices=indices)
+
+
+def gather_sequence(seq, indices):
+    """
+    Given a nested dictionary or list or tuple, gathers an element from each sequence of the batch
+    for tensors with leading dimensions [B, T, ...].
+
+    Args:
+        seq (dict or list or tuple): a possibly nested dictionary or list or tuple with tensors
+            of leading dimensions [B, T, ...]
+        indices (torch.Tensor): tensor indices of shape [B]
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple with tensors of shape [B, ...]
+    """
+    return gather_along_dim_with_dim(seq,
+                                     target_dim=1,
+                                     source_dim=0,
+                                     indices=indices)
+
+
+def pad_sequence_single(seq,
+                        padding,
+                        batched=False,
+                        pad_same=True,
+                        pad_values=None):
+    """
+    Pad input tensor or array @seq in the time dimension (dimension 1).
+
+    Args:
+        seq (np.ndarray or torch.Tensor): sequence to be padded
+        padding (tuple): begin and end padding, e.g. [1, 1] pads both begin and end of the sequence by 1
+        batched (bool): if sequence has the batch dimension
+        pad_same (bool): if pad by duplicating
+        pad_values (scalar or (ndarray, Tensor)): values to be padded if not pad_same
+
+    Returns:
+        padded sequence (np.ndarray or torch.Tensor)
+    """
+    assert isinstance(seq, (np.ndarray, torch.Tensor))
+    assert pad_same or pad_values is not None
+    if pad_values is not None:
+        assert isinstance(pad_values, float)
+    repeat_func = np.repeat if isinstance(
+        seq, np.ndarray) else torch.repeat_interleave
+    concat_func = np.concatenate if isinstance(seq, np.ndarray) else torch.cat
+    ones_like_func = np.ones_like if isinstance(
+        seq, np.ndarray) else torch.ones_like
+    seq_dim = 1 if batched else 0
+
+    begin_pad = []
+    end_pad = []
+
+    if padding[0] > 0:
+        pad = seq[[0]] if pad_same else ones_like_func(seq[[0]]) * pad_values
+        begin_pad.append(repeat_func(pad, padding[0], seq_dim))
+    if padding[1] > 0:
+        pad = seq[[-1]] if pad_same else ones_like_func(seq[[-1]]) * pad_values
+        end_pad.append(repeat_func(pad, padding[1], seq_dim))
+
+    return concat_func(begin_pad + [seq] + end_pad, seq_dim)
+
+
+def pad_sequence(seq, padding, batched=False, pad_same=True, pad_values=None):
+    """
+    Pad a nested dictionary or list or tuple of sequence tensors in the time dimension (dimension 1).
+
+    Args:
+        seq (dict or list or tuple): a possibly nested dictionary or list or tuple with tensors
+            of leading dimensions [B, T, ...]
+        padding (tuple): begin and end padding, e.g. [1, 1] pads both begin and end of the sequence by 1
+        batched (bool): if sequence has the batch dimension
+        pad_same (bool): if pad by duplicating
+        pad_values (scalar or (ndarray, Tensor)): values to be padded if not pad_same
+
+    Returns:
+        padded sequence (dict or list or tuple)
+    """
+    return recursive_dict_list_tuple_apply(
+        seq, {
+            torch.Tensor:
+            lambda x, p=padding, b=batched, ps=pad_same, pv=pad_values:
+            pad_sequence_single(x, p, b, ps, pv),
+            np.ndarray:
+            lambda x, p=padding, b=batched, ps=pad_same, pv=pad_values:
+            pad_sequence_single(x, p, b, ps, pv),
+            type(None):
+            lambda x: x,
+        })
+
+
+def assert_size_at_dim_single(x, size, dim, msg):
+    """
+    Ensure that array or tensor @x has size @size in dim @dim.
+
+    Args:
+        x (np.ndarray or torch.Tensor): input array or tensor
+        size (int): size that tensors should have at @dim
+        dim (int): dimension to check
+        msg (str): text to display if assertion fails
+    """
+    assert x.shape[dim] == size, msg
+
+
+def assert_size_at_dim(x, size, dim, msg):
+    """
+    Ensure that arrays and tensors in nested dictionary or list or tuple have 
+    size @size in dim @dim.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+        size (int): size that tensors should have at @dim
+        dim (int): dimension to check
+    """
+    map_tensor(
+        x,
+        lambda t, s=size, d=dim, m=msg: assert_size_at_dim_single(t, s, d, m))
+
+
+def get_shape(x):
+    """
+    Get all shapes of arrays and tensors in nested dictionary or list or tuple.
+
+    Args:
+        x (dict or list or tuple): a possibly nested dictionary or list or tuple
+
+    Returns:
+        y (dict or list or tuple): new nested dict-list-tuple that contains each array or
+            tensor's shape
+    """
+    return recursive_dict_list_tuple_apply(
+        x, {
+            torch.Tensor: lambda x: x.shape,
+            np.ndarray: lambda x: x.shape,
+            type(None): lambda x: x,
+        })
+
+
+def list_of_flat_dict_to_dict_of_list(list_of_dict):
+    """
+    Helper function to go from a list of flat dictionaries to a dictionary of lists.
+    By "flat" we mean that none of the values are dictionaries, but are numpy arrays,
+    floats, etc.
+
+    Args:
+        list_of_dict (list): list of flat dictionaries
+
+    Returns:
+        dict_of_list (dict): dictionary of lists
+    """
+    assert isinstance(list_of_dict, list)
+    dic = collections.OrderedDict()
+    for i in range(len(list_of_dict)):
+        for k in list_of_dict[i]:
+            if k not in dic:
+                dic[k] = []
+            dic[k].append(list_of_dict[i][k])
+    return dic
+
+
+def flatten_nested_dict_list(d, parent_key='', sep='_', item_key=''):
+    """
+    Flatten a nested dict or list to a list.
+
+    For example, given a dict
+    {
+        a: 1
+        b: {
+            c: 2
+        }
+        c: 3
+    }
+
+    the function would return [(a, 1), (b_c, 2), (c, 3)]
+
+    Args:
+        d (dict, list): a nested dict or list to be flattened
+        parent_key (str): recursion helper
+        sep (str): separator for nesting keys
+        item_key (str): recursion helper
+    Returns:
+        list: a list of (key, value) tuples
+    """
+    items = []
+    if isinstance(d, (tuple, list)):
+        new_key = parent_key + sep + item_key if len(
+            parent_key) > 0 else item_key
+        for i, v in enumerate(d):
+            items.extend(
+                flatten_nested_dict_list(v, new_key, sep=sep, item_key=str(i)))
+        return items
+    elif isinstance(d, dict):
+        new_key = parent_key + sep + item_key if len(
+            parent_key) > 0 else item_key
+        for k, v in d.items():
+            assert isinstance(k, str)
+            items.extend(
+                flatten_nested_dict_list(v, new_key, sep=sep, item_key=k))
+        return items
+    else:
+        new_key = parent_key + sep + item_key if len(
+            parent_key) > 0 else item_key
+        return [(new_key, d)]
+
+
+def time_distributed(inputs,
+                     op,
+                     activation=None,
+                     inputs_as_kwargs=False,
+                     inputs_as_args=False,
+                     **kwargs):
+    """
+    Apply function @op to all tensors in nested dictionary or list or tuple @inputs in both the
+    batch (B) and time (T) dimension, where the tensors are expected to have shape [B, T, ...].
+    Will do this by reshaping tensors to [B * T, ...], passing through the op, and then reshaping
+    outputs to [B, T, ...].
+
+    Args:
+        inputs (list or tuple or dict): a possibly nested dictionary or list or tuple with tensors
+            of leading dimensions [B, T, ...]
+        op: a layer op that accepts inputs
+        activation: activation to apply at the output
+        inputs_as_kwargs (bool): whether to feed input as a kwargs dict to the op
+        inputs_as_args (bool) whether to feed input as a args list to the op
+        kwargs (dict): other kwargs to supply to the op
+
+    Returns:
+        outputs (dict or list or tuple): new nested dict-list-tuple with tensors of leading dimension [B, T].
+    """
+    batch_size, seq_len = flatten_nested_dict_list(inputs)[0][1].shape[:2]
+    inputs = join_dimensions(inputs, 0, 1)
+    if inputs_as_kwargs:
+        outputs = op(**inputs, **kwargs)
+    elif inputs_as_args:
+        outputs = op(*inputs, **kwargs)
+    else:
+        outputs = op(inputs, **kwargs)
+
+    if activation is not None:
+        outputs = map_tensor(outputs, activation)
+    outputs = reshape_dimensions(outputs,
+                                 begin_axis=0,
+                                 end_axis=0,
+                                 target_dims=(batch_size, seq_len))
+    return outputs

src/unifolm_wma/models/diffusion_head/conditional_unet1d.py

@@ -0,0 +1,701 @@
+import logging
+import torch
+import torch.nn as nn
+import einops
+
+from einops import rearrange, repeat
+from typing import Union
+
+from unifolm_wma.models.diffusion_head.conv1d_components import (
+    Downsample1d, Upsample1d, Conv1dBlock)
+from unifolm_wma.models.diffusion_head.positional_embedding import SinusoidalPosEmb
+from unifolm_wma.models.diffusion_head.base_nets import SpatialSoftmax
+
+from unifolm_wma.utils.basics import zero_module
+from unifolm_wma.utils.common import (
+    checkpoint,
+    exists,
+    default,
+)
+from unifolm_wma.utils.utils import instantiate_from_config
+
+logger = logging.getLogger(__name__)
+
+
+class GEGLU(nn.Module):
+
+    def __init__(self, dim_in, dim_out):
+        super().__init__()
+        self.proj = nn.Linear(dim_in, dim_out * 2)
+
+    def forward(self, x):
+        x, gate = self.proj(x).chunk(2, dim=-1)
+        return x * F.gelu(gate)
+
+
+class FeedForward(nn.Module):
+
+    def __init__(self, dim, dim_out=None, mult=4, glu=False, dropout=0.):
+        super().__init__()
+        inner_dim = int(dim * mult)
+        dim_out = default(dim_out, dim)
+        project_in = nn.Sequential(nn.Linear(
+            dim, inner_dim), nn.GELU()) if not glu else GEGLU(dim, inner_dim)
+
+        self.net = nn.Sequential(project_in, nn.Dropout(dropout),
+                                 nn.Linear(inner_dim, dim_out))
+
+    def forward(self, x):
+        return self.net(x)
+
+
+class CrossAttention(nn.Module):
+
+    def __init__(self,
+                 query_dim,
+                 context_dim=None,
+                 heads=8,
+                 dim_head=64,
+                 dropout=0.,
+                 relative_position=False):
+        super().__init__()
+        inner_dim = dim_head * heads
+        context_dim = default(context_dim, query_dim)
+
+        self.scale = dim_head**-0.5
+        self.heads = heads
+        self.dim_head = dim_head
+
+        self.to_q = nn.Linear(query_dim, inner_dim, bias=False)
+        self.to_k = nn.Linear(context_dim, inner_dim, bias=False)
+        self.to_v = nn.Linear(context_dim, inner_dim, bias=False)
+
+        self.to_out = nn.Sequential(nn.Linear(inner_dim, query_dim),
+                                    nn.Dropout(dropout))
+
+    def efficient_forward(self, x, context=None):
+        spatial_self_attn = (context is None)
+        k_ip, v_ip, out_ip = None, None, None
+
+        q = self.to_q(x)
+        if spatial_self_attn:
+            context = default(context, x)
+        k = self.to_k(context)
+        v = self.to_v(context)
+
+        b, _, _ = q.shape
+        q, k, v = map(
+            lambda t: t.unsqueeze(3).reshape(b, t.shape[
+                1], self.heads, self.dim_head).permute(0, 2, 1, 3).reshape(
+                    b * self.heads, t.shape[1], self.dim_head).contiguous(),
+            (q, k, v),
+        )
+        # actually compute the attention, what we cannot get enough of
+        out = xformers.ops.memory_efficient_attention(q,
+                                                      k,
+                                                      v,
+                                                      attn_bias=None,
+                                                      op=None)
+        out = (out.unsqueeze(0).reshape(
+            b, self.heads, out.shape[1],
+            self.dim_head).permute(0, 2, 1,
+                                   3).reshape(b, out.shape[1],
+                                              self.heads * self.dim_head))
+        return self.to_out(out)
+
+
+class BasicTransformerBlock(nn.Module):
+
+    def __init__(self,
+                 dim,
+                 n_heads,
+                 d_head,
+                 dropout=0.,
+                 context_dim=None,
+                 gated_ff=True,
+                 checkpoint=True,
+                 disable_self_attn=False,
+                 attention_cls=None):
+        super().__init__()
+        attn_cls = CrossAttention if attention_cls is None else attention_cls
+        self.disable_self_attn = disable_self_attn
+        self.attn1 = attn_cls(
+            query_dim=dim,
+            heads=n_heads,
+            dim_head=d_head,
+            dropout=dropout,
+            context_dim=context_dim if self.disable_self_attn else None)
+        self.ff = FeedForward(dim, dropout=dropout, glu=gated_ff)
+        self.attn2 = attn_cls(query_dim=dim,
+                              context_dim=context_dim,
+                              heads=n_heads,
+                              dim_head=d_head,
+                              dropout=dropout)
+
+        self.norm1 = nn.LayerNorm(dim)
+        self.norm2 = nn.LayerNorm(dim)
+        self.norm3 = nn.LayerNorm(dim)
+        self.checkpoint = checkpoint
+
+    def forward(self, x, context=None, **kwargs):
+        ## implementation tricks: because checkpointing doesn't support non-tensor (e.g. None or scalar) arguments
+        input_tuple = (
+            x,
+        )  ## should not be (x), otherwise *input_tuple will decouple x into multiple arguments
+        if context is not None:
+            input_tuple = (x, context)
+        return checkpoint(self._forward, input_tuple, self.parameters(),
+                          self.checkpoint)
+
+    def _forward(self, x, context=None, mask=None):
+        x = self.attn1(self.norm1(x),
+                       context=context if self.disable_self_attn else None,
+                       mask=mask) + x
+        x = self.attn2(self.norm2(x), context=context, mask=mask) + x
+        x = self.ff(self.norm3(x)) + x
+        return x
+
+
+class ActionLatentImageCrossAttention(nn.Module):
+
+    def __init__(self,
+                 in_channels,
+                 in_dim,
+                 n_heads,
+                 d_head,
+                 depth=1,
+                 dropout=0.,
+                 context_dim=None,
+                 use_checkpoint=True,
+                 disable_self_attn=False,
+                 use_linear=True):
+        super().__init__()
+        """
+        in_channels: action input dim
+
+        """
+        self.in_channels = in_channels
+        self.in_dim = in_dim
+        inner_dim = n_heads * d_head
+        self.norm = torch.nn.GroupNorm(num_groups=8,
+                                       num_channels=in_channels,
+                                       eps=1e-6,
+                                       affine=True)
+
+        self.proj_in_action = nn.Linear(in_dim, inner_dim)
+        self.proj_in_cond = nn.Linear(context_dim, inner_dim)
+        self.proj_out = zero_module(nn.Linear(inner_dim, in_dim))
+        self.use_linear = use_linear
+
+        attention_cls = None
+        self.transformer_blocks = nn.ModuleList([
+            BasicTransformerBlock(inner_dim,
+                                  n_heads,
+                                  d_head,
+                                  dropout=dropout,
+                                  context_dim=context_dim,
+                                  disable_self_attn=disable_self_attn,
+                                  checkpoint=use_checkpoint,
+                                  attention_cls=attention_cls)
+            for d in range(depth)
+        ])
+
+    def forward(self, x, context=None, **kwargs):
+        ba, ca, da = x.shape
+        b, t, c, h, w = context.shape
+        context = rearrange(context, 'b t c h w -> b (t h w) c').contiguous()
+
+        x_in = x
+        x = self.norm(x)  # ba x ja x d_in
+        if self.use_linear:
+            x = self.proj_in_action(x)
+            context = self.proj_in_cond(context)
+        for i, block in enumerate(self.transformer_blocks):
+            x = block(x, context=context, **kwargs)
+        if self.use_linear:
+            x = self.proj_out(x)
+        return x + x_in
+
+
+class ConditionalResidualBlock1D(nn.Module):
+
+    def __init__(self,
+                 in_channels,
+                 out_channels,
+                 cond_dim,
+                 kernel_size=3,
+                 n_groups=8,
+                 cond_predict_scale=True,
+                 use_linear_act_proj=False):
+        super().__init__()
+
+        self.blocks = nn.ModuleList([
+            Conv1dBlock(in_channels,
+                        out_channels,
+                        kernel_size,
+                        n_groups=n_groups),
+            Conv1dBlock(out_channels,
+                        out_channels,
+                        kernel_size,
+                        n_groups=n_groups),
+        ])
+
+        self.cond_predict_scale = cond_predict_scale
+        self.use_linear_act_proj = use_linear_act_proj
+        self.out_channels = out_channels
+        # FiLM modulation https://arxiv.org/abs/1709.07871
+        # predicts per-channel scale and bias
+        cond_channels = out_channels
+        if cond_predict_scale and use_linear_act_proj:
+            cond_channels = out_channels * 2
+        self.cond_encoder = nn.Sequential(
+            nn.Mish(),
+            nn.Linear(cond_dim, cond_channels),
+        )
+        # make sure dimensions compatible
+        self.residual_conv = nn.Conv1d(in_channels, out_channels, 1) \
+            if in_channels != out_channels else nn.Identity()
+
+    def forward(self, x, cond=None):
+        '''
+            x : [ batch_size x in_channels x horizon ]
+            cond : [ batch_size x cond_dim]
+
+            returns:
+            out : [ batch_size x out_channels x horizon ]
+        '''
+        B, T, _ = cond.shape
+
+        out = self.blocks[0](x)
+        if self.cond_predict_scale:
+            embed = self.cond_encoder(cond)
+            if self.use_linear_act_proj:
+                embed = embed.reshape(B * T, -1)
+                embed = embed.reshape(-1, 2, self.out_channels, 1)
+            else:
+                embed = embed.reshape(embed.shape[0], 2, self.out_channels, 1)
+            scale = embed[:, 0, ...]
+            bias = embed[:, 1, ...]
+            out = scale * out + bias
+        # else:
+        #     out = out + embed
+        out = self.blocks[1](out)
+        out = out + self.residual_conv(x)
+        return out
+
+
+class ConditionalUnet1D(nn.Module):
+
+    def __init__(self,
+                 input_dim,
+                 n_obs_steps=1,
+                 local_cond_dim=None,
+                 global_cond_dim=None,
+                 diffusion_step_embed_dim=256,
+                 down_dims=[256, 512, 1024],
+                 kernel_size=3,
+                 n_groups=8,
+                 cond_predict_scale=False,
+                 horizon=16,
+                 num_head_channels=64,
+                 use_linear_attn=True,
+                 use_linear_act_proj=True,
+                 act_proj_dim=32,
+                 cond_cross_attention=False,
+                 context_dims=None,
+                 image_size=None,
+                 imagen_cond_gradient=False,
+                 last_frame_only=False,
+                 use_imagen_mid_only=False,
+                 use_z_only=False,
+                 spatial_num_kp=32,
+                 obs_encoder_config=None):
+        super().__init__()
+
+        self.n_obs_steps = n_obs_steps
+        self.obs_encoder = instantiate_from_config(obs_encoder_config)
+
+        all_dims = [input_dim] + list(down_dims)
+        start_dim = down_dims[0]
+
+        dsed = diffusion_step_embed_dim
+        diffusion_step_encoder = nn.Sequential(
+            SinusoidalPosEmb(dsed),
+            nn.Linear(dsed, dsed * 4),
+            nn.Mish(),
+            nn.Linear(dsed * 4, dsed),
+        )
+        cond_dim = dsed + self.obs_encoder.output_shape()[-1] * self.n_obs_steps
+        in_out = list(zip(all_dims[:-1], all_dims[1:]))
+        local_cond_encoder = None
+        down_modules = nn.ModuleList([])
+
+        dim_a_list = []
+        for ind, (dim_in, dim_out) in enumerate(in_out):
+            is_last = ind >= (len(in_out) - 1)
+            if ind == 0:
+                dim_a = horizon
+            else:
+                dim_a = horizon // 2 * ind
+            dim_a_list.append(dim_a)
+
+            # for attention
+            num_heads = dim_out // num_head_channels
+            dim_head = num_head_channels
+            if use_linear_act_proj:
+                if use_imagen_mid_only:
+                    cur_cond_dim = cond_dim + 2 * context_dims[-1]
+                elif use_z_only:
+                    cur_cond_dim = cond_dim + 2 * spatial_num_kp
+                else:
+                    cur_cond_dim = cond_dim + 2 * context_dims[ind]
+            else:
+                cur_cond_dim = cond_dim + horizon * context_dims[ind]
+
+            down_modules.append(
+                nn.ModuleList([
+                    ConditionalResidualBlock1D(
+                        dim_in,
+                        dim_out,
+                        cond_dim=cur_cond_dim,
+                        kernel_size=kernel_size,
+                        n_groups=n_groups,
+                        cond_predict_scale=cond_predict_scale,
+                        use_linear_act_proj=use_linear_act_proj),
+                    ConditionalResidualBlock1D(
+                        dim_out,
+                        dim_out,
+                        cond_dim=cur_cond_dim,
+                        kernel_size=kernel_size,
+                        n_groups=n_groups,
+                        cond_predict_scale=cond_predict_scale,
+                        use_linear_act_proj=use_linear_act_proj),
+                    ActionLatentImageCrossAttention(
+                        dim_out,
+                        dim_a,
+                        num_heads,
+                        dim_head,
+                        context_dim=context_dims[ind],
+                        use_linear=use_linear_attn)
+                    if cond_cross_attention else nn.Identity(),
+                    Downsample1d(dim_out) if not is_last else nn.Identity()
+                ]))
+
+        mid_dim = all_dims[-1]
+        self.mid_modules = nn.ModuleList([
+            ConditionalResidualBlock1D(
+                mid_dim,
+                mid_dim,
+                cond_dim=cur_cond_dim,
+                kernel_size=kernel_size,
+                n_groups=n_groups,
+                cond_predict_scale=cond_predict_scale,
+                use_linear_act_proj=use_linear_act_proj),
+            ConditionalResidualBlock1D(
+                mid_dim,
+                mid_dim,
+                cond_dim=cur_cond_dim,
+                kernel_size=kernel_size,
+                n_groups=n_groups,
+                cond_predict_scale=cond_predict_scale,
+                use_linear_act_proj=use_linear_act_proj),
+            ActionLatentImageCrossAttention(mid_dim,
+                                            dim_a_list[-1],
+                                            num_heads,
+                                            dim_head,
+                                            context_dim=context_dims[-1],
+                                            use_linear=use_linear_attn)
+            if cond_cross_attention else nn.Identity(),
+        ])
+
+        up_modules = nn.ModuleList([])
+        context_dims = context_dims[::-1]
+        for ind, (dim_in, dim_out) in enumerate(
+                reversed(in_out[1:] + [(down_dims[-1], down_dims[-1])])):
+            is_last = ind >= (len(in_out) - 1)
+            if use_linear_act_proj:
+                if use_imagen_mid_only:
+                    cur_cond_dim = cond_dim + 2 * context_dims[0]
+                elif use_z_only:
+                    cur_cond_dim = cond_dim + 2 * spatial_num_kp
+                else:
+                    cur_cond_dim = cond_dim + 2 * context_dims[ind]
+            else:
+                cur_cond_dim = cond_dim + horizon * context_dims[ind]
+            up_modules.append(
+                nn.ModuleList([
+                    ConditionalResidualBlock1D(
+                        dim_out + dim_in,
+                        dim_in,
+                        cond_dim=cur_cond_dim,
+                        kernel_size=kernel_size,
+                        n_groups=n_groups,
+                        cond_predict_scale=cond_predict_scale,
+                        use_linear_act_proj=use_linear_act_proj),
+                    ConditionalResidualBlock1D(
+                        dim_in,
+                        dim_in,
+                        cond_dim=cur_cond_dim,
+                        kernel_size=kernel_size,
+                        n_groups=n_groups,
+                        cond_predict_scale=cond_predict_scale,
+                        use_linear_act_proj=use_linear_act_proj),
+                    ActionLatentImageCrossAttention(
+                        dim_in,
+                        dim_a_list.pop(),
+                        num_heads,
+                        dim_head,
+                        context_dim=context_dims[ind],
+                        use_linear=use_linear_attn)
+                    if cond_cross_attention else nn.Identity(),
+                    Upsample1d(dim_in) if not is_last else nn.Identity()
+                ]))
+
+        final_conv = nn.Sequential(
+            Conv1dBlock(start_dim, start_dim, kernel_size=kernel_size),
+            nn.Conv1d(start_dim, input_dim, 1),
+        )
+
+        if use_z_only:
+            h, w = image_size
+            self.spatial_softmax_blocks = nn.ModuleList(
+                [SpatialSoftmax((4, h, w), spatial_num_kp)])
+        else:
+            self.spatial_softmax_blocks = nn.ModuleList([])
+            context_dims = context_dims[::-1]
+            for ind, context_dim in enumerate(context_dims):
+                h, w = image_size
+                if ind != 0:
+                    h //= 2**ind
+                    w //= 2**ind
+                net = SpatialSoftmax((context_dim, h, w), context_dim)
+                self.spatial_softmax_blocks.append(net)
+            self.spatial_softmax_blocks.append(net)
+            self.spatial_softmax_blocks += self.spatial_softmax_blocks[
+                0:4][::-1]
+
+        self.diffusion_step_encoder = diffusion_step_encoder
+        self.local_cond_encoder = local_cond_encoder
+        self.up_modules = up_modules
+        self.down_modules = down_modules
+        self.final_conv = final_conv
+
+        self.cond_cross_attention = cond_cross_attention
+        self.use_linear_act_proj = use_linear_act_proj
+
+        self.proj_in_action = nn.Sequential(nn.Linear(1, act_proj_dim),
+                                            nn.LayerNorm(act_proj_dim))
+        self.proj_in_horizon = nn.Sequential(nn.Linear(horizon, act_proj_dim),
+                                             nn.LayerNorm(act_proj_dim))
+        self.proj_out_action = nn.Sequential(nn.LayerNorm(act_proj_dim),
+                                             nn.Linear(act_proj_dim, 1))
+        self.proj_out_horizon = nn.Sequential(nn.LayerNorm(act_proj_dim),
+                                              nn.Linear(act_proj_dim, horizon))
+        logger.info("number of parameters: %e",
+                    sum(p.numel() for p in self.parameters()))
+
+        self.imagen_cond_gradient = imagen_cond_gradient
+        self.use_imagen_mid_only = use_imagen_mid_only
+        self.use_z_only = use_z_only
+        self.spatial_num_kp = spatial_num_kp
+        self.last_frame_only = last_frame_only
+        self.horizon = horizon
+
+    def forward(self,
+                sample: torch.Tensor,
+                timestep: Union[torch.Tensor, float, int],
+                imagen_cond=None,
+                cond=None,
+                **kwargs):
+        """
+        sample: (B,T,input_dim)
+        timestep: (B,) or int, diffusion step
+        imagen_cond: a list of hidden info from video gen unet
+        cond: dict:
+            image: (B, 3, To, h, w)
+            agent_pos: (B, Ta, d)
+        output: (B,T,input_dim)
+        """
+
+        if not self.imagen_cond_gradient:
+            imagen_cond = [c.detach() for c in imagen_cond]
+
+        cond = {'image': cond[0], 'agent_pos': cond[1]}
+
+        cond['image'] = cond['image'].permute(0, 2, 1, 3,
+                                              4)
+        cond['image'] = rearrange(cond['image'], 'b t c h w -> (b t) c h w')
+        cond['agent_pos'] = rearrange(cond['agent_pos'], 'b t d -> (b t) d')
+
+        B, T, D = sample.shape
+        if self.use_linear_act_proj:
+            sample = self.proj_in_action(sample.unsqueeze(-1))
+            global_cond = self.obs_encoder(cond)
+            global_cond = rearrange(global_cond,
+                                    '(b t) d -> b 1 (t d)',
+                                    b=B,
+                                    t=self.n_obs_steps)
+            global_cond = repeat(global_cond,
+                                 'b c d -> b (repeat c) d',
+                                 repeat=T)
+        else:
+            sample = einops.rearrange(sample, 'b h t -> b t h')
+            sample = self.proj_in_horizon(sample)
+            robo_state_cond = rearrange(robo_state_cond, 'b t d -> b 1 (t d)')
+            robo_state_cond = repeat(robo_state_cond,
+                                     'b c d -> b (repeat c) d',
+                                     repeat=2)
+
+        # 1. time
+        timesteps = timestep
+        if not torch.is_tensor(timesteps):
+            timesteps = torch.tensor([timesteps],
+                                     dtype=torch.long,
+                                     device=sample.device)
+        elif torch.is_tensor(timesteps) and len(timesteps.shape) == 0:
+            timesteps = timesteps[None].to(sample.device)
+        # Broadcast to batch dimension in a way that's compatible with ONNX/Core ML
+        timesteps = timesteps.expand(sample.shape[0])
+        global_feature = self.diffusion_step_encoder(timesteps)
+        (imagen_cond_down, imagen_cond_mid, imagen_cond_up
+         ) = imagen_cond[0:4], imagen_cond[4], imagen_cond[5:]  #NOTE HAND CODE
+
+        x = sample if not self.use_linear_act_proj else sample.reshape(
+            B * T, D, -1)
+        h = []
+        for idx, modules in enumerate(self.down_modules):
+            if self.cond_cross_attention:
+                (resnet, resnet2, crossatten, downsample) = modules
+            else:
+                (resnet, resnet2, _, downsample) = modules
+
+            # Access the cond from the unet embeds from video unet
+            if self.use_imagen_mid_only:
+                imagen_cond = imagen_cond_mid
+            elif self.use_z_only:
+                imagen_cond = kwargs['x_start'].permute(0, 2, 1, 3, 4)
+            else:
+                imagen_cond = imagen_cond_down[idx]
+            if self.last_frame_only:
+                imagen_cond = imagen_cond[:, -1].unsqueeze(1)
+                imagen_cond = repeat(imagen_cond,
+                                     'b t c h w -> b (repeat t) c h w',
+                                     repeat=self.horizon)
+            imagen_cond = rearrange(imagen_cond, 'b t c h w -> (b t) c h w')
+            if self.use_imagen_mid_only:
+                imagen_cond = self.spatial_softmax_blocks[len(
+                    self.spatial_softmax_blocks) // 2](imagen_cond)
+            elif self.use_z_only:
+                imagen_cond = self.spatial_softmax_blocks[0](imagen_cond)
+            else:
+                imagen_cond = self.spatial_softmax_blocks[idx](imagen_cond)
+            imagen_cond = rearrange(imagen_cond, '(b t) c d -> b t c d', b=B)
+
+            if self.use_linear_act_proj:
+                imagen_cond = imagen_cond.reshape(B, T, -1)
+                cur_global_feature = global_feature.unsqueeze(
+                    1).repeat_interleave(repeats=T, dim=1)
+            else:
+                imagen_cond = imagen_cond.permute(0, 3, 1, 2)
+                imagen_cond = imagen_cond.reshape(B, 2, -1)
+                cur_global_feature = global_feature.unsqueeze(
+                    1).repeat_interleave(repeats=2, dim=1)
+            cur_global_feature = torch.cat(
+                [cur_global_feature, global_cond, imagen_cond], axis=-1)
+            x = resnet(x, cur_global_feature)
+            x = resnet2(x, cur_global_feature)
+            h.append(x)
+            x = downsample(x)
+
+        #>>> mide blocks
+        resnet, resnet2, _ = self.mid_modules
+        # Access the cond from the unet embeds from video unet
+        if self.use_z_only:
+            imagen_cond = kwargs['x_start'].permute(0, 2, 1, 3, 4)
+        else:
+            imagen_cond = imagen_cond_mid
+        if self.last_frame_only:
+            imagen_cond = imagen_cond[:, -1].unsqueeze(1)
+            imagen_cond = repeat(imagen_cond,
+                                 'b t c h w -> b (repeat t) c h w',
+                                 repeat=self.horizon)
+        imagen_cond = rearrange(imagen_cond, 'b t c h w -> (b t) c h w')
+        idx += 1
+        if self.use_z_only:
+            imagen_cond = self.spatial_softmax_blocks[0](imagen_cond)
+        else:
+            imagen_cond = self.spatial_softmax_blocks[idx](imagen_cond)
+        imagen_cond = rearrange(imagen_cond, '(b t) c d -> b t c d', b=B)
+        if self.use_linear_act_proj:
+            imagen_cond = imagen_cond.reshape(B, T, -1)
+            cur_global_feature = global_feature.unsqueeze(1).repeat_interleave(
+                repeats=T, dim=1)
+        else:
+            imagen_cond = imagen_cond.permute(0, 3, 1, 2)
+            imagen_cond = imagen_cond.reshape(B, 2, -1)
+            cur_global_feature = global_feature.unsqueeze(1).repeat_interleave(
+                repeats=2, dim=1)
+        cur_global_feature = torch.cat(
+            [cur_global_feature, global_cond, imagen_cond], axis=-1)
+        x = resnet(x, cur_global_feature)
+        x = resnet2(x, cur_global_feature)
+
+        #>>> up blocks
+        idx += 1
+        for jdx, modules in enumerate(self.up_modules):
+            if self.cond_cross_attention:
+                (resnet, resnet2, crossatten, upsample) = modules
+            else:
+                (resnet, resnet2, _, upsample) = modules
+
+            # Access the cond from the unet embeds from video unet
+            if self.use_imagen_mid_only:
+                imagen_cond = imagen_cond_mid
+            elif self.use_z_only:
+                imagen_cond = kwargs['x_start'].permute(0, 2, 1, 3, 4)
+            else:
+                imagen_cond = imagen_cond_up[jdx]
+            if self.last_frame_only:
+                imagen_cond = imagen_cond[:, -1].unsqueeze(1)
+                imagen_cond = repeat(imagen_cond,
+                                     'b t c h w -> b (repeat t) c h w',
+                                     repeat=self.horizon)
+            imagen_cond = rearrange(imagen_cond, 'b t c h w -> (b t) c h w')
+            if self.use_imagen_mid_only:
+                imagen_cond = self.spatial_softmax_blocks[len(
+                    self.spatial_softmax_blocks) // 2](imagen_cond)
+            elif self.use_z_only:
+                imagen_cond = self.spatial_softmax_blocks[0](imagen_cond)
+            else:
+                imagen_cond = self.spatial_softmax_blocks[jdx +
+                                                          idx](imagen_cond)
+            imagen_cond = rearrange(imagen_cond, '(b t) c d -> b t c d', b=B)
+
+            if self.use_linear_act_proj:
+                imagen_cond = imagen_cond.reshape(B, T, -1)
+                cur_global_feature = global_feature.unsqueeze(
+                    1).repeat_interleave(repeats=T, dim=1)
+            else:
+                imagen_cond = imagen_cond.permute(0, 3, 1, 2)
+                imagen_cond = imagen_cond.reshape(B, 2, -1)
+                cur_global_feature = global_feature.unsqueeze(
+                    1).repeat_interleave(repeats=2, dim=1)
+
+            cur_global_feature = torch.cat(
+                [cur_global_feature, global_cond, imagen_cond], axis=-1)
+
+            x = torch.cat((x, h.pop()), dim=1)
+            x = resnet(x, cur_global_feature)
+            x = resnet2(x, cur_global_feature)
+            x = upsample(x)
+
+        x = self.final_conv(x)
+
+        if self.use_linear_act_proj:
+            x = x.reshape(B, T, D, -1)
+            x = self.proj_out_action(x)
+            x = x.reshape(B, T, D)
+        else:
+            x = self.proj_out_horizon(x)
+            x = einops.rearrange(x, 'b t h -> b h t')
+        return x

src/unifolm_wma/models/diffusion_head/conv1d_components.py

@@ -0,0 +1,52 @@
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+class Downsample1d(nn.Module):
+
+    def __init__(self, dim):
+        super().__init__()
+        self.conv = nn.Conv1d(dim, dim, 3, 2, 1)
+
+    def forward(self, x):
+        return self.conv(x)
+
+
+class Upsample1d(nn.Module):
+
+    def __init__(self, dim):
+        super().__init__()
+        self.conv = nn.ConvTranspose1d(dim, dim, 4, 2, 1)
+
+    def forward(self, x):
+        return self.conv(x)
+
+
+class Conv1dBlock(nn.Module):
+    '''
+        Conv1d --> GroupNorm --> Mish
+    '''
+
+    def __init__(self, inp_channels, out_channels, kernel_size, n_groups=8):
+        super().__init__()
+
+        self.block = nn.Sequential(
+            nn.Conv1d(inp_channels,
+                      out_channels,
+                      kernel_size,
+                      padding=kernel_size // 2),
+            # Rearrange('batch channels horizon -> batch channels 1 horizon'),
+            nn.GroupNorm(n_groups, out_channels),
+            # Rearrange('batch channels 1 horizon -> batch channels horizon'),
+            nn.Mish(),
+        )
+
+    def forward(self, x):
+        return self.block(x)
+
+
+def test():
+    cb = Conv1dBlock(256, 128, kernel_size=3)
+    x = torch.zeros((1, 256, 16))
+    o = cb(x)

src/unifolm_wma/models/diffusion_head/ema_model.py

@@ -0,0 +1,80 @@
+import copy
+import torch
+from torch.nn.modules.batchnorm import _BatchNorm
+
+
+class EMAModel:
+    """
+    Exponential Moving Average of models weights
+    """
+
+    def __init__(self,
+                 model,
+                 update_after_step=0,
+                 inv_gamma=1.0,
+                 power=2 / 3,
+                 min_value=0.0,
+                 max_value=0.9999):
+        """
+        @crowsonkb's notes on EMA Warmup:
+            If gamma=1 and power=1, implements a simple average. gamma=1, power=2/3 are good values for models you plan
+            to train for a million or more steps (reaches decay factor 0.999 at 31.6K steps, 0.9999 at 1M steps),
+            gamma=1, power=3/4 for models you plan to train for less (reaches decay factor 0.999 at 10K steps, 0.9999
+            at 215.4k steps).
+        Args:
+            inv_gamma (float): Inverse multiplicative factor of EMA warmup. Default: 1.
+            power (float): Exponential factor of EMA warmup. Default: 2/3.
+            min_value (float): The minimum EMA decay rate. Default: 0.
+        """
+
+        self.averaged_model = model
+        self.averaged_model.eval()
+        self.averaged_model.requires_grad_(False)
+
+        self.update_after_step = update_after_step
+        self.inv_gamma = inv_gamma
+        self.power = power
+        self.min_value = min_value
+        self.max_value = max_value
+
+        self.decay = 0.0
+        self.optimization_step = 0
+
+    def get_decay(self, optimization_step):
+        """
+        Compute the decay factor for the exponential moving average.
+        """
+        step = max(0, optimization_step - self.update_after_step - 1)
+        value = 1 - (1 + step / self.inv_gamma)**-self.power
+
+        if step <= 0:
+            return 0.0
+
+        return max(self.min_value, min(value, self.max_value))
+
+    @torch.no_grad()
+    def step(self, new_model):
+        self.decay = self.get_decay(self.optimization_step)
+
+        all_dataptrs = set()
+        for module, ema_module in zip(new_model.modules(),
+                                      self.averaged_model.modules()):
+            for param, ema_param in zip(module.parameters(recurse=False),
+                                        ema_module.parameters(recurse=False)):
+                # iterative over immediate parameters only.
+                if isinstance(param, dict):
+                    raise RuntimeError('Dict parameter not supported')
+
+                if isinstance(module, _BatchNorm):
+                    # skip batchnorms
+                    ema_param.copy_(param.to(dtype=ema_param.dtype).data)
+                elif not param.requires_grad:
+                    ema_param.copy_(param.to(dtype=ema_param.dtype).data)
+                else:
+                    ema_param.mul_(self.decay)
+                    ema_param.add_(param.data.to(dtype=ema_param.dtype),
+                                   alpha=1 - self.decay)
+
+        # verify that iterating over module and then parameters is identical to parameters recursively.
+        # assert old_all_dataptrs == all_dataptrs
+        self.optimization_step += 1

src/unifolm_wma/models/diffusion_head/positional_embedding.py

@@ -0,0 +1,19 @@
+import math
+import torch
+import torch.nn as nn
+
+
+class SinusoidalPosEmb(nn.Module):
+
+    def __init__(self, dim):
+        super().__init__()
+        self.dim = dim
+
+    def forward(self, x):
+        device = x.device
+        half_dim = self.dim // 2
+        emb = math.log(10000) / (half_dim - 1)
+        emb = torch.exp(torch.arange(half_dim, device=device) * -emb)
+        emb = x[:, None] * emb[None, :]
+        emb = torch.cat((emb.sin(), emb.cos()), dim=-1)
+        return emb

src/unifolm_wma/models/diffusion_head/vision/crop_randomizer.py

@@ -0,0 +1,322 @@
+import torch
+import torch.nn as nn
+import torchvision.transforms.functional as ttf
+import unifolm_wma.models.diffusion_head.common.tensor_util as tu
+
+
+class CropRandomizer(nn.Module):
+    """
+    Randomly sample crops at input, and then average across crop features at output.
+    """
+
+    def __init__(
+        self,
+        input_shape,
+        crop_height,
+        crop_width,
+        num_crops=1,
+        pos_enc=False,
+    ):
+        """
+        Args:
+            input_shape (tuple, list): shape of input (not including batch dimension)
+            crop_height (int): crop height
+            crop_width (int): crop width
+            num_crops (int): number of random crops to take
+            pos_enc (bool): if True, add 2 channels to the output to encode the spatial
+                location of the cropped pixels in the source image
+        """
+        super().__init__()
+
+        assert len(input_shape) == 3  # (C, H, W)
+        assert crop_height < input_shape[1]
+        assert crop_width < input_shape[2]
+
+        self.input_shape = input_shape
+        self.crop_height = crop_height
+        self.crop_width = crop_width
+        self.num_crops = num_crops
+        self.pos_enc = pos_enc
+
+    def output_shape_in(self, input_shape=None):
+        """
+        Function to compute output shape from inputs to this module. Corresponds to
+        the @forward_in operation, where raw inputs (usually observation modalities)
+        are passed in.
+
+        Args:
+            input_shape (iterable of int): shape of input. Does not include batch dimension.
+                Some modules may not need this argument, if their output does not depend 
+                on the size of the input, or if they assume fixed size input.
+
+        Returns:
+            out_shape ([int]): list of integers corresponding to output shape
+        """
+
+        # outputs are shape (C, CH, CW), or maybe C + 2 if using position encoding, because
+        # the number of crops are reshaped into the batch dimension, increasing the batch
+        # size from B to B * N
+        out_c = self.input_shape[0] + 2 if self.pos_enc else self.input_shape[0]
+        return [out_c, self.crop_height, self.crop_width]
+
+    def output_shape_out(self, input_shape=None):
+        """
+        Function to compute output shape from inputs to this module. Corresponds to
+        the @forward_out operation, where processed inputs (usually encoded observation
+        modalities) are passed in.
+
+        Args:
+            input_shape (iterable of int): shape of input. Does not include batch dimension.
+                Some modules may not need this argument, if their output does not depend 
+                on the size of the input, or if they assume fixed size input.
+
+        Returns:
+            out_shape ([int]): list of integers corresponding to output shape
+        """
+
+        # since the forward_out operation splits [B * N, ...] -> [B, N, ...]
+        # and then pools to result in [B, ...], only the batch dimension changes,
+        # and so the other dimensions retain their shape.
+        return list(input_shape)
+
+    def forward_in(self, inputs):
+        """
+        Samples N random crops for each input in the batch, and then reshapes
+        inputs to [B * N, ...].
+        """
+        assert len(
+            inputs.shape) >= 3  # must have at least (C, H, W) dimensions
+        if self.training:
+            # generate random crops
+            out, _ = sample_random_image_crops(
+                images=inputs,
+                crop_height=self.crop_height,
+                crop_width=self.crop_width,
+                num_crops=self.num_crops,
+                pos_enc=self.pos_enc,
+            )
+            # [B, N, ...] -> [B * N, ...]
+            return tu.join_dimensions(out, 0, 1)
+        else:
+            # take center crop during eval
+            out = ttf.center_crop(img=inputs,
+                                  output_size=(self.crop_height,
+                                               self.crop_width))
+            if self.num_crops > 1:
+                B, C, H, W = out.shape
+                out = out.unsqueeze(1).expand(B, self.num_crops, C, H,
+                                              W).reshape(-1, C, H, W)
+                # [B * N, ...]
+            return out
+
+    def forward_out(self, inputs):
+        """
+        Splits the outputs from shape [B * N, ...] -> [B, N, ...] and then average across N
+        to result in shape [B, ...] to make sure the network output is consistent with
+        what would have happened if there were no randomization.
+        """
+        if self.num_crops <= 1:
+            return inputs
+        else:
+            batch_size = (inputs.shape[0] // self.num_crops)
+            out = tu.reshape_dimensions(inputs,
+                                        begin_axis=0,
+                                        end_axis=0,
+                                        target_dims=(batch_size,
+                                                     self.num_crops))
+            return out.mean(dim=1)
+
+    def forward(self, inputs):
+        return self.forward_in(inputs)
+
+    def __repr__(self):
+        """Pretty print network."""
+        header = '{}'.format(str(self.__class__.__name__))
+        msg = header + "(input_shape={}, crop_size=[{}, {}], num_crops={})".format(
+            self.input_shape, self.crop_height, self.crop_width,
+            self.num_crops)
+        return msg
+
+
+def crop_image_from_indices(images, crop_indices, crop_height, crop_width):
+    """
+    Crops images at the locations specified by @crop_indices. Crops will be 
+    taken across all channels.
+
+    Args:
+        images (torch.Tensor): batch of images of shape [..., C, H, W]
+
+        crop_indices (torch.Tensor): batch of indices of shape [..., N, 2] where
+            N is the number of crops to take per image and each entry corresponds
+            to the pixel height and width of where to take the crop. Note that
+            the indices can also be of shape [..., 2] if only 1 crop should
+            be taken per image. Leading dimensions must be consistent with
+            @images argument. Each index specifies the top left of the crop.
+            Values must be in range [0, H - CH - 1] x [0, W - CW - 1] where
+            H and W are the height and width of @images and CH and CW are
+            @crop_height and @crop_width.
+
+        crop_height (int): height of crop to take
+
+        crop_width (int): width of crop to take
+
+    Returns:
+        crops (torch.Tesnor): cropped images of shape [..., C, @crop_height, @crop_width]
+    """
+
+    # make sure length of input shapes is consistent
+    assert crop_indices.shape[-1] == 2
+    ndim_im_shape = len(images.shape)
+    ndim_indices_shape = len(crop_indices.shape)
+    assert (ndim_im_shape == ndim_indices_shape +
+            1) or (ndim_im_shape == ndim_indices_shape + 2)
+
+    # maybe pad so that @crop_indices is shape [..., N, 2]
+    is_padded = False
+    if ndim_im_shape == ndim_indices_shape + 2:
+        crop_indices = crop_indices.unsqueeze(-2)
+        is_padded = True
+
+    # make sure leading dimensions between images and indices are consistent
+    assert images.shape[:-3] == crop_indices.shape[:-2]
+
+    device = images.device
+    image_c, image_h, image_w = images.shape[-3:]
+    num_crops = crop_indices.shape[-2]
+
+    # make sure @crop_indices are in valid range
+    assert (crop_indices[..., 0] >= 0).all().item()
+    assert (crop_indices[..., 0] < (image_h - crop_height)).all().item()
+    assert (crop_indices[..., 1] >= 0).all().item()
+    assert (crop_indices[..., 1] < (image_w - crop_width)).all().item()
+
+    # convert each crop index (ch, cw) into a list of pixel indices that correspond to the entire window.
+
+    # 2D index array with columns [0, 1, ..., CH - 1] and shape [CH, CW]
+    crop_ind_grid_h = torch.arange(crop_height).to(device)
+    crop_ind_grid_h = tu.unsqueeze_expand_at(crop_ind_grid_h,
+                                             size=crop_width,
+                                             dim=-1)
+    # 2D index array with rows [0, 1, ..., CW - 1] and shape [CH, CW]
+    crop_ind_grid_w = torch.arange(crop_width).to(device)
+    crop_ind_grid_w = tu.unsqueeze_expand_at(crop_ind_grid_w,
+                                             size=crop_height,
+                                             dim=0)
+    # combine into shape [CH, CW, 2]
+    crop_in_grid = torch.cat(
+        (crop_ind_grid_h.unsqueeze(-1), crop_ind_grid_w.unsqueeze(-1)), dim=-1)
+
+    # Add above grid with the offset index of each sampled crop to get 2d indices for each crop.
+    # After broadcasting, this will be shape [..., N, CH, CW, 2] and each crop has a [CH, CW, 2]
+    # shape array that tells us which pixels from the corresponding source image to grab.
+    grid_reshape = [1] * len(crop_indices.shape[:-1]) + [
+        crop_height, crop_width, 2
+    ]
+    all_crop_inds = crop_indices.unsqueeze(-2).unsqueeze(
+        -2) + crop_in_grid.reshape(grid_reshape)
+
+    # For using @torch.gather, convert to flat indices from 2D indices, and also
+    # repeat across the channel dimension. To get flat index of each pixel to grab for
+    # each sampled crop, we just use the mapping: ind = h_ind * @image_w + w_ind
+    all_crop_inds = all_crop_inds[..., 0] * image_w + all_crop_inds[
+        ..., 1]  # shape [..., N, CH, CW]
+    all_crop_inds = tu.unsqueeze_expand_at(all_crop_inds, size=image_c,
+                                           dim=-3)  # shape [..., N, C, CH, CW]
+    all_crop_inds = tu.flatten(all_crop_inds,
+                               begin_axis=-2)  # shape [..., N, C, CH * CW]
+
+    # Repeat and flatten the source images -> [..., N, C, H * W] and then use gather to index with crop pixel inds
+    images_to_crop = tu.unsqueeze_expand_at(images, size=num_crops, dim=-4)
+    images_to_crop = tu.flatten(images_to_crop, begin_axis=-2)
+    crops = torch.gather(images_to_crop, dim=-1, index=all_crop_inds)
+    # [..., N, C, CH * CW] -> [..., N, C, CH, CW]
+    reshape_axis = len(crops.shape) - 1
+    crops = tu.reshape_dimensions(crops,
+                                  begin_axis=reshape_axis,
+                                  end_axis=reshape_axis,
+                                  target_dims=(crop_height, crop_width))
+
+    if is_padded:
+        # undo padding -> [..., C, CH, CW]
+        crops = crops.squeeze(-4)
+    return crops
+
+
+def sample_random_image_crops(images,
+                              crop_height,
+                              crop_width,
+                              num_crops,
+                              pos_enc=False):
+    """
+    For each image, randomly sample @num_crops crops of size (@crop_height, @crop_width), from
+    @images.
+
+    Args:
+        images (torch.Tensor): batch of images of shape [..., C, H, W]
+
+        crop_height (int): height of crop to take
+        
+        crop_width (int): width of crop to take
+
+        num_crops (n): number of crops to sample
+
+        pos_enc (bool): if True, also add 2 channels to the outputs that gives a spatial 
+            encoding of the original source pixel locations. This means that the
+            output crops will contain information about where in the source image 
+            it was sampled from.
+
+    Returns:
+        crops (torch.Tensor): crops of shape (..., @num_crops, C, @crop_height, @crop_width) 
+            if @pos_enc is False, otherwise (..., @num_crops, C + 2, @crop_height, @crop_width)
+
+        crop_inds (torch.Tensor): sampled crop indices of shape (..., N, 2)
+    """
+    device = images.device
+
+    # maybe add 2 channels of spatial encoding to the source image
+    source_im = images
+    if pos_enc:
+        # spatial encoding [y, x] in [0, 1]
+        h, w = source_im.shape[-2:]
+        pos_y, pos_x = torch.meshgrid(torch.arange(h), torch.arange(w))
+        pos_y = pos_y.float().to(device) / float(h)
+        pos_x = pos_x.float().to(device) / float(w)
+        position_enc = torch.stack((pos_y, pos_x))  # shape [C, H, W]
+
+        # unsqueeze and expand to match leading dimensions -> shape [..., C, H, W]
+        leading_shape = source_im.shape[:-3]
+        position_enc = position_enc[(None, ) * len(leading_shape)]
+        position_enc = position_enc.expand(*leading_shape, -1, -1, -1)
+
+        # concat across channel dimension with input
+        source_im = torch.cat((source_im, position_enc), dim=-3)
+
+    # make sure sample boundaries ensure crops are fully within the images
+    image_c, image_h, image_w = source_im.shape[-3:]
+    max_sample_h = image_h - crop_height
+    max_sample_w = image_w - crop_width
+
+    # Sample crop locations for all tensor dimensions up to the last 3, which are [C, H, W].
+    # Each gets @num_crops samples - typically this will just be the batch dimension (B), so
+    # we will sample [B, N] indices, but this supports having more than one leading dimension,
+    # or possibly no leading dimension.
+    #
+    # Trick: sample in [0, 1) with rand, then re-scale to [0, M) and convert to long to get sampled ints
+    crop_inds_h = (
+        max_sample_h *
+        torch.rand(*source_im.shape[:-3], num_crops).to(device)).long()
+    crop_inds_w = (
+        max_sample_w *
+        torch.rand(*source_im.shape[:-3], num_crops).to(device)).long()
+    crop_inds = torch.cat(
+        (crop_inds_h.unsqueeze(-1), crop_inds_w.unsqueeze(-1)),
+        dim=-1)  # shape [..., N, 2]
+
+    crops = crop_image_from_indices(
+        images=source_im,
+        crop_indices=crop_inds,
+        crop_height=crop_height,
+        crop_width=crop_width,
+    )
+
+    return crops, crop_inds

src/unifolm_wma/models/diffusion_head/vision/model_getter.py

@@ -0,0 +1,30 @@
+import torch
+import torchvision
+
+
+def get_resnet(name, weights=None, **kwargs):
+    """
+    name: resnet18, resnet34, resnet50
+    weights: "IMAGENET1K_V1", "r3m"
+    """
+    # load r3m weights
+    if (weights == "r3m") or (weights == "R3M"):
+        return get_r3m(name=name, **kwargs)
+
+    func = getattr(torchvision.models, name)
+    resnet = func(weights=weights, **kwargs)
+    resnet.fc = torch.nn.Identity()
+    return resnet
+
+
+def get_r3m(name, **kwargs):
+    """
+    name: resnet18, resnet34, resnet50
+    """
+    import r3m
+    r3m.device = 'cpu'
+    model = r3m.load_r3m(name)
+    r3m_model = model.module
+    resnet_model = r3m_model.convnet
+    resnet_model = resnet_model.to('cpu')
+    return resnet_model

src/unifolm_wma/models/diffusion_head/vision/multi_image_obs_encoder.py

@@ -0,0 +1,247 @@
+import copy
+import torch
+import torch.nn as nn
+import torchvision
+import json
+import os
+
+from unifolm_wma.models.diffusion_head.vision.crop_randomizer import CropRandomizer
+from unifolm_wma.models.diffusion_head.base_nets import SpatialSoftmax
+from unifolm_wma.models.diffusion_head.common.module_attr_mixin import ModuleAttrMixin
+from unifolm_wma.models.diffusion_head.common.pytorch_util import dict_apply, replace_submodules
+from unifolm_wma.utils.utils import instantiate_from_config
+from einops import rearrange, repeat
+from typing import Dict, Tuple, Union
+from pathlib import Path
+
+
+class MultiImageObsEncoder(ModuleAttrMixin):
+
+    def __init__(
+            self,
+            rgb_model_config: Dict,
+            shape_meta_path: str | None = None,
+            resize_shape: Union[Tuple[int, int], Dict[str, tuple],
+                                None] = None,
+            crop_shape: Union[Tuple[int, int], Dict[str, tuple], None] = None,
+            random_crop: bool = True,
+            # replace BatchNorm with GroupNorm
+            use_group_norm: bool = False,
+            # use single rgb model for all rgb inputs
+            share_rgb_model: bool = False,
+            # renormalize rgb input with imagenet normalization
+            # assuming input in [0,1]
+            imagenet_norm: bool = False,
+            use_spatial_softmax=False,
+            spatial_softmax_kp=32,
+            use_dinoSiglip=False):
+        """
+        Assumes rgb input: B,C,H,W
+        Assumes low_dim input: B,D
+        """
+        super().__init__()
+
+        if not shape_meta_path:
+            shape_meta_path = str(Path(os.getcwd()) / "configs/train/meta.json")
+
+        with open(shape_meta_path, 'r') as file:
+            shape_meta = json.load(file)
+
+        rgb_model = instantiate_from_config(rgb_model_config)
+
+        rgb_keys = list()
+        low_dim_keys = list()
+        key_model_map = nn.ModuleDict()
+        key_transform_map = nn.ModuleDict()
+        key_shape_map = dict()
+
+        # handle sharing vision backbone
+        if share_rgb_model:
+            assert isinstance(rgb_model, nn.Module)
+            key_model_map['rgb'] = rgb_model
+
+        obs_shape_meta = shape_meta['obs']
+        for key, attr in obs_shape_meta.items():
+            shape = tuple(attr['shape'])
+            type = attr.get('type', 'low_dim')
+            key_shape_map[key] = shape
+            if type == 'rgb':
+                rgb_keys.append(key)
+                if not use_dinoSiglip:
+                    # configure model for this key
+                    this_model = None
+                    if not share_rgb_model:
+                        if isinstance(rgb_model, dict):
+                            # have provided model for each key
+                            this_model = rgb_model[key]
+                        else:
+                            assert isinstance(rgb_model, nn.Module)
+                            # have a copy of the rgb model
+                            this_model = copy.deepcopy(rgb_model)
+
+                    if this_model is not None:
+                        if use_group_norm:
+                            this_model = replace_submodules(
+                                root_module=this_model,
+                                predicate=lambda x: isinstance(
+                                    x, nn.BatchNorm2d),
+                                func=lambda x: nn.GroupNorm(
+                                    num_groups=x.num_features // 16,
+                                    num_channels=x.num_features))
+                        key_model_map[key] = this_model
+
+                    # configure resize
+                    input_shape = shape
+                    this_resizer = nn.Identity()
+                    if resize_shape is not None:
+                        if isinstance(resize_shape, dict):
+                            h, w = resize_shape[key]
+                        else:
+                            h, w = resize_shape
+                        this_resizer = torchvision.transforms.Resize(size=(h,
+                                                                           w))
+                        input_shape = (shape[0], h, w)
+
+                    # configure randomizer
+                    this_randomizer = nn.Identity()
+                    if crop_shape is not None:
+                        if isinstance(crop_shape, dict):
+                            h, w = crop_shape[key]
+                        else:
+                            h, w = crop_shape
+                        if random_crop:
+                            this_randomizer = CropRandomizer(
+                                input_shape=input_shape,
+                                crop_height=h,
+                                crop_width=w,
+                                num_crops=1,
+                                pos_enc=False)
+                        else:
+                            this_normalizer = torchvision.transforms.CenterCrop(
+                                size=(h, w))
+                    # configure normalizer
+                    this_normalizer = nn.Identity()
+                    if imagenet_norm:
+                        this_normalizer = torchvision.transforms.Normalize(
+                            mean=[0.485, 0.456, 0.406],
+                            std=[0.229, 0.224, 0.225])
+
+                    this_transform = nn.Sequential(this_resizer,
+                                                   this_randomizer,
+                                                   this_normalizer)
+                    key_transform_map[key] = this_transform
+                else:
+                    key_model_map[key] = rgb_model
+            elif type == 'low_dim':
+                low_dim_keys.append(key)
+            else:
+                raise RuntimeError(f"Unsupported obs type: {type}")
+
+        rgb_keys = sorted(rgb_keys)
+        low_dim_keys = sorted(low_dim_keys)
+
+        self.shape_meta = shape_meta
+        self.key_model_map = key_model_map
+        self.key_transform_map = key_transform_map
+        self.share_rgb_model = share_rgb_model
+        self.rgb_keys = rgb_keys
+        self.low_dim_keys = low_dim_keys
+        self.key_shape_map = key_shape_map
+        self.use_dinoSiglip = use_dinoSiglip
+
+        ##NOTE add spatial softmax
+        self.use_spatial_softmax = use_spatial_softmax
+        if use_spatial_softmax and not use_dinoSiglip:
+            model = nn.Sequential(
+                key_model_map['image'].conv1,
+                key_model_map['image'].bn1,
+                key_model_map['image'].relu,
+                key_model_map['image'].maxpool,
+                key_model_map['image'].layer1,
+                key_model_map['image'].layer2,
+                key_model_map['image'].layer3,
+                key_model_map['image'].layer4,
+            )
+            key_model_map['image'] = model
+            input_shape = self.output_shape(resnet_output_shape=True)
+            self.spatial_softmax = SpatialSoftmax(input_shape,
+                                                  num_kp=spatial_softmax_kp)
+
+    def forward(self, obs_dict, resnet_output_shape=False):
+        batch_size = None
+        features = list()
+        # process rgb input
+        if self.share_rgb_model:
+            # pass all rgb obs to rgb model
+            imgs = list()
+            for key in self.rgb_keys:
+                img = obs_dict[key]
+                if batch_size is None:
+                    batch_size = img.shape[0]
+                else:
+                    assert batch_size == img.shape[0]
+                assert img.shape[1:] == self.key_shape_map[key]
+                img = self.key_transform_map[key](img)
+                imgs.append(img)
+            # (N*B,C,H,W)
+            imgs = torch.cat(imgs, dim=0)
+            # (N*B,D)
+            feature = self.key_model_map['rgb'](imgs)
+            # (N,B,D)
+            feature = feature.reshape(-1, batch_size, *feature.shape[1:])
+            # (B,N,D)
+            feature = torch.moveaxis(feature, 0, 1)
+            # (B,N*D)
+            feature = feature.reshape(batch_size, -1)
+            features.append(feature)
+        else:
+            # run each rgb obs to independent models
+            for key in self.rgb_keys:
+                img = obs_dict[key]
+                if batch_size is None:
+                    batch_size = img.shape[0]
+                else:
+                    assert batch_size == img.shape[0]
+                assert img.shape[1:] == self.key_shape_map[key]
+                if not self.use_dinoSiglip:
+                    img = self.key_transform_map[key](img)
+                    feature = self.key_model_map[key](img)
+                else:
+                    feature = self.key_model_map[key](img)[:, :1, :]
+
+                if resnet_output_shape:
+                    return feature
+                if not self.use_dinoSiglip and self.use_spatial_softmax:
+                    feature = self.spatial_softmax(feature)
+                feature = feature.reshape(batch_size, -1)
+                features.append(feature)
+
+        # process lowdim input
+        for key in self.low_dim_keys:
+            data = obs_dict[key]
+            if batch_size is None:
+                batch_size = data.shape[0]
+            else:
+                assert batch_size == data.shape[0]
+            assert data.shape[1:] == self.key_shape_map[key]
+            features.append(data)
+
+        # concatenate all features
+        result = torch.cat(features, dim=-1)
+        return result
+
+    @torch.no_grad()
+    def output_shape(self, resnet_output_shape=False):
+        example_obs_dict = dict()
+        obs_shape_meta = self.shape_meta['obs']
+        batch_size = 1
+        for key, attr in obs_shape_meta.items():
+            shape = tuple(attr['shape'])
+            this_obs = torch.zeros((batch_size, ) + shape,
+                                   dtype=self.dtype,
+                                   device=self.device)
+            example_obs_dict[key] = this_obs
+        example_output = self.forward(example_obs_dict,
+                                      resnet_output_shape=resnet_output_shape)
+        output_shape = example_output.shape[1:]
+        return output_shape