ActionDiffusion_WACV2025/model/dit.py

# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.

# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
# --------------------------------------------------------
# References:
# GLIDE: https://github.com/openai/glide-text2im
# MAE: https://github.com/facebookresearch/mae/blob/main/models_mae.py
# --------------------------------------------------------

import torch
import torch.nn as nn
import numpy as np
import math
from timm.models.vision_transformer import Attention, Mlp # PatchEmbed
from torch.nn import TransformerEncoder, TransformerEncoderLayer
from .helpers import SinusoidalPosEmb

class PatchEmbed(nn.Module):
    """ 2D Image to Patch Embedding
    """
    def __init__(
            self,
            img_size=224,
            patch_size=16,
            in_chans=3,
            embed_dim=768,
            norm_layer=None,
            flatten=True,
            bias=True,
    ):
        super().__init__()
        img_size = (img_size, 1)
        patch_size = (patch_size, 1)
        self.img_size = img_size
        self.patch_size = patch_size
        self.grid_size = (img_size[0] // patch_size[0], img_size[1] // patch_size[1])
        self.num_patches = self.grid_size[0] * self.grid_size[1]
        self.flatten = flatten

        self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size, bias=bias)
        self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity()

    def forward(self, x):
        B, C, H, W = x.shape
        #_assert(H == self.img_size[0], f"Input image height ({H}) doesn't match model ({self.img_size[0]}).")
        #_assert(W == self.img_size[1], f"Input image width ({W}) doesn't match model ({self.img_size[1]}).")
        x = self.proj(x)
        if self.flatten:
            x = x.flatten(2).transpose(1, 2)  # BCHW -> BNC
        x = self.norm(x)
        return x

def modulate(x, shift, scale):
    return x * (1 + scale.unsqueeze(1)) + shift.unsqueeze(1)


#################################################################################
#               Embedding Layers for Timesteps and Class Labels                 #
#################################################################################

class TimestepEmbedder(nn.Module):
    """
    Embeds scalar timesteps into vector representations.
    """
    def __init__(self, hidden_size, frequency_embedding_size=256):
        super().__init__()
        self.mlp = nn.Sequential(
            nn.Linear(frequency_embedding_size, hidden_size, bias=True),
            nn.SiLU(),
            nn.Linear(hidden_size, hidden_size, bias=True),
        )
        self.frequency_embedding_size = frequency_embedding_size

    @staticmethod
    def timestep_embedding(t, dim, max_period=10000):
        """
        Create sinusoidal timestep embeddings.
        :param t: a 1-D Tensor of N indices, one per batch element.
                          These may be fractional.
        :param dim: the dimension of the output.
        :param max_period: controls the minimum frequency of the embeddings.
        :return: an (N, D) Tensor of positional embeddings.
        """
        # https://github.com/openai/glide-text2im/blob/main/glide_text2im/nn.py
        half = dim // 2
        freqs = torch.exp(
            -math.log(max_period) * torch.arange(start=0, end=half, dtype=torch.float32) / half
        ).to(device=t.device)
        args = t[:, None].float() * freqs[None]
        embedding = torch.cat([torch.cos(args), torch.sin(args)], dim=-1)
        if dim % 2:
            embedding = torch.cat([embedding, torch.zeros_like(embedding[:, :1])], dim=-1)
        return embedding

    def forward(self, t):
        t_freq = self.timestep_embedding(t, self.frequency_embedding_size)
        t_emb = self.mlp(t_freq)
        return t_emb


class LabelEmbedder(nn.Module):
    """
    Embeds class labels into vector representations. Also handles label dropout for classifier-free guidance.
    """
    def __init__(self, num_classes, hidden_size, dropout_prob):
        super().__init__()
        use_cfg_embedding = dropout_prob > 0
        self.embedding_table = nn.Embedding(num_classes + use_cfg_embedding, hidden_size)
        self.num_classes = num_classes
        self.dropout_prob = dropout_prob

    def token_drop(self, labels, force_drop_ids=None):
        """
        Drops labels to enable classifier-free guidance.
        """
        if force_drop_ids is None:
            drop_ids = torch.rand(labels.shape[0], device=labels.device) < self.dropout_prob
        else:
            drop_ids = force_drop_ids == 1
        labels = torch.where(drop_ids, self.num_classes, labels)
        return labels

    def forward(self, labels, train, force_drop_ids=None):
        use_dropout = self.dropout_prob > 0
        if (train and use_dropout) or (force_drop_ids is not None):
            labels = self.token_drop(labels, force_drop_ids)
        embeddings = self.embedding_table(labels)
        return embeddings


#################################################################################
#                                 Core DiT Model                                #
#################################################################################

class DiTBlock(nn.Module):
    """
    A DiT block with adaptive layer norm zero (adaLN-Zero) conditioning.
    """
    def __init__(self, hidden_size, num_heads, mlp_ratio=4.0, **block_kwargs):
        super().__init__()
        self.norm1 = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6)
        self.attn = Attention(hidden_size, num_heads=num_heads, qkv_bias=True, **block_kwargs)
        self.norm2 = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6)
        mlp_hidden_dim = int(hidden_size * mlp_ratio)
        approx_gelu = lambda: nn.GELU(approximate="tanh")
        self.mlp = Mlp(in_features=hidden_size, hidden_features=mlp_hidden_dim, act_layer=approx_gelu, drop=0)
        self.adaLN_modulation = nn.Sequential(
            nn.SiLU(),
            nn.Linear(hidden_size, 6 * hidden_size, bias=True)
        )

    def forward(self, x, c):
        shift_msa, scale_msa, gate_msa, shift_mlp, scale_mlp, gate_mlp = self.adaLN_modulation(c).chunk(6, dim=1)
        x = x + gate_msa.unsqueeze(1) * self.attn(modulate(self.norm1(x), shift_msa, scale_msa))
        x = x + gate_mlp.unsqueeze(1) * self.mlp(modulate(self.norm2(x), shift_mlp, scale_mlp))
        return x


class FinalLayer(nn.Module):
    """
    The final layer of DiT.
    """
    def __init__(self, hidden_size, patch_size, out_channels):
        super().__init__()
        self.norm_final = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6)
        self.linear = nn.Linear(hidden_size, patch_size * 1 * out_channels, bias=True)
        self.adaLN_modulation = nn.Sequential(
            nn.SiLU(),
            nn.Linear(hidden_size, 2 * hidden_size, bias=True)
        )

    def forward(self, x, c):
        shift, scale = self.adaLN_modulation(c).chunk(2, dim=1)
        x = modulate(self.norm_final(x), shift, scale)
        x = self.linear(x)
        return x


class DiT(nn.Module):
    """
    Diffusion model with a Transformer backbone.
    """
    def __init__(
        self,
        input_size=32,
        patch_size=2,
        in_channels=4,
        hidden_size=384,
        depth=12,
        num_heads=6,
        mlp_ratio=4.0,
        class_dropout_prob=0.1,
        num_classes=1000,
        learn_sigma=False,
    ):
        super().__init__()
        self.learn_sigma = learn_sigma
        self.in_channels = in_channels
        self.out_channels = in_channels * 2 if learn_sigma else in_channels
        self.patch_size = patch_size
        self.num_heads = num_heads

        self.x_embedder = PatchEmbed(input_size, patch_size, in_channels, hidden_size, bias=True)
        self.t_embedder = TimestepEmbedder(hidden_size)
        #self.y_embedder = LabelEmbedder(num_classes, hidden_size, class_dropout_prob)
        num_patches = self.x_embedder.num_patches
        # Will use fixed sin-cos embedding:
        self.pos_embed = nn.Parameter(torch.zeros(1, num_patches, hidden_size), requires_grad=False)

        self.blocks = nn.ModuleList([
            DiTBlock(hidden_size, num_heads, mlp_ratio=mlp_ratio) for _ in range(depth)
        ])
        self.final_layer = FinalLayer(hidden_size, patch_size, self.out_channels)
        self.initialize_weights()

    def initialize_weights(self):
        # Initialize transformer layers:
        def _basic_init(module):
            if isinstance(module, nn.Linear):
                torch.nn.init.xavier_uniform_(module.weight)
                if module.bias is not None:
                    nn.init.constant_(module.bias, 0)
        self.apply(_basic_init)

        # Initialize (and freeze) pos_embed by sin-cos embedding:
        pos_embed = get_2d_sincos_pos_embed(self.pos_embed.shape[-1], int(self.x_embedder.num_patches )) #** 0.5
        #print('pos_embed', pos_embed.shape, self.x_embedder.num_patches)
        self.pos_embed.data.copy_(torch.from_numpy(pos_embed).float().unsqueeze(0))

        # Initialize patch_embed like nn.Linear (instead of nn.Conv2d):
        w = self.x_embedder.proj.weight.data
        nn.init.xavier_uniform_(w.view([w.shape[0], -1]))
        nn.init.constant_(self.x_embedder.proj.bias, 0)

        # Initialize label embedding table:
        #nn.init.normal_(self.y_embedder.embedding_table.weight, std=0.02)

        # Initialize timestep embedding MLP:
        nn.init.normal_(self.t_embedder.mlp[0].weight, std=0.02)
        nn.init.normal_(self.t_embedder.mlp[2].weight, std=0.02)

        # Zero-out adaLN modulation layers in DiT blocks:
        for block in self.blocks:
            nn.init.constant_(block.adaLN_modulation[-1].weight, 0)
            nn.init.constant_(block.adaLN_modulation[-1].bias, 0)

        # Zero-out output layers:
        nn.init.constant_(self.final_layer.adaLN_modulation[-1].weight, 0)
        nn.init.constant_(self.final_layer.adaLN_modulation[-1].bias, 0)
        nn.init.constant_(self.final_layer.linear.weight, 0)
        nn.init.constant_(self.final_layer.linear.bias, 0)

    def unpatchify(self, x):
        """
        x: (N, T, patch_size**2 * C)
        imgs: (N, H, W, C)
        """
        c = self.out_channels
        p = self.x_embedder.patch_size[0]
        '''h = w = int(x.shape[1] ** 0.5)
        assert h * w == x.shape[1]'''
        h = x.shape[1]
        w = 1
        
        #print(x.shape)

        x = x.reshape(shape=(x.shape[0], h, w, p, 1, c))
        x = torch.einsum('nhwpqc->nchpwq', x)
        imgs = x.reshape(shape=(x.shape[0], c, h * p, w * 1))
        return imgs

    def forward(self, x, t):
        """
        Forward pass of DiT.
        x: (N, C, H, W) tensor of spatial inputs (images or latent representations of images)
        t: (N,) tensor of diffusion timesteps
        y: (N,) tensor of class labels
        """
        #print('x', x.shape, 'x_embedder', self.x_embedder(x).shape, 'pos_embed', self.pos_embed.shape)
        x = self.x_embedder(x) + self.pos_embed  # (N, T, D), where T = H * W / patch_size ** 2
        t = self.t_embedder(t)                   # (N, D)
        #y = self.y_embedder(y, self.training)    # (N, D)
        #c = t + y                              # (N, D)
        c = t
        for block in self.blocks:
            x = block(x, c)                      # (N, T, D)
        x = self.final_layer(x, c)                # (N, T, patch_size ** 2 * out_channels)
        x = self.unpatchify(x)                   # (N, out_channels, H, W)
        return x

    def forward_with_cfg(self, x, t, y, cfg_scale):
        """
        Forward pass of DiT, but also batches the unconditional forward pass for classifier-free guidance.
        """
        # https://github.com/openai/glide-text2im/blob/main/notebooks/text2im.ipynb
        half = x[: len(x) // 2]
        combined = torch.cat([half, half], dim=0)
        model_out = self.forward(combined, t, y)
        # For exact reproducibility reasons, we apply classifier-free guidance on only
        # three channels by default. The standard approach to cfg applies it to all channels.
        # This can be done by uncommenting the following line and commenting-out the line following that.
        # eps, rest = model_out[:, :self.in_channels], model_out[:, self.in_channels:]
        eps, rest = model_out[:, :3], model_out[:, 3:]
        cond_eps, uncond_eps = torch.split(eps, len(eps) // 2, dim=0)
        half_eps = uncond_eps + cfg_scale * (cond_eps - uncond_eps)
        eps = torch.cat([half_eps, half_eps], dim=0)
        return torch.cat([eps, rest], dim=1)


#################################################################################
#                   Sine/Cosine Positional Embedding Functions                  #
#################################################################################
# https://github.com/facebookresearch/mae/blob/main/util/pos_embed.py

def get_2d_sincos_pos_embed(embed_dim, grid_size, cls_token=False, extra_tokens=0):
    """
    grid_size: int of the grid height and width
    return:
    pos_embed: [grid_size*grid_size, embed_dim] or [1+grid_size*grid_size, embed_dim] (w/ or w/o cls_token)
    """
    grid_h = np.arange(grid_size, dtype=np.float32)
    grid_w = np.arange(1, dtype=np.float32)
    grid = np.meshgrid(grid_w, grid_h)  # here w goes first
    grid = np.stack(grid, axis=0)

    grid = grid.reshape([2, 1, grid_size, 1])
    pos_embed = get_2d_sincos_pos_embed_from_grid(embed_dim, grid)
    if cls_token and extra_tokens > 0:
        pos_embed = np.concatenate([np.zeros([extra_tokens, embed_dim]), pos_embed], axis=0)
    return pos_embed


def get_2d_sincos_pos_embed_from_grid(embed_dim, grid):
    assert embed_dim % 2 == 0

    # use half of dimensions to encode grid_h
    emb_h = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[0])  # (H*W, D/2)
    emb_w = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[1])  # (H*W, D/2)

    emb = np.concatenate([emb_h, emb_w], axis=1) # (H*W, D)
    return emb


def get_1d_sincos_pos_embed_from_grid(embed_dim, pos):
    """
    embed_dim: output dimension for each position
    pos: a list of positions to be encoded: size (M,)
    out: (M, D)
    """
    assert embed_dim % 2 == 0
    omega = np.arange(embed_dim // 2, dtype=np.float64)
    omega /= embed_dim / 2.
    omega = 1. / 10000**omega  # (D/2,)

    pos = pos.reshape(-1)  # (M,)
    out = np.einsum('m,d->md', pos, omega)  # (M, D/2), outer product

    emb_sin = np.sin(out) # (M, D/2)
    emb_cos = np.cos(out) # (M, D/2)

    emb = np.concatenate([emb_sin, emb_cos], axis=1)  # (M, D)
    return emb

def get_emb(sin_inp):
	"""
	Gets a base embedding for one dimension with sin and cos intertwined
	"""
	emb = torch.stack((sin_inp.sin(), sin_inp.cos()), dim=-1)
	return torch.flatten(emb, -2, -1)


class PositionalEncoding1D(nn.Module):
	def __init__(self, channels, dtype_override=None):
		"""
		:param channels: The last dimension of the tensor you want to apply pos emb to.
		:param dtype_override: If set, overrides the dtype of the output embedding.
		"""
		super(PositionalEncoding1D, self).__init__()
		self.org_channels = channels
		channels = int(np.ceil(channels / 2) * 2)
		inv_freq = 1.0 / (10000 ** (torch.arange(0, channels, 2).float() / channels))
		self.register_buffer("inv_freq", inv_freq)
		self.register_buffer("cached_penc", None, persistent=False)
		self.channels = channels
		self.dtype_override = dtype_override

	def forward(self, tensor):
		"""
		:param tensor: A 3d tensor of size (batch_size, ch, x)
		:return: Positional Encoding Matrix of size (batch_size, ch, x)
		"""
		if len(tensor.shape) != 3:
			raise RuntimeError("The input tensor has to be 3d!")

		if self.cached_penc is not None and self.cached_penc.shape == tensor.shape:
			return self.cached_penc

		self.cached_penc = None
		batch_size, orig_ch, x = tensor.shape
		pos_x = torch.arange(x, device=tensor.device, dtype=self.inv_freq.dtype)
		sin_inp_x = torch.einsum("i,j->ij", pos_x, self.inv_freq)
		emb_x = get_emb(sin_inp_x)
		#print('emb_x', emb_x.shape)
		emb = torch.zeros(
			(self.channels, x),
			device=tensor.device,
			dtype=(
				self.dtype_override if self.dtype_override is not None else tensor.dtype
			),
		)
		emb[:self.channels, :] = emb_x.permute(1,0)

		self.cached_penc = emb[None, :orig_ch, :].repeat(batch_size, 1, 1)
		return self.cached_penc

class TransformerModel(nn.Module):

	def __init__(self, ntoken, ninp, nhead, nhid, nlayers=6, dropout=0.0):
		super(TransformerModel, self).__init__()
		
		self.model_type = 'Transformer'
		self.pos_encoder = PositionalEncoding1D(ninp)
		encoder_layers = TransformerEncoderLayer(ninp, nhead, nhid, dropout, batch_first=True)
		self.transformer_encoder = TransformerEncoder(encoder_layers, nlayers)
		#self.encoder = nn.Embedding(ntoken, ninp)
		self.ninp = ninp
		#self.decoder = nn.Linear(ninp, ntoken)
		self.time_mlp = nn.Sequential(    # should be removed for Noise and Deterministic Baselines
						SinusoidalPosEmb(ninp),
						nn.Linear(ninp-1, ninp * 4),
						nn.Mish(),
						nn.Linear(ninp * 4, ninp),
						)

		#self.init_weights()

	def generate_square_subsequent_mask(self, sz):
		mask = (torch.triu(torch.ones(sz, sz)) == 1).transpose(0, 1)
		mask = mask.float().masked_fill(mask == 0, float('-inf')).masked_fill(mask == 1, float(0.0))
		return mask

	'''def init_weights(self):
		initrange = 0.1
		self.encoder.weight.data.uniform_(-initrange, initrange)
		self.decoder.bias.data.zero_()
		self.decoder.weight.data.uniform_(-initrange, initrange)'''

	def forward(self, src, t):
		#print('self.ninp', self.ninp)
		#src = self.encoder(src) * math.sqrt(self.ninp)
		#print('src', src.shape)
		
		#t = self.time_mlp(t).unsqueeze(1)
		
		emb = self.pos_encoder(src)
		#time = torch.cat((t,t,t), dim=1)
		#print('time', time.shape)
		output = self.transformer_encoder(src+emb)
		#print('shape after transformer', output.shape)
		#output = self.decoder(output)
		return output


#################################################################################
#                                   DiT Configs                                  #
#################################################################################

def DiT_XL_2(**kwargs):
    return DiT(depth=28, hidden_size=1152, patch_size=2, num_heads=16, **kwargs)

def DiT_XL_4(**kwargs):
    return DiT(depth=28, hidden_size=1152, patch_size=4, num_heads=16, **kwargs)

def DiT_XL_8(**kwargs):
    return DiT(depth=28, hidden_size=1152, patch_size=8, num_heads=16, **kwargs)

def DiT_L_2(**kwargs):
    return DiT(depth=24, hidden_size=1024, patch_size=2, num_heads=16, **kwargs)

def DiT_L_4(**kwargs):
    return DiT(depth=24, hidden_size=1024, patch_size=4, num_heads=16, **kwargs)

def DiT_L_8(**kwargs):
    return DiT(depth=24, hidden_size=1024, patch_size=8, num_heads=16, **kwargs)

def DiT_B_2(**kwargs):
    return DiT(depth=12, hidden_size=768, patch_size=2, num_heads=12, **kwargs)

def DiT_B_4(**kwargs):
    return DiT(depth=12, hidden_size=768, patch_size=4, num_heads=12, **kwargs)

def DiT_B_8(**kwargs):
    return DiT(depth=12, hidden_size=768, patch_size=8, num_heads=12, **kwargs)

def DiT_S_2(**kwargs):
    return DiT(depth=12, hidden_size=384, patch_size=2, num_heads=6, **kwargs)

def DiT_S_4(**kwargs):
    return DiT(depth=12, hidden_size=384, patch_size=4, num_heads=6, **kwargs)

def DiT_S_8(**kwargs):
    return DiT(depth=12, hidden_size=384, patch_size=8, num_heads=6, **kwargs)


DiT_models = {
    'DiT-XL/2': DiT_XL_2,  'DiT-XL/4': DiT_XL_4,  'DiT-XL/8': DiT_XL_8,
    'DiT-L/2':  DiT_L_2,   'DiT-L/4':  DiT_L_4,   'DiT-L/8':  DiT_L_8,
    'DiT-B/2':  DiT_B_2,   'DiT-B/4':  DiT_B_4,   'DiT-B/8':  DiT_B_8,
    'DiT-S/2':  DiT_S_2,   'DiT-S/4':  DiT_S_4,   'DiT-S/8':  DiT_S_8,
}