openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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from collections import OrderedDict
import unicodedata
from typing import Optional
import numpy as np
from tinygrad.nn import state
from tinygrad.tensor import Tensor, dtypes
from tinygrad.helpers import getenv
#
# checkpointing utils
#
def invert_dict(d): return {v: k for k, v in reversed(d.items())}
def dedup_dict(d): return invert_dict(invert_dict(d))
# store each tensor into the first key it appears in
def get_training_state(model, optimizer, scheduler):
# hack: let get_state_dict walk the tree starting with model, so that the checkpoint keys are
# readable and can be loaded as a model for eval
train_state = {'model': model, 'optimizer': optimizer, 'scheduler': scheduler}
return dedup_dict(state.get_state_dict(train_state))
def load_training_state(model, optimizer, scheduler, state_dict):
# use fresh model to restore duplicate keys
train_state = {'model': model, 'optimizer': optimizer, 'scheduler': scheduler}
big_dict = state.get_state_dict(train_state)
# hack: put back the dupes
dupe_names = {}
for k, v in big_dict.items():
if v not in dupe_names:
dupe_names[v] = k
assert k in state_dict
state_dict[k] = state_dict[dupe_names[v]]
# scheduler contains optimizer and all params, load each weight only once
scheduler_state = {'scheduler': scheduler}
state.load_state_dict(scheduler_state, state_dict)
def gaussian_kernel(n, std):
from scipy import signal
gaussian_1d = signal.windows.gaussian(n, std)
gaussian_2d = np.outer(gaussian_1d, gaussian_1d)
gaussian_3d = np.outer(gaussian_2d, gaussian_1d)
gaussian_3d = gaussian_3d.reshape(n, n, n)
gaussian_3d = np.cbrt(gaussian_3d)
gaussian_3d /= gaussian_3d.max()
return gaussian_3d
def prepare_arrays(image, roi_shape=(128, 128, 128)):
assert len(roi_shape) == 3 and any(roi_shape)
image_shape = list(image.shape[2:])
result = np.zeros((1, 3, *image_shape), dtype=image.dtype)
norm_map = np.zeros_like(result)
norm_patch = gaussian_kernel(roi_shape[0], 0.125 * roi_shape[0]).astype(norm_map.dtype)
return result, norm_map, norm_patch
def get_slice(image, roi_shape=(128, 128, 128), overlap_factor=0.5):
assert len(roi_shape) == 3 and any(roi_shape)
assert 0 < overlap_factor < 1
image_shape, dim = list(image.shape[2:]), len(image.shape[2:])
strides = [int(roi_shape[i] * (1 - overlap_factor)) for i in range(dim)]
size = [(image_shape[i] - roi_shape[i]) // strides[i] + 1 for i in range(dim)]
for i in range(0, strides[0] * size[0], strides[0]):
for j in range(0, strides[1] * size[1], strides[1]):
for k in range(0, strides[2] * size[2], strides[2]):
yield i, j, k
def _get_best_indices(logits, n_best_size):
index_and_score = sorted(enumerate(logits), key=lambda x: x[1], reverse=True)
return list(map(lambda x: x[0], index_and_score))[:n_best_size]
def _is_punctuation(char):
if (cp := ord(char)) in range(33, 48) or cp in range(58, 65) or cp in range(91, 97) or cp in range(123, 127):
return True
return unicodedata.category(char).startswith("P")
def _is_whitespace(char):
if char == " " or char == "\t" or char == "\n" or char == "\r":
return True
return unicodedata.category(char) == "Zs"
def _is_control(char):
if char == "\t" or char == "\n" or char == "\r":
return False
return unicodedata.category(char).startswith("C")
def _run_split_on_punc(text):
if text in ("[UNK]", "[SEP]", "[PAD]", "[CLS]", "[MASK]"):
return [text]
start_new_word = True
output = []
for i in range(len(text)):
if _is_punctuation(char := text[i]):
output.append([char])
start_new_word = True
else:
if start_new_word:
output.append([])
start_new_word = False
output[-1].append(char)
return ["".join(x) for x in output]
def _run_strip_accents(text):
output = []
for char in unicodedata.normalize("NFD", text):
if unicodedata.category(char) != "Mn":
output.append(char)
return "".join(output)
def _clean_text(text):
output = []
for char in text:
if not ((cp := ord(char)) == 0 or cp == 0xfffd or _is_control(char)):
output.append(" " if _is_whitespace(char) else char)
return "".join(output)
def _get_final_text(pred_text, orig_text):
def _strip_spaces(text):
ns_text = ""
ns_to_s_map = OrderedDict()
for i, c in enumerate(text):
if c == " ":
continue
ns_to_s_map[len(ns_text)] = i
ns_text += c
return ns_text, ns_to_s_map
orig_tokens = _clean_text(orig_text).strip().split()
split_tokens = []
for token in orig_tokens:
if token not in ("[UNK]", "[SEP]", "[PAD]", "[CLS]", "[MASK]"):
token = token.lower()
token = _run_strip_accents(token)
split_tokens.extend(_run_split_on_punc(token))
tok_text = " ".join(" ".join(split_tokens).strip().split())
start_position = tok_text.find(pred_text)
if start_position == -1:
return orig_text
end_position = start_position + len(pred_text) - 1
orig_ns_text, orig_ns_to_s_map = _strip_spaces(orig_text)
tok_ns_text, tok_ns_to_s_map = _strip_spaces(tok_text)
if len(orig_ns_text) != len(tok_ns_text):
return orig_text
tok_s_to_ns_map = {v: k for k, v in tok_ns_to_s_map.items()}
orig_start_position = None
if start_position in tok_s_to_ns_map:
if (ns_start_position := tok_s_to_ns_map[start_position]) in orig_ns_to_s_map:
orig_start_position = orig_ns_to_s_map[ns_start_position]
if orig_start_position is None:
return orig_text
orig_end_position = None
if end_position in tok_s_to_ns_map:
if (ns_end_position := tok_s_to_ns_map[end_position]) in orig_ns_to_s_map:
orig_end_position = orig_ns_to_s_map[ns_end_position]
if orig_end_position is None:
return orig_text
output_text = orig_text[orig_start_position:(orig_end_position + 1)]
return output_text
def get_bert_qa_prediction(features, example, start_end_logits):
prelim_predictions = []
for i, feature in enumerate(features):
for start_index in _get_best_indices(start_end_logits[i][0], 20):
for end_index in _get_best_indices(start_end_logits[i][1], 20):
if start_index >= len(feature["tokens"]) or end_index >= len(feature["tokens"]):
continue
if start_index not in feature["token_to_orig_map"] or end_index not in feature["token_to_orig_map"]:
continue
if not feature["token_is_max_context"].get(start_index, False):
continue
if end_index < start_index or end_index - start_index + 1 > 30:
continue
prelim_predictions.append({
"feature_index": i,
"start_index": start_index,
"end_index": end_index,
"start_logit": start_end_logits[i][0, start_index],
"end_logit": start_end_logits[i][1, end_index]
})
predictions = sorted(prelim_predictions, key=lambda x: (x["start_logit"] + x["end_logit"]), reverse=True)
if len(predictions) > 0:
feature = features[predictions[0]["feature_index"]]
tok_tokens = feature["tokens"][predictions[0]["start_index"]:(predictions[0]["end_index"] + 1)]
orig_doc_start = feature["token_to_orig_map"][predictions[0]["start_index"]]
orig_doc_end = feature["token_to_orig_map"][predictions[0]["end_index"]]
orig_tokens = example["context"][orig_doc_start:(orig_doc_end + 1)]
tok_text = " ".join(tok_tokens).replace(" ##", "").replace("##", "")
tok_text = " ".join(tok_text.strip().split())
orig_text = " ".join(orig_tokens)
return _get_final_text(tok_text, orig_text)
return "empty"
def get_mlperf_bert_config():
"""Config is BERT-large"""
return {
"attention_probs_dropout_prob": 0.1,
"hidden_dropout_prob": 0.1,
"hidden_size": 1024,
"intermediate_size": 4096,
"max_position_embeddings": 512,
"num_attention_heads": 16,
"num_hidden_layers": 24,
"type_vocab_size": 2,
"vocab_size": 30522
}
def get_mlperf_bert_model(checkpoint_path:Optional[str]=None):
from extra.models import bert
from examples.mlperf.initializers import LinearBert, EmbeddingBert, LayerNormBert
bert.Linear = LinearBert
bert.Embedding = EmbeddingBert
bert.LayerNorm = LayerNormBert
from extra.models.bert import BertForPretraining
config = get_mlperf_bert_config()
if getenv("DISABLE_DROPOUT", 0):
config["hidden_dropout_prob"] = config["attention_probs_dropout_prob"] = 0.0
model = BertForPretraining(**config)
return model.load_from_pretrained(checkpoint_path) if checkpoint_path else model
def get_data_bert(GPUS:list[str], it):
data: dict[str, Tensor] = next(it)
for key in data.keys(): data[key].shard_(GPUS, axis=0)
return data
def get_fake_data_bert(GPUS:list[str], BS:int):
return {
"input_ids": Tensor.empty((BS, 512), dtype=dtypes.float32).contiguous().shard_(GPUS, axis=0),
"input_mask": Tensor.empty((BS, 512), dtype=dtypes.default_float).contiguous().shard_(GPUS, axis=0),
"segment_ids": Tensor.empty((BS, 512), dtype=dtypes.float32).contiguous().shard_(GPUS, axis=0),
"masked_lm_positions": Tensor.empty((BS, 76), dtype=dtypes.float32).contiguous().shard_(GPUS, axis=0),
"masked_lm_ids": Tensor.empty((BS, 76), dtype=dtypes.float32).contiguous().shard_(GPUS, axis=0),
"masked_lm_weights": Tensor.empty((BS, 76), dtype=dtypes.float32).contiguous().shard_(GPUS, axis=0),
"next_sentence_labels": Tensor.empty((BS, 1), dtype=dtypes.float32).contiguous().shard_(GPUS, axis=0),
}