egogym 0.1.0__py3-none-any.whl

baselines/rum/models/policies/diffusion_policy.py

@@ -0,0 +1,881 @@
+from typing import Tuple, Sequence, Dict, Union, Optional
+import numpy as np
+import math
+import torch
+import torch.nn as nn
+from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
+from diffusers.training_utils import EMAModel
+from diffusers.optimization import get_scheduler
+from tqdm.auto import tqdm
+import torch.nn as nn
+import einops
+import torch.nn.functional as F
+
+GENERATOR_SEED_FIXED = 123456789
+
+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
+
+
+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),
+            nn.GroupNorm(n_groups, out_channels),
+            nn.Mish(),
+        )
+
+    def forward(self, x):
+        return self.block(x)
+
+
+class ConditionalResidualBlock1D(nn.Module):
+    def __init__(self,
+            in_channels,
+            out_channels,
+            cond_dim,
+            kernel_size=3,
+            n_groups=8):
+        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),
+        ])
+
+        # FiLM modulation https://arxiv.org/abs/1709.07871
+        # predicts per-channel scale and bias
+        cond_channels = out_channels * 2
+        self.out_channels = out_channels
+        self.cond_encoder = nn.Sequential(
+            nn.Mish(),
+            nn.Linear(cond_dim, cond_channels),
+            nn.Unflatten(-1, (-1, 1))
+        )
+
+        # 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):
+        '''
+            x : [ batch_size x in_channels x horizon ]
+            cond : [ batch_size x cond_dim]
+
+            returns:
+            out : [ batch_size x out_channels x horizon ]
+        '''
+        out = self.blocks[0](x)
+        embed = self.cond_encoder(cond)
+
+        embed = embed.reshape(
+            embed.shape[0], 2, self.out_channels, 1)
+        scale = embed[:,0,...]
+        bias = embed[:,1,...]
+        out = scale * out + bias
+
+        out = self.blocks[1](out)
+        out = out + self.residual_conv(x)
+        return out
+
+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
+
+
+
+class TransformerForDiffusion(ModuleAttrMixin):
+    def __init__(self,
+            input_dim: int,
+            output_dim: int,
+            horizon: int,
+            n_obs_steps: int = None,
+            cond_dim: int = 0,
+            n_layer: int = 12,
+            n_head: int = 12,
+            n_emb: int = 768,
+            p_drop_emb: float = 0.1,
+            p_drop_attn: float = 0.1,
+            causal_attn: bool=False,
+            time_as_cond: bool=True,
+            obs_as_cond: bool=False,
+            n_cond_layers: int = 0
+        ) -> None:
+        super().__init__()
+
+        # compute number of tokens for main trunk and condition encoder
+        if n_obs_steps is None:
+            n_obs_steps = horizon
+        
+        T = horizon
+        T_cond = 1
+        if not time_as_cond:
+            T += 1
+            T_cond -= 1
+        obs_as_cond = cond_dim > 0
+        if obs_as_cond:
+            assert time_as_cond
+            T_cond += n_obs_steps
+
+        # input embedding stem
+        self.input_emb = nn.Linear(input_dim, n_emb)
+        self.pos_emb = nn.Parameter(torch.zeros(1, T, n_emb))
+        self.drop = nn.Dropout(p_drop_emb)
+
+        # cond encoder
+        self.time_emb = SinusoidalPosEmb(n_emb)
+        self.cond_obs_emb = None
+        
+        if obs_as_cond:
+            self.cond_obs_emb = nn.Linear(cond_dim, n_emb)
+
+        self.cond_pos_emb = None
+        self.encoder = None
+        self.decoder = None
+        encoder_only = False
+        if T_cond > 0:
+            self.cond_pos_emb = nn.Parameter(torch.zeros(1, T_cond, n_emb))
+            if n_cond_layers > 0:
+                encoder_layer = nn.TransformerEncoderLayer(
+                    d_model=n_emb,
+                    nhead=n_head,
+                    dim_feedforward=4*n_emb,
+                    dropout=p_drop_attn,
+                    activation='gelu',
+                    batch_first=True,
+                    norm_first=True
+                )
+                self.encoder = nn.TransformerEncoder(
+                    encoder_layer=encoder_layer,
+                    num_layers=n_cond_layers
+                )
+            else:
+                self.encoder = nn.Sequential(
+                    nn.Linear(n_emb, 4 * n_emb),
+                    nn.Mish(),
+                    nn.Linear(4 * n_emb, n_emb)
+                )
+            # decoder
+            decoder_layer = nn.TransformerDecoderLayer(
+                d_model=n_emb,
+                nhead=n_head,
+                dim_feedforward=4*n_emb,
+                dropout=p_drop_attn,
+                activation='gelu',
+                batch_first=True,
+                norm_first=True # important for stability
+            )
+            self.decoder = nn.TransformerDecoder(
+                decoder_layer=decoder_layer,
+                num_layers=n_layer
+            )
+        else:
+            # encoder only BERT
+            encoder_only = True
+
+            encoder_layer = nn.TransformerEncoderLayer(
+                d_model=n_emb,
+                nhead=n_head,
+                dim_feedforward=4*n_emb,
+                dropout=p_drop_attn,
+                activation='gelu',
+                batch_first=True,
+                norm_first=True
+            )
+            self.encoder = nn.TransformerEncoder(
+                encoder_layer=encoder_layer,
+                num_layers=n_layer
+            )
+
+        # attention mask
+        if causal_attn:
+            # causal mask to ensure that attention is only applied to the left in the input sequence
+            # torch.nn.Transformer uses additive mask as opposed to multiplicative mask in minGPT
+            # therefore, the upper triangle should be -inf and others (including diag) should be 0.
+            sz = T
+            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))
+            self.register_buffer("mask", mask)
+            
+            if time_as_cond and obs_as_cond:
+                S = T_cond
+                t, s = torch.meshgrid(
+                    torch.arange(T),
+                    torch.arange(S),
+                    indexing='ij'
+                )
+                mask = t >= (s-1) # add one dimension since time is the first token in cond
+                mask = mask.float().masked_fill(mask == 0, float('-inf')).masked_fill(mask == 1, float(0.0))
+                self.register_buffer('memory_mask', mask)
+            else:
+                self.memory_mask = None
+        else:
+            self.mask = None
+            self.memory_mask = None
+
+        # decoder head
+        self.ln_f = nn.LayerNorm(n_emb)
+        self.head = nn.Linear(n_emb, output_dim)
+            
+        # constants
+        self.T = T
+        self.T_cond = T_cond
+        self.horizon = horizon
+        self.time_as_cond = time_as_cond
+        self.obs_as_cond = obs_as_cond
+        self.encoder_only = encoder_only
+
+        # init
+        self.apply(self._init_weights)
+        # logger.info(
+        #     "number of parameters: %e", sum(p.numel() for p in self.parameters())
+        # )
+
+    def _init_weights(self, module):
+        ignore_types = (nn.Dropout, 
+            SinusoidalPosEmb, 
+            nn.TransformerEncoderLayer, 
+            nn.TransformerDecoderLayer,
+            nn.TransformerEncoder,
+            nn.TransformerDecoder,
+            nn.ModuleList,
+            nn.Mish,
+            nn.Sequential)
+        if isinstance(module, (nn.Linear, nn.Embedding)):
+            torch.nn.init.normal_(module.weight, mean=0.0, std=0.02)
+            if isinstance(module, nn.Linear) and module.bias is not None:
+                torch.nn.init.zeros_(module.bias)
+        elif isinstance(module, nn.MultiheadAttention):
+            weight_names = [
+                'in_proj_weight', 'q_proj_weight', 'k_proj_weight', 'v_proj_weight']
+            for name in weight_names:
+                weight = getattr(module, name)
+                if weight is not None:
+                    torch.nn.init.normal_(weight, mean=0.0, std=0.02)
+            
+            bias_names = ['in_proj_bias', 'bias_k', 'bias_v']
+            for name in bias_names:
+                bias = getattr(module, name)
+                if bias is not None:
+                    torch.nn.init.zeros_(bias)
+        elif isinstance(module, nn.LayerNorm):
+            torch.nn.init.zeros_(module.bias)
+            torch.nn.init.ones_(module.weight)
+        elif isinstance(module, TransformerForDiffusion):
+            torch.nn.init.normal_(module.pos_emb, mean=0.0, std=0.02)
+            if module.cond_obs_emb is not None:
+                torch.nn.init.normal_(module.cond_pos_emb, mean=0.0, std=0.02)
+        elif isinstance(module, ignore_types):
+            # no param
+            pass
+        else:
+            raise RuntimeError("Unaccounted module {}".format(module))
+    
+    def get_optim_groups(self, weight_decay: float=1e-3):
+        """
+        This long function is unfortunately doing something very simple and is being very defensive:
+        We are separating out all parameters of the model into two buckets: those that will experience
+        weight decay for regularization and those that won't (biases, and layernorm/embedding weights).
+        We are then returning the PyTorch optimizer object.
+        """
+
+        # separate out all parameters to those that will and won't experience regularizing weight decay
+        decay = set()
+        no_decay = set()
+        whitelist_weight_modules = (torch.nn.Linear, torch.nn.MultiheadAttention)
+        blacklist_weight_modules = (torch.nn.LayerNorm, torch.nn.Embedding)
+        for mn, m in self.named_modules():
+            for pn, p in m.named_parameters():
+                fpn = "%s.%s" % (mn, pn) if mn else pn  # full param name
+
+                if pn.endswith("bias"):
+                    # all biases will not be decayed
+                    no_decay.add(fpn)
+                elif pn.startswith("bias"):
+                    # MultiheadAttention bias starts with "bias"
+                    no_decay.add(fpn)
+                elif pn.endswith("weight") and isinstance(m, whitelist_weight_modules):
+                    # weights of whitelist modules will be weight decayed
+                    decay.add(fpn)
+                elif pn.endswith("weight") and isinstance(m, blacklist_weight_modules):
+                    # weights of blacklist modules will NOT be weight decayed
+                    no_decay.add(fpn)
+
+        # special case the position embedding parameter in the root GPT module as not decayed
+        no_decay.add("pos_emb")
+        no_decay.add("_dummy_variable")
+        if self.cond_pos_emb is not None:
+            no_decay.add("cond_pos_emb")
+
+        # validate that we considered every parameter
+        param_dict = {pn: p for pn, p in self.named_parameters()}
+        inter_params = decay & no_decay
+        union_params = decay | no_decay
+        assert (
+            len(inter_params) == 0
+        ), "parameters %s made it into both decay/no_decay sets!" % (str(inter_params),)
+        assert (
+            len(param_dict.keys() - union_params) == 0
+        ), "parameters %s were not separated into either decay/no_decay set!" % (
+            str(param_dict.keys() - union_params),
+        )
+
+        # create the pytorch optimizer object
+        optim_groups = [
+            {
+                "params": [param_dict[pn] for pn in sorted(list(decay))],
+                "weight_decay": weight_decay,
+            },
+            {
+                "params": [param_dict[pn] for pn in sorted(list(no_decay))],
+                "weight_decay": 0.0,
+            },
+        ]
+        return optim_groups
+
+
+    def configure_optimizers(self, 
+            learning_rate: float=1e-4, 
+            weight_decay: float=1e-3,
+            betas: Tuple[float, float]=(0.9,0.95)):
+        optim_groups = self.get_optim_groups(weight_decay=weight_decay)
+        optimizer = torch.optim.AdamW(
+            optim_groups, lr=learning_rate, betas=betas
+        )
+        return optimizer
+
+    def forward(self, 
+        sample: torch.Tensor, 
+        timestep: Union[torch.Tensor, float, int], 
+        cond: Optional[torch.Tensor]=None, **kwargs):
+        """
+        x: (B,T,input_dim)
+        timestep: (B,) or int, diffusion step
+        cond: (B,T',cond_dim)
+        output: (B,T,input_dim)
+        """
+        # 1. time
+        timesteps = timestep
+        if not torch.is_tensor(timesteps):
+            # TODO: this requires sync between CPU and GPU. So try to pass timesteps as tensors if you can
+            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])
+        time_emb = self.time_emb(timesteps).unsqueeze(1)
+        # (B,1,n_emb)
+
+        # process input
+        input_emb = self.input_emb(sample)
+
+        if self.encoder_only:
+            # BERT
+            token_embeddings = torch.cat([time_emb, input_emb], dim=1)
+            t = token_embeddings.shape[1]
+            position_embeddings = self.pos_emb[
+                :, :t, :
+            ]  # each position maps to a (learnable) vector
+            x = self.drop(token_embeddings + position_embeddings)
+            # (B,T+1,n_emb)
+            x = self.encoder(src=x, mask=self.mask)
+            # (B,T+1,n_emb)
+            x = x[:,1:,:]
+            # (B,T,n_emb)
+        else:
+            # encoder
+            cond_embeddings = time_emb
+            if self.obs_as_cond:
+                cond_obs_emb = self.cond_obs_emb(cond)
+                # (B,To,n_emb)
+                cond_embeddings = torch.cat([cond_embeddings, cond_obs_emb], dim=1)
+            tc = cond_embeddings.shape[1]
+            position_embeddings = self.cond_pos_emb[
+                :, :tc, :
+            ]  # each position maps to a (learnable) vector
+            x = self.drop(cond_embeddings + position_embeddings)
+            x = self.encoder(x)
+            memory = x
+            # (B,T_cond,n_emb)
+            
+            # decoder
+            token_embeddings = input_emb
+            t = token_embeddings.shape[1]
+            position_embeddings = self.pos_emb[
+                :, :t, :
+            ]  # each position maps to a (learnable) vector
+            x = self.drop(token_embeddings + position_embeddings)
+            # (B,T,n_emb)
+            x = self.decoder(
+                tgt=x,
+                memory=memory,
+                tgt_mask=self.mask,
+                memory_mask=self.memory_mask
+            )
+            # (B,T,n_emb)
+        
+        # head
+        x = self.ln_f(x)
+        x = self.head(x)
+        # (B,T,n_out)
+        return x
+
+
+
+class ConditionalUnet1D(nn.Module):
+    def __init__(self,
+        input_dim,
+        global_cond_dim,
+        diffusion_step_embed_dim=256,
+        down_dims=[256,512,1024],
+        kernel_size=5,
+        n_groups=8
+        ):
+        """
+        input_dim: Dim of actions.
+        global_cond_dim: Dim of global conditioning applied with FiLM
+          in addition to diffusion step embedding. This is usually obs_horizon * obs_dim
+        diffusion_step_embed_dim: Size of positional encoding for diffusion iteration k
+        down_dims: Channel size for each UNet level.
+          The length of this array determines numebr of levels.
+        kernel_size: Conv kernel size
+        n_groups: Number of groups for GroupNorm
+        """
+
+        super().__init__()
+        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 + global_cond_dim
+
+        in_out = list(zip(all_dims[:-1], all_dims[1:]))
+        mid_dim = all_dims[-1]
+        self.mid_modules = nn.ModuleList([
+            ConditionalResidualBlock1D(
+                mid_dim, mid_dim, cond_dim=cond_dim,
+                kernel_size=kernel_size, n_groups=n_groups
+            ),
+            ConditionalResidualBlock1D(
+                mid_dim, mid_dim, cond_dim=cond_dim,
+                kernel_size=kernel_size, n_groups=n_groups
+            ),
+        ])
+
+        down_modules = nn.ModuleList([])
+        for ind, (dim_in, dim_out) in enumerate(in_out):
+            is_last = ind >= (len(in_out) - 1)
+            down_modules.append(nn.ModuleList([
+                ConditionalResidualBlock1D(
+                    dim_in, dim_out, cond_dim=cond_dim,
+                    kernel_size=kernel_size, n_groups=n_groups),
+                ConditionalResidualBlock1D(
+                    dim_out, dim_out, cond_dim=cond_dim,
+                    kernel_size=kernel_size, n_groups=n_groups),
+                Downsample1d(dim_out) if not is_last else nn.Identity()
+            ]))
+
+        up_modules = nn.ModuleList([])
+        for ind, (dim_in, dim_out) in enumerate(reversed(in_out[1:])):
+            is_last = ind >= (len(in_out) - 1)
+            up_modules.append(nn.ModuleList([
+                ConditionalResidualBlock1D(
+                    dim_out*2, dim_in, cond_dim=cond_dim,
+                    kernel_size=kernel_size, n_groups=n_groups),
+                ConditionalResidualBlock1D(
+                    dim_in, dim_in, cond_dim=cond_dim,
+                    kernel_size=kernel_size, n_groups=n_groups),
+                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),
+        )
+
+        self.diffusion_step_encoder = diffusion_step_encoder
+        self.up_modules = up_modules
+        self.down_modules = down_modules
+        self.final_conv = final_conv
+
+        print("number of parameters: {:e}".format(
+            sum(p.numel() for p in self.parameters()))
+        )
+
+    def forward(self,
+            sample: torch.Tensor,
+            timestep: Union[torch.Tensor, float, int],
+            global_cond=None):
+        """
+        x: (B,T,input_dim)
+        timestep: (B,) or int, diffusion step
+        global_cond: (B,global_cond_dim)
+        output: (B,T,input_dim)
+        """
+        # (B,T,C)
+        sample = sample.moveaxis(-1,-2)
+        # (B,C,T)
+
+        # 1. time
+        timesteps = timestep
+        if not torch.is_tensor(timesteps):
+            # TODO: this requires sync between CPU and GPU. So try to pass timesteps as tensors if you can
+            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)
+
+        if global_cond is not None:
+            global_feature = torch.cat([
+                global_feature, global_cond
+            ], axis=-1)
+
+        x = sample
+        h = []
+        for idx, (resnet, resnet2, downsample) in enumerate(self.down_modules):
+            x = resnet(x, global_feature)
+            x = resnet2(x, global_feature)
+            h.append(x)
+            x = downsample(x)
+
+        for mid_module in self.mid_modules:
+            x = mid_module(x, global_feature)
+
+        for idx, (resnet, resnet2, upsample) in enumerate(self.up_modules):
+            x = torch.cat((x, h.pop()), dim=1)
+            x = resnet(x, global_feature)
+            x = resnet2(x, global_feature)
+            x = upsample(x)
+
+        x = self.final_conv(x)
+
+        # (B,C,T)
+        x = x.moveaxis(-1,-2)
+        # (B,T,C)
+        return x
+    
+class DiffusionPolicy(nn.Module):
+    # observation and action dimensions corrsponding to
+    # the output of PushTEnv
+    def __init__(
+        self,
+        obs_dim: int,
+        act_dim: int,
+        obs_horizon: int,
+        pred_horizon: int,
+        action_horizon: int,
+        data_act_scale = 1.0,
+        data_obs_scale = 1.0,
+        policy_type = 'cnn',
+        device = 'cuda', 
+    ):
+        super().__init__()
+        self.obs_dim = obs_dim
+        self.action_dim = act_dim
+        self.obs_horizon = obs_horizon
+        self.pred_horizon = pred_horizon
+        self.action_horizon = action_horizon
+        self.data_act_scale = data_act_scale
+        self.data_obs_scale = data_obs_scale
+        self.policy_type = policy_type
+        self.device = device
+        if self.policy_type == "cnn":
+            if self.action_horizon == 4:
+                self.pad_before = 1
+                self.pad_after = 2
+                self.pred_horizon = pred_horizon + self.pad_before + self.pad_after
+            if self.action_horizon == 6:
+                self.pad_before = 0
+                self.pad_after = 1
+                self.pred_horizon = pred_horizon + self.pad_before + self.pad_after
+        # create network object
+        if self.policy_type == "cnn":
+            self.noise_pred_net = ConditionalUnet1D(
+                input_dim=self.action_dim,
+                global_cond_dim=self.obs_dim*self.obs_horizon
+            ).to(self.device)
+        elif self.policy_type == "transformer":
+            self.noise_pred_net = TransformerForDiffusion(
+                input_dim=self.action_dim,
+                output_dim=self.action_dim,
+                horizon=pred_horizon,
+                n_obs_steps=obs_horizon,
+                cond_dim=self.obs_dim,
+                n_layer=8,
+                n_head=4,
+                n_emb=768,
+                p_drop_emb=0.0,
+                p_drop_attn=0.1,
+                causal_attn=True,
+                time_as_cond=True,
+                obs_as_cond=True,
+                n_cond_layers=0
+            ).to(self.device)
+        else:
+            raise NotImplementedError
+
+        # for this demo, we use DDPMScheduler with 100 diffusion iterations
+        self.num_diffusion_iters = 100
+        self.noise_scheduler = DDPMScheduler(
+            num_train_timesteps=self.num_diffusion_iters,
+            # the choise of beta schedule has big impact on performance
+            # we found squared cosine works the best
+            beta_schedule='squaredcos_cap_v2',
+            # clip output to [-1,1] to improve stability
+            clip_sample=True,
+            # our network predicts noise (instead of denoised action)
+            prediction_type='epsilon'
+        )
+
+        self.ema = EMAModel(
+            model=self.noise_pred_net,
+            inv_gamma= 1.0,
+            max_value= 0.9999,
+            min_value= 0.0,
+            power= 0.75,
+            update_after_step= 0,
+            )
+        self.ema_noise_pred_net = self.get_ema_average()
+        # self.ema = EMAModel(
+        #     parameters=self.noise_pred_net.parameters(),
+        #     power=0.75)
+
+
+    def forward(
+            self,
+            obs_seq: torch.Tensor,
+            action_seq: Optional[torch.Tensor],
+            eval = False
+        ) -> Tuple[Optional[torch.Tensor], Optional[torch.Tensor]]:
+        if eval:
+            return self._predict(obs_seq, None, action_seq)
+        else:
+            return self._update(obs_seq, None, action_seq)
+
+    def _update(
+        self,
+        obs_seq: torch.Tensor,
+        goal_seq: Optional[torch.Tensor],
+        action_seq: Optional[torch.Tensor],
+    ) -> Tuple[Optional[torch.Tensor], Optional[torch.Tensor], Dict[str, float]]:
+        # Assume dimensions are N T D for N sequences of T timesteps with dimension D.
+        if obs_seq.shape[1] < self.obs_horizon:
+            obs_seq = torch.cat((torch.tile(obs_seq[:, 0, :], (1, self.obs_horizon-obs_seq.shape[1], 1)), obs_seq), dim=-2)
+        if self.policy_type == "cnn":
+            action_seq = torch.cat((torch.zeros_like(action_seq[:, :self.pad_before]), action_seq, torch.zeros_like(action_seq[:, :self.pad_after])), dim=1)
+        naction = self.normalize_act_data(action_seq).to(self.device)
+        nobs = self.normalize_obs_data(obs_seq).to(self.device)
+        # nobs = obs_seq.to(self.device)
+        # naction = action_seq.to(self.device)
+        B = nobs.shape[0]
+
+        # observation as FiLM conditioning
+        # (B, obs_horizon, obs_dim)
+        obs_cond = nobs[:,:self.obs_horizon,:]
+        # (B, obs_horizon * obs_dim)
+        # obs_cond = obs_cond.flatten(start_dim=1)
+
+        # sample noise to add to actions
+        noise = torch.randn(naction.shape, device="cuda")
+
+        # sample a diffusion iteration for each data point
+        timesteps = torch.randint(
+            0, self.noise_scheduler.config.num_train_timesteps,
+            (B,), device="cuda"
+        ).long()
+
+        # add noise to the clean images according to the noise magnitude at each diffusion iteration
+        # (this is the forward diffusion process)
+        noisy_actions = self.noise_scheduler.add_noise(
+            naction, noise, timesteps)
+
+        # predict the noise residual
+        if self.policy_type == "cnn":
+            obs_cond = obs_cond.flatten(start_dim=1)
+            noise_pred = self.noise_pred_net(
+                noisy_actions, timesteps, global_cond=obs_cond)
+        elif self.policy_type == "transformer":
+            noise_pred = self.noise_pred_net(
+                noisy_actions, timesteps, cond=obs_cond)
+        else:
+            raise NotImplementedError
+        # L2 loss
+        loss = nn.functional.mse_loss(noise_pred, noise)
+        loss_dict = {
+            "total_loss": loss.detach().cpu().item(),
+        }
+        return None, loss, loss_dict
+    
+    def normalize_obs_data(self, data):
+        return data / self.data_obs_scale
+    
+    def unnormalize_obs_data(self, data):
+        return data * self.data_obs_scale
+
+    def normalize_act_data(self, data):
+        return data / self.data_act_scale
+    
+    def unnormalize_act_data(self, data):
+        return data * self.data_act_scale
+
+    def _predict(
+        self,
+        obs_seq: torch.Tensor,
+        goal_seq: Optional[torch.Tensor],
+        action_seq: Optional[torch.Tensor],
+    ) -> Tuple[Optional[torch.Tensor], Optional[torch.Tensor], Dict[str, float]]:
+        self.ema_noise_pred_net = self.get_ema_average()
+        B = obs_seq.shape[0]
+        # stack the last obs_horizon (2) number of observations
+        if obs_seq.shape[1] < self.obs_horizon:
+            obs_seq = torch.cat((torch.tile(obs_seq[:, 0, :], (1, self.obs_horizon-obs_seq.shape[1], 1)), obs_seq), dim=-2)
+        # normalize observation
+        nobs = self.normalize_obs_data(obs_seq)
+        # device transfer
+        # nobs = torch.from_numpy(nobs).to("cuda", dtype=torch.float32)
+
+        # infer action
+        with torch.no_grad():
+            # reshape observation to (B,obs_horizon*obs_dim)
+            # obs_cond = nobs.unsqueeze(0).flatten(start_dim=1)
+
+            # initialize action from Guassian noise
+            noisy_action = torch.randn(
+                (B, self.pred_horizon, self.action_dim), device=self.device)
+            naction = noisy_action
+
+            # init scheduler
+            self.noise_scheduler.set_timesteps(self.num_diffusion_iters)
+
+            for k in self.noise_scheduler.timesteps:
+                # predict noise
+                if self.policy_type == "cnn":
+                    # (B, obs_horizon, obs_dim)
+                    #################################
+                    obs_cond = nobs.flatten(start_dim=1)
+                    # obs_cond = nobs.unsqueeze(0).flatten(start_dim=1)
+                    #################################
+                    noise_pred = self.ema_noise_pred_net(
+                        sample=naction,
+                        timestep=k,
+                        global_cond=obs_cond
+                    )
+                elif self.policy_type == "transformer":
+                    obs_cond = nobs
+                    noise_pred = self.ema_noise_pred_net(
+                        sample=naction,
+                        timestep=k,
+                        cond=obs_cond
+                    )
+                else:
+                    raise NotImplementedError
+                
+                # inverse diffusion step (remove noise)
+                naction = self.noise_scheduler.step(
+                    model_output=noise_pred,
+                    timestep=k,
+                    sample=naction
+                ).prev_sample
+
+        # unnormalize action
+        if self.policy_type == "cnn":
+            naction = naction[:, self.pad_before : -self.pad_after]
+        naction = self.unnormalize_act_data(naction)
+        action_pred = naction.detach().to(self.device)
+        # (B, pred_horizon, action_dim)
+        action_pred = action_pred[0]
+        start = self.obs_horizon - 1
+        end = start + self.action_horizon
+        a_hat = action_pred[start:end,:]
+        
+        if action_seq is None:
+            return a_hat, None, {}
+        action_mse = F.mse_loss(naction, action_seq, reduction="none")
+        action_l1 = F.l1_loss(naction, action_seq, reduction="none")
+        norm = torch.norm(action_seq, p=2, dim=-1, keepdim=True) + 1e-9
+        normalized_mse = (action_mse / norm).mean()
+
+        translation_loss = F.mse_loss(
+            naction[:, :, :3], action_seq[:, :, :3]
+        ).detach()
+        rotation_loss = F.mse_loss(
+            naction[:, :, 3:6], action_seq[:, :, 3:6]
+        ).detach()
+        gripper_loss = F.mse_loss(
+            naction[:, :, 6:], action_seq[:, :, 6:]
+        ).detach()
+
+        loss_dict = {
+            "L2_loss": action_mse.mean().detach().cpu().item(),
+            "L2_loss_normalized": normalized_mse.mean().detach().cpu().item(),
+            "L1_loss": action_l1.mean().detach().cpu().item(),
+            "translation_loss": translation_loss,
+            "rotation_loss": rotation_loss,
+            "gripper_loss": gripper_loss,
+        }
+
+        return a_hat, action_mse.mean(), loss_dict
+
+    def ema_step(self):
+        self.ema.step(self.noise_pred_net)
+
+    def get_ema_average(self):
+        return self.ema.averaged_model
+
+    def _begin_epoch(self, optimizer, **kwargs):
+        return None
+
+    def _load_from_state_dict(self, *args, **kwargs):
+        return super()._load_from_state_dict(*args, **kwargs)