warp-lang 1.7.0__py3-none-manylinux_2_34_aarch64.whl

warp/tests/tile/test_tile_mlp.py

@@ -0,0 +1,402 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+import numpy as np
+
+import warp as wp
+import warp.examples
+import warp.optim
+from warp.tests.unittest_utils import *
+
+
+def create_layer(rng, dim_in, dim_hid, dtype=float):
+    w = rng.uniform(-1.0 / np.sqrt(dim_in), 1.0 / np.sqrt(dim_in), (dim_hid, dim_in))
+    b = rng.uniform(-1.0 / np.sqrt(dim_in), 1.0 / np.sqrt(dim_in), (dim_hid, 1))
+
+    weights = wp.array(w, dtype=dtype, requires_grad=True)
+    bias = wp.array(b, dtype=dtype, requires_grad=True)
+
+    return (weights, bias)
+
+
+def create_array(rng, dim_in, dim_hid, dtype=float):
+    s = rng.uniform(-1.0 / np.sqrt(dim_in), 1.0 / np.sqrt(dim_in), (dim_hid, dim_in))
+    a = wp.array(s, dtype=dtype, requires_grad=True)
+
+    return a
+
+
+def test_multi_layer_nn(test, device):
+    import torch as tc
+
+    if device.is_cuda and not wp.context.runtime.core.is_mathdx_enabled():
+        test.skipTest("Skipping test on CUDA device without MathDx (tolerance)")
+
+    NUM_FREQ = wp.constant(8)
+
+    DIM_IN = wp.constant(4 * NUM_FREQ)  # sin,cos for both x,y at each frequency
+    DIM_HID = 32
+    DIM_OUT = 3
+
+    IMG_WIDTH = 256
+    IMG_HEIGHT = 256
+
+    BATCH_SIZE = min(512, int((IMG_WIDTH * IMG_HEIGHT) / 8))
+
+    if device.is_cpu:
+        NUM_THREADS = 1
+    else:
+        NUM_THREADS = 32
+
+    dtype = wp.float16
+    npdtype = wp.types.warp_type_to_np_dtype[dtype]
+
+    @wp.func
+    def relu(x: dtype):
+        return wp.max(x, dtype(0.0))
+
+    @wp.func
+    def sigmoid(x: dtype):
+        return dtype(1.0 / (1.0 + wp.exp(-float(x))))
+
+    @wp.kernel
+    def zero(loss: wp.array(dtype=float)):
+        loss[0] = 0.0
+
+    @wp.kernel(module="unique")
+    def compute(
+        batches: wp.array(dtype=int),
+        input: wp.array2d(dtype=dtype),
+        weights_0: wp.array2d(dtype=dtype),
+        bias_0: wp.array2d(dtype=dtype),
+        weights_1: wp.array2d(dtype=dtype),
+        bias_1: wp.array2d(dtype=dtype),
+        weights_2: wp.array2d(dtype=dtype),
+        bias_2: wp.array2d(dtype=dtype),
+        weights_3: wp.array2d(dtype=dtype),
+        bias_3: wp.array2d(dtype=dtype),
+        reference: wp.array2d(dtype=float),
+        loss: wp.array1d(dtype=float),
+        out: wp.array2d(dtype=float),
+    ):
+        linear = batches[wp.tid()]
+        row = linear / IMG_WIDTH
+        col = linear % IMG_WIDTH
+
+        # normalize input coordinates to [-1, 1]
+        x = (float(row) / float(IMG_WIDTH) - 0.5) * 2.0
+        y = (float(col) / float(IMG_HEIGHT) - 0.5) * 2.0
+
+        local = wp.vector(dtype=dtype, length=DIM_IN)
+
+        # construct positional encoding
+        for s in range(NUM_FREQ):
+            scale = wp.pow(2.0, float(s)) * wp.pi
+
+            # x-coord
+            local[s * 4 + 0] = dtype(wp.sin(x * scale))
+            local[s * 4 + 1] = dtype(wp.cos(x * scale))
+
+            # y-coord
+            local[s * 4 + 2] = dtype(wp.sin(y * scale))
+            local[s * 4 + 3] = dtype(wp.cos(y * scale))
+
+            # write input back to array so that torch can use it
+            input[s * 4 + 0, linear] = local[s * 4 + 0]
+            input[s * 4 + 1, linear] = local[s * 4 + 1]
+            input[s * 4 + 2, linear] = local[s * 4 + 2]
+            input[s * 4 + 3, linear] = local[s * 4 + 3]
+
+        # tile feature vectors across the block, returns [dim(f), NUM_THREADS]
+        f = wp.tile(local)
+
+        # input layer
+        w0 = wp.tile_load(weights_0, shape=(DIM_HID, DIM_IN))
+        b0 = wp.tile_load(bias_0, shape=(DIM_HID, 1))
+        z = wp.tile_map(relu, wp.tile_matmul(w0, f) + wp.tile_broadcast(b0, shape=(DIM_HID, NUM_THREADS)))
+
+        # hidden layer
+        w1 = wp.tile_load(weights_1, shape=(DIM_HID, DIM_HID))
+        b1 = wp.tile_load(bias_1, shape=(DIM_HID, 1))
+        z = wp.tile_map(relu, wp.tile_matmul(w1, z) + wp.tile_broadcast(b1, shape=(DIM_HID, NUM_THREADS)))
+
+        w2 = wp.tile_load(weights_2, shape=(DIM_HID, DIM_HID))
+        b2 = wp.tile_load(bias_2, shape=(DIM_HID, 1))
+        z = wp.tile_map(relu, wp.tile_matmul(w2, z) + wp.tile_broadcast(b2, shape=(DIM_HID, NUM_THREADS)))
+
+        # output layer
+        w3 = wp.tile_load(weights_3, shape=(DIM_OUT, DIM_HID))
+        b3 = wp.tile_load(bias_3, shape=(DIM_OUT, 1))
+        o = wp.tile_map(relu, wp.tile_matmul(w3, z) + wp.tile_broadcast(b3, shape=(DIM_OUT, NUM_THREADS)))
+
+        # untile back to SIMT
+        output = wp.untile(o)
+
+        # compute error
+        error = wp.vec3(
+            float(output[0]) - reference[0, linear],
+            float(output[1]) - reference[1, linear],
+            float(output[2]) - reference[2, linear],
+        )
+
+        # write MSE loss
+        wp.atomic_add(loss, 0, wp.length_sq(error) / float(3 * BATCH_SIZE))
+
+        # image output
+        for i in range(DIM_OUT):
+            out[i, linear] = float(output[i])
+
+    with wp.ScopedDevice(device):
+        torch_device = wp.device_to_torch(device)
+
+        rng = np.random.default_rng(45)
+
+        weights_0, bias_0 = create_layer(rng, DIM_IN, DIM_HID, dtype=dtype)
+        weights_1, bias_1 = create_layer(rng, DIM_HID, DIM_HID, dtype=dtype)
+        weights_2, bias_2 = create_layer(rng, DIM_HID, DIM_HID, dtype=dtype)
+        weights_3, bias_3 = create_layer(rng, DIM_HID, DIM_OUT, dtype=dtype)
+
+        input = create_array(rng, IMG_WIDTH * IMG_HEIGHT, DIM_IN, dtype=dtype)
+        output = create_array(rng, IMG_WIDTH * IMG_HEIGHT, DIM_OUT)
+
+        reference_np = (
+            np.load(os.path.join(os.path.dirname(__file__), "..", "assets", "pixel.npy"), allow_pickle=True) / 255.0
+        )
+        reference = wp.array(reference_np, dtype=float)
+
+        assert reference.shape[1] == IMG_WIDTH * IMG_HEIGHT
+
+        loss = wp.zeros(1, dtype=float, requires_grad=True)
+
+        params = [weights_0, bias_0, weights_1, bias_1, weights_2, bias_2, weights_3, bias_3]
+
+        optimizer_grads = [p.grad.flatten() for p in params]
+        optimizer_inputs = [p.flatten() for p in params]
+        optimizer = warp.optim.Adam(optimizer_inputs, lr=0.01)
+
+        num_batches = int((IMG_WIDTH * IMG_HEIGHT) / BATCH_SIZE)
+        max_epochs = 30
+
+        # create randomized batch indices
+        batches = np.arange(0, IMG_WIDTH * IMG_HEIGHT, dtype=np.int32)
+        rng.shuffle(batches)
+        batches = wp.array(batches)
+
+        with wp.ScopedTimer("Training", active=False):
+            for epoch in range(max_epochs):
+                for b in range(0, IMG_WIDTH * IMG_HEIGHT, BATCH_SIZE):
+                    loss.zero_()
+
+                    with wp.Tape() as tape:
+                        wp.launch(
+                            compute,
+                            dim=[BATCH_SIZE],
+                            inputs=[
+                                batches[b : b + BATCH_SIZE],
+                                input,
+                                weights_0,
+                                bias_0,
+                                weights_1,
+                                bias_1,
+                                weights_2,
+                                bias_2,
+                                weights_3,
+                                bias_3,
+                                reference,
+                                loss,
+                                output,
+                            ],
+                            block_dim=NUM_THREADS,
+                        )
+
+                    tape.backward(loss)
+
+                    # check outputs + grads on the first few epoch only
+                    # since this is a relatively slow operation
+                    verify = True
+                    if verify and epoch < 3:
+                        indices = batches[b : b + BATCH_SIZE].numpy()
+
+                        z_np = np.maximum(weights_0.numpy() @ input.numpy()[:, indices] + bias_0.numpy(), 0.0)
+                        z_np = np.maximum(weights_1.numpy() @ z_np + bias_1.numpy(), 0.0)
+                        z_np = np.maximum(weights_2.numpy() @ z_np + bias_2.numpy(), 0.0)
+                        z_np = np.maximum(weights_3.numpy() @ z_np + bias_3.numpy(), 0.0)
+
+                        # test numpy forward
+                        assert_np_equal(output.numpy()[:, indices].astype(npdtype), z_np, tol=1.0e-2)
+
+                        # torch
+                        input_tc = tc.tensor(input.numpy()[:, indices], requires_grad=True, device=torch_device)
+
+                        weights_0_tc = tc.tensor(weights_0.numpy(), requires_grad=True, device=torch_device)
+                        bias_0_tc = tc.tensor(bias_0.numpy(), requires_grad=True, device=torch_device)
+
+                        weights_1_tc = tc.tensor(weights_1.numpy(), requires_grad=True, device=torch_device)
+                        bias_1_tc = tc.tensor(bias_1.numpy(), requires_grad=True, device=torch_device)
+
+                        weights_2_tc = tc.tensor(weights_2.numpy(), requires_grad=True, device=torch_device)
+                        bias_2_tc = tc.tensor(bias_2.numpy(), requires_grad=True, device=torch_device)
+
+                        weights_3_tc = tc.tensor(weights_3.numpy(), requires_grad=True, device=torch_device)
+                        bias_3_tc = tc.tensor(bias_3.numpy(), requires_grad=True, device=torch_device)
+
+                        z_tc = tc.clamp(weights_0_tc @ input_tc + bias_0_tc, min=0.0)
+                        z_tc = tc.clamp(weights_1_tc @ z_tc + bias_1_tc, min=0.0)
+                        z_tc = tc.clamp(weights_2_tc @ z_tc + bias_2_tc, min=0.0)
+                        z_tc = tc.clamp(weights_3_tc @ z_tc + bias_3_tc, min=0.0)
+
+                        ref_tc = tc.tensor(reference.numpy()[:, indices], requires_grad=True, device=torch_device)
+
+                        l_tc = tc.mean((z_tc - ref_tc) ** 2)
+                        l_tc.backward()
+
+                        # test torch
+                        assert_np_equal(
+                            z_tc.cpu().detach().numpy(), output.numpy()[:, indices].astype(npdtype), tol=1.0e-2
+                        )
+                        assert_np_equal(weights_0.grad.numpy(), weights_0_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+                        assert_np_equal(bias_0.grad.numpy(), bias_0_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+                        assert_np_equal(weights_1.grad.numpy(), weights_1_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+                        assert_np_equal(bias_1.grad.numpy(), bias_1_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+                        assert_np_equal(weights_2.grad.numpy(), weights_2_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+                        assert_np_equal(bias_2.grad.numpy(), bias_2_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+                        assert_np_equal(weights_3.grad.numpy(), weights_3_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+                        assert_np_equal(bias_3.grad.numpy(), bias_3_tc.grad.cpu().detach().numpy(), tol=1.0e-2)
+
+                    optimizer.step(optimizer_grads)
+                    tape.zero()
+
+        # initial loss is ~0.061
+        test.assertLess(loss.numpy()[0], 0.002)
+
+
+def test_single_layer_nn(test, device):
+    import torch as tc
+
+    DIM_IN = 8
+    DIM_HID = 32
+    DIM_OUT = 16
+
+    NUM_BLOCKS = 56
+
+    if device.is_cpu:
+        NUM_THREADS = 1
+    else:
+        NUM_THREADS = 32
+
+    @wp.func
+    def relu(x: float):
+        return wp.max(x, 0.0)
+
+    @wp.kernel(module="unique")
+    def compute(
+        input: wp.array2d(dtype=float),
+        weights: wp.array2d(dtype=float),
+        bias: wp.array2d(dtype=float),
+        out: wp.array2d(dtype=float),
+    ):
+        i = wp.tid()
+
+        f = wp.tile_load(input, shape=(DIM_IN, NUM_THREADS), offset=(0, i * NUM_THREADS))
+
+        w = wp.tile_load(weights, shape=(DIM_OUT, DIM_IN))
+        b = wp.tile_load(bias, shape=(DIM_OUT, 1))
+
+        o = wp.tile_map(relu, wp.tile_matmul(w, f) + wp.tile_broadcast(b, shape=(DIM_OUT, NUM_THREADS)))
+
+        wp.tile_store(out, o, offset=(0, i * NUM_THREADS))
+
+    with wp.ScopedDevice(device):
+        rng = np.random.default_rng(45)
+
+        # single layer weights, bias
+        weights, bias = create_layer(rng, DIM_IN, DIM_OUT, dtype=float)
+
+        input = create_array(rng, NUM_THREADS * NUM_BLOCKS, DIM_IN)
+        output = create_array(rng, NUM_THREADS * NUM_BLOCKS, DIM_OUT)
+
+        with wp.Tape() as tape:
+            wp.launch_tiled(compute, dim=[NUM_BLOCKS], inputs=[input, weights, bias, output], block_dim=NUM_THREADS)
+
+        output.grad = wp.ones_like(output)
+        tape.backward()
+
+        # numpy
+        output_np = np.maximum(weights.numpy() @ input.numpy() + bias.numpy(), 0.0)
+
+        # test numpy forward
+        assert_np_equal(output.numpy(), output_np, tol=1.0e-2)
+
+        # torch
+        weights_tc = tc.from_numpy(weights.numpy()).requires_grad_(True)  # use .numpy() to avoid any memory aliasing
+        input_tc = tc.from_numpy(input.numpy()).requires_grad_(True)
+        bias_tc = tc.from_numpy(bias.numpy()).requires_grad_(True)
+
+        output_tc = tc.clamp(weights_tc @ input_tc + bias_tc, min=0.0)
+        output_tc.backward(tc.ones_like(output_tc))
+
+        # test torch
+        assert_np_equal(output_tc.detach().numpy(), output.numpy(), tol=1.0e-2)
+        assert_np_equal(input.grad.numpy(), input_tc.grad.detach().numpy(), tol=1.0e-2)
+
+
+class TestTileMLP(unittest.TestCase):
+    pass
+
+
+test_devices = get_test_devices()
+
+try:
+    import torch
+
+    # check which Warp devices work with Torch
+    torch_compatible_devices = []
+    torch_compatible_cuda_devices = []
+
+    for d in test_devices:
+        try:
+            t = torch.arange(10, device=wp.device_to_torch(d))
+            t += 1
+            torch_compatible_devices.append(d)
+            if d.is_cuda:
+                torch_compatible_cuda_devices.append(d)
+        except Exception as e:
+            print(f"Skipping Torch tests on device '{d}' due to exception: {e}")
+
+    add_function_test(
+        TestTileMLP,
+        "test_single_layer_nn",
+        test_single_layer_nn,
+        check_output=False,
+        devices=torch_compatible_devices,
+    )
+    add_function_test(
+        TestTileMLP,
+        "test_multi_layer_nn",
+        test_multi_layer_nn,
+        check_output=False,
+        devices=torch_compatible_cuda_devices,
+    )
+
+except Exception as e:
+    print(f"Skipping Torch tests due to exception: {e}")
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    wp.clear_lto_cache()
+    unittest.main(verbosity=2, failfast=True)