refactor: GINKA 生成器使用 Minamo 作为损失值的一部分

ginka/dataset.py

@@ -15,10 +15,11 @@ def load_data(path: str):
     return data_list
 
 class GinkaDataset(Dataset):
-    def __init__(self, data_path: str, minamo: MinamoModel):
+    def __init__(self, data_path: str, device, minamo: MinamoModel):
         self.data = load_data(data_path)  # 自定义数据加载函数
         self.max_size = 32
         self.minamo = minamo
+        self.device = device
 
     def __len__(self):
         return len(self.data)
@@ -26,13 +27,13 @@ class GinkaDataset(Dataset):
     def __getitem__(self, idx):
         item = self.data[idx]
         
-        target = torch.tensor(item["map"])
+        target = torch.tensor(item["map"]).to(self.device)
-        graph = convert_map_to_graph(target)
+        graph = convert_map_to_graph(target).to(self.device)
-        vision_feat, topo_feat = self.minamo(target, graph)
+        vision_feat, topo_feat = self.minamo(target.unsqueeze(0), graph)
-        feat_vec = torch.cat([vision_feat, topo_feat])
         
         return {
-            "feat_vec": feat_vec,
+            "target_vision_feat": vision_feat,
+            "target_topo_feat": topo_feat,
             "target": target
         }
         

ginka/model/loss.py

@@ -3,6 +3,7 @@ import torch
 import torch.nn as nn
 import torch.nn.functional as F
 from minamo.model.model import MinamoModel
+from shared.graph import DynamicGraphConverter
 
 def wall_border_loss(pred: torch.Tensor, probs: torch.Tensor, allow_border=[1, 11]):
     """地图最外层是否为墙"""
@@ -131,7 +132,6 @@ def entrance_distance_and_presence_loss(
         total_loss: 综合入口距离与存在性损失
     """
     # 将 logits 转换为概率分布
-    probs = F.softmax(logits, dim=1)  # [B, C, H, W]
     B, C, H, W = logits.shape
 
     # 提取箭头和楼梯的概率图
@@ -147,9 +147,9 @@ def entrance_distance_and_presence_loss(
     arrow_distance_loss = F.relu(arrow_excess).mean()
 
     # 楼梯：使用窗口大小为 (W//2, H//2)
-    kernel_size_stairs = (max(1, W // 2), max(1, H // 2))
+    kernel_size_stairs = (9, 9)
     kernel_stairs = torch.ones((1, 1, kernel_size_stairs[0], kernel_size_stairs[1]), device=logits.device)
-    pad_stairs = (kernel_size_stairs[0] // 2, kernel_size_stairs[1] // 2)
+    pad_stairs = ((kernel_size_stairs[0] - 1) // 2, (kernel_size_stairs[1] - 1) // 2)
     local_stairs_sum = F.conv2d(stairs_probs.unsqueeze(1), kernel_stairs, padding=pad_stairs)
     stairs_excess = local_stairs_sum - stairs_probs.unsqueeze(1)
     stairs_distance_loss = F.relu(stairs_excess).mean()
@@ -283,7 +283,7 @@ def integrated_count_loss(probs, target, class_list=[0,1,2,3,4,5,6,7,8,9], toler
     return avg_loss
 
 class GinkaLoss(nn.Module):
-    def __init__(self, minamo: MinamoModel, weight=[0.35, 0.1, 0.1, 0.1, 0.1, 0.05, 0.1, 0.1]):
+    def __init__(self, minamo: MinamoModel, converter: DynamicGraphConverter, weight=[0.35, 0.1, 0.1, 0.1, 0.1, 0.05, 0.1, 0.1]):
         """Ginka Model 损失函数部分
 
         Args:
@@ -301,8 +301,10 @@ class GinkaLoss(nn.Module):
         self.weight = weight
         self.ce = nn.CrossEntropyLoss()
         self.minamo = minamo
+        self.tau = 1
+        self.converter = converter
         
-    def forward(self, pred, pred_softmax, target):
+    def forward(self, pred, pred_softmax, target, target_vision_feat, target_topo_feat):
         probs = F.softmax(pred, dim=1)
         # 地图结构损失
         border_loss = wall_border_loss(pred, probs)
@@ -314,21 +316,27 @@ class GinkaLoss(nn.Module):
         count_loss = integrated_count_loss(probs, target)
         
         # 使用 Minamo Model 计算相似度
+        graph = self.converter(pred, tau=self.tau)
+        pred_vision_feat, pred_topo_feat = self.minamo(pred_softmax, graph)
         
+        vision_sim = F.cosine_similarity(pred_vision_feat, target_vision_feat, dim=-1)
+        topo_sim = F.cosine_similarity(pred_topo_feat, target_topo_feat, dim=-1)
+        minamo_sim = 0.3 * vision_sim + 0.7 * topo_sim
+        minamo_loss = torch.exp(-10 * (minamo_sim - 0.8)).mean()
         
-        print(
+        # print(
-            # structure_loss.item(),
+        #     minamo_loss.item(),
-            border_loss.item(),
+        #     border_loss.item(),
-            wall_loss.item(),
+        #     wall_loss.item(),
-            entry_loss.item(),
+        #     entry_loss.item(),
-            entry_dis_loss.item(),
+        #     entry_dis_loss.item(),
-            enemy_loss.item(),
+        #     enemy_loss.item(),
-            valid_block_loss.item(),
+        #     valid_block_loss.item(),
-            count_loss.item()
+        #     count_loss.item()
-        )
+        # )
         
         return (
-            # structure_loss * self.weight[0] +
+            minamo_loss * self.weight[0] +
             border_loss * self.weight[1] +
             wall_loss * self.weight[2] +
             entry_loss * self.weight[3] +

ginka/model/model.py

@@ -14,8 +14,8 @@ class GumbelSoftmax(nn.Module):
         y = F.gumbel_softmax(logits, tau=self.tau, hard=self.hard)
         
         # 转换为类索引的连续表示
-        class_indices = torch.arange(y.size(1), device=y.device).view(1, -1, 1, 1)
+        # class_indices = torch.arange(y.size(1), device=y.device).view(1, -1, 1, 1)
-        return (y * class_indices).sum(dim=1)  # 形状[BS, H, W]
+        return y.argmax(dim=1)  # 形状[BS, H, W]
 
 class GinkaModel(nn.Module):
     def __init__(self, feat_dim=256, base_ch=64, num_classes=32):

ginka/model/unet.py

@@ -16,33 +16,25 @@ class GinkaEncoder(nn.Module):
         self.pool = nn.MaxPool2d(2)
 
     def forward(self, x):
-        x_res = self.conv(x)  # 卷积提取特征
+        x_res = self.conv(x)  
-        x_down = self.pool(x_res)  # 进行池化
+        x_down = self.pool(x_res)  
-        return x_down, x_res  # 返回池化后的特征和跳跃连接特征
+        return x_down, x_res  
     
 class GinkaDecoder(nn.Module):
     """解码器（上采样）部分"""
     def __init__(self, in_channels, out_channels):
         super().__init__()
-        # 上采样（双线性插值 + 卷积）
+        self.upsample = nn.ConvTranspose2d(in_channels, out_channels, kernel_size=2, stride=2)
-        self.upsample = nn.Sequential(
+
-            nn.Upsample(scale_factor=2, mode="bilinear", align_corners=True),
-            nn.Conv2d(in_channels, out_channels, kernel_size=3, padding=1),
-            nn.BatchNorm2d(out_channels),
-            nn.ReLU()
-        )
-        
-        # 跳跃连接融合
         self.conv = nn.Sequential(
-            nn.Conv2d(out_channels * 2, out_channels, kernel_size=3, padding=1),
+            nn.Conv2d(in_channels + out_channels, out_channels, kernel_size=3, padding=1),
             nn.BatchNorm2d(out_channels),
             nn.ReLU()
         )
     
     def forward(self, x, skip):
         x = self.upsample(x)
-        # 跳跃连接融合
+        x = torch.cat([x, skip], dim=1)  
-        x = torch.cat([x, skip], dim=1)
         x = self.conv(x)
         return x
     
@@ -66,26 +58,26 @@ class GinkaUNet(nn.Module):
         """Ginka Model UNet 部分
         """
         super().__init__()
-
         self.down1 = GinkaEncoder(in_ch, in_ch*2)
         self.down2 = GinkaEncoder(in_ch*2, in_ch*4)
-        
+
         self.bottleneck = GinkaBottleneck(in_ch*4, in_ch*4)
-        
+
         self.up1 = GinkaDecoder(in_ch*4, in_ch*2)
         self.up2 = GinkaDecoder(in_ch*2, in_ch)
-        
+
         self.final = nn.Sequential(
-            nn.Conv2d(in_ch, out_ch, 1)
+            nn.Conv2d(in_ch, out_ch, 1),
+            # nn.Softmax(dim=1)  # 适用于分类任务
         )
         
     def forward(self, x):
-        x, skip1 = self.down1(x)
+        x_down1, skip1 = self.down1(x)
-        x, skip2 = self.down2(x)
+        x_down2, skip2 = self.down2(x_down1)
-        
+
-        x = self.bottleneck(x)
+        x = self.bottleneck(x_down2)
-        
+
-        x = self.up1(x, skip2)
+        x = self.up1(x, skip2)  # 用 down2 的 skip
-        x = self.up2(x, skip1)
+        x = self.up2(x, skip1)  # 用 down1 的 skip
         
         return self.final(x)

ginka/train.py

@@ -2,17 +2,17 @@ import os
 from datetime import datetime
 import torch
 import torch.optim as optim
-import torch.nn.functional as F
 from torch.utils.data import DataLoader
-from transformers import BertTokenizer
 from tqdm import tqdm
 from .model.model import GinkaModel
 from .model.loss import GinkaLoss
 from .dataset import GinkaDataset
 from minamo.model.model import MinamoModel
+from shared.graph import DynamicGraphConverter
 
 device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
 os.makedirs("result", exist_ok=True)
+os.makedirs("result/ginka_checkpoint", exist_ok=True)
 
 epochs = 70
 
@@ -29,48 +29,85 @@ def train():
     minamo = MinamoModel(32)
     minamo.to(device)
     minamo.eval()
+    
+    converter = DynamicGraphConverter().to(device)
 
     # 准备数据集
-    dataset = GinkaDataset("dataset.json", minamo)
+    dataset = GinkaDataset("ginka-dataset.json", device, minamo)
+    dataset_val = GinkaDataset("ginka-eval.json", device, minamo)
     dataloader = DataLoader(
         dataset,
         batch_size=32,
         shuffle=True
     )
+    dataloader_val = DataLoader(
+        dataset_val,
+        batch_size=32,
+        shuffle=True
+    )
     
     # 设定优化器与调度器
     optimizer = optim.AdamW(model.parameters(), lr=3e-4)
     scheduler = optim.lr_scheduler.CosineAnnealingWarmRestarts(optimizer, T_0=10, T_mult=2, eta_min=1e-6)
-    criterion = GinkaLoss(minamo)
+    criterion = GinkaLoss(minamo, converter)
     
     # 开始训练
     for epoch in tqdm(range(epochs)):
         model.train()
         total_loss = 0
         model.softmax.tau = update_tau(epoch)
+        criterion.tau = update_tau(epoch)
         
         for batch in dataloader:
             # 数据迁移到设备
             target = batch["target"].to(device)
-            feat_vec = batch["feat_vec"].to(device)
+            target_vision_feat = batch["target_vision_feat"].to(device)
-            
+            target_topo_feat = batch["target_topo_feat"].to(device)
+            feat_vec = torch.cat([target_vision_feat, target_topo_feat], dim=-1).to(device)
             # 前向传播
             optimizer.zero_grad()
             output, output_softmax = model(feat_vec)
             
             # 计算损失
-            loss = criterion(output, output_softmax, target)
+            loss = criterion(output, output_softmax, target, target_vision_feat, target_topo_feat)
             
             # 反向传播
             loss.backward()
             optimizer.step()
             total_loss += loss.item()
             
-        tqdm.write(f"[INFO {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] Epoch: {epoch} | loss: {total_loss:.6f} | lr: {(optimizer.param_groups[0]['lr']):.6f}")
+        avg_loss = total_loss / len(dataloader)
+        tqdm.write(f"[INFO {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] Epoch: {epoch} | loss: {avg_loss:.6f} | lr: {(optimizer.param_groups[0]['lr']):.6f}")
         
         # 学习率调整
         scheduler.step()
         
+        if (epoch + 1) % 5 == 0:
+            loss_val = 0
+            model.eval()
+            with torch.no_grad():
+                for batch in dataloader_val:
+                    # 数据迁移到设备
+                    target = batch["target"].to(device)
+                    target_vision_feat = batch["target_vision_feat"].to(device)
+                    target_topo_feat = batch["target_topo_feat"].to(device)
+                    feat_vec = torch.cat([target_vision_feat, target_topo_feat], dim=-1).to(device)
+                    
+                    # 前向传播
+                    output, output_softmax = model(feat_vec)
+                    
+                    # 计算损失
+                    loss = criterion(output, output_softmax, target, target_vision_feat, target_topo_feat)
+                    loss_val += loss.item()
+            
+            avg_val_loss = loss_val / len(dataloader_val)
+            tqdm.write(f"[INFO {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] Validation::loss: {avg_val_loss:.6f}")
+            torch.save({
+                "model_state": model.state_dict(),
+                "optimizer_state": optimizer.state_dict(),
+            }, f"result/ginka_checkpoint/{epoch + 1}.pth")
+                
+        
     print("Train ended.")
     
     torch.save({

shared/graph.py

@@ -1,5 +1,8 @@
 import torch
-from torch_geometric.data import Data
+import torch.nn as nn
+import torch.nn.functional as F
+from torch_geometric.data import Data, Batch
+from torch_geometric.utils import dense_to_sparse
 
 def convert_map_to_graph(map):
     rows = len(map)
@@ -26,4 +29,123 @@ def convert_map_to_graph(map):
     edge_index = torch.tensor(edge_list, dtype=torch.long).T
     node_features = torch.tensor([node_type for (_, _, node_type) in valid_nodes], dtype=torch.long)
 
-    return Data(x=node_features, edge_index=edge_index)
+    return Data(x=node_features, edge_index=edge_index)
+
+def soft_convert_map_to_graph(map_tensor, tau=0.5, threshold=0.1):
+    """
+    将地图批量转换为 GNN 可用的 Graph Data，使用 soft 策略
+    """
+    B, H, W, C = map_tensor.shape
+    N = H * W  
+
+    # 使用 Gumbel-Softmax 确保是 one-hot 形式
+    y = F.gumbel_softmax(map_tensor.view(B, N, C), tau=tau, hard=True)  # [B, N, C]
+
+    # 计算整数索引（用于 embedding）
+    node_features = y.argmax(dim=-1).long().unsqueeze(-1)  # [B, N, 1]
+
+    # 取出墙体的 soft mask
+    wall_mask = y[:, :, 1]  # [B, N]
+
+    adjacency_matrix = torch.zeros(B, N, N, device=map_tensor.device)
+
+    def get_index(r, c):
+        return r * W + c
+
+    for r in range(H):
+        for c in range(W):
+            idx = get_index(r, c)
+            if c + 1 < W:
+                right_idx = get_index(r, c + 1)
+                adjacency_matrix[:, idx, right_idx] = (1 - wall_mask[:, idx]) * (1 - wall_mask[:, right_idx])
+            if r + 1 < H:
+                down_idx = get_index(r + 1, c)
+                adjacency_matrix[:, idx, down_idx] = (1 - wall_mask[:, idx]) * (1 - wall_mask[:, down_idx])
+
+    edge_index_list, edge_weight_list = [], []
+    for b in range(B):
+        adj_bin = (adjacency_matrix[b] > threshold).float()
+        edge_index = torch.nonzero(adj_bin, as_tuple=False).T  # [2, E]
+        edge_weight = adjacency_matrix[b][edge_index[0], edge_index[1]]  
+
+        edge_index_list.append(edge_index)
+        edge_weight_list.append(edge_weight)
+
+    edge_index = torch.cat(edge_index_list, dim=1)
+    edge_weight = torch.cat(edge_weight_list, dim=0)
+
+    return Data(x=node_features, edge_index=edge_index, edge_attr=edge_weight)
+
+class DynamicGraphConverter(nn.Module):
+    def __init__(self, map_size=13):
+        super().__init__()
+        self.map_size = map_size
+        self.n_nodes = map_size * map_size
+        
+        # 预计算所有可能的边索引组合（包括对角线）
+        self.base_edge_index = self._precompute_base_edges()
+        
+    def _precompute_base_edges(self):
+        """预生成全连接边索引（包含所有可能邻接）"""
+        edge_list = []
+        directions = [
+            (0, 1),   # 右
+            (1, 0),   # 下
+        ]
+        
+        for r in range(self.map_size):
+            for c in range(self.map_size):
+                node = r * self.map_size + c
+                for dr, dc in directions:
+                    nr, nc = r + dr, c + dc
+                    if 0 <= nr < self.map_size and 0 <= nc < self.map_size:
+                        neighbor = nr * self.map_size + nc
+                        edge_list.append([node, neighbor])
+                        
+        return torch.tensor(edge_list).t().contiguous().unique(dim=1)
+
+    def forward(self, map_probs, tau=0.5):
+        B, C, H, W = map_probs.shape
+        device = map_probs.device
+        
+        self.base_edge_index = self.base_edge_index.to(device)
+        
+        # 1. 节点特征离散化（保持可导）
+        node_logits = map_probs.view(B, C, -1).permute(0, 2, 1)  # [B, N, C]
+        hard_nodes = F.gumbel_softmax(node_logits, tau=tau, hard=True)
+        node_ids = hard_nodes.argmax(dim=-1)  # [B, N]
+
+        # 2. 动态边权重计算
+        wall_mask = (node_ids == 1).float()  # 假设类别1是墙体
+        edge_weights = self._compute_dynamic_weights(wall_mask)
+
+        # 3. 构建动态图
+        batch_data = []
+        for b in range(B):
+            # 动态过滤无效边（与墙体相连的边）
+            valid_mask = (edge_weights[b] > 0.1).squeeze(-1)
+            dynamic_edge_index = self.base_edge_index[:, valid_mask]
+            dynamic_edge_attr = edge_weights[b][valid_mask]
+            
+            data = Data(
+                x=node_ids[b], 
+                edge_index=dynamic_edge_index,
+                edge_attr=dynamic_edge_attr
+            )
+            batch_data.append(data)
+            
+        return Batch.from_data_list(batch_data)
+
+    def _compute_dynamic_weights(self, wall_mask):
+        """基于墙体存在性计算动态边权重"""
+        # wall_mask: [B, N]
+        src_nodes = self.base_edge_index[0]  # [E]
+        dst_nodes = self.base_edge_index[1]  # [E]
+        
+        # 边权重 = 1 - (源是墙 OR 目标墙)
+        weights = 1 - torch.logical_or(
+            wall_mask[:, src_nodes],
+            wall_mask[:, dst_nodes]
+        ).float()  # [B, E]
+        
+        return weights.unsqueeze(-1)  # [B, E, 1]