mirror of
https://github.com/unanmed/ginka-generator.git
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386 lines
14 KiB
Python
386 lines
14 KiB
Python
import math
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import torch
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import torch.nn as nn
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import torch.nn.functional as F
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from minamo.model.model import MinamoModel
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from shared.graph import batch_convert_soft_map_to_graph
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CLASS_NUM = 32
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ILLEGAL_MAX_NUM = 12
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def get_not_allowed(classes: list[int], include_illegal=False):
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res = list()
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for num in range(0, CLASS_NUM):
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if not num in classes:
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if num > ILLEGAL_MAX_NUM:
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if include_illegal:
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res.append(num)
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else:
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res.append(num)
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return res
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def outer_border_constraint_loss(pred: torch.Tensor, allowed_classes=[1, 11]):
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"""
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强制地图最外圈像素必须为指定类别（墙或箭头）
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参数:
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pred: 模型输出的概率分布，形状 [B, C, H, W]
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allowed_classes: 允许出现在外圈的类别列表（默认[1,11]）
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penalty_scale: 惩罚强度系数
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返回:
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loss: 标量损失值
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"""
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B, C, H, W = pred.shape
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# 创建外圈mask [H, W]
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border_mask = torch.zeros((H, W), dtype=torch.bool, device=pred.device)
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border_mask[0, :] = True # 第一行
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border_mask[-1, :] = True # 最后一行
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border_mask[:, 0] = True # 第一列
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border_mask[:, -1] = True # 最后一列
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# 提取所有允许和不允许类别的概率和 [B, H, W]
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unallowed_probs = pred[:, get_not_allowed(allowed_classes, include_illegal=True), :, :].sum(dim=1)
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# 获取外圈区域允许类别的概率 [B, N_pixels]
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border_unallowed = unallowed_probs[:, border_mask]
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target = torch.zeros_like(border_unallowed)
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loss_unallowed = F.mse_loss(border_unallowed, target)
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return loss_unallowed
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def inner_constraint_loss(pred: torch.Tensor, allowed=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12]):
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"""限定内部允许出现的图块种类
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Args:
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pred (torch.Tensor): 模型输出的概率分布 [B, C, H, W]
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unallowed (list, optional): 在地图中部（处最外圈）允许出现的图块种类. Defaults to [11].
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"""
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B, C, H, W = pred.shape
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# 创建内部 mask [H, W]
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mask = torch.ones((H, W), dtype=torch.bool, device=pred.device)
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mask[0, :] = False # 第一行
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mask[-1, :] = False # 最后一行
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mask[:, 0] = False # 第一列
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mask[:, -1] = False # 最后一列
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# 提取所有允许和不允许类别的概率和 [B, H, W]
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unallowed_probs = pred[:, get_not_allowed(allowed, include_illegal=True), :, :].sum(dim=1)
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# 获取外圈区域允许类别的概率 [B, N_pixels]
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inner_unallowed = unallowed_probs[:, mask]
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target = torch.zeros_like(inner_unallowed)
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loss_unallowed = F.mse_loss(inner_unallowed, target)
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return loss_unallowed
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def _create_distance_kernel(size):
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"""生成一个环状衰减核"""
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y, x = torch.meshgrid(torch.arange(size), torch.arange(size), indexing='ij')
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center = size // 2
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dist = torch.sqrt((x - center)**2 + (y - center)**2)
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kernel = 1 / (dist + 1)
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kernel /= kernel.sum() # 归一化
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return kernel.unsqueeze(0).unsqueeze(0), 1 / kernel.sum() # [1,1,H,W]
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def entrance_constraint_loss(
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pred: torch.Tensor,
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entrance_classes=[10, 11], # 假设10是楼梯，11是箭头
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min_distance=9,
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presence_threshold=0.8,
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lambda_presence=1.0,
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lambda_spacing=0.5
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):
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"""
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入口约束损失函数
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参数:
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pred: 模型输出的概率分布 [B, C, H, W]
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entrance_classes: 入口类别列表
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min_distance: 最小间隔距离（对应卷积核尺寸）
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presence_threshold: 存在性概率阈值
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lambda_presence: 存在性损失权重
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lambda_spacing: 间距约束权重
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返回:
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total_loss: 综合损失值
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"""
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B, C, H, W = pred.shape
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entrance_probs = pred[:, entrance_classes, :, :].sum(dim=1) # [B, H, W]
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# 计算存在性损失：鼓励至少有一个高置信度入口
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max_per_sample = entrance_probs.view(B, -1).max(dim=1)[0] # [B, H*W] -> [B, 1]
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presence_loss = F.relu(presence_threshold - max_per_sample).mean()
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# 生成空间权重掩码（中心衰减）
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y, x = torch.meshgrid(torch.arange(H), torch.arange(W), indexing='ij')
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center_weight = 1 - torch.sqrt(((x-W//2)/W*2)**2 + ((y-H//2)/H*2)**2)
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center_weight = center_weight.clamp(0,1).to(pred.device) # [H,W]
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# 概率密度感知的间距计算
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kernel, cw = _create_distance_kernel(min_distance) # 自定义函数生成权重核
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kernel = kernel.to(pred.device)
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density_map = F.conv2d(entrance_probs.unsqueeze(1), kernel, padding=min_distance-1)
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spacing_loss = density_map.mean()
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###########################
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# 区域加权综合损失
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###########################
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total_loss = (
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lambda_presence * presence_loss +
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lambda_spacing * (spacing_loss * center_weight).mean()
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)
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return total_loss
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def adaptive_count_loss(
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pred_probs: torch.Tensor,
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target_map: torch.Tensor,
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class_list: list = list(range(32)),
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margin_ratio: float = 0.1, # 降低margin比例以更严格
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zero_margin_scale: float = 0.1, # 减少零类别的margin
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lambda_entropy: float = 0.2, # 增大熵约束权重
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lambda_local: float = 0.2,
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lambda_max: float = 0, # 新增最大概率约束
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grid_size: int = 4, # 减小局部网格尺寸
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eps: float = 1e-3
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) -> torch.Tensor:
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"""
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改进版自适应图块数量约束损失，增强局部匹配和概率确定性
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"""
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B, C, H, W = pred_probs.shape
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device = pred_probs.device
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total_loss = 0.0
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valid_classes = 0
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# 预计算地图面积
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map_area = math.sqrt(H * W)
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# 动态调整零类别的margin：基于预测中最小的非零概率
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min_nonzero_prob = pred_probs[:, class_list].max(dim=1).values.mean()
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dynamic_zero_margin = zero_margin_scale * min_nonzero_prob * map_area
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# 计算每个类别的数量损失
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for cls in class_list:
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pred_count = pred_probs[:, cls].sum(dim=(1,2)) # 预测数量
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true_count = target_map[:, cls].sum(dim=(1,2)) # 真实数量
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zero_mask = (true_count == 0)
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dynamic_margin = torch.where(
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zero_mask,
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dynamic_zero_margin,
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margin_ratio * true_count
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)
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safe_true = true_count + eps * zero_mask
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abs_error = torch.abs(pred_count - true_count)
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rel_error = abs_error / safe_true
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# 调整损失函数形状，远离目标时惩罚更大
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loss_per_class = torch.where(
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abs_error <= dynamic_margin,
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rel_error ** 2, # 近目标时二次损失
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(rel_error - 0.5 * margin_ratio) ** 2 # 远目标时二次增长
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)
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# 零类别使用更严格的绝对误差惩罚
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loss_per_class = torch.where(
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zero_mask,
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F.relu(abs_error - dynamic_zero_margin) ** 2 / map_area,
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loss_per_class
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)
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total_loss += loss_per_class.mean()
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valid_classes += 1
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total_loss /= valid_classes # 平均类别损失
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# 改进的熵约束：每个像素的熵
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def entropy_loss(pred_probs):
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entropy_per_pixel = -torch.sum(pred_probs * torch.log(pred_probs + 1e-6), dim=1)
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return entropy_per_pixel.mean() # 所有像素的平均熵
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total_loss += lambda_entropy * entropy_loss(pred_probs)
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# 新增最大概率约束：鼓励每个位置概率尖锐化
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max_probs = pred_probs.max(dim=1)[0] # 每个位置的最大概率
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max_loss = (1 - max_probs).mean() # 鼓励接近1
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total_loss += lambda_max * max_loss
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# 改进局部损失：约束局部区域内的数量
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def local_count_loss(pred_probs, target_probs, grid_size):
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grid_area = grid_size ** 2
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# 计算每个grid内的预测数量
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pred_counts = F.avg_pool2d(pred_probs, grid_size, stride=grid_size) * grid_area
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target_counts = F.avg_pool2d(target_probs, grid_size, stride=grid_size) * grid_area
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# 使用L1损失更鲁棒
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return F.l1_loss(pred_counts, target_counts)
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total_loss += lambda_local * local_count_loss(pred_probs, target_map, grid_size)
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return total_loss
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def illegal_tile_loss(
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pred_probs: torch.Tensor,
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legal_classes: int = 13,
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temperature: float = 0.1,
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eps: float = 1e-8
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) -> torch.Tensor:
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"""
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非法图块惩罚损失函数
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参数:
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pred_probs: 模型输出的概率分布 [B, C, H, W]
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legal_classes: 合法图块数量（0-based，默认0-12为合法）
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temperature: 概率锐化温度系数（0.1-1.0）
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eps: 数值稳定性保护
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返回:
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loss: 标量损失值
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"""
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B, C, H, W = pred_probs.shape
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# 提取非法图块概率（类别13及之后）
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illegal_probs = pred_probs[:, legal_classes:, :, :] # [B, C_illegal, H, W]
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# 概率锐化（增强高概率区域的惩罚）
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sharpened_probs = torch.exp(torch.log(illegal_probs + eps) / temperature)
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sharpened_probs = sharpened_probs / (sharpened_probs.sum(dim=1, keepdim=True) + eps)
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# 空间敏感权重（关注高置信度非法区域）
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with torch.no_grad():
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# 计算每个像素的非法概率置信度
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confidence = illegal_probs.max(dim=1)[0] # [B, H, W]
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# 生成注意力权重（高置信度区域权重加倍）
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spatial_weights = 1 + torch.sigmoid(10*(confidence - 0.5))
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# 逐像素计算非法概率损失
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per_pixel_loss = torch.log(1 + illegal_probs.sum(dim=1)) # [B, H, W]
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# 加权空间损失
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weighted_loss = (per_pixel_loss * spatial_weights).mean()
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# 类别平衡因子（抑制高频非法类别）
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class_balance = 1 + torch.var(illegal_probs.mean(dim=(0,2,3))) # [C_illegal]
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return weighted_loss * class_balance.mean()
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def entrance_spatial_constraint(
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pred_probs: torch.Tensor,
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arrow_class: int = 11,
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stair_class: int = 10,
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border_width: int = 1,
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lambda_arrow: float = 1.0,
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lambda_stair: float = 1.0
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) -> torch.Tensor:
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"""
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入口空间约束损失函数
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参数:
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pred_probs: 模型输出的概率分布 [B, C, H, W]
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arrow_class: 箭头入口类别索引
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stair_class: 楼梯入口类别索引
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border_width: 边缘区域宽度（默认1表示最外圈）
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lambda_arrow: 箭头约束权重
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lambda_stair: 楼梯约束权重
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返回:
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loss: 标量损失值
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"""
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B, C, H, W = pred_probs.shape
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##########################################
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# 1. 区域掩码生成
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##########################################
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# 生成边缘区域掩码 [H, W]
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edge_mask = torch.zeros((H, W), dtype=torch.bool, device=pred_probs.device)
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# 上下边缘
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edge_mask[:border_width, :] = True
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edge_mask[-border_width:, :] = True
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# 左右边缘（排除已标记的角落）
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edge_mask[:, :border_width] = True
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edge_mask[:, -border_width:] = True
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# 生成中间区域掩码 [H, W]
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center_mask = ~edge_mask
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##########################################
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# 2. 边缘区域约束（只能出现箭头）
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##########################################
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# 抑制边缘出现楼梯的概率 [B, N_edge_pixels]
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edge_stair_probs = pred_probs[:, stair_class][:, edge_mask]
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edge_stair_penalty = F.relu(edge_stair_probs - 0.1).mean() # 允许10%以下
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##########################################
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# 3. 中间区域约束（只能出现楼梯）
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##########################################
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# 抑制中间出现箭头的概率 [B, N_center_pixels]
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center_arrow_probs = pred_probs[:, arrow_class][:, center_mask]
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center_arrow_penalty = F.relu(center_arrow_probs - 0.1).mean() # 允许10%以下
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##########################################
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# 4. 综合损失
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##########################################
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total_loss = (
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lambda_arrow * edge_stair_penalty +
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lambda_stair * center_arrow_penalty
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)
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return total_loss
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class GinkaLoss(nn.Module):
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def __init__(self, minamo: MinamoModel, weight=[0.5, 0.2, 0.1, 0.2]):
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"""Ginka Model 损失函数部分
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Args:
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weight (list, optional): 每一个损失函数的权重，从第 0 项开始，依次是：
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1. Minamo 相似度损失
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2. 图块种类损失，要求内部不出现箭头，外圈只出现箭头和墙壁，不允许出现非法图块
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3. 入口间距及存在性损失
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4. 怪物、道具、门数量损失
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"""
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super().__init__()
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self.weight = weight
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self.minamo = minamo
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def forward(self, pred, target, target_vision_feat, target_topo_feat):
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# 地图结构损失
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class_loss = outer_border_constraint_loss(pred) + inner_constraint_loss(pred)
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entrance_loss = entrance_constraint_loss(pred) + entrance_spatial_constraint(pred)
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count_loss = adaptive_count_loss(pred, target)
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# 使用 Minamo Model 计算相似度
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graph = batch_convert_soft_map_to_graph(pred)
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pred_vision_feat, pred_topo_feat = self.minamo(pred, graph)
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vision_sim = F.cosine_similarity(pred_vision_feat, target_vision_feat, dim=-1)
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topo_sim = F.cosine_similarity(pred_topo_feat, target_topo_feat, dim=-1)
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minamo_sim = 0.2 * vision_sim + 0.8 * topo_sim
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minamo_loss = (1.0 - minamo_sim).mean()
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print(
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minamo_loss.item(),
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class_loss.item(),
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entrance_loss.item(),
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count_loss.item()
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)
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losses = [
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minamo_loss * self.weight[0],
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class_loss * self.weight[1],
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entrance_loss * self.weight[2],
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count_loss * self.weight[3]
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]
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# 梯度归一化
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scaled_losses = [loss / (loss.detach() + 1e-6) for loss in losses]
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total_loss = sum(scaled_losses)
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return total_loss, sum(losses)
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