adapt s100
This commit is contained in:
cyy_mac
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model_parameters:
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onnx_model: "./policy_robotlab_26000_bpu4d_gemm.onnx"
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march: "nash-e"
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layer_out_dump: false
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working_dir: "mapper_output_26000_s100_gemm"
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output_model_file_prefix: "policy_robotlab_26000_s100_int16_gemm"
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input_parameters:
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input_name: "obs_4d"
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input_shape: "1x1x1x450"
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input_type_rt: "featuremap"
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input_type_train: "featuremap"
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input_layout_train: "NCHW"
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norm_type: "no_preprocess"
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separate_batch: false
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calibration_parameters:
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cal_data_dir: "./calibration_data_26000_robotlab_fast64"
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cal_data_type: "float32"
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calibration_type: "max"
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quant_config:
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model_config:
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all_node_type: int16
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activation:
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calibration_type: max
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per_channel: true
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compiler_parameters:
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compile_mode: "latency"
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optimize_level: "O2"
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core_num: 1
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jobs: 8
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cache_mode: "disable"
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229
deploy_45dim_rl_gym/bpu_quantization/quantize_policy_s100.sh
Executable file
229
deploy_45dim_rl_gym/bpu_quantization/quantize_policy_s100.sh
Executable file
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#!/usr/bin/env bash
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
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POLICY="../policy_robotlab_26000.onnx"
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ROUND="26000"
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NAME=""
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HISTORY_LEN=10
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FLAT_DIM=""
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SAMPLES=64
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MIN_SAMPLES=32
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LOG_PREFIX="robotlab_go1_deploy"
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CAL_TAG="robotlab"
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DOCKER_IMAGE="registry.d-robotics.cc/deliver/ai_toolchain_ubuntu_22_s100_s600_cpu:v3.7.0"
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MARCH="nash-e"
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COMPARE_LIMIT=64
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RUN_CHECKER=1
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QUANT="int16"
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usage() {
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cat <<'EOF'
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Usage:
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./quantize_policy_s100.sh [options]
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Default: quantize RobotLab policy_robotlab_26000.onnx as 10-frame/450-dim
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S100 int16 Gemm BPU model.
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Options:
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--policy PATH ONNX policy path, relative to this directory or absolute
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--round NAME round label used in output paths, e.g. 15k/25k/30k/35k
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--name NAME model basename; default is policy filename without .onnx
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--history-len N observation history length; Gym=5, RobotLab=10
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--flat-dim N flat input dim; default 45 * history-len
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--samples N calibration sample count; default 64 for faster mapping
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--min-samples N minimum valid samples required; default 32
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--log-prefix PREFIX log dir prefix below logs/, default rlgym_go1_deploy
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--cal-tag TAG calibration dir tag, default gym
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--docker-image IMAGE D-Robotics S100/S600 CPU toolchain image
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--march MARCH S100 march, default nash-e
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--compare-limit N float ONNX equivalence sample count, default 64
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--quant int16|int8 int16 uses all_node_type int16; int8 uses default S100 PTQ
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--skip-checker accepted for parity with X5 script; hb_compile path ignores it
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EOF
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}
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--policy) POLICY="$2"; shift 2 ;;
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--round) ROUND="$2"; shift 2 ;;
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--name) NAME="$2"; shift 2 ;;
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--history-len) HISTORY_LEN="$2"; shift 2 ;;
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--flat-dim) FLAT_DIM="$2"; shift 2 ;;
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--samples) SAMPLES="$2"; shift 2 ;;
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--min-samples) MIN_SAMPLES="$2"; shift 2 ;;
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--log-prefix) LOG_PREFIX="$2"; shift 2 ;;
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--cal-tag) CAL_TAG="$2"; shift 2 ;;
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--docker-image) DOCKER_IMAGE="$2"; shift 2 ;;
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--march) MARCH="$2"; shift 2 ;;
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--compare-limit) COMPARE_LIMIT="$2"; shift 2 ;;
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--quant) QUANT="$2"; shift 2 ;;
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--skip-checker) RUN_CHECKER=0; shift ;;
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-h|--help) usage; exit 0 ;;
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*) echo "Unknown argument: $1" >&2; usage >&2; exit 2 ;;
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esac
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done
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if [[ -z "${FLAT_DIM}" ]]; then
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FLAT_DIM=$((45 * HISTORY_LEN))
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fi
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case "${QUANT}" in
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int16|int8) ;;
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*) echo "--quant must be int16 or int8, got: ${QUANT}" >&2; exit 2 ;;
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esac
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if [[ "${POLICY}" = /* ]]; then
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POLICY_ABS="${POLICY}"
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else
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POLICY_ABS="${SCRIPT_DIR}/${POLICY}"
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fi
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POLICY_ABS="$(cd "$(dirname "${POLICY_ABS}")" && pwd)/$(basename "${POLICY_ABS}")"
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if [[ ! -f "${POLICY_ABS}" ]]; then
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echo "Policy not found: ${POLICY_ABS}" >&2
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exit 2
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fi
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case "${POLICY_ABS}" in
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"${REPO_ROOT}"/*) POLICY_REL="${POLICY_ABS#${REPO_ROOT}/}" ;;
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*) echo "Policy must be inside repo root ${REPO_ROOT}: ${POLICY_ABS}" >&2; exit 2 ;;
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esac
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if [[ -z "${NAME}" ]]; then
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NAME="$(basename "${POLICY_ABS}" .onnx)"
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fi
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CAL_DIR="calibration_data_${ROUND}_${CAL_TAG}_fast${SAMPLES}"
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if [[ "${QUANT}" = "int16" ]]; then
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OUTPUT_DIR="mapper_output_${ROUND}_s100_gemm"
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OUTPUT_PREFIX="${NAME}_s100_int16_gemm"
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else
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OUTPUT_DIR="mapper_output_${ROUND}_s100_int8_gemm"
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OUTPUT_PREFIX="${NAME}_s100_int8_gemm"
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fi
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YAML_FILE="${OUTPUT_PREFIX}.yaml"
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echo "[INFO] repo : ${REPO_ROOT}"
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echo "[INFO] policy : ${POLICY_REL}"
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echo "[INFO] name/round : ${NAME} / ${ROUND}"
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echo "[INFO] history/shape : ${HISTORY_LEN} / 1x1x1x${FLAT_DIM}"
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echo "[INFO] calibration : ${CAL_DIR} (${SAMPLES} samples, prefix ${LOG_PREFIX})"
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echo "[INFO] output : ${OUTPUT_DIR}/${OUTPUT_PREFIX}.hbm"
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echo "[INFO] quant : ${QUANT}"
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echo "[INFO] march : ${MARCH}"
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echo "[INFO] docker image : ${DOCKER_IMAGE}"
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docker run --rm --platform linux/amd64 \
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-e POLICY_REL="${POLICY_REL}" \
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-e NAME="${NAME}" \
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-e HISTORY_LEN="${HISTORY_LEN}" \
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-e FLAT_DIM="${FLAT_DIM}" \
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-e SAMPLES="${SAMPLES}" \
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-e MIN_SAMPLES="${MIN_SAMPLES}" \
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-e LOG_PREFIX="${LOG_PREFIX}" \
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-e CAL_DIR="${CAL_DIR}" \
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-e OUTPUT_DIR="${OUTPUT_DIR}" \
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-e OUTPUT_PREFIX="${OUTPUT_PREFIX}" \
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-e YAML_FILE="${YAML_FILE}" \
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-e COMPARE_LIMIT="${COMPARE_LIMIT}" \
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-e RUN_CHECKER="${RUN_CHECKER}" \
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-e QUANT="${QUANT}" \
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-e MARCH="${MARCH}" \
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-v "${REPO_ROOT}:/workspace/deploy_go1_pro" \
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"${DOCKER_IMAGE}" \
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bash -lc '
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set -euo pipefail
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cd /workspace/deploy_go1_pro/deploy_45dim_rl_gym/bpu_quantization
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POLICY="/workspace/deploy_go1_pro/${POLICY_REL}"
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ACTIONS_ONNX="${NAME}_actions.onnx"
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OPSET_ONNX="${NAME}_opset11.onnx"
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BPU4D_ONNX="${NAME}_bpu4d.onnx"
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GEMM_ONNX="${NAME}_bpu4d_gemm.onnx"
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python3 make_calibration_data.py \
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--logs-root ../../logs \
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--log-prefix "${LOG_PREFIX}" \
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--history-len "${HISTORY_LEN}" \
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--output-dir "${CAL_DIR}" \
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--max-samples "${SAMPLES}" \
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--min-samples "${MIN_SAMPLES}" \
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--overwrite
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python3 keep_actions_output.py \
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--input "${POLICY}" \
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--output "${ACTIONS_ONNX}"
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python3 downgrade_policy_to_opset11.py \
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--input "${ACTIONS_ONNX}" \
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--output "${OPSET_ONNX}"
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python3 make_bpu_4d_onnx.py \
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--input "${OPSET_ONNX}" \
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--output "${BPU4D_ONNX}" \
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--flat-dim "${FLAT_DIM}"
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python3 replace_group_conv_with_gemm.py \
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--input "${BPU4D_ONNX}" \
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--output "${GEMM_ONNX}"
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python3 compare_4d_onnx.py \
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--flat-onnx "${ACTIONS_ONNX}" \
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--bpu4d-onnx "${GEMM_ONNX}" \
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--calibration-dir "${CAL_DIR}" \
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--flat-dim "${FLAT_DIM}" \
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--limit "${COMPARE_LIMIT}"
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if [[ "${QUANT}" = "int16" ]]; then
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QUANT_CONFIG=$(cat <<EOF
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quant_config:
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model_config:
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all_node_type: int16
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activation:
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calibration_type: max
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EOF
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)
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else
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QUANT_CONFIG=""
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fi
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cat > "${YAML_FILE}" <<YAML
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model_parameters:
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onnx_model: "./${GEMM_ONNX}"
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march: "${MARCH}"
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layer_out_dump: false
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working_dir: "${OUTPUT_DIR}"
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output_model_file_prefix: "${OUTPUT_PREFIX}"
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input_parameters:
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input_name: "obs_4d"
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input_shape: "1x1x1x${FLAT_DIM}"
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input_type_rt: "featuremap"
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input_type_train: "featuremap"
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input_layout_train: "NCHW"
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norm_type: "no_preprocess"
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separate_batch: false
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calibration_parameters:
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cal_data_dir: "./${CAL_DIR}"
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cal_data_type: "float32"
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calibration_type: "max"
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${QUANT_CONFIG}
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per_channel: true
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compiler_parameters:
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compile_mode: "latency"
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optimize_level: "O2"
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core_num: 1
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jobs: 8
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cache_mode: "disable"
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YAML
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hb_compile -c "${YAML_FILE}"
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find "${OUTPUT_DIR}" -maxdepth 1 -type f \( -name "${OUTPUT_PREFIX}.hbm" -o -name "${OUTPUT_PREFIX}.bin" \) -print -exec ls -lh {} \;
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'
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echo "[INFO] Done: deploy_45dim_rl_gym/bpu_quantization/${OUTPUT_DIR}/${OUTPUT_PREFIX}.hbm"
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