diffusion_rvqvae_trainer.py

import train
import os
import time
import csv
import sys
import warnings
import random
import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.utils.tensorboard import SummaryWriter
from torch.nn.parallel import DistributedDataParallel as DDP
import numpy as np
import time
import pprint
from loguru import logger
from utils import rotation_conversions as rc
import smplx
from utils import config, logger_tools, other_tools, metric, data_transfer
from dataloaders import data_tools
from optimizers.optim_factory import create_optimizer
from optimizers.scheduler_factory import create_scheduler
from optimizers.loss_factory import get_loss_func
from dataloaders.data_tools import joints_list
import librosa
from diffusion.model_util import create_gaussian_diffusion
from diffusion.resample import create_named_schedule_sampler
from models.vq.model import RVQVAE
import pickle
from models.motionclip import get_model
import clip


class CustomTrainer(train.BaseTrainer):
    '''
    Multi-Modal AutoEncoder
    '''
    def __init__(self, args):
        super().__init__(args)
        self.args = args
        self.joints = self.train_data.joints
        self.ori_joint_list = joints_list[self.args.ori_joints]
        self.tar_joint_list_face = joints_list["beat_smplx_face"]
        self.tar_joint_list_upper = joints_list["beat_smplx_upper"]
        self.tar_joint_list_hands = joints_list["beat_smplx_hands"]
        self.tar_joint_list_lower = joints_list["beat_smplx_lower"]
       
        self.joint_mask_face = np.zeros(len(list(self.ori_joint_list.keys()))*3)
        self.joints = 55
        for joint_name in self.tar_joint_list_face:
            self.joint_mask_face[self.ori_joint_list[joint_name][1] - self.ori_joint_list[joint_name][0]:self.ori_joint_list[joint_name][1]] = 1
        self.joint_mask_upper = np.zeros(len(list(self.ori_joint_list.keys()))*3)
        for joint_name in self.tar_joint_list_upper:
            self.joint_mask_upper[self.ori_joint_list[joint_name][1] - self.ori_joint_list[joint_name][0]:self.ori_joint_list[joint_name][1]] = 1
        self.joint_mask_hands = np.zeros(len(list(self.ori_joint_list.keys()))*3)
        for joint_name in self.tar_joint_list_hands:
            self.joint_mask_hands[self.ori_joint_list[joint_name][1] - self.ori_joint_list[joint_name][0]:self.ori_joint_list[joint_name][1]] = 1
        self.joint_mask_lower = np.zeros(len(list(self.ori_joint_list.keys()))*3)
        for joint_name in self.tar_joint_list_lower:
            self.joint_mask_lower[self.ori_joint_list[joint_name][1] - self.ori_joint_list[joint_name][0]:self.ori_joint_list[joint_name][1]] = 1

        self.tracker = other_tools.EpochTracker(["fid", "l1div", "bc", "rec", "trans", "vel", "transv", 'dis', 'gen', 'acc', 'transa', 'exp', 'lvd', 'mse', "cls", "rec_face", "latent", "cls_full", "cls_self", "cls_word", "latent_word","latent_self","predict_x0_loss"], [False,True,True, False, False, False, False, False, False, False, False, False, False, False, False, False, False,False, False, False,False,False,False])
            
        vq_model_module = __import__(f"models.motion_representation", fromlist=["something"])
        self.args.vae_layer = 2
        self.args.vae_length = 256
        self.args.vae_test_dim = 106
        self.vq_model_face = getattr(vq_model_module, "VQVAEConvZero")(self.args).to(self.rank)
        other_tools.load_checkpoints(self.vq_model_face, "./datasets/hub/pretrained_vq/face_vertex_1layer_790.bin", args.e_name)
        
        
        vq_type = self.args.vqvae_type
        if vq_type=="vqvae":
            
            self.args.vae_layer = 4
            self.args.vae_test_dim = 78
            self.vq_model_upper = getattr(vq_model_module, "VQVAEConvZero")(self.args).to(self.rank)
            other_tools.load_checkpoints(self.vq_model_upper, args.vqvae_upper_path, args.e_name)
            self.args.vae_test_dim = 180
            self.vq_model_hands = getattr(vq_model_module, "VQVAEConvZero")(self.args).to(self.rank)
            other_tools.load_checkpoints(self.vq_model_hands, args.vqvae_hands_path, args.e_name)
            self.args.vae_test_dim = 54
            self.args.vae_layer = 4
            self.vq_model_lower = getattr(vq_model_module, "VQVAEConvZero")(self.args).to(self.rank)
            other_tools.load_checkpoints(self.vq_model_lower, args.vqvae_lower_path, args.e_name)
            
        elif vq_type=="rvqvae":

            args.num_quantizers = 6
            args.shared_codebook =  False
            args.quantize_dropout_prob = 0.2
            args.mu = 0.99

            args.nb_code = 512
            args.code_dim = 512
            args.code_dim = 512
            args.down_t = 2
            args.stride_t = 2
            args.width = 512
            args.depth = 3
            args.dilation_growth_rate = 3
            args.vq_act = "relu"
            args.vq_norm = None
                                
            dim_pose = 78  
            args.body_part = "upper"
            self.vq_model_upper = RVQVAE(args,
                                dim_pose,
                                args.nb_code,
                                args.code_dim,
                                args.code_dim,
                                args.down_t,
                                args.stride_t,
                                args.width,
                                args.depth,
                                args.dilation_growth_rate,
                                args.vq_act,
                                args.vq_norm)

            dim_pose = 180
            args.body_part = "hands"
            self.vq_model_hands = RVQVAE(args,
                                dim_pose,
                                args.nb_code,
                                args.code_dim,
                                args.code_dim,
                                args.down_t,
                                args.stride_t,
                                args.width,
                                args.depth,
                                args.dilation_growth_rate,
                                args.vq_act,
                                args.vq_norm)

            dim_pose = 54
            if args.use_trans:
                dim_pose = 57
                self.args.vqvae_lower_path = self.args.vqvae_lower_trans_path
            args.body_part = "lower"
            self.vq_model_lower = RVQVAE(args,
                                dim_pose,
                                args.nb_code,
                                args.code_dim,
                                args.code_dim,
                                args.down_t,
                                args.stride_t,
                                args.width,
                                args.depth,
                                args.dilation_growth_rate,
                                args.vq_act,
                                args.vq_norm)
                    
            self.vq_model_upper.load_state_dict(torch.load(self.args.vqvae_upper_path)['net'])
            self.vq_model_hands.load_state_dict(torch.load(self.args.vqvae_hands_path)['net'])
            self.vq_model_lower.load_state_dict(torch.load(self.args.vqvae_lower_path)['net'])
            
            self.vqvae_latent_scale = self.args.vqvae_latent_scale 

            self.vq_model_upper.eval().to(self.rank)
            self.vq_model_hands.eval().to(self.rank)
            self.vq_model_lower.eval().to(self.rank)
            
        
        
        
        
        self.args.vae_test_dim = 61
        self.args.vae_layer = 4
        self.args.vae_test_dim = 330
        self.args.vae_layer = 4
        self.args.vae_length = 240


        self.vq_model_face.eval()
        self.vq_model_upper.eval()
        self.vq_model_hands.eval()
        self.vq_model_lower.eval()

        self.cls_loss = nn.NLLLoss().to(self.rank)
        self.reclatent_loss = nn.MSELoss().to(self.rank)
        self.vel_loss = torch.nn.L1Loss(reduction='mean').to(self.rank)
        self.rec_loss = get_loss_func("GeodesicLoss").to(self.rank) 
        self.log_softmax = nn.LogSoftmax(dim=2).to(self.rank)
        
        self.diffusion = create_gaussian_diffusion()
        self.schedule_sampler_type = 'uniform'
        self.schedule_sampler = create_named_schedule_sampler(self.schedule_sampler_type, self.diffusion)
        self.mean = np.load(args.mean_pose_path)
        self.std = np.load(args.std_pose_path)
        
        self.use_trans = args.use_trans
        if self.use_trans:
            self.trans_mean = np.load(args.mean_trans_path)
            self.trans_std = np.load(args.std_trans_path)
            self.trans_mean = torch.from_numpy(self.trans_mean).cuda()
            self.trans_std = torch.from_numpy(self.trans_std).cuda()
        

        joints = [3,6,9,12,13,14,15,16,17,18,19,20,21]
        upper_body_mask = []
        for i in joints:
            upper_body_mask.extend([i*6, i*6+1, i*6+2, i*6+3, i*6+4, i*6+5])

        joints = list(range(25,55))
        hands_body_mask = []
        for i in joints:
            hands_body_mask.extend([i*6, i*6+1, i*6+2, i*6+3, i*6+4, i*6+5])

        joints = [0,1,2,4,5,7,8,10,11]
        lower_body_mask = []
        for i in joints:
            lower_body_mask.extend([i*6, i*6+1, i*6+2, i*6+3, i*6+4, i*6+5])

        self.mean_upper = self.mean[upper_body_mask]
        self.mean_hands = self.mean[hands_body_mask]
        self.mean_lower = self.mean[lower_body_mask]
        self.std_upper = self.std[upper_body_mask]
        self.std_hands = self.std[hands_body_mask]
        self.std_lower = self.std[lower_body_mask]
        
        self.mean_upper = torch.from_numpy(self.mean_upper).cuda()
        self.mean_hands = torch.from_numpy(self.mean_hands).cuda()
        self.mean_lower = torch.from_numpy(self.mean_lower).cuda()
        self.std_upper = torch.from_numpy(self.std_upper).cuda()
        self.std_hands = torch.from_numpy(self.std_hands).cuda()
        self.std_lower = torch.from_numpy(self.std_lower).cuda()
      
    
    def inverse_selection(self, filtered_t, selection_array, n):
        original_shape_t = np.zeros((n, selection_array.size))
        selected_indices = np.where(selection_array == 1)[0]
        for i in range(n):
            original_shape_t[i, selected_indices] = filtered_t[i]
        return original_shape_t
    
    def inverse_selection_tensor(self, filtered_t, selection_array, n):
        selection_array = torch.from_numpy(selection_array).cuda()
        original_shape_t = torch.zeros((n, 165)).cuda()
        selected_indices = torch.where(selection_array == 1)[0]
        for i in range(n):
            original_shape_t[i, selected_indices] = filtered_t[i]
        return original_shape_t
    
    def _load_data(self, dict_data):
        tar_pose_raw = dict_data["pose"]
        tar_pose = tar_pose_raw[:, :, :165].to(self.rank)
        tar_contact = tar_pose_raw[:, :, 165:169].to(self.rank)
        tar_trans = dict_data["trans"].to(self.rank)
        tar_trans_v = dict_data["trans_v"].to(self.rank)
        tar_exps = dict_data["facial"].to(self.rank)
        in_audio = dict_data["audio"].to(self.rank) 
        in_word = dict_data["word"].to(self.rank)
        tar_beta = dict_data["beta"].to(self.rank)
        tar_id = dict_data["id"].to(self.rank).long()
        bs, n, j = tar_pose.shape[0], tar_pose.shape[1], self.joints

        tar_pose_jaw = tar_pose[:, :, 66:69]
        tar_pose_jaw = rc.axis_angle_to_matrix(tar_pose_jaw.reshape(bs, n, 1, 3))
        tar_pose_jaw = rc.matrix_to_rotation_6d(tar_pose_jaw).reshape(bs, n, 1*6)
        tar_pose_face = torch.cat([tar_pose_jaw, tar_exps], dim=2)

        tar_pose_hands = tar_pose[:, :, 25*3:55*3]
        tar_pose_hands = rc.axis_angle_to_matrix(tar_pose_hands.reshape(bs, n, 30, 3))
        tar_pose_hands = rc.matrix_to_rotation_6d(tar_pose_hands).reshape(bs, n, 30*6)

        tar_pose_upper = tar_pose[:, :, self.joint_mask_upper.astype(bool)]
        tar_pose_upper = rc.axis_angle_to_matrix(tar_pose_upper.reshape(bs, n, 13, 3))
        tar_pose_upper = rc.matrix_to_rotation_6d(tar_pose_upper).reshape(bs, n, 13*6)

        tar_pose_leg = tar_pose[:, :, self.joint_mask_lower.astype(bool)]
        tar_pose_leg = rc.axis_angle_to_matrix(tar_pose_leg.reshape(bs, n, 9, 3))
        tar_pose_leg = rc.matrix_to_rotation_6d(tar_pose_leg).reshape(bs, n, 9*6)

        tar_pose_lower = tar_pose_leg


        tar4dis = torch.cat([tar_pose_jaw, tar_pose_upper, tar_pose_hands, tar_pose_leg], dim=2)

      
        if self.args.pose_norm:
            tar_pose_upper = (tar_pose_upper - self.mean_upper) / self.std_upper
            tar_pose_hands = (tar_pose_hands - self.mean_hands) / self.std_hands
            tar_pose_lower = (tar_pose_lower - self.mean_lower) / self.std_lower
        
        if self.use_trans:
            tar_trans_v = (tar_trans_v - self.trans_mean)/self.trans_std
            tar_pose_lower = torch.cat([tar_pose_lower,tar_trans_v], dim=-1)
      
        latent_face_top = self.vq_model_face.map2latent(tar_pose_face) # bs*n/4
        latent_upper_top = self.vq_model_upper.map2latent(tar_pose_upper)
        latent_hands_top = self.vq_model_hands.map2latent(tar_pose_hands)
        latent_lower_top = self.vq_model_lower.map2latent(tar_pose_lower)
        
        latent_in = torch.cat([latent_upper_top, latent_hands_top, latent_lower_top], dim=2)/self.args.vqvae_latent_scale
        
        
        tar_pose_6d = rc.axis_angle_to_matrix(tar_pose.reshape(bs, n, 55, 3))
        tar_pose_6d = rc.matrix_to_rotation_6d(tar_pose_6d).reshape(bs, n, 55*6)
        latent_all = torch.cat([tar_pose_6d, tar_trans, tar_contact], dim=-1)
        style_feature = None
        if self.args.use_motionclip:
            motionclip_feat = tar_pose_6d[...,:22*6]
            batch = {}
            bs,seq,feat = motionclip_feat.shape
            batch['x']=motionclip_feat.permute(0,2,1).contiguous()
            batch['y']=torch.zeros(bs).int().cuda()
            batch['mask']=torch.ones([bs,seq]).bool().cuda()
            style_feature = self.motionclip.encoder(batch)['mu'].detach().float()
            
        
        
        # print(tar_index_value_upper_top.shape, index_in.shape)
        return {
            "tar_pose_jaw": tar_pose_jaw,
            "tar_pose_face": tar_pose_face,
            "tar_pose_upper": tar_pose_upper,
            "tar_pose_lower": tar_pose_lower,
            "tar_pose_hands": tar_pose_hands,
            'tar_pose_leg': tar_pose_leg,
            "in_audio": in_audio,
            "in_word": in_word,
            "tar_trans": tar_trans,
            "tar_exps": tar_exps,
            "tar_beta": tar_beta,
            "tar_pose": tar_pose,
            "tar4dis": tar4dis,
            "latent_face_top": latent_face_top,
            "latent_upper_top": latent_upper_top,
            "latent_hands_top": latent_hands_top,
            "latent_lower_top": latent_lower_top,
            "latent_in":  latent_in,
            "tar_id": tar_id,
            "latent_all": latent_all,
            "tar_pose_6d": tar_pose_6d,
            "tar_contact": tar_contact,
            "style_feature":style_feature,
        }
    
    def _g_training(self, loaded_data, use_adv, mode="train", epoch=0):
        bs, n, j = loaded_data["tar_pose"].shape[0], loaded_data["tar_pose"].shape[1], self.joints 
            
        cond_ = {'y':{}}
        cond_['y']['audio'] = loaded_data['in_audio']
        cond_['y']['word'] = loaded_data['in_word']
        cond_['y']['id'] = loaded_data['tar_id']
        cond_['y']['seed'] = loaded_data['latent_in'][:,:self.args.pre_frames]
        cond_['y']['mask'] = (torch.zeros([self.args.batch_size, 1, 1, self.args.pose_length//self.args.vqvae_squeeze_scale]) < 1).cuda()
        cond_['y']['style_feature'] = loaded_data['style_feature']
        x0 = loaded_data['latent_in']
        x0 = x0.permute(0, 2, 1).unsqueeze(2)
        t, weights = self.schedule_sampler.sample(x0.shape[0], x0.device)
        g_loss_final = self.diffusion.training_losses(self.model,x0,t,model_kwargs = cond_)["loss"].mean()
        self.tracker.update_meter("predict_x0_loss", "train", g_loss_final.item())

        if mode == 'train':
            return g_loss_final


    def _g_test(self, loaded_data):
        
        sample_fn = self.diffusion.p_sample_loop
        
        mode = 'test'
        bs, n, j = loaded_data["tar_pose"].shape[0], loaded_data["tar_pose"].shape[1], self.joints 
        tar_pose = loaded_data["tar_pose"]
        tar_beta = loaded_data["tar_beta"]
        tar_exps = loaded_data["tar_exps"]
        tar_contact = loaded_data["tar_contact"]
        tar_trans = loaded_data["tar_trans"]
        in_word = loaded_data["in_word"]
        in_audio = loaded_data["in_audio"]
        in_x0 = loaded_data['latent_in']
        in_seed = loaded_data['latent_in']
        
        remain = n%8
        if remain != 0:
            tar_pose = tar_pose[:, :-remain, :]
            tar_beta = tar_beta[:, :-remain, :]
            tar_trans = tar_trans[:, :-remain, :]
            in_word = in_word[:, :-remain]
            tar_exps = tar_exps[:, :-remain, :]
            tar_contact = tar_contact[:, :-remain, :]
            in_x0 = in_x0[:, :in_x0.shape[1]-(remain//self.args.vqvae_squeeze_scale), :]
            in_seed = in_seed[:, :in_x0.shape[1]-(remain//self.args.vqvae_squeeze_scale), :]
            n = n - remain

        tar_pose_jaw = tar_pose[:, :, 66:69]
        tar_pose_jaw = rc.axis_angle_to_matrix(tar_pose_jaw.reshape(bs, n, 1, 3))
        tar_pose_jaw = rc.matrix_to_rotation_6d(tar_pose_jaw).reshape(bs, n, 1*6)
        tar_pose_face = torch.cat([tar_pose_jaw, tar_exps], dim=2)

        tar_pose_hands = tar_pose[:, :, 25*3:55*3]
        tar_pose_hands = rc.axis_angle_to_matrix(tar_pose_hands.reshape(bs, n, 30, 3))
        tar_pose_hands = rc.matrix_to_rotation_6d(tar_pose_hands).reshape(bs, n, 30*6)

        tar_pose_upper = tar_pose[:, :, self.joint_mask_upper.astype(bool)]
        tar_pose_upper = rc.axis_angle_to_matrix(tar_pose_upper.reshape(bs, n, 13, 3))
        tar_pose_upper = rc.matrix_to_rotation_6d(tar_pose_upper).reshape(bs, n, 13*6)

        tar_pose_leg = tar_pose[:, :, self.joint_mask_lower.astype(bool)]
        tar_pose_leg = rc.axis_angle_to_matrix(tar_pose_leg.reshape(bs, n, 9, 3))
        tar_pose_leg = rc.matrix_to_rotation_6d(tar_pose_leg).reshape(bs, n, 9*6)
        tar_pose_lower = torch.cat([tar_pose_leg, tar_trans, tar_contact], dim=2)
        
        tar_pose_6d = rc.axis_angle_to_matrix(tar_pose.reshape(bs, n, 55, 3))
        tar_pose_6d = rc.matrix_to_rotation_6d(tar_pose_6d).reshape(bs, n, 55*6)
        latent_all = torch.cat([tar_pose_6d, tar_trans, tar_contact], dim=-1)
        
        rec_all_face = []
        rec_all_upper = []
        rec_all_lower = []
        rec_all_hands = []
        vqvae_squeeze_scale = self.args.vqvae_squeeze_scale
        roundt = (n - self.args.pre_frames * vqvae_squeeze_scale) // (self.args.pose_length - self.args.pre_frames * vqvae_squeeze_scale)
        remain = (n - self.args.pre_frames * vqvae_squeeze_scale) % (self.args.pose_length - self.args.pre_frames * vqvae_squeeze_scale)
        round_l = self.args.pose_length - self.args.pre_frames * vqvae_squeeze_scale
         

        for i in range(0, roundt):
            in_word_tmp = in_word[:, i*(round_l):(i+1)*(round_l)+self.args.pre_frames * vqvae_squeeze_scale]

            in_audio_tmp = in_audio[:, i*(16000//30*round_l):(i+1)*(16000//30*round_l)+16000//30*self.args.pre_frames * vqvae_squeeze_scale]
            in_id_tmp = loaded_data['tar_id'][:, i*(round_l):(i+1)*(round_l)+self.args.pre_frames]
            in_seed_tmp = in_seed[:, i*(round_l)//vqvae_squeeze_scale:(i+1)*(round_l)//vqvae_squeeze_scale+self.args.pre_frames]
            in_x0_tmp = in_x0[:, i*(round_l)//vqvae_squeeze_scale:(i+1)*(round_l)//vqvae_squeeze_scale+self.args.pre_frames]
            mask_val = torch.ones(bs, self.args.pose_length, self.args.pose_dims+3+4).float().cuda()
            mask_val[:, :self.args.pre_frames, :] = 0.0
            if i == 0:
                in_seed_tmp = in_seed_tmp[:, :self.args.pre_frames, :]
            else:
                in_seed_tmp = last_sample[:, -self.args.pre_frames:, :]

            cond_ = {'y':{}}
            cond_['y']['audio'] = in_audio_tmp
            cond_['y']['word'] = in_word_tmp
            cond_['y']['id'] = in_id_tmp
            cond_['y']['seed'] =in_seed_tmp
            cond_['y']['mask'] = (torch.zeros([self.args.batch_size, 1, 1, self.args.pose_length]) < 1).cuda()
            

        
            cond_['y']['style_feature'] = torch.zeros([bs, 512]).cuda()

            shape_ = (bs, 1536, 1, 32)
            sample = sample_fn(
                self.model,
                shape_,
                clip_denoised=False,
                model_kwargs=cond_,
                skip_timesteps=0,
                init_image=None,
                progress=True,
                dump_steps=None,
                noise=None,
                const_noise=False,
            )
            sample = sample.squeeze().permute(1,0).unsqueeze(0)

            last_sample = sample.clone()
            
            rec_latent_upper = sample[...,:512]
            rec_latent_hands = sample[...,512:1024]
            rec_latent_lower = sample[...,1024:1536]
            
           

            if i == 0:
                rec_all_upper.append(rec_latent_upper)
                rec_all_hands.append(rec_latent_hands)
                rec_all_lower.append(rec_latent_lower)
            else:
                rec_all_upper.append(rec_latent_upper[:, self.args.pre_frames:])
                rec_all_hands.append(rec_latent_hands[:, self.args.pre_frames:])
                rec_all_lower.append(rec_latent_lower[:, self.args.pre_frames:])

        rec_all_upper = torch.cat(rec_all_upper, dim=1) * self.vqvae_latent_scale
        rec_all_hands = torch.cat(rec_all_hands, dim=1) * self.vqvae_latent_scale
        rec_all_lower = torch.cat(rec_all_lower, dim=1) * self.vqvae_latent_scale

        rec_upper = self.vq_model_upper.latent2origin(rec_all_upper)[0]
        rec_hands = self.vq_model_hands.latent2origin(rec_all_hands)[0]
        rec_lower = self.vq_model_lower.latent2origin(rec_all_lower)[0]
        
        
        if self.use_trans:
            rec_trans_v = rec_lower[...,-3:]
            rec_trans_v = rec_trans_v * self.trans_std + self.trans_mean
            rec_trans = torch.zeros_like(rec_trans_v)
            rec_trans = torch.cumsum(rec_trans_v, dim=-2)
            rec_trans[...,1]=rec_trans_v[...,1]
            rec_lower = rec_lower[...,:-3]
        
        if self.args.pose_norm:
            rec_upper = rec_upper * self.std_upper + self.mean_upper
            rec_hands = rec_hands * self.std_hands + self.mean_hands
            rec_lower = rec_lower * self.std_lower + self.mean_lower




        n = n - remain
        tar_pose = tar_pose[:, :n, :]
        tar_exps = tar_exps[:, :n, :]
        tar_trans = tar_trans[:, :n, :]
        tar_beta = tar_beta[:, :n, :]


        rec_exps = tar_exps
        #rec_pose_jaw = rec_face[:, :, :6]
        rec_pose_legs = rec_lower[:, :, :54]
        bs, n = rec_pose_legs.shape[0], rec_pose_legs.shape[1]
        rec_pose_upper = rec_upper.reshape(bs, n, 13, 6)
        rec_pose_upper = rc.rotation_6d_to_matrix(rec_pose_upper)#
        rec_pose_upper = rc.matrix_to_axis_angle(rec_pose_upper).reshape(bs*n, 13*3)
        rec_pose_upper_recover = self.inverse_selection_tensor(rec_pose_upper, self.joint_mask_upper, bs*n)
        rec_pose_lower = rec_pose_legs.reshape(bs, n, 9, 6)
        rec_pose_lower = rc.rotation_6d_to_matrix(rec_pose_lower)
        rec_lower2global = rc.matrix_to_rotation_6d(rec_pose_lower.clone()).reshape(bs, n, 9*6)
        rec_pose_lower = rc.matrix_to_axis_angle(rec_pose_lower).reshape(bs*n, 9*3)
        rec_pose_lower_recover = self.inverse_selection_tensor(rec_pose_lower, self.joint_mask_lower, bs*n)
        rec_pose_hands = rec_hands.reshape(bs, n, 30, 6)
        rec_pose_hands = rc.rotation_6d_to_matrix(rec_pose_hands)
        rec_pose_hands = rc.matrix_to_axis_angle(rec_pose_hands).reshape(bs*n, 30*3)
        rec_pose_hands_recover = self.inverse_selection_tensor(rec_pose_hands, self.joint_mask_hands, bs*n)
        rec_pose = rec_pose_upper_recover + rec_pose_lower_recover + rec_pose_hands_recover 
        rec_pose[:, 66:69] = tar_pose.reshape(bs*n, 55*3)[:, 66:69]

        rec_pose = rc.axis_angle_to_matrix(rec_pose.reshape(bs*n, j, 3))
        rec_pose = rc.matrix_to_rotation_6d(rec_pose).reshape(bs, n, j*6)
        tar_pose = rc.axis_angle_to_matrix(tar_pose.reshape(bs*n, j, 3))
        tar_pose = rc.matrix_to_rotation_6d(tar_pose).reshape(bs, n, j*6)
        
        return {
            'rec_pose': rec_pose,
            'rec_trans': rec_trans,
            'tar_pose': tar_pose,
            'tar_exps': tar_exps,
            'tar_beta': tar_beta,
            'tar_trans': tar_trans,
            'rec_exps': rec_exps,
        }
    
    def train(self, epoch):

        use_adv = bool(epoch>=self.args.no_adv_epoch)
        self.model.train()
        t_start = time.time()
        self.tracker.reset()
        for its, batch_data in enumerate(self.train_loader):
            loaded_data = self._load_data(batch_data)
            t_data = time.time() - t_start
    
            self.opt.zero_grad()
            g_loss_final = 0
            g_loss_final += self._g_training(loaded_data, use_adv, 'train', epoch)

            g_loss_final.backward()
            if self.args.grad_norm != 0: 
                torch.nn.utils.clip_grad_norm_(self.model.parameters(), self.args.grad_norm)
            self.opt.step()
            
            mem_cost = torch.cuda.memory_cached() / 1E9
            lr_g = self.opt.param_groups[0]['lr']

            t_train = time.time() - t_start - t_data
            t_start = time.time()
            if its % self.args.log_period == 0:
                self.train_recording(epoch, its, t_data, t_train, mem_cost, lr_g)   
            if self.args.debug:
                if its == 1: break
        self.opt_s.step(epoch)

    


    
    def test(self, epoch):
        
        results_save_path = self.checkpoint_path + f"/{epoch}/"
        if os.path.exists(results_save_path): 
            return 0
        os.makedirs(results_save_path)
        start_time = time.time()
        total_length = 0
        test_seq_list = self.test_data.selected_file
        align = 0 
        latent_out = []
        latent_ori = []
        l2_all = 0 
        lvel = 0
        self.model.eval()
        self.smplx.eval()
        self.eval_copy.eval()
        with torch.no_grad():
            for its, batch_data in enumerate(self.test_loader):
                loaded_data = self._load_data(batch_data)    
                net_out = self._g_test(loaded_data)
                tar_pose = net_out['tar_pose']
                rec_pose = net_out['rec_pose']
                tar_exps = net_out['tar_exps']
                tar_beta = net_out['tar_beta']
                rec_trans = net_out['rec_trans']
                tar_trans = net_out['tar_trans']
                rec_exps = net_out['rec_exps']
                bs, n, j = tar_pose.shape[0], tar_pose.shape[1], self.joints
                if (30/self.args.pose_fps) != 1:
                    assert 30%self.args.pose_fps == 0
                    n *= int(30/self.args.pose_fps)
                    tar_pose = torch.nn.functional.interpolate(tar_pose.permute(0, 2, 1), scale_factor=30/self.args.pose_fps, mode='linear').permute(0,2,1)
                    rec_pose = torch.nn.functional.interpolate(rec_pose.permute(0, 2, 1), scale_factor=30/self.args.pose_fps, mode='linear').permute(0,2,1)
                

                rec_pose = rc.rotation_6d_to_matrix(rec_pose.reshape(bs*n, j, 6))
                rec_pose = rc.matrix_to_rotation_6d(rec_pose).reshape(bs, n, j*6)
                tar_pose = rc.rotation_6d_to_matrix(tar_pose.reshape(bs*n, j, 6))
                tar_pose = rc.matrix_to_rotation_6d(tar_pose).reshape(bs, n, j*6)
                remain = n%self.args.vae_test_len
                latent_out.append(self.eval_copy.map2latent(rec_pose[:, :n-remain]).reshape(-1, self.args.vae_length).detach().cpu().numpy()) # bs * n/8 * 240
                latent_ori.append(self.eval_copy.map2latent(tar_pose[:, :n-remain]).reshape(-1, self.args.vae_length).detach().cpu().numpy())
                
                rec_pose = rc.rotation_6d_to_matrix(rec_pose.reshape(bs*n, j, 6))
                rec_pose = rc.matrix_to_axis_angle(rec_pose).reshape(bs*n, j*3)
                tar_pose = rc.rotation_6d_to_matrix(tar_pose.reshape(bs*n, j, 6))
                tar_pose = rc.matrix_to_axis_angle(tar_pose).reshape(bs*n, j*3)
                
                vertices_rec = self.smplx(
                        betas=tar_beta.reshape(bs*n, 300), 
                        transl=rec_trans.reshape(bs*n, 3)-rec_trans.reshape(bs*n, 3), 
                        expression=tar_exps.reshape(bs*n, 100)-tar_exps.reshape(bs*n, 100),
                        jaw_pose=rec_pose[:, 66:69], 
                        global_orient=rec_pose[:,:3], 
                        body_pose=rec_pose[:,3:21*3+3], 
                        left_hand_pose=rec_pose[:,25*3:40*3], 
                        right_hand_pose=rec_pose[:,40*3:55*3], 
                        return_joints=True, 
                        leye_pose=rec_pose[:, 69:72], 
                        reye_pose=rec_pose[:, 72:75],
                    )

                vertices_rec_face = self.smplx(
                        betas=tar_beta.reshape(bs*n, 300), 
                        transl=rec_trans.reshape(bs*n, 3)-rec_trans.reshape(bs*n, 3), 
                        expression=rec_exps.reshape(bs*n, 100), 
                        jaw_pose=rec_pose[:, 66:69], 
                        global_orient=rec_pose[:,:3]-rec_pose[:,:3], 
                        body_pose=rec_pose[:,3:21*3+3]-rec_pose[:,3:21*3+3],
                        left_hand_pose=rec_pose[:,25*3:40*3]-rec_pose[:,25*3:40*3],
                        right_hand_pose=rec_pose[:,40*3:55*3]-rec_pose[:,40*3:55*3],
                        return_verts=True, 
                        return_joints=True,
                        leye_pose=rec_pose[:, 69:72]-rec_pose[:, 69:72],
                        reye_pose=rec_pose[:, 72:75]-rec_pose[:, 72:75],
                    )
                vertices_tar_face = self.smplx(
                    betas=tar_beta.reshape(bs*n, 300), 
                    transl=tar_trans.reshape(bs*n, 3)-tar_trans.reshape(bs*n, 3), 
                    expression=tar_exps.reshape(bs*n, 100), 
                    jaw_pose=tar_pose[:, 66:69], 
                    global_orient=tar_pose[:,:3]-tar_pose[:,:3],
                    body_pose=tar_pose[:,3:21*3+3]-tar_pose[:,3:21*3+3], 
                    left_hand_pose=tar_pose[:,25*3:40*3]-tar_pose[:,25*3:40*3],
                    right_hand_pose=tar_pose[:,40*3:55*3]-tar_pose[:,40*3:55*3],
                    return_verts=True, 
                    return_joints=True,
                    leye_pose=tar_pose[:, 69:72]-tar_pose[:, 69:72],
                    reye_pose=tar_pose[:, 72:75]-tar_pose[:, 72:75],
                )  
                joints_rec = vertices_rec["joints"].detach().cpu().numpy().reshape(1, n, 127*3)[0, :n, :55*3]
                # joints_tar = vertices_tar["joints"].detach().cpu().numpy().reshape(1, n, 127*3)[0, :n, :55*3]
                facial_rec = vertices_rec_face['vertices'].reshape(1, n, -1)[0, :n]
                facial_tar = vertices_tar_face['vertices'].reshape(1, n, -1)[0, :n]
                face_vel_loss = self.vel_loss(facial_rec[1:, :] - facial_tar[:-1, :], facial_tar[1:, :] - facial_tar[:-1, :])
                l2 = self.reclatent_loss(facial_rec, facial_tar)
                l2_all += l2.item() * n
                lvel += face_vel_loss.item() * n
                
                _ = self.l1_calculator.run(joints_rec)
                if self.alignmenter is not None:
                    in_audio_eval, sr = librosa.load(self.args.data_path+"wave16k/"+test_seq_list.iloc[its]['id']+".wav")
                    in_audio_eval = librosa.resample(in_audio_eval, orig_sr=sr, target_sr=self.args.audio_sr)
                    a_offset = int(self.align_mask * (self.args.audio_sr / self.args.pose_fps))
                    onset_bt = self.alignmenter.load_audio(in_audio_eval[:int(self.args.audio_sr / self.args.pose_fps*n)], a_offset, len(in_audio_eval)-a_offset, True)
                    beat_vel = self.alignmenter.load_pose(joints_rec, self.align_mask, n-self.align_mask, 30, True)
                    align += (self.alignmenter.calculate_align(onset_bt, beat_vel, 30) * (n-2*self.align_mask))
               
                tar_pose_np = tar_pose.detach().cpu().numpy()
                rec_pose_np = rec_pose.detach().cpu().numpy()
                rec_trans_np = rec_trans.detach().cpu().numpy().reshape(bs*n, 3)
                rec_exp_np = rec_exps.detach().cpu().numpy().reshape(bs*n, 100) 
                tar_exp_np = tar_exps.detach().cpu().numpy().reshape(bs*n, 100)
                tar_trans_np = tar_trans.detach().cpu().numpy().reshape(bs*n, 3)
                gt_npz = np.load(self.args.data_path+self.args.pose_rep +"/"+test_seq_list.iloc[its]['id']+".npz", allow_pickle=True)
                np.savez(results_save_path+"gt_"+test_seq_list.iloc[its]['id']+'.npz',
                    betas=gt_npz["betas"],
                    poses=tar_pose_np,
                    expressions=tar_exp_np,
                    trans=tar_trans_np,
                    model='smplx2020',
                    gender='neutral',
                    mocap_frame_rate = 30 ,
                )
                np.savez(results_save_path+"res_"+test_seq_list.iloc[its]['id']+'.npz',
                    betas=gt_npz["betas"],
                    poses=rec_pose_np,
                    expressions=rec_exp_np,
                    trans=rec_trans_np,
                    model='smplx2020',
                    gender='neutral',
                    mocap_frame_rate = 30,
                )
                total_length += n

        logger.info(f"l2 loss: {l2_all/total_length}")
        logger.info(f"lvel loss: {lvel/total_length}")

        latent_out_all = np.concatenate(latent_out, axis=0)
        latent_ori_all = np.concatenate(latent_ori, axis=0)
        fid = data_tools.FIDCalculator.frechet_distance(latent_out_all, latent_ori_all)
        logger.info(f"fid score: {fid}")
        self.test_recording("fid", fid, epoch) 
        
        align_avg = align/(total_length-2*len(self.test_loader)*self.align_mask)
        logger.info(f"align score: {align_avg}")
        self.test_recording("bc", align_avg, epoch)

        l1div = self.l1_calculator.avg()
        logger.info(f"l1div score: {l1div}")
        self.test_recording("l1div", l1div, epoch)

        #data_tools.result2target_vis(self.args.pose_version, results_save_path, results_save_path, self.test_demo, False)
        end_time = time.time() - start_time
        logger.info(f"total inference time: {int(end_time)} s for {int(total_length/self.args.pose_fps)} s motion")