本文共 23475 字，大约阅读时间需要 78 分钟。

内容速览

1. ‘train.py’: single training process on one GPU only.
2. ‘train_parallel.py’: signle training process on multiple GPUs using Dataparallel (包括不同GPU之间的负载均衡).
3. ‘train_distributed.py’ (recommended): multiple training processes on multiple GPUs using Nvidia Apex & Distributed Training:

python -m torch.distributed.launch --nproc_per_node=4 train_distributed.py

项目（完整代码）地址

网页地址：

Please cite kindly in your publications if the corresponding projects helps your research.

inproceedings{li2019simple,	title={Simple Pose: Rethinking and Improving a Bottom-up Approach for Multi-Person Pose Estimation},	author={Jia Li and Wen Su and Zengfu Wang},	booktitle = {arXiv preprint arXiv:1911.10529},	year={2019}}

项目声明

最近开源了一个项目的代码，因为平时有很多其他事情需要处理，业余时间自己又喜欢享受生活，科研对我来说简直彻底成为了副业，羞愧。

之前一直使用TensorFlow以及Keras，但是一直觉得它们没有继承Python丝滑的特性，所以最近果断转移到Pytorch。因此在做这份工作时，我以新入门的用户身份开始，把整个训练和测试流程给走一遍，踩到并且努力解决全过程的坑。这里也是给自己实验过程的踩坑做个总结，并且希望通过这个分享能够提高自己工作的关注度，以及希望自己的经验能够为他人所用。当然了，如果我的分享能够帮助到大家（主要针对Pytorch新手或者普通玩家，高级玩家请忽略本菜鸟，轻拍，谢谢），也欢迎引用我的对应的项目论文。

多GPU分布式训练+混合精度加速训练

对应上面开源链接的train_distributed.py脚本。相信最直接的代码以及注释就是最好的说明。该脚本同时包含了最常用的代码模版，包括例如 多进程的训练数据准备，模型权重的保存与载入，冻结部分网络层的权重，变相增加batch size，使用Nvidia官方的Apex包通过半精度或混合精度进行模型压缩和加速等等。

import os    import argparse    import time    import tqdm    import cv2    import torch    import numpy as np    import torch.nn as nn    import torch.optim as optim    import apex.optimizers as apex_optim    import torch.distributed as dist    from config.config import GetConfig, COCOSourceConfig, TrainingOpt    from data.mydataset import MyDataset    from torch.utils.data.dataloader import DataLoader    from models.posenet import Network    from models.loss_model import MultiTaskLoss    import warnings    try:        import apex.optimizers as apex_optim        from apex.parallel import DistributedDataParallel as DDP        from apex.fp16_utils import *        from apex import amp        from apex.multi_tensor_apply import multi_tensor_applier    except ImportError:        raise ImportError("Please install apex from https://www.github.com/nvidia/apex to run this example.")    warnings.filterwarnings("ignore")    parser = argparse.ArgumentParser(description='PoseNet Training')    parser.add_argument('--resume', '-r', action='store_true', default=True, help='resume from checkpoint')    parser.add_argument('--freeze', action='store_true', default=False,                        help='freeze the pre-trained layers before output layers')    parser.add_argument('--warmup', action='store_true', default=True, help='using warm-up learning rate')    parser.add_argument('--checkpoint_path', '-p', default='link2checkpoints_distributed', help='save path')    parser.add_argument('--max_grad_norm', default=10, type=float,                        help=("If the norm of the gradient vector exceeds this, "                              "re-normalize it to have the norm equal to max_grad_norm"))    # FOR DISTRIBUTED:  Parse for the local_rank argument, which will be supplied automatically by torch.distributed.launch.    parser.add_argument("--local_rank", default=0, type=int)    parser.add_argument('--opt-level', type=str, default='O1')    parser.add_argument('--sync_bn', action='store_true', default=True,                        help='enabling apex sync BN.')  # 无触发为false， -s 触发为true    parser.add_argument('--keep-batchnorm-fp32', type=str, default=None)    parser.add_argument('--loss-scale', type=str, default=None)  # '1.0'    parser.add_argument('--print-freq', '-f', default=10, type=int, metavar='N', help='print frequency (default: 10)')    # ##############################################################################################################    # ###################################  Setup for some configurations ###########################################    # ##############################################################################################################    torch.backends.cudnn.benchmark = True  # 如果我们每次训练的输入数据的size不变，那么开启这个就会加快我们的训练速度    use_cuda = torch.cuda.is_available()    args = parser.parse_args()    checkpoint_path = args.checkpoint_path    opt = TrainingOpt()    config = GetConfig(opt.config_name)    soureconfig = COCOSourceConfig(opt.hdf5_train_data)  # # 对于分布式训练，total_batch size = batch_size*world_size    train_data = MyDataset(config, soureconfig, shuffle=False, augment=True)  # shuffle in data loader    soureconfig_val = COCOSourceConfig(opt.hdf5_val_data)    val_data = MyDataset(config, soureconfig_val, shuffle=False, augment=False)  # shuffle in data loader    best_loss = float('inf')    start_epoch = 0  # 从0开始或者从上一个epoch开始    args.distributed = False    if 'WORLD_SIZE' in os.environ:        args.distributed = int(os.environ['WORLD_SIZE']) > 1    args.gpu = 0    args.world_size = 1    # FOR DISTRIBUTED:  If we are running under torch.distributed.launch,    # the 'WORLD_SIZE' environment variable will also be set automatically.    if args.distributed:        args.gpu = args.local_rank        torch.cuda.set_device(args.gpu)        # Initializes the distributed backend which will take care of synchronizing nodes/GPUs        torch.distributed.init_process_group(backend='nccl', init_method='env://')        args.world_size = torch.distributed.get_world_size()  # 获取分布式训练的进程数        print("World Size is :", args.world_size)    assert torch.backends.cudnn.enabled, "Amp requires cudnn backend to be enabled."    model = Network(opt, config, dist=True, bn=True)    if args.sync_bn:  # 用累计loss来达到sync bn 是不是更好，更改bn的momentum大小        #  This should be done before model = DDP(model, delay_allreduce=True),        #  because DDP needs to see the finalized model parameters        # We rely on torch distributed for synchronization between processes. Only DDP support the apex sync_bn now.        import apex        print("Using apex synced BN.")        model = apex.parallel.convert_syncbn_model(model)    # It should be called before constructing optimizer if the module will live on GPU while being optimized.    model.cuda()    for param in model.parameters():        if param.requires_grad:            print('Parameters of network: Autograd')            break    # ##############################################################################################################    # ######################################## Froze some layers to fine-turn the model  ########################    # ##############################################################################################################    if args.freeze:        for name, param in model.named_parameters():  # 带有参数名的模型的各个层包含的参数遍历            if 'out' or 'merge' or 'before_regress' in name:  # 判断参数名字符串中是否包含某些关键字                continue            param.requires_grad = False    # #############################################################################################################    # Actual working batch size on multi-GPUs is 4 times bigger than that on one GPU    # fixme: add up momentum if the batch grows?    # fixme: change weight_decay?    #    nesterov = True    # optimizer = apex_optim.FusedSGD(filter(lambda p: p.requires_grad, model.parameters()),    #                                 lr=opt.learning_rate * args.world_size, momentum=0.9, weight_decay=5e-4)    optimizer = optim.SGD(filter(lambda p: p.requires_grad, model.parameters()),                          lr=opt.learning_rate * args.world_size, momentum=0.9, weight_decay=5e-4)    # optimizer = apex_optim.FusedAdam(model.parameters(), lr=opt.learning_rate * args.world_size, weight_decay=1e-4)    # 设置学习率下降策略, extract the "bare"  Pytorch optimizer before Apex wrapping.    # scheduler = torch.optim.lr_scheduler.StepLR(optimizer, step_size=10, gamma=0.4, last_epoch=-1)    # Initialize Amp.  Amp accepts either values or strings for the optional override arguments,    # for convenient interoperation with argparse.    # For distributed training, wrap the model with apex.parallel.DistributedDataParallel.    # This must be done AFTER the call to amp.initialize.    model, optimizer = amp.initialize(model, optimizer,                                      opt_level=args.opt_level,                                      keep_batchnorm_fp32=args.keep_batchnorm_fp32,                                      loss_scale=args.loss_scale)  # Dynamic loss scaling is used by default.    if args.distributed:        # By default, apex.parallel.DistributedDataParallel overlaps communication with computation in the backward pass.        # model = DDP(model)        # delay_allreduce delays all communication to the end of the backward pass.        # DDP模块同时也计算整体的平均梯度, 这样我们就不需要在训练步骤计算平均梯度。        model = DDP(model, delay_allreduce=True)    # ###################################  Resume from checkpoint ###########################################    if args.resume:        # Use a local scope to avoid dangling references        # dangling references: a variable that refers to an object that was deleted prematurely        def resume():            if os.path.isfile(opt.ckpt_path):                print('Resuming from checkpoint ...... ')                checkpoint = torch.load(opt.ckpt_path,                                        map_location=torch.device('cpu'))  # map to cpu to save the gpu memory                # #################################################                from collections import OrderedDict                new_state_dict = OrderedDict()                # # #################################################                for k, v in checkpoint['weights'].items():                    # Exclude the regression layer by commenting the following code when we change the output dims!                    # if 'out' or 'merge' or 'before_regress'in k:                    #     continue                    name = 'module.' + k  # add prefix 'module.'                    new_state_dict[name] = v                model.load_state_dict(new_state_dict, strict=False)  # , strict=False                # # #################################################                # model.load_state_dict(checkpoint['weights'])  # 加入他人训练的模型，可能需要忽略部分层，则strict=False                print('Network weights have been resumed from checkpoint...')                # amp.load_state_dict(checkpoint['amp'])                # print('AMP loss_scalers and unskipped steps have been resumed from checkpoint...')                # ############## We must convert the resumed state data of optimizer to gpu  ##############                # """It is because the previous training was done on gpu, so when saving the optimizer.state_dict, the stored                #  states(tensors) are of cuda version. During resuming, when we load the saved optimizer, load_state_dict()                #  loads this cuda version to cpu. But in this project, we use map_location to map the state tensors to cpu.                #  In the training process, we need cuda version of state tensors, so we have to convert them to gpu."""                optimizer.load_state_dict(checkpoint['optimizer_weight'])                for state in optimizer.state.values():                    for k, v in state.items():                        if torch.is_tensor(v):                            state[k] = v.cuda()                print('Optimizer has been resumed from checkpoint...')                global best_loss, start_epoch  # global declaration. otherwise best_loss and start_epoch can not be changed                best_loss = checkpoint['train_loss']                print('******************** Best loss resumed is :', best_loss, '  ************************')                start_epoch = checkpoint['epoch'] + 1                print("========> Resume and start training from Epoch {} ".format(start_epoch))                del checkpoint            else:                print("========> No checkpoint found at '{}'".format(opt.ckpt_path))        resume()    train_sampler = None    val_sampler = None    # Restricts data loading to a subset of the dataset exclusive to the current process    # Create DistributedSampler to handle distributing the dataset across nodes when training 创建分布式采样器来控制训练中节点间的数据分发    # This can only be called after distributed.init_process_group is called 这个只能在 distributed.init_process_group 被调用后调用    # 这个对象控制进入分布式环境的数据集以确保模型不是对同一个子数据集训练，以达到训练目标。    if args.distributed:        train_sampler = torch.utils.data.distributed.DistributedSampler(train_data)        val_sampler = torch.utils.data.distributed.DistributedSampler(val_data)    # 创建数据加载器，在训练和验证步骤中喂数据    train_loader = torch.utils.data.DataLoader(train_data, batch_size=opt.batch_size, shuffle=(train_sampler is None),                                               num_workers=2, pin_memory=True, sampler=train_sampler, drop_last=True)    val_loader = torch.utils.data.DataLoader(val_data, batch_size=opt.batch_size, shuffle=False,                                             num_workers=2, pin_memory=True, sampler=val_sampler, drop_last=True)    for param in model.parameters():        if param.requires_grad:            print('Parameters of network: Autograd')            break    # #  Update the learning rate for start_epoch times    # for i in range(start_epoch):    #     scheduler.step()    def train(epoch):        print('\n ############################# Train phase, Epoch: {} #############################'.format(epoch))        torch.cuda.empty_cache()        model.train()        # DistributedSampler 中记录目前的 epoch 数， 因为采样器是根据 epoch 来决定如何打乱分配数据进各个进程        if args.distributed:            train_sampler.set_epoch(epoch)        # scheduler.step()  use 'adjust learning rate' instead        # adjust_learning_rate_cyclic(optimizer, epoch, start_epoch)  # start_epoch        print('\nLearning rate at this epoch is: %0.9f\n' % optimizer.param_groups[0]['lr'])  # scheduler.get_lr()[0]        batch_time = AverageMeter()        losses = AverageMeter()        end = time.time()        for batch_idx, target_tuple in enumerate(train_loader):            # # ##############  Use schedule step or fun of 'adjust learning rate' #####################            adjust_learning_rate(optimizer, epoch, batch_idx, len(train_loader), use_warmup=args.warmup)            # print('\nLearning rate at this epoch is: %0.9f\n' % optimizer.param_groups[0]['lr'])  # scheduler.get_lr()[0]            # # ##########################################################            if use_cuda:                #  这允许异步 GPU 复制数据也就是说计算和数据传输可以同时进.                target_tuple = [target_tensor.cuda(non_blocking=True) for target_tensor in target_tuple]            # target tensor shape: [8,512,512,3], [8, 1, 128,128], [8,43,128,128], [8,36,128,128], [8,36,128,128]            images, mask_misses, heatmaps = target_tuple  # , offsets, mask_offsets            # images = Variable(images)            # loc_targets = Variable(loc_targets)            # conf_targets = Variable(conf_targets)            optimizer.zero_grad()  # zero the gradient buff            loss = model(target_tuple)            if loss.item() > 2e5:  # try to rescue the gradient explosion                print("\nOh My God ! \nLoss is abnormal, drop this batch !")                continue            with amp.scale_loss(loss, optimizer) as scaled_loss:                scaled_loss.backward()            # torch.nn.utils.clip_grad_norm_(amp.master_params(optimizer), args.max_grad_norm)  # fixme: 可能是这个的问题吗？            optimizer.step()  # TODO：可以使用累加的loss变相增大batch size，但对于bn层需要减少默认的momentum            # train_loss += loss.item()  # 累加的loss !            # 使用loss += loss.detach()来获取不需要梯度回传的部分。            # 或者使用loss.item()直接获得所对应的python数据类型，但是仅仅限于only one element tensors can be converted to Python scalars            if batch_idx % args.print_freq == 0:                # Every print_freq iterations, check the loss, accuracy, and speed.                # For best performance, it doesn't make sense to print these metrics every                # iteration, since they incur an allreduce and some host<->device syncs.                # print 会触发allreduce，而这个操作比较费时                if args.distributed:                    # We manually reduce and average the metrics across processes. In-place reduce tensor.                    reduced_loss = reduce_tensor(loss.data)                else:                    reduced_loss = loss.data                # to_python_float incurs a host<->device sync                losses.update(to_python_float(reduced_loss), images.size(0))  # update needs average and number                torch.cuda.synchronize()  # 因为所有GPU操作是异步的，应等待当前设备上所有流中的所有核心完成，测试的时间才正确                batch_time.update((time.time() - end) / args.print_freq)                end = time.time()                if args.local_rank == 0:  # Print them in the Process 0                    print('==================> Epoch: [{0}][{1}/{2}]\t'                          'Time {batch_time.val:.3f} ({batch_time.avg:.3f})\t'                          'Speed {3:.3f} ({4:.3f})\t'                          'Loss {loss.val:.10f} ({loss.avg:.4f}) <================ \t'.format(                        epoch, batch_idx, len(train_loader),                        args.world_size * opt.batch_size / batch_time.val,                        args.world_size * opt.batch_size / batch_time.avg,                        batch_time=batch_time,                        loss=losses))        global best_loss        # DistributedSampler控制进入分布式环境的数据集以确保模型不是对同一个子数据集训练，以达到训练目标。        # train_loss /= (len(train_loader))  # Each GPU process can only see 1/(world_size) training samples per epoch        if args.local_rank == 0:            # Write the log file each epoch.            os.makedirs(checkpoint_path, exist_ok=True)            logger = open(os.path.join('./' + checkpoint_path, 'log'), 'a+')            logger.write('\nEpoch {}\ttrain_loss: {}'.format(epoch, losses.avg))  # validation时不要\n换行            logger.flush()            logger.close()            if losses.avg < float('inf'):  # < best_loss                # Update the best_loss if the average loss drops                best_loss = losses.avg                print('\nSaving model checkpoint...\n')                state = {
                       # not posenet.state_dict(). then, we don't ge the "module" string to begin with                    'weights': model.module.state_dict(),                    'optimizer_weight': optimizer.state_dict(),                    # 'amp': amp.state_dict(),                    'train_loss': losses.avg,                    'epoch': epoch                }                torch.save(state, './' + checkpoint_path + '/PoseNet_' + str(epoch) + '_epoch.pth')    def test(epoch):        print('\n ############################# Test phase, Epoch: {} #############################'.format(epoch))        model.eval()        # DistributedSampler 中记录目前的 epoch 数， 因为采样器是根据 epoch 来决定如何打乱分配数据进各个进程        # if args.distributed:        #     val_sampler.set_epoch(epoch)  # 验证集太小，不够4个划分        batch_time = AverageMeter()        losses = AverageMeter()        end = time.time()        for batch_idx, target_tuple in enumerate(val_loader):            # images.requires_grad_()            # loc_targets.requires_grad_()            # conf_targets.requires_grad_()            if use_cuda:                #  这允许异步 GPU 复制数据也就是说计算和数据传输可以同时进.                target_tuple = [target_tensor.cuda(non_blocking=True) for target_tensor in target_tuple]            # target tensor shape: [8,512,512,3], [8, 1, 128,128], [8,43,128,128], [8,36,128,128], [8,36,128,128]            images, mask_misses, heatmaps = target_tuple  # , offsets, mask_offsets            with torch.no_grad():                _, loss = model(target_tuple)            if args.distributed:                # We manually reduce and average the metrics across processes. In-place reduce tensor.                reduced_loss = reduce_tensor(loss.data)            else:                reduced_loss = loss.data            # to_python_float incurs a host<->device sync            losses.update(to_python_float(reduced_loss), images.size(0))  # update needs average and number            torch.cuda.synchronize()  # 因为所有GPU操作是异步的，应等待当前设备上所有流中的所有核心完成，测试的时间才正确            batch_time.update((time.time() - end))            end = time.time()            if args.local_rank == 0:  # Print them in the Process 0                print('==================>Test: [{0}/{1}]\t'                      'Time {batch_time.val:.3f} ({batch_time.avg:.3f})\t'                      'Speed {2:.3f} ({3:.3f})\t'                      'Loss {loss.val:.4f} ({loss.avg:.4f})\t'.format(                    batch_idx, len(val_loader),                    args.world_size * opt.batch_size / batch_time.val,                    args.world_size * opt.batch_size / batch_time.avg,                    batch_time=batch_time, loss=losses))        if args.local_rank == 0:  # Print them in the Process 0            # Write the log file each epoch.            os.makedirs(checkpoint_path, exist_ok=True)            logger = open(os.path.join('./' + checkpoint_path, 'log'), 'a+')            logger.write('\tval_loss: {}'.format(losses.avg))  # validation时不要\n换行            logger.flush()            logger.close()    def adjust_learning_rate(optimizer, epoch, step, len_epoch, use_warmup=False):        factor = epoch // 15        if epoch >= 78:            factor = (epoch - 78) // 5        lr = opt.learning_rate * args.world_size * (0.2 ** factor)        """Warmup"""        if use_warmup:            if epoch < 3:                # print('=============>  Using warm-up learning rate....')                lr = lr * float(1 + step + epoch * len_epoch) / (3. * len_epoch)  # len_epoch=len(train_loader)        # if(args.local_rank == 0):        #     print("epoch = {}, step = {}, lr = {}".format(epoch, step, lr))        for param_group in optimizer.param_groups:            param_group['lr'] = lr    def adjust_learning_rate_cyclic(optimizer, current_epoch, start_epoch, swa_freqent=5, lr_max=4e-5, lr_min=2e-5):        epoch = current_epoch - start_epoch        lr = lr_max - (lr_max - lr_min) / (swa_freqent - 1) * (epoch - epoch // swa_freqent * swa_freqent)        lr = round(lr, 8)        for param_group in optimizer.param_groups:            param_group['lr'] = lr    class AverageMeter(object):        """Computes and stores the average and current value"""        def __init__(self):            self.val = 0            self.avg = 0            self.sum = 0            self.count = 0        def update(self, val, n=1):            self.val = val            self.sum += val * n            self.count += n            self.avg = self.sum / self.count    def reduce_tensor(tensor):        # Reduces the tensor data across all machines        # If we print the tensor, we can get:        # tensor(334.4330, device='cuda:1') *********************, here is cuda:  cuda:1        # tensor(359.1895, device='cuda:3') *********************, here is cuda:  cuda:3        # tensor(263.3543, device='cuda:2') *********************, here is cuda:  cuda:2        # tensor(340.1970, device='cuda:0') *********************, here is cuda:  cuda:0        rt = tensor.clone()  # The function operates in-place.        dist.all_reduce(rt, op=dist.reduce_op.SUM)        rt /= args.world_size        return rt    if __name__ == '__main__':        for epoch in range(start_epoch, start_epoch + 100):            train(epoch)            test(epoch)

后面有时间的话再继续编辑，希望自己的总结可以帮助Pytorch新手们。如果我的具体代码或者具体的工作任务能够为大家提供一些帮助，那当然更加欢迎引用我的工作啦：

“Simple Pose: Rethinking and Improving a Bottom-up Approach for Multi-Person Pose Estimation”

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