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# Copyright (c) 2021, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Permission is hereby granted, free of charge, to any person obtaining a
# copy of this software and associated documentation files (the "Software"),
# to deal in the Software without restriction, including without limitation
# the rights to use, copy, modify, merge, publish, distribute, sublicense,
# and/or sell copies of the Software, and to permit persons to whom the
# Software is furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
# DEALINGS IN THE SOFTWARE.
#
# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES
# SPDX-License-Identifier: MIT
from typing import Dict
import torch
import torch.nn as nn
from torch import Tensor
from torch.cuda.nvtx import range as nvtx_range
from se3_transformer.model.fiber import Fiber
class NormSE3(nn.Module):
"""
Norm-based SE(3)-equivariant nonlinearity.
┌──> feature_norm ──> LayerNorm() ──> ReLU() ──┐
feature_in ──┤ * ──> feature_out
└──> feature_phase ────────────────────────────┘
"""
NORM_CLAMP = 2 ** -24 # Minimum positive subnormal for FP16
def __init__(self, fiber: Fiber, nonlinearity: nn.Module = nn.ReLU()):
super().__init__()
self.fiber = fiber
self.nonlinearity = nonlinearity
if len(set(fiber.channels)) == 1:
# Fuse all the layer normalizations into a group normalization
self.group_norm = nn.GroupNorm(num_groups=len(fiber.degrees), num_channels=sum(fiber.channels))
else:
# Use multiple layer normalizations
self.layer_norms = nn.ModuleDict({
str(degree): nn.LayerNorm(channels)
for degree, channels in fiber
})
def forward(self, features: Dict[str, Tensor], *args, **kwargs) -> Dict[str, Tensor]:
with nvtx_range('NormSE3'):
output = {}
if hasattr(self, 'group_norm'):
# Compute per-degree norms of features
norms = [features[str(d)].norm(dim=-1, keepdim=True).clamp(min=self.NORM_CLAMP)
for d in self.fiber.degrees]
fused_norms = torch.cat(norms, dim=-2)
# Transform the norms only
new_norms = self.nonlinearity(self.group_norm(fused_norms.squeeze(-1))).unsqueeze(-1)
new_norms = torch.chunk(new_norms, chunks=len(self.fiber.degrees), dim=-2)
# Scale features to the new norms
for norm, new_norm, d in zip(norms, new_norms, self.fiber.degrees):
output[str(d)] = features[str(d)] / norm * new_norm
else:
for degree, feat in features.items():
norm = feat.norm(dim=-1, keepdim=True).clamp(min=self.NORM_CLAMP)
new_norm = self.nonlinearity(self.layer_norms[degree](norm.squeeze(-1)).unsqueeze(-1))
output[degree] = new_norm * feat / norm
return output
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