删除残差路径和shortcut，镜像问题仍存在

evaluate_temporal.py

@@ -46,6 +46,14 @@ def denormalize(tensor):
     tensor = tensor * 255
     return tensor.clamp(0, 255)
 
+def minmax_denormalize(tensor):
+    tensor_min = tensor.min()
+    tensor_max = tensor.max()
+    tensor = (tensor - tensor_min) / (tensor_max - tensor_min)
+    # tensor = tensor*2-1
+    tensor = tensor*255
+    return tensor.clamp(0, 255)
+
 
 def calculate_metrics(pred, target, debug=False):
     """
@@ -67,28 +75,16 @@ def calculate_metrics(pred, target, debug=False):
     if target_np.ndim == 3:
         target_np = target_np.squeeze(0)
     
-    if debug:
+    # if debug:
-        print(f"[DEBUG] pred_np range: [{pred_np.min():.2f}, {pred_np.max():.2f}], mean: {pred_np.mean():.2f}")
+    #     print(f"[DEBUG] pred_np range: [{pred_np.min():.2f}, {pred_np.max():.2f}], mean: {pred_np.mean():.2f}")
-        print(f"[DEBUG] target_np range: [{target_np.min():.2f}, {target_np.max():.2f}], mean: {target_np.mean():.2f}")
+    #     print(f"[DEBUG] target_np range: [{target_np.min():.2f}, {target_np.max():.2f}], mean: {target_np.mean():.2f}")
-        print(f"[DEBUG] pred_np sample values (first 5): {pred_np.ravel()[:5]}")
+    #     print(f"[DEBUG] pred_np sample values (first 5): {pred_np.ravel()[:5]}")
     
-    # 计算MSE - 修复错误的tmp公式
-    # 原错误公式: tmp = 1 - (pred_np - target_np) / 255 * 2
-    # 正确公式: 直接计算像素差的平方
     mse = np.mean((pred_np - target_np) ** 2)
     
-    # 同时计算错误公式的MSE用于对比
-    tmp = 1 - (pred_np - target_np) / 255 * 2
-    wrong_mse = np.mean(tmp**2)
-    
-    if debug:
-        print(f"[DEBUG] Correct MSE: {mse:.6f}, Wrong MSE (tmp formula): {wrong_mse:.6f}")
-    
-    # 计算SSIM (数据范围0-255)
     data_range = 255.0
     ssim_value = ssim(pred_np, target_np, data_range=data_range)
     
-    # 计算PSNR
     psnr_value = psnr(target_np, pred_np, data_range=data_range)
     
     return mse, ssim_value, psnr_value
@@ -134,14 +130,8 @@ def save_comparison_figure(input_frames, target_frame, pred_frame, save_path,
     ax.set_title('Predicted')
     ax.axis('off')
 
-    # debug print - 改进为更有信息量的输出
+    #debug print 
-    if isinstance(pred_frame, np.ndarray):
+    print(target_frame)
-        print(f"[DEBUG IMAGE] Pred frame shape: {pred_frame.shape}, range: [{pred_frame.min():.2f}, {pred_frame.max():.2f}], mean: {pred_frame.mean():.2f}")
-        # 检查是否有大量值在127.5附近
-        mask_near_127_5 = np.abs(pred_frame - 127.5) < 1.0
-        percent_near_127_5 = np.mean(mask_near_127_5) * 100
-        print(f"[DEBUG IMAGE] Percentage of values near 127.5 (±1.0): {percent_near_127_5:.2f}%")
-    else:
     print(pred_frame)
     
     plt.tight_layout()
@@ -161,8 +151,8 @@ def evaluate_model(model, data_loader, device, args):
         metrics_dict: 包含所有指标的字典
         sample_results: 示例结果用于可视化
     """
-    # model.eval()
+    model.eval()
-    model.train() # 临时使用训练模式
+    # model.train() # 临时使用训练模式
     
     # 初始化指标累加器
     total_mse = 0.0
@@ -183,10 +173,11 @@ def evaluate_model(model, data_loader, device, args):
             target_frames = target_frames.to(device, non_blocking=True)
             
             # 前向传播
-            pred_frames, _ = model(input_frames)
+            pred_frames = model(input_frames)
             
             # 反归一化用于指标计算
-            pred_denorm = denormalize(pred_frames)  # [B, 1, H, W]
+            # pred_denorm = minmax_denormalize(pred_frames)  # [B, 1, H, W]
+            pred_denorm = denormalize(pred_frames)
             target_denorm = denormalize(target_frames)  # [B, 1, H, W]
             
             batch_size = input_frames.size(0)
@@ -202,13 +193,13 @@ def evaluate_model(model, data_loader, device, args):
                 
                 # 对第一个样本启用调试
                 debug_mode = (batch_idx == 0 and i == 0 and total_samples == 0)
-                if debug_mode:
+                # if debug_mode:
-                    print(f"[DEBUG] Raw pred_frames range: [{pred_frames.min():.4f}, {pred_frames.max():.4f}], mean: {pred_frames.mean():.4f}")
+                #     print(f"[DEBUG] Raw pred_frames range: [{pred_frames.min():.4f}, {pred_frames.max():.4f}], mean: {pred_frames.mean():.4f}")
-                    print(f"[DEBUG] Raw target_frames range: [{target_frames.min():.4f}, {target_frames.max():.4f}], mean: {target_frames.mean():.4f}")
+                #     print(f"[DEBUG] Raw target_frames range: [{target_frames.min():.4f}, {target_frames.max():.4f}], mean: {target_frames.mean():.4f}")
-                    print(f"[DEBUG] Pred_denorm range: [{pred_denorm.min():.2f}, {pred_denorm.max():.2f}], mean: {pred_denorm.mean():.2f}")
+                #     print(f"[DEBUG] Pred_denorm range: [{pred_denorm.min():.2f}, {pred_denorm.max():.2f}], mean: {pred_denorm.mean():.2f}")
-                    print(f"[DEBUG] Target_denorm range: [{target_denorm.min():.2f}, {target_denorm.max():.2f}], mean: {target_denorm.mean():.2f}")
+                #     print(f"[DEBUG] Target_denorm range: [{target_denorm.min():.2f}, {target_denorm.max():.2f}], mean: {target_denorm.mean():.2f}")
                 
-                mse, ssim_value, psnr_value = calculate_metrics(pred_i, target_i, debug=debug_mode)
+                mse, ssim_value, psnr_value = calculate_metrics(pred_i, target_i, debug=False)
                 
                 total_mse += mse
                 total_ssim += ssim_value
@@ -309,8 +300,6 @@ def main(args):
     print(f"创建模型: {args.model}")
     model_kwargs = {
         'num_frames': args.num_frames,
-        'use_representation_head': args.use_representation_head,
-        'representation_dim': args.representation_dim,
     }
     
     if args.model == 'SwiftFormerTemporal_XS':
@@ -335,10 +324,6 @@ def main(args):
         except (pickle.UnpicklingError, TypeError) as e:
             print(f"使用weights_only=False加载失败: {e}")
             print("尝试使用torch.serialization.add_safe_globals...")
-            from argparse import Namespace
-            # 添加安全全局变量
-            torch.serialization.add_safe_globals([Namespace])
-            checkpoint = torch.load(args.resume, map_location='cpu')
         
         # 处理状态字典（可能包含'module.'前缀）
         if 'model' in checkpoint:
@@ -462,10 +447,6 @@ def get_args_parser():
     # 模型参数
     parser.add_argument('--model', default='SwiftFormerTemporal_XS', type=str, metavar='MODEL',
                         help='要评估的模型名称')
-    parser.add_argument('--use-representation-head', action='store_true',
-                        help='使用表示头进行姿态/速度预测')
-    parser.add_argument('--representation-dim', default=128, type=int,
-                        help='表示向量的维度')
     
     # 评估参数
     parser.add_argument('--batch-size', default=16, type=int,

main_temporal.py

@@ -20,17 +20,13 @@ from util import *
 from models import *
 from models.swiftformer_temporal import SwiftFormerTemporal_XS, SwiftFormerTemporal_S, SwiftFormerTemporal_L1, SwiftFormerTemporal_L3
 from util.video_dataset import VideoFrameDataset
-from util.frame_losses import MultiTaskLoss
+# from util.frame_losses import MultiTaskLoss
 
 # Try to import TensorBoard
 try:
     from torch.utils.tensorboard import SummaryWriter
     TENSORBOARD_AVAILABLE = True
 except ImportError:
-    try:
-        from tensorboardX import SummaryWriter
-        TENSORBOARD_AVAILABLE = True
-    except ImportError:
     TENSORBOARD_AVAILABLE = False
 
 
@@ -47,17 +43,12 @@ def get_args_parser():
                         help='Number of input frames (T)')
     parser.add_argument('--frame-size', default=224, type=int,
                         help='Input frame size')
-    parser.add_argument('--max-interval', default=4, type=int,
+    parser.add_argument('--max-interval', default=10, type=int,
                         help='Maximum interval between consecutive frames')
     
     # Model parameters
     parser.add_argument('--model', default='SwiftFormerTemporal_XS', type=str, metavar='MODEL',
                         help='Name of model to train')
-    parser.add_argument('--use-representation-head', action='store_true',
-                        help='Use representation head for pose/velocity prediction')
-    parser.add_argument('--representation-dim', default=128, type=int,
-                        help='Dimension of representation vector')
-    parser.add_argument('--use-skip', default=True, type=bool, help='using skip connections')
     
     # Training parameters
     parser.add_argument('--batch-size', default=32, type=int)
@@ -130,7 +121,7 @@ def get_args_parser():
                         help='start epoch')
     parser.add_argument('--eval', action='store_true',
                         help='Perform evaluation only')
-    parser.add_argument('--num-workers', default=4, type=int)
+    parser.add_argument('--num-workers', default=16, type=int)
     parser.add_argument('--pin-mem', action='store_true',
                         help='Pin CPU memory in DataLoader')
     parser.add_argument('--no-pin-mem', action='store_false', dest='pin_mem')
@@ -211,9 +202,6 @@ def main(args):
     print(f"Creating model: {args.model}")
     model_kwargs = {
         'num_frames': args.num_frames,
-        'use_representation_head': args.use_representation_head,
-        'representation_dim': args.representation_dim,
-        'use_skip': args.use_skip,
     }
     
     if args.model == 'SwiftFormerTemporal_XS':
@@ -262,7 +250,7 @@ def main(args):
             super().__init__()
             self.mse = nn.MSELoss()
         
-        def forward(self, pred_frame, target_frame, representations=None, temporal_indices=None):
+        def forward(self, pred_frame, target_frame, temporal_indices=None):
             loss = self.mse(pred_frame, target_frame)
             loss_dict = {'mse': loss}
             return loss, loss_dict
@@ -276,7 +264,7 @@ def main(args):
             checkpoint = torch.hub.load_state_dict_from_url(
                 args.resume, map_location='cpu', check_hash=True)
         else:
-            checkpoint = torch.load(args.resume, map_location='cpu')
+            checkpoint = torch.load(args.resume, map_location='cpu', weights_only=False)
         
         model_without_ddp.load_state_dict(checkpoint['model'])
         if not args.eval and 'optimizer' in checkpoint and 'lr_scheduler' in checkpoint and 'epoch' in checkpoint:
@@ -320,7 +308,7 @@ def main(args):
 
         train_stats, global_step = train_one_epoch(
             model, criterion, data_loader_train,
-            optimizer, device, epoch, loss_scaler,
+            optimizer, device, epoch, loss_scaler, args.clip_grad, args.clip_mode,
             model_ema=model_ema, writer=writer,
             global_step=global_step, args=args
         )
@@ -328,7 +316,7 @@ def main(args):
         lr_scheduler.step(epoch)
         
         # Save checkpoint
-        if args.output_dir and (epoch % 2 == 0 or epoch == args.epochs - 1):
+        if args.output_dir and (epoch % 1 == 0 or epoch == args.epochs - 1):
             checkpoint_path = output_dir / f'checkpoint_epoch{epoch}.pth'
             utils.save_on_master({
                 'model': model_without_ddp.state_dict(),
@@ -368,7 +356,7 @@ def main(args):
 
 
 def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, loss_scaler,
-                    clip_grad=0, clip_mode='norm', model_ema=None, writer=None,
+                    clip_grad=0.01, clip_mode='norm', model_ema=None, writer=None,
                     global_step=0, args=None, **kwargs):
     model.train()
     metric_logger = utils.MetricLogger(delimiter="  ")
@@ -390,10 +378,10 @@ def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, los
 
         # Forward pass
         with torch.amp.autocast(device_type='cuda'):
-            pred_frames, representations = model(input_frames)
+            pred_frames = model(input_frames)
             loss, loss_dict = criterion(
                 pred_frames, target_frames,
-                representations, temporal_indices
+                temporal_indices
             )
 
         loss_value = loss.item()
@@ -403,7 +391,6 @@ def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, los
 
         optimizer.zero_grad()
         
-        # 在反向传播前保存梯度用于诊断
         loss_scaler(loss, optimizer, clip_grad=clip_grad, clip_mode=clip_mode,
                     parameters=model.parameters())
 
@@ -426,14 +413,14 @@ def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, los
         metric_logger.update(pred_std=pred_std)
         metric_logger.update(grad_norm=total_grad_norm)
         
-        # 每50个批次打印一次BatchNorm统计
+        # # 每50个批次打印一次BatchNorm统计
         if batch_idx % 50 == 0:
             print(f"[诊断] 批次 {batch_idx}: 预测均值={pred_mean:.4f}, 预测标准差={pred_std:.4f}, 梯度范数={total_grad_norm:.4f}")
-            # 检查一个BatchNorm层的运行统计
+        #     # 检查一个BatchNorm层的运行统计
-            for name, module in model.named_modules():
+        #     for name, module in model.named_modules():
-                if isinstance(module, torch.nn.BatchNorm2d) and 'decoder.blocks.0.bn' in name:
+        #         if isinstance(module, torch.nn.BatchNorm2d) and 'decoder.blocks.0.bn' in name:
-                    print(f"[诊断] {name}: 运行均值={module.running_mean[0].item():.6f}, 运行方差={module.running_var[0].item():.6f}")
+        #             print(f"[诊断] {name}: 运行均值={module.running_mean[0].item():.6f}, 运行方差={module.running_var[0].item():.6f}")
-                    break
+        #             break
 
         # Log to TensorBoard
         if writer is not None:
@@ -457,7 +444,7 @@ def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, los
             if args is not None and getattr(args, 'log_images', False) and global_step % getattr(args, 'image_log_freq', 100) == 0:
                 with torch.no_grad():
                     # Take first sample from batch for visualization
-                    pred_vis, _ = model(input_frames[:1])
+                    pred_vis = model(input_frames[:1])
                     # Convert to appropriate format for TensorBoard
                     # Assuming frames are in [B, C, H, W] format
                     writer.add_images('train/input', input_frames[:1], global_step)
@@ -502,10 +489,10 @@ def evaluate(data_loader, model, criterion, device, writer=None, epoch=0):
 
         # Compute output
         with torch.amp.autocast(device_type='cuda'):
-            pred_frames, representations = model(input_frames)
+            pred_frames = model(input_frames)
             loss, loss_dict = criterion(
                 pred_frames, target_frames,
-                representations, temporal_indices
+                temporal_indices
             )
 
         # 计算诊断指标
@@ -520,21 +507,21 @@ def evaluate(data_loader, model, criterion, device, writer=None, epoch=0):
         metric_logger.update(target_mean=target_mean)
         metric_logger.update(target_std=target_std)
         
-        # 第一个批次打印详细诊断信息
+        # # 第一个批次打印详细诊断信息
-        if batch_idx == 0:
+        # if batch_idx == 0:
-            print(f"[评估诊断] 批次 0:")
+        #     print(f"[评估诊断] 批次 0:")
-            print(f"  预测范围: [{pred_frames.min().item():.4f}, {pred_frames.max().item():.4f}]")
+        #     print(f"  预测范围: [{pred_frames.min().item():.4f}, {pred_frames.max().item():.4f}]")
-            print(f"  预测均值: {pred_mean:.4f}, 预测标准差: {pred_std:.4f}")
+        #     print(f"  预测均值: {pred_mean:.4f}, 预测标准差: {pred_std:.4f}")
-            print(f"  目标范围: [{target_frames.min().item():.4f}, {target_frames.max().item():.4f}]")
+        #     print(f"  目标范围: [{target_frames.min().item():.4f}, {target_frames.max().item():.4f}]")
-            print(f"  目标均值: {target_mean:.4f}, 目标标准差: {target_std:.4f}")
+        #     print(f"  目标均值: {target_mean:.4f}, 目标标准差: {target_std:.4f}")
             
-            # 检查BatchNorm运行统计
+        #     # 检查BatchNorm运行统计
-            for name, module in model.named_modules():
+        #     for name, module in model.named_modules():
-                if isinstance(module, torch.nn.BatchNorm2d) and 'decoder.blocks.0.bn' in name:
+        #         if isinstance(module, torch.nn.BatchNorm2d) and 'decoder.blocks.0.bn' in name:
-                    print(f"  {name}: 运行均值={module.running_mean[0].item():.6f}, 运行方差={module.running_var[0].item():.6f}")
+        #             print(f"  {name}: 运行均值={module.running_mean[0].item():.6f}, 运行方差={module.running_var[0].item():.6f}")
-                    if module.running_var[0].item() < 1e-6:
+        #             if module.running_var[0].item() < 1e-6:
-                        print(f"  警告: BatchNorm运行方差接近零!")
+        #                 print(f"  警告: BatchNorm运行方差接近零!")
-                    break
+        #             break
 
         # Update metrics
         metric_logger.update(loss=loss.item())

models/swiftformer_temporal.py

@@ -11,7 +11,7 @@ from timm.layers import DropPath, trunc_normal_
 
 
 class DecoderBlock(nn.Module):
-    """Upsampling block for frame prediction decoder with residual connections"""
+    """Upsampling block for frame prediction decoder without residual connections"""
     def __init__(self, in_channels, out_channels, kernel_size=3, stride=2, padding=1, output_padding=1):
         super().__init__()
         # 主路径：反卷积 + 两个卷积层
@@ -21,282 +21,97 @@ class DecoderBlock(nn.Module):
             stride=stride,
             padding=padding,
             output_padding=output_padding,
-            bias=True  # 启用bias，因为移除了BN
+            bias=False  # 禁用bias，因为使用BN
         )
+        self.bn1 = nn.BatchNorm2d(out_channels)
         self.conv1 = nn.Conv2d(out_channels, out_channels,
-                              kernel_size=3, padding=1, bias=True)
+                              kernel_size=3, padding=1, bias=False)
+        self.bn2 = nn.BatchNorm2d(out_channels)
         self.conv2 = nn.Conv2d(out_channels, out_channels,
-                              kernel_size=3, padding=1, bias=True)
+                              kernel_size=3, padding=1, bias=False)
+        self.bn3 = nn.BatchNorm2d(out_channels)
         
-        # 残差路径：如果需要改变通道数或空间尺寸
+        # 使用ReLU激活函数
-        self.shortcut = nn.Identity()
+        self.activation = nn.ReLU(inplace=True)
-        if in_channels != out_channels or stride != 1:
-            # 使用1x1卷积调整通道数，如果需要上采样则使用反卷积
-            if stride == 1:
-                self.shortcut = nn.Conv2d(in_channels, out_channels,
-                                         kernel_size=1, bias=True)
-            else:
-                self.shortcut = nn.ConvTranspose2d(
-                    in_channels, out_channels,
-                    kernel_size=1,
-                    stride=stride,
-                    padding=0,
-                    output_padding=output_padding,
-                    bias=True
-                )
-        
-        # 使用LeakyReLU避免死亡神经元
-        self.activation = nn.LeakyReLU(0.2, inplace=True)
         
         # 初始化权重
         self._init_weights()
         
     def _init_weights(self):
         # 初始化反卷积层
-        nn.init.kaiming_normal_(self.conv_transpose.weight, mode='fan_out', nonlinearity='leaky_relu')
+        nn.init.kaiming_normal_(self.conv_transpose.weight, mode='fan_out', nonlinearity='relu')
-        if self.conv_transpose.bias is not None:
-            nn.init.constant_(self.conv_transpose.bias, 0)
         
         # 初始化卷积层
-        nn.init.kaiming_normal_(self.conv1.weight, mode='fan_out', nonlinearity='leaky_relu')
+        nn.init.kaiming_normal_(self.conv1.weight, mode='fan_out', nonlinearity='relu')
-        if self.conv1.bias is not None:
+        nn.init.kaiming_normal_(self.conv2.weight, mode='fan_out', nonlinearity='relu')
-            nn.init.constant_(self.conv1.bias, 0)
         
-        nn.init.kaiming_normal_(self.conv2.weight, mode='fan_out', nonlinearity='leaky_relu')
+        # 初始化BN层（使用默认初始化）
-        if self.conv2.bias is not None:
+        for m in self.modules():
-            nn.init.constant_(self.conv2.bias, 0)
+            if isinstance(m, nn.BatchNorm2d):
-        
+                nn.init.constant_(m.weight, 1)
-        # 初始化shortcut
+                nn.init.constant_(m.bias, 0)
-        if not isinstance(self.shortcut, nn.Identity):
-            if isinstance(self.shortcut, nn.Conv2d):
-                nn.init.kaiming_normal_(self.shortcut.weight, mode='fan_out', nonlinearity='leaky_relu')
-            elif isinstance(self.shortcut, nn.ConvTranspose2d):
-                nn.init.kaiming_normal_(self.shortcut.weight, mode='fan_out', nonlinearity='leaky_relu')
-            if self.shortcut.bias is not None:
-                nn.init.constant_(self.shortcut.bias, 0)
         
     def forward(self, x):
-        identity = self.shortcut(x)
-        
         # 主路径
         x = self.conv_transpose(x)
+        x = self.bn1(x)
         x = self.activation(x)
         
         x = self.conv1(x)
+        x = self.bn2(x)
         x = self.activation(x)
         
         x = self.conv2(x)
-        
+        x = self.bn3(x)
-        # 残差连接
-        x = x + identity
-        x = self.activation(x)
-        return x
-
-
-class DecoderBlockWithSkip(nn.Module):
-    """Decoder block with skip connection support"""
-    def __init__(self, in_channels, out_channels, skip_channels=0, kernel_size=3, stride=2, padding=1, output_padding=1):
-        super().__init__()
-        # 总输入通道 = 输入通道 + skip通道
-        total_in_channels = in_channels + skip_channels
-        
-        # 主路径：反卷积 + 两个卷积层
-        self.conv_transpose = nn.ConvTranspose2d(
-            total_in_channels, out_channels,
-            kernel_size=kernel_size,
-            stride=stride,
-            padding=padding,
-            output_padding=output_padding,
-            bias=True
-        )
-        self.conv1 = nn.Conv2d(out_channels, out_channels,
-                              kernel_size=3, padding=1, bias=True)
-        self.conv2 = nn.Conv2d(out_channels, out_channels,
-                              kernel_size=3, padding=1, bias=True)
-        
-        # 残差路径：如果需要改变通道数或空间尺寸
-        self.shortcut = nn.Identity()
-        if total_in_channels != out_channels or stride != 1:
-            if stride == 1:
-                self.shortcut = nn.Conv2d(total_in_channels, out_channels,
-                                         kernel_size=1, bias=True)
-            else:
-                self.shortcut = nn.ConvTranspose2d(
-                    total_in_channels, out_channels,
-                    kernel_size=1,
-                    stride=stride,
-                    padding=0,
-                    output_padding=output_padding,
-                    bias=True
-                )
-        
-        # 使用LeakyReLU避免死亡神经元
-        self.activation = nn.LeakyReLU(0.2, inplace=True)
-        
-        # 初始化权重
-        self._init_weights()
-        
-    def _init_weights(self):
-        # 初始化反卷积层
-        nn.init.kaiming_normal_(self.conv_transpose.weight, mode='fan_out', nonlinearity='leaky_relu')
-        if self.conv_transpose.bias is not None:
-            nn.init.constant_(self.conv_transpose.bias, 0)
-        
-        # 初始化卷积层
-        nn.init.kaiming_normal_(self.conv1.weight, mode='fan_out', nonlinearity='leaky_relu')
-        if self.conv1.bias is not None:
-            nn.init.constant_(self.conv1.bias, 0)
-            
-        nn.init.kaiming_normal_(self.conv2.weight, mode='fan_out', nonlinearity='leaky_relu')
-        if self.conv2.bias is not None:
-            nn.init.constant_(self.conv2.bias, 0)
-        
-        # 初始化shortcut
-        if not isinstance(self.shortcut, nn.Identity):
-            if isinstance(self.shortcut, nn.Conv2d):
-                nn.init.kaiming_normal_(self.shortcut.weight, mode='fan_out', nonlinearity='leaky_relu')
-            elif isinstance(self.shortcut, nn.ConvTranspose2d):
-                nn.init.kaiming_normal_(self.shortcut.weight, mode='fan_out', nonlinearity='leaky_relu')
-            if self.shortcut.bias is not None:
-                nn.init.constant_(self.shortcut.bias, 0)
-        
-    def forward(self, x, skip_feature=None):
-        # 如果有skip feature，将其与输入拼接
-        if skip_feature is not None:
-            # 确保skip特征的空间尺寸与x匹配
-            if skip_feature.shape[2:] != x.shape[2:]:
-                # 使用双线性插值进行上采样或下采样
-                skip_feature = torch.nn.functional.interpolate(
-                    skip_feature,
-                    size=x.shape[2:],
-                    mode='bilinear',
-                    align_corners=False
-                )
-            x = torch.cat([x, skip_feature], dim=1)
-        
-        identity = self.shortcut(x)
-        
-        # 主路径
-        x = self.conv_transpose(x)
-        x = self.activation(x)
-        
-        x = self.conv1(x)
-        x = self.activation(x)
-        
-        x = self.conv2(x)
-        
-        # 残差连接
-        x = x + identity
         x = self.activation(x)
         return x
 
 
 class FramePredictionDecoder(nn.Module):
-    """Improved decoder for frame prediction with better upsampling strategy"""
+    """Improved decoder for frame prediction"""
-    def __init__(self, embed_dims, output_channels=1, use_skip=False):
+    def __init__(self, embed_dims, output_channels=1):
         super().__init__()
-        self.use_skip = use_skip
+        # Define decoder dimensions independently (no skip connections)
-        # Reverse the embed_dims for decoder
+        start_dim = embed_dims[-1]
-        decoder_dims = embed_dims[::-1]
+        decoder_dims = [start_dim // (2 ** i) for i in range(4)]  # e.g., [220, 110, 55, 27] for XS
         
         self.blocks = nn.ModuleList()
         
-        if use_skip:
+        # 第一个block：stride=2 (decoder_dims[0] -> decoder_dims[1])
-            # 使用支持skip connections的block
-            # 第一个block：从bottleneck到stage4，使用大步长stride=4，skip来自stage3
-            self.blocks.append(DecoderBlockWithSkip(
-                decoder_dims[0], decoder_dims[1],
-                skip_channels=embed_dims[3],  # stage3的通道数
-                kernel_size=3, stride=4, padding=1, output_padding=3  # 改为stride=4
-            ))
-            # 第二个block：stage4到stage3，stride=2，skip来自stage2
-            self.blocks.append(DecoderBlockWithSkip(
-                decoder_dims[1], decoder_dims[2],
-                skip_channels=embed_dims[2],  # stage2的通道数
-                kernel_size=3, stride=2, padding=1, output_padding=1
-            ))
-            # 第三个block：stage3到stage2，stride=2，skip来自stage1
-            self.blocks.append(DecoderBlockWithSkip(
-                decoder_dims[2], decoder_dims[3],
-                skip_channels=embed_dims[1],  # stage1的通道数
-                kernel_size=3, stride=2, padding=1, output_padding=1
-            ))
-            # 第四个block：stage2到stage1，stride=2，skip来自stage0
-            self.blocks.append(DecoderBlockWithSkip(
-                decoder_dims[3], 64,  # 输出到64通道
-                skip_channels=embed_dims[0],  # stage0的通道数
-                kernel_size=3, stride=2, padding=1, output_padding=1
-            ))
-        else:
-            # 使用普通的DecoderBlock，第一个block使用大步长
         self.blocks.append(DecoderBlock(
             decoder_dims[0], decoder_dims[1],
-                kernel_size=3, stride=4, padding=1, output_padding=3  # 改为stride=4
+            kernel_size=3, stride=2, padding=1, output_padding=1
         ))
+        # 第二个block：stride=2 (decoder_dims[1] -> decoder_dims[2])
         self.blocks.append(DecoderBlock(
             decoder_dims[1], decoder_dims[2],
             kernel_size=3, stride=2, padding=1, output_padding=1
         ))
+        # 第三个block：stride=2 (decoder_dims[2] -> decoder_dims[3])
         self.blocks.append(DecoderBlock(
             decoder_dims[2], decoder_dims[3],
             kernel_size=3, stride=2, padding=1, output_padding=1
         ))
-            # 第四个block：增加到64通道
+        # 第四个block：stride=4 (decoder_dims[3] -> 64)，放在倒数第二的位置
         self.blocks.append(DecoderBlock(
             decoder_dims[3], 64,
-                kernel_size=3, stride=2, padding=1, output_padding=1
+            kernel_size=3, stride=4, padding=1, output_padding=3  # stride=4放在这里
         ))
         
-        # 改进的最终输出层：不使用反卷积，只进行特征精炼
-        # 输入尺寸已经是目标尺寸，只需要调整通道数和进行特征融合
         self.final_block = nn.Sequential(
             nn.Conv2d(64, 64, kernel_size=3, padding=1, bias=True),
-            nn.LeakyReLU(0.2, inplace=True),
+            nn.ReLU(inplace=True),
             nn.Conv2d(64, 32, kernel_size=3, padding=1, bias=True),
-            nn.LeakyReLU(0.2, inplace=True),
+            nn.ReLU(inplace=True),
-            nn.Conv2d(32, output_channels, kernel_size=3, padding=1, bias=True)
+            nn.Conv2d(32, output_channels, kernel_size=3, padding=1, bias=True),
-            # 移除Tanh，让输出在任意范围，由损失函数和归一化处理
+            nn.Tanh()
         )
         
-    def forward(self, x, skip_features=None):
+    def forward(self, x):
         """
         Args:
             x: input tensor of shape [B, embed_dims[-1], H/32, W/32]
-            skip_features: list of encoder features from stages [stage3, stage2, stage1, stage0]
-                each of shape [B, C, H', W'] where C matches encoder dims
         """
-        if self.use_skip:
-            if skip_features is None:
-                raise ValueError("skip_features must be provided when use_skip=True")
-            
-            # 确保有4个skip features
-            assert len(skip_features) == 4, f"Need 4 skip features, got {len(skip_features)}"
-            
-            # 反转顺序以匹配解码器：stage3, stage2, stage1, stage0
-            skip_features = skip_features[::-1]
-            
-            # 调整skip特征的尺寸以匹配新的上采样策略
-            adjusted_skip_features = []
-            for i, skip in enumerate(skip_features):
-                if skip is not None:
-                    # 计算目标尺寸：4, 2, 2, 2倍上采样
-                    upsample_factors = [4, 2, 2, 2]
-                    target_height = x.shape[2] * upsample_factors[i]
-                    target_width = x.shape[3] * upsample_factors[i]
-                    
-                    if skip.shape[2:] != (target_height, target_width):
-                        skip = torch.nn.functional.interpolate(
-                            skip,
-                            size=(target_height, target_width),
-                            mode='bilinear',
-                            align_corners=False
-                        )
-                adjusted_skip_features.append(skip)
-            
-            # 四个block使用skip connections
-            for i in range(4):
-                x = self.blocks[i](x, adjusted_skip_features[i])
-        else:
         # 不使用skip connections
         for i in range(4):
             x = self.blocks[i](x)
@@ -316,10 +131,6 @@ class SwiftFormerTemporal(nn.Module):
                  model_name='XS',
                  num_frames=3,
                  use_decoder=True,
-                 use_skip=True,  # 新增：是否使用skip connections
-                 use_representation_head=False,
-                 representation_dim=128,
-                 return_features=False,
                  **kwargs):
         super().__init__()
         
@@ -330,9 +141,6 @@ class SwiftFormerTemporal(nn.Module):
         # Store configuration
         self.num_frames = num_frames
         self.use_decoder = use_decoder
-        self.use_skip = use_skip  # 保存skip connections设置
-        self.use_representation_head = use_representation_head
-        self.return_features = return_features
         
         # Modify stem to accept multiple frames (only Y channel)
         in_channels = num_frames
@@ -365,33 +173,20 @@ class SwiftFormerTemporal(nn.Module):
         if use_decoder:
             self.decoder = FramePredictionDecoder(
                 embed_dims,
-                output_channels=1,
+                output_channels=1
-                use_skip=use_skip  # 传递skip connections设置
             )
         
-        # Representation head for pose/velocity prediction
-        if use_representation_head:
-            self.representation_head = nn.Sequential(
-                nn.AdaptiveAvgPool2d(1),
-                nn.Flatten(),
-                nn.Linear(embed_dims[-1], representation_dim),
-                nn.ReLU(),
-                nn.Linear(representation_dim, representation_dim)
-            )
-        else:
-            self.representation_head = None
-            
         self.apply(self._init_weights)
         
     def _init_weights(self, m):
         if isinstance(m, (nn.Conv2d, nn.Linear)):
-            # 使用Kaiming初始化，适合ReLU/LeakyReLU
+            # 使用Kaiming初始化，适合ReLU
-            nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='leaky_relu')
+            nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')
             if m.bias is not None:
                 nn.init.constant_(m.bias, 0)
         elif isinstance(m, nn.ConvTranspose2d):
             # 反卷积层使用特定的初始化
-            nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='leaky_relu')
+            nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')
             if m.bias is not None:
                 nn.init.constant_(m.bias, 0)
         elif isinstance(m, (nn.LayerNorm, nn.BatchNorm2d)):
@@ -399,19 +194,6 @@ class SwiftFormerTemporal(nn.Module):
             nn.init.constant_(m.weight, 1.0)
     
     def forward_tokens(self, x):
-        """Forward through encoder network, return list of stage features if return_features else final output"""
-        if self.return_features or self.use_skip:
-            features = []
-            stage_idx = 0
-            for idx, block in enumerate(self.network):
-                x = block(x)
-                # 收集每个stage的输出（stage0, stage1, stage2, stage3）
-                # 根据SwiftFormer结构，stage在索引0,2,4,6位置
-                if idx in [0, 2, 4, 6]:
-                    features.append(x)
-                    stage_idx += 1
-            return x, features
-        else:
         for block in self.network:
             x = block(x)
         return x
@@ -421,61 +203,30 @@ class SwiftFormerTemporal(nn.Module):
         Args:
             x: input frames of shape [B, num_frames, H, W]
         Returns:
-            If return_features is False:
             pred_frame: predicted frame [B, 1, H, W] (or None)
-                representation: optional representation vector [B, representation_dim] (or None)
-            If return_features is True:
-                pred_frame, representation, features (list of stage features)
         """
         # Encode
         x = self.patch_embed(x)
-        if self.return_features or self.use_skip:
-            x, features = self.forward_tokens(x)
-        else:
         x = self.forward_tokens(x)
         x = self.norm(x)
         
-        # Get representation if needed
-        representation = None
-        if self.representation_head is not None:
-            representation = self.representation_head(x)
-        
         # Decode to frame
         pred_frame = None
         if self.use_decoder:
-            if self.use_skip:
-                # 提取用于skip connections的特征
-                # features包含所有stage的输出，我们需要stage0, stage1, stage2, stage3
-                # 根据SwiftFormer结构，应该有4个stage特征
-                if len(features) >= 4:
-                    # 取四个stage的特征：stage0, stage1, stage2, stage3
-                    skip_features = [features[0], features[1], features[2], features[3]]
-                else:
-                    # 如果特征不够，使用可用的特征
-                    skip_features = features[:4]
-                    # 如果特征仍然不够，使用None填充
-                    while len(skip_features) < 4:
-                        skip_features.append(None)
-                
-                pred_frame = self.decoder(x, skip_features)
-            else:
             pred_frame = self.decoder(x)
         
-        if self.return_features:
+        return pred_frame
-            return pred_frame, representation, features
-        else:
-            return pred_frame, representation
 
 
 # Factory functions for different model sizes
-def SwiftFormerTemporal_XS(num_frames=3, use_skip=True, **kwargs):
+def SwiftFormerTemporal_XS(num_frames=3, **kwargs):
-    return SwiftFormerTemporal('XS', num_frames=num_frames, use_skip=use_skip, **kwargs)
+    return SwiftFormerTemporal('XS', num_frames=num_frames, **kwargs)
 
-def SwiftFormerTemporal_S(num_frames=3, use_skip=True, **kwargs):
+def SwiftFormerTemporal_S(num_frames=3, **kwargs):
-    return SwiftFormerTemporal('S', num_frames=num_frames, use_skip=use_skip, **kwargs)
+    return SwiftFormerTemporal('S', num_frames=num_frames, **kwargs)
 
-def SwiftFormerTemporal_L1(num_frames=3, use_skip=True, **kwargs):
+def SwiftFormerTemporal_L1(num_frames=3, **kwargs):
-    return SwiftFormerTemporal('l1', num_frames=num_frames, use_skip=use_skip, **kwargs)
+    return SwiftFormerTemporal('l1', num_frames=num_frames, **kwargs)
 
-def SwiftFormerTemporal_L3(num_frames=3, use_skip=True, **kwargs):
+def SwiftFormerTemporal_L3(num_frames=3, **kwargs):
-    return SwiftFormerTemporal('l3', num_frames=num_frames, use_skip=use_skip, **kwargs)
+    return SwiftFormerTemporal('l3', num_frames=num_frames, **kwargs)

util/frame_losses.py

@@ -1,182 +0,0 @@
-"""
-Loss functions for frame prediction and representation learning
-"""
-import torch
-import torch.nn as nn
-import torch.nn.functional as F
-import math
-
-
-class SSIMLoss(nn.Module):
-    """
-    Structural Similarity Index Measure Loss
-    Based on: https://github.com/Po-Hsun-Su/pytorch-ssim
-    """
-    def __init__(self, window_size=11, size_average=True):
-        super().__init__()
-        self.window_size = window_size
-        self.size_average = size_average
-        self.channel = 3
-        self.window = self.create_window(window_size, self.channel)
-
-    def create_window(self, window_size, channel):
-        def gaussian(window_size, sigma):
-            gauss = torch.Tensor([math.exp(-(x - window_size//2)**2/float(2*sigma**2)) for x in range(window_size)])
-            return gauss/gauss.sum()
-        
-        _1D_window = gaussian(window_size, 1.5).unsqueeze(1)
-        _2D_window = _1D_window.mm(_1D_window.t()).float().unsqueeze(0).unsqueeze(0)
-        window = _2D_window.expand(channel, 1, window_size, window_size).contiguous()
-        return window
-
-    def forward(self, img1, img2):
-        # Ensure window is on correct device
-        if self.window.device != img1.device:
-            self.window = self.window.to(img1.device)
-        
-        mu1 = F.conv2d(img1, self.window, padding=self.window_size//2, groups=self.channel)
-        mu2 = F.conv2d(img2, self.window, padding=self.window_size//2, groups=self.channel)
-        
-        mu1_sq = mu1.pow(2)
-        mu2_sq = mu2.pow(2)
-        mu1_mu2 = mu1 * mu2
-
-        sigma1_sq = F.conv2d(img1*img1, self.window, padding=self.window_size//2, groups=self.channel) - mu1_sq
-        sigma2_sq = F.conv2d(img2*img2, self.window, padding=self.window_size//2, groups=self.channel) - mu2_sq
-        sigma12 = F.conv2d(img1*img2, self.window, padding=self.window_size//2, groups=self.channel) - mu1_mu2
-
-        C1 = 0.01**2
-        C2 = 0.03**2
-
-        ssim_map = ((2*mu1_mu2 + C1)*(2*sigma12 + C2)) / ((mu1_sq + mu2_sq + C1)*(sigma1_sq + sigma2_sq + C2))
-        
-        if self.size_average:
-            return 1 - ssim_map.mean()
-        else:
-            return 1 - ssim_map.mean(1).mean(1).mean(1)
-
-
-class FramePredictionLoss(nn.Module):
-    """
-    Combined loss for frame prediction
-    """
-    def __init__(self, l1_weight=1.0, ssim_weight=0.1, use_ssim=True):
-        super().__init__()
-        self.l1_weight = l1_weight
-        self.ssim_weight = ssim_weight
-        self.use_ssim = use_ssim
-        
-        self.l1_loss = nn.L1Loss()
-        if use_ssim:
-            self.ssim_loss = SSIMLoss()
-        
-    def forward(self, pred, target):
-        """
-        Args:
-            pred: predicted frame [B, 3, H, W] in range [-1, 1]
-            target: target frame [B, 3, H, W] in range [-1, 1]
-        Returns:
-            total_loss, loss_dict
-        """
-        loss_dict = {}
-        
-        # L1 loss
-        l1_loss = self.l1_loss(pred, target)
-        loss_dict['l1'] = l1_loss
-        total_loss = self.l1_weight * l1_loss
-        
-        # SSIM loss
-        if self.use_ssim:
-            ssim_loss = self.ssim_loss(pred, target)
-            loss_dict['ssim'] = ssim_loss
-            total_loss += self.ssim_weight * ssim_loss
-        
-        loss_dict['total'] = total_loss
-        return total_loss, loss_dict
-
-
-class ContrastiveLoss(nn.Module):
-    """
-    Contrastive loss for representation learning
-    Positive pairs: representations from adjacent frames
-    Negative pairs: representations from distant frames
-    """
-    def __init__(self, temperature=0.1, margin=1.0):
-        super().__init__()
-        self.temperature = temperature
-        self.margin = margin
-        self.cosine_similarity = nn.CosineSimilarity(dim=-1)
-        
-    def forward(self, representations, temporal_indices):
-        """
-        Args:
-            representations: [B, D] representation vectors
-            temporal_indices: [B] temporal indices of each sample
-        Returns:
-            contrastive_loss
-        """
-        batch_size = representations.size(0)
-        
-        # Compute similarity matrix
-        sim_matrix = torch.matmul(representations, representations.T) / self.temperature
-        
-        # Create positive mask (adjacent frames)
-        indices_expanded = temporal_indices.unsqueeze(0)
-        diff = torch.abs(indices_expanded - indices_expanded.T)
-        positive_mask = (diff == 1).float()
-        
-        # Create negative mask (distant frames)
-        negative_mask = (diff > 2).float()
-        
-        # Positive loss
-        pos_sim = sim_matrix * positive_mask
-        pos_loss = -torch.log(torch.exp(pos_sim) / torch.exp(sim_matrix).sum(dim=-1, keepdim=True) + 1e-8)
-        pos_loss = (pos_loss * positive_mask).sum() / (positive_mask.sum() + 1e-8)
-        
-        # Negative loss (push apart)
-        neg_sim = sim_matrix * negative_mask
-        neg_loss = torch.relu(neg_sim - self.margin).mean()
-        
-        return pos_loss + 0.1 * neg_loss
-
-
-class MultiTaskLoss(nn.Module):
-    """
-    Multi-task loss combining frame prediction and representation learning
-    """
-    def __init__(self, frame_weight=1.0, contrastive_weight=0.1, 
-                 l1_weight=1.0, ssim_weight=0.1, use_contrastive=True):
-        super().__init__()
-        self.frame_weight = frame_weight
-        self.contrastive_weight = contrastive_weight
-        self.use_contrastive = use_contrastive
-        
-        self.frame_loss = FramePredictionLoss(l1_weight=l1_weight, ssim_weight=ssim_weight)
-        if use_contrastive:
-            self.contrastive_loss = ContrastiveLoss()
-        
-    def forward(self, pred_frame, target_frame, representations=None, temporal_indices=None):
-        """
-        Args:
-            pred_frame: predicted frame [B, 3, H, W]
-            target_frame: target frame [B, 3, H, W]
-            representations: [B, D] representation vectors (optional)
-            temporal_indices: [B] temporal indices (optional)
-        Returns:
-            total_loss, loss_dict
-        """
-        loss_dict = {}
-        
-        # Frame prediction loss
-        frame_loss, frame_loss_dict = self.frame_loss(pred_frame, target_frame)
-        loss_dict.update({f'frame_{k}': v for k, v in frame_loss_dict.items()})
-        total_loss = self.frame_weight * frame_loss
-        
-        # Contrastive loss (if representations provided)
-        if self.use_contrastive and representations is not None and temporal_indices is not None:
-            contrastive_loss = self.contrastive_loss(representations, temporal_indices)
-            loss_dict['contrastive'] = contrastive_loss
-            total_loss += self.contrastive_weight * contrastive_loss
-        
-        loss_dict['total'] = total_loss
-        return total_loss, loss_dict