模仿学习模型ACT部署

首先下载act代码：https://github.com/tonyzhaozh/act

修改代码imitate_episodes.py，在第250行处增加：

torch.onnx.export(policy, (qpos, curr_image), "model.onnx", opset_version=13)

导出onnx模型结构如下：
onnxruntime推理脚本：

import numpy as np
import onnxruntime


onnx_session = onnxruntime.InferenceSession("model.onnx", providers=['CUDAExecutionProvider', 'CPUExecutionProvider'])

input_name = []
for node in onnx_session.get_inputs():
    input_name.append(node.name)

output_name = []
for node in onnx_session.get_outputs():
    output_name.append(node.name)

qpos = np.random.randn(1, 14).astype(np.float32)
curr_image = np.random.randn(1, 1, 3, 480, 640).astype(np.float32)

inputs = {}
inputs['onnx::Gemm_0'] = qpos
inputs['tensor'] = curr_image

outputs = onnx_session.run(None, inputs)
print(outputs)

tensorrt推理脚本（tensorrt版本>10）：

import numpy as np
import tensorrt as trt
import common


logger = trt.Logger(trt.Logger.WARNING)
with open("model.engine", "rb") as f, trt.Runtime(logger) as runtime:
    engine = runtime.deserialize_cuda_engine(f.read())
context = engine.create_execution_context()
inputs, outputs, bindings, stream = common.allocate_buffers(engine)

qpos = np.random.randn(1, 14).astype(np.float32)
curr_image = np.random.randn(1, 1, 3, 480, 640).astype(np.float32)
np.copyto(inputs[0].host, qpos.ravel())
np.copyto(inputs[1].host, curr_image.ravel())

output = common.do_inference(context,engine=engine, bindings=bindings,inputs=inputs, outputs=outputs, stream=stream,)
print(output)

其中common.py:

#
# SPDX-FileCopyrightText: Copyright (c) 1993-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#

import argparse
import os
import ctypes
from typing import Optional, List

import numpy as np
import tensorrt as trt
from cuda import cuda, cudart

try:
    # Sometimes python does not understand FileNotFoundError
    FileNotFoundError
except NameError:
    FileNotFoundError = IOError

EXPLICIT_BATCH = 1 << (int)(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH)

def check_cuda_err(err):
    if isinstance(err, cuda.CUresult):
        if err != cuda.CUresult.CUDA_SUCCESS:
            raise RuntimeError("Cuda Error: {}".format(err))
    if isinstance(err, cudart.cudaError_t):
        if err != cudart.cudaError_t.cudaSuccess:
            raise RuntimeError("Cuda Runtime Error: {}".format(err))
    else:
        raise RuntimeError("Unknown error type: {}".format(err))

def cuda_call(call):
    err, res = call[0], call[1:]
    check_cuda_err(err)
    if len(res) == 1:
        res = res[0]
    return res

def GiB(val):
    return val * 1 << 30


def add_help(description):
    parser = argparse.ArgumentParser(description=description, formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    args, _ = parser.parse_known_args()


def find_sample_data(description="Runs a TensorRT Python sample", subfolder="", find_files=[], err_msg=""):
    """
    Parses sample arguments.

    Args:
        description (str): Description of the sample.
        subfolder (str): The subfolder containing data relevant to this sample
        find_files (str): A list of filenames to find. Each filename will be replaced with an absolute path.

    Returns:
        str: Path of data directory.
    """

    # Standard command-line arguments for all samples.
    kDEFAULT_DATA_ROOT = os.path.join(os.sep, "usr", "src", "tensorrt", "data")
    parser = argparse.ArgumentParser(description=description, formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument(
        "-d",
        "--datadir",
        help="Location of the TensorRT sample data directory, and any additional data directories.",
        action="append",
        default=[kDEFAULT_DATA_ROOT],
    )
    args, _ = parser.parse_known_args()

    def get_data_path(data_dir):
        # If the subfolder exists, append it to the path, otherwise use the provided path as-is.
        data_path = os.path.join(data_dir, subfolder)
        if not os.path.exists(data_path):
            if data_dir != kDEFAULT_DATA_ROOT:
                print("WARNING: " + data_path + " does not exist. Trying " + data_dir + " instead.")
            data_path = data_dir
        # Make sure data directory exists.
        if not (os.path.exists(data_path)) and data_dir != kDEFAULT_DATA_ROOT:
            print(
                "WARNING: {:} does not exist. Please provide the correct data path with the -d option.".format(
                    data_path
                )
            )
        return data_path

    data_paths = [get_data_path(data_dir) for data_dir in args.datadir]
    return data_paths, locate_files(data_paths, find_files, err_msg)


def locate_files(data_paths, filenames, err_msg=""):
    """
    Locates the specified files in the specified data directories.
    If a file exists in multiple data directories, the first directory is used.

    Args:
        data_paths (List[str]): The data directories.
        filename (List[str]): The names of the files to find.

    Returns:
        List[str]: The absolute paths of the files.

    Raises:
        FileNotFoundError if a file could not be located.
    """
    found_files = [None] * len(filenames)
    for data_path in data_paths:
        # Find all requested files.
        for index, (found, filename) in enumerate(zip(found_files, filenames)):
            if not found:
                file_path = os.path.abspath(os.path.join(data_path, filename))
                if os.path.exists(file_path):
                    found_files[index] = file_path

    # Check that all files were found
    for f, filename in zip(found_files, filenames):
        if not f or not os.path.exists(f):
            raise FileNotFoundError(
                "Could not find {:}. Searched in data paths: {:}\n{:}".format(filename, data_paths, err_msg)
            )
    return found_files


class HostDeviceMem:
    """Pair of host and device memory, where the host memory is wrapped in a numpy array"""
    def __init__(self, size: int, dtype: np.dtype):
        nbytes = size * dtype.itemsize
        host_mem = cuda_call(cudart.cudaMallocHost(nbytes))
        pointer_type = ctypes.POINTER(np.ctypeslib.as_ctypes_type(dtype))

        self._host = np.ctypeslib.as_array(ctypes.cast(host_mem, pointer_type), (size,))
        self._device = cuda_call(cudart.cudaMalloc(nbytes))
        self._nbytes = nbytes

    @property
    def host(self) -> np.ndarray:
        return self._host

    @host.setter
    def host(self, arr: np.ndarray):
        if arr.size > self.host.size:
            raise ValueError(
                f"Tried to fit an array of size {arr.size} into host memory of size {self.host.size}"
            )
        np.copyto(self.host[:arr.size], arr.flat, casting='safe')

    @property
    def device(self) -> int:
        return self._device

    @property
    def nbytes(self) -> int:
        return self._nbytes

    def __str__(self):
        return f"Host:\n{self.host}\nDevice:\n{self.device}\nSize:\n{self.nbytes}\n"

    def __repr__(self):
        return self.__str__()

    def free(self):
        cuda_call(cudart.cudaFree(self.device))
        cuda_call(cudart.cudaFreeHost(self.host.ctypes.data))


# Allocates all buffers required for an engine, i.e. host/device inputs/outputs.
# If engine uses dynamic shapes, specify a profile to find the maximum input & output size.
def allocate_buffers(engine: trt.ICudaEngine, profile_idx: Optional[int] = None):
    inputs = []
    outputs = []
    bindings = []
    stream = cuda_call(cudart.cudaStreamCreate())
    tensor_names = [engine.get_tensor_name(i) for i in range(engine.num_io_tensors)]
    for binding in tensor_names:
        # get_tensor_profile_shape returns (min_shape, optimal_shape, max_shape)
        # Pick out the max shape to allocate enough memory for the binding.
        shape = engine.get_tensor_shape(binding) if profile_idx is None else engine.get_tensor_profile_shape(binding, profile_idx)[-1]
        shape_valid = np.all([s >= 0 for s in shape])
        if not shape_valid and profile_idx is None:
            raise ValueError(f"Binding {binding} has dynamic shape, " +\
                "but no profile was specified.")
        size = trt.volume(shape)
        if engine.has_implicit_batch_dimension:
            size *= engine.max_batch_size
        dtype = np.dtype(trt.nptype(engine.get_tensor_dtype(binding)))

        # Allocate host and device buffers
        bindingMemory = HostDeviceMem(size, dtype)

        # Append the device buffer to device bindings.
        bindings.append(int(bindingMemory.device))

        # Append to the appropriate list.
        if engine.get_tensor_mode(binding) == trt.TensorIOMode.INPUT:
            inputs.append(bindingMemory)
        else:
            outputs.append(bindingMemory)
    return inputs, outputs, bindings, stream


# Frees the resources allocated in allocate_buffers
def free_buffers(inputs: List[HostDeviceMem], outputs: List[HostDeviceMem], stream: cudart.cudaStream_t):
    for mem in inputs + outputs:
        mem.free()
    cuda_call(cudart.cudaStreamDestroy(stream))


# Wrapper for cudaMemcpy which infers copy size and does error checking
def memcpy_host_to_device(device_ptr: int, host_arr: np.ndarray):
    nbytes = host_arr.size * host_arr.itemsize
    cuda_call(cudart.cudaMemcpy(device_ptr, host_arr, nbytes, cudart.cudaMemcpyKind.cudaMemcpyHostToDevice))


# Wrapper for cudaMemcpy which infers copy size and does error checking
def memcpy_device_to_host(host_arr: np.ndarray, device_ptr: int):
    nbytes = host_arr.size * host_arr.itemsize
    cuda_call(cudart.cudaMemcpy(host_arr, device_ptr, nbytes, cudart.cudaMemcpyKind.cudaMemcpyDeviceToHost))


def _do_inference_base(inputs, outputs, stream, execute_async):
    # Transfer input data to the GPU.
    kind = cudart.cudaMemcpyKind.cudaMemcpyHostToDevice
    [cuda_call(cudart.cudaMemcpyAsync(inp.device, inp.host, inp.nbytes, kind, stream)) for inp in inputs]
    # Run inference.
    execute_async()
    # Transfer predictions back from the GPU.
    kind = cudart.cudaMemcpyKind.cudaMemcpyDeviceToHost
    [cuda_call(cudart.cudaMemcpyAsync(out.host, out.device, out.nbytes, kind, stream)) for out in outputs]
    # Synchronize the stream
    cuda_call(cudart.cudaStreamSynchronize(stream))
    # Return only the host outputs.
    return [out.host for out in outputs]


def do_inference(context, engine, bindings, inputs, outputs, stream):
    def execute_async_func():
        context.execute_async_v3(stream_handle=stream)
    # Setup context tensor address.
    num_io = engine.num_io_tensors
    for i in range(num_io):
        context.set_tensor_address(engine.get_tensor_name(i), bindings[i])
    return _do_inference_base(inputs, outputs, stream, execute_async_func)