[Feature] Support MotionBERT

configs/body_3d_keypoint/pose_lift/README.md

@@ -16,23 +16,19 @@ For single-person 3D pose estimation from a monocular camera, existing works can
 
 #### Human3.6m Dataset
 
-| Arch | Receptive Field | MPJPE | P-MPJPE | N-MPJPE | ckpt | log |
-
-| :------------------------------------------------------ | :-------------: | :---: | :-----: | :-----: | :------------------------------------------------------: | :-----------------------------------------------------: |
-
-| [VideoPose3D-supervised](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-supv_8xb128-80e_h36m.py) | 27 | 40.1 | 30.1 | / | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_supervised-fe8fbba9_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_supervised_20210527.log.json) |
-
-| [VideoPose3D-supervised](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-81frm-supv_8xb128-80e_h36m.py) | 81 | 39.1 | 29.3 | / | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_81frames_fullconv_supervised-1f2d1104_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_81frames_fullconv_supervised_20210527.log.json) |
-
-| [VideoPose3D-supervised](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-243frm-supv_8xb128-80e_h36m.py) | 243 | | | / | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised-880bea25_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised_20210527.log.json) |
-
-| [VideoPose3D-supervised-CPN](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-1frm-supv-cpn-ft_8xb128-80e_h36m.py) | 1 | 53.0 | 41.3 | / | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_1frame_fullconv_supervised_cpn_ft-5c3afaed_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_1frame_fullconv_supervised_cpn_ft_20210527.log.json) |
-
-| [VideoPose3D-supervised-CPN](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-243frm-supv-cpn-ft_8xb128-200e_h36m.py) | 243 | | | / | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised_cpn_ft-88f5abbb_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised_cpn_ft_20210527.log.json) |
-
-| [VideoPose3D-semi-supervised](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-semi-supv_8xb64-200e_h36m.py) | 27 | 57.2 | 42.4 | 54.2 | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised-54aef83b_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised_20210527.log.json) |
-
-| [VideoPose3D-semi-supervised-CPN](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-semi-supv-cpn-ft_8xb64-200e_h36m.py) | 27 | 67.3 | 50.4 | 63.6 | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised_cpn_ft-71be9cde_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised_cpn_ft_20210527.log.json) |
+| Arch                                          | MPJPE | P-MPJPE | N-MPJPE |                     ckpt                      |                     log                      |              Details and Download               |
+| :-------------------------------------------- | :---: | :-----: | :-----: | :-------------------------------------------: | :------------------------------------------: | :---------------------------------------------: |
+| [VideoPose3D-supervised-27frm](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-supv_8xb128-80e_h36m.py) | 40.1  |  30.1   |    /    | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_supervised-fe8fbba9_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_supervised_20210527.log.json) | [videpose3d_h36m.md](./h36m/videpose3d_h36m.md) |
+| [VideoPose3D-supervised-81frm](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-81frm-supv_8xb128-80e_h36m.py) | 39.1  |  29.3   |    /    | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_81frames_fullconv_supervised-1f2d1104_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_81frames_fullconv_supervised_20210527.log.json) | [videpose3d_h36m.md](./h36m/videpose3d_h36m.md) |
+| [VideoPose3D-supervised-243frm](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-243frm-supv_8xb128-80e_h36m.py) | 37.6  |  28.3   |    /    | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised-880bea25_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised_20210527.log.json) | [videpose3d_h36m.md](./h36m/videpose3d_h36m.md) |
+| [VideoPose3D-supervised-CPN-1frm](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-1frm-supv-cpn-ft_8xb128-80e_h36m.py) | 53.0  |  41.3   |    /    | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_1frame_fullconv_supervised_cpn_ft-5c3afaed_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_1frame_fullconv_supervised_cpn_ft_20210527.log.json) | [videpose3d_h36m.md](./h36m/videpose3d_h36m.md) |
+| [VideoPose3D-supervised-CPN-243frm](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-243frm-supv-cpn-ft_8xb128-200e_h36m.py) | 47.9  |  38.0   |    /    | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised_cpn_ft-88f5abbb_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_243frames_fullconv_supervised_cpn_ft_20210527.log.json) | [videpose3d_h36m.md](./h36m/videpose3d_h36m.md) |
+| [VideoPose3D-semi-supervised-27frm](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-semi-supv_8xb64-200e_h36m.py) | 57.2  |  42.4   |  54.2   | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised-54aef83b_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised_20210527.log.json) | [videpose3d_h36m.md](./h36m/videpose3d_h36m.md) |
+| [VideoPose3D-semi-supervised-CPN-27frm](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-semi-supv-cpn-ft_8xb64-200e_h36m.py) | 67.3  |  50.4   |  63.6   | [ckpt](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised_cpn_ft-71be9cde_20210527.pth) | [log](https://download.openmmlab.com/mmpose/body3d/videopose/videopose_h36m_27frames_fullconv_semi-supervised_cpn_ft_20210527.log.json) | [videpose3d_h36m.md](./h36m/videpose3d_h36m.md) |
+| [MotionBERT\*](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert-243frm_8xb32-120e_h36m.py) | 35.3  |  27.7   |    /    | [ckpt](https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_h36m-f554954f_20230531.pth) |                      /                       | [motionbert_h36m.md](./h36m/motionbert_h36m.md) |
+| [MotionBERT-finetuned\*](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert-243frm_8xb32-120e_h36m.py) | 27.5  |  21.6   |    /    | [ckpt](https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_ft_h36m-d80af323_20230531.pth) |                      /                       | [motionbert_h36m.md](./h36m/motionbert_h36m.md) |
+
+*Models with * are converted from the official repo. The config files of these models are only for validation. We don't ensure these config files' training accuracy and welcome you to contribute your reproduction results.*
 
 ## Image-based Single-view 3D Human Body Pose Estimation
 
@@ -46,6 +42,6 @@ For single-person 3D pose estimation from a monocular camera, existing works can
 
 #### Human3.6m Dataset
 
-| Arch | MPJPE | P-MPJPE | N-MPJPE | ckpt | log |
-| :------------------------------------------------------ | :-------------: | :---: | :-----: | :-----: | :------------------------------------------------------: | :-----------------------------------------------------: |
-| [SimpleBaseline3D-tcn](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_simplebaseline3d_8xb64-200e_h36m.py) | 43.4 | 34.3 | /|[ckpt](https://download.openmmlab.com/mmpose/body3d/simple_baseline/simple3Dbaseline_h36m-f0ad73a4_20210419.pth) | [log](https://download.openmmlab.com/mmpose/body3d/simple_baseline/20210415_065056.log.json) |
+| Arch                                      | MPJPE | P-MPJPE | N-MPJPE |                   ckpt                    |                    log                    |                    Details and Download                    |
+| :---------------------------------------- | :---: | :-----: | :-----: | :---------------------------------------: | :---------------------------------------: | :--------------------------------------------------------: |
+| [SimpleBaseline3D-tcn](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_simplebaseline3d_8xb64-200e_h36m.py) | 43.4  |  34.3   |    /    | [ckpt](https://download.openmmlab.com/mmpose/body3d/simple_baseline/simple3Dbaseline_h36m-f0ad73a4_20210419.pth) | [log](https://download.openmmlab.com/mmpose/body3d/simple_baseline/20210415_065056.log.json) | [simplebaseline3d_h36m.md](./h36m/simplebaseline3d_h36m.md) |

configs/body_3d_keypoint/pose_lift/h36m/motionbert_h36m.md

@@ -0,0 +1,53 @@
+<!-- [BACKBONE] -->
+
+<details>
+<summary align="right"><a href="https://arxiv.org/abs/2210.06551">MotionBERT (2022)</a></summary>
+
+```bibtex
+ @misc{Zhu_Ma_Liu_Liu_Wu_Wang_2022,
+ title={Learning Human Motion Representations: A Unified Perspective},
+ author={Zhu, Wentao and Ma, Xiaoxuan and Liu, Zhaoyang and Liu, Libin and Wu, Wayne and Wang, Yizhou},
+ year={2022},
+ month={Oct},
+ language={en-US}
+ }
+```
+
+</details>
+
+<!-- [DATASET] -->
+
+<details>
+<summary align="right"><a href="https://ieeexplore.ieee.org/abstract/document/6682899/">Human3.6M (TPAMI'2014)</a></summary>
+
+```bibtex
+@article{h36m_pami,
+author = {Ionescu, Catalin and Papava, Dragos and Olaru, Vlad and Sminchisescu, Cristian},
+title = {Human3.6M: Large Scale Datasets and Predictive Methods for 3D Human Sensing in Natural Environments},
+journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
+publisher = {IEEE Computer Society},
+volume = {36},
+number = {7},
+pages = {1325-1339},
+month = {jul},
+year = {2014}
+}
+```
+
+</details>
+
+Testing results on Human3.6M dataset with ground truth 2D detections
+
+| Arch                                                                                    | MPJPE | average MPJPE | P-MPJPE |                                           ckpt                                           |
+| :-------------------------------------------------------------------------------------- | :---: | :-----------: | :-----: | :--------------------------------------------------------------------------------------: |
+| [MotionBERT\*](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert-243frm_8xb32-120e_h36m.py) | 35.3  |     35.3      |  27.7   | [ckpt](https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_h36m-f554954f_20230531.pth) |
+| [MotionBERT-finetuned\*](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert-243frm_8xb32-120e_h36m.py) | 27.5  |     27.4      |  21.6   | [ckpt](https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_ft_h36m-d80af323_20230531.pth) |
+
+Testing results on Human3.6M dataset from the [official repo](https://github.com/Walter0807/MotionBERT) with ground truth 2D detections
+
+| Arch                                                                                    | MPJPE | average MPJPE | P-MPJPE |                                           ckpt                                           |
+| :-------------------------------------------------------------------------------------- | :---: | :-----------: | :-----: | :--------------------------------------------------------------------------------------: |
+| [MotionBERT\*](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert-243frm_8xb32-120e_h36m.py) | 40.5  |     39.9      |  34.1   | [ckpt](https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_h36m-f554954f_20230531.pth) |
+| [MotionBERT-finetuned\*](/configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert-243frm_8xb32-120e_h36m.py) | 38.2  |     37.7      |  32.6   | [ckpt](https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_ft_h36m-d80af323_20230531.pth) |
+
+*Models with * are converted from the [official repo](https://github.com/Walter0807/MotionBERT). The config files of these models are only for validation. We don't ensure these config files' training accuracy and welcome you to contribute your reproduction results.*

configs/body_3d_keypoint/pose_lift/h36m/motionbert_h36m.yml

@@ -0,0 +1,34 @@
+Collections:
+- Name: MotionBERT
+  Paper:
+    Title: "Learning Human Motion Representations: A Unified Perspective"
+    URL: https://arxiv.org/abs/2210.06551
+  README: https://github.com/open-mmlab/mmpose/blob/main/docs/en/papers/algorithms/motionbert.md
+Models:
+- Config: configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert_8xb32-120e_h36m.py
+  In Collection: MotionBERT
+  Metadata:
+    Architecture: &id001
+    - MotionBERT
+    Training Data: Human3.6M
+  Name: vid_pl_motionbert_8xb32-120e_h36m
+  Results:
+  - Dataset: Human3.6M
+    Metrics:
+      MPJPE: 35.3
+      P-MPJPE: 27.7
+    Task: Body 3D Keypoint
+  Weights: https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_h36m-f554954f_20230531.pth
+- Config: configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert_8xb32-120e_h36m.py
+  In Collection: MotionBERT
+  Metadata:
+    Architecture: *id001
+    Training Data: Human3.6M
+  Name: vid_pl_motionbert-finetuned_8xb32-120e_h36m
+  Results:
+  - Dataset: Human3.6M
+    Metrics:
+      MPJPE: 27.5
+      P-MPJPE: 21.6
+    Task: Body 3D Keypoint
+  Weights: https://download.openmmlab.com/mmpose/v1/body_3d_keypoint/pose_lift/h36m/motionbert_ft_h36m-d80af323_20230531.pth

configs/body_3d_keypoint/pose_lift/h36m/pose-lift_motionbert-243frm_8xb32-120e_h36m.py

@@ -0,0 +1,140 @@
+_base_ = ['../../../_base_/default_runtime.py']
+
+vis_backends = [
+    dict(type='LocalVisBackend'),
+]
+visualizer = dict(
+    type='Pose3dLocalVisualizer', vis_backends=vis_backends, name='visualizer')
+
+# runtime
+train_cfg = dict(max_epochs=120, val_interval=10)
+
+# optimizer
+optim_wrapper = dict(
+    optimizer=dict(type='AdamW', lr=0.0002, weight_decay=0.01))
+
+# learning policy
+param_scheduler = [
+    dict(type='ExponentialLR', gamma=0.99, end=120, by_epoch=True)
+]
+
+auto_scale_lr = dict(base_batch_size=512)
+
+# hooks
+default_hooks = dict(
+    checkpoint=dict(
+        type='CheckpointHook',
+        save_best='MPJPE',
+        rule='less',
+        max_keep_ckpts=1),
+    logger=dict(type='LoggerHook', interval=20),
+)
+
+# codec settings
+train_codec = dict(
+    type='MotionBERTLabel',
+    num_keypoints=17,
+    concat_vis=True,
+    rootrel=True,
+    factor_label=False)
+val_codec = dict(
+    type='MotionBERTLabel', num_keypoints=17, concat_vis=True, rootrel=True)
+
+# model settings
+model = dict(
+    type='PoseLifter',
+    backbone=dict(
+        type='DSTFormer',
+        in_channels=3,
+        feat_size=512,
+        depth=5,
+        num_heads=8,
+        mlp_ratio=2,
+        seq_len=243,
+        att_fuse=True,
+    ),
+    head=dict(
+        type='MotionRegressionHead',
+        in_channels=512,
+        out_channels=3,
+        embedding_size=512,
+        loss=dict(type='MPJPEVelocityJointLoss'),
+        decoder=val_codec,
+    ),
+)
+
+# base dataset settings
+dataset_type = 'Human36mDataset'
+data_root = 'data/h36m/'
+
+# pipelines
+train_pipeline = [
+    dict(
+        type='RandomFlipAroundRoot',
+        keypoints_flip_cfg={},
+        target_flip_cfg={},
+        flip_image=True),
+    dict(type='GenerateTarget', encoder=train_codec),
+    dict(
+        type='PackPoseInputs',
+        meta_keys=('id', 'category_id', 'target_img_path', 'flip_indices',
+                   'factor', 'camera_param'))
+]
+val_pipeline = [
+    dict(type='GenerateTarget', encoder=val_codec),
+    dict(
+        type='PackPoseInputs',
+        meta_keys=('id', 'category_id', 'target_img_path', 'flip_indices',
+                   'factor', 'camera_param'))
+]
+
+# data loaders
+train_dataloader = dict(
+    batch_size=32,
+    prefetch_factor=4,
+    pin_memory=True,
+    num_workers=2,
+    persistent_workers=True,
+    sampler=dict(type='DefaultSampler', shuffle=True),
+    dataset=dict(
+        type=dataset_type,
+        ann_file='annotation_body3d/fps50/h36m_train.npz',
+        seq_len=1,
+        multiple_target=243,
+        multiple_target_step=81,
+        camera_param_file='annotation_body3d/cameras.pkl',
+        data_root=data_root,
+        data_prefix=dict(img='images/'),
+        pipeline=train_pipeline,
+    ))
+
+val_dataloader = dict(
+    batch_size=32,
+    prefetch_factor=4,
+    pin_memory=True,
+    num_workers=2,
+    persistent_workers=True,
+    sampler=dict(type='DefaultSampler', shuffle=False, round_up=False),
+    dataset=dict(
+        type=dataset_type,
+        ann_file='annotation_body3d/fps50/h36m_test.npz',
+        seq_len=1,
+        seq_step=1,
+        multiple_target=243,
+        camera_param_file='annotation_body3d/cameras.pkl',
+        data_root=data_root,
+        data_prefix=dict(img='images/'),
+        pipeline=val_pipeline,
+        test_mode=True,
+    ))
+test_dataloader = val_dataloader
+
+# evaluators
+skip_list = [
+    'S9_Greet', 'S9_SittingDown', 'S9_Wait_1', 'S9_Greeting', 'S9_Waiting_1'
+]
+val_evaluator = [
+    dict(type='MPJPE', mode='mpjpe', skip_list=skip_list),
+    dict(type='MPJPE', mode='p-mpjpe', skip_list=skip_list)
+]
+test_evaluator = val_evaluator

configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-1frm-supv-cpn-ft_8xb128-80e_h36m.py → configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-1frm-supv-cpn-ft_8xb128-160e_h36m.py

@@ -7,7 +7,7 @@
     type='Pose3dLocalVisualizer', vis_backends=vis_backends, name='visualizer')
 
 # runtime
-train_cfg = dict(max_epochs=80, val_interval=10)
+train_cfg = dict(max_epochs=160, val_interval=10)
 
 # optimizer
 optim_wrapper = dict(optimizer=dict(type='Adam', lr=1e-4))

configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-243frm-supv_8xb128-80e_h36m.py → configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-243frm-supv_8xb128-160e_h36m.py

@@ -7,7 +7,7 @@
     type='Pose3dLocalVisualizer', vis_backends=vis_backends, name='visualizer')
 
 # runtime
-train_cfg = dict(max_epochs=80, val_interval=10)
+train_cfg = dict(max_epochs=160, val_interval=10)
 
 # optimizer
 optim_wrapper = dict(optimizer=dict(type='Adam', lr=1e-3))

configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-supv_8xb128-80e_h36m.py → configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-27frm-supv_8xb128-120e_h36m.py

@@ -7,7 +7,7 @@
     type='Pose3dLocalVisualizer', vis_backends=vis_backends, name='visualizer')
 
 # runtime
-train_cfg = dict(max_epochs=80, val_interval=10)
+train_cfg = dict(max_epochs=160, val_interval=10)
 
 # optimizer
 optim_wrapper = dict(optimizer=dict(type='Adam', lr=1e-3))

configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-81frm-supv_8xb128-80e_h36m.py → configs/body_3d_keypoint/pose_lift/h36m/pose-lift_videopose3d-81frm-supv_8xb128-160e_h36m.py

@@ -7,7 +7,7 @@
     type='Pose3dLocalVisualizer', vis_backends=vis_backends, name='visualizer')
 
 # runtime
-train_cfg = dict(max_epochs=80, val_interval=10)
+train_cfg = dict(max_epochs=160, val_interval=10)
 
 # optimizer
 optim_wrapper = dict(optimizer=dict(type='Adam', lr=1e-3))