更新.gitignore，新增忽略结果、日志和权重文件；更新README.md，添加参考链接

.gitignore

@@ -296,5 +296,8 @@ Network Trash Folder
 Temporary Items
 .apdisk
 
+# ---> Custom
 results/
 *.log
+*.txt
+weights/

README.md

@@ -22,3 +22,9 @@ nohup python fed_run.py > train.log 2>&1 &
 - Add more YOLO versions (e.g., YOLOv8, YOLOv5, etc.)
     - Implement YOLOv8
     - Implement YOLOv5
+
+# references
+[PyTorch Federated Learning](https://github.com/rruisong/pytorch_federated_learning)
+
+
+[YOLOv11-pt](https://github.com/jahongir7174/YOLOv11-pt)

fed_algo_cs/client_base.py

@@ -3,11 +3,11 @@ import torch
 from torch import nn
 from torch.utils import data
 from torch.amp.autocast_mode import autocast
-from tqdm import tqdm
 from utils.fed_util import init_model
 from utils import util
 from utils.dataset import Dataset
 from typing import cast
+from tqdm import tqdm
 
 
 class FedYoloClient(object):
@@ -82,52 +82,48 @@ class FedYoloClient(object):
         # load the global model parameters
         self.model.load_state_dict(Global_model_state_dict, strict=True)
 
-    def train(self, args):
+    def train(self, args) -> tuple[dict[str, torch.Tensor], int, float]:
         """
-        Train the local model
-        Args:
-            :param args: Command line arguments
-                - local_rank: Local rank for distributed training
-                - world_size: World size for distributed training
-                - distributed: Whether to use distributed training
-                - input_size: Input size for the model
-        Returns:
-            :return: Local updated model, number of local data points, training loss
+        Train the local model.
+        Returns: (state_dict, n_data, avg_loss_per_image)
         """
 
+        # ---- Dist init (if any) ----
         if args.distributed:
             torch.cuda.set_device(device=args.local_rank)
             torch.distributed.init_process_group(backend="nccl", init_method="env://")
-            # print(f"Client {self.name} - distributed training on {world_size} GPUs, local rank: {local_rank}")
-            # self._device = torch.device("cuda", local_rank)
-
-        if args.local_rank == 0:
-            pass
-            # if not os.path.exists("weights"):
-            #     os.makedirs("weights")
 
         util.setup_seed()
         util.setup_multi_processes()
 
-        # model
-        # init model have been done in __init__()
-        self.model.to(self._device)
+        # device = torch.device(f"cuda:{args.local_rank}" if torch.cuda.is_available() else "cpu")
+        # self.model.to(device)
+        self.model.cuda()
+        # show model architecture
+        # print(self.model)
 
-        # Optimizer
-        accumulate = max(round(64 / (self._batch_size * args.world_size)), 1)
-        self._weight_decay = self._batch_size * args.world_size * accumulate / 64
+        # ---- Optimizer / WD scaling & LR warmup/schedule ----
+        # accumulate = effective grad-accumulation steps to emulate global batch 64
+        world_size = getattr(args, "world_size", 1)
+        accumulate = max(round(64 / (self._batch_size * max(world_size, 1))), 1)
 
+        # scale weight_decay like YOLO recipes
+        scaled_wd = self._weight_decay * self._batch_size * max(world_size, 1) * accumulate / 64
         optimizer = torch.optim.SGD(
-            util.set_params(self.model, self._weight_decay),
+            util.set_params(self.model, scaled_wd),
             lr=self._min_lr,
             momentum=self._momentum,
             nesterov=True,
         )
 
-        # EMA
+        # ---- EMA (track the underlying module if DDP) ----
+        # track_model = self.model.module if is_ddp else self.model
         ema = util.EMA(self.model) if args.local_rank == 0 else None
 
-        data_set = Dataset(
+        print(type(self.train_dataset))
+
+        # ---- Data ----
+        dataset = Dataset(
             filenames=self.train_dataset,
             input_size=args.input_size,
             params=self.params,
@@ -136,26 +132,28 @@ class FedYoloClient(object):
 
         if args.distributed:
             train_sampler = data.DistributedSampler(
-                data_set, num_replicas=args.world_size, rank=args.local_rank, shuffle=True
+                dataset, num_replicas=args.world_size, rank=args.local_rank, shuffle=True
             )
         else:
             train_sampler = None
 
         loader = data.DataLoader(
-            data_set,
+            dataset,
             batch_size=self._batch_size,
-            shuffle=train_sampler is None,
+            shuffle=(train_sampler is None),
             sampler=train_sampler,
             num_workers=self.num_workers,
             pin_memory=True,
             collate_fn=Dataset.collate_fn,
+            drop_last=False,
         )
 
-        # Scheduler
         num_steps = max(1, len(loader))
         scheduler = util.LinearLR(args=args, params=self.params, num_steps=num_steps)
-        # DDP mode
-        if args.distributed:
+
+        # ---- SyncBN + DDP (if any) ----
+        is_ddp = bool(args.distributed)
+        if is_ddp:
             self.model = torch.nn.SyncBatchNorm.convert_sync_batchnorm(self.model)
             self.model = nn.parallel.DistributedDataParallel(
                 module=self.model,
@@ -164,102 +162,133 @@ class FedYoloClient(object):
                 find_unused_parameters=False,
             )
 
-        amp_scale = torch.amp.grad_scaler.GradScaler(enabled=True)
+        # ---- AMP + loss ----
+        scaler = torch.amp.grad_scaler.GradScaler(enabled=True)
+        # criterion = util.ComputeLoss(
+        #     self.model.module if isinstance(self.model, nn.parallel.DistributedDataParallel) else self.model,
+        #     self.params,
+        # )
         criterion = util.ComputeLoss(self.model, self.params)
 
-        # log
-        # if args.local_rank == 0:
-        #     header = ("%10s" * 5) % ("client", "memory", "box", "cls", "dfl")
-        #     print("\n" + header)
-        # p_bar = tqdm(total=args.epochs * num_steps, ncols=120)
-        # p_bar.set_description(f"{self.name:>10}")
-
+        # ---- Training ----
         for epoch in range(args.epochs):
+            # (self.model.module if isinstance(self.model, nn.parallel.DistributedDataParallel) else self.model).train()
             self.model.train()
-            # when distributed, set epoch for shuffling
-            if args.distributed and train_sampler is not None:
+            if is_ddp and train_sampler is not None:
                 train_sampler.set_epoch(epoch)
 
-            if args.epochs - epoch == 10:
-                # disable mosaic augmentation in the last 10 epochs
+            # disable mosaic in the last 10 epochs (if dataset supports it)
+            if args.epochs - epoch == 10 and hasattr(loader.dataset, "mosaic"):
                 ds = cast(Dataset, loader.dataset)
                 ds.mosaic = False
 
             optimizer.zero_grad(set_to_none=True)
-            avg_box_loss = util.AverageMeter()
-            avg_cls_loss = util.AverageMeter()
-            avg_dfl_loss = util.AverageMeter()
+            loss_box_meter = util.AverageMeter()
+            loss_cls_meter = util.AverageMeter()
+            loss_dfl_meter = util.AverageMeter()
 
-            # # --- header (once per epoch, YOLO-style) ---
-            # if args.local_rank == 0:
-            #     header = ("%10s" * 5) % ("client", "memory", "box", "cls", "dfl")
-            #     print("\n" + header)
+            for i, (images, targets) in enumerate(loader):
+                print(f"Client {self.name} - Epoch {epoch + 1}/{args.epochs} - Step {i + 1}/{num_steps}")
+                step = i + epoch * num_steps
 
-            # p_bar = enumerate(loader)
-            # if args.local_rank == 0:
-            #     p_bar = tqdm(p_bar, total=num_steps, ncols=120)
+                # scheduler per-step (your util.LinearLR expects step)
+                scheduler.step(step=step, optimizer=optimizer)
 
-            for i, (samples, targets) in enumerate(loader):
-                global_step = i + num_steps * epoch
-                scheduler.step(step=global_step, optimizer=optimizer)
+                # images = images.to(device, non_blocking=True).float() / 255.0
+                images = images.cuda().float() / 255.0
+                bs = images.size(0)
+                # total_imgs_seen += bs
 
-                samples = samples.cuda(non_blocking=True).float() / 255.0
+                # targets: keep as your ComputeLoss expects (often CPU lists/tensors).
+                # Move to GPU here only if your loss requires it.
 
-                # Forward
-                with autocast("cuda", enabled=True):
-                    outputs = self.model(samples)
+                with autocast(device_type="cuda", enabled=True):
+                    outputs = self.model(images)  # DDP wraps forward
                     box_loss, cls_loss, dfl_loss = criterion(outputs, targets)
 
-                # meters (use the *unscaled* values)
-                bs = samples.size(0)
-                avg_box_loss.update(box_loss.item(), bs)
-                avg_cls_loss.update(cls_loss.item(), bs)
-                avg_dfl_loss.update(dfl_loss.item(), bs)
+                    # total_loss = box_loss + cls_loss + dfl_loss
+                    # Gradient accumulation: normalize by 'accumulate' so LR stays effective
+                    # total_loss = total_loss / accumulate
 
-                # scale losses by batch/world if your loss is averaged internally per-sample/device
-                # box_loss = box_loss * self._batch_size * args.world_size
-                # cls_loss = cls_loss * self._batch_size * args.world_size
-                # dfl_loss = dfl_loss * self._batch_size * args.world_size
+                # IMPORTANT: assume criterion returns **average per image** in the batch.
+                # Keep logging on the true (unscaled) values:
+                loss_box_meter.update(box_loss.item(), bs)
+                loss_cls_meter.update(cls_loss.item(), bs)
+                loss_dfl_meter.update(dfl_loss.item(), bs)
 
+                box_loss *= self._batch_size
+                cls_loss *= self._batch_size
+                dfl_loss *= self._batch_size
+                box_loss *= args.world_size
+                cls_loss *= args.world_size
+                dfl_loss *= args.world_size
                 total_loss = box_loss + cls_loss + dfl_loss
 
-                # Backward
-                amp_scale.scale(total_loss).backward()
+                scaler.scale(total_loss).backward()
 
-                # Optimize
-                if (i + 1) % accumulate == 0:
-                    amp_scale.unscale_(optimizer)  # unscale gradients
-                    util.clip_gradients(model=self.model, max_norm=10.0)  # clip gradients
-                    amp_scale.step(optimizer)
-                    amp_scale.update()
+                # optimize
+                if step % accumulate == 0:
+                    # scaler.unscale_(optimizer)
+                    # util.clip_gradients(self.model)
+                    scaler.step(optimizer)
+                    scaler.update()
                     optimizer.zero_grad(set_to_none=True)
-                    if ema:
-                        ema.update(self.model)
 
-                # torch.cuda.synchronize()
-
-                # tqdm update
-        #         if args.local_rank == 0:
-        #             mem = f"{torch.cuda.memory_reserved() / 1e9:.2f}G" if torch.cuda.is_available() else "0.00G"
-        #             desc = ("%10s" * 2 + "%10.4g" * 3) % (
-        #                 self.name,
-        #                 mem,
-        #                 avg_box_loss.avg,
-        #                 avg_cls_loss.avg,
-        #                 avg_dfl_loss.avg,
+                    # # Step when we have 'accumulate' micro-batches, or at the end
+                    # if ((i + 1) % accumulate == 0) or (i + 1 == len(loader)):
+                    #     scaler.unscale_(optimizer)
+                    #     util.clip_gradients(
+                    #         model=(
+                    #             self.model.module
+                    #             if isinstance(self.model, nn.parallel.DistributedDataParallel)
+                    #             else self.model
+                    #         ),
+                    #         max_norm=10.0,
                     #     )
-        #             cast(tqdm, p_bar).set_description(desc)
-        #             p_bar.update(1)
+                    #     scaler.step(optimizer)
+                    #     scaler.update()
+                    #     optimizer.zero_grad(set_to_none=True)
 
-        # p_bar.close()
+                    if ema:
+                        # Update EMA from the underlying module
+                        ema.update(
+                            self.model.module
+                            if isinstance(self.model, nn.parallel.DistributedDataParallel)
+                            else self.model
+                        )
+                    # print loss to test
+                    print(
+                        f"loss: {total_loss.item() * accumulate:.4f}, box: {box_loss.item():.4f}, cls: {cls_loss.item():.4f}, dfl: {dfl_loss.item():.4f}"
+                    )
+                torch.cuda.synchronize()
 
-        # clean
-        if args.distributed:
+        # ---- Final average loss (per image) over the whole epoch span ----
+        avg_loss_per_image = loss_box_meter.avg + loss_cls_meter.avg + loss_dfl_meter.avg
+
+        # ---- Cleanup DDP ----
+        if is_ddp:
             torch.distributed.destroy_process_group()
         torch.cuda.empty_cache()
 
-        return (
-            self.model.state_dict() if not ema else ema.ema.state_dict(),
-            self.n_data,
-            {"box_loss": avg_box_loss.avg, "cls_loss": avg_cls_loss.avg, "dfl_loss": avg_dfl_loss.avg},
-        )
+        # ---- Choose which weights to return ----
+        #   - If EMA exists, return EMA weights (common YOLO eval practice)
+        #   - Be careful with DDP: grab state_dict from the underlying module / EMA model
+        if ema:
+            # print("Using EMA weights")
+            return (ema.ema.state_dict(), self.n_data, avg_loss_per_image)
+        else:
+            # Safely get the underlying module if wrapped by DDP; getattr returns the module or the original object.
+            model_obj = getattr(self.model, "module", self.model)
+            # If it's a proper nn.Module, call state_dict(); if it's already a state dict, use it;
+            # otherwise try to call state_dict() and finally fall back to wrapping the object.
+            if isinstance(model_obj, torch.nn.Module):
+                model_to_return = model_obj.state_dict()
+            elif isinstance(model_obj, dict):
+                model_to_return = model_obj
+            else:
+                try:
+                    model_to_return = model_obj.state_dict()
+                except Exception:
+                    # fallback: if model_obj is a tensor or unexpected object, wrap it in a dict
+                    model_to_return = {"state": model_obj}
+            return model_to_return, self.n_data, avg_loss_per_image

fed_algo_cs/server_base.py

@@ -4,6 +4,7 @@ from torch.utils.data import DataLoader
 from utils.fed_util import init_model
 from utils.dataset import Dataset
 from utils import util
+from nets import YOLO
 
 
 class FedYoloServer(object):
@@ -21,7 +22,7 @@ class FedYoloServer(object):
         self.client_n_data = {}
         self.selected_clients = []
 
-        self._batch_size = params.get("val_batch_size", 4)
+        self._batch_size = params.get("val_batch_size", 200)
         self.client_list = client_list
         self.valset = None
 
@@ -40,7 +41,7 @@ class FedYoloServer(object):
         self.model = init_model(model_name, self._num_classes)
         self.params = params
 
-    def load_valset(self, valset):
+    def load_valset(self, valset: Dataset):
         """Server loads the validation dataset."""
         self.valset = valset
 
@@ -48,78 +49,6 @@ class FedYoloServer(object):
         """Return global model weights."""
         return self.model.state_dict()
 
-    @torch.no_grad()
-    def test(self, args) -> dict:
-        """
-        Test the global model on the server's validation set.
-        Returns:
-            dict with keys: mAP, mAP50, precision, recall
-        """
-        if self.valset is None:
-            return {}
-
-        loader = DataLoader(
-            self.valset,
-            batch_size=self._batch_size,
-            shuffle=False,
-            num_workers=4,
-            pin_memory=True,
-            collate_fn=Dataset.collate_fn,
-        )
-
-        dev = self._device
-        # move to device for eval; keep in float32 for stability
-        self.model.eval().to(dev).float()
-
-        iou_v = torch.linspace(0.5, 0.95, 10, device=dev)
-        n_iou = iou_v.numel()
-        metrics = []
-
-        for samples, targets in loader:
-            samples = samples.to(dev, non_blocking=True).float() / 255.0
-            _, _, h, w = samples.shape
-            scale = torch.tensor((w, h, w, h), device=dev)
-
-            outputs = self.model(samples)
-            outputs = util.non_max_suppression(outputs)
-
-            for i, output in enumerate(outputs):
-                idx = targets["idx"] == i
-                cls = targets["cls"][idx].to(dev)
-                box = targets["box"][idx].to(dev)
-
-                metric = torch.zeros((output.shape[0], n_iou), dtype=torch.bool, device=dev)
-                if output.shape[0] == 0:
-                    if cls.shape[0]:
-                        metrics.append((metric, *torch.zeros((2, 0), device=dev), cls.squeeze(-1)))
-                    continue
-
-                if cls.shape[0]:
-                    if cls.dim() == 1:
-                        cls = cls.unsqueeze(1)
-                    box_xy = util.wh2xy(box)
-                    if not isinstance(box_xy, torch.Tensor):
-                        box_xy = torch.tensor(box_xy, device=dev)
-                    target = torch.cat((cls, box_xy * scale), dim=1)
-                    metric = util.compute_metric(output[:, :6], target, iou_v)
-
-                metrics.append((metric, output[:, 4], output[:, 5], cls.squeeze(-1)))
-
-        if not metrics:
-            # move back to CPU before returning
-            self.model.to("cpu").float()
-            return {"mAP": 0, "mAP50": 0, "precision": 0, "recall": 0}
-
-        metrics = [torch.cat(x, dim=0).cpu().numpy() for x in zip(*metrics)]
-        if len(metrics) and metrics[0].any():
-            _, _, prec, rec, map50, mean_ap = util.compute_ap(*metrics, names=self.params["names"], plot=False)
-        else:
-            prec, rec, map50, mean_ap = 0, 0, 0, 0
-
-        # return model to CPU so next agg() stays device-consistent
-        self.model.to("cpu").float()
-        return {"mAP": float(mean_ap), "mAP50": float(map50), "precision": float(prec), "recall": float(rec)}
-
     def select_clients(self, connection_ratio=1.0):
         """
         Randomly select a fraction of clients.
@@ -130,80 +59,69 @@ class FedYoloServer(object):
         self.n_data = 0
         for client_id in self.client_list:
             # Random selection based on connection ratio
-            if np.random.rand() <= connection_ratio:
+            s = np.random.binomial(np.ones(1).astype(int), connection_ratio)
+            if s[0] == 1:
                 self.selected_clients.append(client_id)
-                self.n_data += self.client_n_data.get(client_id, 0)
+                self.n_data += self.client_n_data[client_id]
 
+    @torch.no_grad()
     def agg(self):
-        """Aggregate client updates (FedAvg) on CPU/FP32, preserving non-float buffers."""
+        """
+        Server aggregates the local updates from selected clients using FedAvg.
+
+        :return: model_state: aggregated model weights
+        :return: avg_loss: weighted average training loss across selected clients
+        :return: n_data: total number of data points across selected clients
+        """
         if len(self.selected_clients) == 0 or self.n_data == 0:
-            return self.model.state_dict(), {}, 0
+            import warnings
 
-        # Ensure global model is on CPU for safe load later
-        self.model.to("cpu")
-        global_state = self.model.state_dict()  # may hold CPU or CUDA refs; we’re on CPU now
+            warnings.warn("No clients selected or no data available for aggregation.")
+            return self.model.state_dict(), 0, 0
 
-        avg_loss = {}
-        total_n = float(self.n_data)
+        # Initialize a model for aggregation
+        model = init_model(model_name=self.model_name, num_classes=self._num_classes)
+        model_state = model.state_dict()
 
-        # Prepare accumulators on CPU. For floating tensors, use float32 zeros.
-        # For non-floating tensors (e.g., BN num_batches_tracked int64), we’ll copy from the first client.
-        new_state = {}
-        first_client = None
-        for cid in self.selected_clients:
-            if cid in self.client_state:
-                first_client = cid
-                break
+        avg_loss = 0
 
-        assert first_client is not None, "No client states available to aggregate."
-
-        for k, v in global_state.items():
-            if v.is_floating_point():
-                new_state[k] = torch.zeros_like(v.detach().cpu(), dtype=torch.float32)
-            else:
-                # For non-float buffers, just copy from the first client (or keep global)
-                new_state[k] = self.client_state[first_client][k].clone()
-
-        # Accumulate floating tensors with weights; keep non-floats as assigned above
-        for cid in self.selected_clients:
-            if cid not in self.client_state:
+        # Aggregate the local updated models from selected clients
+        for i, name in enumerate(self.selected_clients):
+            if name not in self.client_state:
                 continue
-            weight = self.client_n_data[cid] / total_n
-            cst = self.client_state[cid]
-            for k in new_state.keys():
-                if new_state[k].is_floating_point():
-                    # cst[k] is CPU; ensure float32 for accumulation
-                    new_state[k].add_(cst[k].to(torch.float32), alpha=weight)
-
-            # weighted average losses
-            for lk, lv in self.client_loss[cid].items():
-                avg_loss[lk] = avg_loss.get(lk, 0.0) + float(lv) * weight
-
-        # Load aggregated state back into the global model (model is on CPU)
-        with torch.no_grad():
-            self.model.load_state_dict(new_state, strict=True)
+            for key in self.client_state[name]:
+                if i == 0:
+                    # First client, initialize the model_state
+                    model_state[key] = self.client_state[name][key] * (self.client_n_data[name] / self.n_data)
+                else:
+                    # math equation: w = sum(n_k / n * w_k)
+                    model_state[key] = model_state[key] + self.client_state[name][key] * (
+                        self.client_n_data[name] / self.n_data
+                    )
+            avg_loss = avg_loss + self.client_loss[name] * (self.client_n_data[name] / self.n_data)
 
+        self.model.load_state_dict(model_state, strict=True)
         self.round += 1
-        # Return CPU state_dict (good for broadcasting to clients)
-        return {k: v.clone() for k, v in self.model.state_dict().items()}, avg_loss, int(self.n_data)
 
-    def rec(self, name, state_dict, n_data, loss_dict):
+        n_data = self.n_data
+
+        return model_state, avg_loss, n_data
+
+    def rec(self, name, state_dict, n_data, loss):
         """
         Receive local update from a client.
         - Store all floating tensors as CPU float32
         - Store non-floating tensors (e.g., BN counters) as CPU in original dtype
         """
         self.n_data += n_data
-        safe_state = {}
-        with torch.no_grad():
-            for k, v in state_dict.items():
-                t = v.detach().cpu()
-                if t.is_floating_point():
-                    t = t.to(torch.float32)
-                safe_state[k] = t
-        self.client_state[name] = safe_state
+
+        self.client_state[name] = {}
+        self.client_n_data[name] = {}
+        self.client_loss[name] = {}
+
+        self.client_state[name].update(state_dict)
         self.client_n_data[name] = int(n_data)
-        self.client_loss[name] = {k: float(v) for k, v in loss_dict.items()}
+        self.client_loss[name] = loss
 
     def flush(self):
         """Clear stored client updates."""
@@ -211,3 +129,94 @@ class FedYoloServer(object):
         self.client_state.clear()
         self.client_n_data.clear()
         self.client_loss.clear()
+
+    def test(self):
+        """Evaluate the global model on the server's validation dataset."""
+        if self.valset is None:
+            import warnings
+
+            warnings.warn("No validation dataset available for testing.")
+            return {}
+        return test(self.valset, self.params, self.model)
+
+
+@torch.no_grad()
+def test(valset: Dataset, params, model: YOLO, batch_size: int = 200) -> tuple[float, float, float, float]:
+    """
+    Evaluate the model on the validation dataset.
+    Args:
+        valset: validation dataset
+        params: dict of parameters (must include 'names')
+        model: YOLO model to evaluate
+        batch_size: batch size for evaluation
+    Returns:
+        dict with evaluation metrics (tp, fp, m_pre, m_rec, map50, mean_ap)
+    """
+    loader = DataLoader(
+        dataset=valset,
+        batch_size=batch_size,
+        shuffle=False,
+        num_workers=4,
+        pin_memory=True,
+        collate_fn=Dataset.collate_fn,
+    )
+
+    model.cuda()
+    model.half()
+    model.eval()
+
+    # Configure
+    iou_v = torch.linspace(start=0.5, end=0.95, steps=10).cuda()  # iou vector for mAP@0.5:0.95
+    n_iou = iou_v.numel()
+
+    m_pre = 0
+    m_rec = 0
+    map50 = 0
+    mean_ap = 0
+    metrics = []
+
+    for samples, targets in loader:
+        samples = samples.cuda()
+        samples = samples.half()  # uint8 to fp16/32
+        samples = samples / 255.0  # 0 - 255 to 0.0 - 1.0
+        _, _, h, w = samples.shape  # batch-size, channels, height, width
+        scale = torch.tensor((w, h, w, h)).cuda()
+        # Inference
+        outputs = model(samples)
+        # NMS
+        outputs = util.non_max_suppression(outputs)
+        # Metrics
+        for i, output in enumerate(outputs):
+            idx = targets["idx"]
+            if idx.dim() > 1:
+                idx = idx.squeeze(-1)
+            idx = idx == i
+            # idx = targets["idx"] == i
+            cls = targets["cls"][idx]
+            box = targets["box"][idx]
+
+            cls = cls.cuda()
+            box = box.cuda()
+
+            metric = torch.zeros(output.shape[0], n_iou, dtype=torch.bool).cuda()
+
+            if output.shape[0] == 0:
+                if cls.shape[0]:
+                    metrics.append((metric, *torch.zeros((2, 0)).cuda(), cls.squeeze(-1)))
+                continue
+            # Evaluate
+            if cls.shape[0]:
+                target = torch.cat(tensors=(cls, util.wh2xy(box) * scale), dim=1)
+                metric = util.compute_metric(output[:, :6], target, iou_v)
+            # Append
+            metrics.append((metric, output[:, 4], output[:, 5], cls.squeeze(-1)))
+
+    # Compute metrics
+    metrics = [torch.cat(x, dim=0).cpu().numpy() for x in zip(*metrics)]  # to numpy
+    if len(metrics) and metrics[0].any():
+        tp, fp, m_pre, m_rec, map50, mean_ap = util.compute_ap(*metrics, plot=False, names=params["names"])
+    # Print results
+    # print(("%10s" + "%10.3g" * 4) % ("", m_pre, m_rec, map50, mean_ap))
+    # Return results
+    model.float()  # for training
+    return mean_ap, map50, m_rec, m_pre

fed_run.py

@@ -3,92 +3,16 @@ import os
 import json
 import yaml
 import time
-import random
 from tqdm import tqdm
-
-import numpy as np
 import torch
-import matplotlib.pyplot as plt
 
-from utils.dataset import Dataset
+from utils.fed_util import build_valset_if_available, seed_everything, plot_curves
 from fed_algo_cs.client_base import FedYoloClient
 from fed_algo_cs.server_base import FedYoloServer
 from utils.args import args_parser  # args parser
 from utils.fed_util import divide_trainset  # divide_trainset
 
 
-def _read_list_file(txt_path: str):
-    """Read one path per line; keep as-is (absolute or relative)."""
-    if not txt_path or not os.path.exists(txt_path):
-        return []
-    with open(txt_path, "r", encoding="utf-8") as f:
-        return [ln.strip() for ln in f if ln.strip()]
-
-
-def _build_valset_if_available(cfg, params):
-    """
-    Try to build a validation Dataset.
-    - If cfg['val_txt'] exists, use it.
-    - Else if <dataset_path>/val.txt exists, use it.
-    - Else return None (testing will be skipped).
-    Args:
-        cfg: config dict
-        params: params dict for Dataset
-    Returns:
-        Dataset or None
-    """
-    input_size = int(cfg.get("input_size", 640))
-    val_txt = cfg.get("val_txt", "")
-    if not val_txt:
-        ds_root = cfg.get("dataset_path", "")
-        guess = os.path.join(ds_root, "val.txt") if ds_root else ""
-        val_txt = guess if os.path.exists(guess) else ""
-
-    val_files = _read_list_file(val_txt)
-    if not val_files:
-        return None
-
-    return Dataset(
-        filenames=val_files,
-        input_size=input_size,
-        params=params,
-        augment=True,
-    )
-
-
-def _seed_everything(seed: int):
-    np.random.seed(seed)
-    torch.manual_seed(seed)
-    random.seed(seed)
-
-
-def _plot_curves(save_dir, hist):
-    """
-    Plot mAP50-95, mAP50, precision, recall, and (optional) summed train loss per round.
-    """
-    os.makedirs(save_dir, exist_ok=True)
-    rounds = np.arange(1, len(hist["mAP"]) + 1)
-
-    plt.figure()
-    if hist["mAP"]:
-        plt.plot(rounds, hist["mAP"], label="mAP50-95")
-    if hist["mAP50"]:
-        plt.plot(rounds, hist["mAP50"], label="mAP50")
-    if hist["precision"]:
-        plt.plot(rounds, hist["precision"], label="precision")
-    if hist["recall"]:
-        plt.plot(rounds, hist["recall"], label="recall")
-    if hist["train_loss"]:
-        plt.plot(rounds, hist["train_loss"], label="train_loss (sum of components)")
-    plt.xlabel("Global Round")
-    plt.ylabel("Metric")
-    plt.title("Federated YOLO - Server Metrics")
-    plt.legend()
-    out_png = os.path.join(save_dir, "fed_yolo_curves.png")
-    plt.savefig(out_png, dpi=150, bbox_inches="tight")
-    print(f"[plot] saved: {out_png}")
-
-
 def fed_run():
     """
     Main FL process:
@@ -98,20 +22,22 @@ def fed_run():
         - Record & save results, plot curves
     """
     args_cli = args_parser()
+    # TODO: cfg and params should not be separately defined
     with open(args_cli.config, "r", encoding="utf-8") as f:
         cfg = yaml.safe_load(f)
 
     # --- params / config normalization ---
     # For convenience we pass the same `params` dict used by Dataset/model/loss.
     # Here we re-use the top-level cfg directly as params.
-    params = dict(cfg)
+    # params = dict(cfg)
+    
     if "names" in cfg and isinstance(cfg["names"], dict):
         # Convert {0: 'uav', 1: 'car', ...} to list if you prefer list
         # but we can leave dict; your utils appear to accept dict
         pass
 
     # seeds
-    _seed_everything(int(cfg.get("i_seed", 0)))
+    seed_everything(int(cfg.get("i_seed", 0)))
 
     # --- split clients' train data from a global train list ---
     # Expect either cfg["train_txt"] or <dataset_path>/train.txt
@@ -144,13 +70,13 @@ def fed_run():
     clients = {}
 
     for uid in users:
-        c = FedYoloClient(name=uid, model_name=model_name, params=params)
+        c = FedYoloClient(name=uid, model_name=model_name, params=cfg)
         c.load_trainset(user_data[uid]["filename"])
         clients[uid] = c
 
     # --- build server & optional validation set ---
-    server = FedYoloServer(client_list=users, model_name=model_name, params=params)
-    valset = _build_valset_if_available(cfg, params)
+    server = FedYoloServer(client_list=users, model_name=model_name, params=cfg)
+    valset = build_valset_if_available(cfg, params=cfg, args=args_cli)
     # valset is a Dataset class, not data loader
     if valset is not None:
         server.load_valset(valset)
@@ -186,27 +112,25 @@ def fed_run():
         t0 = time.time()
         # Local training (sequential over all users)
         for uid in users:
+            # tqdm desc update
             p_bar.set_description_str(("%10s" * 2) % (f"{rnd + 1}/{num_round}", f"{uid}"))
+
             client = clients[uid]  # FedYoloClient instance
             client.update(global_state)  # load global weights
-            state_dict, n_data, loss_dict = client.train(args_cli)  # local training
-            server.rec(uid, state_dict, n_data, loss_dict)
+            state_dict, n_data, train_loss = client.train(args_cli)  # local training
+            server.rec(uid, state_dict, n_data, train_loss)
 
         # Select a fraction for aggregation (FedAvg subset if desired)
         server.select_clients(connection_ratio=connection_ratio)
 
         # Aggregate
-        global_state, avg_loss_dict, _ = server.agg()
+        global_state, avg_loss, _ = server.agg()
 
         # Compute a scalar train loss for plotting (sum of components)
-        scalar_train_loss = float(sum(avg_loss_dict.values())) if avg_loss_dict else 0.0
+        scalar_train_loss = avg_loss if avg_loss else 0.0
 
         # Test (if valset provided)
-        test_metrics = server.test(args_cli) if server.valset is not None else {}
-        mAP = float(test_metrics.get("mAP", 0.0))
-        mAP50 = float(test_metrics.get("mAP50", 0.0))
-        precision = float(test_metrics.get("precision", 0.0))
-        recall = float(test_metrics.get("recall", 0.0))
+        mAP, mAP50, recall, precision = server.test() if server.valset is not None else (0.0, 0.0, 0.0, 0.0)
 
         # Flush per-round client caches
         server.flush()
@@ -233,22 +157,23 @@ def fed_run():
         p_bar.set_postfix(desc)
 
         # Save running JSON (resumable logs)
-        save_name = (
-            f"[{cfg.get('fed_algo', 'FedAvg')},{cfg.get('model_name', 'yolo')},"
-            f"{cfg.get('num_local_epoch', cfg.get('client', {}).get('num_local_epoch', 1))},"
-            f"{cfg.get('num_local_class', 2)},"
-            f"{cfg.get('i_seed', 0)}]"
-        )
+        save_name = f"{cfg.get('fed_algo', 'FedAvg')}_{[cfg.get('model_name', 'yolo')]}_{cfg.get('num_client', 0)}c_{cfg.get('num_local_class', 1)}cls_{cfg.get('num_round', 0)}r_{cfg.get('connection_ratio', 1):.2f}cr_{cfg.get('i_seed', 0)}s"
         out_json = os.path.join(res_root, save_name + ".json")
         with open(out_json, "w", encoding="utf-8") as f:
-            json.dump(history, f, indent=2)
+            json.dump(history, f, indent=4)
 
         p_bar.update(1)
 
     p_bar.close()
 
+    # Save final global model weights
+    if not os.path.exists("./weights"):
+        os.makedirs("./weights", exist_ok=True)
+    torch.save(global_state, f"./weights/{save_name}_final.pth")
+    print(f"[save] final global model weights: ./weights/{save_name}_final.pth")
+
     # --- final plot ---
-    _plot_curves(res_root, history)
+    plot_curves(res_root, history, savename=f"{save_name}_curve.png")
     print("[done] training complete.")
 
 

fed_run.sh

@@ -0,0 +1,2 @@
+GPUS=$1
+python3 -m torch.distributed.run --nproc_per_node=$GPUS fed_run.py ${@:2}

nets/__init__.py

@@ -0,0 +1,3 @@
+from .nn import YOLO, yolo_v11_l, yolo_v11_m, yolo_v11_s, yolo_v11_t, yolo_v11_x, yolo_v11_n
+
+__all__ = ["YOLO", "yolo_v11_l", "yolo_v11_m", "yolo_v11_s", "yolo_v11_t", "yolo_v11_x", "yolo_v11_n"]

testcode.py

@@ -0,0 +1,77 @@
+from utils.fed_util import init_model
+from fed_algo_cs.server_base import test
+import os
+import yaml
+from utils.args import args_parser  # args parser
+from fed_algo_cs.client_base import FedYoloClient  # FedYoloClient
+from fed_algo_cs.server_base import FedYoloServer  # FedYoloServer
+from utils import Dataset  # Dataset
+
+if __name__ == "__main__":
+    # model structure test
+    model = init_model("yolo_v11_n", num_classes=1)
+
+    with open("model.txt", "w", encoding="utf-8") as f:
+        print(model, file=f)
+
+    # loop over model key and values
+    with open("model_key_value.txt", "w", encoding="utf-8") as f:
+        for k, v in model.state_dict().items():
+            print(f"{k}: {v.shape}", file=f)
+
+    # test agg function
+    from fed_algo_cs.server_base import FedYoloServer
+    import torch
+    import yaml
+
+    with open("./config/coco128_cfg.yaml", "r", encoding="utf-8") as f:
+        cfg = yaml.safe_load(f)
+    params = dict(cfg)
+
+    server = FedYoloServer(client_list=["c1", "c2", "c3"], model_name="yolo_v11_n", params=params)
+    state1 = {k: torch.ones_like(v) for k, v in server.model.state_dict().items()}
+    state2 = {k: torch.ones_like(v) * 2 for k, v in server.model.state_dict().items()}
+    state3 = {k: torch.ones_like(v) * 3 for k, v in server.model.state_dict().items()}
+    server.rec("c1", state1, n_data=20, loss=0.1)
+    server.rec("c2", state2, n_data=30, loss=0.2)
+    server.rec("c3", state3, n_data=50, loss=0.3)
+    server.select_clients(connection_ratio=1.0)
+    model_state, avg_loss, n_data = server.agg()
+    with open("agg_model.txt", "w", encoding="utf-8") as f:
+        for k, v in model_state.items():
+            print(f"{k}: {v.float().mean()}", file=f)
+    print(f"avg_loss: {avg_loss}, n_data: {n_data}")
+
+    # test single client training (should be the same as standalone training)
+    args = args_parser()
+    with open(args.config, "r", encoding="utf-8") as f:
+        cfg = yaml.safe_load(f)
+    # params = dict(cfg)
+    client = FedYoloClient(name="c1", params=cfg, model_name="yolo_v11_n")
+
+    filenames = []
+    data_dir = "/home/image1325/ssd1/dataset/COCO128"
+    with open(f"{data_dir}/train.txt") as f:
+        for filename in f.readlines():
+            filename = os.path.basename(filename.rstrip())
+            filenames.append(f"{data_dir}/images/train2017/" + filename)
+
+    client.load_trainset(train_dataset=filenames)
+    model_state, n_data, avg_loss = client.train(args=args)
+
+    model = init_model("yolo_v11_n", num_classes=80)
+    model.load_state_dict(model_state)
+
+    valset = Dataset(
+        filenames=filenames,
+        input_size=640,
+        params=cfg,
+        augment=False,
+    )
+    if valset is not None:
+        precision, recall, map50, map = test(valset=valset, params=cfg, model=model, batch_size=128)
+        print(
+            f"precision: {precision}, recall: {recall}, map50: {map50}, map: {map}, loss: {avg_loss}, n_data: {n_data}"
+        )
+    else:
+        raise ValueError("valset is None, please provide a valid valset in config file.")

utils/__init__.py

@@ -0,0 +1,3 @@
+from .dataset import *
+from .fed_util import *
+from .util import *

utils/dataset.py

@@ -8,16 +8,11 @@ import torch
 from PIL import Image
 from torch.utils import data
 
-FORMATS = "bmp", "dng", "jpeg", "jpg", "mpo", "png", "tif", "tiff", "webp", "JPEG", "JPG", "PNG", "TIFF"
+FORMATS = "bmp", "dng", "jpeg", "jpg", "mpo", "png", "tif", "tiff", "webp"
 
 
 class Dataset(data.Dataset):
-    params: dict
-    mosaic: bool
-    augment: bool
-    input_size: int
-
-    def __init__(self, filenames, input_size: int, params: dict, augment: bool):
+    def __init__(self, filenames, input_size, params, augment):
         self.params = params
         self.mosaic = augment
         self.augment = augment
@@ -48,8 +43,6 @@ class Dataset(data.Dataset):
         else:
             # Load image
             image, shape = self.load_image(index)
-            if image is None:
-                raise ValueError(f"Failed to load image at index {index}: {self.filenames[index]}")
             h, w = image.shape[:2]
 
             # Resize
@@ -57,7 +50,7 @@ class Dataset(data.Dataset):
 
             label = self.labels[index].copy()
             if label.size:
-                label[:, 1:] = wh2xy(label[:, 1:], ratio[0] * w, ratio[1] * h, int(pad[0]), int(pad[1]))
+                label[:, 1:] = wh2xy(label[:, 1:], ratio[0] * w, ratio[1] * h, pad[0], pad[1])
             if self.augment:
                 image, label = random_perspective(image, label, self.params)
 
@@ -84,25 +77,24 @@ class Dataset(data.Dataset):
                 if nl:
                     box[:, 0] = 1 - box[:, 0]
 
-        # target_cls = torch.zeros((nl, 1))
-        # target_box = torch.zeros((nl, 4))
-        # if nl:
-        #     target_cls = torch.from_numpy(cls)
-        #     target_box = torch.from_numpy(box)
-
-        # fix [cls, box] empty bug. e.g. [0,1] is illegal in DataLoader collate_fn cat operation
+        # XXX: when nl=0, torch.from_numpy(box) will error
         if nl:
             target_cls = torch.from_numpy(cls).view(-1, 1).float()  # always (N,1)
             target_box = torch.from_numpy(box).reshape(-1, 4).float()  # always (N,4)
         else:
             target_cls = torch.zeros((0, 1), dtype=torch.float32)
             target_box = torch.zeros((0, 4), dtype=torch.float32)
+        # target_cls = torch.zeros((nl, 1))
+        # target_box = torch.zeros((nl, 4))
+        # if nl:
+        #     target_cls = torch.from_numpy(cls)
+        #     target_box = torch.from_numpy(box)
 
         # Convert HWC to CHW, BGR to RGB
         sample = image.transpose((2, 0, 1))[::-1]
         sample = numpy.ascontiguousarray(sample)
 
-        # init: return torch.from_numpy(sample), target_cls, target_box, torch.zeros(nl)
+        # return torch.from_numpy(sample), target_cls, target_box, torch.zeros(nl)
         return torch.from_numpy(sample), target_cls, target_box, torch.zeros((nl, 1), dtype=torch.long)
 
     def __len__(self):
@@ -111,7 +103,7 @@ class Dataset(data.Dataset):
     def load_image(self, i):
         image = cv2.imread(self.filenames[i])
         if image is None:
-            raise ValueError(f"Image not found or unable to open: {self.filenames[i]}")
+            raise FileNotFoundError(f"Image Not Found {self.filenames[i]}")
         h, w = image.shape[:2]
         r = self.input_size / max(h, w)
         if r != 1:
@@ -173,8 +165,8 @@ class Dataset(data.Dataset):
                 x2b = min(shape[1], x2a - x1a)
                 y2b = min(y2a - y1a, shape[0])
 
-            pad_w = (x1a if x1a is not None else 0) - (x1b if x1b is not None else 0)
-            pad_h = (y1a if y1a is not None else 0) - (y1b if y1b is not None else 0)
+            pad_w = x1a - x1b
+            pad_h = y1a - y1b
             image4[y1a:y2a, x1a:x2a] = image[y1b:y2b, x1b:x2b]
 
             # Labels
@@ -197,14 +189,8 @@ class Dataset(data.Dataset):
     def collate_fn(batch):
         samples, cls, box, indices = zip(*batch)
 
-        # ensure empty tensor shape is correct
-        cls = [c.view(-1, 1) for c in cls]
-        box = [b.reshape(-1, 4) for b in box]
-        indices = [i for i in indices]
-
-        cls = torch.cat(cls, dim=0) if cls else torch.zeros((0, 1))
-        box = torch.cat(box, dim=0) if box else torch.zeros((0, 4))
-        indices = torch.cat(indices, dim=0) if indices else torch.zeros((0,), dtype=torch.long)
+        cls = torch.cat(cls, dim=0)
+        box = torch.cat(box, dim=0)
 
         new_indices = list(indices)
         for i in range(len(indices)):
@@ -215,7 +201,7 @@ class Dataset(data.Dataset):
         return torch.stack(samples, dim=0), targets
 
     @staticmethod
-    def load_label_use_cache(filenames):
+    def load_label(filenames):
         path = f"{os.path.dirname(filenames[0])}.cache"
         if os.path.exists(path):
             return torch.load(path, weights_only=False)
@@ -228,14 +214,11 @@ class Dataset(data.Dataset):
                     image.verify()  # PIL verify
                 shape = image.size  # image size
                 assert (shape[0] > 9) & (shape[1] > 9), f"image size {shape} <10 pixels"
-                assert image.format is not None and image.format.lower() in FORMATS, (
-                    f"invalid image format {image.format}"
-                )
+                assert image.format.lower() in FORMATS, f"invalid image format {image.format}"
 
                 # verify labels
                 a = f"{os.sep}images{os.sep}"
                 b = f"{os.sep}labels{os.sep}"
-
                 if os.path.isfile(b.join(filename.rsplit(a, 1)).rsplit(".", 1)[0] + ".txt"):
                     with open(b.join(filename.rsplit(a, 1)).rsplit(".", 1)[0] + ".txt") as f:
                         label = [x.split() for x in f.read().strip().splitlines() if len(x)]
@@ -260,50 +243,6 @@ class Dataset(data.Dataset):
         torch.save(x, path)
         return x
 
-    @staticmethod
-    def load_label(filenames):
-        x = {}
-        for filename in filenames:
-            try:
-                # verify images
-                with open(filename, "rb") as f:
-                    image = Image.open(f)
-                    image.verify()
-                shape = image.size
-                assert (shape[0] > 9) & (shape[1] > 9), f"image size {shape} <10 pixels"
-                assert image.format is not None and image.format.lower() in FORMATS, (
-                    f"invalid image format {image.format}"
-                )
-
-                # verify labels
-                a = f"{os.sep}images{os.sep}"
-                b = f"{os.sep}labels{os.sep}"
-                label_path = b.join(filename.rsplit(a, 1)).rsplit(".", 1)[0] + ".txt"
-
-                if os.path.isfile(label_path):
-                    rows = []
-                    with open(label_path) as f:
-                        for line in f:
-                            parts = line.strip().split()
-                            if len(parts) == 5:  # YOLO format
-                                rows.append([float(x) for x in parts])
-                    label = numpy.array(rows, dtype=numpy.float32) if rows else numpy.zeros((0, 5), dtype=numpy.float32)
-
-                    if label.shape[0]:
-                        assert (label >= 0).all()
-                        assert label.shape[1] == 5
-                        assert (label[:, 1:] <= 1.0001).all()
-                        _, i = numpy.unique(label, axis=0, return_index=True)
-                        label = label[i]
-                else:
-                    label = numpy.zeros((0, 5), dtype=numpy.float32)
-
-            except (FileNotFoundError, AssertionError):
-                label = numpy.zeros((0, 5), dtype=numpy.float32)
-
-            x[filename] = label
-        return x
-
 
 def wh2xy(x, w=640, h=640, pad_w=0, pad_h=0):
     # Convert nx4 boxes
@@ -462,9 +401,7 @@ class Albumentations:
                 albumentations.ToGray(p=0.01),
                 albumentations.MedianBlur(p=0.01),
             ]
-            self.transform = albumentations.Compose(
-                transforms, albumentations.BboxParams(format="yolo", label_fields=["class_labels"])
-            )
+            self.transform = albumentations.Compose(transforms, albumentations.BboxParams("yolo", ["class_labels"]))
 
         except ImportError:  # package not installed, skip
             pass

utils/fed_util.py

@@ -1,10 +1,15 @@
 import os
 import re
 import random
+import matplotlib.pyplot as plt
+from utils.dataset import Dataset
+import numpy as np
+import torch
 from collections import defaultdict
 from typing import Dict, List, Optional, Set, Any
 
 from nets import nn
+from nets import YOLO
 
 
 def _image_to_label_path(img_path: str) -> str:
@@ -59,6 +64,14 @@ def _parse_yolo_label_file(label_path: str) -> Set[int]:
     return class_ids
 
 
+def _read_list_file(txt_path: str):
+    """Read one path per line; keep as-is (absolute or relative)."""
+    if not txt_path or not os.path.exists(txt_path):
+        return []
+    with open(txt_path, "r", encoding="utf-8") as f:
+        return [ln.strip() for ln in f if ln.strip()]
+
+
 def divide_trainset(
     trainset_path: str,
     num_local_class: int,
@@ -230,7 +243,7 @@ def divide_trainset(
     return result
 
 
-def init_model(model_name, num_classes):
+def init_model(model_name, num_classes) -> YOLO:
     """
     Initialize the model for a specific learning task
     Args:
@@ -252,3 +265,74 @@ def init_model(model_name, num_classes):
         raise ValueError("Model {} is not supported.".format(model_name))
 
     return model
+
+
+def build_valset_if_available(cfg, params, args=None) -> Optional[Dataset]:
+    """
+    Try to build a validation Dataset.
+    - If cfg['val_txt'] exists, use it.
+    - Else if <dataset_path>/val.txt exists, use it.
+    - Else return None (testing will be skipped).
+    Args:
+        cfg: config dict
+        params: params dict for Dataset
+    Returns:
+        Dataset or None
+    """
+    input_size = args.input_size if args and hasattr(args, "input_size") else 640
+    val_txt = cfg.get("val_txt", "")
+    if not val_txt:
+        ds_root = cfg.get("dataset_path", "")
+        guess = os.path.join(ds_root, "val.txt") if ds_root else ""
+        val_txt = guess if os.path.exists(guess) else ""
+
+    val_files = _read_list_file(val_txt)
+    if not val_files:
+        import warnings
+
+        warnings.warn("No validation dataset found.")
+        return None
+
+    return Dataset(
+        filenames=val_files,
+        input_size=input_size,
+        params=params,
+        augment=True,
+    )
+
+
+def seed_everything(seed: int):
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+    random.seed(seed)
+
+
+def plot_curves(save_dir, hist, savename="fed_yolo_curves.png"):
+    """
+    Plot mAP50-95, mAP50, precision, recall, and (optional) summed train loss per round.
+    Args:
+        save_dir: directory to save the plot
+        hist: history dict with keys "mAP", "mAP50", "precision", "recall", "train_loss"
+        savename: output filename
+    """
+    os.makedirs(save_dir, exist_ok=True)
+    rounds = np.arange(1, len(hist["mAP"]) + 1)
+
+    plt.figure()
+    if hist["mAP"]:
+        plt.plot(rounds, hist["mAP"], label="mAP50-95")
+    if hist["mAP50"]:
+        plt.plot(rounds, hist["mAP50"], label="mAP50")
+    if hist["precision"]:
+        plt.plot(rounds, hist["precision"], label="precision")
+    if hist["recall"]:
+        plt.plot(rounds, hist["recall"], label="recall")
+    if hist["train_loss"]:
+        plt.plot(rounds, hist["train_loss"], label="train_loss (sum of components)")
+    plt.xlabel("Global Round")
+    plt.ylabel("Metric")
+    plt.title("Federated YOLO - Server Metrics")
+    plt.legend()
+    out_png = os.path.join(save_dir, savename)
+    plt.savefig(out_png, dpi=150, bbox_inches="tight")
+    print(f"[plot] saved: {out_png}")

utils/util.py

@@ -1,7 +1,3 @@
-"""
-Utility functions for yolo.
-"""
-
 import copy
 import random
 from time import time
@@ -97,7 +93,7 @@ def make_anchors(x, strides, offset=0.5):
         _, _, h, w = x[i].shape
         sx = torch.arange(end=w, device=device, dtype=dtype) + offset  # shift x
         sy = torch.arange(end=h, device=device, dtype=dtype) + offset  # shift y
-        sy, sx = torch.meshgrid(sy, sx, indexing="ij")
+        sy, sx = torch.meshgrid(sy, sx)
         anchor_tensor.append(torch.stack((sx, sy), -1).view(-1, 2))
         stride_tensor.append(torch.full((h * w, 1), stride, dtype=dtype, device=device))
     return torch.cat(anchor_tensor), torch.cat(stride_tensor)
@@ -151,7 +147,7 @@ def non_max_suppression(outputs, confidence_threshold=0.001, iou_threshold=0.65)
         box = wh2xy(box)  # (cx, cy, w, h) to (x1, y1, x2, y2)
         if nc > 1:
             i, j = (cls > confidence_threshold).nonzero(as_tuple=False).T
-            x = torch.cat((box[i], x[i, 4 + j].unsqueeze(1), j[:, None].float()), dim=1)
+            x = torch.cat((box[i], x[i, 4 + j, None], j[:, None].float()), 1)
         else:  # best class only
             conf, j = cls.max(1, keepdim=True)
             x = torch.cat((box, conf, j.float()), 1)[conf.view(-1) > confidence_threshold]
@@ -195,13 +191,7 @@ def plot_pr_curve(px, py, ap, names, save_dir):
     else:
         ax.plot(px, py, linewidth=1, color="grey")  # plot(recall, precision)
 
-    ax.plot(
-        px,
-        py.mean(1),
-        linewidth=3,
-        color="blue",
-        label="all classes %.3f mAP@0.5" % ap[:, 0].mean(),
-    )
+    ax.plot(px, py.mean(1), linewidth=3, color="blue", label="all classes %.3f mAP@0.5" % ap[:, 0].mean())
     ax.set_xlabel("Recall")
     ax.set_ylabel("Precision")
     ax.set_xlim(0, 1)
@@ -224,13 +214,7 @@ def plot_curve(px, py, names, save_dir, x_label="Confidence", y_label="Metric"):
         ax.plot(px, py.T, linewidth=1, color="grey")  # plot(confidence, metric)
 
     y = smooth(py.mean(0), f=0.05)
-    ax.plot(
-        px,
-        y,
-        linewidth=3,
-        color="blue",
-        label=f"all classes {y.max():.3f} at {px[y.argmax()]:.3f}",
-    )
+    ax.plot(px, y, linewidth=3, color="blue", label=f"all classes {y.max():.3f} at {px[y.argmax()]:.3f}")
     ax.set_xlabel(x_label)
     ax.set_ylabel(y_label)
     ax.set_xlim(0, 1)
@@ -296,8 +280,7 @@ def compute_ap(tp, conf, output, target, plot=False, names=(), eps=1e-16):
 
             # Integrate area under curve
             x = numpy.linspace(start=0, stop=1, num=101)  # 101-point interp (COCO)
-            # numpy.trapz is deprecated in numpy 2.0.0 or after version, use numpy.trapezoid instead
-            ap[ci, j] = numpy.trapezoid(numpy.interp(x, m_rec, m_pre), x)  # integrate
+            ap[ci, j] = numpy.trapz(numpy.interp(x, m_rec, m_pre), x)  # integrate
             if plot and j == 0:
                 py.append(numpy.interp(px, m_rec, m_pre))  # precision at mAP@0.5
 
@@ -443,7 +426,7 @@ class LinearLR:
         min_lr = params["min_lr"]
 
         warmup_steps = int(max(params["warmup_epochs"] * num_steps, 100))
-        decay_steps = max(1, int(args.epochs * num_steps - warmup_steps))
+        decay_steps = int(args.epochs * num_steps - warmup_steps)
 
         warmup_lr = numpy.linspace(min_lr, max_lr, int(warmup_steps), endpoint=False)
         decay_lr = numpy.linspace(max_lr, min_lr, decay_steps)
@@ -528,16 +511,8 @@ class Assigner(torch.nn.Module):
         mask_in_gts = mask_in_gts.view(shape[0], shape[1], num_anchors, -1).amin(3).gt_(self.eps)
         na = pd_bboxes.shape[-2]
         gt_mask = (mask_in_gts * mask_gt).bool()  # b, max_num_obj, h*w
-        overlaps = torch.zeros(
-            [batch_size, num_max_boxes, na],
-            dtype=pd_bboxes.dtype,
-            device=pd_bboxes.device,
-        )
-        bbox_scores = torch.zeros(
-            [batch_size, num_max_boxes, na],
-            dtype=pd_scores.dtype,
-            device=pd_scores.device,
-        )
+        overlaps = torch.zeros([batch_size, num_max_boxes, na], dtype=pd_bboxes.dtype, device=pd_bboxes.device)
+        bbox_scores = torch.zeros([batch_size, num_max_boxes, na], dtype=pd_scores.dtype, device=pd_scores.device)
 
         ind = torch.zeros([2, batch_size, num_max_boxes], dtype=torch.long)  # 2, b, max_num_obj
         ind[0] = torch.arange(end=batch_size).view(-1, 1).expand(-1, num_max_boxes)  # b, max_num_obj
@@ -587,9 +562,7 @@ class Assigner(torch.nn.Module):
         target_labels.clamp_(0)
 
         target_scores = torch.zeros(
-            (target_labels.shape[0], target_labels.shape[1], self.nc),
-            dtype=torch.int64,
-            device=target_labels.device,
+            (target_labels.shape[0], target_labels.shape[1], self.nc), dtype=torch.int64, device=target_labels.device
         )
         target_scores.scatter_(2, target_labels.unsqueeze(-1), 1)
 
@@ -672,16 +645,7 @@ class BoxLoss(torch.nn.Module):
         super().__init__()
         self.dfl_ch = dfl_ch
 
-    def forward(
-        self,
-        pred_dist,
-        pred_bboxes,
-        anchor_points,
-        target_bboxes,
-        target_scores,
-        target_scores_sum,
-        fg_mask,
-    ):
+    def forward(self, pred_dist, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask):
         # IoU loss
         weight = torch.masked_select(target_scores.sum(-1), fg_mask).unsqueeze(-1)
         iou = compute_iou(pred_bboxes[fg_mask], target_bboxes[fg_mask])
@@ -803,13 +767,7 @@ class ComputeLoss:
         if fg_mask.sum():
             target_bboxes /= stride_tensor
             loss_box, loss_dfl = self.box_loss(
-                pred_distri,
-                pred_bboxes,
-                anchor_points,
-                target_bboxes,
-                target_scores,
-                target_scores_sum,
-                fg_mask,
+                pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask
             )
 
         loss_box *= self.params["box"]  # box gain