From b7c01d451d67a20dbe821ffb70d678cc41212087 Mon Sep 17 00:00:00 2001
From: jmwang0117 <1021347250@qq.com>
Date: Thu, 31 Oct 2024 16:00:50 +0000
Subject: [PATCH] Update

---
 networks/__pycache__/bev_net.cpython-310.pyc  | Bin 8523 -> 7684 bytes
 .../__pycache__/completion.cpython-310.pyc    | Bin 4131 -> 4740 bytes
 networks/__pycache__/occrwkv.cpython-310.pyc  | Bin 0 -> 5231 bytes
 .../semantic_segmentation.cpython-310.pyc     | Bin 10031 -> 10629 bytes
 networks/__pycache__/vrwkv.cpython-310.pyc    | Bin 0 -> 14048 bytes
 networks/__pycache__/vrwkv6.cpython-310.pyc   | Bin 0 -> 17351 bytes
 networks/cuda/wkv_cuda.cu                     | 345 ++++++++++++++++++
 networks/cuda/wkv_op.cpp                      |  21 ++
 scripts/check.sh                              |   1 +
 scripts/run_test.sh                           |   1 +
 scripts/run_train.sh                          |   2 +-
 scripts/run_val.sh                            |   1 +
 utils/__pycache__/checkpoint.cpython-310.pyc  | Bin 2377 -> 2377 bytes
 utils/__pycache__/model.cpython-310.pyc       | Bin 313 -> 321 bytes
 utils/__pycache__/optimizer.cpython-310.pyc   | Bin 1189 -> 1263 bytes
 utils/__pycache__/ssc_loss.cpython-310.pyc    | Bin 0 -> 2211 bytes
 utils/ssc_loss.py                             | 102 ++++++
 17 files changed, 472 insertions(+), 1 deletion(-)
 create mode 100644 networks/__pycache__/occrwkv.cpython-310.pyc
 create mode 100644 networks/__pycache__/vrwkv.cpython-310.pyc
 create mode 100644 networks/__pycache__/vrwkv6.cpython-310.pyc
 create mode 100755 networks/cuda/wkv_cuda.cu
 create mode 100755 networks/cuda/wkv_op.cpp
 create mode 100644 scripts/check.sh
 create mode 100644 scripts/run_test.sh
 create mode 100644 scripts/run_val.sh
 create mode 100644 utils/__pycache__/ssc_loss.cpython-310.pyc
 create mode 100644 utils/ssc_loss.py

diff --git a/networks/__pycache__/bev_net.cpython-310.pyc b/networks/__pycache__/bev_net.cpython-310.pyc
index 82126f7337484988ae856f000f6fcb0cbc48a971..c935f8f372b7f21fcf4403affcec9273f5596538 100644
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diff --git a/networks/cuda/wkv_cuda.cu b/networks/cuda/wkv_cuda.cu
new file mode 100755
index 0000000..8d178b6
--- /dev/null
+++ b/networks/cuda/wkv_cuda.cu
@@ -0,0 +1,345 @@
+#include <stdio.h>
+#include <assert.h>
+#define MIN_VALUE (-1e38)
+#define CHANNEL_SPLIT (512 / 32)
+#define EPS (1e-6)
+#define TOKEN_SPLIT (512 / CHANNEL_SPLIT) // the number of split tokens
+#define IDEAL_T_LEN (Tmax / TOKEN_SPLIT)
+
+
+template <typename F>
+__global__ void kernel_forward(const int B, const int T, const int C,
+                               const F *__restrict__ const _w, const F *__restrict__ const _u, const F *__restrict__ const _k, const F *__restrict__ const _v,
+                               F *__restrict__ const _y) {
+    const int idx = blockIdx.x * blockDim.x + threadIdx.x;
+    const int channel_id = threadIdx.x;
+    const int token_id = threadIdx.y;
+    const int _b = idx / C;
+    const int _c = idx % C;
+    const int _T = (T + TOKEN_SPLIT - 1) / TOKEN_SPLIT;
+    const int _t = _T * token_id;
+    const int _offset = _b * T * C + _c;
+    const int _tokenLength = min(T - _t, _T);
+    F u = _u[_c];
+    F w = _w[_c];
+    const F *__restrict__ const k = _k + _offset;
+    const F *__restrict__ const v = _v + _offset;
+    F *__restrict__ const y = _y + _offset;
+    // for saving smem, del Sc, Sd, So1
+    __shared__ F Sa[CHANNEL_SPLIT][TOKEN_SPLIT], Sb[CHANNEL_SPLIT][TOKEN_SPLIT], 
+        So2[CHANNEL_SPLIT][TOKEN_SPLIT];
+    F a = 0, b = 0, c = 0, d = 0;
+    F o1 = MIN_VALUE, o2 = MIN_VALUE;
+    for (int i = _t; i < (_t + _tokenLength); i++){
+        const int ii = i * C;
+        F no = max(o1, k[ii] - w * (i - _t));
+        F e1 = exp(o1 - no);
+        F e3 = exp(k[ii] - w * (i - _t) - no);
+        c = e1 * c + e3 * v[ii];
+        d = e1 * d + e3;
+        o1 = no;
+        const int ni = 2 * _t + _tokenLength - 1 - i;
+        const int nini = ni * C;
+        const int exp_w = _t + _tokenLength - ni;
+        no = max(o2, k[nini] - w * exp_w);
+        F e2 = exp(o2 - no);
+        e3 = exp(k[nini] - w * exp_w - no);
+        a = e2 * a + e3 * v[nini];
+        b = e2 * b + e3;
+        o2 = no;
+    }
+
+    So2[channel_id][token_id] = o2;
+    Sa[channel_id][token_id] = a;
+    Sb[channel_id][token_id] = b;
+    __syncthreads();
+    a = 0;
+    b = 0;
+    o2 = MIN_VALUE;
+    for (int i = 0; i < token_id; i++){
+        const int exp_w = (token_id - i - 1) * _T;
+        F no = max(So2[channel_id][i] - w * exp_w, o2);
+        a = a * exp(o2 - no) + Sa[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        b = b * exp(o2 - no) + Sb[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        o2 = no;
+    }
+    __syncthreads();
+    Sa[channel_id][token_id] = c;
+    Sb[channel_id][token_id] = d;
+    So2[channel_id][token_id] = o1;
+    __syncthreads();
+    c = 0;
+    d = 0;
+    o1 = MIN_VALUE;
+    for (int i = token_id; i < TOKEN_SPLIT; i++){
+        const int exp_w = (i - token_id) * _T;
+        F no = max(So2[channel_id][i] - w * exp_w, o1);
+        c = c * exp(o1 - no) + Sa[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        d = d * exp(o1 - no) + Sb[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        o1 = no;
+    }
+    c -= exp(k[_t * C] - o1) * v[_t * C];
+    d -= exp(k[_t * C] - o1);
+    for (int i = _t; i < (_t + _tokenLength); i++) {
+        const int ii = i * C;
+        F no = max(o1, u + k[ii]);
+        no = max(no, o2);
+        F e1 = exp(o1 - no);
+        F e2 = exp(o2 - no);
+        F e3 = exp(u + k[ii] - no);
+        y[ii] = (c * e1 + a * e2 + e3 * v[ii])/(d * e1 + b * e2 + e3 + EPS);
+        // update a, b, c, d
+        const int ii2 = ((i + 1) % T) * C;
+        no = max(o2 - w, k[ii]);
+        e2 = exp(o2 - w - no);
+        e3 = exp(k[ii] - no);
+        a = e2 * a + e3 * v[ii];
+        b = e2 * b + e3;
+        o2 = no;
+        no = max(o1 + w, k[ii2] + w);
+        e1 = exp(o1 + w - no);
+        e3 = exp(k[ii2] + w - no);
+        c = e1 * c - e3 * v[ii2];
+        d = e1 * d - e3;
+        o1 = no;
+    }
+}
+
+template <typename F>
+__global__ void kernel_backward(const int B, const int T, const int C,
+                                const F *__restrict__ const _w, const F *__restrict__ const _u, const F *__restrict__ const _k, const F *__restrict__ const _v, const F *__restrict__ const _gy,
+                                F *__restrict__ const _gw, F *__restrict__ const _gu, F *__restrict__ const _gk, F *__restrict__ const _gv) {
+    const int idx = blockIdx.x * blockDim.x + threadIdx.x;
+    const int channel_id = threadIdx.x;
+    const int token_id = threadIdx.y;
+    const int _b = idx / C;
+    const int _c = idx % C;
+    const int _T = (T + TOKEN_SPLIT - 1) / TOKEN_SPLIT;
+    const int _t = _T * token_id;
+    const int _offset = _b * T * C + _c;
+    const int _tokenLength = min(T - _t, _T);
+    F u = _u[_c];
+    F w = _w[_c];
+    const F *__restrict__ const k = _k + _offset;
+    const F *__restrict__ const v = _v + _offset;
+    const F *__restrict__ const gy = _gy + _offset;
+
+    F *__restrict__ const gk = _gk + _offset;
+    F *__restrict__ const gv = _gv + _offset;
+
+    F y[IDEAL_T_LEN], z[IDEAL_T_LEN], zexp[IDEAL_T_LEN];
+    // for saving smem, del Sc, Sd, Sdcdw, Sdddw, So1
+    __shared__ F Sa[CHANNEL_SPLIT][TOKEN_SPLIT], Sb[CHANNEL_SPLIT][TOKEN_SPLIT];
+    __shared__ F Sdadw[CHANNEL_SPLIT][TOKEN_SPLIT], Sdbdw[CHANNEL_SPLIT][TOKEN_SPLIT];
+    __shared__ F So2[CHANNEL_SPLIT][TOKEN_SPLIT];
+    F a = 0, b = 0, c = 0, d = 0;
+    F dadw = 0, dbdw = 0, dcdw = 0, dddw = 0;
+    F o1 = MIN_VALUE, o2 = MIN_VALUE;
+    for (int i = _t; i < (_t + _tokenLength); i++){
+        const int ii = i * C;
+        F no = max(o1, k[ii] - w * (i - _t));
+        F e1 = exp(o1 - no);
+        F e3 = exp(k[ii] - w * (i - _t) - no);
+        dcdw = dcdw * e1 - (i - _t) * e3 * v[ii];
+        dddw = dddw * e1 - (i - _t) * e3;
+        c = e1 * c + e3 * v[ii];
+        d = e1 * d + e3;
+        o1 = no;
+        const int ni = 2 * _t + _tokenLength - 1 - i;
+        const int nini = ni * C;
+        const int exp_w = _t + _tokenLength - ni;
+        no = max(o2, k[nini] - w * exp_w);
+        F e2 = exp(o2 - no);
+        e3 = exp(k[nini] - w * exp_w - no);
+        dadw = dadw * e2 - exp_w * e3 * v[nini];
+        dbdw = dbdw * e2 - exp_w * e3;
+        a = e2 * a + e3 * v[nini];
+        b = e2 * b + e3;
+        o2 = no;
+    }
+    __syncthreads();
+    So2[channel_id][token_id] = o2;
+    Sa[channel_id][token_id] = a;
+    Sb[channel_id][token_id] = b;
+    Sdadw[channel_id][token_id] = dadw;
+    Sdbdw[channel_id][token_id] = dbdw;
+    __syncthreads();
+    a = 0;
+    b = 0;
+    dadw = 0;
+    dbdw = 0;
+    o2 = MIN_VALUE;
+    for (int i = 0; i < token_id; i++){
+        const int exp_w = (token_id - i - 1) * _T;
+        F no = max(So2[channel_id][i] - w * exp_w, o2);
+        a = a * exp(o2 - no) + Sa[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        b = b * exp(o2 - no) + Sb[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        dadw = dadw * exp(o2 - no) + (Sdadw[channel_id][i] - exp_w * Sa[channel_id][i])
+            * exp(So2[channel_id][i] - w * exp_w - no);
+        dbdw = dbdw * exp(o2 - no) + (Sdbdw[channel_id][i] - exp_w * Sb[channel_id][i])
+            * exp(So2[channel_id][i] - w * exp_w - no);
+        o2 = no;
+    }
+    __syncthreads();
+    So2[channel_id][token_id] = o1;
+    Sa[channel_id][token_id] = c;
+    Sb[channel_id][token_id] = d;
+    Sdadw[channel_id][token_id] = dcdw;
+    Sdbdw[channel_id][token_id] = dddw;
+    __syncthreads();
+    c = 0;
+    d = 0;
+    dcdw = 0;
+    dddw = 0;
+    o1 = MIN_VALUE;
+    for (int i = token_id; i < TOKEN_SPLIT; i++){
+        const int exp_w = (i - token_id) * _T;
+        F no = max(So2[channel_id][i] - w * exp_w, o1);
+        c = c * exp(o1 - no) + Sa[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        d = d * exp(o1 - no) + Sb[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - no);
+        dcdw = dcdw * exp(o1 - no) + (Sdadw[channel_id][i] - exp_w * Sa[channel_id][i])
+             * exp(So2[channel_id][i] - w * exp_w - no);
+        dddw = dddw * exp(o1 - no) + (Sdbdw[channel_id][i] - exp_w * Sb[channel_id][i])
+             * exp(So2[channel_id][i] - w * exp_w - no);
+        o1 = no;
+    }
+    c -= exp(k[_t * C] - o1) * v[_t * C];
+    d -= exp(k[_t * C] - o1);
+
+    F gw = 0, gu = 0;
+    F gc = 0, gd = 0, ga = 0, gb = 0;
+    F go1 = MIN_VALUE, go2 = MIN_VALUE;
+    for (int i = _t; i < (_t + _tokenLength); i++) {
+        const int ii = i * C;
+        F no = max(o1, u + k[ii]);
+        no = max(no, o2);
+        F e1 = exp(o1 - no);
+        F e2 = exp(o2 - no);
+        F e3 = exp(u + k[ii] - no);
+        F num = (c * e1 + a * e2 + e3 * v[ii]);
+        F iden = 1 / (d * e1 + b * e2 + e3 + EPS);
+        y[i - _t] = num * iden;
+        z[i - _t] = iden;
+        zexp[i - _t] = -no;
+        gw += gy[ii] * (dadw - dbdw * y[i - _t]) * iden * e2;
+        gw += gy[ii] * (dcdw - dddw * y[i - _t]) * iden * e1;
+        gu += gy[ii] * (v[ii] - y[i - _t]) * e3 * iden;
+        gk[ii] = gy[ii] * iden * (v[ii] - y[i - _t]) * e3;
+        gv[ii] = gy[ii] * iden * e3;
+        // cal gc & gd for gk & gv
+        F gno = max(- w + go1, -no);
+        e1 = exp(- w + go1 - gno);
+        e3 = gy[ii] * iden  * exp(- no - gno);
+        gc = e1 * gc + e3 * y[i - _t];
+        gd = e1 * gd + e3;
+        go1 = gno;
+
+        // update a, b, c, d
+        const int ii2 = ((i + 1) % T) * C;
+        no = max(o2 - w, k[ii]);
+        e2 = exp(o2 - w - no);
+        e3 = exp(k[ii] - no);
+        dadw = e2 * (dadw - a);
+        dbdw = e2 * (dbdw - b);
+        a = e2 * a + e3 * v[ii];
+        b = e2 * b + e3;
+        o2 = no;
+        no = max(o1 + w, k[ii2] + w);
+        e1 = exp(o1 + w - no);
+        e3 = exp(k[ii2] + w - no);
+        dcdw = e1 * (c + dcdw) - e3 * v[ii2];
+        dddw = e1 * (d + dddw) - e3;
+        c = e1 * c - e3 * v[ii2];
+        d = e1 * d - e3;
+        o1 = no;
+    }
+    __syncthreads();
+    Sdadw[channel_id][token_id] = gw;
+    Sdbdw[channel_id][token_id] = gu;
+    __syncthreads();
+    if(token_id == 0){
+        const int _offsetBC = _b * C + _c;
+        for(int i = 0; i < TOKEN_SPLIT; i++){
+            _gw[_offsetBC] += Sdadw[channel_id][i];
+            _gu[_offsetBC] += Sdbdw[channel_id][i];
+        }
+    }
+    __syncthreads();
+    for (int i = _t + _tokenLength - 1; i >=_t ; i--) {
+        const int ii = i * C;
+        F gno = max(-w + go2, zexp[i - _t]);
+        F e2 = exp(-w + go2 - gno);
+        F e3 = gy[ii] * z[i - _t] * exp(zexp[i - _t] - gno);
+        ga = e2 * ga + e3 * y[i - _t];
+        gb = e2 * gb + e3;
+        go2 = gno;
+    }
+    __syncthreads();
+    Sa[channel_id][token_id] = gc;
+    Sb[channel_id][token_id] = gd;
+    So2[channel_id][token_id] = go1;
+    __syncthreads();
+    gc = 0;
+    gd = 0;
+    go1 = MIN_VALUE;
+    for (int i = 0; i < token_id; i++){
+        const int exp_w = (token_id - i - 1) * _T;
+        F gno = max(So2[channel_id][i] - w * exp_w, go1);
+        gc = gc * exp(go1 - gno) + Sa[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - gno);
+        gd = gd * exp(go1 - gno) + Sb[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - gno);
+        go1 = gno;
+    }
+
+    __syncthreads();
+    Sa[channel_id][token_id] = ga;
+    Sb[channel_id][token_id] = gb;
+    So2[channel_id][token_id] = go2;
+    __syncthreads();
+    ga = 0;
+    gb = 0;
+    go2 = MIN_VALUE;
+    for (int i = token_id + 1; i < TOKEN_SPLIT; i++){
+        const int exp_w = (i - token_id - 1) * _T;
+        F gno = max(So2[channel_id][i] - w * exp_w, go2);
+        ga = ga * exp(go2 - gno) + Sa[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - gno);
+        gb = gb * exp(go2 - gno) + Sb[channel_id][i] * exp(So2[channel_id][i] - w * exp_w - gno);
+        go2 = gno;
+    }
+
+    for (int i = _t; i < (_t + _tokenLength); i++) {
+        const int ii = i * C;
+        const int ni = 2 * _t + _tokenLength - 1 - i;
+        const int nini = ni * C;
+        gk[ii] += exp(k[ii] + go1) * (gd * v[ii] - gc);
+        gk[nini] += exp(k[nini] + go2) * (gb * v[nini] - ga);
+        gv[ii] += exp(k[ii] + go1) * gd;
+        gv[nini] += exp(k[nini] + go2) * gb;
+        F gno = max(-w + go1, zexp[i - _t]);
+        F e1 = exp(-w + go1 - gno);
+        F e3 = gy[ii] * z[i - _t]  * exp(zexp[i - _t] - gno);
+        gc = e1 * gc + e3 * y[i - _t];
+        gd = e1 * gd + e3;
+        go1 = gno;
+        gno = max(-w + go2, zexp[ni - _t]);
+        F e2 = exp(-w + go2 - gno);
+        e3 = gy[nini] * z[ni - _t] * exp(zexp[ni - _t] - gno);
+        ga = e2 * ga + e3 * y[ni - _t];
+        gb = e2 * gb + e3;
+        go2 = gno;
+    }
+}
+
+void cuda_forward(int B, int T, int C, float *w, float *u, float *k, float *v, float *y) {
+    // 1024 threads per plock
+    dim3 threadsPerBlock(min(CHANNEL_SPLIT, C), TOKEN_SPLIT); // requires --maxrregcount 60 for optimal performance
+    assert(B * C % threadsPerBlock.x == 0);
+    dim3 numBlocks(B * C / threadsPerBlock.x);
+    kernel_forward<<<numBlocks, threadsPerBlock>>>(B, T, C, w, u, k, v, y);
+}
+
+void cuda_backward(int B, int T, int C, float *w, float *u, float *k, float *v, float *gy, float *gw, float *gu, float *gk, float *gv) {
+    dim3 threadsPerBlock(min(CHANNEL_SPLIT, C), TOKEN_SPLIT); // requires --maxrregcount 60 for optimal performance
+    assert(B * C % threadsPerBlock.x == 0);
+    dim3 numBlocks(B * C / threadsPerBlock.x);
+    kernel_backward<<<numBlocks, threadsPerBlock>>>(B, T, C, w, u, k, v, gy, gw, gu, gk, gv);
+}
diff --git a/networks/cuda/wkv_op.cpp b/networks/cuda/wkv_op.cpp
new file mode 100755
index 0000000..efe56d8
--- /dev/null
+++ b/networks/cuda/wkv_op.cpp
@@ -0,0 +1,21 @@
+#include <torch/extension.h>
+
+void cuda_forward(int B, int T, int C, float *w, float *u, float *k, float *v, float *y);
+void cuda_backward(int B, int T, int C, float *w, float *u, float *k, float *v, float *gy, float *gw, float *gu, float *gk, float *gv);
+
+void forward(int64_t B, int64_t T, int64_t C, torch::Tensor &w, torch::Tensor &u, torch::Tensor &k, torch::Tensor &v, torch::Tensor &y) {
+    cuda_forward(B, T, C, w.data_ptr<float>(), u.data_ptr<float>(), k.data_ptr<float>(), v.data_ptr<float>(), y.data_ptr<float>());
+}
+void backward(int64_t B, int64_t T, int64_t C, torch::Tensor &w, torch::Tensor &u, torch::Tensor &k, torch::Tensor &v, torch::Tensor &gy, torch::Tensor &gw, torch::Tensor &gu, torch::Tensor &gk, torch::Tensor &gv) {
+    cuda_backward(B, T, C, w.data_ptr<float>(), u.data_ptr<float>(), k.data_ptr<float>(), v.data_ptr<float>(), gy.data_ptr<float>(), gw.data_ptr<float>(), gu.data_ptr<float>(), gk.data_ptr<float>(), gv.data_ptr<float>());
+}
+
+PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
+    m.def("forward", &forward, "wkv forward");
+    m.def("backward", &backward, "wkv backward");
+}
+
+TORCH_LIBRARY(wkv, m) {
+    m.def("forward", forward);
+    m.def("backward", backward);
+}
diff --git a/scripts/check.sh b/scripts/check.sh
new file mode 100644
index 0000000..9f1c1a9
--- /dev/null
+++ b/scripts/check.sh
@@ -0,0 +1 @@
+python /home/jmwang/semantic-kitti-api/validate_submission.py --task completion /home/jmwang/OccRWKV/predictions/submission.zip /home/jmwang/datasets/semantic_kitti/dataset                                                             
\ No newline at end of file
diff --git a/scripts/run_test.sh b/scripts/run_test.sh
new file mode 100644
index 0000000..a664f2d
--- /dev/null
+++ b/scripts/run_test.sh
@@ -0,0 +1 @@
+python test.py --weights /home/jmwang/OccRWKV/outputs/OccRWKV_SemanticKITTI_0828_074122/chkpt/best-metric/weights_epoch_043.pth --dset_root /home/jmwang/datasets/semantic_kitti/dataset/sequences --out_path /home/jmwang/OccRWKV/predictions
diff --git a/scripts/run_train.sh b/scripts/run_train.sh
index 4f6426c..3da68ad 100644
--- a/scripts/run_train.sh
+++ b/scripts/run_train.sh
@@ -1 +1 @@
- python train.py --cfg /home/jmwang/OccRWKV/cfgs/2024.6.11.yaml --dset_root /home/jmwang/datasets/semantic_kitti/dataset/sequences
+ python train.py --cfg /home/jmwang/OccRWKV/cfgs/2024.8.29.yaml --dset_root /home/jmwang/datasets/semantic_kitti/dataset/sequences
diff --git a/scripts/run_val.sh b/scripts/run_val.sh
new file mode 100644
index 0000000..d9f6c40
--- /dev/null
+++ b/scripts/run_val.sh
@@ -0,0 +1 @@
+python /home/jmwang/OccRWKV/validate.py --weights /home/jmwang/OccRWKV/outputs/OccRWKV_SemanticKITTI_0828_074122/chkpt/best-metric/weights_epoch_060.pth --dset_root /home/jmwang/datasets/semantic_kitti/dataset/sequences 
\ No newline at end of file
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diff --git a/utils/ssc_loss.py b/utils/ssc_loss.py
new file mode 100644
index 0000000..3d7c26f
--- /dev/null
+++ b/utils/ssc_loss.py
@@ -0,0 +1,102 @@
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+def KL_sep(p, target):
+    """
+    KL divergence on nonzeros classes
+    """
+    nonzeros = target != 0
+    nonzero_p = p[nonzeros]
+    kl_term = F.kl_div(torch.log(nonzero_p), target[nonzeros], reduction="sum")
+    return kl_term
+
+
+def geo_scal_loss(pred, ssc_target):
+
+    # Get softmax probabilities
+    pred = F.softmax(pred, dim=1)
+
+    # Compute empty and nonempty probabilities
+    empty_probs = pred[:, 0, :, :, :]
+    nonempty_probs = 1 - empty_probs
+
+    # Remove unknown voxels
+    mask = ssc_target != 255
+    nonempty_target = ssc_target != 0
+    nonempty_target = nonempty_target[mask].float()
+    nonempty_probs = nonempty_probs[mask]
+    empty_probs = empty_probs[mask]
+
+    intersection = (nonempty_target * nonempty_probs).sum()
+    precision = intersection / nonempty_probs.sum()
+    recall = intersection / nonempty_target.sum()
+    spec = ((1 - nonempty_target) * (empty_probs)).sum() / (1 - nonempty_target).sum()
+    return (
+        F.binary_cross_entropy(precision, torch.ones_like(precision))
+        + F.binary_cross_entropy(recall, torch.ones_like(recall))
+        + F.binary_cross_entropy(spec, torch.ones_like(spec))
+    )
+
+
+def sem_scal_loss(pred, ssc_target):
+    # Get softmax probabilities
+   
+    pred = F.softmax(pred, dim=1)
+    loss = 0
+    count = 0
+    mask = ssc_target != 255
+    n_classes = pred.shape[1]
+    for i in range(0, n_classes):
+
+        # Get probability of class i
+        # p = pred[:, i, :, :, :]
+        # 获取类别 i 的概率，对于2维张量
+        p = pred[:, i]
+
+        # Remove unknown voxels
+        target_ori = ssc_target
+        p = p[mask]
+        target = ssc_target[mask]
+
+        completion_target = torch.ones_like(target)
+        completion_target[target != i] = 0
+        completion_target_ori = torch.ones_like(target_ori).float()
+        completion_target_ori[target_ori != i] = 0
+        if torch.sum(completion_target) > 0:
+            count += 1.0
+            nominator = torch.sum(p * completion_target)
+            loss_class = 0
+            if torch.sum(p) > 0:
+                precision = nominator / (torch.sum(p))
+                loss_precision = F.binary_cross_entropy(
+                    precision, torch.ones_like(precision)
+                )
+                loss_class += loss_precision
+            if torch.sum(completion_target) > 0:
+                recall = nominator / (torch.sum(completion_target))
+                loss_recall = F.binary_cross_entropy(recall, torch.ones_like(recall))
+                loss_class += loss_recall
+            if torch.sum(1 - completion_target) > 0:
+                specificity = torch.sum((1 - p) * (1 - completion_target)) / (
+                    torch.sum(1 - completion_target)
+                )
+                loss_specificity = F.binary_cross_entropy(
+                    specificity, torch.ones_like(specificity)
+                )
+                loss_class += loss_specificity
+            loss += loss_class
+    return loss / count
+
+
+def CE_ssc_loss(pred, target, class_weights):
+    """
+    :param: prediction: the predicted tensor, must be [BS, C, H, W, D]
+    """
+    criterion = nn.CrossEntropyLoss(
+        weight=class_weights, ignore_index=255, reduction="mean"
+    )
+    loss = criterion(pred, target.long())
+
+    return loss
\ No newline at end of file