modeling_ivy.py

from typing import Callable, List, Optional, Tuple, Union

import torch
from torch import nn

from transformers.activations import ACT2FN
from transformers.cache_utils import Cache, DynamicCache, StaticCache
from transformers.generation import GenerationMixin
from transformers.modeling_attn_mask_utils import AttentionMaskConverter
from transformers.modeling_flash_attention_utils import FlashAttentionKwargs
from transformers.modeling_rope_utils import ROPE_INIT_FUNCTIONS
from transformers.modeling_utils import PreTrainedModel, ALL_ATTENTION_FUNCTIONS
from transformers.processing_utils import Unpack
from transformers.utils import (
    LossKwargs,
    add_code_sample_docstrings,
    add_start_docstrings,
    add_start_docstrings_to_model_forward,
    logging,
    replace_return_docstrings,
)

from transformers.configuration_utils import PretrainedConfig
from transformers.modeling_rope_utils import rope_config_validation


class IvyConfig(PretrainedConfig):
    model_type = "ivy"

    def __init__(
        self,
        obs_size=16,
        out_size=8,
        hidden_size=4096,
        intermediate_size=22016,
        num_hidden_layers=32,
        num_attention_heads=32,
        num_key_value_heads=32,
        hidden_act="silu",
        max_position_embeddings=32768,
        initializer_range=0.02,
        rms_norm_eps=1e-6,
        use_cache=True,
        tie_word_embeddings=False,
        rope_theta=10000.0,
        rope_scaling=None,
        use_sliding_window=False,
        sliding_window=4096,
        max_window_layers=28,
        attention_dropout=0.0,
        **kwargs,
    ):
        self.obs_size = obs_size
        self.act_size = out_size
        self.max_position_embeddings = max_position_embeddings
        self.hidden_size = hidden_size
        self.intermediate_size = intermediate_size
        self.num_hidden_layers = num_hidden_layers
        self.num_attention_heads = num_attention_heads
        self.use_sliding_window = use_sliding_window
        self.sliding_window = sliding_window if use_sliding_window else None
        self.max_window_layers = max_window_layers

        # for backward compatibility
        if num_key_value_heads is None:
            num_key_value_heads = num_attention_heads

        self.num_key_value_heads = num_key_value_heads
        self.hidden_act = hidden_act
        self.initializer_range = initializer_range
        self.rms_norm_eps = rms_norm_eps
        self.use_cache = use_cache
        self.rope_theta = rope_theta
        self.rope_scaling = rope_scaling
        self.attention_dropout = attention_dropout
        # Validate the correctness of rotary position embeddings parameters
        # BC: if there is a 'type' field, move it to 'rope_type'.
        if self.rope_scaling is not None and "type" in self.rope_scaling:
            self.rope_scaling["rope_type"] = self.rope_scaling["type"]
        rope_config_validation(self)

        super().__init__(
            tie_word_embeddings=tie_word_embeddings,
            **kwargs,
        )


logger = logging.get_logger(__name__)
_CONFIG_FOR_DOC = "IvyConfig"


class IvyMLP(nn.Module):
    def __init__(self, config):
        super().__init__()
        self.config = config
        self.hidden_size = config.hidden_size
        self.intermediate_size = config.intermediate_size
        self.gate_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
        self.up_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
        self.down_proj = nn.Linear(self.intermediate_size, self.hidden_size, bias=False)
        self.act_fn = ACT2FN[config.hidden_act]

    def forward(self, x):
        down_proj = self.down_proj(self.act_fn(self.gate_proj(x)) * self.up_proj(x))
        return down_proj


def rotate_half(x):
    """Rotates half the hidden dims of the input."""
    x1 = x[..., : x.shape[-1] // 2]
    x2 = x[..., x.shape[-1] // 2 :]
    return torch.cat((-x2, x1), dim=-1)


def apply_rotary_pos_emb(q, k, cos, sin, position_ids=None, unsqueeze_dim=1):
    """Applies Rotary Position Embedding to the query and key tensors.

    Args:
        q (`torch.Tensor`): The query tensor.
        k (`torch.Tensor`): The key tensor.
        cos (`torch.Tensor`): The cosine part of the rotary embedding.
        sin (`torch.Tensor`): The sine part of the rotary embedding.
        position_ids (`torch.Tensor`, *optional*):
            Deprecated and unused.
        unsqueeze_dim (`int`, *optional*, defaults to 1):
            The 'unsqueeze_dim' argument specifies the dimension along which to unsqueeze cos[position_ids] and
            sin[position_ids] so that they can be properly broadcasted to the dimensions of q and k. For example, note
            that cos[position_ids] and sin[position_ids] have the shape [batch_size, seq_len, head_dim]. Then, if q and
            k have the shape [batch_size, heads, seq_len, head_dim], then setting unsqueeze_dim=1 makes
            cos[position_ids] and sin[position_ids] broadcastable to the shapes of q and k. Similarly, if q and k have
            the shape [batch_size, seq_len, heads, head_dim], then set unsqueeze_dim=2.
    Returns:
        `tuple(torch.Tensor)` comprising of the query and key tensors rotated using the Rotary Position Embedding.
    """
    cos = cos.unsqueeze(unsqueeze_dim)
    sin = sin.unsqueeze(unsqueeze_dim)
    q_embed = (q * cos) + (rotate_half(q) * sin)
    k_embed = (k * cos) + (rotate_half(k) * sin)
    return q_embed, k_embed


def repeat_kv(hidden_states: torch.Tensor, n_rep: int) -> torch.Tensor:
    """
    This is the equivalent of torch.repeat_interleave(x, dim=1, repeats=n_rep). The hidden states go from (batch,
    num_key_value_heads, seqlen, head_dim) to (batch, num_attention_heads, seqlen, head_dim)
    """
    batch, num_key_value_heads, slen, head_dim = hidden_states.shape
    if n_rep == 1:
        return hidden_states
    hidden_states = hidden_states[:, :, None, :, :].expand(batch, num_key_value_heads, n_rep, slen, head_dim)
    return hidden_states.reshape(batch, num_key_value_heads * n_rep, slen, head_dim)


def eager_attention_forward(
    module: nn.Module,
    query: torch.Tensor,
    key: torch.Tensor,
    value: torch.Tensor,
    attention_mask: Optional[torch.Tensor],
    scaling: float,
    dropout: float = 0.0,
    **kwargs,
):
    key_states = repeat_kv(key, module.num_key_value_groups)
    value_states = repeat_kv(value, module.num_key_value_groups)

    attn_weights = torch.matmul(query, key_states.transpose(2, 3)) * scaling
    if attention_mask is not None:
        causal_mask = attention_mask[:, :, :, : key_states.shape[-2]]
        attn_weights = attn_weights + causal_mask

    attn_weights = nn.functional.softmax(attn_weights, dim=-1, dtype=torch.float32).to(query.dtype)
    attn_weights = nn.functional.dropout(attn_weights, p=dropout, training=module.training)
    attn_output = torch.matmul(attn_weights, value_states)
    attn_output = attn_output.transpose(1, 2).contiguous()

    return attn_output, attn_weights


class IvyAttention(nn.Module):
    """Multi-headed attention from 'Attention Is All You Need' paper"""

    def __init__(self, config: IvyConfig, layer_idx: int):
        super().__init__()
        self.config = config
        self.layer_idx = layer_idx
        self.head_dim = getattr(config, "head_dim", config.hidden_size // config.num_attention_heads)
        self.num_key_value_groups = config.num_attention_heads // config.num_key_value_heads
        self.scaling = self.head_dim**-0.5
        self.attention_dropout = config.attention_dropout
        self.is_causal = True
        self.q_proj = nn.Linear(config.hidden_size, config.num_attention_heads * self.head_dim, bias=True)
        self.k_proj = nn.Linear(config.hidden_size, config.num_key_value_heads * self.head_dim, bias=True)
        self.v_proj = nn.Linear(config.hidden_size, config.num_key_value_heads * self.head_dim, bias=True)
        self.o_proj = nn.Linear(config.num_attention_heads * self.head_dim, config.hidden_size, bias=False)

    def forward(
        self,
        hidden_states: torch.Tensor,
        position_embeddings: Tuple[torch.Tensor, torch.Tensor],
        attention_mask: Optional[torch.Tensor],
        past_key_value: Optional[Cache] = None,
        cache_position: Optional[torch.LongTensor] = None,
        **kwargs: Unpack[FlashAttentionKwargs],
    ) -> Tuple[torch.Tensor, Optional[torch.Tensor], Optional[Tuple[torch.Tensor]]]:
        input_shape = hidden_states.shape[:-1]
        hidden_shape = (*input_shape, -1, self.head_dim)

        query_states = self.q_proj(hidden_states).view(hidden_shape).transpose(1, 2)
        key_states = self.k_proj(hidden_states).view(hidden_shape).transpose(1, 2)
        value_states = self.v_proj(hidden_states).view(hidden_shape).transpose(1, 2)

        cos, sin = position_embeddings
        query_states, key_states = apply_rotary_pos_emb(query_states, key_states, cos, sin)

        if past_key_value is not None:
            # sin and cos are specific to RoPE models; cache_position needed for the static cache
            cache_kwargs = {"sin": sin, "cos": cos, "cache_position": cache_position}
            key_states, value_states = past_key_value.update(key_states, value_states, self.layer_idx, cache_kwargs)

        sliding_window = None
        if (
            self.config.use_sliding_window
            and getattr(self.config, "sliding_window", None) is not None
            and self.layer_idx >= self.config.max_window_layers
        ):
            sliding_window = self.config.sliding_window

        attention_interface: Callable = eager_attention_forward
        if self.config._attn_implementation != "eager":
            if self.config._attn_implementation == "sdpa" and kwargs.get("output_attentions", False):
                logger.warning_once(
                    "`torch.nn.functional.scaled_dot_product_attention` does not support `output_attentions=True`. Falling back to "
                    'eager attention. This warning can be removed using the argument `attn_implementation="eager"` when loading the model.'
                )
            else:
                attention_interface = ALL_ATTENTION_FUNCTIONS[self.config._attn_implementation]

        attn_output, attn_weights = attention_interface(
            self,
            query_states,
            key_states,
            value_states,
            attention_mask,
            dropout=0.0 if not self.training else self.attention_dropout,
            scaling=self.scaling,
            sliding_window=sliding_window,  # main diff with Llama
            **kwargs,
        )

        attn_output = attn_output.reshape(*input_shape, -1).contiguous()
        attn_output = self.o_proj(attn_output)
        return attn_output, attn_weights


class IvyRMSNorm(nn.Module):
    def __init__(self, hidden_size, eps=1e-6):
        """
        IvyRMSNorm is equivalent to T5LayerNorm
        """
        super().__init__()
        self.weight = nn.Parameter(torch.ones(hidden_size))
        self.variance_epsilon = eps

    def forward(self, hidden_states):
        input_dtype = hidden_states.dtype
        hidden_states = hidden_states.to(torch.float32)
        variance = hidden_states.pow(2).mean(-1, keepdim=True)
        hidden_states = hidden_states * torch.rsqrt(variance + self.variance_epsilon)
        return self.weight * hidden_states.to(input_dtype)

    def extra_repr(self):
        return f"{tuple(self.weight.shape)}, eps={self.variance_epsilon}"


class IvyDecoderLayer(nn.Module):
    def __init__(self, config: IvyConfig, layer_idx: int):
        super().__init__()
        self.hidden_size = config.hidden_size
        self.self_attn = IvyAttention(config=config, layer_idx=layer_idx)
        self.mlp = IvyMLP(config)
        self.input_layernorm = IvyRMSNorm(config.hidden_size, eps=config.rms_norm_eps)
        self.post_attention_layernorm = IvyRMSNorm(config.hidden_size, eps=config.rms_norm_eps)
        if config.sliding_window and config._attn_implementation != "flash_attention_2":
            logger.warning_once(
                f"Sliding Window Attention is enabled but not implemented for `{config._attn_implementation}`; "
                "unexpected results may be encountered."
            )

    def forward(
        self,
        hidden_states: torch.Tensor,
        attention_mask: Optional[torch.Tensor] = None,
        position_ids: Optional[torch.LongTensor] = None,
        past_key_value: Optional[Cache] = None,
        output_attentions: Optional[bool] = False,
        use_cache: Optional[bool] = False,
        cache_position: Optional[torch.LongTensor] = None,
        position_embeddings: Optional[Tuple[torch.Tensor, torch.Tensor]] = None,  # necessary, but kept here for BC
        **kwargs: Unpack[FlashAttentionKwargs],
    ) -> Tuple[torch.FloatTensor, Optional[Tuple[torch.FloatTensor, torch.FloatTensor]]]:
        residual = hidden_states

        hidden_states = self.input_layernorm(hidden_states)

        # Self Attention
        hidden_states, self_attn_weights = self.self_attn(
            hidden_states=hidden_states,
            attention_mask=attention_mask,
            position_ids=position_ids,
            past_key_value=past_key_value,
            output_attentions=output_attentions,
            use_cache=use_cache,
            cache_position=cache_position,
            position_embeddings=position_embeddings,
            **kwargs,
        )
        hidden_states = residual + hidden_states

        # Fully Connected
        residual = hidden_states
        hidden_states = self.post_attention_layernorm(hidden_states)
        hidden_states = self.mlp(hidden_states)
        hidden_states = residual + hidden_states

        outputs = (hidden_states,)
        if output_attentions:
            outputs += (self_attn_weights,)

        return outputs


class IvyRotaryEmbedding(nn.Module):
    def __init__(self, config: IvyConfig, device=None):
        super().__init__()
        # BC: "rope_type" was originally "type"
        if hasattr(config, "rope_scaling") and config.rope_scaling is not None:
            self.rope_type = config.rope_scaling.get("rope_type", config.rope_scaling.get("type"))
        else:
            self.rope_type = "default"
        self.max_seq_len_cached = config.max_position_embeddings
        self.original_max_seq_len = config.max_position_embeddings

        self.config = config
        self.rope_init_fn = ROPE_INIT_FUNCTIONS[self.rope_type]

        inv_freq, self.attention_scaling = self.rope_init_fn(self.config, device)
        self.register_buffer("inv_freq", inv_freq, persistent=False)
        self.original_inv_freq = self.inv_freq

    def _dynamic_frequency_update(self, position_ids, device):
        """
        dynamic RoPE layers should recompute `inv_freq` in the following situations:
        1 - growing beyond the cached sequence length (allow scaling)
        2 - the current sequence length is in the original scale (avoid losing precision with small sequences)
        """
        seq_len = torch.max(position_ids) + 1
        if seq_len > self.max_seq_len_cached:  # growth
            inv_freq, self.attention_scaling = self.rope_init_fn(self.config, device, seq_len=seq_len)
            self.register_buffer("inv_freq", inv_freq, persistent=False)  # TODO joao: may break with compilation
            self.max_seq_len_cached = seq_len

        if seq_len < self.original_max_seq_len and self.max_seq_len_cached > self.original_max_seq_len:  # reset
            # This .to() is needed if the model has been moved to a device after being initialized (because
            # the buffer is automatically moved, but not the original copy)
            self.original_inv_freq = self.original_inv_freq.to(device)
            self.register_buffer("inv_freq", self.original_inv_freq, persistent=False)
            self.max_seq_len_cached = self.original_max_seq_len

    @torch.no_grad()
    def forward(self, x, position_ids):
        if "dynamic" in self.rope_type:
            self._dynamic_frequency_update(position_ids, device=x.device)

        # Core RoPE block
        inv_freq_expanded = self.inv_freq[None, :, None].float().expand(position_ids.shape[0], -1, 1)
        position_ids_expanded = position_ids[:, None, :].float()
        # Force float32 (see https://github.com/huggingface/transformers/pull/29285)
        device_type = x.device.type
        device_type = device_type if isinstance(device_type, str) and device_type != "mps" else "cpu"
        with torch.autocast(device_type=device_type, enabled=False):
            freqs = (inv_freq_expanded.float() @ position_ids_expanded.float()).transpose(1, 2)
            emb = torch.cat((freqs, freqs), dim=-1)
            cos = emb.cos()
            sin = emb.sin()

        # Advanced RoPE types (e.g. yarn) apply a post-processing scaling factor, equivalent to scaling attention
        cos = cos * self.attention_scaling
        sin = sin * self.attention_scaling

        return cos.to(dtype=x.dtype), sin.to(dtype=x.dtype)


class IvyPreTrainedModel(PreTrainedModel):
    config_class = IvyConfig
    base_model_prefix = "model"
    supports_gradient_checkpointing = True
    _no_split_modules = ["IvyDecoderLayer"]
    _skip_keys_device_placement = ["past_key_values"]
    _supports_flash_attn_2 = True
    _supports_sdpa = True
    _supports_flex_attn = True
    _supports_cache_class = True
    _supports_quantized_cache = True
    _supports_static_cache = True
    _supports_attention_backend = True

    def _init_weights(self, module):
        std = self.config.initializer_range
        if isinstance(module, nn.Linear):
            module.weight.data.normal_(mean=0.0, std=std)
            if module.bias is not None:
                module.bias.data.zero_()
        elif isinstance(module, nn.Embedding):
            module.weight.data.normal_(mean=0.0, std=std)
            if module.padding_idx is not None:
                module.weight.data[module.padding_idx].zero_()


class Ivy4RL(IvyPreTrainedModel):
    def __init__(self, config: IvyConfig):
        super().__init__(config)
        self.padding_idx = config.pad_token_id

        self.embed_tokens = nn.Linear(config.obs_size, self.config.hidden_size)
        self.layers = nn.ModuleList(
            [IvyDecoderLayer(config, layer_idx) for layer_idx in range(config.num_hidden_layers)]
        )
        self.norm = IvyRMSNorm(config.hidden_size, eps=config.rms_norm_eps)
        self.rotary_emb = IvyRotaryEmbedding(config=config)

        self.rl_head = nn.Linear(config.hidden_size, self.config.act_size)

        self.gradient_checkpointing = False

        # Initialize weights and apply final processing
        self.post_init()

    def get_input_embeddings(self):
        return self.embed_tokens

    def set_input_embeddings(self, value):
        self.embed_tokens = value

    def forward(
        self,
        input_ids: torch.LongTensor = None,
        attention_mask: Optional[torch.Tensor] = None,
        position_ids: Optional[torch.LongTensor] = None,
        past_key_values: Optional[Cache] = None,
        inputs_embeds: Optional[torch.FloatTensor] = None,
        use_cache: Optional[bool] = None,
        output_attentions: Optional[bool] = None,
        output_hidden_states: Optional[bool] = None,
        return_dict: Optional[bool] = None,
        cache_position: Optional[torch.LongTensor] = None,
        **flash_attn_kwargs: Unpack[FlashAttentionKwargs],
    ):

        use_cache = False  # Yeah

        inputs_embeds = self.embed_tokens(inputs_embeds)  # Yeah, ikr

        if use_cache and past_key_values is None:
            past_key_values = DynamicCache()

        if cache_position is None:
            past_seen_tokens = past_key_values.get_seq_length() if past_key_values is not None else 0
            cache_position = torch.arange(
                past_seen_tokens, past_seen_tokens + inputs_embeds.shape[1], device=inputs_embeds.device
            )

        if position_ids is None:
            position_ids = cache_position.unsqueeze(0)

        causal_mask = self._update_causal_mask(
            attention_mask, inputs_embeds, cache_position, past_key_values, output_attentions
        )

        hidden_states = inputs_embeds

        # create position embeddings to be shared across the decoder layers
        position_embeddings = self.rotary_emb(hidden_states, position_ids)

        # decoder layers
        all_hidden_states = () if output_hidden_states else None
        all_self_attns = () if output_attentions else None

        for decoder_layer in self.layers[: self.config.num_hidden_layers]:
            if output_hidden_states:
                all_hidden_states += (hidden_states,)

            if self.gradient_checkpointing and self.training:
                layer_outputs = self._gradient_checkpointing_func(
                    decoder_layer.__call__,
                    hidden_states,
                    causal_mask,
                    position_ids,
                    past_key_values,
                    output_attentions,
                    use_cache,
                    cache_position,
                    position_embeddings,
                )
            else:
                layer_outputs = decoder_layer(
                    hidden_states,
                    attention_mask=causal_mask,
                    position_ids=position_ids,
                    past_key_value=past_key_values,
                    output_attentions=output_attentions,
                    use_cache=use_cache,
                    cache_position=cache_position,
                    position_embeddings=position_embeddings,
                    **flash_attn_kwargs,
                )

            hidden_states = layer_outputs[0]

            if output_attentions:
                all_self_attns += (layer_outputs[1],)

        hidden_states = self.norm(hidden_states)

        logits = self.rl_head(hidden_states[:, -1:, :])
        logits = logits.squeeze(1)

        return logits

    def _update_causal_mask(
        self,
        attention_mask: torch.Tensor,
        input_tensor: torch.Tensor,
        cache_position: torch.Tensor,
        past_key_values: Cache,
        output_attentions: bool,
    ):
        if self.config._attn_implementation == "flash_attention_2":
            if attention_mask is not None and (attention_mask == 0.0).any():
                return attention_mask
            return None

        # For SDPA, when possible, we will rely on its `is_causal` argument instead of its `attn_mask` argument, in
        # order to dispatch on Flash Attention 2. This feature is not compatible with static cache, as SDPA will fail
        # to infer the attention mask.
        past_seen_tokens = past_key_values.get_seq_length() if past_key_values is not None else 0
        using_static_cache = isinstance(past_key_values, StaticCache)

        # When output attentions is True, sdpa implementation's forward method calls the eager implementation's forward
        if self.config._attn_implementation == "sdpa" and not using_static_cache and not output_attentions:
            if AttentionMaskConverter._ignore_causal_mask_sdpa(
                attention_mask,
                inputs_embeds=input_tensor,
                past_key_values_length=past_seen_tokens,
                is_training=self.training,
            ):
                return None

        dtype, device = input_tensor.dtype, input_tensor.device
        sequence_length = input_tensor.shape[1]
        if using_static_cache:
            target_length = past_key_values.get_max_cache_shape()
        else:
            target_length = (
                attention_mask.shape[-1]
                if isinstance(attention_mask, torch.Tensor)
                else past_seen_tokens + sequence_length + 1
            )

        # In case the provided `attention` mask is 2D, we generate a causal mask here (4D).
        causal_mask = self._prepare_4d_causal_attention_mask_with_cache_position(
            attention_mask,
            sequence_length=sequence_length,
            target_length=target_length,
            dtype=dtype,
            device=device,
            cache_position=cache_position,
            batch_size=input_tensor.shape[0],
        )

        if (
            self.config._attn_implementation == "sdpa"
            and attention_mask is not None
            and attention_mask.device.type == "cuda"
            and not output_attentions
        ):
            # Attend to all tokens in fully masked rows in the causal_mask, for example the relevant first rows when
            # using left padding. This is required by F.scaled_dot_product_attention memory-efficient attention path.
            # Details: https://github.com/pytorch/pytorch/issues/110213
            min_dtype = torch.finfo(dtype).min
            causal_mask = AttentionMaskConverter._unmask_unattended(causal_mask, min_dtype)

        return causal_mask

    @staticmethod
    def _prepare_4d_causal_attention_mask_with_cache_position(
        attention_mask: torch.Tensor,
        sequence_length: int,
        target_length: int,
        dtype: torch.dtype,
        device: torch.device,
        cache_position: torch.Tensor,
        batch_size: int,
        **kwargs,
    ):
        if attention_mask is not None and attention_mask.dim() == 4:
            # In this case we assume that the mask comes already in inverted form and requires no inversion or slicing.
            causal_mask = attention_mask
        else:
            min_dtype = torch.finfo(dtype).min
            causal_mask = torch.full(
                (sequence_length, target_length), fill_value=min_dtype, dtype=dtype, device=device
            )
            if sequence_length != 1:
                causal_mask = torch.triu(causal_mask, diagonal=1)
            causal_mask *= torch.arange(target_length, device=device) > cache_position.reshape(-1, 1)
            causal_mask = causal_mask[None, None, :, :].expand(batch_size, 1, -1, -1)
            if attention_mask is not None:
                causal_mask = causal_mask.clone()  # copy to contiguous memory for in-place edit
                mask_length = attention_mask.shape[-1]
                padding_mask = causal_mask[:, :, :, :mask_length] + attention_mask[:, None, None, :]
                padding_mask = padding_mask == 0
                causal_mask[:, :, :, :mask_length] = causal_mask[:, :, :, :mask_length].masked_fill(
                    padding_mask, min_dtype
                )

        return causal_mask