添加coco128配置文件

README.md

@@ -1,3 +1,24 @@
 # fed-yolo
 
 Combine Federated Learning with YOLOv11.
+
+## requirements
+```bash
+pip install -r requirements.txt
+```
+
+## how to run
+```bash
+nohup python fed_run.py > train.log 2>&1 &
+```
+
+## results
+
+## TODO
+- Add more FL algorithms (e.g., FedProx, FedAvgM, etc.)
+    - Implement FedProx
+    - Implement SCAFFOLD
+    - Implement FedNova
+- Add more YOLO versions (e.g., YOLOv8, YOLOv5, etc.)
+    - Implement YOLOv8
+    - Implement YOLOv5

config/coco128_cfg.yaml

@@ -0,0 +1,126 @@
+# global system:
+fed_algo: "FedAvg"                # federated learning algorithm
+model_name: "yolo_v11_n"          # yolo_v11_n, yolo_v11_t, yolo_v11_s, yolo_v11_m, yolo_v11_l, yolo_v11_x
+i_seed: 202509                    # initial random seed
+
+num_client: 5                     # total number of clients
+num_round: 5                      # total number of communication rounds
+num_local_class: 80               # number of classes per client
+
+res_root: "results"               # root directory for results
+dataset_path: "/mnt/DATA/COCO128/"
+# train_txt: "train.txt"            # path to training set txt file
+# val_txt: "val.txt"                # path to validation set txt file
+# test_txt: "test.txt"              # path to test set txt file                 
+
+local_batch_size: 32              # local training batch size
+val_batch_size: 4                 # validation batch size
+
+num_workers: 4                    # number of data loader workers
+min_data: 128                     # minimum number of images per client
+max_data: 128                     # maximum number of images per client
+partition_mode: "overlap"         # "overlap" or "disjoint"
+connection_ratio: 1               # connection ratio, e.g., 1.0 means all clients
+
+# local training:
+min_lr: 0.000100000000            # initial learning rate
+max_lr: 0.010000000000            # maximum learning rate
+momentum: 0.9370000000            # SGD momentum/Adam beta1
+weight_decay: 0.000500            # optimizer weight decay
+
+warmup_epochs: 3.00000            # warmup epochs
+box: 7.500000000000000            # box loss gain
+cls: 0.500000000000000            # cls loss gain
+dfl: 1.500000000000000            # dfl loss gain
+hsv_h: 0.0150000000000            # image HSV-Hue augmentation (fraction)
+hsv_s: 0.7000000000000            # image HSV-Saturation augmentation (fraction)
+hsv_v: 0.4000000000000            # image HSV-Value augmentation (fraction)
+degrees: 0.00000000000            # image rotation (+/- deg)
+translate: 0.100000000            # image translation (+/- fraction)
+scale: 0.5000000000000            # image scale (+/- gain)
+shear: 0.0000000000000            # image shear (+/- deg)
+flip_ud: 0.00000000000            # image flip up-down (probability)
+flip_lr: 0.50000000000            # image flip left-right (probability)
+mosaic: 1.000000000000            # image mosaic (probability)
+mix_up: 0.000000000000            # image mix-up (probability)
+names:
+  0: person
+  1: bicycle
+  2: car
+  3: motorcycle
+  4: airplane
+  5: bus
+  6: train
+  7: truck
+  8: boat
+  9: traffic light
+  10: fire hydrant
+  11: stop sign
+  12: parking meter
+  13: bench
+  14: bird
+  15: cat
+  16: dog
+  17: horse
+  18: sheep
+  19: cow
+  20: elephant
+  21: bear
+  22: zebra
+  23: giraffe
+  24: backpack
+  25: umbrella
+  26: handbag
+  27: tie
+  28: suitcase
+  29: frisbee
+  30: skis
+  31: snowboard
+  32: sports ball
+  33: kite
+  34: baseball bat
+  35: baseball glove
+  36: skateboard
+  37: surfboard
+  38: tennis racket
+  39: bottle
+  40: wine glass
+  41: cup
+  42: fork
+  43: knife
+  44: spoon
+  45: bowl
+  46: banana
+  47: apple
+  48: sandwich
+  49: orange
+  50: broccoli
+  51: carrot
+  52: hot dog
+  53: pizza
+  54: donut
+  55: cake
+  56: chair
+  57: couch
+  58: potted plant
+  59: bed
+  60: dining table
+  61: toilet
+  62: tv
+  63: laptop
+  64: mouse
+  65: remote
+  66: keyboard
+  67: cell phone
+  68: microwave
+  69: oven
+  70: toaster
+  71: sink
+  72: refrigerator
+  73: book
+  74: clock
+  75: vase
+  76: scissors
+  77: teddy bear
+  78: hair drier
+  79: toothbrush

fed_algo_cs/client_base.py

@@ -3,6 +3,7 @@ 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
@@ -152,7 +153,6 @@ class FedYoloClient(object):
 
         # Scheduler
         num_steps = max(1, len(loader))
-        # print(len(loader))
         scheduler = util.LinearLR(args=args, params=self.params, num_steps=num_steps)
         # DDP mode
         if args.distributed:
@@ -167,7 +167,12 @@ class FedYoloClient(object):
         amp_scale = torch.amp.grad_scaler.GradScaler(enabled=True)
         criterion = util.ComputeLoss(self.model, self.params)
 
-        optimizer.zero_grad(set_to_none=True)
+        # 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}")
 
         for epoch in range(args.epochs):
             self.model.train()
@@ -180,10 +185,20 @@ class FedYoloClient(object):
                 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()
 
+            # # --- header (once per epoch, YOLO-style) ---
+            # if args.local_rank == 0:
+            #     header = ("%10s" * 5) % ("client", "memory", "box", "cls", "dfl")
+            #     print("\n" + header)
+
+            # p_bar = enumerate(loader)
+            # if args.local_rank == 0:
+            #     p_bar = tqdm(p_bar, total=num_steps, ncols=120)
+
             for i, (samples, targets) in enumerate(loader):
                 global_step = i + num_steps * epoch
                 scheduler.step(step=global_step, optimizer=optimizer)
@@ -202,9 +217,9 @@ class FedYoloClient(object):
                 avg_dfl_loss.update(dfl_loss.item(), bs)
 
                 # 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
+                # 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
 
                 total_loss = box_loss + cls_loss + dfl_loss
 
@@ -213,6 +228,8 @@ class FedYoloClient(object):
 
                 # 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()
                     optimizer.zero_grad(set_to_none=True)
@@ -221,13 +238,28 @@ class FedYoloClient(object):
 
                 # 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,
+        #             )
+        #             cast(tqdm, p_bar).set_description(desc)
+        #             p_bar.update(1)
+
+        # p_bar.close()
+
         # clean
         if args.distributed:
             torch.distributed.destroy_process_group()
         torch.cuda.empty_cache()
 
         return (
-            self.model.state_dict(),
+            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},
         )

fed_algo_cs/server_base.py

@@ -49,11 +49,11 @@ class FedYoloServer(object):
         return self.model.state_dict()
 
     @torch.no_grad()
-    def test(self, args):
+    def test(self, args) -> dict:
         """
-        Evaluate global model on validation set using YOLO metrics (mAP, precision, recall).
+        Test the global model on the server's validation set.
         Returns:
-            dict with {"mAP": ..., "mAP50": ..., "precision": ..., "recall": ...}
+            dict with keys: mAP, mAP50, precision, recall
         """
         if self.valset is None:
             return {}
@@ -67,46 +67,47 @@ class FedYoloServer(object):
             collate_fn=Dataset.collate_fn,
         )
 
-        self.model.to(self._device).eval().half()
+        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).to(self._device)  # IoU thresholds
+        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(self._device).half() / 255.0
+            samples = samples.to(dev, non_blocking=True).float() / 255.0
             _, _, h, w = samples.shape
-            scale = torch.tensor((w, h, w, h)).to(self._device)
+            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(self._device)
-                box = targets["box"][idx].to(self._device)
-
-                metric = torch.zeros((output.shape[0], n_iou), dtype=torch.bool, device=self._device)
+                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=self._device), cls.squeeze(-1)))
+                        metrics.append((metric, *torch.zeros((2, 0), device=dev), cls.squeeze(-1)))
                     continue
 
                 if cls.shape[0]:
-                    cls_tensor = cls if isinstance(cls, torch.Tensor) else torch.tensor(cls, device=self._device)
-                    if cls_tensor.dim() == 1:
-                        cls_tensor = cls_tensor.unsqueeze(1)
+                    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=self._device)
-                    target = torch.cat((cls_tensor, box_xy * scale), dim=1)
+                        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)))
 
-        # Compute metrics
         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)]
@@ -115,9 +116,8 @@ class FedYoloServer(object):
         else:
             prec, rec, map50, mean_ap = 0, 0, 0, 0
 
-        # Back to float32 for further training
-        self.model.float()
-
+        # 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):
@@ -135,53 +135,75 @@ class FedYoloServer(object):
                 self.n_data += self.client_n_data.get(client_id, 0)
 
     def agg(self):
-        """
-        Aggregate client updates (FedAvg).
-        Returns:
-            global_state: aggregated model state dictionary
-            avg_loss: dict of averaged losses
-            n_data: total number of data classes samples used in this round
-        """
+        """Aggregate client updates (FedAvg) on CPU/FP32, preserving non-float buffers."""
         if len(self.selected_clients) == 0 or self.n_data == 0:
             return self.model.state_dict(), {}, 0
 
-        # start from current global model
-        global_state = self.model.state_dict()
-
-        # zero buffer for accumulation
-        new_state = {k: torch.zeros_like(v, dtype=torch.float32) for k, v in global_state.items()}
+        # 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
 
         avg_loss = {}
-        for name in self.selected_clients:
-            if name not in self.client_state:
+        total_n = float(self.n_data)
+
+        # 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
+
+        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:
                 continue
-            weight = self.client_n_data[name] / self.n_data
+            weight = self.client_n_data[cid] / total_n
+            cst = self.client_state[cid]
             for k in new_state.keys():
-                # accumulate in float32 to avoid fp16 issues
-                new_state[k] += self.client_state[name][k].to(torch.float32) * weight
+                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)
 
-            # losses
-            for k, v in self.client_loss[name].items():
-                avg_loss[k] = avg_loss.get(k, 0.0) + v * 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 params back into global model
+        # 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)
+
         self.round += 1
-        return self.model.state_dict(), avg_loss, self.n_data
+        # 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):
         """
         Receive local update from a client.
-        Args:
-            name: client ID
-            state_dict: state dictionary of the local model
-            n_data: number of data samples used in local training
-            loss_dict: dict of losses from local training
+        - 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
-        self.client_state[name] = {k: v.cpu() for k, v in state_dict.items()}
-        self.client_n_data[name] = n_data
-        self.client_loss[name] = loss_dict
+        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_n_data[name] = int(n_data)
+        self.client_loss[name] = {k: float(v) for k, v in loss_dict.items()}
 
     def flush(self):
         """Clear stored client updates."""

fed_run.py

@@ -13,8 +13,8 @@ import matplotlib.pyplot as plt
 from utils.dataset import Dataset
 from fed_algo_cs.client_base import FedYoloClient
 from fed_algo_cs.server_base import FedYoloServer
-from utils.args import args_parser  # your args parser
-from utils.fed_util import divide_trainset  # divide_trainset is yours
+from utils.args import args_parser  # args parser
+from utils.fed_util import divide_trainset  # divide_trainset
 
 
 def _read_list_file(txt_path: str):
@@ -132,7 +132,7 @@ def fed_run():
         num_client=int(cfg.get("num_client", 64)),
         min_data=int(cfg.get("min_data", 100)),
         max_data=int(cfg.get("max_data", 100)),
-        mode=str(cfg.get("partition_mode", "disjoint")),  # "overlap" or "disjoint"
+        mode=str(cfg.get("partition_mode", "overlap")),  # "overlap" or "disjoint"
         seed=int(cfg.get("i_seed", 0)),
     )
 
@@ -143,7 +143,7 @@ def fed_run():
     model_name = cfg.get("model_name", "yolo_v11_n")
     clients = {}
 
-    for uid in tqdm(users, desc="Building clients", leave=True, unit="client"):
+    for uid in users:
         c = FedYoloClient(name=uid, model_name=model_name, params=params)
         c.load_trainset(user_data[uid]["filename"])
         clients[uid] = c
@@ -177,11 +177,16 @@ def fed_run():
     res_root = cfg.get("res_root", "results")
     os.makedirs(res_root, exist_ok=True)
 
-    for rnd in tqdm(range(num_round), desc="main federal loop round:"):
-        t0 = time.time()
+    # tqdm logging
+    header = ("%10s" * 2) % ("Round", "client")
+    tqdm.write("\n" + header)
+    p_bar = tqdm(total=num_round, ncols=160, ascii="->>")
 
+    for rnd in range(num_round):
+        t0 = time.time()
         # Local training (sequential over all users)
-        for uid in tqdm(users, desc=f"Round {rnd + 1} local training: ", leave=False):
+        for uid in users:
+            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
@@ -214,12 +219,18 @@ def fed_run():
         history["train_loss"].append(scalar_train_loss)
         history["round_time_sec"].append(time.time() - t0)
 
-        tqdm.write(
-            f"[round {rnd + 1:04d}] "
-            f"loss={scalar_train_loss:.4f}  mAP50-95={mAP:.4f}  mAP50={mAP50:.4f}  "
-            f"P={precision:.4f}  R={recall:.4f}"
-            f"\n"
-        )
+        # Log GPU memory usage
+        # gpu_mem = f"{torch.cuda.memory_reserved() / 1e9:.2f}G" if torch.cuda.is_available() else "0.00G"
+        # tqdm update
+        desc = {
+            "loss": f"{scalar_train_loss:.6g}",
+            "mAP50": f"{mAP50:.6g}",
+            "mAP": f"{mAP:.6g}",
+            "precision": f"{precision:.6g}",
+            "recall": f"{recall:.6g}",
+            # "gpu_mem": gpu_mem,
+        }
+        p_bar.set_postfix(desc)
 
         # Save running JSON (resumable logs)
         save_name = (
@@ -232,6 +243,10 @@ def fed_run():
         with open(out_json, "w", encoding="utf-8") as f:
             json.dump(history, f, indent=2)
 
+        p_bar.update(1)
+
+    p_bar.close()
+
     # --- final plot ---
     _plot_curves(res_root, history)
     print("[done] training complete.")

utils/util.py

@@ -151,7 +151,7 @@ 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, None], j[:, None].float()), dim=1)
+            x = torch.cat((box[i], x[i, 4 + j].unsqueeze(1), j[:, None].float()), dim=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]
@@ -296,7 +296,8 @@ 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)
-            ap[ci, j] = numpy.trapz(numpy.interp(x, m_rec, m_pre), x)  # integrate
+            # 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
             if plot and j == 0:
                 py.append(numpy.interp(px, m_rec, m_pre))  # precision at mAP@0.5