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TMR: Text-to-Motion Retrieval

Using Contrastive 3D Human Motion Synthesis

<a href="https://mathis.petrovich.fr"><strong>Mathis Petrovich</strong></a> · <a href="https://ps.is.mpg.de/~black"><strong>Michael J. Black</strong></a> · <a href="https://imagine.enpc.fr/~varolg"><strong>Gül Varol</strong></a>

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Description

Official PyTorch implementation of the paper:

TMR: Text-to-Motion Retrieval Using Contrastive 3D Human Motion Synthesis.

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Please visit our webpage for more details.

Bibtex

If you find this code useful in your research, please cite:

@inproceedings{petrovich23tmr,
    title     = {{TMR}: Text-to-Motion Retrieval Using Contrastive {3D} Human Motion Synthesis},
    author    = {Petrovich, Mathis and Black, Michael J. and Varol, G{\"u}l},
    booktitle = {International Conference on Computer Vision ({ICCV})},
    year      = 2023
}

and if you use the re-implementation of TEMOS of this repo, please cite:

@inproceedings{petrovich22temos,
    title     = {{TEMOS}: Generating diverse human motions from textual descriptions},
    author    = {Petrovich, Mathis and Black, Michael J. and Varol, G{\"u}l},
    booktitle = {European Conference on Computer Vision ({ECCV})},
    year      = 2022
 }

You can also put a star :star:, if the code is useful to you.

Installation :construction_worker:

<details><summary>Create environment</summary> &emsp;

Create a python virtual environnement:

python -m venv ~/.venv/TMR
source ~/.venv/TMR/bin/activate

Install PyTorch

python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu118

Then install remaining packages:

python -m pip install -r requirements.txt

which corresponds to the packages: pytorch_lightning, einops, hydra-core, hydra-colorlog, orjson, tqdm, scipy. The code was tested on Python 3.10.12 and PyTorch 2.0.1.

</details> <details><summary>Set up the datasets</summary>

Introduction

The process is a little bit different than other repos because we need to have a common reprensenation for HumanML3D, KITML and BABEL (to be able to train on one, and evaluate on another). If you are currious about the details, I recommand you to read this file: DATASETS.md. I also put the bibtex files of the datasets, which I recommand you to cite.

Get the data

Please follow the instructions of the raw_pose_processing.ipynb of the HumanML3D repo, to get the pose_data folder. Then copy or symlink the pose_data folder in datasets/motions/:

ln -s /path/to/HumanML3D/pose_data datasets/motions/pose_data

Compute the features

Run the following command, to compute the HumanML3D Guo features on the whole AMASS (+HumanAct12) dataset.

python -m prepare.compute_guoh3dfeats

It should process the features (+ mirrored version) and saved them in datasets/motions/guoh3dfeats.

Compute the text embeddings

Run this command to compute the sentence embeddings and token embeddings used in TMR for each datasets.

python -m prepare.text_embeddings data=humanml3d

This will save:

the token embeddings of distilbert in datasets/annotations/humanml3d/token_embeddings
the sentence embeddings of all-mpnet-base-v2 in datasets/annotations/humanml3d/sent_embeddings

Compute statistics (already done for you)

To get statistics of the motion distribution for each datasets, you can run the following commands. It is already included in the repo, so you don't have to. The statistics are computed on the training set.

python -m prepare.motion_stats data=humanml3d

It will save the statistics (mean.pt and std.pt) in this folder stats/humanml3d/guoh3dfeats. You can replace data=humanml3d with data=kitml or data=babel anywhere in this repo.

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Training :rocket:

python train.py [OPTIONS]

<details><summary>Details</summary> &emsp;

By default, it will train TMR on HumanML3D and store the folder in outputs/tmr_humanml3d_guoh3dfeats which I will call RUN_DIR. The other options are:

Models:

model=tmr: TMR (by default)
model=temos: TEMOS

Datasets:

data=humanml3d: HumanML3D (by default)
data=kitml: KIT-ML
data=babel: BABEL

</details> <details><summary>Extracting weights</summary> &emsp;

After training, run the following command, to extract the weights from the checkpoint:

python extract.py run_dir=RUN_DIR

It will take the last checkpoint by default. This should create the folder RUN_DIR/last_weights and populate it with the files: motion_decoder.pt, motion_encoder.pt and text_encoder.pt. This process makes loading models faster, it does not depends on the file structure anymore, and each module can be loaded independently. This is already done for pretrained models.

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Pretrained models :dvd:

bash prepare/download_pretrain_models.sh

This will put pretrained models in the models folder. Currently, there are:

TMR trained on HumanML3D with Guo et al. humanml3d features models/tmr_humanml3d_guoh3dfeats
TMR trained on KIT-ML with Guo et al. humanml3d features models/tmr_kitml_guoh3dfeats

Not that KIT-ML is used with the Guo et al. humanml3d features (it is not a mistake). The motions come from AMASS and are converted (I am not using the MMM joints from the original KIT-ML). This makes the two models works in the same motion space.

More models may be available later on.

Evaluation :bar_chart:

python retrieval.py run_dir=RUN_DIR

It will compute the metrics, show them and save them in this folder RUN_DIR/contrastive_metrics/.

Usage :computer:

Encode a motion

Note that the .npy file should corresponds to HumanML3D Guo features.

python encode_motion.py run_dir=RUN_DIR npy=/path/to/motion.npy

Encode a text

python encode_text.py run_dir=RUN_DIR text="A person is walking forward."

Compute similarity between text and motion

python text_motion_sim.py run_dir=RUN_DIR text=TEXT npy=/path/to/motion.npy

For example with text="a man sets to do a backflips then fails back flip and falls to the ground" and npy=HumanML3D/HumanML3D/new_joint_vecs/001034.npy you should get around 0.96.

Launch the demo

Encode the whole motion dataset

python encode_dataset.py run_dir=RUN_DIR

Text-to-motion retrieval demo

Run this command:

python app.py

and then open your web browser at the address: http://localhost:7860.

Localization (WIP)

The code will be available a bit later.

Reimplementation of TEMOS (WIP)

<details><summary>Details and difference</summary> &emsp;

TEMOS code was probably a bit too abstract and some users struggle to understand it. As TMR and TEMOS share a similar architecture, I took the opportunity to rewrite TEMOS in this repo src/model/temos.py to make it more user friendly. Note that in this repo, the motion representation is different from the original TEMOS paper (see DATASETS.md for more details). Another difference is that I precompute the token embeddings (from distilbert) beforehand (as I am not finetunning the distilbert for the final model). This makes the training around x2 faster and it is more memory efficient.

The code and the generations are not fully tested yet, I will update the README with pretrained models and more information later.

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License :books:

This code is distributed under an MIT LICENSE.

Note that our code depends on other libraries, including PyTorch, PyTorch3D, Hugging Face, Hydra, and uses datasets which each have their own respective licenses that must also be followed.