|
pixel_mean: [0.485, 0.456, 0.406]
|
|
pixel_std: [0.229, 0.224, 0.225]
|
|
|
|
pixel_dim: 256
|
|
key_dim: 64
|
|
value_dim: 256
|
|
sensory_dim: 256
|
|
embed_dim: 256
|
|
|
|
pixel_encoder:
|
|
type: resnet50
|
|
ms_dims: [1024, 512, 256, 64, 3]
|
|
|
|
mask_encoder:
|
|
type: resnet18
|
|
final_dim: 256
|
|
|
|
pixel_pe_scale: 32
|
|
pixel_pe_temperature: 128
|
|
|
|
object_transformer:
|
|
embed_dim: ${model.embed_dim}
|
|
ff_dim: 2048
|
|
num_heads: 8
|
|
num_blocks: 3
|
|
num_queries: 16
|
|
read_from_pixel:
|
|
input_norm: False
|
|
input_add_pe: False
|
|
add_pe_to_qkv: [True, True, False]
|
|
read_from_past:
|
|
add_pe_to_qkv: [True, True, False]
|
|
read_from_memory:
|
|
add_pe_to_qkv: [True, True, False]
|
|
read_from_query:
|
|
add_pe_to_qkv: [True, True, False]
|
|
output_norm: False
|
|
query_self_attention:
|
|
add_pe_to_qkv: [True, True, False]
|
|
pixel_self_attention:
|
|
add_pe_to_qkv: [True, True, False]
|
|
|
|
object_summarizer:
|
|
embed_dim: ${model.object_transformer.embed_dim}
|
|
num_summaries: ${model.object_transformer.num_queries}
|
|
add_pe: True
|
|
|
|
aux_loss:
|
|
sensory:
|
|
enabled: True
|
|
weight: 0.01
|
|
query:
|
|
enabled: True
|
|
weight: 0.01
|
|
|
|
mask_decoder:
|
|
|
|
up_dims: [256, 128, 128, 64, 16]
|
|
|
