|
|
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] |
|
|
|
