File size: 10,761 Bytes
320c5b2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 | from .crog import CROG
from .ssg import SSG
from loguru import logger
def build_crog(args):
model = CROG(args)
backbone = []
head = []
for k, v in model.named_parameters():
if k.startswith('backbone') and 'positional_embedding' not in k:
backbone.append(v)
else:
head.append(v)
logger.info('Backbone with decay={}, Head={}'.format(len(backbone), len(head)))
param_list = [{
'params': backbone,
'initial_lr': args.lr_multi * args.base_lr
}, {
'params': head,
'initial_lr': args.base_lr
}]
return model, param_list
def build_ssg(args):
model = SSG(args)
return model, model.parameters()
def build_net(args):
network_name = args.network_name.lower()
if network_name == 'legrconvnet':
from .legrconv import CORE
elif network_name == 'legrconvnet4x':
from .legrconv4x import CORE
elif network_name == 'legrconvnet4x_update1':
from .legrconv4x_update1 import CORE
elif network_name == 'legrconvnet4x_coord':
from .legrconv4x_coordconv import CORE
elif network_name == 'legrconvnet4x_dcn':
from .legrconv4x_dcn import CORE
elif network_name == 'legrconvnet4x_tacmt':
from .legrconv4x_TACMT import CORE
elif network_name == 'legrconv4x_dcn_txtaware':
from .legrconv4x_dcn_txtaware import CORE
elif network_name == 'legrconv4x_film1':
from .legrconv4x_film1 import CORE
elif network_name == 'legrconv4x_film2':
from .legrconv4x_film2 import CORE
elif network_name == 'legrconv4x_film2_refine':
from .legrconv4x_film2_refine import CORE
elif network_name == 'legrconv4x_film3':
from .legrconv4x_film3 import CORE
elif network_name == 'legrconv4x_llava':
from .legrconv4x_llava import CORE
elif network_name == 'legrconv4x_llava_fixed':
from .legrconv4x_llava_fixed import CORE
elif network_name == 'legrconv4x_llava_v2':
from .legrconv4x_llava_v2 import CORE
elif network_name == 'legrconv4x_llava_v2_nomask':
from .legrconv4x_llava_v2_nomask import CORE
elif network_name == 'legrconv4x_llava_v2_new':
from .legrconv4x_llava_v2_new import CORE
elif network_name == 'legrconv4x_llava_v2_c':
from .legrconv4x_llava_v2_c import CORE
elif network_name in (
'legrconv4x_llava_honeybee_aligned',
'llava_honeybee_aligned',
'honeybee_aligned_grasp',
):
from .legrconv4x_llava_honeybee_aligned import CORE
elif network_name in (
'legrconv4x_llava_honeybee_aligned_3dcoord_newtrans',
'llava_honeybee_aligned_3dcoord_newtrans',
'honeybee_aligned_grasp_3dcoord_newtrans',
):
from .legrconv4x_llava_honeybee_aligned_3dcoord_newtrans import CORE
elif network_name in (
'legrconv4x_llava_honeybee_aligned_native_rgb',
'llava_honeybee_aligned_native_rgb',
'honeybee_aligned_grasp_no_cabs',
):
from .legrconv4x_llava_honeybee_aligned_native_rgb import CORE
elif network_name in (
'legrconv4x_llava_maple_generalized_rgb',
'llava_maple_generalized_rgb',
'maple_generalized_rgb',
):
from .legrconv4x_llava_maple_generalized_rgb import CORE
elif network_name in (
'legrconv4x_llava_honeybee_aligned_dualsoft',
'legrconv_llava_honeybee_aligned_dualsoft',
'llava_honeybee_aligned_dualsoft',
'honeybee_aligned_dualsoft_rgb',
):
from .legrconv4x_llava_honeybee_aligned_dualsoft import CORE
elif network_name in ('legrconv4x_llava_v2_c_statichead', 'v2_c_statichead'):
from .legrconv4x_llava_v2_c_statichead import CORE
elif network_name in ('legrconv4x_llava_v2_c_customenc_statichead', 'v2_c_customenc_statichead'):
from .legrconv4x_llava_v2_c_customenc_statichead import CORE
elif network_name in ('legrconv4x_llava_v2_c_standard_statichead', 'v2_c_standard_statichead'):
from .legrconv4x_llava_v2_c_standard_statichead import CORE
elif network_name in (
'legrconv4x_llava_v2_c_standard_statichead_3dcoord_newtrans',
'v2_c_standard_statichead_3dcoord_newtrans',
):
from .legrconv4x_llava_v2_c_standard_statichead_3dcoord_newtrans import CORE
elif network_name in ('legrconv4x_llava_v2_c_standard_dynamichead', 'v2_c_standard_dynamichead'):
from .legrconv4x_llava_v2_c_standard_dynamichead import CORE
elif network_name in (
'legrconv4x_llava_v2_c_standard_statichead_clip_lora_3dcoord_newtrans',
'v2_c_standard_statichead_clip_lora_3dcoord_newtrans',
):
from .legrconv4x_llava_v2_c_standard_statichead_clip_lora_3dcoord_newtrans import CORE
elif network_name in ('legrconv4x_llava_v2_c_3dcoord_newtrans', 'v2_c_3dcoord_newtrans'):
from .legrconv4x_llava_v2_c_3dcoord_newtrans import CORE
elif network_name in (
'legrconv4x_llava_v2_c_standard_statichead_clip_lora',
'v2_c_standard_statichead_clip_lora',
):
from .legrconv4x_llava_v2_c_standard_statichead_clip_lora import CORE
elif network_name == 'legrconv4x_molmo_v2':
from .legrconv4x_molmo_v2 import CORE
elif network_name == 'legrconv4x_molmo_v2_c':
from .legrconv4x_molmo_v2_c import CORE
elif network_name in ('legrconv4x_molmo_v2_c_lora', 'molmo_v2_c_lora'):
from .legrconv4x_molmo_v2_c_lora import CORE
elif network_name == 'legrconv4x_qwen_vl_v2':
from .legrconv4x_qwen_vl_v2 import CORE
elif network_name == 'legrconv4x_qwen_vl_v2_c':
from .legrconv4x_qwen_vl_v2_c import CORE
elif network_name == 'legrconv4x_qwen_vl_v2_c_lora':
from .legrconv4x_qwen_vl_v2_c_lora import CORE
elif network_name == 'legrconv4x_qwen_vl_v2_c_lora_newtrans':
from .legrconv4x_qwen_vl_v2_c_lora_newtrans import CORE
elif network_name in ('legrconv4x_llava_v2_c_3dcoord', 'v2_c_3dcoord'):
from .legrconv4x_llava_v2_c_3dcoord import CORE
elif network_name in ('legrconv4x_llava_v2_c_3dcoord_frontcoord', 'v2_c_3dcoord_frontcoord'):
from .legrconv4x_llava_v2_c_3dcoord import CORE
elif network_name in ('legrconv4x_llava_v2_c_multigeo', 'v2_c_multigeo'):
from .legrconv4x_llava_v2_c_multigeo import CORE
elif network_name in ('legrconv4x_llava_v2_c_singlegeo', 'v2_c_singlegeo'):
from .legrconv4x_llava_v2_c_singlegeo import CORE
elif network_name in (
'legrconv4x_llava_v2_c_standard_statichead_clip_3dcoord_newtrans',
'v2_c_standard_statichead_clip_3dcoord_newtrans',
):
from .legrconv4x_llava_v2_c_standard_statichead_clip_3dcoord_newtrans import CORE
elif network_name == 'legrconv4x_llava_v2_d':
from .legrconv4x_llava_v2_d import CORE
elif network_name == 'legrconv4x_llava_v2_refine':
from .legrconv4x_llava_v2_refine import CORE
elif network_name == 'legrconv4x_llava_v2_refinemix':
from .legrconv4x_llava_v2_refinemix import CORE
elif network_name == 'legrconv4x_llava_v2_maple':
from .legrconv4x_llava_v2_maple import CORE
elif network_name in (
'legrconv4x_llava_v2_maple_standard_statichead',
'maple_standard_statichead',
'legrconv4x_llava_v2_maple_standard_statichead_clip',
'maple_standard_statichead_clip',
):
from .legrconv4x_llava_v2_maple_standard_statichead import CORE
elif network_name in (
'legrconv4x_llava_v2_maple_standard_statichead_3dcoord_newtrans',
'maple_standard_statichead_3dcoord_newtrans',
'legrconv4x_llava_v2_maple_standard_statichead_clip_3dcoord_newtrans',
'maple_standard_statichead_clip_3dcoord_newtrans',
):
from .legrconv4x_llava_v2_maple_standard_statichead_3dcoord_newtrans import CORE
elif network_name in (
'legrconv4x_llava_v2_maple_3dcoord_newtrans',
'legrconv4x_llava_v2_maple_depthcoord_newtrans',
'maple_3dcoord_newtrans',
):
from .legrconv4x_llava_v2_maple_3dcoord_newtrans import CORE
elif network_name == 'legrconv4x_llava_v2_maple_soft':
from .legrconv4x_llava_v2_maple_soft import CORE
elif network_name == 'legrconv4x_llava_v2_maple_refine':
from .legrconv4x_llava_v2_maple_refine import CORE
elif network_name == 'legrconv4x_llava_v2_maple_refine_split':
from .legrconv4x_llava_v2_maple_refine_split import CORE
elif network_name == 'legrconv4x_llava_v2_geo':
from .legrconv4x_llava_v2_geo import CORE
elif network_name == 'legrconv4x_llava_v2_geo2':
from .legrconv4x_llava_v2_geo2 import CORE
elif network_name == 'legrconv4x_llava_v2_geo3':
from .legrconv4x_llava_v2_geo3 import CORE
elif network_name == 'legrconv4x_llava_v2_geo4':
from .legrconv4x_llava_v2_geo4 import CORE
elif network_name == 'legrconv4x_llava_lora':
from .legrconv4x_llava_lora import CORE
elif network_name == 'legrconv4x_llava_v2_c_lora':
from .legrconv4x_llava_v2_c_lora import CORE
elif network_name == 'legrconv4x_llava_v2_c_lora_newtrans':
from .legrconv4x_llava_v2_c_lora_newtrans import CORE
elif network_name == 'legrconv4x_llava_v2_c_lora_3dcoord_newtrans':
from .legrconv4x_llava_v2_c_lora_3dcoord_newtrans import CORE
elif network_name == 'graspanything_withmask':
from .legrconv4x_llava_v2_ga_wmask import CORE
elif network_name == 'graspanything_withoutmask':
from .legrconv4x_llava_v2_ga_womask import CORE
elif network_name in ('crog', 'crog_r50'):
from .crog import CROG as CORE
else:
raise NotImplementedError('Network {} is not implemented'.format(network_name))
model = CORE(args)
# Special handling for models with custom parameter management
if hasattr(model, 'get_trainable_params'):
# Models like llava_lora handle their own parameter groups
param_list = model.get_trainable_params()
else:
# Default behavior for other models
# Freeze backbone parameters
for name, param in model.named_parameters():
if name.startswith('backbone'):
param.requires_grad = False
backbone = []
head = []
for k, v in model.named_parameters():
if not v.requires_grad:
continue
if k.startswith('backbone') and 'positional_embedding' not in k:
backbone.append(v)
else:
head.append(v)
logger.info('Backbone with decay={}, Head={}'.format(len(backbone), len(head)))
param_list = [ {
'params': head,
'initial_lr': args.base_lr
}]
return model, param_list
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