add sofia models

conf/gtauav_balanced_sofia.gin

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+# GTA-UAV Balanced (SOFIA-Tiny backbone): SOFIA v7.1 student trained from scratch
+# с двухуровневой text fusion:
+#   1. Mid-level: Text-FiLM в SAT и UAV heads (модулирует feature map перед GGeM/CHP).
+#   2. Late-level: GatedFusion на дескрипторах (как в DINOv3/StripNet вариантах).
+#
+# Trainable (~5-7M):
+#   - SOFIA backbone (Tiny, ~5M, from scratch — нет pretrained)
+#   - SOFIA heads (SatHead GGeM+BN+Linear, UAVHead AltitudeFiLM+CHP+BN+Linear, +Text-FiLM)
+#   - DGTRS-CLIP LoRA (rank=4, ~147K)
+#   - TextFusionMLP (3*768 -> 1024 -> 1024, ~3.4M, shared)
+#   - Gates α_q, α_g + learnable τ
+#
+# Altitude (drone_height метры) подаётся в UAVHead.AltitudeFiLM из dataset meta CSV.
+# Для sat — altitude=None → FiLM passthrough (γ=1, β=0).
+#
+# Note: SOFIA from scratch — нужно больше эпох или warmup, чем frozen DINOv3/StripNet.
+#       Mamba-2 backend (mamba_ssm) даёт 2-8x speedup vs torch fallback.
+
+include 'conf/gtauav_balanced.gin'
+
+# ---- Backbone ----
+TrainConfigGTAUAV.backbone = "sofia"
+TrainConfigGTAUAV.sofia_preset = "Tiny"
+TrainConfigGTAUAV.sofia_d_descriptor = 1024
+TrainConfigGTAUAV.sofia_use_text_film_uav = True
+TrainConfigGTAUAV.sofia_use_text_film_sat = True
+TrainConfigGTAUAV.sofia_lora_rank = 4
+# Mamba-1 used for Tiny (Mamba-2 torch fallback has a pre-existing reshape bug
+# with channels not divisible by default headdim; switch to "mamba2" for M/L
+# presets where channels % 64 == 0 OR install mamba_ssm CUDA kernels).
+TrainConfigGTAUAV.sofia_mamba_variant = "mamba1"
+TrainConfigGTAUAV.sofia_mamba_backend = "auto"  # mamba_ssm if installed else torch fallback
+
+# ---- Training overrides ----
+TrainConfigGTAUAV.gradient_checkpointing = False  # SOFIA from-scratch — keep activations live
+TrainConfigGTAUAV.shared_encoder = True  # ignored by SOFIA but kept for logging compat
+
+# ---- Output ----
+TrainConfigGTAUAV.output_dir = "out/gtauav/with_text_sofia"