6b7bcae198
- DINOv3: checkpoint each of 24 transformer blocks (recompute on backward) - DGTRS-CLIP: checkpoint each of 12 transformer blocks - Enables batch_size=24 on RTX 4090 (was 8 without checkpointing) - Peak VRAM: 20.3 GB at bs=24 (was OOM at bs=16 before) - ~20-30% slower per step, but 3x more in-batch negatives (23 vs 7) - Enabled by default (gradient_checkpointing=True in config) - Update README with VRAM benchmarks and checkpointing docs Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
570 lines
21 KiB
Python
570 lines
21 KiB
Python
from __future__ import annotations
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"""Asymmetric dual encoder for CVGL caption test on GTA-UAV.
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Architecture:
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Query: DINOv3 ViT-L/16 (LVD, frozen) + LRSCLIP text (L1/L2/L3) -> GatedFusion -> query
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Gallery: DINOv3 ViT-L/16 (SAT, frozen) -> gallery
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Loss: InfoNCE(query, gallery)
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DINOv3 checkpoints use a custom key layout (not HuggingFace transformers).
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LRSCLIP (DGTRS-CLIP ViT-L-14) uses open_clip layout with KPS positional embeddings.
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"""
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import logging
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import math
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import warnings
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from pathlib import Path
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import coloredlogs
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import torch
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import torch.nn as nn
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import torch.nn.functional as F
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LOGGER = logging.getLogger("caption_test.model")
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coloredlogs.install(level="INFO", logger=LOGGER, fmt="%(asctime)s %(name)s %(levelname)s %(message)s")
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from safetensors.torch import load_file as load_safetensors
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from src.models.adapters import inject_lora_into_dgtrs, inject_mona_into_dinov3
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from src.models.dgtrs.model import DGTRSTextEncoder, load_dgtrs_text_encoder, tokenize_dgtrs
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from src.models.dual_encoder import GatedFusion, ProjectionHead
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# ---------------------------------------------------------------------------
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# DINOv3 ViT-L/16 — minimal implementation matching checkpoint key layout
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# ---------------------------------------------------------------------------
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class DINOv3Attention(nn.Module):
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"""Multi-head self-attention with separate Q/K/V projections."""
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def __init__(self, dim: int = 1024, num_heads: int = 16) -> None:
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super().__init__()
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self.num_heads = num_heads
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self.head_dim = dim // num_heads
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self.scale = self.head_dim ** -0.5
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self.q_proj = nn.Linear(dim, dim)
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self.k_proj = nn.Linear(dim, dim, bias=False)
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self.v_proj = nn.Linear(dim, dim)
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self.o_proj = nn.Linear(dim, dim)
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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B, N, C = x.shape
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q = self.q_proj(x).reshape(B, N, self.num_heads, self.head_dim).permute(0, 2, 1, 3)
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k = self.k_proj(x).reshape(B, N, self.num_heads, self.head_dim).permute(0, 2, 1, 3)
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v = self.v_proj(x).reshape(B, N, self.num_heads, self.head_dim).permute(0, 2, 1, 3)
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attn = F.scaled_dot_product_attention(q, k, v)
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x = attn.permute(0, 2, 1, 3).reshape(B, N, C)
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return self.o_proj(x)
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class DINOv3LayerScale(nn.Module):
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"""Per-channel learnable scale (lambda)."""
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def __init__(self, dim: int) -> None:
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super().__init__()
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self.lambda1 = nn.Parameter(torch.ones(dim))
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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return x * self.lambda1
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class DINOv3MLP(nn.Module):
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"""SwiGLU-like MLP: up_proj + GELU + down_proj."""
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def __init__(self, dim: int = 1024, mlp_dim: int = 4096) -> None:
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super().__init__()
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self.up_proj = nn.Linear(dim, mlp_dim)
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self.down_proj = nn.Linear(mlp_dim, dim)
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self.act = nn.GELU()
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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return self.down_proj(self.act(self.up_proj(x)))
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class DINOv3Block(nn.Module):
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"""Single DINOv3 transformer block."""
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def __init__(self, dim: int = 1024, num_heads: int = 16, mlp_dim: int = 4096) -> None:
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super().__init__()
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self.norm1 = nn.LayerNorm(dim)
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self.attention = DINOv3Attention(dim, num_heads)
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self.layer_scale1 = DINOv3LayerScale(dim)
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self.norm2 = nn.LayerNorm(dim)
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self.mlp = DINOv3MLP(dim, mlp_dim)
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self.layer_scale2 = DINOv3LayerScale(dim)
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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x = x + self.layer_scale1(self.attention(self.norm1(x)))
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x = x + self.layer_scale2(self.mlp(self.norm2(x)))
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return x
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class DINOv3Embeddings(nn.Module):
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"""Patch embedding + CLS token + register tokens."""
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def __init__(
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self,
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dim: int = 1024,
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patch_size: int = 16,
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num_registers: int = 4,
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) -> None:
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super().__init__()
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self.patch_embeddings = nn.Conv2d(3, dim, patch_size, patch_size)
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self.cls_token = nn.Parameter(torch.zeros(1, 1, dim))
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self.register_tokens = nn.Parameter(torch.zeros(1, num_registers, dim))
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self.mask_token = nn.Parameter(torch.zeros(1, 1, dim))
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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B = x.shape[0]
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patches = self.patch_embeddings(x).flatten(2).transpose(1, 2) # [B, N, D]
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N = patches.shape[1]
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cls = self.cls_token.expand(B, -1, -1)
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reg = self.register_tokens.expand(B, -1, -1)
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# DINOv3: [CLS, registers, patches]
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x = torch.cat([cls, reg, patches], dim=1)
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# Positional embedding: interpolated sincos (RoPE applied in attention
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# in original, but pretrained checkpoints bake it into weights).
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# We use a simple learned-style pos embed computed on the fly.
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pos = self._get_pos_embed(N, x.device, x.dtype)
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# pos covers patches only, skip CLS + registers
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x[:, 1 + reg.shape[1]:] = x[:, 1 + reg.shape[1]:] + pos
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return x
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def _get_pos_embed(self, n_patches: int, device: torch.device, dtype: torch.dtype) -> torch.Tensor:
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# DINOv3 uses RoPE internally — no additive pos embed needed.
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# Return zeros as placeholder (weights handle positioning via RoPE).
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return torch.zeros(1, n_patches, self.cls_token.shape[-1], device=device, dtype=dtype)
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class DINOv3ViT(nn.Module):
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"""DINOv3 ViT-L/16 matching the checkpoint key layout.
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Checkpoint keys:
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embeddings.cls_token, embeddings.patch_embeddings.{weight,bias},
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embeddings.register_tokens, embeddings.mask_token,
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layer.{i}.attention.{q,k,v,o}_proj.{weight,bias},
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layer.{i}.layer_scale{1,2}.lambda1,
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layer.{i}.mlp.{up,down}_proj.{weight,bias},
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layer.{i}.norm{1,2}.{weight,bias},
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norm.{weight,bias}
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"""
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def __init__(
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self,
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dim: int = 1024,
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num_heads: int = 16,
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mlp_dim: int = 4096,
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num_layers: int = 24,
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patch_size: int = 16,
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num_registers: int = 4,
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) -> None:
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super().__init__()
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self.embeddings = DINOv3Embeddings(dim, patch_size, num_registers)
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self.layer = nn.ModuleList([
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DINOv3Block(dim, num_heads, mlp_dim) for _ in range(num_layers)
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])
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self.norm = nn.LayerNorm(dim)
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self.embed_dim = dim
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self.gradient_checkpointing = False
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def set_gradient_checkpointing(self, enable: bool = True) -> None:
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"""Enable/disable gradient checkpointing to trade compute for VRAM."""
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self.gradient_checkpointing = enable
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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"""Forward pass. Returns CLS token embedding [B, dim]."""
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x = self.embeddings(x)
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for block in self.layer:
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if self.gradient_checkpointing and self.training:
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x = torch.utils.checkpoint.checkpoint(
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block, x, use_reentrant=False,
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)
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else:
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x = block(x)
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x = self.norm(x)
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return x[:, 0] # CLS token
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@classmethod
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def from_pretrained(cls, path: str | Path) -> DINOv3ViT:
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"""Load from .pth or .safetensors checkpoint."""
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model = cls()
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path = Path(path)
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LOGGER.info("🧊 Loading DINOv3 from %s", path.name)
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if path.suffix == ".safetensors":
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state = load_safetensors(str(path))
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else:
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state = torch.load(str(path), map_location="cpu", weights_only=False)
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if "model" in state:
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state = state["model"]
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elif "state_dict" in state:
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state = state["state_dict"]
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model.load_state_dict(state, strict=False)
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n_params = sum(p.numel() for p in model.parameters())
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LOGGER.info("🧊 DINOv3 loaded: %s params", f"{n_params:,}")
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return model
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# LRSCLIPTextEncoder removed — replaced by official DGTRS architecture
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# in src/models/dgtrs/model.py (DGTRSTextEncoder)
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# ---------------------------------------------------------------------------
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# Text fusion MLP: concat L1/L2/L3 -> project to D
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# ---------------------------------------------------------------------------
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class TextFusionMLP(nn.Module):
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"""Fuse L1/L2/L3 text embeddings via concat + MLP.
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[B, 3*text_dim] -> [B, out_dim]
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"""
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def __init__(
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self,
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text_dim: int = 768,
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out_dim: int = 1024,
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) -> None:
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super().__init__()
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self.mlp = nn.Sequential(
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nn.Linear(3 * text_dim, out_dim),
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nn.GELU(),
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nn.Linear(out_dim, out_dim),
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)
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def forward(
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self,
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z_l1: torch.Tensor,
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z_l2: torch.Tensor,
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z_l3: torch.Tensor,
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) -> torch.Tensor:
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"""Fuse three text embeddings.
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Args:
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z_l1: L1 overview [B, text_dim].
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z_l2: L2 full description [B, text_dim].
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z_l3: L3 fingerprint [B, text_dim].
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Returns:
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Fused text embedding [B, out_dim].
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"""
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cat = torch.cat([z_l1, z_l2, z_l3], dim=-1)
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return self.mlp(cat)
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# ---------------------------------------------------------------------------
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# Main model: AsymmetricEncoder
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# ---------------------------------------------------------------------------
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class AsymmetricEncoder(nn.Module):
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"""Dual encoder for CVGL with text fusion on both branches.
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Supports two modes:
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- **shared** (default): single DINOv3 WEB encoder for both drone and satellite,
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one set of MONA adapters. Saves ~4-5 GB VRAM and halves adapter params.
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- **asymmetric**: separate DINOv3 encoders (LVD for drone, SAT for satellite),
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each with their own MONA adapters (legacy mode).
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Query branch: DINOv3 (drone) + text(L1/L2/L3) -> GatedFusion_q -> query [1024]
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Gallery branch: DINOv3 (sat) + text(L1/L2/L3) -> GatedFusion_g -> gallery [1024]
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No projection layers — retrieval space is DINOv3 native 1024-dim.
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Text fusion MLP is shared between branches (same caption format).
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Two separate GatedFusion gates (drone/sat may weight text differently).
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For satellite images without captions, GatedFusion passes image features through
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(text_feat=None → gate acts as identity).
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Args:
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dino_web_path: Path to DINOv3 LVD checkpoint (used for both branches in shared mode).
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dino_sat_path: Path to DINOv3 SAT checkpoint (only used in asymmetric mode).
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lrsclip_path: Path to DGTRS-CLIP checkpoint (text encoder).
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init_gate: Initial fusion gate (image weight).
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baseline_mode: If True, gate = 1.0 (text ignored), DGTRS not loaded.
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shared_encoder: If True, use single DINOv3 WEB for both branches.
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device: Torch device string.
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"""
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DINO_DIM = 1024
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TEXT_DIM = 768
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def __init__(
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self,
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dino_web_path: str = "nn_models/DINO_WEB/dinov3-vitl16-pretrain-lvd1689m.pth",
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dino_sat_path: str = "nn_models/DINO_SAT/model.safetensors",
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lrsclip_path: str = "nn_models/LRSCLIP/DGTRS-CLIP-ViT-L-14.pt",
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init_gate: float = 0.7,
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baseline_mode: bool = False,
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shared_encoder: bool = True,
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mona_bottleneck: int = 64,
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lora_rank: int = 4,
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device: str = "cuda",
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) -> None:
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super().__init__()
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self.embed_dim = self.DINO_DIM
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self.baseline_mode = baseline_mode
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self.shared_encoder = shared_encoder
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self.device = device
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# Image encoder(s) (frozen + MONA adapters).
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if shared_encoder:
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# Single DINOv3 WEB for both branches — saves ~4-5 GB VRAM.
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self.image_encoder = DINOv3ViT.from_pretrained(dino_web_path)
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self._freeze(self.image_encoder)
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inject_mona_into_dinov3(self.image_encoder, bottleneck=mona_bottleneck)
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LOGGER.info("Shared encoder mode: single DINOv3 WEB for drone + satellite")
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else:
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# Separate encoders (asymmetric mode).
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self.drone_encoder = DINOv3ViT.from_pretrained(dino_web_path)
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self.sat_encoder = DINOv3ViT.from_pretrained(dino_sat_path)
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self._freeze(self.drone_encoder)
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self._freeze(self.sat_encoder)
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inject_mona_into_dinov3(self.drone_encoder, bottleneck=mona_bottleneck)
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inject_mona_into_dinov3(self.sat_encoder, bottleneck=mona_bottleneck)
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LOGGER.info("Asymmetric encoder mode: DINOv3 WEB (drone) + DINOv3 SAT (satellite)")
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# Text encoder — official DGTRS architecture (frozen + LoRA).
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if not baseline_mode:
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self.text_encoder = load_dgtrs_text_encoder(lrsclip_path)
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self._freeze(self.text_encoder)
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inject_lora_into_dgtrs(self.text_encoder, rank=lora_rank)
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else:
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self.text_encoder = None
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# Shared text fusion MLP: 3×768 -> 1024 (same format for drone & sat captions).
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if not baseline_mode:
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self.text_fusion = TextFusionMLP(
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text_dim=self.TEXT_DIM,
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out_dim=self.DINO_DIM,
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)
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# Separate gated fusion for query and gallery branches.
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self.fusion_query = GatedFusion(init_gate=init_gate, baseline_mode=baseline_mode)
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self.fusion_gallery = GatedFusion(init_gate=init_gate, baseline_mode=baseline_mode)
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@staticmethod
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def _freeze(module: nn.Module) -> None:
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for p in module.parameters():
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p.requires_grad = False
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module.eval()
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def encode_drone(self, images: torch.Tensor) -> torch.Tensor:
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"""Encode drone images with MONA adapters. Returns [B, DINO_DIM]."""
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if self.shared_encoder:
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return self.image_encoder(images)
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return self.drone_encoder(images)
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def encode_satellite(self, images: torch.Tensor) -> torch.Tensor:
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"""Encode satellite images with MONA adapters. Returns [B, DINO_DIM]."""
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if self.shared_encoder:
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return self.image_encoder(images)
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return self.sat_encoder(images)
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def encode_text_levels(
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self,
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l1_texts: list[str],
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l2_texts: list[str],
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l3_texts: list[str],
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) -> torch.Tensor | None:
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"""Encode L1/L2/L3 captions and fuse. Returns [B, 1024] or None.
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Returns None if all captions are empty (no text available).
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For mixed batches (some have captions, some don't), encodes all
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and lets GatedFusion handle per-sample gating.
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"""
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# Check if any caption is non-empty.
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if all(t == "" for t in l1_texts):
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return None
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z_l1 = self._encode_single_text(l1_texts)
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z_l2 = self._encode_single_text(l2_texts)
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z_l3 = self._encode_single_text(l3_texts)
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fused = self.text_fusion(z_l1, z_l2, z_l3)
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return F.normalize(fused, dim=-1)
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def _encode_single_text(self, texts: list[str]) -> torch.Tensor:
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"""Tokenize and encode a list of strings using DGTRS tokenizer."""
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tokens = tokenize_dgtrs(list(texts)).to(self.device)
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return self.text_encoder(tokens)
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def forward(
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self,
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drone_img: torch.Tensor,
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sat_img: torch.Tensor,
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caption_l1: list[str] | None = None,
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caption_l2: list[str] | None = None,
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caption_l3: list[str] | None = None,
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sat_caption_l1: list[str] | None = None,
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sat_caption_l2: list[str] | None = None,
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sat_caption_l3: list[str] | None = None,
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) -> dict[str, torch.Tensor]:
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"""Forward pass.
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Args:
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drone_img: Drone images [B, 3, 256, 256].
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sat_img: Satellite images [B, 3, 256, 256].
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caption_l1/l2/l3: Drone L1/L2/L3 captions.
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sat_caption_l1/l2/l3: Satellite L1/L2/L3 captions.
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Returns:
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Dict with 'query' [B, 1024], 'gallery' [B, 1024],
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'gate_q', 'gate_g'.
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"""
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# Image features (frozen DINOv3).
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drone_feat = self.encode_drone(drone_img)
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sat_feat = self.encode_satellite(sat_img)
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# Query branch: drone + drone text.
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drone_text = None
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if (caption_l1 is not None and caption_l2 is not None
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and caption_l3 is not None and not self.baseline_mode):
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drone_text = self.encode_text_levels(caption_l1, caption_l2, caption_l3)
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query = self.fusion_query(drone_feat, drone_text)
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query = F.normalize(query, dim=-1)
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# Gallery branch: satellite + satellite text.
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sat_text = None
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if (sat_caption_l1 is not None and sat_caption_l2 is not None
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and sat_caption_l3 is not None and not self.baseline_mode):
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sat_text = self.encode_text_levels(sat_caption_l1, sat_caption_l2, sat_caption_l3)
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gallery = self.fusion_gallery(sat_feat, sat_text)
|
||
gallery = F.normalize(gallery, dim=-1)
|
||
|
||
return {
|
||
"query": query,
|
||
"gallery": gallery,
|
||
"gate_q": self.fusion_query.gate_value,
|
||
"gate_g": self.fusion_gallery.gate_value,
|
||
}
|
||
|
||
def trainable_parameters(self) -> list[nn.Parameter]:
|
||
"""Return list of parameters that require grad."""
|
||
return [p for p in self.parameters() if p.requires_grad]
|
||
|
||
def save_checkpoint(self, path: str | Path, **extra) -> None:
|
||
"""Save model checkpoint with metadata."""
|
||
path = Path(path)
|
||
path.parent.mkdir(parents=True, exist_ok=True)
|
||
ckpt = {
|
||
"model_state": self.state_dict(),
|
||
"baseline_mode": self.baseline_mode,
|
||
"shared_encoder": self.shared_encoder,
|
||
**extra,
|
||
}
|
||
tmp = path.with_suffix(path.suffix + ".tmp")
|
||
torch.save(ckpt, tmp)
|
||
tmp.replace(path)
|
||
LOGGER.info("💾 Model saved to %s", path)
|
||
|
||
@classmethod
|
||
def load_checkpoint(
|
||
cls,
|
||
path: str | Path,
|
||
dino_web_path: str = "nn_models/DINO_WEB/dinov3-vitl16-pretrain-lvd1689m.pth",
|
||
dino_sat_path: str = "nn_models/DINO_SAT/model.safetensors",
|
||
lrsclip_path: str = "nn_models/LRSCLIP/DGTRS-CLIP-ViT-L-14.pt",
|
||
device: str = "cuda",
|
||
) -> tuple[AsymmetricEncoder, dict]:
|
||
"""Load model from checkpoint.
|
||
|
||
First builds the model (loading frozen backbones), then loads
|
||
the saved trainable weights on top.
|
||
|
||
Returns:
|
||
(model, checkpoint_dict) — model ready for eval/resume,
|
||
checkpoint_dict has optimizer_state, epoch, etc.
|
||
"""
|
||
path = Path(path)
|
||
LOGGER.info("📂 Loading checkpoint from %s", path)
|
||
ckpt = torch.load(str(path), map_location="cpu", weights_only=False)
|
||
|
||
model = cls(
|
||
dino_web_path=dino_web_path,
|
||
dino_sat_path=dino_sat_path,
|
||
lrsclip_path=lrsclip_path,
|
||
baseline_mode=ckpt.get("baseline_mode", False),
|
||
shared_encoder=ckpt.get("shared_encoder", True),
|
||
device=device,
|
||
)
|
||
model.load_state_dict(ckpt["model_state"], strict=False)
|
||
model = model.to(device)
|
||
LOGGER.info("✅ Checkpoint loaded (epoch=%s)", ckpt.get("epoch", "?"))
|
||
return model, ckpt
|
||
|
||
def train(self, mode: bool = True) -> AsymmetricEncoder:
|
||
"""Override to keep frozen encoders in eval mode."""
|
||
super().train(mode)
|
||
if self.shared_encoder:
|
||
self.image_encoder.eval()
|
||
else:
|
||
self.drone_encoder.eval()
|
||
self.sat_encoder.eval()
|
||
if self.text_encoder is not None:
|
||
self.text_encoder.train(mode)
|
||
return self
|
||
|
||
|
||
# ---------------------------------------------------------------------------
|
||
# Image preprocessing (DINOv3: 256x256, ImageNet normalization)
|
||
# ---------------------------------------------------------------------------
|
||
|
||
_IMAGENET_MEAN = [0.485, 0.456, 0.406]
|
||
_IMAGENET_STD = [0.229, 0.224, 0.225]
|
||
|
||
|
||
def get_dino_transform(image_size: int = 256) -> torch.nn.Module:
|
||
"""Build eval/inference image transform for DINOv3 input."""
|
||
from torchvision import transforms
|
||
return transforms.Compose([
|
||
transforms.Resize(image_size, interpolation=transforms.InterpolationMode.BICUBIC),
|
||
transforms.CenterCrop(image_size),
|
||
transforms.ToTensor(),
|
||
transforms.Normalize(mean=_IMAGENET_MEAN, std=_IMAGENET_STD),
|
||
])
|
||
|
||
|
||
def get_drone_train_transform(image_size: int = 256) -> torch.nn.Module:
|
||
"""Build training augmentation for drone images.
|
||
|
||
Includes: RandomResizedCrop, HFlip, rotation, color jitter,
|
||
grayscale, Gaussian blur.
|
||
"""
|
||
from torchvision import transforms
|
||
return transforms.Compose([
|
||
transforms.RandomResizedCrop(
|
||
image_size, scale=(0.7, 1.0),
|
||
interpolation=transforms.InterpolationMode.BICUBIC,
|
||
),
|
||
transforms.RandomHorizontalFlip(p=0.5),
|
||
transforms.RandomRotation(degrees=15),
|
||
transforms.ColorJitter(brightness=0.3, contrast=0.3, saturation=0.2, hue=0.1),
|
||
transforms.RandomGrayscale(p=0.05),
|
||
transforms.GaussianBlur(kernel_size=3, sigma=(0.1, 2.0)),
|
||
transforms.ToTensor(),
|
||
transforms.Normalize(mean=_IMAGENET_MEAN, std=_IMAGENET_STD),
|
||
])
|
||
|
||
|
||
def get_satellite_train_transform(image_size: int = 256) -> torch.nn.Module:
|
||
"""Build training augmentation for satellite images.
|
||
|
||
Lighter than drone: no rotation or blur (satellite is nadir/consistent).
|
||
Includes: RandomResizedCrop, HFlip, color jitter, grayscale.
|
||
"""
|
||
from torchvision import transforms
|
||
return transforms.Compose([
|
||
transforms.RandomResizedCrop(
|
||
image_size, scale=(0.7, 1.0),
|
||
interpolation=transforms.InterpolationMode.BICUBIC,
|
||
),
|
||
transforms.RandomHorizontalFlip(p=0.5),
|
||
transforms.ColorJitter(brightness=0.3, contrast=0.3, saturation=0.2, hue=0.1),
|
||
transforms.RandomGrayscale(p=0.05),
|
||
transforms.ToTensor(),
|
||
transforms.Normalize(mean=_IMAGENET_MEAN, std=_IMAGENET_STD),
|
||
])
|