cliport/models/streams/two_stream_transport.py

import cliport.models as models
import cliport.models.core.fusion as fusion
from cliport.models.core.transport import Transport


class TwoStreamTransport(Transport):
    """Two Stream Transport (a.k.a Place) module"""

    def __init__(self, stream_fcn, in_shape, n_rotations, crop_size, preprocess, cfg, device):
        self.fusion_type = cfg['train']['trans_stream_fusion_type']
        super().__init__(stream_fcn, in_shape, n_rotations, crop_size, preprocess, cfg, device)

    def _build_nets(self):
        stream_one_fcn, stream_two_fcn = self.stream_fcn
        stream_one_model = models.names[stream_one_fcn]
        stream_two_model = models.names[stream_two_fcn]

        self.key_stream_one = stream_one_model(self.in_shape, self.output_dim, self.cfg, self.device, self.preprocess)
        self.key_stream_two = stream_two_model(self.in_shape, self.output_dim, self.cfg, self.device, self.preprocess)
        self.query_stream_one = stream_one_model(self.kernel_shape, self.kernel_dim, self.cfg, self.device, self.preprocess)
        self.query_stream_two = stream_two_model(self.in_shape, self.kernel_dim, self.cfg, self.device, self.preprocess)

        self.fusion_key = fusion.names[self.fusion_type](input_dim=self.kernel_dim)
        self.fusion_query = fusion.names[self.fusion_type](input_dim=self.kernel_dim)

        print(f"Transport FCN - Stream One: {stream_one_fcn}, Stream Two: {stream_two_fcn}, Stream Fusion: {self.fusion_type}")

    def transport(self, in_tensor, crop):
        logits = self.fusion_key(self.key_stream_one(in_tensor), self.key_stream_two(in_tensor))
        kernel = self.fusion_query(self.query_stream_one(crop), self.query_stream_two(crop))
        return logits, kernel


class TwoStreamTransportLat(TwoStreamTransport):
    """Two Stream Transport (a.k.a Place) module with lateral connections"""

    def __init__(self, stream_fcn, in_shape, n_rotations, crop_size, preprocess, cfg, device):
        super().__init__(stream_fcn, in_shape, n_rotations, crop_size, preprocess, cfg, device)

    def transport(self, in_tensor, crop):
        key_out_one, key_lat_one = self.key_stream_one(in_tensor)
        key_out_two = self.key_stream_two(in_tensor, key_lat_one)
        logits = self.fusion_key(key_out_one, key_out_two)

        query_out_one, query_lat_one = self.query_stream_one(crop)
        query_out_two = self.query_stream_two(crop, query_lat_one)
        kernel = self.fusion_query(query_out_one, query_out_two)

        return logits, kernel