YOLO11改进|注意力机制篇|引入轴向注意力Axial Attention

一、【Axial Attention】注意力机制

1.1【Axial Attention】注意力介绍

下图是【Axial Attention】的结构图，让我们简单分析一下运行过程和优势

处理过程：

• 按通道进行处理：
• 图片展示了对图像不同颜色通道（如绿色 G 和蓝色 B）的分离处理。这一步表示每个通道单独执行处理流程，确保每个通道的特征得到充分学习。
• 按行和按列采样：
• 处理过程中，首先针对每一行执行一次采样操作，接着对每一列进行采样。采样操作的目的是从较大的图像中提取关键的特征位置，从而减少计算量，同时保留重要的空间特征。
• 移位与填充：
• 采样后，图像块会被向下移动一个像素，并在顶部进行填充操作。这样做的目的是通过移位对局部特征进行整合，使得每个像素的上下文信息得到更广泛的捕捉。
• 最终拼接输出：
• 经过逐行、逐列和位置采样处理后，图像块会被重组，最后得到输出。这种处理方式不仅增强了图像的特征表示，还大幅降低了计算成本。
  优势：
• 计算效率高：
• 通过分块采样和局部处理，这种方法显著减少了每次操作需要处理的像素数量，从而加快了计算速度。特别是在处理大图像时，这种方法能够更好地利用计算资源。
• 分辨率增强：
• 移位与填充操作使得图像的局部上下文信息被有效捕获，有助于增强图像细节处理。每个像素点不仅能够考虑自身，还能够结合其上下文信息进行处理，从而提高图像的分辨率表现。
• 灵活的通道处理：
• 不同颜色通道的分离处理允许模型对每个通道的特征进行独立学习。这种方法使得模型能够更加专注于各个通道的特定信息，从而提升模型对颜色和纹理细节的捕捉能力。
• 自适应性强：
• 通过对不同图像区域的逐步采样和移位操作，这种方法具有较强的自适应性，适合处理不同分辨率和大小的图像。此外，采样过程中能够根据实际需求动态调整采样频率，进一步提升处理的精度与效率。
  

1.2【Axial Attention】核心代码

import torch
from torch import nn
from operator import itemgetter
from torch.autograd.function import Function
from torch.utils.checkpoint import get_device_states, set_device_states


class Deterministic(nn.Module):
    def __init__(self, net):
        super().__init__()
        self.net = net
        self.cpu_state = None
        self.cuda_in_fwd = None
        self.gpu_devices = None
        self.gpu_states = None

    def record_rng(self, *args):
        self.cpu_state = torch.get_rng_state()
        if torch.cuda._initialized:
            self.cuda_in_fwd = True
            self.gpu_devices, self.gpu_states = get_device_states(*args)

    def forward(self, *args, record_rng=False, set_rng=False, **kwargs):
        if record_rng:
            self.record_rng(*args)

        if not set_rng:
            return self.net(*args, **kwargs)

        rng_devices = []
        if self.cuda_in_fwd:
            rng_devices = self.gpu_devices

        with torch.random.fork_rng(devices=rng_devices, enabled=True):
            torch.set_rng_state(self.cpu_state)
            if self.cuda_in_fwd:
                set_device_states(self.gpu_devices, self.gpu_states)
            return self.net(*args, **kwargs)


# heavily inspired by https://github.com/RobinBruegger/RevTorch/blob/master/revtorch/revtorch.py
# once multi-GPU is confirmed working, refactor and send PR back to source
class ReversibleBlock(nn.Module):
    def __init__(self, f, g):
        super().__init__()
        self.f = Deterministic(f)
        self.g = Deterministic(g)

    def forward(self, x, f_args={}, g_args={}):
        x1, x2 = torch.chunk(x, 2, dim=1)
        y1, y2 = None, None

        with torch.no_grad():
            y1 = x1 + self.f(x2, record_rng=self.training, **f_args)
            y2 = x2 + self.g(y1, record_rng=self.training, **g_args)

        return torch.cat([y1, y2], dim=1)

    def backward_pass(self, y, dy, f_args={}, g_args={}):
        y1, y2 = torch.chunk(y, 2, dim=1)
        del y

        dy1, dy2 = torch.chunk(dy, 2, dim=1)
        del dy

        with torch.enable_grad():
            y1.requires_grad = True
            gy1 = self.g(y1, set_rng=True, **g_args)
            torch.autograd.backward(gy1, dy2)

        with torch.no_grad():
            x2 = y2 - gy1
            del y2, gy1

            dx1 = dy1 + y1.grad
            del dy1
            y1.grad = None

        with torch.enable_grad():
            x2.requires_grad = True
            fx2 = self.f(x2, set_rng=True, **f_args)
            torch.autograd.backward(fx2, dx1, retain_graph=True)

        with torch.no_grad():
            x1 = y1 - fx2
            del y1, fx2

            dx2 = dy2 + x2.grad
            del dy2
            x2.grad = None

            x = torch.cat([x1, x2.detach()], dim=1)
            dx = torch.cat([dx1, dx2], dim=1)

        return x, dx


class IrreversibleBlock(nn.Module):
    def __init__(self, f, g):
        super().__init__()
        self.f = f
        self.g = g

    def forward(self, x, f_args, g_args):
        x1, x2 = torch.chunk(x, 2, dim=1)
        y1 = x1 + self.f(x2, **f_args)
        y2 = x2 + self.g(y1, **g_args)
        return torch.cat([y1, y2], dim=1)


class _ReversibleFunction(Function):
    @staticmethod
    def forward(ctx, x, blocks, kwargs):
        ctx.kwargs = kwargs
        for block in blocks:
            x = block(x, **kwargs)
        ctx.y = x.detach()
        ctx.blocks = blocks
        return x

    @staticmethod
    def backward(ctx, dy):
        y = ctx.y
        kwargs = ctx.kwargs
        for block in ctx.blocks[::-1]:
            y, dy = block.backward_pass(y, dy, **kwargs)
        return dy, None, None


class ReversibleSequence(nn.Module):
    def __init__(
        self,
        blocks,
    ):
        super().__init__()
        self.blocks = nn.ModuleList([ReversibleBlock(f, g) for (f, g) in blocks])

    def forward(self, x, arg_route=(True, True), **kwargs):
        f_args, g_args = map(lambda route: kwargs if route else {}, arg_route)
        block_kwargs = {"f_args": f_args, "g_args": g_args}
        x = torch.cat((x, x), dim=1)
        x = _ReversibleFunction.apply(x, self.blocks, block_kwargs)
        return torch.stack(x.chunk(2, dim=1)).mean(dim=0)


# helper functions


def exists(val):
    return val is not None


def map_el_ind(arr, ind):
    return list(map(itemgetter(ind), arr))


def sort_and_return_indices(arr):
    indices = [ind for ind in range(len(arr))]
    arr = zip(arr, indices)
    arr = sorted(arr)
    return map_el_ind(arr, 0), map_el_ind(arr, 1)


# calculates the permutation to bring the input tensor to something attend-able
# also calculates the inverse permutation to bring the tensor back to its original shape


def calculate_permutations(num_dimensions, emb_dim):
    total_dimensions = num_dimensions + 2
    emb_dim = emb_dim if emb_dim > 0 else (emb_dim + total_dimensions)
    axial_dims = [ind for ind in range(1, total_dimensions) if ind != emb_dim]

    permutations = []

    for axial_dim in axial_dims:
        last_two_dims = [axial_dim, emb_dim]
        dims_rest = set(range(0, total_dimensions)) - set(last_two_dims)
        permutation = [*dims_rest, *last_two_dims]
        permutations.append(permutation)

    return permutations


# helper classes


class ChanLayerNorm(nn.Module):
    def __init__(self, dim, eps=1e-5):
        super().__init__()
        self.eps = eps
        self.g = nn.Parameter(torch.ones(1, dim, 1, 1))
        self.b = nn.Parameter(torch.zeros(1, dim, 1, 1))

    def forward(self, x):
        std = torch.var(x, dim=1, unbiased=False, keepdim=True).sqrt()
        mean = torch.mean(x, dim=1, keepdim=True)
        return (x - mean) / (std + self.eps) * self.g + self.b


class PreNorm(nn.Module):
    def __init__(self, dim, fn):
        super().__init__()
        self.fn = fn
        self.norm = nn.LayerNorm(dim)

    def forward(self, x):
        x = self.norm(x)
        return self.fn(x)


class Sequential(nn.Module):
    def __init__(self, blocks):
        super().__init__()
        self.blocks = blocks

    def forward(self, x):
        for f, g in self.blocks:
            x = x + f(x)
            x = x + g(x)
        return x


class PermuteToFrom(nn.Module):
    def __init__(self, permutation, fn):
        super().__init__()
        self.fn = fn
        _, inv_permutation = sort_and_return_indices(permutation)
        self.permutation = permutation
        self.inv_permutation = inv_permutation

    def forward(self, x, **kwargs):
        axial = x.permute(*self.permutation).contiguous()

        shape = axial.shape
        *_, t, d = shape

        # merge all but axial dimension
        axial = axial.reshape(-1, t, d)

        # attention
        axial = self.fn(axial, **kwargs)

        # restore to original shape and permutation
        axial = axial.reshape(*shape)
        axial = axial.permute(*self.inv_permutation).contiguous()
        return axial


# axial pos emb


class AxialPositionalEmbedding(nn.Module):
    def __init__(self, dim, shape, emb_dim_index=1):
        super().__init__()
        parameters = []
        total_dimensions = len(shape) + 2
        ax_dim_indexes = [i for i in range(1, total_dimensions) if i != emb_dim_index]

        self.num_axials = len(shape)

        for i, (axial_dim, axial_dim_index) in enumerate(zip(shape, ax_dim_indexes)):
            shape = [1] * total_dimensions
            shape[emb_dim_index] = dim
            shape[axial_dim_index] = axial_dim
            parameter = nn.Parameter(torch.randn(*shape))
            setattr(self, f"param_{i}", parameter)

    def forward(self, x):
        for i in range(self.num_axials):
            x = x + getattr(self, f"param_{i}")
        return x


# attention


class SelfAttention(nn.Module):
    def __init__(self, dim, heads, dim_heads=None):
        super().__init__()
        self.dim_heads = (dim // heads) if dim_heads is None else dim_heads
        dim_hidden = self.dim_heads * heads

        self.heads = heads
        self.to_q = nn.Linear(dim, dim_hidden, bias=False)
        self.to_kv = nn.Linear(dim, 2 * dim_hidden, bias=False)
        self.to_out = nn.Linear(dim_hidden, dim)

    def forward(self, x, kv=None):
        kv = x if kv is None else kv
        q, k, v = (self.to_q(x), *self.to_kv(kv).chunk(2, dim=-1))

        b, t, d, h, e = *q.shape, self.heads, self.dim_heads

        merge_heads = (
            lambda x: x.reshape(b, -1, h, e).transpose(1, 2).reshape(b * h, -1, e)
        )
        q, k, v = map(merge_heads, (q, k, v))

        dots = torch.einsum("bie,bje->bij", q, k) * (e**-0.5)
        dots = dots.softmax(dim=-1)
        out = torch.einsum("bij,bje->bie", dots, v)

        out = out.reshape(b, h, -1, e).transpose(1, 2).reshape(b, -1, d)
        out = self.to_out(out)
        return out


# axial attention class


class AxialAttention(nn.Module):
    def __init__(
        self,
        dim,
        num_dimensions=2,
        heads=8,
        dim_heads=None,
        dim_index=-1,
        sum_axial_out=True,
    ):
        assert (
            dim % heads
        ) == 0, "hidden dimension must be divisible by number of heads"
        super().__init__()
        self.dim = dim
        self.total_dimensions = num_dimensions + 2
        self.dim_index = (
            dim_index if dim_index > 0 else (dim_index + self.total_dimensions)
        )

        attentions = []
        for permutation in calculate_permutations(num_dimensions, dim_index):
            attentions.append(
                PermuteToFrom(permutation, SelfAttention(dim, heads, dim_heads))
            )

        self.axial_attentions = nn.ModuleList(attentions)
        self.sum_axial_out = sum_axial_out

    def forward(self, x):
        assert (
            len(x.shape) == self.total_dimensions
        ), "input tensor does not have the correct number of dimensions"
        assert (
            x.shape[self.dim_index] == self.dim
        ), "input tensor does not have the correct input dimension"

        if self.sum_axial_out:
            return sum(map(lambda axial_attn: axial_attn(x), self.axial_attentions))

        out = x
        for axial_attn in self.axial_attentions:
            out = axial_attn(out)
        return out


# axial image transformer


class AxialImageTransformer(nn.Module):
    def __init__(
        self,
        dim,
        depth,
        heads=8,
        dim_heads=None,
        dim_index=1,
        reversible=True,
        axial_pos_emb_shape=None,
    ):
        super().__init__()
        permutations = calculate_permutations(2, dim_index)

        get_ff = lambda: nn.Sequential(
            ChanLayerNorm(dim),
            nn.Conv2d(dim, dim * 4, 3, padding=1),
            nn.LeakyReLU(inplace=True),
            nn.Conv2d(dim * 4, dim, 3, padding=1),
        )

        self.pos_emb = (
            AxialPositionalEmbedding(dim, axial_pos_emb_shape, dim_index)
            if exists(axial_pos_emb_shape)
            else nn.Identity()
        )

        layers = nn.ModuleList([])
        for _ in range(depth):
            attn_functions = nn.ModuleList(
                [
                    PermuteToFrom(
                        permutation, PreNorm(dim, SelfAttention(dim, heads, dim_heads))
                    )
                    for permutation in permutations
                ]
            )
            conv_functions = nn.ModuleList([get_ff(), get_ff()])
            layers.append(attn_functions)
            layers.append(conv_functions)

        execute_type = ReversibleSequence if reversible else Sequential
        self.layers = execute_type(layers)

    def forward(self, x):
        x = self.pos_emb(x)
        return self.layers(x)


if __name__ == "__main__":
    input = torch.rand(3, 64, 32, 32).cuda()
    model = AxialImageTransformer(dim=64, depth=12, reversible=True).cuda()
    output = model(input)
    print(input.size(), output.size())

二、添加【Axial Attention】注意力机制

2.1STEP1

首先找到ultralytics/nn文件路径下新建一个Add-module的python文件包【这里注意一定是python文件包，新建后会自动生成_init_.py】，如果已经跟着我的教程建立过一次了可以省略此步骤，随后新建一个Axial_Attention.py文件并将上文中提到的注意力机制的代码全部粘贴到此文件中，如下图所示

2.2STEP2

在STEP1中新建的_init_.py文件中导入增加改进模块的代码包如下图所示

2.3STEP3

找到ultralytics/nn文件夹中的task.py文件，在其中按照下图添加

2.4STEP4

定位到ultralytics/nn文件夹中的task.py文件中的def parse_model(d, ch, verbose=True): # model_dict, input_channels(3)函数添加如图代码,【如果不好定位可以直接ctrl+f搜索定位】

三、yaml文件与运行

3.1yaml文件

以下是添加【Axial Attention】注意力机制在小目标检测层中中的yaml文件，大家可以注释自行调节，效果以自己的数据集结果为准

# Ultralytics YOLO 🚀, AGPL-3.0 license
# YOLO11 object detection model with P3-P5 outputs. For Usage examples see https://docs.ultralytics.com/tasks/detect

# Parameters
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolo11n.yaml' will call yolo11.yaml with scale 'n'
  # [depth, width, max_channels]
  n: [0.50, 0.25, 1024] # summary: 319 layers, 2624080 parameters, 2624064 gradients, 6.6 GFLOPs
  s: [0.50, 0.50, 1024] # summary: 319 layers, 9458752 parameters, 9458736 gradients, 21.7 GFLOPs
  m: [0.50, 1.00, 512] # summary: 409 layers, 20114688 parameters, 20114672 gradients, 68.5 GFLOPs
  l: [1.00, 1.00, 512] # summary: 631 layers, 25372160 parameters, 25372144 gradients, 87.6 GFLOPs
  x: [1.00, 1.50, 512] # summary: 631 layers, 56966176 parameters, 56966160 gradients, 196.0 GFLOPs

# YOLO11n backbone
backbone:
  # [from, repeats, module, args]
  - [-1, 1, Conv, [64, 3, 2]] # 0-P1/2
  - [-1, 1, Conv, [128,3,2]] # 1-P2/4
  - [-1, 2, C3k2, [256, False, 0.25]]
  - [-1, 1, Conv, [256,3,2]] # 3-P3/8
  - [-1, 2, C3k2, [512, False, 0.25]]
  - [-1, 1, Conv, [512,3,2]] # 5-P4/16
  - [-1, 2, C3k2, [512, True]]
  - [-1, 1, Conv, [1024,3,2]] # 7-P5/32
  - [-1, 2, C3k2, [1024, True]]
  - [-1, 1, SPPF, [1024, 5]] # 9
  - [-1, 2, C2PSA, [1024]] # 10

# YOLO11n head
head:
  - [-1, 1, nn.Upsample, [None, 2, "nearest"]]
  - [[-1, 6], 1, Concat, [1]] # cat backbone P4
  - [-1, 2, C3k2, [512, False]] # 13

  - [-1, 1, nn.Upsample, [None, 2, "nearest"]]
  - [[-1, 4], 1, Concat, [1]] # cat backbone P3
  - [-1, 2, C3k2, [256, False]] # 16 (P3/8-small)
  - [-1,1,AxialImageTransformer,[1]]

  - [-1, 1, Conv, [256, 3, 2]]
  - [[-1, 13], 1, Concat, [1]] # cat head P4
  - [-1, 2, C3k2, [512, False]] # 19 (P4/16-medium)

  - [-1, 1, Conv, [512, 3, 2]]
  - [[-1, 10], 1, Concat, [1]] # cat head P5
  - [-1, 2, C3k2, [1024, True]] # 22 (P5/32-large)

  - [[17, 20, 23], 1, Detect, [nc]] # Detect(P3, P4, P5)

以上添加位置仅供参考，具体添加位置以及模块效果以自己的数据集结果为准

3.2运行成功截图

OK 以上就是添加【Axial Attention】注意力机制的全部过程了，后续将持续更新尽情期待