一、本文介绍
本文记录的是基于Mobile MQA模块的YOLOv10目标检测改进方法研究。MobileNetv4中的Mobile MQA模块是用于模型加速，减少内存访问的模块，相比其他全局的自注意力，其不仅加强了模型对全局信息的关注，同时也显著提高了模型效率。
文章目录
二、Mobile MQA注意力原理
在论文《MobileNetV4 - Universal Models for the Mobile Ecosystem》中，提出了Mobile MQA。
一、原理
- 基于MQA改进并结合不对称空间下采样：
MQA（Multi-Query Attention）简化了传统的多头注意力机制，通过共享keys和values来减少内存访问需求。在移动混合模型中，当批量大小较小时，这种方式能有效提高运算强度。- 借鉴
MQA中对queries、keys和values的不对称计算方式，Mobile MQA引入了空间缩减注意力（SRA），对keys和values进行下采样，同时保持高分辨率的queries。这是因为在混合模型中，早期层的空间混合卷积滤波器使得空间上相邻的标记具有相关性。 Mobile MQA的计算公式为：
M o b i l e _ M Q A ( X ) = C o n c a t ( a t t e n t i o n 1 , . . . , a t t e n t i o n n ) W O Mobile\_MQA(X)= Concat(attention_1,...,attention_n)W^{O} Mobile_MQA(X)=Concat(attention1,...,attentionn)WO，
其中 a t t e n t i o n j = s o f t m a x ( ( X W Q j ) ( S R ( X ) W K ) T d k ) ( S R ( X ) W V ) attention_j = softmax(\frac{(XW^{Q_j})(SR(X)W^{K})^{T}}{\sqrt{d_k}})(SR(X)W^{V}) attentionj=softmax(dk(XWQj)(SR(X)WK)T)(SR(X)WV)，这里SR可以是空间缩减操作（在设计中是一个步长为2的3x3深度卷积），也可以是恒等函数（当不进行空间缩减时）。
二、特点
- 针对加速器优化：专门为移动加速器进行了优化，考虑了移动加速器的计算和内存特性。
- 不对称空间下采样：通过对
keys和values进行下采样，保持queries的高分辨率，在不损失太多精度的情况下，显著提高了效率。 - 操作简单高效：相比传统的注意力机制，
Mobile MQA的设计更加简单，操作更加高效，更适合在移动设备上运行。
论文：http://arxiv.org/abs/2404.10518
源码：https://github.com/tensorflow/models/blob/master/official/vision/modeling/backbones/mobilenet.py
三、Mobile MQA的实现代码
Mobile MQA模块的实现代码如下：
def conv2d(in_channels, out_channels, kernel_size=3, stride=1, groups=1, bias=False, norm=True, act=True):
conv = nn.Sequential()
padding = (kernel_size - 1) // 2
conv.append(nn.Conv2d(in_channels, out_channels, kernel_size, stride, padding, bias=bias, groups=groups))
if norm:
conv.append(nn.BatchNorm2d(out_channels))
if act:
conv.append(nn.ReLU6())
return conv
class MultiQueryAttentionLayerWithDownSampling(nn.Module):
def __init__(self, in_channels, num_heads, key_dim, value_dim, query_h_strides, query_w_strides, kv_strides, dw_kernel_size=3, dropout=0.0):
"""Multi Query Attention with spatial downsampling.
Referenced from here https://github.com/tensorflow/models/blob/master/official/vision/modeling/layers/nn_blocks.py
3 parameters are introduced for the spatial downsampling:
1. kv_strides: downsampling factor on Key and Values only.
2. query_h_strides: vertical strides on Query only.
3. query_w_strides: horizontal strides on Query only.
This is an optimized version.
1. Projections in Attention is explict written out as 1x1 Conv2D.
2. Additional reshapes are introduced to bring a up to 3x speed up.
"""
super(MultiQueryAttentionLayerWithDownSampling, self).__init__()
self.num_heads = num_heads
self.key_dim = key_dim
self.value_dim = value_dim
self.query_h_strides = query_h_strides
self.query_w_strides = query_w_strides
self.kv_strides = kv_strides
self.dw_kernel_size = dw_kernel_size
self.dropout = dropout
self.head_dim = self.key_dim // num_heads
if self.query_h_strides > 1 or self.query_w_strides > 1:
self._query_downsampling_norm = nn.BatchNorm2d(in_channels)
self._query_proj = conv2d(in_channels, self.num_heads * self.key_dim, 1, 1, norm=False, act=False)
if self.kv_strides > 1:
self._key_dw_conv = conv2d(in_channels, in_channels, dw_kernel_size, kv_strides, groups=in_channels,
norm=True, act=False)
self._value_dw_conv = conv2d(in_channels, in_channels, dw_kernel_size, kv_strides, groups=in_channels,
norm=True, act=False)
self._key_proj = conv2d(in_channels, key_dim, 1, 1, norm=False, act=False)
self._value_proj = conv2d(in_channels, key_dim, 1, 1, norm=False, act=False)
self._output_proj = conv2d(num_heads * key_dim, in_channels, 1, 1, norm=False, act=False)
self.dropout = nn.Dropout(p=dropout)
def forward(self, x):
bs, seq_len, _, _ = x.size()
# print(x.size())
if self.query_h_strides > 1 or self.query_w_strides > 1:
q = F.avg_pool2d(self.query_h_strides, self.query_w_strides)
q = self._query_downsampling_norm(q)
q = self._query_proj(q)
else:
q = self._query_proj(x)
px = q.size(2)
q = q.view(bs, self.num_heads, -1, self.key_dim) # [batch_size, num_heads, seq_len, key_dim]
if self.kv_strides > 1:
k = self._key_dw_conv(x)
k = self._key_proj(k)
v = self._value_dw_conv(x)
v = self._value_proj(v)
else:
k = self._key_proj(x)
v = self._value_proj(x)
k = k.view(bs, 1, self.key_dim, -1) # [batch_size, 1, key_dim, seq_length]
v = v.view(bs, 1, -1, self.key_dim) # [batch_size, 1, seq_length, key_dim]
# calculate attention score
# print(q.shape, k.shape, v.shape)
attn_score = torch.matmul(q, k) / (self.head_dim ** 0.5)
attn_score = self.dropout(attn_score)
attn_score = F.softmax(attn_score, dim=-1)
# context = torch.einsum('bnhm,bmv->bnhv', attn_score, v)
# print(attn_score.shape, v.shape)
context = torch.matmul(attn_score, v)
context = context.view(bs, self.num_heads * self.key_dim, px, px)
output = self._output_proj(context)
# print(output.shape)
return output
| 参数 | 解释 |
|---|---|
| in_channels | 输入通道数 |
| num_heads | 自注意力头的数量 |
| key_dim | 键的维度 |
| key_dim | 值的维度 |
| value_dim | 仅用于查询的，在H方向上的步长 |
| query_h_strides | 仅用于查询的，在W方向上的步长 |
| query_w_strides | 仅对键和值进行下采样，1不进行下采样，2下采样 |
| dw_kernel_size=3 | 深度可分离卷积的卷积核大小 |
| dropout=0.0 | 随机丢失比例 |
四、添加步骤
4.1 改进点⭐
模块改进方法：基于Mobile MQA模块的C2f。
改进方法是对YOLOv10中的C2f模块进行改进。MobileNetv4中的Mobile MQA模块可用于模型加速，减少内存访问的模块，相比其他全局的自注意力，利用Mobile MQA改进C2f模块后，不仅加强了模型对全局信息的关注，同时也显著提高了模型效率。
改进代码如下：
class C2f_MQA(nn.Module):
"""Faster Implementation of CSP Bottleneck with 2 convolutions."""
def __init__(self, c1, c2, n=1, shortcut=False, g=1, e=0.5):
"""Initialize CSP bottleneck layer with two convolutions with arguments ch_in, ch_out, number, shortcut, groups,
expansion.
"""
super().__init__()
self.c = int(c2 * e) # hidden channels
self.cv1 = Conv(c1, 2 * self.c, 1, 1)
self.cv2 = Conv((2 + n) * self.c, c2, 1) # optional act=FReLU(c2)
self.m = nn.ModuleList(Bottleneck(self.c, self.c, shortcut, g, k=((3, 3), (3, 3)), e=1.0) for _ in range(n))
self.att = MultiQueryAttentionLayerWithDownSampling(c2, 2, 48, 48, 1, 1, 1)
def forward(self, x):
"""Forward pass through C2f layer."""
y = list(self.cv1(x).chunk(2, 1))
y.extend(m(y[-1]) for m in self.m)
return self.att(self.cv2(torch.cat(y, 1)))
def forward_split(self, x):
"""Forward pass using split() instead of chunk()."""
y = list(self.cv1(x).split((self.c, self.c), 1))
y.extend(m(y[-1]) for m in self.m)
return self.att(self.cv2(torch.cat(y, 1)))
注意❗：在5.2和5.3小节中的文件中需要声明的模块名称为：MultiQueryAttentionLayerWithDownSampling和C2f_MQA。
五、添加步骤
5.1 修改ultralytics/nn/modules/block.py
此处需要修改的文件是ultralytics/nn/modules/block.py
block.py中定义了网络结构的通用模块，我们想要加入新的模块就只需要将模块代码放到这个文件内即可。
将MultiQueryAttentionLayerWithDownSampling和C2f_MQA模块代码添加到此文件下。
5.2 修改ultralytics/nn/modules/init.py
此处需要修改的文件是ultralytics/nn/modules/__init__.py
__init__.py文件中定义了所有模块的初始化，我们只需要将block.py中的新的模块命添加到对应的函数即可。
MultiQueryAttentionLayerWithDownSampling和C2f_MQA在block.py中实现，所有要添加在from .block import：
from .block import (
C1,
C2,
...
MultiQueryAttentionLayerWithDownSampling,
C2f_MQA
)
5.3 修改ultralytics/nn/modules/tasks.py
在tasks.py文件中，需要在两处位置添加各模块类名称。
首先：在函数声明中引入MultiQueryAttentionLayerWithDownSampling和C2f_MQA
其次：在parse_model函数中注册MultiQueryAttentionLayerWithDownSampling和C2f_MQA模块
六、yaml模型文件
6.1 模型改进⭐
在代码配置完成后，配置模型的YAML文件。
此处以ultralytics/cfg/models/v10/yolov10m.yaml为例，在同目录下创建一个用于自己数据集训练的模型文件yolov10m-C2f_MQA.yaml。
将yolov10m.yaml中的内容复制到yolov10m-C2f_MQA.yaml文件下，修改nc数量等于自己数据中目标的数量。
📌 模型的修改方法是将骨干网络中的所有C2f模块替换成C2f_MQA模块，优化整体，提高效率。
结构如下：
# Ultralytics YOLO 🚀, AGPL-3.0 license
# YOLOv8 object detection model with P3-P5 outputs. For Usage examples see https://docs.ultralytics.com/tasks/detect
# Parameters
nc: 1 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov8n.yaml' will call yolov8.yaml with scale 'n'
# [depth, width, max_channels]
m: [0.67, 0.75, 768] # YOLOv8m summary: 295 layers, 25902640 parameters, 25902624 gradients, 79.3 GFLOPs
# YOLOv8.0n 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, 3, C2f_MQA, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 3-P3/8
- [-1, 6, C2f_MQA, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 5-P4/16
- [-1, 6, C2f_MQA, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 7-P5/32
- [-1, 3, C2fCIB, [1024, True]]
- [-1, 1, SPPF, [1024, 5]] # 9
- [-1, 1, PSA, [1024]] # 10
# YOLOv8.0n head
head:
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 6], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 13
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 4], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 16 (P3/8-small)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 13], 1, Concat, [1]] # cat head P4
- [-1, 3, C2fCIB, [512, True]] # 19 (P4/16-medium)
- [-1, 1, SCDown, [512, 3, 2]]
- [[-1, 10], 1, Concat, [1]] # cat head P5
- [-1, 3, C2fCIB, [1024, True]] # 22 (P5/32-large)
- [[16, 19, 22], 1, v10Detect, [nc]] # Detect(P3, P4, P5)
七、成功运行结果
分别打印网络模型可以看到C2f_MQA已经加入到模型中，并可以进行训练了。
YOLOv10m-C2f_MQA：
from n params module arguments
0 -1 1 1392 ultralytics.nn.modules.conv.Conv [3, 48, 3, 2]
1 -1 1 41664 ultralytics.nn.modules.conv.Conv [48, 96, 3, 2]
2 -1 2 185472 ultralytics.nn.modules.block.C2f_MQA [96, 96, True]
3 -1 1 166272 ultralytics.nn.modules.conv.Conv [96, 192, 3, 2]
4 -1 4 1257984 ultralytics.nn.modules.block.C2f_MQA [192, 192, True]
5 -1 1 78720 ultralytics.nn.modules.block.SCDown [192, 384, 3, 2]
6 -1 4 4580352 ultralytics.nn.modules.block.C2f_MQA [384, 384, True]
7 -1 1 228672 ultralytics.nn.modules.block.SCDown [384, 576, 3, 2]
8 -1 2 1689984 ultralytics.nn.modules.block.C2fCIB [576, 576, 2, True]
9 -1 1 831168 ultralytics.nn.modules.block.SPPF [576, 576, 5]
10 -1 1 1253088 ultralytics.nn.modules.block.PSA [576, 576]
11 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
12 [-1, 6] 1 0 ultralytics.nn.modules.conv.Concat [1]
13 -1 2 1993728 ultralytics.nn.modules.block.C2f [960, 384, 2]
14 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
15 [-1, 4] 1 0 ultralytics.nn.modules.conv.Concat [1]
16 -1 2 517632 ultralytics.nn.modules.block.C2f [576, 192, 2]
17 -1 1 332160 ultralytics.nn.modules.conv.Conv [192, 192, 3, 2]
18 [-1, 13] 1 0 ultralytics.nn.modules.conv.Concat [1]
19 -1 2 831744 ultralytics.nn.modules.block.C2fCIB [576, 384, 2, True]
20 -1 1 152448 ultralytics.nn.modules.block.SCDown [384, 384, 3, 2]
21 [-1, 10] 1 0 ultralytics.nn.modules.conv.Concat [1]
22 -1 2 1911168 ultralytics.nn.modules.block.C2fCIB [960, 576, 2, True]
23 [16, 19, 22] 1 2282134 ultralytics.nn.modules.head.v10Detect [1, [192, 384, 576]]
YOLOv10m-C2f_MQA summary: 657 layers, 18335782 parameters, 18335766 gradients, 77.8 GFLOPs
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