From a101d76e3eab4ee4d93357d71e2c7d4e0114f56f Mon Sep 17 00:00:00 2001 From: skal Date: Fri, 13 Feb 2026 12:41:35 +0100 Subject: CNN v2: Restore per-layer kernel sizes support MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Training: - train_cnn_v2.py: Accept --kernel-sizes as comma-separated list - CNNv2 model: Per-layer kernel sizes (e.g., [1,3,5]) - Single value replicates across layers (e.g., "3" → [3,3,3]) Export: - export_cnn_v2_weights.py: Backward compatible with old checkpoints - Handles both kernel_size (old) and kernel_sizes (new) format Documentation: - CNN_V2.md: Updated code examples and config format - HOWTO.md: Updated training examples to show comma-separated syntax Binary format: Already supports per-layer kernel sizes (no changes) Co-Authored-By: Claude Sonnet 4.5 --- doc/CNN_V2.md | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) (limited to 'doc/CNN_V2.md') diff --git a/doc/CNN_V2.md b/doc/CNN_V2.md index 4612d7a..6242747 100644 --- a/doc/CNN_V2.md +++ b/doc/CNN_V2.md @@ -214,12 +214,15 @@ def compute_static_features(rgb, depth): ```python class CNNv2(nn.Module): - def __init__(self, kernel_size=3, num_layers=3): + def __init__(self, kernel_sizes, num_layers=3): super().__init__() + if isinstance(kernel_sizes, int): + kernel_sizes = [kernel_sizes] * num_layers + self.kernel_sizes = kernel_sizes self.layers = nn.ModuleList() # All layers: 12D input (4 prev + 8 static) → 4D output - for i in range(num_layers): + for kernel_size in kernel_sizes: self.layers.append( nn.Conv2d(12, 4, kernel_size=kernel_size, padding=kernel_size//2, bias=False) @@ -247,7 +250,7 @@ class CNNv2(nn.Module): ```python # Hyperparameters -kernel_size = 3 # Uniform 3×3 kernels +kernel_sizes = [3, 3, 3] # Per-layer kernel sizes (e.g., [1,3,5]) num_layers = 3 # Number of CNN layers learning_rate = 1e-3 batch_size = 16 @@ -278,7 +281,7 @@ for epoch in range(epochs): torch.save({ 'state_dict': model.state_dict(), # f32 weights 'config': { - 'kernel_size': 3, + 'kernel_sizes': [3, 3, 3], # Per-layer kernel sizes 'num_layers': 3, 'features': ['p0', 'p1', 'p2', 'p3', 'uv.x', 'uv.y', 'sin10_x', 'bias'] }, -- cgit v1.2.3