diffusion_policy_gbc / model /vision /model_getter.py
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import torch
import torchvision
def get_resnet(name, weights=None, **kwargs):
"""
name: resnet18, resnet34, resnet50
weights: "IMAGENET1K_V1", "r3m"
"""
# load r3m weights
if (weights == "r3m") or (weights == "R3M"):
return get_r3m(name=name, **kwargs)
func = getattr(torchvision.models, name)
resnet = func(weights=weights, **kwargs)
resnet.fc = torch.nn.Identity()
return resnet
def get_r3m(name, **kwargs):
"""
name: resnet18, resnet34, resnet50
"""
import r3m
r3m.device = 'cpu'
model = r3m.load_r3m(name)
r3m_model = model.module
resnet_model = r3m_model.convnet
resnet_model = resnet_model.to('cpu')
return resnet_model