RS3Mamba.py

import torch
import torch.nn as nn
import torch.nn.functional as F
from einops import rearrange, repeat
from model.SwinUMamba import VSSMEncoder
from timm.models.layers import DropPath, to_2tuple, trunc_normal_
import timm
import re

class ConvBNReLU(nn.Sequential):
    def __init__(self, in_channels, out_channels, kernel_size=3, dilation=1, stride=1, norm_layer=nn.BatchNorm2d, bias=False):
        super(ConvBNReLU, self).__init__(
            nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size, bias=bias,
                      dilation=dilation, stride=stride, padding=((stride - 1) + dilation * (kernel_size - 1)) // 2),
            norm_layer(out_channels),
            nn.ReLU6()
        )


class ConvBN(nn.Sequential):
    def __init__(self, in_channels, out_channels, kernel_size=3, dilation=1, stride=1, norm_layer=nn.BatchNorm2d, bias=False):
        super(ConvBN, self).__init__(
            nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size, bias=bias,
                      dilation=dilation, stride=stride, padding=((stride - 1) + dilation * (kernel_size - 1)) // 2),
            norm_layer(out_channels)
        )


class Conv(nn.Sequential):
    def __init__(self, in_channels, out_channels, kernel_size=3, dilation=1, stride=1, bias=False):
        super(Conv, self).__init__(
            nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size, bias=bias,
                      dilation=dilation, stride=stride, padding=((stride - 1) + dilation * (kernel_size - 1)) // 2)
        )


class SeparableConvBNReLU(nn.Sequential):
    def __init__(self, in_channels, out_channels, kernel_size=3, stride=1, dilation=1,
                 norm_layer=nn.BatchNorm2d):
        super(SeparableConvBNReLU, self).__init__(
            nn.Conv2d(in_channels, in_channels, kernel_size, stride=stride, dilation=dilation,
                      padding=((stride - 1) + dilation * (kernel_size - 1)) // 2,
                      groups=in_channels, bias=False),
            norm_layer(out_channels),
            nn.Conv2d(in_channels, out_channels, kernel_size=1, bias=False),
            nn.ReLU6()
        )


class SeparableConvBN(nn.Sequential):
    def __init__(self, in_channels, out_channels, kernel_size=3, stride=1, dilation=1,
                 norm_layer=nn.BatchNorm2d):
        super(SeparableConvBN, self).__init__(
            nn.Conv2d(in_channels, in_channels, kernel_size, stride=stride, dilation=dilation,
                      padding=((stride - 1) + dilation * (kernel_size - 1)) // 2,
                      groups=in_channels, bias=False),
            norm_layer(out_channels),
            nn.Conv2d(in_channels, out_channels, kernel_size=1, bias=False)
        )


class SeparableConv(nn.Sequential):
    def __init__(self, in_channels, out_channels, kernel_size=3, stride=1, dilation=1):
        super(SeparableConv, self).__init__(
            nn.Conv2d(in_channels, in_channels, kernel_size, stride=stride, dilation=dilation,
                      padding=((stride - 1) + dilation * (kernel_size - 1)) // 2,
                      groups=in_channels, bias=False),
            nn.Conv2d(in_channels, out_channels, kernel_size=1, bias=False)
        )


class Mlp(nn.Module):
    def __init__(self, in_features, hidden_features=None, out_features=None, act_layer=nn.ReLU6, drop=0.):
        super().__init__()
        out_features = out_features or in_features
        hidden_features = hidden_features or in_features
        self.fc1 = nn.Conv2d(in_features, hidden_features, 1, 1, 0, bias=True)
        self.act = act_layer()
        self.fc2 = nn.Conv2d(hidden_features, out_features, 1, 1, 0, bias=True)
        self.drop = nn.Dropout(drop, inplace=True)

    def forward(self, x):
        x = self.fc1(x)
        x = self.act(x)
        x = self.drop(x)
        x = self.fc2(x)
        x = self.drop(x)
        return x


class GlobalLocalAttention(nn.Module):
    def __init__(self,
                 dim=256,
                 num_heads=16,
                 qkv_bias=False,
                 window_size=8,
                 relative_pos_embedding=True
                 ):
        super().__init__()
        self.num_heads = num_heads
        head_dim = dim // self.num_heads
        self.scale = head_dim ** -0.5
        self.ws = window_size

        self.qkv = Conv(dim, 3*dim, kernel_size=1, bias=qkv_bias)
        self.local1 = ConvBN(dim, dim, kernel_size=3)
        self.local2 = ConvBN(dim, dim, kernel_size=1)
        self.proj = SeparableConvBN(dim, dim, kernel_size=window_size)

        self.attn_x = nn.AvgPool2d(kernel_size=(window_size, 1), stride=1,  padding=(window_size//2 - 1, 0))
        self.attn_y = nn.AvgPool2d(kernel_size=(1, window_size), stride=1, padding=(0, window_size//2 - 1))

        self.relative_pos_embedding = relative_pos_embedding

        if self.relative_pos_embedding:
            # define a parameter table of relative position bias
            self.relative_position_bias_table = nn.Parameter(
                torch.zeros((2 * window_size - 1) * (2 * window_size - 1), num_heads))  # 2*Wh-1 * 2*Ww-1, nH

            # get pair-wise relative position index for each token inside the window
            coords_h = torch.arange(self.ws)
            coords_w = torch.arange(self.ws)
            coords = torch.stack(torch.meshgrid([coords_h, coords_w]))  # 2, Wh, Ww
            coords_flatten = torch.flatten(coords, 1)  # 2, Wh*Ww
            relative_coords = coords_flatten[:, :, None] - coords_flatten[:, None, :]  # 2, Wh*Ww, Wh*Ww
            relative_coords = relative_coords.permute(1, 2, 0).contiguous()  # Wh*Ww, Wh*Ww, 2
            relative_coords[:, :, 0] += self.ws - 1  # shift to start from 0
            relative_coords[:, :, 1] += self.ws - 1
            relative_coords[:, :, 0] *= 2 * self.ws - 1
            relative_position_index = relative_coords.sum(-1)  # Wh*Ww, Wh*Ww
            self.register_buffer("relative_position_index", relative_position_index)

            trunc_normal_(self.relative_position_bias_table, std=.02)

    def pad(self, x, ps):
        _, _, H, W = x.size()
        if W % ps != 0:
            x = F.pad(x, (0, ps - W % ps), mode='reflect')
        if H % ps != 0:
            x = F.pad(x, (0, 0, 0, ps - H % ps), mode='reflect')
        return x

    def pad_out(self, x):
        x = F.pad(x, pad=(0, 1, 0, 1), mode='reflect')
        return x

    def forward(self, x):
        B, C, H, W = x.shape

        local = self.local2(x) + self.local1(x)

        x = self.pad(x, self.ws)
        B, C, Hp, Wp = x.shape
        qkv = self.qkv(x)

        q, k, v = rearrange(qkv, 'b (qkv h d) (hh ws1) (ww ws2) -> qkv (b hh ww) h (ws1 ws2) d', h=self.num_heads,
                            d=C//self.num_heads, hh=Hp//self.ws, ww=Wp//self.ws, qkv=3, ws1=self.ws, ws2=self.ws)

        dots = (q @ k.transpose(-2, -1)) * self.scale

        if self.relative_pos_embedding:
            relative_position_bias = self.relative_position_bias_table[self.relative_position_index.view(-1)].view(
                self.ws * self.ws, self.ws * self.ws, -1)  # Wh*Ww,Wh*Ww,nH
            relative_position_bias = relative_position_bias.permute(2, 0, 1).contiguous()  # nH, Wh*Ww, Wh*Ww
            dots += relative_position_bias.unsqueeze(0)

        attn = dots.softmax(dim=-1)
        attn = attn @ v

        attn = rearrange(attn, '(b hh ww) h (ws1 ws2) d -> b (h d) (hh ws1) (ww ws2)', h=self.num_heads,
                         d=C//self.num_heads, hh=Hp//self.ws, ww=Wp//self.ws, ws1=self.ws, ws2=self.ws)

        attn = attn[:, :, :H, :W]

        out = self.attn_x(F.pad(attn, pad=(0, 0, 0, 1), mode='reflect')) + \
              self.attn_y(F.pad(attn, pad=(0, 1, 0, 0), mode='reflect'))

        out = out + local
        out = self.pad_out(out)
        out = self.proj(out)
        # print(out.size())
        out = out[:, :, :H, :W]

        return out


class Block(nn.Module):
    def __init__(self, dim=256, num_heads=16,  mlp_ratio=4., qkv_bias=False, drop=0., attn_drop=0.,
                 drop_path=0., act_layer=nn.ReLU6, norm_layer=nn.BatchNorm2d, window_size=8):
        super().__init__()
        self.norm1 = norm_layer(dim)
        self.attn = GlobalLocalAttention(dim, num_heads=num_heads, qkv_bias=qkv_bias, window_size=window_size)

        self.drop_path = DropPath(drop_path) if drop_path > 0. else nn.Identity()
        mlp_hidden_dim = int(dim * mlp_ratio)
        self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, out_features=dim, act_layer=act_layer, drop=drop)
        self.norm2 = norm_layer(dim)

    def forward(self, x):

        x = x + self.drop_path(self.attn(self.norm1(x)))
        x = x + self.drop_path(self.mlp(self.norm2(x)))

        return x


class WF(nn.Module):
    def __init__(self, in_channels=128, decode_channels=128, eps=1e-8):
        super(WF, self).__init__()
        self.pre_conv = Conv(in_channels, decode_channels, kernel_size=1)

        self.weights = nn.Parameter(torch.ones(2, dtype=torch.float32), requires_grad=True)
        self.eps = eps
        self.post_conv = ConvBNReLU(decode_channels, decode_channels, kernel_size=3)

    def forward(self, x, res):
        x = F.interpolate(x, scale_factor=2, mode='bilinear', align_corners=False)
        weights = nn.ReLU()(self.weights)
        fuse_weights = weights / (torch.sum(weights, dim=0) + self.eps)
        x = fuse_weights[0] * self.pre_conv(res) + fuse_weights[1] * x
        x = self.post_conv(x)
        return x


class FeatureRefinementHead(nn.Module):
    def __init__(self, in_channels=64, decode_channels=64):
        super().__init__()
        self.pre_conv = Conv(in_channels, decode_channels, kernel_size=1)

        self.weights = nn.Parameter(torch.ones(2, dtype=torch.float32), requires_grad=True)
        self.eps = 1e-8
        self.post_conv = ConvBNReLU(decode_channels, decode_channels, kernel_size=3)

        self.pa = nn.Sequential(nn.Conv2d(decode_channels, decode_channels, kernel_size=3, padding=1, groups=decode_channels),
                                nn.Sigmoid())
        self.ca = nn.Sequential(nn.AdaptiveAvgPool2d(1),
                                Conv(decode_channels, decode_channels//16, kernel_size=1),
                                nn.ReLU6(),
                                Conv(decode_channels//16, decode_channels, kernel_size=1),
                                nn.Sigmoid())

        self.shortcut = ConvBN(decode_channels, decode_channels, kernel_size=1)
        self.proj = SeparableConvBN(decode_channels, decode_channels, kernel_size=3)
        self.act = nn.ReLU6()

    def forward(self, x, res):
        x = F.interpolate(x, scale_factor=2, mode='bilinear', align_corners=False)
        weights = nn.ReLU()(self.weights)
        fuse_weights = weights / (torch.sum(weights, dim=0) + self.eps)
        x = fuse_weights[0] * self.pre_conv(res) + fuse_weights[1] * x
        x = self.post_conv(x)
        shortcut = self.shortcut(x)
        pa = self.pa(x) * x
        ca = self.ca(x) * x
        x = pa + ca
        x = self.proj(x) + shortcut
        x = self.act(x)

        return x


class AuxHead(nn.Module):

    def __init__(self, in_channels=64, num_classes=8):
        super().__init__()
        self.conv = ConvBNReLU(in_channels, in_channels)
        self.drop = nn.Dropout(0.1)
        self.conv_out = Conv(in_channels, num_classes, kernel_size=1)

    def forward(self, x, h, w):
        feat = self.conv(x)
        feat = self.drop(feat)
        feat = self.conv_out(feat)
        feat = F.interpolate(feat, size=(h, w), mode='bilinear', align_corners=False)
        return feat


class Decoder(nn.Module):
    def __init__(self,
                 encoder_channels=(64, 128, 256, 512),
                 decode_channels=64,
                 dropout=0.1,
                 window_size=8,
                 num_classes=6):
        super(Decoder, self).__init__()

        self.pre_conv = ConvBN(encoder_channels[-1], decode_channels, kernel_size=1)
        self.b4 = Block(dim=decode_channels, num_heads=8, window_size=window_size)

        self.b3 = Block(dim=decode_channels, num_heads=8, window_size=window_size)
        self.p3 = WF(encoder_channels[-2], decode_channels)

        self.b2 = Block(dim=decode_channels, num_heads=8, window_size=window_size)
        self.p2 = WF(encoder_channels[-3], decode_channels)

        self.p1 = FeatureRefinementHead(encoder_channels[-4], decode_channels)

        self.segmentation_head = nn.Sequential(ConvBNReLU(decode_channels, decode_channels),
                                               nn.Dropout2d(p=dropout, inplace=True),
                                               Conv(decode_channels, num_classes, kernel_size=1))
        self.init_weight()

    def forward(self, res1, res2, res3, res4, h, w):
        x = self.b4(self.pre_conv(res4))
        x = self.p3(x, res3)
        x = self.b3(x)

        x = self.p2(x, res2)
        x = self.b2(x)

        x = self.p1(x, res1)
        
        x = self.segmentation_head(x)
        x = F.interpolate(x, size=(h, w), mode='bilinear', align_corners=False)

        return x

    def init_weight(self):
        for m in self.children():
            if isinstance(m, nn.Conv2d):
                nn.init.kaiming_normal_(m.weight, a=1)
                if m.bias is not None:
                    nn.init.constant_(m.bias, 0)

class BasicConv(nn.Module):
    def __init__(self, in_planes, out_planes, kernel_size, stride=1, padding=0, dilation=1, groups=1, relu=True,
                 bn=True, bias=False):
        super(BasicConv, self).__init__()
        self.out_channels = out_planes
        self.conv = nn.Conv2d(in_planes, out_planes, kernel_size=kernel_size, stride=stride, padding=padding,
                              dilation=dilation, groups=groups, bias=bias)
        self.bn = nn.BatchNorm2d(out_planes, eps=1e-5, momentum=0.01, affine=True) if bn else None
        self.relu = nn.ReLU() if relu else None

    def forward(self, x):
        x = self.conv(x)
        if self.bn is not None:
            x = self.bn(x)
        if self.relu is not None:
            x = self.relu(x)
        return x

class SoftPool2d(nn.Module):
    def __init__(self, kernel_size=2, stride=2):
        super(SoftPool2d, self).__init__()
        self.avgpool = nn.AvgPool2d(kernel_size, stride)

    def forward(self, x):
        x_exp = torch.exp(x)
        x_exp_pool = self.avgpool(x_exp)
        x = self.avgpool(x_exp * x)
        return x / x_exp_pool

class Flatten(nn.Module):
    def forward(self, x):
        return x.view(x.size(0), -1)
    
class ChannelAtt(nn.Module):
    def __init__(self, gate_channels, reduction_ratio=2, pool_types=['avg', 'max','soft']):
        super(ChannelAtt, self).__init__()
        self.gate_channels = gate_channels
        self.mlp = nn.Sequential(
            Flatten(),
            nn.Linear(gate_channels, gate_channels // reduction_ratio),
            nn.ReLU()
            #nn.Linear(gate_channels // reduction_ratio, gate_channels)
        )
        self.pool_types = pool_types
        self.incr = nn.Linear(gate_channels // reduction_ratio, gate_channels)

    def forward(self, x):
        channel_att_sum = None
        avg_pool = F.avg_pool2d(x, (x.size(2), x.size(3)), stride=(x.size(2), x.size(3)))
        max_pool = F.max_pool2d(x, (x.size(2), x.size(3)), stride=(x.size(2), x.size(3)))
        avgpoolmlp = self.mlp(avg_pool)
        maxpoolmlp=self.mlp(max_pool)
        pooladd = avgpoolmlp+maxpoolmlp

        self.pool = SoftPool2d(kernel_size=(x.size(2), x.size(3)), stride=(x.size(2), x.size(3)))
        soft_pool = self.mlp(self.pool(x))
        weightPool = soft_pool * pooladd
        # channel_att_sum = self.mlp(weightPool)
        channel_att_sum = self.incr(weightPool)
        Att = torch.sigmoid(channel_att_sum).unsqueeze(2).unsqueeze(3).expand_as(x)
        return Att

class FusionAttention(nn.Module):
    def __init__(self,
                 dim=256,
                 ssmdims=256,
                 num_heads=16,
                 qkv_bias=False,
                 window_size=8,
                 relative_pos_embedding=True
                 ):
        super().__init__()
        self.num_heads = num_heads
        head_dim = dim // self.num_heads
        self.scale = head_dim ** -0.5
        self.ws = window_size

        self.qkv = Conv(dim, 3*dim, kernel_size=1, bias=qkv_bias)
        self.local1 = ConvBN(ssmdims, dim, kernel_size=3)
        self.local2 = ConvBN(ssmdims, dim, kernel_size=1)
        self.proj = SeparableConvBN(dim, dim, kernel_size=window_size)

        self.attn_x = nn.AvgPool2d(kernel_size=(window_size, 1), stride=1,  padding=(window_size//2 - 1, 0))
        self.attn_y = nn.AvgPool2d(kernel_size=(1, window_size), stride=1, padding=(0, window_size//2 - 1))

        self.relative_pos_embedding = relative_pos_embedding

        if self.relative_pos_embedding:
            # define a parameter table of relative position bias
            self.relative_position_bias_table = nn.Parameter(
                torch.zeros((2 * window_size - 1) * (2 * window_size - 1), num_heads))  # 2*Wh-1 * 2*Ww-1, nH

            # get pair-wise relative position index for each token inside the window
            coords_h = torch.arange(self.ws)
            coords_w = torch.arange(self.ws)
            coords = torch.stack(torch.meshgrid([coords_h, coords_w]))  # 2, Wh, Ww
            coords_flatten = torch.flatten(coords, 1)  # 2, Wh*Ww
            relative_coords = coords_flatten[:, :, None] - coords_flatten[:, None, :]  # 2, Wh*Ww, Wh*Ww
            relative_coords = relative_coords.permute(1, 2, 0).contiguous()  # Wh*Ww, Wh*Ww, 2
            relative_coords[:, :, 0] += self.ws - 1  # shift to start from 0
            relative_coords[:, :, 1] += self.ws - 1
            relative_coords[:, :, 0] *= 2 * self.ws - 1
            relative_position_index = relative_coords.sum(-1)  # Wh*Ww, Wh*Ww
            self.register_buffer("relative_position_index", relative_position_index)

            trunc_normal_(self.relative_position_bias_table, std=.02)

    def pad(self, x, ps):
        _, _, H, W = x.size()
        if W % ps != 0:
            x = F.pad(x, (0, ps - W % ps), mode='reflect')
        if H % ps != 0:
            x = F.pad(x, (0, 0, 0, ps - H % ps), mode='reflect')
        return x

    def pad_out(self, x):
        x = F.pad(x, pad=(0, 1, 0, 1), mode='reflect')
        return x

    def forward(self, x, y):
        ## x from res, need global; y from smm, need local
        B, C, H, W = x.shape

        local = self.local2(y) + self.local1(y)

        x = self.pad(x, self.ws)
        B, C, Hp, Wp = x.shape
        qkv = self.qkv(x)

        q, k, v = rearrange(qkv, 'b (qkv h d) (hh ws1) (ww ws2) -> qkv (b hh ww) h (ws1 ws2) d', h=self.num_heads,
                            d=C//self.num_heads, hh=Hp//self.ws, ww=Wp//self.ws, qkv=3, ws1=self.ws, ws2=self.ws)

        dots = (q @ k.transpose(-2, -1)) * self.scale

        if self.relative_pos_embedding:
            relative_position_bias = self.relative_position_bias_table[self.relative_position_index.view(-1)].view(
                self.ws * self.ws, self.ws * self.ws, -1)  # Wh*Ww,Wh*Ww,nH
            relative_position_bias = relative_position_bias.permute(2, 0, 1).contiguous()  # nH, Wh*Ww, Wh*Ww
            dots += relative_position_bias.unsqueeze(0)

        attn = dots.softmax(dim=-1)
        attn = attn @ v

        attn = rearrange(attn, '(b hh ww) h (ws1 ws2) d -> b (h d) (hh ws1) (ww ws2)', h=self.num_heads,
                         d=C//self.num_heads, hh=Hp//self.ws, ww=Wp//self.ws, ws1=self.ws, ws2=self.ws)

        attn = attn[:, :, :H, :W]

        out = self.attn_x(F.pad(attn, pad=(0, 0, 0, 1), mode='reflect')) + \
              self.attn_y(F.pad(attn, pad=(0, 1, 0, 0), mode='reflect'))

        out = out + local
        out = self.pad_out(out)
        out = self.proj(out)
        # print(out.size())
        out = out[:, :, :H, :W]

        return out


class FusionBlock(nn.Module):
    def __init__(self, dim=256, ssmdims=256, num_heads=16,  mlp_ratio=4., qkv_bias=False, drop=0., attn_drop=0.,
                 drop_path=0., act_layer=nn.ReLU6, norm_layer=nn.BatchNorm2d, window_size=8):
        super().__init__()
        self.normx = norm_layer(dim)
        self.normy = norm_layer(ssmdims)
        self.attn = FusionAttention(dim, ssmdims, num_heads=num_heads, qkv_bias=qkv_bias, window_size=window_size)

        self.drop_path = DropPath(drop_path) if drop_path > 0. else nn.Identity()
        mlp_hidden_dim = int(dim * mlp_ratio)
        self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, out_features=dim, act_layer=act_layer, drop=drop)
        self.norm2 = norm_layer(dim)

    def forward(self, x, y):

        x = x + self.drop_path(self.attn(self.normx(x), self.normy(y)))
        x = x + self.drop_path(self.mlp(self.norm2(x)))

        return x
    
class RS3Mamba(nn.Module):
    def __init__(self,
                 decode_channels=64,
                 dropout=0.1,
                 backbone_name='swsl_resnet18',
                 pretrained=True,
                 window_size=8,
                 num_classes=6
                 ):
        super().__init__()

        self.backbone = timm.create_model(backbone_name, features_only=True, output_stride=32,
                                          out_indices=(1, 2, 3, 4), pretrained=pretrained)
        self.conv1 = self.backbone.conv1
        self.bn1 = self.backbone.bn1
        self.act1 = self.backbone.act1
        self.maxpool = self.backbone.maxpool
        self.layers = nn.ModuleList()
        self.layers.append(self.backbone.layer1)
        self.layers.append(self.backbone.layer2)
        self.layers.append(self.backbone.layer3)
        self.layers.append(self.backbone.layer4)

        self.stem = nn.Sequential(
              nn.Conv2d(3, 48, kernel_size=7, stride=2, padding=3),
              nn.InstanceNorm2d(48, eps=1e-5, affine=True),
        )
        self.vssm_encoder = VSSMEncoder(patch_size=2, in_chans=48)
        encoder_channels = self.backbone.feature_info.channels()
        ssm_dims=[96, 192, 384, 768]

        self.Fuse = nn.ModuleList()
        self.decoder = Decoder(encoder_channels, decode_channels, dropout, window_size, num_classes)
        for i in range(4):
            fuse = FusionBlock(encoder_channels[i], ssm_dims[i])
            self.Fuse.append(fuse)
        

    def forward(self, x):
        h, w = x.size()[-2:]
        ssmx = self.stem(x)
        vss_outs = self.vssm_encoder(ssmx) # 48*128*128, 96*64*64, 192*32*32, 384*16*16, 768*8*8

        ress = []
        x = self.conv1(x)
        x = self.bn1(x)
        x = self.act1(x)
        x = self.maxpool(x)
        for i in range(len(self.layers)):
            x = self.layers[i](x)
            x = self.Fuse[i](x, vss_outs[i+1])
            res = x
            ress.append(res)

        x = self.decoder(ress[0], ress[1], ress[2], ress[3], h, w)
        return x

def load_pretrained_ckpt(
    model, 
    ckpt_path="./pretrain/vmamba_tiny_e292.pth"
):
    
    print(f"Loading weights from: {ckpt_path}")
    skip_params = ["norm.weight", "norm.bias", "head.weight", "head.bias", 
                   "patch_embed.proj.weight", "patch_embed.proj.bias", 
                   "patch_embed.norm.weight", "patch_embed.norm.weight"]    

    ckpt = torch.load(ckpt_path, map_location='cpu')
    model_dict = model.state_dict()
    for k, v in ckpt['model'].items():
        if k in skip_params:
            print(f"Skipping weights: {k}")
            continue
        kr = f"vssm_encoder.{k}"
        if "downsample" in kr:
            i_ds = int(re.findall(r"layers\.(\d+)\.downsample", kr)[0])
            kr = kr.replace(f"layers.{i_ds}.downsample", f"downsamples.{i_ds}")
            assert kr in model_dict.keys()
        if kr in model_dict.keys():
            assert v.shape == model_dict[kr].shape, f"Shape mismatch: {v.shape} vs {model_dict[kr].shape}"
            model_dict[kr] = v
        else:
            print(f"Passing weights: {k}")
        
    model.load_state_dict(model_dict)
    print('Load vmamba_tiny_e292 Done!')

    return model