DeepMAC support for point supervised dataset.

PiperOrigin-RevId: 445217499

research/object_detection/README.md

@@ -103,12 +103,12 @@ can also be applied to Mask R-CNN or without any detector at all.
 Please see links below for more details
 
 *   [DeepMAC documentation](g3doc/deepmac.md).
-*   [Mask RCNN code](https://github.com/tensorflow/models/tree/master/official/projects/deepmac_maskrcnn)
+*   [Mask RCNN code](https://github.com/tensorflow/models/tree/master/official/vision/beta/projects/deepmac_maskrcnn)
     in TF Model garden code base.
 *   [DeepMAC Colab](./colab_tutorials/deepmac_colab.ipynb) that lets you run a
     pre-trained DeepMAC model on user-specified boxes. Note that you are not
     restricted to COCO classes!
-*   Project website - [git.io/deepmac](https://google.github.io/deepmac/)
+*   Project website - [git.io/deepmac](https://git.io/deepmac)
 
 <b>Thanks to contributors</b>: Vighnesh Birodkar, Zhichao Lu, Siyang Li,
  Vivek Rathod, Jonathan Huang

research/object_detection/core/keypoint_ops.py

@@ -22,6 +22,8 @@ the coordinates of the keypoint.
 import numpy as np
 import tensorflow.compat.v1 as tf
 
+from object_detection.utils import shape_utils
+
 
 def scale(keypoints, y_scale, x_scale, scope=None):
   """Scales keypoint coordinates in x and y dimensions.
@@ -345,7 +347,8 @@ def keypoint_weights_from_visibilities(keypoint_visibilities,
   """
   keypoint_visibilities.get_shape().assert_has_rank(2)
   if per_keypoint_weights is None:
-    num_keypoints = keypoint_visibilities.shape.as_list()[1]
+    num_keypoints = shape_utils.combined_static_and_dynamic_shape(
+        keypoint_visibilities)[1]
     per_keypoint_weight_mult = tf.ones((1, num_keypoints,), dtype=tf.float32)
   else:
     per_keypoint_weight_mult = tf.expand_dims(per_keypoint_weights, axis=0)

research/object_detection/g3doc/deepmac.md

@@ -81,7 +81,7 @@ Resolution | Mask head     | Config name                                | Mask m
 
 *   [Mask RCNN code](https://github.com/tensorflow/models/tree/master/official/vision/beta/projects/deepmac_maskrcnn)
     in TF Model garden code base.
-*   Project website - [git.io/deepmac](https://google.github.io/deepmac/)
+*   Project website - [git.io/deepmac](https://git.io/deepmac)
 
 ## Citation
 

research/object_detection/meta_architectures/deepmac_meta_arch.py

@@ -34,6 +34,7 @@ MASK_LOGITS_GT_BOXES = 'MASK_LOGITS_GT_BOXES'
 DEEP_MASK_ESTIMATION = 'deep_mask_estimation'
 DEEP_MASK_BOX_CONSISTENCY = 'deep_mask_box_consistency'
 DEEP_MASK_COLOR_CONSISTENCY = 'deep_mask_color_consistency'
+DEEP_MASK_POINTLY_SUPERVISED = 'deep_mask_pointly_supervised'
 SELF_SUPERVISED_DEAUGMENTED_MASK_LOGITS = (
     'SELF_SUPERVISED_DEAUGMENTED_MASK_LOGITS')
 DEEP_MASK_AUGMENTED_SELF_SUPERVISION = 'deep_mask_augmented_self_supervision'
@@ -41,8 +42,10 @@ LOSS_KEY_PREFIX = center_net_meta_arch.LOSS_KEY_PREFIX
 NEIGHBORS_2D = [[-1, -1], [-1, 0], [-1, 1],
                 [0, -1], [0, 1],
                 [1, -1], [1, 0], [1, 1]]
+
 WEAK_LOSSES = [DEEP_MASK_BOX_CONSISTENCY, DEEP_MASK_COLOR_CONSISTENCY,
-               DEEP_MASK_AUGMENTED_SELF_SUPERVISION]
+               DEEP_MASK_AUGMENTED_SELF_SUPERVISION,
+               DEEP_MASK_POINTLY_SUPERVISED]
 
 MASK_LOSSES = WEAK_LOSSES + [DEEP_MASK_ESTIMATION]
 
@@ -64,7 +67,8 @@ DeepMACParams = collections.namedtuple('DeepMACParams', [
         'augmented_self_supervision_warmup_steps',
         'augmented_self_supervision_loss',
         'augmented_self_supervision_scale_min',
-        'augmented_self_supervision_scale_max'
+        'augmented_self_supervision_scale_max',
+        'pointly_supervised_keypoint_loss_weight'
     ])
 
 
@@ -78,6 +82,8 @@ def _get_loss_weight(loss_name, config):
     return config.box_consistency_loss_weight
   elif loss_name == DEEP_MASK_AUGMENTED_SELF_SUPERVISION:
     return config.augmented_self_supervision_loss_weight
+  elif loss_name == DEEP_MASK_POINTLY_SUPERVISED:
+    return config.pointly_supervised_keypoint_loss_weight
   else:
     raise ValueError('Unknown loss - {}'.format(loss_name))
 
@@ -1356,6 +1362,11 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
       loss: A [batch_size, num_instances] shaped tensor with the loss for each
         instance.
     """
+
+    if mask_gt is None:
+      logging.info('No mask GT provided, mask loss is 0.')
+      return tf.zeros_like(boxes[:, :, 0])
+
     batch_size, num_instances = tf.shape(boxes)[0], tf.shape(boxes)[1]
     mask_logits = self._resize_logits_like_gt(mask_logits, mask_gt)
 
@@ -1572,9 +1583,86 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
 
     return loss
 
+  def _compute_pointly_supervised_loss_from_keypoints(
+      self, mask_logits, keypoints_gt, keypoints_depth_gt):
+    """Computes per-point mask loss from keypoints.
+
+    Args:
+      mask_logits: A [batch_size, num_instances, height, width] float tensor
+        denoting predicted masks.
+      keypoints_gt: A [batch_size, num_instances, num_keypoints, 2] float tensor
+        of normalize keypoint coordinates.
+      keypoints_depth_gt: A [batch_size, num_instances, num_keyponts] float
+        tensor of keypoint depths. We assume that +1 is foreground and -1
+        is background.
+    Returns:
+      loss: Pointly supervised loss with shape [batch_size, num_instances].
+    """
+
+    if keypoints_gt is None:
+      logging.info(('Returning 0 pointly supervised loss because '
+                    'keypoints are not given.'))
+      return tf.zeros(tf.shape(mask_logits)[:2])
+
+    if keypoints_depth_gt is None:
+      logging.info(('Returning 0 pointly supervised loss because '
+                    'keypoint depths are not given.'))
+      return tf.zeros(tf.shape(mask_logits)[:2])
+
+    if not self._deepmac_params.predict_full_resolution_masks:
+      raise NotImplementedError(
+          'Pointly supervised loss not implemented with RoIAlign.')
+
+    num_keypoints = tf.shape(keypoints_gt)[2]
+    keypoints_nan = tf.math.is_nan(keypoints_gt)
+    keypoints_gt = tf.where(
+        keypoints_nan, tf.zeros_like(keypoints_gt), keypoints_gt)
+    weights = tf.cast(
+        tf.logical_not(tf.reduce_any(keypoints_nan, axis=3)), tf.float32)
+
+    height, width = tf.shape(mask_logits)[2], tf.shape(mask_logits)[3]
+    ky, kx = tf.unstack(keypoints_gt, axis=3)
+    height_f, width_f = tf.cast(height, tf.float32), tf.cast(width, tf.float32)
+
+    ky = tf.clip_by_value(tf.cast(ky * height_f, tf.int32), 0, height - 1)
+    kx = tf.clip_by_value(tf.cast(kx * width_f, tf.int32), 0, width - 1)
+    keypoints_gt_int = tf.stack([ky, kx], axis=3)
+
+    mask_logits_flat, batch_size, num_instances = flatten_first2_dims(
+        mask_logits)
+    keypoints_gt_int_flat, _, _ = flatten_first2_dims(keypoints_gt_int)
+    keypoint_depths_flat, _, _ = flatten_first2_dims(keypoints_depth_gt)
+    weights_flat = tf.logical_not(
+        tf.reduce_any(keypoints_nan, axis=2))
+    weights_flat, _, _ = flatten_first2_dims(weights)
+
+    # TODO(vighneshb): Replace with bilinear interpolation
+    point_mask_logits = tf.gather_nd(
+        mask_logits_flat, keypoints_gt_int_flat, batch_dims=1)
+
+    point_mask_logits = tf.reshape(
+        point_mask_logits, [batch_size * num_instances, num_keypoints, 1])
+
+    labels = tf.cast(keypoint_depths_flat > 0.0, tf.float32)
+    labels = tf.reshape(
+        labels, [batch_size * num_instances, num_keypoints, 1])
+    weights_flat = tf.reshape(
+        weights_flat, [batch_size * num_instances, num_keypoints, 1])
+
+    loss = self._deepmac_params.classification_loss(
+        prediction_tensor=point_mask_logits, target_tensor=labels,
+        weights=weights_flat
+    )
+
+    loss = self._aggregate_classification_loss(
+        loss, gt=labels, pred=point_mask_logits, method='normalize_auto')
+
+    return tf.reshape(loss, [batch_size, num_instances])
+
   def _compute_deepmac_losses(
       self, boxes, masks_logits, masks_gt, image,
-      self_supervised_masks_logits=None):
+      self_supervised_masks_logits=None, keypoints_gt=None,
+      keypoints_depth_gt=None):
     """Returns the mask loss per instance.
 
     Args:
@@ -1584,19 +1672,28 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
         float tensor containing the instance mask predictions in their logit
         form.
       masks_gt: A [batch_size, num_instances, output_height, output_width] float
-        tensor containing the groundtruth masks.
+        tensor containing the groundtruth masks. If masks_gt is None,
+        DEEP_MASK_ESTIMATION is filled with 0s.
       image: [batch_size, output_height, output_width, channels] float tensor
         denoting the input image.
       self_supervised_masks_logits: Optional self-supervised mask logits to
         compare against of same shape as mask_logits.
+      keypoints_gt: A float tensor of shape
+        [batch_size, num_instances, num_keypoints, 2], representing the points
+        where we have mask supervision.
+      keypoints_depth_gt: A float tensor of shape
+        [batch_size, num_instances, num_keypoints] of keypoint depths which
+        indicate the mask label at the keypoint locations. depth=+1 is
+        foreground and depth=-1 is background.
 
     Returns:
-      mask_prediction_loss: A [batch_size, num_instances] shaped float tensor
-        containing the mask loss for each instance in the batch.
-      box_consistency_loss: A [batch_size, num_instances] shaped float tensor
-        containing the box consistency loss for each instance in the batch.
-      box_consistency_loss: A [batch_size, num_instances] shaped float tensor
-        containing the color consistency loss in the batch.
+      tensor_dict: A dictionary with 4 keys, each mapping to a tensor of shape
+        [batch_size, num_instances]. The 4 keys are:
+          - DEEP_MASK_ESTIMATION
+          - DEEP_MASK_BOX_CONSISTENCY
+          - DEEP_MASK_COLOR_CONSISTENCY
+          - DEEP_MASK_AUGMENTED_SELF_SUPERVISION
+          - DEEP_MASK_POINTLY_SUPERVISED
     """
 
     if tf.keras.backend.learning_phase():
@@ -1611,11 +1708,11 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
     else:
       boxes_for_crop = boxes
 
-    mask_gt = self._get_groundtruth_mask_output(
-        boxes_for_crop, masks_gt)
-
+    if masks_gt is not None:
+      masks_gt = self._get_groundtruth_mask_output(
+          boxes_for_crop, masks_gt)
     mask_prediction_loss = self._compute_mask_prediction_loss(
-        boxes_for_crop, masks_logits, mask_gt)
+        boxes_for_crop, masks_logits, masks_gt)
 
     box_consistency_loss = self._compute_box_consistency_loss(
         boxes, boxes_for_crop, masks_logits)
@@ -1627,11 +1724,16 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
         masks_logits, self_supervised_masks_logits, boxes,
     )
 
+    pointly_supervised_loss = (
+        self._compute_pointly_supervised_loss_from_keypoints(
+            masks_logits, keypoints_gt, keypoints_depth_gt))
+
     return {
         DEEP_MASK_ESTIMATION: mask_prediction_loss,
         DEEP_MASK_BOX_CONSISTENCY: box_consistency_loss,
         DEEP_MASK_COLOR_CONSISTENCY: color_consistency_loss,
-        DEEP_MASK_AUGMENTED_SELF_SUPERVISION: self_supervised_loss
+        DEEP_MASK_AUGMENTED_SELF_SUPERVISION: self_supervised_loss,
+        DEEP_MASK_POINTLY_SUPERVISED: pointly_supervised_loss,
     }
 
   def _get_lab_image(self, preprocessed_image):
@@ -1644,6 +1746,13 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
                                  ' consistency loss is not supported in TF1.'))
     return tfio.experimental.color.rgb_to_lab(raw_image)
 
+  def _maybe_get_gt_batch(self, field):
+    """Returns a batch of groundtruth tensors if available, else None."""
+    if self.groundtruth_has_field(field):
+      return _batch_gt_list(self.groundtruth_lists(field))
+    else:
+      return None
+
   def _compute_masks_loss(self, prediction_dict):
     """Computes the mask loss.
 
@@ -1671,16 +1780,12 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
         prediction_dict['preprocessed_inputs'], (height, width))
     image = self._get_lab_image(preprocessed_image)
 
-    # Iterate over multiple preidctions by backbone (for hourglass length=2)
-
-    gt_boxes = _batch_gt_list(
-        self.groundtruth_lists(fields.BoxListFields.boxes))
-    gt_weights = _batch_gt_list(
-        self.groundtruth_lists(fields.BoxListFields.weights))
-    gt_masks = _batch_gt_list(
-        self.groundtruth_lists(fields.BoxListFields.masks))
-    gt_classes = _batch_gt_list(
-        self.groundtruth_lists(fields.BoxListFields.classes))
+    gt_boxes = self._maybe_get_gt_batch(fields.BoxListFields.boxes)
+    gt_weights = self._maybe_get_gt_batch(fields.BoxListFields.weights)
+    gt_classes = self._maybe_get_gt_batch(fields.BoxListFields.classes)
+    gt_masks = self._maybe_get_gt_batch(fields.BoxListFields.masks)
+    gt_keypoints = self._maybe_get_gt_batch(fields.BoxListFields.keypoints)
+    gt_depths = self._maybe_get_gt_batch(fields.BoxListFields.keypoint_depths)
 
     mask_logits_list = prediction_dict[MASK_LOGITS_GT_BOXES]
     self_supervised_mask_logits_list = prediction_dict.get(
@@ -1688,6 +1793,7 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
         [None] * len(mask_logits_list))
 
     assert len(mask_logits_list) == len(self_supervised_mask_logits_list)
+    # Iterate over multiple preidctions by backbone (for hourglass length=2)
     for (mask_logits, self_supervised_mask_logits) in zip(
         mask_logits_list, self_supervised_mask_logits_list):
 
@@ -1698,9 +1804,11 @@ class DeepMACMetaArch(center_net_meta_arch.CenterNetMetaArch):
 
       sample_loss_dict = self._compute_deepmac_losses(
           gt_boxes, mask_logits, gt_masks, image,
-          self_supervised_masks_logits=self_supervised_mask_logits)
+          self_supervised_masks_logits=self_supervised_mask_logits,
+          keypoints_gt=gt_keypoints, keypoints_depth_gt=gt_depths)
 
       sample_loss_dict[DEEP_MASK_ESTIMATION] *= valid_mask_weights
+
       for loss_name in WEAK_LOSSES:
         sample_loss_dict[loss_name] *= gt_weights
 

research/object_detection/meta_architectures/deepmac_meta_arch_test.py

@@ -108,7 +108,8 @@ def build_meta_arch(**override_params):
       augmented_self_supervision_warmup_steps=0,
       augmented_self_supervision_loss='loss_dice',
       augmented_self_supervision_scale_min=1.0,
-      augmented_self_supervision_scale_max=1.0)
+      augmented_self_supervision_scale_max=1.0,
+      pointly_supervised_keypoint_loss_weight=1.0)
 
   params.update(override_params)
 
@@ -197,6 +198,7 @@ DEEPMAC_PROTO_TEXT = """
   augmented_self_supervision_flip_probability: 0.9
   augmented_self_supervision_scale_min: 0.42
   augmented_self_supervision_scale_max: 1.42
+  pointly_supervised_keypoint_loss_weight: 0.13
 
 """
 
@@ -225,6 +227,8 @@ class DeepMACUtilsTest(tf.test.TestCase, parameterized.TestCase):
         params.augmented_self_supervision_scale_min, 0.42)
     self.assertAlmostEqual(
         params.augmented_self_supervision_scale_max, 1.42)
+    self.assertAlmostEqual(
+        params.pointly_supervised_keypoint_loss_weight, 0.13)
 
   def test_subsample_trivial(self):
     """Test subsampling masks."""
@@ -1440,9 +1444,12 @@ class DeepMACMetaArchTest(tf.test.TestCase, parameterized.TestCase):
                            loss_at_100[loss_key].numpy())
 
   def test_loss_keys(self):
-    model = build_meta_arch(use_dice_loss=True,
-                            augmented_self_supervision_loss_weight=1.0,
-                            augmented_self_supervision_max_translation=0.5)
+    model = build_meta_arch(
+        use_dice_loss=True,
+        augmented_self_supervision_loss_weight=1.0,
+        augmented_self_supervision_max_translation=0.5,
+        predict_full_resolution_masks=True)
+
     prediction = {
         'preprocessed_inputs': tf.random.normal((3, 32, 32, 3)),
         'MASK_LOGITS_GT_BOXES': [tf.random.normal((3, 5, 8, 8))] * 2,
@@ -1457,7 +1464,9 @@ class DeepMACMetaArchTest(tf.test.TestCase, parameterized.TestCase):
             tf.convert_to_tensor([[0., 0., 1., 1.]] * 5)] * 3,
         groundtruth_classes_list=[tf.one_hot([1, 0, 1, 1, 1], depth=6)] * 3,
         groundtruth_weights_list=[tf.ones(5)] * 3,
-        groundtruth_masks_list=[tf.ones((5, 32, 32))] * 3)
+        groundtruth_masks_list=[tf.ones((5, 32, 32))] * 3,
+        groundtruth_keypoints_list=[tf.zeros((5, 10, 2))] * 3,
+        groundtruth_keypoint_depths_list=[tf.zeros((5, 10))] * 3)
     loss = model.loss(prediction, tf.constant([[32, 32, 3.0]]))
     self.assertGreater(loss['Loss/deep_mask_estimation'], 0.0)
 
@@ -1495,11 +1504,15 @@ class DeepMACMetaArchTest(tf.test.TestCase, parameterized.TestCase):
     classes = [tf.one_hot([1, 0, 1, 1, 1], depth=6)]
     weights = [tf.ones(5)]
     masks = [tf.ones((5, 32, 32))]
+    keypoints = [tf.zeros((5, 10, 2))]
+    keypoint_depths = [tf.ones((5, 10))]
     model.provide_groundtruth(
         groundtruth_boxes_list=boxes,
         groundtruth_classes_list=classes,
         groundtruth_weights_list=weights,
-        groundtruth_masks_list=masks)
+        groundtruth_masks_list=masks,
+        groundtruth_keypoints_list=keypoints,
+        groundtruth_keypoint_depths_list=keypoint_depths)
     loss = model.loss(prediction, tf.constant([[32, 32, 3.0]]))
     self.assertGreater(loss['Loss/deep_mask_estimation'], 0.0)
 
@@ -1513,7 +1526,8 @@ class DeepMACMetaArchTest(tf.test.TestCase, parameterized.TestCase):
         deepmac_meta_arch.DEEP_MASK_BOX_CONSISTENCY: rng.uniform(1, 5),
         deepmac_meta_arch.DEEP_MASK_COLOR_CONSISTENCY: rng.uniform(1, 5),
         deepmac_meta_arch.DEEP_MASK_AUGMENTED_SELF_SUPERVISION: (
-            rng.uniform(1, 5))
+            rng.uniform(1, 5)),
+        deepmac_meta_arch.DEEP_MASK_POINTLY_SUPERVISED: rng.uniform(1, 5)
     }
 
     weighted_model = build_meta_arch(
@@ -1531,14 +1545,18 @@ class DeepMACMetaArchTest(tf.test.TestCase, parameterized.TestCase):
             loss_weights[deepmac_meta_arch.DEEP_MASK_COLOR_CONSISTENCY]),
         augmented_self_supervision_loss_weight=(
             loss_weights[deepmac_meta_arch.DEEP_MASK_AUGMENTED_SELF_SUPERVISION]
-            )
+            ),
+        pointly_supervised_keypoint_loss_weight=(
+            loss_weights[deepmac_meta_arch.DEEP_MASK_POINTLY_SUPERVISED])
         )
 
     weighted_model.provide_groundtruth(
         groundtruth_boxes_list=boxes,
         groundtruth_classes_list=classes,
         groundtruth_weights_list=weights,
-        groundtruth_masks_list=masks)
+        groundtruth_masks_list=masks,
+        groundtruth_keypoints_list=keypoints,
+        groundtruth_keypoint_depths_list=keypoint_depths)
 
     weighted_loss = weighted_model.loss(prediction, tf.constant([[32, 32, 3]]))
     for mask_loss in deepmac_meta_arch.MASK_LOSSES:
@@ -1613,6 +1631,36 @@ class DeepMACMetaArchTest(tf.test.TestCase, parameterized.TestCase):
     self.assertAlmostEqual(loss_at_20[loss_key].numpy(),
                            loss_at_100[loss_key].numpy())
 
+  def test_pointly_supervised_loss(self):
+    tf.keras.backend.set_learning_phase(True)
+    model = build_meta_arch(
+        use_dice_loss=False,
+        predict_full_resolution_masks=True,
+        network_type='cond_inst1',
+        dim=9,
+        pixel_embedding_dim=8,
+        use_instance_embedding=False,
+        use_xy=False,
+        pointly_supervised_keypoint_loss_weight=1.0)
+
+    mask_logits = np.zeros((1, 1, 32, 32), dtype=np.float32)
+    keypoints = np.zeros((1, 1, 1, 2), dtype=np.float32)
+    keypoint_depths = np.zeros((1, 1, 1), dtype=np.float32)
+
+    keypoints[..., 0] = 0.5
+    keypoints[..., 1] = 0.5
+    keypoint_depths[..., 0] = 1.0
+    mask_logits[:, :, 16, 16] = 1.0
+
+    expected_loss = tf.nn.sigmoid_cross_entropy_with_logits(
+        logits=[[1.0]], labels=[[1.0]]
+    ).numpy()
+    loss = model._compute_pointly_supervised_loss_from_keypoints(
+        mask_logits, keypoints, keypoint_depths)
+
+    self.assertEqual(loss.shape, (1, 1))
+    self.assertAllClose(expected_loss, loss)
+
 
 @unittest.skipIf(tf_version.is_tf1(), 'Skipping TF2.X only test.')
 class FullyConnectedMaskHeadTest(tf.test.TestCase):

research/object_detection/model_lib_v2.py

@@ -41,6 +41,7 @@ from object_detection.utils import visualization_utils as vutils
 
 MODEL_BUILD_UTIL_MAP = model_lib.MODEL_BUILD_UTIL_MAP
 NUM_STEPS_PER_ITERATION = 100
+LOG_EVERY = 100
 
 
 RESTORE_MAP_ERROR_TEMPLATE = (
@@ -536,8 +537,7 @@ def train_loop(
 
   # Write the as-run pipeline config to disk.
   if save_final_config:
-    tf.logging.info('Saving pipeline config file to directory {}'.format(
-        model_dir))
+    tf.logging.info('Saving pipeline config file to directory %s', model_dir)
     pipeline_config_final = create_pipeline_proto_from_configs(configs)
     config_util.save_pipeline_config(pipeline_config_final, model_dir)
 
@@ -699,7 +699,7 @@ def train_loop(
           for key, val in logged_dict.items():
             tf.compat.v2.summary.scalar(key, val, step=global_step)
 
-          if global_step.value() - logged_step >= 100:
+          if global_step.value() - logged_step >= LOG_EVERY:
             logged_dict_np = {name: value.numpy() for name, value in
                               logged_dict.items()}
             tf.logging.info(
@@ -1091,8 +1091,7 @@ def eval_continuously(
   configs = merge_external_params_with_configs(
       configs, None, kwargs_dict=kwargs)
   if model_dir and save_final_config:
-    tf.logging.info('Saving pipeline config file to directory {}'.format(
-        model_dir))
+    tf.logging.info('Saving pipeline config file to directory %s', model_dir)
     pipeline_config_final = create_pipeline_proto_from_configs(configs)
     config_util.save_pipeline_config(pipeline_config_final, model_dir)
 
@@ -1104,11 +1103,11 @@ def eval_continuously(
   eval_on_train_input_config.sample_1_of_n_examples = (
       sample_1_of_n_eval_on_train_examples)
   if override_eval_num_epochs and eval_on_train_input_config.num_epochs != 1:
-    tf.logging.warning('Expected number of evaluation epochs is 1, but '
-                       'instead encountered `eval_on_train_input_config'
-                       '.num_epochs` = '
-                       '{}. Overwriting `num_epochs` to 1.'.format(
-                           eval_on_train_input_config.num_epochs))
+    tf.logging.warning(
+        ('Expected number of evaluation epochs is 1, but '
+         'instead encountered `eval_on_train_input_config'
+         '.num_epochs` = %d. Overwriting `num_epochs` to 1.'),
+        eval_on_train_input_config.num_epochs)
     eval_on_train_input_config.num_epochs = 1
 
   if kwargs['use_bfloat16']:

research/object_detection/protos/center_net.proto

@@ -403,7 +403,7 @@ message CenterNet {
 
 
   // Mask prediction support using DeepMAC. See https://arxiv.org/abs/2104.00613
-  // Next ID 33
+  // Next ID 34
   message DeepMACMaskEstimation {
     // The loss used for penalizing mask predictions.
     optional ClassificationLoss classification_loss = 1;
@@ -520,6 +520,17 @@ message CenterNet {
     optional float augmented_self_supervision_scale_min = 31 [default=1.0];
 
     optional float augmented_self_supervision_scale_max = 32 [default=1.0];
+
+    // The loss weight for the pointly supervised loss as defined in the paper
+    // https://arxiv.org/abs/2104.06404
+
+    // We assume that point supervision is given through a keypoint dataset,
+    // where each keypoint represents a sampled point, and its depth indicates
+    // whether it is a foreground or background point.
+    // Depth = +1 is assumed to be foreground and
+    // Depth = -1 is assumed to be background.
+    optional float pointly_supervised_keypoint_loss_weight = 33 [default = 0.0];
+
   }
 
   optional DeepMACMaskEstimation deepmac_mask_estimation = 14;