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我现在使用yolov11进行改进我的目标检测，我的场景是悬挂式单轨小目标异物检测，主要异物有风筝、无...

Creato il: 8 gennaio 2026

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Domanda

我现在使用yolov11进行改进我的目标检测，我的场景是悬挂式单轨小目标异物检测，主要异物有风筝、无人机、塑料布、气球、鸟，数据属于不均衡样本，样本不平衡，有的有2千张，有的只有几百张，YOLOv11没有改进前P,R,MAP50,MAP50-95的结果分别如下：0.923，0.828，0.89，0.719，我的配置文件改为下面的代码后：backbone:

  • [-1, 1, Conv, [64, 3, 2]] # 0
  • [-1, 1, Conv, [128, 3, 2]] # 1
  • [-1, 1, MSFAM, [256]] # 2
  • [-1, 1, Conv, [256, 3, 2]] # 3
  • [-1, 1, MSFAM, [512]] # 4
  • [-1, 1, Conv, [512, 3, 2]] # 5
  • [-1, 2, C3k2, [512, True]] # 6
  • [-1, 1, Conv, [1024, 3, 2]] # 7
  • [-1, 2, C3k2, [1024, True]] # 8
  • [-1, 1, SPPF, [1024, 5]] # 9
  • [-1, 2, C2PSA, [1024]] # 10

head:

top-down PAN

  • [-1, 1, nn.Upsample, [None, 2, "nearest"]] # 11

  • [[-1, 6], 1, Concat, [1]] # 12

  • [-1, 2, C3k2, [512, False]] # 13

  • [-1, 1, nn.Upsample, [None, 2, "nearest"]] # 14

  • [[-1, 4], 1, Concat, [1]] # 15

  • [-1, 2, C3k2, [256, False]] # 16

  • [-1, 1, nn.Upsample, [None, 2, "nearest"]] # 17

  • [[-1, 2], 1, Concat, [1]] # 18

  • [-1, 2, C3k2, [128, False]] # 19 P2_out

bottom-up PAN (replace stride-2 conv with SPDConvLiteRes)

  • [-1, 1, SPDConvLiteResEMA, [256, 3, 2, 0.5]] # 20 P2->P3

  • [[-1, 16], 1, Concat, [1]] # 21

  • [-1, 2, C3k2, [256, False]] # 22 P3_out

  • [-1, 1, SPDConvLiteResEMA, [512, 3, 2, 0.5]] # 23 P3->P4

  • [[-1, 13], 1, Concat, [1]] # 24

  • [-1, 2, C3k2, [512, False]] # 25 P4_out

  • [-1, 1, SPDConvLiteResEMA, [1024, 3, 2, 0.5]] # 26 P4->P5

  • [[-1, 10], 1, Concat, [1]] # 27

  • [-1, 2, C3k2, [1024, True]] # 28 P5_out

  • [[19, 22, 25, 28], 1, DetectLSDECD, [nc, 16, 16]]
    每个模块的代码如下：class ConvBNAct(nn.Module):
    def init(self, c1, c2, k=1, s=1, p=None, g=1, act=True):
    super().init()
    if p is None:
    p = (k - 1) // 2 if isinstance(k, int) else (k[0] // 2, k[1] // 2)
    self.conv = nn.Conv2d(c1, c2, k, s, p, groups=g, bias=False)
    self.bn = nn.BatchNorm2d(c2)
    self.act = nn.SiLU() if act else nn.Identity()

    def forward(self, x):
    return self.act(self.bn(self.conv(x)))

============================================================

1) MSFAM (replace first 2 C3k2 in backbone)

Paper: MSFAM has multi-branch conv with 1x1/3x3/5x5 + residual

Ref: (改进YOLOv11n的无人机航拍图像小目标检测模型_王井阳.pdf)

============================================================

class MSFAM(nn.Module):
"""
MSFAM(c1, c2):
- residual branch
- main branch: 1x1 -> split into 3 sub-branches:
b1: 3x3 -> 1x1
b2: 5x5 -> 1x1
b3: 1x1
- concat -> 1x1 fuse -> + residual
"""
def init(self, c1, c2, act=True):
super().init()
self.res = ConvBNAct(c1, c2, k=1, s=1, act=act) if c1 != c2 else nn.Identity()

text
    # main stem 1x1 (keep size)
    self.stem = ConvBNAct(c1, c2, k=1, s=1, act=act)

    # three sub-branches
    self.b1 = nn.Sequential(
        ConvBNAct(c2, c2, k=3, s=1, act=act),
        ConvBNAct(c2, c2, k=1, s=1, act=act),
    )
    self.b2 = nn.Sequential(
        ConvBNAct(c2, c2, k=5, s=1, act=act),
        ConvBNAct(c2, c2, k=1, s=1, act=act),
    )
    self.b3 = ConvBNAct(c2, c2, k=1, s=1, act=act)

    # concat(3*c2) -> c2
    self.fuse = ConvBNAct(3 * c2, c2, k=1, s=1, act=act)

def forward(self, x):
    r = self.res(x)
    s = self.stem(x)
    y1 = self.b1(s)
    y2 = self.b2(s)
    y3 = self.b3(s)
    y = self.fuse(torch.cat([y1, y2, y3], dim=1))
    return y + r

class EMA(nn.Module):
def init(self, channels, c2=None, factor=32):
super(EMA, self).init()
self.groups = factor
assert channels % factor == 0
assert channels // self.groups > 0
self.softmax = nn.Softmax(-1)
self.agp = nn.AdaptiveAvgPool2d((1, 1))
self.pool_h = nn.AdaptiveAvgPool2d((None, 1))
self.pool_w = nn.AdaptiveAvgPool2d((1, None))
self.gn = nn.GroupNorm(channels // self.groups, channels // self.groups)
self.conv1x1 = nn.Conv2d(channels // self.groups, channels // self.groups, kernel_size=1, stride=1, padding=0)
self.conv3x3 = nn.Conv2d(channels // self.groups, channels // self.groups, kernel_size=3, stride=1, padding=1)

text
def forward(self, x):
    b, c, h, w = x.size()
    group_x = x.reshape(b * self.groups, -1, h, w)  # b*g,c//g,h,w
    x_h = self.pool_h(group_x)
    x_w = self.pool_w(group_x).permute(0, 1, 3, 2)
    hw = self.conv1x1(torch.cat([x_h, x_w], dim=2))
    x_h, x_w = torch.split(hw, [h, w], dim=2)
    x1 = self.gn(group_x * x_h.sigmoid() * x_w.permute(0, 1, 3, 2).sigmoid())
    x2 = self.conv3x3(group_x)
    x11 = self.softmax(self.agp(x1).reshape(b * self.groups, -1, 1).permute(0, 2, 1))
    x12 = x2.reshape(b * self.groups, c // self.groups, -1)  # b*g, c//g, hw
    x21 = self.softmax(self.agp(x2).reshape(b * self.groups, -1, 1).permute(0, 2, 1))
    x22 = x1.reshape(b * self.groups, c // self.groups, -1)  # b*g, c//g, hw
    weights = (torch.matmul(x11, x12) + torch.matmul(x21, x22)).reshape(b * self.groups, 1, h, w)
    return (group_x * weights.sigmoid()).reshape(b, c, h, w)

import torch
import torch.nn as nn
import torch.nn.functional as F

你工程里已有的 Conv 直接复用（Ultralytics 的 Conv）

from ultralytics.nn.modules.conv import Conv

class SPD(nn.Module):
def init(self, scale=2):
super().init()
assert scale >= 2 and int(scale) == scale
self.scale = int(scale)

text
def forward(self, x):
    b, c, h, w = x.shape
    s = self.scale
    pad_h = (s - h % s) % s
    pad_w = (s - w % s) % s
    if pad_h or pad_w:
        x = F.pad(x, (0, pad_w, 0, pad_h))
        b, c, h, w = x.shape
    x = x.view(b, c, h // s, s, w // s, s)
    x = x.permute(0, 1, 3, 5, 2, 4).contiguous()
    return x.view(b, c * s * s, h // s, w // s)

class SPDConvLiteRes(nn.Module):
"""
Identity-Preserving SPDConvLite：
out = skip(x) + alpha * main(SPD(x))
alpha init=0 -> 刚开始等价于普通下采样，不会掉点
"""
def init(self, c1, c2, k=3, s=2, ratio=0.5, act=True):
super().init()
self.spd = SPD(scale=s)
cin = c1 * s * s
hidden = max(16, int(c2 * ratio))

text
    # baseline 路径：保证“至少不比原来差”
    self.skip = Conv(c1, c2, 1, s, act=act)  # 1x1 stride=s

    # SPD 增强路径
    self.pw1 = Conv(cin, hidden, 1, 1, act=act)
    self.dw  = Conv(hidden, hidden, k, 1, g=hidden, act=act)
    self.pw2 = Conv(hidden, c2, 1, 1, act=act)

    # 门控：0 初始化
    self.alpha = nn.Parameter(torch.zeros(1))

def forward(self, x):
    y = self.spd(x)
    y = self.pw1(y)
    y = self.dw(y)
    y = self.pw2(y)
    return self.skip(x) + self.alpha * y

class SPDConvLiteResEMA(nn.Module):
"""
SPDConvLiteRes + EMA(残差门控)
out = base + alpha * spd_branch; 再做 x = x + beta*(EMA(x)-x)
beta init=0 -> 默认不伤人
"""
def init(self, c1, c2, k=3, s=2, ratio=0.5, ema_factor=32, act=True):
super().init()
self.core = SPDConvLiteRes(c1, c2, k=k, s=s, ratio=ratio, act=act)
self.attn = EMA(c2, factor=ema_factor) # 复用你现有 EMA
self.beta = nn.Parameter(torch.zeros(1)) # 注意力门控（0 初始化）

text
def forward(self, x):
    y = self.core(x)
    a = self.attn(y)
    return y + self.beta * (a - y)

检测头的代码如下：# ultralytics/nn/modules/lsdecd.py

-- coding: utf-8 --

import math
from typing import List

import torch
import torch.nn as nn
import torch.nn.functional as F

关键：继承官方 Detect，保证 stride / loss / 推理解码兼容

from ultralytics.nn.modules.head import Detect

def _choose_gn_groups(c: int, max_groups: int = 16) -> int:
"""选择能整除通道数的 GN groups，避免 GroupNorm 报错。"""
g = min(max_groups, c)
while g > 1 and (c % g) != 0:
g -= 1
return max(g, 1)

class ConvGN(nn.Module):
"""Conv + GroupNorm + SiLU（论文 head 中的 Conv_GN）(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)"""
def init(self, c1, c2, k=1, s=1, p=None, groups=1, gn_groups=16):
super().init()
if p is None:
p = k // 2
self.conv = nn.Conv2d(c1, c2, k, s, p, groups=groups, bias=False)
self.gn = nn.GroupNorm(_choose_gn_groups(c2, gn_groups), c2)
self.act = nn.SiLU()

text
def forward(self, x):
    return self.act(self.gn(self.conv(x)))

class DEConv2d(nn.Module):
"""
DEConv（Detail-Enhanced Convolution）
论文式(4)：DEConv(F) = sum_i FK_i = F(sum_i K_i) = F*K_cvt，可重参数化为普通卷积。(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)

text
这里用 1 组可学习 3x3 kernel W 构造：
  K1: vanilla conv
  K2: CDC(≈CPDC)
  K3: ADC(≈APDC)
  K4: HDC
  K5: VDC
然后 K_cvt = K1+K2+K3+K4+K5，一次 F.conv2d 完成。
"""
def __init__(self, c1, c2, k=3, s=1, p=None, g=1, bias=True):
    super().__init__()
    assert k == 3, "本复现按论文图示 DEConv 使用 3x3（如需扩展可再改）"
    if p is None:
        p = 1
    self.stride = s
    self.padding = p
    self.groups = g
    self.weight = nn.Parameter(torch.empty(c2, c1 // g, 3, 3))
    self.bias = nn.Parameter(torch.zeros(c2)) if bias else None
    nn.init.kaiming_uniform_(self.weight, a=math.sqrt(5))

    self.deploy = False
    self.reparam_conv = None  # 部署态单卷积

@staticmethod
def _cpdc_kernel(w: torch.Tensor) -> torch.Tensor:
    """
    CPDC(central pixel difference conv) 等价核：
    相当于 y = sum_{i!=5} w_i (x_i - x_5)，等价普通卷积核中心为 -sum(neighbors)。
    """
    wc = w.clone()
    # neighbors sum (exclude center [1,1])
    nsum = (w[:, :, 0, 0] + w[:, :, 0, 1] + w[:, :, 0, 2] +
            w[:, :, 1, 0] +                 w[:, :, 1, 2] +
            w[:, :, 2, 0] + w[:, :, 2, 1] + w[:, :, 2, 2])
    wc[:, :, 1, 1] = -nsum
    return wc

@staticmethod
def _apdc_kernel(w: torch.Tensor) -> torch.Tensor:
    """
    APDC(angular pixel difference conv) 等价核（3x3）：
    常用推导的等价系数（见 PDC 补充材料），中心为 0。
    以 w1..w9 对应：
      w1 w2 w3
      w4 w5 w6
      w7 w8 w9
    """
    wa = torch.zeros_like(w)
    w1, w2, w3 = w[:, :, 0, 0], w[:, :, 0, 1], w[:, :, 0, 2]
    w4, w5, w6 = w[:, :, 1, 0], w[:, :, 1, 1], w[:, :, 1, 2]
    w7, w8, w9 = w[:, :, 2, 0], w[:, :, 2, 1], w[:, :, 2, 2]

    wa[:, :, 0, 0] = (w1 - w4)
    wa[:, :, 0, 1] = (w2 - w1)
    wa[:, :, 0, 2] = (w3 - w2)
    wa[:, :, 1, 0] = (w4 - w7)
    wa[:, :, 1, 1] = 0.0
    wa[:, :, 1, 2] = (w6 - w3)
    wa[:, :, 2, 0] = (w7 - w8)
    wa[:, :, 2, 1] = (w8 - w9)
    wa[:, :, 2, 2] = (w9 - w6)
    return wa

@staticmethod
def _hdc_kernel(w: torch.Tensor) -> torch.Tensor:
    """
    HDC(horizontal difference conv) 等价核：
    典型形式：[[w1,0,-w1],[w4,0,-w4],[w7,0,-w7]]
    """
    wh = torch.zeros_like(w)
    wh[:, :, 0, 0] = w[:, :, 0, 0]
    wh[:, :, 1, 0] = w[:, :, 1, 0]
    wh[:, :, 2, 0] = w[:, :, 2, 0]
    wh[:, :, 0, 2] = -w[:, :, 0, 0]
    wh[:, :, 1, 2] = -w[:, :, 1, 0]
    wh[:, :, 2, 2] = -w[:, :, 2, 0]
    return wh

@staticmethod
def _vdc_kernel(w: torch.Tensor) -> torch.Tensor:
    """
    VDC(vertical difference conv) 等价核：
    典型形式：[[w1,w2,w3],[0,0,0],[-w1,-w2,-w3]]
    """
    wv = torch.zeros_like(w)
    wv[:, :, 0, 0] = w[:, :, 0, 0]
    wv[:, :, 0, 1] = w[:, :, 0, 1]
    wv[:, :, 0, 2] = w[:, :, 0, 2]
    wv[:, :, 2, 0] = -w[:, :, 0, 0]
    wv[:, :, 2, 1] = -w[:, :, 0, 1]
    wv[:, :, 2, 2] = -w[:, :, 0, 2]
    return wv

def get_equivalent_kernel_bias(self):
    w = self.weight
    k1 = w
    k2 = self._cpdc_kernel(w)   # CDC ≈ CPDC
    k3 = self._apdc_kernel(w)   # ADC ≈ APDC
    k4 = self._hdc_kernel(w)    # HDC
    k5 = self._vdc_kernel(w)    # VDC
    k = k1 + k2 + k3 + k4 + k5
    b = self.bias
    return k, b

def switch_to_deploy(self):
    """把 DEConv 合并成单个 nn.Conv2d（推理更快；符合论文“可重参数化”）。(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)"""
    if self.deploy:
        return
    k, b = self.get_equivalent_kernel_bias()
    conv = nn.Conv2d(
        in_channels=k.shape[1] * self.groups,
        out_channels=k.shape[0],
        kernel_size=3,
        stride=self.stride,
        padding=self.padding,
        groups=self.groups,
        bias=(b is not None),
    )
    conv.weight.data.copy_(k)
    if b is not None:
        conv.bias.data.copy_(b)
    self.reparam_conv = conv
    self.deploy = True
    # 删除原参数引用
    del self.weight
    if self.bias is not None:
        del self.bias

def forward(self, x):
    if self.deploy and self.reparam_conv is not None:
        return self.reparam_conv(x)

    k, b = self.get_equivalent_kernel_bias()
    return F.conv2d(x, k, b, stride=self.stride, padding=self.padding, groups=self.groups)

class DEConvGN(nn.Module):
"""DEConv + GroupNorm + SiLU（论文 head 中的 DEConv_GN）(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)"""
def init(self, c1, c2, k=3, s=1, p=1, g=1, gn_groups=16):
super().init()
self.de = DEConv2d(c1, c2, k=k, s=s, p=p, g=g, bias=False)
self.gn = nn.GroupNorm(_choose_gn_groups(c2, gn_groups), c2)
self.act = nn.SiLU()

text
def forward(self, x):
    return self.act(self.gn(self.de(x)))

def switch_to_deploy(self):
    self.de.switch_to_deploy()

class Scale(nn.Module):
"""每层一个可学习缩放（常见于 decoupled head 的回归分支）"""
def init(self, init=1.0):
super().init()
self.scale = nn.Parameter(torch.tensor(float(init)))

text
def forward(self, x):
    return x * self.scale

class DetectLSDECD(Detect):
"""
YOLOv11-DEC 的 LSDECD 检测头复现：
- Conv_GN / DEConv_GN 结构（见论文 Fig.3 描述）(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)
- DEConv 可重参数化为普通卷积（论文式(4)）(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)
- 使用 GN（论文说明用于复杂场景鲁棒）(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)

text
YAML args（不含 ch）：
  [nc, reg_max=16, gn_groups=16]
"""
def __init__(self, nc=80, reg_max=16, gn_groups=16, ch=()):
    # 先让父类完成 Detect 必需字段（nl/no/dfl等）
    try:
        super().__init__(nc=nc, ch=ch, reg_max=reg_max)
    except TypeError:
        super().__init__(nc=nc, ch=ch)
        self.reg_max = int(reg_max)

    self.nc = int(nc)
    self.nl = len(ch)
    self.gn_groups = int(gn_groups)

    # reg 输出通道（DFL）
    # 多数 Detect: reg_out = 4*reg_max
    self.reg_out = 4 * int(self.reg_max)
    self.no = self.nc + self.reg_out

    # 论文是 decoupled head：分类/回归分支分离（Fig.3）(YOLOv11-DEC_An_Improved_YOLOv11_Model_for_UAV_Detection_in_Complex_Contexts.pdf)
    c_ = max(16, ch[0] // 4, self.reg_out) if len(ch) else 64

    self.stem = nn.ModuleList([ConvGN(c, c_, k=1, gn_groups=self.gn_groups) for c in ch])

    # “shared”的实现：共享两层 DEConvGN（所有尺度共用）
    self.shared_de1 = DEConvGN(c_, c_, k=3, gn_groups=self.gn_groups)
    self.shared_de2 = DEConvGN(c_, c_, k=3, gn_groups=self.gn_groups)

    # 预测层：每尺度一个（便于 bias_init 按 stride 做合理初始化）
    self.reg_pred = nn.ModuleList([nn.Conv2d(c_, self.reg_out, 1) for _ in ch])
    self.cls_pred = nn.ModuleList([nn.Conv2d(c_, self.nc, 1) for _ in ch])
    self.scales = nn.ModuleList([Scale(1.0) for _ in ch])

    # 必须保证 stride 属性存在（loss 会读）
    if not hasattr(self, "stride"):
        self.stride = torch.zeros(self.nl)

def forward(self, x: List[torch.Tensor]):
    # x: list of feature maps from neck
    outs = []
    for i in range(self.nl):
        f = self.stem[i](x[i])
        f = self.shared_de2(self.shared_de1(f))
        reg = self.scales[i](self.reg_pred[i](f))
        cls = self.cls_pred[i](f)
        outs.append(torch.cat((reg, cls), 1))

    if self.training:
        return outs

    # 复用 Detect 的推理解码（不同版本方法名可能不同）
    if hasattr(self, "_inference"):
        y = self._inference(outs)
        return y if getattr(self, "export", False) else (y, outs)
    if hasattr(self, "inference"):
        y = self.inference(outs)
        return y if getattr(self, "export", False) else (y, outs)

    return outs

def switch_to_deploy(self):
    """把共享 DEConvGN 切到 deploy（合并成普通卷积，加速推理）。"""
    self.shared_de1.switch_to_deploy()
    self.shared_de2.switch_to_deploy()

以上的代码效果很好，0.982，0.923，0.968，0.84，以上使用的是基本的CIOU，现在你需要告诉我如何改进LOSS，我使用下面的·LOSS:
class WIoU_Scale:
''' monotonous: {
None: origin v1
True: monotonic FM v2
False: non-monotonic FM v3
}
momentum: The momentum of running mean'''

iou_mean = 1.
monotonous = False
_momentum = 1 - 0.5 ** (1 / 7000)
_is_train = True

def init(self, iou):
self.iou = iou
self._update(self)

@classmethod
def _update(cls, self):
if cls._is_train: cls.iou_mean = (1 - cls._momentum) * cls.iou_mean +
cls._momentum * self.iou.detach().mean().item()

@classmethod
def _scaled_loss(cls, self, gamma=1.9, delta=3):
if isinstance(self.monotonous, bool):
if self.monotonous:
return (self.iou.detach() / self.iou_mean).sqrt()
else:
beta = self.iou.detach() / self.iou_mean
alpha = delta * torch.pow(gamma, beta - delta)
return beta / alpha
return 1
def bbox_iou(box1, box2, xywh=True,
GIoU=False, DIoU=False, CIoU=False, SIoU=False, EIoU=False,
WIoU=False, Focal=False,

✅ 新增：Focaler-IoU 映射

Focaler=False, d=0.00, u=0.95,
alpha=1, gamma=0.5, scale=False, eps=1e-7):

Returns Intersection over Union (IoU) of box1(1,4) to box2(n,4)
Get the coordinates of bounding boxes
if xywh: # transform from xywh to xyxy
(x1, y1, w1, h1), (x2, y2, w2, h2) = box1.chunk(4, -1), box2.chunk(4, -1)
w1_, h1_, w2_, h2_ = w1 / 2, h1 / 2, w2 / 2, h2 / 2
b1_x1, b1_x2, b1_y1, b1_y2 = x1 - w1_, x1 + w1_, y1 - h1_, y1 + h1_
b2_x1, b2_x2, b2_y1, b2_y2 = x2 - w2_, x2 + w2_, y2 - h2_, y2 + h2_
else: # x1, y1, x2, y2
b1_x1, b1_y1, b1_x2, b1_y2 = box1.chunk(4, -1)
b2_x1, b2_y1, b2_x2, b2_y2 = box2.chunk(4, -1)
w1, h1 = b1_x2 - b1_x1, (b1_y2 - b1_y1).clamp(eps)
w2, h2 = b2_x2 - b2_x1, (b2_y2 - b2_y1).clamp(eps)

Intersection area
inter = (b1_x2.minimum(b2_x2) - b1_x1.maximum(b2_x1)).clamp(0) *
(b1_y2.minimum(b2_y2) - b1_y1.maximum(b2_y1)).clamp(0)

Union Area
union = w1 * h1 + w2 * h2 - inter + eps

✅ raw IoU (0~1)，Focaler 映射必须用它
raw_iou = inter / (union + eps)

你原来的 alpha-iou 保留
iou = torch.pow(raw_iou, alpha)

if scale:

✅ 用 raw_iou，更稳

self = WIoU_Scale(1 - raw_iou)

if CIoU or DIoU or GIoU or EIoU or SIoU or WIoU:
cw = b1_x2.maximum(b2_x2) - b1_x1.minimum(b2_x1) # convex width
ch = b1_y2.maximum(b2_y2) - b1_y1.minimum(b2_y1) # convex height
if CIoU or DIoU or EIoU or SIoU or WIoU:
c2 = (cw ** 2 + ch ** 2) ** alpha + eps
rho2 = (((b2_x1 + b2_x2 - b1_x1 - b1_x2) ** 2 +
(b2_y1 + b2_y2 - b1_y1 - b1_y2) ** 2) / 4) ** alpha

text

text
if CIoU:
    v = (4 / math.pi ** 2) * (torch.atan(w2 / h2) - torch.atan(w1 / h1)).pow(2)
    with torch.no_grad():
        alpha_ciou = v / (v - iou + (1 + eps))
    if Focal:
        return iou - (rho2 / c2 + torch.pow(v * alpha_ciou + eps, alpha)), torch.pow(raw_iou, gamma)
    else:
        return iou - (rho2 / c2 + torch.pow(v * alpha_ciou + eps, alpha))

elif EIoU:
    rho_w2 = ((b2_x2 - b2_x1) - (b1_x2 - b1_x1)) ** 2
    rho_h2 = ((b2_y2 - b2_y1) - (b1_y2 - b1_y1)) ** 2
    cw2 = torch.pow(cw ** 2 + eps, alpha)
    ch2 = torch.pow(ch ** 2 + eps, alpha)
    if Focal:
        return iou - (rho2 / c2 + rho_w2 / cw2 + rho_h2 / ch2), torch.pow(raw_iou, gamma)
    else:
        return iou - (rho2 / c2 + rho_w2 / cw2 + rho_h2 / ch2)

elif SIoU:
    s_cw = (b2_x1 + b2_x2 - b1_x1 - b1_x2) * 0.5 + eps
    s_ch = (b2_y1 + b2_y2 - b1_y1 - b1_y2) * 0.5 + eps
    sigma = torch.pow(s_cw ** 2 + s_ch ** 2, 0.5)
    sin_alpha_1 = torch.abs(s_cw) / sigma
    sin_alpha_2 = torch.abs(s_ch) / sigma
    threshold = pow(2, 0.5) / 2
    sin_alpha = torch.where(sin_alpha_1 > threshold, sin_alpha_2, sin_alpha_1)
    angle_cost = torch.cos(torch.arcsin(sin_alpha) * 2 - math.pi / 2)
    rho_x = (s_cw / cw) ** 2
    rho_y = (s_ch / ch) ** 2
    gamma_siou = angle_cost - 2
    distance_cost = 2 - torch.exp(gamma_siou * rho_x) - torch.exp(gamma_siou * rho_y)
    omiga_w = torch.abs(w1 - w2) / torch.max(w1, w2)
    omiga_h = torch.abs(h1 - h2) / torch.max(h1, h2)
    shape_cost = torch.pow(1 - torch.exp(-1 * omiga_w), 4) + torch.pow(1 - torch.exp(-1 * omiga_h), 4)
    if Focal:
        return iou - torch.pow(0.5 * (distance_cost + shape_cost) + eps, alpha), torch.pow(raw_iou, gamma)
    else:
        return iou - torch.pow(0.5 * (distance_cost + shape_cost) + eps, alpha)

elif WIoU:
    if Focal:
        raise RuntimeError("WIoU do not support Focal.")

    exp_term = torch.exp((rho2 / c2))  # WIoU v1 的权重项

    # ✅ Focaler 映射：只作用在 raw_iou(0~1)
    if Focaler:
        if u <= d + 1e-12:
            raise ValueError(f"Invalid Focaler interval: u({u}) must be > d({d})")
        iou_used = ((raw_iou - d) / (u - d)).clamp(0.0, 1.0)
    else:
        iou_used = iou

    if scale:
        return getattr(WIoU_Scale, '_scaled_loss')(self), (1 - iou_used) * exp_term, iou_used
    else:
        return iou_used, exp_term  # ✅ 返回“IOU项 + 权重项”

if Focal:
    return iou - rho2 / c2, torch.pow(raw_iou, gamma)
else:
    return iou - rho2 / c2

c_area = cw * ch + eps # convex area
if Focal:
return iou - torch.pow((c_area - union) / c_area + eps, alpha), torch.pow(raw_iou, gamma)
else:
return iou - torch.pow((c_area - union) / c_area + eps, alpha)
if Focal:
return iou, torch.pow(raw_iou, gamma)
else:
return iou
loss：class BboxLoss(nn.Module):
"""Criterion class for computing training losses for bounding boxes."""

def init(self, reg_max=16):
"""Initialize the BboxLoss module with regularization maximum and DFL settings."""
super().init()
self.dfl_loss = DFLoss(reg_max) if reg_max > 1 else None

def forward(self, pred_dist, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask):
"""Compute IoU and DFL losses for bounding boxes."""
weight = target_scores.sum(-1)[fg_mask].unsqueeze(-1)

iou = bbox_iou(pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=False, CIoU=True)

loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum

20121224修改✅ WIoU(v1) + Focaler-IoU 映射

iou_f, exp_term = bbox_iou(
pred_bboxes[fg_mask],
target_bboxes[fg_mask],
xywh=False,
WIoU=True,
Focaler=True,
d=0.10, u=0.90, # 建议先用 0.10~0.90（对不均衡/小目标更稳）
scale=False
)

text

exp_term 建议 detach，避免 exp 权重把梯度放大导致不稳定（你注释里的写法也是 detach 权重）

loss_iou = (((1.0 - iou_f) * exp_term.detach()) * weight).sum() / target_scores_sum

11111111

iou = bbox_iou(pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=False, CIoU=True, scale=True)

iou = inner_eiou(pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=True)

loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum

if type(iou) is tuple:

if len(iou) == 2:

loss_iou = ((1.0 - iou[0]) * iou[1].detach() * weight).sum() / target_scores_sum

else:

loss_iou = (iou[0] * iou[1] * weight).sum() / target_scores_sum

else:

loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum

DFL loss

if self.dfl_loss:
target_ltrb = bbox2dist(anchor_points, target_bboxes, self.dfl_loss.reg_max - 1)
loss_dfl = self.dfl_loss(pred_dist[fg_mask].view(-1, self.dfl_loss.reg_max), target_ltrb[fg_mask]) * weight
loss_dfl = loss_dfl.sum() / target_scores_sum
else:
loss_dfl = torch.tensor(0.0).to(pred_dist.device)

return loss_iou, loss_dfl
使用这个LOSS后代码结果很差，0.958，0.917，0.941，0.818，只增加这个LOSS，其他模块保持yolov11的原版，结果是0.973，0.875，0.927，0.34，也是有增益，下一步怎么改进这个LOSS，请给出一个合适的思路。

Pensiero

Adjusting focus

I'm enhancing YOLOv11 with MSFAM, SPDConvLiteResEMA, and DetectLSDECD to boost P, R, and mAP50, while addressing dataset imbalance and class-balanced classification loss.

Taking a closer look

Removing the hard clamp and using a smooth mapping for IoU will maintain gradient flow, ensuring effective learning and improving high-threshold accuracy.

Advancing loss functions

I’m exploring scalable IoU loss functions and class-balanced losses. The goal is to address early training issues and improve high-threshold accuracy, ensuring effective localization.

Integrating loss strategies

I’m combining CIoU with hybrid losses, including SIoU, EIoU, and normalized Wasserstein distance, to enhance gradient flow for small object detection and address early training issues.

Enhancing IoU awareness

I’m integrating focal weighting to prioritize high IoU regions, ensuring better high-threshold accuracy, and addressing dataset imbalance with class-specific weighting for balanced classification.

Refining loss adjustments

I’m refining WIoU loss by using smooth mappings and adjusting gradient scales. Also, integrating new IoU loss combinations and weighting strategies to enhance model performance.

Enhancing IoU loss

I’m refining IoU loss with smooth mappings, focal weighting, and NWD for small objects. Additionally, addressing class imbalance with focal loss, class weights, and sophisticated reweighting techniques.

Sierra analysis

I'm examining the apparent imbalances between Agassi's career achievements and Sakiri's current victories. This comparison reveals the challenges in evaluating a player's career span against ongoing achievements.

Revisiting mapping

I'm noting how IoU mapping might stall gradient flow at high thresholds, affecting mAP50-95. Adjusting mapping levels or using focal weighting might be necessary for better precision.

Gathering insights

I’m researching WIoU loss versions, Wise-IoU, Normalized Wasserstein Distance for tiny objects, and Varifocal loss. These will inform the technical analysis and final recommendations.

Highlighting WIoU integration

I’m weaving in the incorporation of the official Wise-IoU v3 focusing method to better handle small objects and imbalanced classes in the dataset.

Enhancing object detection

I’m exploring the use of NWD alongside IoU for small object detection, considering hybrid loss functions and class rebalancing strategies to boost performance.

Blending focuses

I’m merging NWD and class rebalancing strategies to refine bbox loss, testing various configurations to ensure balanced, robust detection. The aim is to enhance performance while maintaining stability.

Tweaking Focaler mapping

I’m considering adjusting the Focaler mapping to ensure the gradient is managed well, especially for IoU values beyond 0.9. This approach aims to boost the AP95 score.

Adjusting hyperparameters

I’m examining the impact of different loss functions on the architecture, focusing on tuning IoU loss and adjusting hyperparameters like box, cls, and DFL to balance training effectively.

Overhauling code structure

Revamping the WIoU_Scale class to ensure proper initialization and scaling. This involves managing hyperparameters and rethinking the loss function, aiming for balanced training.

Setting the stage

Crafting NWD calculations with a normalization constant C. Ensuring smooth function implementation to enhance tiny object detection. Progressing through details for precise outcomes.

Breaking down the issues
Addressing WIoU+Focaler mapping failures, I’m mingling AI insights with physics for a sharper focal plane analysis, aiming for clearer visuals.

Optimizing hyperparameters
I’m fine-tuning the process to boost per-class AP75 by integrating WIoU v1, WIoU v3, NWD for tiny boxes, and class weights for better imbalance handling.

Translating the formula

I am thinking through how to translate the NWD formula into code with a constant C as the average object size, considering various approaches to compute "average absolute size" for the dataset.

Evaluating options

I'm assessing the use of WIoU v3 with dynamic focusing and momentum formulas, noting v1's limitations, and proposing adjustments to the WIoU_Scale object for scaling precision.

Evaluating gradient strategies

I’m analyzing the impact of detaching exp_term in WIoU loss calculations to manage instability while maintaining gradient contributions for distance weighting, and I’m mindful of weight scaling concerns.

Optimizing small object detection

I'm refining the WIoU loss function by proposing the removal of Focaler mapping, suggesting NWD for small objects, and recommending StableNet integration for more accurate results.

Refining loss function

I’m detailing a 3-level plan to enhance the WIoU loss function, emphasizing immediate fixes, dynamic focusing with WIoU v3, and additional supervision for tiny objects.

Pinpointing the issue

By capping IoU at 0.90, training falters above this threshold, halting AP improvements. This fix aligns training with evaluation goals.

Reasoned for 18m 51s

Risposta

你现在这个现象其实很典型：mAP50 还行甚至上升，但 mAP50-95 明显掉，说明回归在“粗定位”还能到 0.5 IoU，但高 IoU（0.75~0.95）阶段的精修被你现在的回归目标/梯度机制“掐断”了。

下面我先把你当前 WIoU+Focaler 这版为什么掉点讲清楚，然后给你一个“下一步怎么改”的可落地思路（按推荐优先级），包含你可以直接改的代码形态。

1) 你这个 WIoU+Focaler 写法，掉点的关键原因

(A) 你把 IoU 做了硬截断（clamp），大量样本回归梯度 = 0

你在 WIoU 分支里：

python
iou_used = ((raw_iou - d) / (u - d)).clamp(0.0, 1.0)
loss_iou = (1 - iou_used) * exp_term.detach()

这会带来两个致命问题：

  1. raw_iou < d（比如 <0.10）时，iou_used=0，(1-iou_used)=1 是常数，对 raw_iou 的梯度为 0
    → 这类样本（训练早期、tiny 目标、难样本）回归项基本不提供梯度，只能靠 DFL 推动，通常就会出现：

    • IoU 能到 0.5~0.7（mAP50 不差）
    • 但很难往 0.85~0.95 精修（mAP50-95 掉）

  2. raw_iou > u（你设 u=0.90）时，iou_used=1，loss_iou=0，梯度也为 0
    → 也就是当框已经比较准（>0.9）以后，你主动停止优化。
    但 mAP50-95 里最高阈值是 0.95，你等于把 [email protected] 的提升空间直接砍掉。

这和你看到的结果非常匹配：只换 loss 时 mAP50 还涨、但 mAP50-95 崩到 0.34；在你更强的 backbone+head 上因为特征更强、DFL/分类更强，才没崩得那么夸张，但仍然掉了一截。

(B) exp_term 你 detach 了，本质上只剩“加权 IoU”，而且权重会改变损失尺度

你现在：

python
loss_iou = ((1 - iou_f) * exp_term.detach()) ...

detach 后，WIoU 的“距离注意力项”只作为纯权重缩放梯度大小，而不参与优化中心距离本身（梯度不回传到 rho2/c2）。
这不是绝对不行，但会让它更像“样本重加权”，尺度特别敏感，经常需要重新调 box/dfl loss gain，否则会出现“训练看似收敛但定位精度不够”。

2) 下一步怎么改：给你 3 条路线（按我推荐顺序）

结论先说：
你现在这个任务（小目标 + 长尾 + 高 mAP50-95 追求），最稳、最有效的路线是：回归仍用 CIoU/EIoU 做“本体”，WIoU/Focaler 只做“权重/聚焦”，而且必须避免硬截断导致梯度为 0。

路线 A（强烈推荐）：CIoU/EIoU 做回归本体，Focaler/WIoU 只做“权重”，不要改 IoU 本体

你原来 CIoU 的结果已经很好（mAP50-95=0.84），所以最聪明的做法不是替换掉 CIoU，而是：

  • 回归损失仍然用：(1 - CIoU) 或 (1 - EIoU)
  • 你想要的“抑制离群点/强调中等质量样本”，用一个 weight 去乘它（weight 可以 detach，避免引入怪梯度）
  • weight 必须 连续、非 0（至少给一个下限），避免把梯度掐断

✅ 推荐 weight：用“软门控”(soft gate) 代替 clamp

用 sigmoid 做一个平滑的区间权重（band-pass），就不会出现梯度硬归零：

python
# raw_iou: [0,1]
# d 控制低 IoU 抑制起点，u 控制高 IoU 抑制起点
d, u = 0.05, 0.995        # u 千万别用 0.90
tau = 0.05                # 平滑程度(越小越像硬阈值)

w_low  = torch.sigmoid((raw_iou - d) / tau)     # raw_iou<<d -> ~0, >d -> ~1
w_high = torch.sigmoid((u - raw_iou) / tau)     # raw_iou<<u -> ~1, >u -> ~0
w = (w_low * w_high)

# 给一个下限，保证再差的样本也有一点回归梯度（非常关键）
w = (0.2 + 0.8 * w).detach()

然后：

python
ciou = bbox_iou(pred, target, xywh=False, CIoU=True)  # 你的原版
loss_iou = (((1.0 - ciou) * w) * weight).sum() / target_scores_sum

为什么这条路线很适合你：

  • 不破坏你已经验证过很强的 CIoU 收敛路径
  • 通过 w 抑制“极差样本/极好样本”的竞争，符合 WIoU v3 想做的“更聪明分配梯度”的精神 (arXiv)
  • 关键是：不会出现 raw_iou < d 时回归梯度直接为 0，也不会在 >0.9 时停止精修

这条路线通常就能把你现在 WIoU+Focaler 掉的那部分 mAP50-95 拿回来，同时在长尾/噪声标签场景保持稳定。

路线 B（你坚持要用 WIoU）：用 WIoU v3 的“动态非单调 FM”，但千万别用硬截断 iou_used

Wise-IoU 论文明确给了 v1/v2/v3：

  • v1：带距离注意力的 WIoU
  • v2：单调 FM（类似 focal），并引入 running mean 做归一化
  • v3：动态非单调 FM，通过 outlier degree β 给普通质量样本更大梯度、同时压低高质量与低质量样本的梯度 (arXiv)

你现在做的 Focaler clamp，有点像“静态非单调”，但因为 clamp 导致梯度硬断，效果容易翻车。

✅ 把你的实现改成“WIoU v3 的 r * WIoU_v1”，并且保留 raw_iou 的连续梯度

按论文公式（你 WIoU_Scale 的思路就是这个），但不要再把 IoU 映射后 clamp 掉梯度：

核心思想：

  • 用 raw_iou（或 1-raw_iou）来算 r（梯度增益系数），r 只做权重（可 detach）
  • 真实回归项用连续的 LIoU = 1 - raw_iou（或者直接用 WIoU_v1 = R * LIoU）

一个很稳的写法是：

python
raw_iou, exp_term = bbox_iou(..., WIoU=True, Focaler=False, scale=False)  
# 这里让 bbox_iou 返回 raw_iou(0~1) + exp_term

LIoU = 1.0 - raw_iou

# v3: beta = LIoU / mean(LIoU), r = beta / (delta * gamma^(beta - delta))
wiou_state = WIoU_Scale(LIoU)           # 记得把 init 改成 __init__
r = WIoU_Scale._scaled_loss(wiou_state, gamma=1.9, delta=3)  # 论文常用参数组合之一 ([arXiv](https://arxiv.org/pdf/2301.10051v1))

# 防止极端放大/缩小（非常实用）
r = r.clamp(0.2, 5.0).detach()

# exp_term 也建议做上界裁剪，避免权重爆炸
exp_term = exp_term.clamp(max=10.0).detach()

loss_iou = ((r * LIoU * exp_term) * weight).sum() / target_scores_sum

你必须做的两个“小改动”

  1. 把 WIoU_Scale.init 改成 __init__，否则实例化不会自动运行
  2. u 不要 0.90：你如果一定要“压制过高 IoU”，也建议 u ≥ 0.99，或者干脆不用 u，完全交给 v3 的 r 去做动态分配

路线 C（非常适合 tiny 目标）：在 CIoU/DFL 之外，加一个 NWD 分支做辅助回归

你的场景是典型 tiny/小目标异物，IoU 类指标对“像素级偏移”非常敏感；NWD 的思路是把框当作 2D 高斯分布，用 Wasserstein 距离做相似度，对 tiny 目标的小偏移更平滑，可以嵌入 loss/assign/nms 等环节 (arXiv)。

这条路线的优点是：专门补你 mAP50-95 的“精定位稳定性”，而不是靠强行调 IoU 的曲线。

NWD（axis-aligned）一个实用实现（xyxy）

根据 NWD 的简化形式（中心差 + 宽高差）并用指数归一化 (ar5iv)：

python
def nwd_similarity_xyxy(box1, box2, C=32.0, eps=1e-7):
    # box: (N,4) xyxy
    x1, y1, x2, y2 = box1.unbind(-1)
    gx1, gy1, gx2, gy2 = box2.unbind(-1)

    cx  = (x1 + x2) * 0.5
    cy  = (y1 + y2) * 0.5
    gcx = (gx1 + gx2) * 0.5
    gcy = (gy1 + gy2) * 0.5

    w  = (x2 - x1).clamp(min=eps)
    h  = (y2 - y1).clamp(min=eps)
    gw = (gx2 - gx1).clamp(min=eps)
    gh = (gy2 - gy1).clamp(min=eps)

    # W2^2 = (dx^2 + dy^2) + ((dw^2 + dh^2)/4)
    dist2 = (cx - gcx) ** 2 + (cy - gcy) ** 2 + ((w - gw) ** 2 + (h - gh) ** 2) * 0.25
    dist = torch.sqrt(dist2 + eps)

    # NWD = exp(-dist/C)
    return torch.exp(-dist / C)

然后在 BboxLoss 里加一项：

python
nwd = nwd_similarity_xyxy(pred, target, C=C_value)
loss_nwd = ((1.0 - nwd).unsqueeze(-1) * weight).sum() / target_scores_sum

# 总回归损失
loss_iou = loss_ciou + 0.5 * loss_nwd   # 0.3~1.0 都可以试，通常从 0.5 起步

C 怎么取（很关键）

论文里 C 和数据集目标尺寸相关（他们用“平均绝对尺寸”） (ar5iv)。
你的工程里可以用更实用的做法：

  • C = mean(sqrt(w*h))（统计训练集 GT 的像素尺度）
  • 或者先粗暴设 C = imgsz / 10，再微调

3) 你现在最该做的 ablation（不问你要数据，也能直接开干）

为了避免“改了很多但不知道是谁带来的”，建议你按这个顺序做 4 次实验（每次只改一处）：

  1. 去掉 Focaler clamp：先用 loss=(1-raw_iou)*exp_term 或直接回到 CIoU，看 mAP50-95 是否立刻回升
  2. 把 u 从 0.90 提到 0.99/1.0：看 [email protected]~0.95 是否恢复（通常会）
  3. 把 clamp 换成 sigmoid soft gate + 下限 0.2：稳定提升 mAP50-95 的概率最大
  4. 在 CIoU 上叠加 NWD（0.5 系数起步）：专门冲高 IoU 阈值下的定位质量 (arXiv)

4) 额外提醒：你数据“类别不均衡”，bbox loss 改再多也救不了分类长尾

bbox 回归是 class-agnostic 的（同一套回归监督），你现在类别不均衡（几百 vs 2千）更容易卡在：

  • 少样本类 recall 低
  • 或 score 排序不理想（NMS 前后被挤掉）

这类问题很多时候改分类 loss更直接，比如 Varifocal Loss 这类“用 IoU 质量监督分类分数”的思路，会改善排序与长尾表现 (CVF Open Access)。
如果你愿意下一步继续往“loss 系统”走，我建议你把回归按路线 A 稳住后，再把分类从普通 BCE/soft label 进一步做成“VFL/QFL 类”的形式。

给你一个最稳的“下一步建议”

如果你只想做一次最可能成功的改动（不想反复试错）：

✅ 直接用“路线 A：CIoU + soft gate 权重（带下限）”

  • 不改你已经验证过最强的 CIoU 主路径
  • 解决你现在 Focaler clamp 造成的梯度断流
  • 对 mAP50-95 最友好、风险最小

如果你愿意，我也可以把你现在这套 bbox_iou() 返回值接口重新整理一下（把 raw_iou / ciou / exp_term 统一返回、避免重复计算），这样你做 ablation 会更快更干净。

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