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[Enhancement] Upgrade CI for PyTorch1.9 (#712)
* Upgrade CI for PyTorch1.9 * fix typo * merge build_cu101 and build_cu102 to build_cuda * fix substitution bug * test * test * test * test * test * test * test * test * test * test * test * test * remove redudant items * add python 3.9 to CI * add python 3.9 to setup.py * remove some versions of pytorch for python 3.9 test * fix torch version error * delete mim files * update ubuntu version * fix mmcv cuda version
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