| config: |
| datamodule: |
| batch_size: 32 |
| dataset_split: |
| - 8 |
| - 1 |
| - 1 |
| delta_coverage_as_reward: true |
| depth_scale_range: |
| - 0.1 |
| - 1.0 |
| fold_aug_types: |
| - depth |
| - affine |
| h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5 |
| intrinsic_name: camera_intrinsic_scanner_v2.json |
| max_depth_offset: 0.03 |
| max_fold_rot_angle: 20 |
| max_normal_rot_angle: 20 |
| max_other_rot_angle: 180 |
| normal_aug_types: |
| - depth |
| - affine |
| num_pc_sample: 20000 |
| num_pc_sample_final: 3000 |
| num_rotations: 10 |
| num_workers: 8 |
| other_aug_types: |
| - depth |
| - flip |
| - affine |
| - random_permute |
| rescale_nocs: true |
| reward_alpha: 2.0 |
| reward_beta: 1.0 |
| sigma: 0.025 |
| split_seed: 0 |
| use_augmentation: true |
| use_tanh_reward: true |
| use_zero_center: true |
| voxel_size: 0.002 |
| grasp_nocs_feat_size: 240 |
| logger: |
| experiment_name: nut-action14_real_zero_center_supervised_v20 |
| run_name: action14_supervised_real |
| tracking_uri: https://unifold.mlflow.robotflow.ai/ |
| model: |
| cos_t_max: 200 |
| diffusion_head_params: |
| action_input_mlp_nn_channels: |
| - 120 |
| - 240 |
| action_output_mlp_nn_channels: |
| - 240 |
| - 120 |
| adaptive_xyz: false |
| data_format: xyz |
| match_idx: |
| - 0 |
| - 1 |
| - 2 |
| num_diffusion_transformer_heads: 4 |
| num_diffusion_transformer_layers: 2 |
| num_gripper_points: 2 |
| num_of_grasp_points: 16 |
| prediction_type: epsilon |
| use_positional_encoding_in_attention_net: true |
| weight_decay: 0.001 |
| gripper_points_idx: |
| - 0 |
| - 1 |
| init_lr: 0.0001 |
| loss_cls_weight: 0.0 |
| loss_diffusion_weight: 1.0 |
| loss_keypoint_weight: 0.0 |
| loss_nocs_weight: 0.0 |
| num_gripper_points: 2 |
| rescale_nocs: true |
| sparse_unet3d_encoder_params: |
| CHANNELS: |
| - None |
| - 64 |
| - 64 |
| - 128 |
| - 256 |
| TR_CHANNELS: |
| - None |
| - 64 |
| - 64 |
| - 64 |
| - 128 |
| conv1_kernel_size: 5 |
| in_channels: 3 |
| normalize_feature: true |
| out_channels: 64 |
| state_head_params: |
| cls_base_nn_channels: |
| - 1024 |
| - 256 |
| - 128 |
| detach_for_classifier: false |
| detach_for_detector: false |
| global_nn_channels: |
| - 128 |
| - 256 |
| - 1024 |
| grasp_nocs_feat_nn_channels: |
| - 1152 |
| - 512 |
| - 240 |
| gt_nocs_ratio_decay_factor: 0.98 |
| min_gt_nocs_ratio: 0.7 |
| nocs_distance_weight_alpha: 25.0 |
| nocs_nn_channels: |
| - 128 |
| - 256 |
| - 128 |
| - 3 |
| num_pred_candidates: 16 |
| num_smoothing_style: 4 |
| pointnet_channels: |
| - 3 |
| - 64 |
| - 128 |
| - 512 |
| use_gt_nocs_pred_for_distance_weight: true |
| use_nocs_for_dense_feat: false |
| use_xyz_variety_loss: true |
| transformer_params: |
| d_model: 64 |
| encoder_pos_embed_input_dim: 3 |
| fea_channels: |
| - 64 |
| - 128 |
| - 128 |
| input_channels: 3 |
| input_size: 3000 |
| key_feature_dim: 64 |
| num_heads: 1 |
| num_layers: 2 |
| use_xyz: true |
| with_pos_embed: true |
| use_cos_lr: true |
| use_matched_action_gt: false |
| use_minsnr_reweight: false |
| use_multiple_poses: true |
| use_sym_loss: false |
| use_virtual_reward_for_inference: false |
| valid_primitive_idx: 14 |
| muitiple_poses: true |
| num_gripper_points: 2 |
| num_of_grasp_points: 16 |
| num_pc_sample_final: 3000 |
| rescale_nocs: true |
| runtime_datamodule: |
| auto_fill_multiple_poses: true |
| batch_size: 30 |
| cache_data: false |
| data_type: new_pipeline_supervised |
| dataset_split: |
| - 8 |
| - 1 |
| - 1 |
| debug: false |
| depth_scale_range: |
| - 1.0 |
| - 1.0 |
| depth_trans_range: |
| - -0.02 |
| - 0.02 |
| episode_range: |
| - 0 |
| - 100 |
| flip_lr_percent: 0.0 |
| flip_ud_percent: 0.0 |
| label_smoothing_value: 0.15 |
| log_api: /v1/log_stream |
| log_endpoint: http://192.168.2.223:8080 |
| logging_dir: /home/xuehan/GarmentImitation/log |
| max_normal_rot_angle: 20 |
| max_other_rot_angle: 25 |
| namespace: experiment_supervised |
| namespace_extra: null |
| normal_aug_types: |
| - depth |
| - affine |
| normal_scale_range: |
| - 3.0 |
| - 3.0 |
| normal_trans_place_pose: true |
| normal_x_trans_range: |
| - 0.0 |
| - 0.0 |
| normal_y_trans_range: |
| - 0.0 |
| - 0.0 |
| num_multiple_poses: 10 |
| num_pc_sample_final: 3000 |
| num_rankings_per_sample: 44 |
| num_workers: 8 |
| oss_bucket_name: unifolding |
| oss_endpoint: oss.robotflow.ai |
| other_aug_types: |
| - depth |
| - flip |
| - affine |
| - random_permute |
| other_scale_range: |
| - 3.0 |
| - 3.0 |
| other_trans_place_pose: true |
| other_x_trans_range: |
| - 0.0 |
| - 0.0 |
| other_y_trans_range: |
| - 0.0 |
| - 0.0 |
| return_multiple_poses: true |
| split_seed: 0 |
| tag: nut_action14_real_zero_center_supervised_v20 |
| tag_extra: null |
| use_augmentation: true |
| use_database: true |
| use_ood_points_removal: true |
| use_oss: false |
| use_table_plane_correction: true |
| use_zero_center: true |
| valid_primitive: |
| - sweep |
| voxel_size: 0.006 |
| weighted_sampler: |
| enable: false |
| max_sample_num: 200 |
| min_weight: 0.2 |
| mode: linear |
| trainer: |
| max_epochs: 2000 |
| trainer_adjustment: |
| use_adaptive_episode: true |
| voxel_size: 0.006 |
| xy_normalize_factor: 3.0 |
| output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-07/14-29-45 |
|
|
