| point_encoder: |
| type: pointnet |
| feature_dim: 64 |
| pointnet: |
| 0: |
| npoint: 256 |
| radius: 0.01 |
| nsample: 32 |
| in_channel: 0 |
| mlp: |
| - 64 |
| - 64 |
| - 128 |
| group_all: false |
| 1: |
| npoint: 64 |
| radius: 0.02 |
| nsample: 64 |
| in_channel: 128 |
| mlp: |
| - 128 |
| - 128 |
| - 256 |
| group_all: false |
| 2: |
| npoint: 16 |
| radius: 0.04 |
| nsample: 128 |
| in_channel: 256 |
| mlp: |
| - 256 |
| - 256 |
| - 512 |
| group_all: true |
| experiment_name: concat_tools_mixed_focal_0.9_0.75_force_mag_dir_ada_weight_hist5_smoothpc_pcd256+512 |
| use_env_pointcloud: true |
| split: test |
| model: |
| type: tactile_pointnet_concat |
| use_pose_encoding: false |
| reconstruct_tactile: false |
| tactile_channels: 3 |
| contact_prob_init_bias_enabled: true |
| contact_prob_init_bias: 0.02 |
| joint_processing: |
| enabled: true |
| label_channel: true |
| data: |
| max_memory_samples: 10000000 |
| use_partial_pointcloud: false |
| include_env_pointcloud: ${use_env_pointcloud} |
| knn_k: 5 |
| knn_range: 0.01 |
| dist_lambda: 100.0 |
| contact_depth_threshold: -0.005 |
| force_propagation: |
| weight_method: inv_square |
| dist_lambda: 50.0 |
| force_clip_percentile: 98.0 |
| normalize_per_point: true |
| smooth_sigma: 0.0 |
| contact_L: -0.005 |
| contact_alpha: 0.5 |
| contact_k: 1.7 |
| tactile_shape: |
| - 7 |
| - 9 |
| - 3 |
| task: tools |
| point_cloud_downsampling: |
| enabled: true |
| method: random |
| object_points: 256 |
| env_points: 512 |
| precontact_smoothing: |
| enabled: true |
| postcontact_enabled: true |
| method: linear |
| history: |
| enabled: true |
| length: 5 |
| tactile_history: true |
| pose_history: true |
| temporal_dropout: 0.1 |
| temporal_attention_heads: 4 |
| reference_tactile: |
| enabled: true |
| n_steps: 5 |
| method: median |
| use_difference: true |
| episode_filtering: |
| filter_initial_contact: true |
| initial_contact_threshold: 0.1 |
| filter_low_tactile: true |
| low_tactile_threshold: 1.0e-07 |
| low_tactile_ratio: 0.5 |
| train_data_path: /users/kevinma/tacsl/collected_data/tools_mixed/train |
| val_data_path: /users/kevinma/tacsl/collected_data/tools_mixed/val |
| test_data_path: /users/kevinma/tacsl/collected_data/tools_mixed/test |
| validate_grasping: false |
| grasp_threshold: 0.1 |
| augmentation: |
| enabled: true |
| rotation_range: 30 |
| translation_range: 0.1 |
| noise_std: 0.001 |
| point_cloud: |
| position_noise_std: 0.01 |
| orientation_noise_std: 0.05 |
| patch_removal: |
| enabled: true |
| num_patches: 3 |
| patch_size_ratio: 0.05 |
| removal_probability: 0.3 |
| tactile: |
| noise_std: 0.001 |
| pose: |
| noise_std: 0.005 |
| velocity_noise_std: 0.01 |
| delay_steps: 1 |
| delay_probability: 0.2 |
| tactile_filtering: |
| enabled: true |
| spatial: |
| enabled: true |
| method: gaussian |
| sigma: 0.25 |
| temporal: |
| enabled: true |
| window_length: 7 |
| polyorder: 1 |
| tactile_normalization: |
| enabled: true |
| method: scale |
| scale_factor: 1000.0 |
| clip_range: |
| - -10.0 |
| - 10.0 |
| per_channel: true |
| training: |
| batch_size: 320 |
| num_epochs: 400 |
| learning_rate: 0.0001 |
| weight_decay: 0.0001 |
| accelerator: gpu |
| devices: |
| - 0 |
| - 1 |
| - 2 |
| - 3 |
| - 4 |
| - 5 |
| - 6 |
| - 7 |
| strategy: auto |
| precision: 32 |
| gradient_clip_val: 1.0 |
| accumulate_grad_batches: 1 |
| scheduler: |
| type: plateau |
| mode: min |
| factor: 0.7 |
| patience: 20 |
| threshold: 1.0e-05 |
| min_lr: 1.0e-07 |
| verbose: true |
| loss: |
| contact_prob_weight: 1.0 |
| contact_force_weight: 2.0 |
| force_magnitude_weight: 0.0 |
| tactile_reconstruction_weight: 0.5 |
| contact_prob_loss_type: focal |
| focal_loss: |
| alpha: 0.9 |
| gamma: 0.75 |
| use_hard_labels: false |
| hard_label_cutoff: 0.5 |
| bce_pos_weight: 1.0 |
| contact_force_loss_type: magnitude_direction |
| use_magnitude_loss: false |
| magnitude_direction: |
| magnitude_loss_type: mse |
| magnitude_weight: 1.5 |
| direction_loss_type: cosine |
| direction_weight: 1.0 |
| magnitude_threshold: 0.005 |
| use_adaptive_weighting: true |
| adaptive_weighting: |
| weighting_scheme: log_magnitude |
| min_weight: 1.0 |
| max_weight: 3.0 |
| temperature: 1.0 |
| early_stopping: |
| patience: 100 |
| min_delta: 1.0e-05 |
| val_frequency: 1 |
| save_frequency: 20 |
| optimizer: |
| type: AdamW |
| lr: 0.0001 |
| weight_decay: 0.0001 |
| betas: |
| - 0.9 |
| - 0.999 |
| device: cuda |
| num_workers: 0 |
| pin_memory: true |
| logging: |
| log_dir: logs |
| experiment_name: ${experiment_name} |
| log_frequency: 100 |
| use_timestamp: true |
| wandb: |
| project: contact-field-estimation |
| entity: null |
| tags: |
| - contact_field |
| - tactile_pointnet_concat |
| - tactile_as_pointcloud |
| - no_pose_encoding |
| - no_reconstruction |
| - tools_mixed |
| notes: 'Tactile-as-pointcloud architecture: tactile converted to point cloud with |
| force channels, no explicit pose encoding, spatial reasoning only' |
| offline: false |
| checkpoint: |
| save_dir: checkpoints |
| use_timestamp: true |
| save_best: true |
| save_latest: true |
| resume_from: null |
| resume_from: null |
| evaluation: |
| metrics: |
| - accuracy |
| - precision |
| - recall |
| - f1_score |
| - force_mse |
| visualize_predictions: true |
| save_predictions: true |
|
|
