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