| 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 | |