Hugging Face's logo

WendiChen
/
DeformPAM_PrimitiveDiffusion

Robotics
Model card Files Community
WendiChen commited on
Commit
2e2d5c5
·
verified ·
1 Parent(s): 13984e6

feat: upload checkpoints of all tasks and stages

Browse files
Files changed (12) hide show
  1. nut_finetune/checkpoints/last.ckpt +3 -0
  2. nut_finetune/config.yaml +253 -0
  3. nut_supervised/checkpoints/last.ckpt +3 -0
  4. nut_supervised/config.yaml +242 -0
  5. rope_finetune/checkpoints/last.ckpt +3 -0
  6. rope_finetune/config.yaml +253 -0
  7. rope_supervised/checkpoints/last.ckpt +3 -0
  8. rope_supervised/config.yaml +243 -0
  9. tshirt_short_finetune/checkpoints/last.ckpt +3 -0
  10. tshirt_short_finetune/config.yaml +240 -0
  11. tshirt_short_supervised/checkpoints/last.ckpt +3 -0
  12. tshirt_short_supervised/config.yaml +229 -0
nut_finetune/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a829ecfc4e03dc6abb50af7c9edda964ecf855a55ba153f1694a6253470317e3
3
+ size 108400565
nut_finetune/config.yaml ADDED
@@ -0,0 +1,253 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3000
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: nut-action14_real_zero_center_finetune_v20
45
+ run_name: action14_finetune_real
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ cpl_lambda: 1.0
50
+ diffusion_head_params:
51
+ action_input_mlp_nn_channels:
52
+ - 120
53
+ - 240
54
+ action_output_mlp_nn_channels:
55
+ - 240
56
+ - 120
57
+ adaptive_xyz: false
58
+ data_format: xyz
59
+ match_idx:
60
+ - 0
61
+ - 1
62
+ - 2
63
+ num_diffusion_transformer_heads: 4
64
+ num_diffusion_transformer_layers: 2
65
+ num_gripper_points: 2
66
+ num_of_grasp_points: 16
67
+ prediction_type: epsilon
68
+ use_positional_encoding_in_attention_net: true
69
+ weight_decay: 0.001
70
+ dpo_beta: 100
71
+ enable_new_pipeline_finetune: true
72
+ finetune_loss_type: dpo
73
+ gripper_points_idx:
74
+ - 0
75
+ - 1
76
+ init_lr: 1.0e-05
77
+ loss_cls_weight: 0.0
78
+ loss_diffusion_finetune_sft_euqal_weight: 1.0
79
+ loss_diffusion_finetune_sft_weight: 1.0
80
+ loss_diffusion_finetune_weight: 1.0
81
+ loss_diffusion_weight: 1.0
82
+ loss_keypoint_weight: 0.0
83
+ loss_nocs_weight: 0.0
84
+ num_gripper_points: 2
85
+ reference_model_path: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-07/14-29-45
86
+ rescale_nocs: true
87
+ sparse_unet3d_encoder_params:
88
+ CHANNELS:
89
+ - None
90
+ - 64
91
+ - 64
92
+ - 128
93
+ - 256
94
+ TR_CHANNELS:
95
+ - None
96
+ - 64
97
+ - 64
98
+ - 64
99
+ - 128
100
+ conv1_kernel_size: 5
101
+ in_channels: 3
102
+ normalize_feature: true
103
+ out_channels: 64
104
+ state_head_params:
105
+ cls_base_nn_channels:
106
+ - 1024
107
+ - 256
108
+ - 128
109
+ detach_for_classifier: false
110
+ detach_for_detector: false
111
+ global_nn_channels:
112
+ - 128
113
+ - 256
114
+ - 1024
115
+ grasp_nocs_feat_nn_channels:
116
+ - 1152
117
+ - 512
118
+ - 240
119
+ gt_nocs_ratio_decay_factor: 0.98
120
+ min_gt_nocs_ratio: 0.7
121
+ nocs_distance_weight_alpha: 25.0
122
+ nocs_nn_channels:
123
+ - 128
124
+ - 256
125
+ - 128
126
+ - 3
127
+ num_pred_candidates: 16
128
+ num_smoothing_style: 4
129
+ pointnet_channels:
130
+ - 3
131
+ - 64
132
+ - 128
133
+ - 512
134
+ use_gt_nocs_pred_for_distance_weight: true
135
+ use_nocs_for_dense_feat: false
136
+ use_xyz_variety_loss: true
137
+ transformer_params:
138
+ d_model: 64
139
+ encoder_pos_embed_input_dim: 3
140
+ fea_channels:
141
+ - 64
142
+ - 128
143
+ - 128
144
+ input_channels: 3
145
+ input_size: 3000
146
+ key_feature_dim: 64
147
+ num_heads: 1
148
+ num_layers: 2
149
+ use_xyz: true
150
+ with_pos_embed: true
151
+ use_cos_lr: true
152
+ use_matched_action_gt: false
153
+ use_minsnr_reweight: false
154
+ use_multiple_poses: true
155
+ use_sft_for_equal_samples: false
156
+ use_sft_for_gt_data: false
157
+ use_sym_loss: false
158
+ use_virtual_reward_for_inference: false
159
+ valid_primitive_idx: 14
160
+ muitiple_poses: true
161
+ num_gripper_points: 2
162
+ num_of_grasp_points: 16
163
+ num_pc_sample_final: 3000
164
+ rescale_nocs: true
165
+ runtime_datamodule:
166
+ auto_fill_multiple_poses: true
167
+ batch_size: 28
168
+ cache_data: false
169
+ data_type: new_pipeline_finetune
170
+ dataset_split:
171
+ - 8
172
+ - 1
173
+ - 1
174
+ debug: false
175
+ depth_scale_range:
176
+ - 1.0
177
+ - 1.0
178
+ depth_trans_range:
179
+ - -0.02
180
+ - 0.02
181
+ episode_range:
182
+ - 0
183
+ - 100
184
+ flip_lr_percent: 0.0
185
+ flip_ud_percent: 0.0
186
+ label_smoothing_value: 0.15
187
+ log_api: /v1/log_stream
188
+ log_endpoint: http://192.168.2.223:8080
189
+ logging_dir: /home/xuehan/GarmentImitation/log
190
+ manual_num_rankings_per_sample: 16
191
+ max_normal_rot_angle: 20
192
+ max_other_rot_angle: 25
193
+ namespace: experiment_finetune
194
+ namespace_extra: null
195
+ normal_aug_types:
196
+ - depth
197
+ - affine
198
+ normal_scale_range:
199
+ - 3.0
200
+ - 3.0
201
+ normal_trans_place_pose: true
202
+ normal_x_trans_range:
203
+ - 0.0
204
+ - 0.0
205
+ normal_y_trans_range:
206
+ - 0.0
207
+ - 0.0
208
+ num_multiple_poses: 10
209
+ num_pc_sample_final: 3000
210
+ num_rankings_per_sample: 24
211
+ num_workers: 8
212
+ oss_bucket_name: unifolding
213
+ oss_endpoint: oss.robotflow.ai
214
+ other_aug_types:
215
+ - depth
216
+ - flip
217
+ - affine
218
+ - random_permute
219
+ other_scale_range:
220
+ - 3.0
221
+ - 3.0
222
+ other_trans_place_pose: true
223
+ other_x_trans_range:
224
+ - 0.0
225
+ - 0.0
226
+ other_y_trans_range:
227
+ - 0.0
228
+ - 0.0
229
+ return_multiple_poses: true
230
+ split_seed: 0
231
+ tag: nut_action14_real_zero_center_finetune_v20
232
+ tag_extra: null
233
+ use_augmentation: true
234
+ use_database: true
235
+ use_ood_points_removal: true
236
+ use_oss: false
237
+ use_table_plane_correction: true
238
+ use_zero_center: true
239
+ valid_primitive:
240
+ - sweep
241
+ voxel_size: 0.006
242
+ weighted_sampler:
243
+ enable: false
244
+ max_sample_num: 200
245
+ min_weight: 0.2
246
+ mode: linear
247
+ trainer:
248
+ max_epochs: 200
249
+ trainer_adjustment:
250
+ use_adaptive_episode: false
251
+ voxel_size: 0.006
252
+ xy_normalize_factor: 3.0
253
+ output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-09/18-01-27
nut_supervised/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e591c7beeeb9367a3da1688bf0429f5e5d6eb9eef19761741fd3093d3170b2c
3
+ size 54219707
nut_supervised/config.yaml ADDED
@@ -0,0 +1,242 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3000
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: nut-action14_real_zero_center_supervised_v20
45
+ run_name: action14_supervised_real
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ diffusion_head_params:
50
+ action_input_mlp_nn_channels:
51
+ - 120
52
+ - 240
53
+ action_output_mlp_nn_channels:
54
+ - 240
55
+ - 120
56
+ adaptive_xyz: false
57
+ data_format: xyz
58
+ match_idx:
59
+ - 0
60
+ - 1
61
+ - 2
62
+ num_diffusion_transformer_heads: 4
63
+ num_diffusion_transformer_layers: 2
64
+ num_gripper_points: 2
65
+ num_of_grasp_points: 16
66
+ prediction_type: epsilon
67
+ use_positional_encoding_in_attention_net: true
68
+ weight_decay: 0.001
69
+ gripper_points_idx:
70
+ - 0
71
+ - 1
72
+ init_lr: 0.0001
73
+ loss_cls_weight: 0.0
74
+ loss_diffusion_weight: 1.0
75
+ loss_keypoint_weight: 0.0
76
+ loss_nocs_weight: 0.0
77
+ num_gripper_points: 2
78
+ rescale_nocs: true
79
+ sparse_unet3d_encoder_params:
80
+ CHANNELS:
81
+ - None
82
+ - 64
83
+ - 64
84
+ - 128
85
+ - 256
86
+ TR_CHANNELS:
87
+ - None
88
+ - 64
89
+ - 64
90
+ - 64
91
+ - 128
92
+ conv1_kernel_size: 5
93
+ in_channels: 3
94
+ normalize_feature: true
95
+ out_channels: 64
96
+ state_head_params:
97
+ cls_base_nn_channels:
98
+ - 1024
99
+ - 256
100
+ - 128
101
+ detach_for_classifier: false
102
+ detach_for_detector: false
103
+ global_nn_channels:
104
+ - 128
105
+ - 256
106
+ - 1024
107
+ grasp_nocs_feat_nn_channels:
108
+ - 1152
109
+ - 512
110
+ - 240
111
+ gt_nocs_ratio_decay_factor: 0.98
112
+ min_gt_nocs_ratio: 0.7
113
+ nocs_distance_weight_alpha: 25.0
114
+ nocs_nn_channels:
115
+ - 128
116
+ - 256
117
+ - 128
118
+ - 3
119
+ num_pred_candidates: 16
120
+ num_smoothing_style: 4
121
+ pointnet_channels:
122
+ - 3
123
+ - 64
124
+ - 128
125
+ - 512
126
+ use_gt_nocs_pred_for_distance_weight: true
127
+ use_nocs_for_dense_feat: false
128
+ use_xyz_variety_loss: true
129
+ transformer_params:
130
+ d_model: 64
131
+ encoder_pos_embed_input_dim: 3
132
+ fea_channels:
133
+ - 64
134
+ - 128
135
+ - 128
136
+ input_channels: 3
137
+ input_size: 3000
138
+ key_feature_dim: 64
139
+ num_heads: 1
140
+ num_layers: 2
141
+ use_xyz: true
142
+ with_pos_embed: true
143
+ use_cos_lr: true
144
+ use_matched_action_gt: false
145
+ use_minsnr_reweight: false
146
+ use_multiple_poses: true
147
+ use_sym_loss: false
148
+ use_virtual_reward_for_inference: false
149
+ valid_primitive_idx: 14
150
+ muitiple_poses: true
151
+ num_gripper_points: 2
152
+ num_of_grasp_points: 16
153
+ num_pc_sample_final: 3000
154
+ rescale_nocs: true
155
+ runtime_datamodule:
156
+ auto_fill_multiple_poses: true
157
+ batch_size: 30
158
+ cache_data: false
159
+ data_type: new_pipeline_supervised
160
+ dataset_split:
161
+ - 8
162
+ - 1
163
+ - 1
164
+ debug: false
165
+ depth_scale_range:
166
+ - 1.0
167
+ - 1.0
168
+ depth_trans_range:
169
+ - -0.02
170
+ - 0.02
171
+ episode_range:
172
+ - 0
173
+ - 100
174
+ flip_lr_percent: 0.0
175
+ flip_ud_percent: 0.0
176
+ label_smoothing_value: 0.15
177
+ log_api: /v1/log_stream
178
+ log_endpoint: http://192.168.2.223:8080
179
+ logging_dir: /home/xuehan/GarmentImitation/log
180
+ max_normal_rot_angle: 20
181
+ max_other_rot_angle: 25
182
+ namespace: experiment_supervised
183
+ namespace_extra: null
184
+ normal_aug_types:
185
+ - depth
186
+ - affine
187
+ normal_scale_range:
188
+ - 3.0
189
+ - 3.0
190
+ normal_trans_place_pose: true
191
+ normal_x_trans_range:
192
+ - 0.0
193
+ - 0.0
194
+ normal_y_trans_range:
195
+ - 0.0
196
+ - 0.0
197
+ num_multiple_poses: 10
198
+ num_pc_sample_final: 3000
199
+ num_rankings_per_sample: 44
200
+ num_workers: 8
201
+ oss_bucket_name: unifolding
202
+ oss_endpoint: oss.robotflow.ai
203
+ other_aug_types:
204
+ - depth
205
+ - flip
206
+ - affine
207
+ - random_permute
208
+ other_scale_range:
209
+ - 3.0
210
+ - 3.0
211
+ other_trans_place_pose: true
212
+ other_x_trans_range:
213
+ - 0.0
214
+ - 0.0
215
+ other_y_trans_range:
216
+ - 0.0
217
+ - 0.0
218
+ return_multiple_poses: true
219
+ split_seed: 0
220
+ tag: nut_action14_real_zero_center_supervised_v20
221
+ tag_extra: null
222
+ use_augmentation: true
223
+ use_database: true
224
+ use_ood_points_removal: true
225
+ use_oss: false
226
+ use_table_plane_correction: true
227
+ use_zero_center: true
228
+ valid_primitive:
229
+ - sweep
230
+ voxel_size: 0.006
231
+ weighted_sampler:
232
+ enable: false
233
+ max_sample_num: 200
234
+ min_weight: 0.2
235
+ mode: linear
236
+ trainer:
237
+ max_epochs: 2000
238
+ trainer_adjustment:
239
+ use_adaptive_episode: true
240
+ voxel_size: 0.006
241
+ xy_normalize_factor: 3.0
242
+ output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-07/14-29-45
rope_finetune/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d4979c457408569eee0c33425017237c1582932ec688f2bb0489b22762b7edb
3
+ size 108400693
rope_finetune/config.yaml ADDED
@@ -0,0 +1,253 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3000
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: rope-action14_real_zero_center_finetune_v50
45
+ run_name: action14_finetune_real
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ cpl_lambda: 1.0
50
+ diffusion_head_params:
51
+ action_input_mlp_nn_channels:
52
+ - 120
53
+ - 240
54
+ action_output_mlp_nn_channels:
55
+ - 240
56
+ - 120
57
+ adaptive_xyz: false
58
+ data_format: xyz
59
+ match_idx:
60
+ - 0
61
+ - 1
62
+ - 2
63
+ num_diffusion_transformer_heads: 4
64
+ num_diffusion_transformer_layers: 2
65
+ num_gripper_points: 2
66
+ num_of_grasp_points: 16
67
+ prediction_type: epsilon
68
+ use_positional_encoding_in_attention_net: true
69
+ weight_decay: 0.001
70
+ dpo_beta: 100
71
+ enable_new_pipeline_finetune: true
72
+ finetune_loss_type: dpo
73
+ gripper_points_idx:
74
+ - 0
75
+ - 1
76
+ init_lr: 1.0e-05
77
+ loss_cls_weight: 0.0
78
+ loss_diffusion_finetune_sft_euqal_weight: 1.0
79
+ loss_diffusion_finetune_sft_weight: 1.0
80
+ loss_diffusion_finetune_weight: 1.0
81
+ loss_diffusion_weight: 1.0
82
+ loss_keypoint_weight: 0.0
83
+ loss_nocs_weight: 0.0
84
+ num_gripper_points: 2
85
+ reference_model_path: /home/xuehan/GarmentImitation.wendi/outputs/2024-09-10/10-11-02
86
+ rescale_nocs: true
87
+ sparse_unet3d_encoder_params:
88
+ CHANNELS:
89
+ - None
90
+ - 64
91
+ - 64
92
+ - 128
93
+ - 256
94
+ TR_CHANNELS:
95
+ - None
96
+ - 64
97
+ - 64
98
+ - 64
99
+ - 128
100
+ conv1_kernel_size: 5
101
+ in_channels: 3
102
+ normalize_feature: true
103
+ out_channels: 64
104
+ state_head_params:
105
+ cls_base_nn_channels:
106
+ - 1024
107
+ - 256
108
+ - 128
109
+ detach_for_classifier: false
110
+ detach_for_detector: false
111
+ global_nn_channels:
112
+ - 128
113
+ - 256
114
+ - 1024
115
+ grasp_nocs_feat_nn_channels:
116
+ - 1152
117
+ - 512
118
+ - 240
119
+ gt_nocs_ratio_decay_factor: 0.98
120
+ min_gt_nocs_ratio: 0.7
121
+ nocs_distance_weight_alpha: 25.0
122
+ nocs_nn_channels:
123
+ - 128
124
+ - 256
125
+ - 128
126
+ - 3
127
+ num_pred_candidates: 16
128
+ num_smoothing_style: 4
129
+ pointnet_channels:
130
+ - 3
131
+ - 64
132
+ - 128
133
+ - 512
134
+ use_gt_nocs_pred_for_distance_weight: true
135
+ use_nocs_for_dense_feat: false
136
+ use_xyz_variety_loss: true
137
+ transformer_params:
138
+ d_model: 64
139
+ encoder_pos_embed_input_dim: 3
140
+ fea_channels:
141
+ - 64
142
+ - 128
143
+ - 128
144
+ input_channels: 3
145
+ input_size: 3000
146
+ key_feature_dim: 64
147
+ num_heads: 1
148
+ num_layers: 2
149
+ use_xyz: true
150
+ with_pos_embed: true
151
+ use_cos_lr: true
152
+ use_matched_action_gt: false
153
+ use_minsnr_reweight: false
154
+ use_multiple_poses: true
155
+ use_sft_for_equal_samples: false
156
+ use_sft_for_gt_data: false
157
+ use_sym_loss: false
158
+ use_virtual_reward_for_inference: false
159
+ valid_primitive_idx: 16
160
+ muitiple_poses: true
161
+ num_gripper_points: 2
162
+ num_of_grasp_points: 16
163
+ num_pc_sample_final: 3000
164
+ rescale_nocs: true
165
+ runtime_datamodule:
166
+ auto_fill_multiple_poses: true
167
+ batch_size: 28
168
+ cache_data: false
169
+ data_type: new_pipeline_finetune
170
+ dataset_split:
171
+ - 8
172
+ - 1
173
+ - 1
174
+ debug: false
175
+ depth_scale_range:
176
+ - 1.0
177
+ - 1.0
178
+ depth_trans_range:
179
+ - -0.02
180
+ - 0.02
181
+ episode_range:
182
+ - 0
183
+ - 100
184
+ flip_lr_percent: 0.0
185
+ flip_ud_percent: 0.0
186
+ label_smoothing_value: 0.15
187
+ log_api: /v1/log_stream
188
+ log_endpoint: http://192.168.2.223:8080
189
+ logging_dir: /home/xuehan/GarmentImitation/log
190
+ manual_num_rankings_per_sample: 16
191
+ max_normal_rot_angle: 180
192
+ max_other_rot_angle: 180
193
+ namespace: experiment_finetune
194
+ namespace_extra: null
195
+ normal_aug_types:
196
+ - depth
197
+ - affine
198
+ normal_scale_range:
199
+ - 1.75
200
+ - 1.75
201
+ normal_trans_place_pose: true
202
+ normal_x_trans_range:
203
+ - 0.0
204
+ - 0.0
205
+ normal_y_trans_range:
206
+ - 0.0
207
+ - 0.0
208
+ num_multiple_poses: 10
209
+ num_pc_sample_final: 3000
210
+ num_rankings_per_sample: 24
211
+ num_workers: 8
212
+ oss_bucket_name: unifolding
213
+ oss_endpoint: oss.robotflow.ai
214
+ other_aug_types:
215
+ - depth
216
+ - flip
217
+ - affine
218
+ - random_permute
219
+ other_scale_range:
220
+ - 1.75
221
+ - 1.75
222
+ other_trans_place_pose: true
223
+ other_x_trans_range:
224
+ - 0.0
225
+ - 0.0
226
+ other_y_trans_range:
227
+ - 0.0
228
+ - 0.0
229
+ return_multiple_poses: true
230
+ split_seed: 0
231
+ tag: rope_action14_real_zero_center_finetune_v50
232
+ tag_extra: null
233
+ use_augmentation: true
234
+ use_database: true
235
+ use_ood_points_removal: true
236
+ use_oss: false
237
+ use_table_plane_correction: true
238
+ use_zero_center: true
239
+ valid_primitive:
240
+ - single_pick_and_place
241
+ voxel_size: 0.0035
242
+ weighted_sampler:
243
+ enable: false
244
+ max_sample_num: 200
245
+ min_weight: 0.2
246
+ mode: linear
247
+ trainer:
248
+ max_epochs: 200
249
+ trainer_adjustment:
250
+ use_adaptive_episode: false
251
+ voxel_size: 0.0035
252
+ xy_normalize_factor: 1.75
253
+ output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-09-10/17-43-08
rope_supervised/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26598719b12e54b86d2f165372d26e834b33216a59fc1ceb5710e4f6b54c8f55
3
+ size 54219963
rope_supervised/config.yaml ADDED
@@ -0,0 +1,243 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3000
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: rope-action14_real_zero_center_supervised_v50
45
+ run_name: action14_supervised_real_num_samples_200
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ diffusion_head_params:
50
+ action_input_mlp_nn_channels:
51
+ - 120
52
+ - 240
53
+ action_output_mlp_nn_channels:
54
+ - 240
55
+ - 120
56
+ adaptive_xyz: false
57
+ data_format: xyz
58
+ match_idx:
59
+ - 0
60
+ - 1
61
+ - 2
62
+ num_diffusion_transformer_heads: 4
63
+ num_diffusion_transformer_layers: 2
64
+ num_gripper_points: 2
65
+ num_of_grasp_points: 16
66
+ prediction_type: epsilon
67
+ use_positional_encoding_in_attention_net: true
68
+ weight_decay: 0.001
69
+ gripper_points_idx:
70
+ - 0
71
+ - 1
72
+ init_lr: 0.0001
73
+ loss_cls_weight: 0.0
74
+ loss_diffusion_weight: 1.0
75
+ loss_keypoint_weight: 0.0
76
+ loss_nocs_weight: 0.0
77
+ num_gripper_points: 2
78
+ rescale_nocs: true
79
+ sparse_unet3d_encoder_params:
80
+ CHANNELS:
81
+ - None
82
+ - 64
83
+ - 64
84
+ - 128
85
+ - 256
86
+ TR_CHANNELS:
87
+ - None
88
+ - 64
89
+ - 64
90
+ - 64
91
+ - 128
92
+ conv1_kernel_size: 5
93
+ in_channels: 3
94
+ normalize_feature: true
95
+ out_channels: 64
96
+ state_head_params:
97
+ cls_base_nn_channels:
98
+ - 1024
99
+ - 256
100
+ - 128
101
+ detach_for_classifier: false
102
+ detach_for_detector: false
103
+ global_nn_channels:
104
+ - 128
105
+ - 256
106
+ - 1024
107
+ grasp_nocs_feat_nn_channels:
108
+ - 1152
109
+ - 512
110
+ - 240
111
+ gt_nocs_ratio_decay_factor: 0.98
112
+ min_gt_nocs_ratio: 0.7
113
+ nocs_distance_weight_alpha: 25.0
114
+ nocs_nn_channels:
115
+ - 128
116
+ - 256
117
+ - 128
118
+ - 3
119
+ num_pred_candidates: 16
120
+ num_smoothing_style: 4
121
+ pointnet_channels:
122
+ - 3
123
+ - 64
124
+ - 128
125
+ - 512
126
+ use_gt_nocs_pred_for_distance_weight: true
127
+ use_nocs_for_dense_feat: false
128
+ use_xyz_variety_loss: true
129
+ transformer_params:
130
+ d_model: 64
131
+ encoder_pos_embed_input_dim: 3
132
+ fea_channels:
133
+ - 64
134
+ - 128
135
+ - 128
136
+ input_channels: 3
137
+ input_size: 3000
138
+ key_feature_dim: 64
139
+ num_heads: 1
140
+ num_layers: 2
141
+ use_xyz: true
142
+ with_pos_embed: true
143
+ use_cos_lr: true
144
+ use_matched_action_gt: false
145
+ use_minsnr_reweight: false
146
+ use_multiple_poses: true
147
+ use_sym_loss: false
148
+ use_virtual_reward_for_inference: false
149
+ valid_primitive_idx: 16
150
+ muitiple_poses: true
151
+ num_gripper_points: 2
152
+ num_of_grasp_points: 16
153
+ num_pc_sample_final: 3000
154
+ rescale_nocs: true
155
+ runtime_datamodule:
156
+ auto_fill_multiple_poses: true
157
+ batch_size: 30
158
+ cache_data: false
159
+ data_type: new_pipeline_supervised
160
+ dataset_split:
161
+ - 8
162
+ - 1
163
+ - 1
164
+ debug: false
165
+ depth_scale_range:
166
+ - 1.0
167
+ - 1.0
168
+ depth_trans_range:
169
+ - -0.02
170
+ - 0.02
171
+ episode_range:
172
+ - 0
173
+ - 100
174
+ flip_lr_percent: 0.0
175
+ flip_ud_percent: 0.0
176
+ label_smoothing_value: 0.15
177
+ log_api: /v1/log_stream
178
+ log_endpoint: http://192.168.2.223:8080
179
+ logging_dir: /home/xuehan/GarmentImitation/log
180
+ max_normal_rot_angle: 20
181
+ max_other_rot_angle: 25
182
+ namespace: experiment_supervised
183
+ namespace_extra: null
184
+ normal_aug_types:
185
+ - depth
186
+ - affine
187
+ normal_scale_range:
188
+ - 1.75
189
+ - 1.75
190
+ normal_trans_place_pose: true
191
+ normal_x_trans_range:
192
+ - 0.0
193
+ - 0.0
194
+ normal_y_trans_range:
195
+ - 0.0
196
+ - 0.0
197
+ num_multiple_poses: 10
198
+ num_pc_sample_final: 3000
199
+ num_rankings_per_sample: 44
200
+ num_samples: 200
201
+ num_workers: 8
202
+ oss_bucket_name: unifolding
203
+ oss_endpoint: oss.robotflow.ai
204
+ other_aug_types:
205
+ - depth
206
+ - flip
207
+ - affine
208
+ - random_permute
209
+ other_scale_range:
210
+ - 1.75
211
+ - 1.75
212
+ other_trans_place_pose: true
213
+ other_x_trans_range:
214
+ - 0.0
215
+ - 0.0
216
+ other_y_trans_range:
217
+ - 0.0
218
+ - 0.0
219
+ return_multiple_poses: true
220
+ split_seed: 0
221
+ tag: rope_action14_real_zero_center_supervised_v50
222
+ tag_extra: null
223
+ use_augmentation: true
224
+ use_database: true
225
+ use_ood_points_removal: true
226
+ use_oss: false
227
+ use_table_plane_correction: true
228
+ use_zero_center: true
229
+ valid_primitive:
230
+ - single_pick_and_place
231
+ voxel_size: 0.0035
232
+ weighted_sampler:
233
+ enable: false
234
+ max_sample_num: 200
235
+ min_weight: 0.2
236
+ mode: linear
237
+ trainer:
238
+ max_epochs: 2000
239
+ trainer_adjustment:
240
+ use_adaptive_episode: true
241
+ voxel_size: 0.0035
242
+ xy_normalize_factor: 1.75
243
+ output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-09-09/20-04-22
tshirt_short_finetune/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de09ec1dd51630021a7fdc457ad74945067969ee2a4d030dfe3694f68520cfba
3
+ size 108357749
tshirt_short_finetune/config.yaml ADDED
@@ -0,0 +1,240 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3500
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: tshirt_short-action14_real_zero_center_finetune_v14
45
+ run_name: action14_finetune_real
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ cpl_lambda: 1.0
50
+ diffusion_head_params:
51
+ action_input_mlp_nn_channels:
52
+ - 120
53
+ - 240
54
+ action_output_mlp_nn_channels:
55
+ - 240
56
+ - 120
57
+ adaptive_xyz: false
58
+ data_format: xyz
59
+ match_idx:
60
+ - 0
61
+ - 1
62
+ - 2
63
+ num_diffusion_transformer_heads: 4
64
+ num_diffusion_transformer_layers: 2
65
+ num_of_grasp_points: 16
66
+ prediction_type: epsilon
67
+ weight_decay: 0.001
68
+ dpo_beta: 100
69
+ enable_new_pipeline_finetune: true
70
+ finetune_loss_type: dpo
71
+ init_lr: 1.0e-05
72
+ loss_cls_weight: 0.0
73
+ loss_diffusion_finetune_sft_euqal_weight: 1.0
74
+ loss_diffusion_finetune_sft_weight: 1.0
75
+ loss_diffusion_finetune_weight: 1.0
76
+ loss_diffusion_weight: 1.0
77
+ loss_keypoint_weight: 0.0
78
+ loss_nocs_weight: 0.0
79
+ reference_model_path: /home/xuehan/GarmentImitation.dev/outputs/2024-07-26/19-15-15
80
+ rescale_nocs: true
81
+ sparse_unet3d_encoder_params:
82
+ CHANNELS:
83
+ - None
84
+ - 64
85
+ - 64
86
+ - 128
87
+ - 256
88
+ TR_CHANNELS:
89
+ - None
90
+ - 64
91
+ - 64
92
+ - 64
93
+ - 128
94
+ conv1_kernel_size: 5
95
+ in_channels: 3
96
+ normalize_feature: true
97
+ out_channels: 64
98
+ state_head_params:
99
+ cls_base_nn_channels:
100
+ - 1024
101
+ - 256
102
+ - 128
103
+ detach_for_classifier: false
104
+ detach_for_detector: false
105
+ global_nn_channels:
106
+ - 128
107
+ - 256
108
+ - 1024
109
+ grasp_nocs_feat_nn_channels:
110
+ - 1152
111
+ - 512
112
+ - 240
113
+ gt_nocs_ratio_decay_factor: 0.98
114
+ min_gt_nocs_ratio: 0.7
115
+ nocs_distance_weight_alpha: 25.0
116
+ nocs_nn_channels:
117
+ - 128
118
+ - 256
119
+ - 128
120
+ - 3
121
+ num_pred_candidates: 16
122
+ num_smoothing_style: 4
123
+ pointnet_channels:
124
+ - 3
125
+ - 64
126
+ - 128
127
+ - 512
128
+ use_gt_nocs_pred_for_distance_weight: true
129
+ use_nocs_for_dense_feat: false
130
+ use_xyz_variety_loss: true
131
+ transformer_params:
132
+ d_model: 64
133
+ encoder_pos_embed_input_dim: 3
134
+ fea_channels:
135
+ - 64
136
+ - 128
137
+ - 128
138
+ input_channels: 3
139
+ input_size: 3500
140
+ key_feature_dim: 64
141
+ num_heads: 1
142
+ num_layers: 2
143
+ use_xyz: true
144
+ with_pos_embed: true
145
+ use_cos_lr: true
146
+ use_matched_action_gt: false
147
+ use_minsnr_reweight: false
148
+ use_multiple_poses: true
149
+ use_sft_for_equal_samples: false
150
+ use_sft_for_gt_data: false
151
+ use_virtual_reward_for_inference: false
152
+ muitiple_poses: true
153
+ num_of_grasp_points: 16
154
+ num_pc_sample_final: 3500
155
+ rescale_nocs: true
156
+ runtime_datamodule:
157
+ auto_fill_multiple_poses: true
158
+ batch_size: 28
159
+ cache_data: false
160
+ data_type: new_pipeline_finetune
161
+ dataset_split:
162
+ - 8
163
+ - 1
164
+ - 1
165
+ debug: false
166
+ depth_scale_range:
167
+ - 1.0
168
+ - 1.0
169
+ depth_trans_range:
170
+ - -0.02
171
+ - 0.02
172
+ episode_range:
173
+ - 0
174
+ - 100
175
+ flip_lr_percent: 0.0
176
+ flip_ud_percent: 0.0
177
+ label_smoothing_value: 0.15
178
+ log_api: /v1/log_stream
179
+ log_endpoint: http://192.168.2.223:8080
180
+ logging_dir: /home/xuehan/GarmentImitation/log
181
+ manual_num_rankings_per_sample: 16
182
+ max_normal_rot_angle: 20
183
+ max_other_rot_angle: 25
184
+ namespace: experiment_finetune
185
+ namespace_extra: null
186
+ normal_aug_types:
187
+ - depth
188
+ - affine
189
+ normal_scale_range:
190
+ - 1.75
191
+ - 1.75
192
+ normal_x_trans_range:
193
+ - 0.0
194
+ - 0.0
195
+ normal_y_trans_range:
196
+ - 0.0
197
+ - 0.0
198
+ num_multiple_poses: 10
199
+ num_pc_sample_final: 3500
200
+ num_rankings_per_sample: 24
201
+ num_workers: 8
202
+ oss_bucket_name: unifolding
203
+ oss_endpoint: oss.robotflow.ai
204
+ other_aug_types:
205
+ - depth
206
+ - flip
207
+ - affine
208
+ - random_permute
209
+ other_scale_range:
210
+ - 1.75
211
+ - 1.75
212
+ other_x_trans_range:
213
+ - 0.0
214
+ - 0.0
215
+ other_y_trans_range:
216
+ - 0.0
217
+ - 0.0
218
+ return_multiple_poses: true
219
+ split_seed: 0
220
+ tag: tshirt_short_action14_real_zero_center_finetune_v14
221
+ tag_extra: null
222
+ use_augmentation: true
223
+ use_database: true
224
+ use_ood_points_removal: true
225
+ use_oss: false
226
+ use_table_plane_correction: true
227
+ use_zero_center: true
228
+ voxel_size: 0.0035
229
+ weighted_sampler:
230
+ enable: false
231
+ max_sample_num: 200
232
+ min_weight: 0.2
233
+ mode: linear
234
+ trainer:
235
+ max_epochs: 200
236
+ trainer_adjustment:
237
+ use_adaptive_episode: false
238
+ voxel_size: 0.0035
239
+ xy_normalize_factor: 1.75
240
+ output_dir: /home/xuehan/GarmentImitation.dev/outputs/2024-07-27/19-28-58
tshirt_short_supervised/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fa50281358e556d6593eb1d09d314783df1c7ef14584150d15a4dad484e2f0c4
3
+ size 54179963
tshirt_short_supervised/config.yaml ADDED
@@ -0,0 +1,229 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3500
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: tshirt_short-action14_real_zero_center_supervised_v13
45
+ run_name: action14_supervised_real
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ diffusion_head_params:
50
+ action_input_mlp_nn_channels:
51
+ - 120
52
+ - 240
53
+ action_output_mlp_nn_channels:
54
+ - 240
55
+ - 120
56
+ adaptive_xyz: false
57
+ data_format: xyz
58
+ match_idx:
59
+ - 0
60
+ - 1
61
+ - 2
62
+ num_diffusion_transformer_heads: 4
63
+ num_diffusion_transformer_layers: 2
64
+ num_of_grasp_points: 16
65
+ prediction_type: epsilon
66
+ weight_decay: 0.001
67
+ init_lr: 0.0001
68
+ loss_cls_weight: 0.0
69
+ loss_diffusion_weight: 1.0
70
+ loss_keypoint_weight: 0.0
71
+ loss_nocs_weight: 0.0
72
+ rescale_nocs: true
73
+ sparse_unet3d_encoder_params:
74
+ CHANNELS:
75
+ - None
76
+ - 64
77
+ - 64
78
+ - 128
79
+ - 256
80
+ TR_CHANNELS:
81
+ - None
82
+ - 64
83
+ - 64
84
+ - 64
85
+ - 128
86
+ conv1_kernel_size: 5
87
+ in_channels: 3
88
+ normalize_feature: true
89
+ out_channels: 64
90
+ state_head_params:
91
+ cls_base_nn_channels:
92
+ - 1024
93
+ - 256
94
+ - 128
95
+ detach_for_classifier: false
96
+ detach_for_detector: false
97
+ global_nn_channels:
98
+ - 128
99
+ - 256
100
+ - 1024
101
+ grasp_nocs_feat_nn_channels:
102
+ - 1152
103
+ - 512
104
+ - 240
105
+ gt_nocs_ratio_decay_factor: 0.98
106
+ min_gt_nocs_ratio: 0.7
107
+ nocs_distance_weight_alpha: 25.0
108
+ nocs_nn_channels:
109
+ - 128
110
+ - 256
111
+ - 128
112
+ - 3
113
+ num_pred_candidates: 16
114
+ num_smoothing_style: 4
115
+ pointnet_channels:
116
+ - 3
117
+ - 64
118
+ - 128
119
+ - 512
120
+ use_gt_nocs_pred_for_distance_weight: true
121
+ use_nocs_for_dense_feat: false
122
+ use_xyz_variety_loss: true
123
+ transformer_params:
124
+ d_model: 64
125
+ encoder_pos_embed_input_dim: 3
126
+ fea_channels:
127
+ - 64
128
+ - 128
129
+ - 128
130
+ input_channels: 3
131
+ input_size: 3500
132
+ key_feature_dim: 64
133
+ num_heads: 1
134
+ num_layers: 2
135
+ use_xyz: true
136
+ with_pos_embed: true
137
+ use_cos_lr: true
138
+ use_matched_action_gt: false
139
+ use_minsnr_reweight: false
140
+ use_multiple_poses: true
141
+ use_virtual_reward_for_inference: false
142
+ muitiple_poses: true
143
+ num_of_grasp_points: 16
144
+ num_pc_sample_final: 3500
145
+ rescale_nocs: true
146
+ runtime_datamodule:
147
+ auto_fill_multiple_poses: true
148
+ batch_size: 30
149
+ cache_data: false
150
+ data_type: new_pipeline_supervised
151
+ dataset_split:
152
+ - 8
153
+ - 1
154
+ - 1
155
+ debug: false
156
+ depth_scale_range:
157
+ - 1.0
158
+ - 1.0
159
+ depth_trans_range:
160
+ - -0.02
161
+ - 0.02
162
+ episode_range:
163
+ - 0
164
+ - 100
165
+ flip_lr_percent: 0.0
166
+ flip_ud_percent: 0.0
167
+ label_smoothing_value: 0.15
168
+ log_api: /v1/log_stream
169
+ log_endpoint: http://192.168.2.223:8080
170
+ logging_dir: /home/xuehan/GarmentImitation/log
171
+ max_normal_rot_angle: 20
172
+ max_other_rot_angle: 25
173
+ namespace: experiment_supervised
174
+ namespace_extra: null
175
+ normal_aug_types:
176
+ - depth
177
+ - affine
178
+ normal_scale_range:
179
+ - 1.75
180
+ - 1.75
181
+ normal_x_trans_range:
182
+ - 0.0
183
+ - 0.0
184
+ normal_y_trans_range:
185
+ - 0.0
186
+ - 0.0
187
+ num_multiple_poses: 10
188
+ num_pc_sample_final: 3500
189
+ num_rankings_per_sample: 44
190
+ num_workers: 8
191
+ oss_bucket_name: unifolding
192
+ oss_endpoint: oss.robotflow.ai
193
+ other_aug_types:
194
+ - depth
195
+ - flip
196
+ - affine
197
+ - random_permute
198
+ other_scale_range:
199
+ - 1.75
200
+ - 1.75
201
+ other_x_trans_range:
202
+ - 0.0
203
+ - 0.0
204
+ other_y_trans_range:
205
+ - 0.0
206
+ - 0.0
207
+ return_multiple_poses: true
208
+ split_seed: 0
209
+ tag: tshirt_short_action14_real_zero_center_supervised_v13
210
+ tag_extra: null
211
+ use_augmentation: true
212
+ use_database: true
213
+ use_ood_points_removal: true
214
+ use_oss: false
215
+ use_table_plane_correction: true
216
+ use_zero_center: true
217
+ voxel_size: 0.0035
218
+ weighted_sampler:
219
+ enable: false
220
+ max_sample_num: 200
221
+ min_weight: 0.2
222
+ mode: linear
223
+ trainer:
224
+ max_epochs: 2000
225
+ trainer_adjustment:
226
+ use_adaptive_episode: true
227
+ voxel_size: 0.0035
228
+ xy_normalize_factor: 1.75
229
+ output_dir: /home/xuehan/GarmentImitation.dev/outputs/2024-07-26/19-15-15