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0000000000000000000000000000000000000000..c6a6a71718c925c4eec1dc74e21916f1ec253486 --- /dev/null +++ b/4_2024-09-15-14-13-42/local_multitask_outhd64all_home_crop_h144w144d48_ctxt/seed_183386/epoch_9/hparams.yaml @@ -0,0 +1,870 @@ +!!python/object/new:lightning_fabric.utilities.data.AttributeDict +dictitems: + add_noise_dict: + FT_dict: + amp_sin_mean: + - 1 + - 1 + - 1 + - 0.2 + - 0.2 + - 0.2 + amp_sin_std: + - 0.5 + - 0.5 + - 0.5 + - 0.1 + - 0.1 + - 0.1 + freq_sin_mean: + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + freq_sin_std: + - 5 + - 5 + - 5 + - 5 + - 5 + - 5 + mean_gaussian: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + phase_sin_mean: + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + phase_sin_std: + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + std_gaussian: + - 0.3 + - 0.3 + - 0.3 + - 0.1 + - 0.1 + - 0.1 + desired_joint_torque_dict: + amp_sin_mean: + - 0.2 + - 0.2 + - 0.2 + - 0.2 + - 0.2 + - 0.2 + - 0.2 + amp_sin_std: + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + freq_sin_mean: + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + freq_sin_std: + - 5 + - 5 + - 5 + - 5 + - 5 + - 5 + mean_gaussian: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + phase_sin_mean: + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + phase_sin_std: + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + std_gaussian: + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + enable: false + external_joint_torque_dict: + amp_sin_mean: + - 0.2 + - 0.2 + - 0.2 + - 0.2 + - 0.2 + - 0.2 + amp_sin_std: + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + freq_sin_mean: + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + freq_sin_std: + - 5 + - 5 + - 5 + - 5 + - 5 + - 5 + mean_gaussian: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + phase_sin_mean: + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + phase_sin_std: + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + std_gaussian: + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + joint_velo_dict: + amp_sin_mean: + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + amp_sin_std: + - 0.05 + - 0.05 + - 0.05 + - 0.05 + - 0.05 + - 0.05 + - 0.05 + freq_sin_mean: + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + freq_sin_std: + - 5 + - 5 + - 5 + - 5 + - 5 + - 5 + mean_gaussian: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + phase_sin_mean: + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + phase_sin_std: + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + std_gaussian: + - 0.06 + - 0.06 + - 0.06 + - 0.06 + - 0.06 + - 0.06 + - 0.06 + measured_joint_torque_dict: + amp_sin_mean: + - 0.2 + - 0.2 + - 0.2 + - 0.2 + - 0.2 + - 0.2 + amp_sin_std: + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + freq_sin_mean: + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + freq_sin_std: + - 5 + - 5 + - 5 + - 5 + - 5 + - 5 + mean_gaussian: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + phase_sin_mean: + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + phase_sin_std: + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + std_gaussian: + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + - 0.1 + noise_type: gaussian_per_sample + bilinear: true + compensate_obj_gravity_dict: + EE_pos_x_objCoM: 0.0 + EE_pos_y_objCoM: 0.15 + EE_pos_z_objCoM: 0.0 + enable: false + num_idxs: 250 + start_idx: 10 + context_frame_dict: + enable: true + mask_input_dict: + add_env_mask: false + enable: false + exclude_object_masks: false + exclude_table: false + input_nominal_robot_mask: false + lumped_env_mask: false + max_env_masks: 5 + only_visible: true + representation: channels + retain_robot_mask: false + shuffle_env_masks: true + cropping_dict: + bb_height: 144 + bb_width: 144 + down_scale: 48 + enable: true + eval_metrics_settings_dict: + eval_normals_within_sdf: 0.1 + evaluate_on_EE_cropped_dict: + bb_height: 90 + bb_width: 110 + down_scale: 22 + enable: true + l1_clamp: 0.1 + nms_dict: + TP_pixel_radius: 5 + enable: true + gaussian_kernel_size: 5 + lambda_FN: 1.0 + lambda_FP: 1.0 + log_aggregate_metrics: false + max_num_contact: 15 + per_sample_metrics: false + sdf: false + threshold: 0.01 + top_n_samples: 15 + window_radius: 5.0 + nms_threshold_sweep_linspace: null + normal_pad_dict: + pad_xyz_vector: + - 0.0 + - 0.0 + - 1.0 + pseudo_sdf_contact_metric_settings_dict: + cropped: true + sdf_contact_threshold: 0.00075 + sdf_pad_dict: + pad_value: 1.0 + fuse_inputs: false + global_seed: 183386 + im_resize_tuple: &id001 !!python/tuple + - 240 + - 320 + lr: 0.0005 + mask_input_dict: + add_env_mask: false + enable: false + exclude_object_masks: false + exclude_table: false + input_nominal_robot_mask: false + lumped_env_mask: false + max_env_masks: 5 + only_visible: true + representation: channels + retain_robot_mask: false + shuffle_env_masks: true + max_depth_clip: 2.0 + model_type: local_multitask + multitask_evaluation_metrics_settings_dict: !!python/object:src.dataset.contact_dataclasses.MultitaskEvaluationMetricsSettingsDict + circle_mask_radius: 10 + normal_scaling: 0.1 + sdf_to_prob_dict: !!python/object:src.dataset.contact_dataclasses.SDFToProbDict + function_params: + - 0.005 + - 5.0 + function_type: logistic + offset_to_zero: false + multitask_heads_dict: + EE_obj_normals_map_head_dict: + enable: true + eval_metrics_settings_dict: + eval_normals_within_sdf: 0.1 + evaluate_on_EE_cropped_dict: + bb_height: 90 + bb_width: 110 + down_scale: 22 + enable: true + l1_clamp: 0.1 + nms_dict: + TP_pixel_radius: 15 + enable: true + gaussian_kernel_size: 5 + lambda_FN: 1.0 + lambda_FP: 1.0 + log_aggregate_metrics: false + max_num_contact: 15 + per_sample_metrics: false + sdf: false + threshold: 0.01 + top_n_samples: 15 + window_radius: 5.0 + nms_threshold_sweep_linspace: null + normal_pad_dict: + pad_xyz_vector: + - 0.0 + - 0.0 + - 1.0 + pseudo_sdf_contact_metric_settings_dict: + cropped: false + sdf_contact_threshold: 0.00075 + sdf_pad_dict: + pad_value: 0.5 + feature_channels: 64 + loss_weight: 0.01 + normalize: true + normals_type: EE_obj + representation: xyz + sigmoid_out: true + train_loss_dict: + component_loss: false + component_loss_type: mse + dot_product_loss: true + dot_product_loss_type: l1 + huber_delta: 0.005 + weight_map_dict: + enable: true + normalize_by_weight_map: true + sdf_source: self + sdf_to_prob_dict: + function_params: + - 0.02 + - 5.0 + function_type: logistic + offset_to_zero: true + weight_map: sdf_prob + EE_obj_sdf_on_env_map_head_dict: + enable: true + eval_metrics_settings_dict: + eval_normals_within_sdf: 0.1 + evaluate_on_EE_cropped_dict: + bb_height: 90 + bb_width: 110 + down_scale: 22 + enable: true + l1_clamp: 0.1 + nms_dict: + TP_pixel_radius: 15 + enable: true + gaussian_kernel_size: 5 + lambda_FN: 1.0 + lambda_FP: 1.0 + log_aggregate_metrics: false + max_num_contact: 15 + per_sample_metrics: false + sdf: true + threshold: 0.01 + top_n_samples: 15 + window_radius: 5.0 + nms_threshold_sweep_linspace: null + normal_pad_dict: + pad_xyz_vector: + - 0.0 + - 0.0 + - 1.0 + pseudo_sdf_contact_metric_settings_dict: + cropped: false + sdf_contact_threshold: 0.00075 + sdf_pad_dict: + pad_value: 0.5 + feature_channels: 64 + loss_weight: 1.0 + sdf_type: EE_obj_sdf_on_env + train_loss_dict: + huber_delta: 0.001 + loss_type: l1 + sdf_clamp_delta: 0.25 + sdf_prob_loss_dict: + enable: false + loss_weight: 1.0 + sdf_to_prob_dict: + function_params: + - 0.02 + - 5.0 + function_type: logistic + offset_to_zero: false + target_contact_prob_type: contact + weight_map_dict: + enable: false + normalize_by_weight_map: true + sdf_source: self + sdf_to_prob_dict: + function_params: + - 0.08 + - 5.0 + function_type: logistic + offset_to_zero: true + weight_map: sdf_prob + contact_model_checkpoint_path: '' + contact_prob_map_head_dict: + blur_contact_map_dict: + enable: true + kernel_size: 5 + sigma: 0.0 + enable: true + eval_metrics_settings_dict: + eval_normals_within_sdf: 0.1 + evaluate_on_EE_cropped_dict: + bb_height: 90 + bb_width: 110 + down_scale: 22 + enable: true + l1_clamp: 0.1 + nms_dict: + TP_pixel_radius: 15 + enable: true + gaussian_kernel_size: 5 + lambda_FN: 1.0 + lambda_FP: 1.0 + log_aggregate_metrics: false + max_num_contact: 15 + per_sample_metrics: false + sdf: false + threshold: 0.01 + top_n_samples: 15 + window_radius: 5.0 + nms_threshold_sweep_linspace: null + normal_pad_dict: + pad_xyz_vector: + - 0.0 + - 0.0 + - 1.0 + pseudo_sdf_contact_metric_settings_dict: + cropped: false + sdf_contact_threshold: 0.00075 + sdf_pad_dict: + pad_value: 0.5 + feature_channels: 64 + loss_weight: 1.0 + train_loss_dict: + loss_type: bce + weight_map_dict: + enable: false + normalize_by_weight_map: true + sdf_source: self + sdf_to_prob_dict: + function_params: + - 0.02 + - 5.0 + function_type: logistic + offset_to_zero: false + weight_map: sdf_prob + env_normals_map_head_dict: + enable: true + eval_metrics_settings_dict: + eval_normals_within_sdf: 0.1 + evaluate_on_EE_cropped_dict: + bb_height: 90 + bb_width: 110 + down_scale: 22 + enable: true + l1_clamp: 0.1 + nms_dict: + TP_pixel_radius: 15 + enable: true + gaussian_kernel_size: 5 + lambda_FN: 1.0 + lambda_FP: 1.0 + log_aggregate_metrics: false + max_num_contact: 15 + per_sample_metrics: false + sdf: false + threshold: 0.01 + top_n_samples: 15 + window_radius: 5.0 + nms_threshold_sweep_linspace: null + normal_pad_dict: + pad_xyz_vector: + - 0.0 + - 0.0 + - 1.0 + pseudo_sdf_contact_metric_settings_dict: + cropped: false + sdf_contact_threshold: 0.00075 + sdf_pad_dict: + pad_value: 0.5 + feature_channels: 64 + loss_weight: 0.01 + normalize: true + normals_type: env + representation: xyz + sigmoid_out: true + train_loss_dict: + component_loss: false + component_loss_type: mse + dot_product_loss: true + dot_product_loss_type: l1 + huber_delta: 0.005 + weight_map_dict: + enable: true + normalize_by_weight_map: true + sdf_source: self + sdf_to_prob_dict: + function_params: + - 0.02 + - 5.0 + function_type: logistic + offset_to_zero: true + weight_map: sdf_prob + env_obj_sdf_on_EE_obj_map_head_dict: + enable: true + eval_metrics_settings_dict: + eval_normals_within_sdf: 0.1 + evaluate_on_EE_cropped_dict: + bb_height: 90 + bb_width: 110 + down_scale: 22 + enable: true + l1_clamp: 0.1 + nms_dict: + TP_pixel_radius: 15 + enable: true + gaussian_kernel_size: 5 + lambda_FN: 1.0 + lambda_FP: 1.0 + log_aggregate_metrics: false + max_num_contact: 15 + per_sample_metrics: false + sdf: true + threshold: 0.01 + top_n_samples: 15 + window_radius: 5.0 + nms_threshold_sweep_linspace: null + normal_pad_dict: + pad_xyz_vector: + - 0.0 + - 0.0 + - 1.0 + pseudo_sdf_contact_metric_settings_dict: + cropped: false + sdf_contact_threshold: 0.00075 + sdf_pad_dict: + pad_value: 0.5 + feature_channels: 64 + loss_weight: 1.0 + sdf_type: env_sdf_on_EE_obj + train_loss_dict: + huber_delta: 0.001 + loss_type: l1 + sdf_clamp_delta: 0.25 + sdf_prob_loss_dict: + enable: false + loss_weight: 1.0 + sdf_to_prob_dict: + function_params: + - 0.02 + - 5.0 + function_type: logistic + offset_to_zero: false + target_contact_prob_type: contact + weight_map_dict: + enable: false + normalize_by_weight_map: true + sdf_source: self + sdf_to_prob_dict: + function_params: + - 0.08 + - 5.0 + function_type: logistic + offset_to_zero: true + weight_map: sdf_prob + feature_channels: 64 + forking_point: output_heads + shared_normals_model_checkpoint_path: '' + shared_sdf_model_checkpoint_path: '' + normalize_dict: + O_F_ext_EE_max: + - 20.0 + - 20.0 + - 20.0 + - 10.0 + - 10.0 + - 10.0 + O_F_ext_EE_min: + - -20.0 + - -20.0 + - -20.0 + - -10.0 + - -10.0 + - -10.0 + O_position_EE_max: + - 0.8 + - 0.6 + - 0.5 + O_position_EE_min: + - 0.0 + - -0.6 + - -0.2 + desired_torques_max: + - 20.0 + - 30.0 + - 20.0 + - 20.0 + - 10.0 + - 10.0 + - 5.0 + desired_torques_min: + - -20.0 + - -30.0 + - -20.0 + - -20.0 + - -10.0 + - -10.0 + - -5.0 + enable: false + external_torques_max: + - 30.0 + - 30.0 + - 30.0 + - 30.0 + - 20.0 + - 20.0 + - 10.0 + external_torques_min: + - -30.0 + - -30.0 + - -30.0 + - -30.0 + - -20.0 + - -20.0 + - -10.0 + joint_positions_max: + - 2.9 + - 1.8 + - 2.9 + - -0.05 + - 2.9 + - 3.76 + - 2.9 + joint_positions_min: + - -2.9 + - -1.8 + - -2.9 + - -3.1 + - -2.9 + - -0.02 + - -2.9 + joint_velocities_max: + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + - 1.5 + joint_velocities_min: + - -1.5 + - -1.5 + - -1.5 + - -1.5 + - -1.5 + - -1.5 + - -1.5 + measured_torques_max: + - 87.0 + - 87.0 + - 87.0 + - 87.0 + - 12.0 + - 12.0 + - 12.0 + measured_torques_min: + - -87.0 + - -87.0 + - -87.0 + - -87.0 + - -12.0 + - -12.0 + - -12.0 + optical_flow_dict: + enable: false + fill_holes: true + max_flow_norm: 10.0 + normalize: true + use_image: false + pose_hidden_list: + - 64 + - 64 + - 64 + proprioception_input_dict: + EE_pose: false + EE_velocity: false + desired_joint_torques: false + external_joint_torques: false + external_wrench: false + history_dict: + enable: false + sample_freq: 100 + time_window: 0.1 + in_cam_frame_dict: + C_R_W: + - - 0.0 + - 0.20356716 + - -0.979060985 + - - 1.0 + - 0.0 + - 0.0 + - - 0.0 + - -0.979060985 + - -0.20356716 + C_t_W: + - 0.0 + - -0.0015862988 + - 1.67259212 + enable: false + joint_positions: false + joint_velocities: false + measured_joint_torques: false + rotation_representation: quaternion + run_name: checkpoints + time_dim: 1 + vid_utils_dict: + context_frame: true + file_root_dir: videos/test_local + is_annotated_local: true + model_type: local_multitask + run_id: checkpoints + viz_utils_dict: + circle_dict: + color: + - 0 + - 0 + - 255 + enable: true + radius: 4 + thickness: 1 + color_image_settings_dict: + brightness_coefficient: 30 + saturation_coefficient: 0.3 + convert_color_to_gray: false + cross_length: 3 + forces_ylim: + - -15 + - 15 + im_resize: *id001 + max_depth_clip: 2.0 + max_flow_norm: 10.0 + normalize_local_prob: true + torques_ylim: + - -5 + - 5 + viz_max_depth_clip: 1.8 + viz_min_depth_clip: 0.4 + weight_decay: 1.0e-05 + wrench_hidden_list: + - 64 + - 64 + - 64 diff --git a/4_2024-09-15-14-13-42/local_multitask_outhd64all_home_crop_h144w144d48_ctxt/seed_183386/epoch_9/pred_EEsdf_map/0.pkl 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