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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
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