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rlbench.yaml
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rlbench.yaml
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data:
root_dir: ''
num_points: 16384
num_object_points: 1024
world_coord: True
num_rotations: 8
grid_resolution: 0.01
jitter_scale: 0.
contact_radius: 0.005
robot_prob: 1.0
offset_bins: [
0, 0.00794435329, 0.0158887021, 0.0238330509,
0.0317773996, 0.0397217484, 0.0476660972,
0.055610446, 0.0635547948, 0.0714991435, 0.08
]
m2t2:
scene_encoder:
type: 'pointnet2_msg'
num_points: 16384
downsample: 4
radius: 0.05
radius_mult: 2
use_rgb: False
object_encoder:
type: 'pointnet2_msg_cls'
num_points: 1024
downsample: 4
radius: 0.05
radius_mult: 2
use_rgb: False
contact_decoder:
mask_feature: 'res0'
in_features: ['res2', 'res3', 'res4']
place_feature: 'res4'
object_in_features: ['res1', 'res2', 'res3']
embed_dim: 256
feedforward_dim: 512
num_scales: 3
num_layers: 3
num_heads: 8
num_grasp_queries: 1
num_place_queries: 1
language_context_length: 77
language_token_dim: 512
use_attn_mask: True
use_task_embed: False
activation: 'GELU'
action_decoder:
use_embed: False
max_num_pred: null
hidden_dim: 256
num_layers: 3
num_params: 4
activation: 'GELU'
offset_bins: [
0, 0.00794435329, 0.0158887021, 0.0238330509,
0.0317773996, 0.0397217484, 0.0476660972,
0.055610446, 0.0635547948, 0.0714991435, 0.08
]
matcher:
object_weight: 2.0
bce_weight: 5.0
dice_weight: 5.0
grasp_loss:
object_weight: 2.0
not_object_weight: 0.1
pseudo_ce_weight: 0.0
bce_topk: 512
bce_weight: 5.0
dice_weight: 5.0
deep_supervision: True
recompute_indices: True
adds_pred2gt: 100.0
adds_gt2pred: 0.0
adds_per_obj: False
contact_dir: 0.0
approach_dir: 0.0
offset: 1.0
param: 1.0
offset_bin_weights: [
0.16652107, 0.21488856, 0.37031708, 0.55618503, 0.75124664,
0.93943357, 1.07824539, 1.19423112, 1.55731375, 3.17161779
]
place_loss:
bce_topk: 1024
bce_weight: 5.0
dice_weight: 5.0
deep_supervision: True
optimizer:
type: 'ADAMW'
base_batch_size: 16
base_lr: 0.0001
backbone_multiplier: 1.0
grad_clip: 0.01
weight_decay: 0.05
train:
mask_thresh: 0.5
num_gpus: 8
port: '1234'
batch_size: 16
num_workers: 8
num_epochs: 160
print_freq: 25
plot_freq: 50
save_freq: 10
checkpoint: null
log_dir: ''
eval:
checkpoint: ''
mask_thresh: 0.1
world_coord: True
placement_height: 0.02
rlbench:
base_dir: sample_data/rlbench
lang_emb_path: sample_data/rlbench/language_goal.pkl
task_name: meat_off_grill
cameras: [front,left_shoulder,right_shoulder,wrist]
camera_resolution: [128, 128]
scene_bounds: [-0.3, -0.5, 0.6, 0.7, 0.5, 1.6]
episode: 0
frame_id: 0