| # Copyright 2023 DeepMind Technologies Limited | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| # ============================================================================== | |
| """Config file with parameters.""" | |
| obj_pc_n = 2048 | |
| robot_pc_n = 6 | |
| keypoint_n = 6 | |
| hidden_n = 256 | |
| obj_in_feats = 3 | |
| robot_in_feats = obj_in_feats | |
| obj_out_feats = 512 | |
| robot_out_feats = obj_out_feats | |
| robot_weighting = 500.0 | |
| matchnet_weighting = 200.0 | |
| num_hidden = 3 | |
| dist_loss_weight = 0.5 | |
| match_loss_weight = 0.5 | |