models/NaviBridger/cvae.yaml

project_name: cvae
run_name: cvae

# training setup
use_wandb: True # set to false if you don't want to log to wandb
train: True
batch_size: 256
epochs: 30
gpu_ids: [0]
num_workers: 12
lr: 1e-4
optimizer: adamw
clipping: False
max_norm: 1.
scheduler: "cosine"
warmup: True 
warmup_epochs: 4
cyclic_period: 10
plateau_patience: 3
plateau_factor: 0.5
seed: 0
save_freq: 1

# model params
model_type: cvae
vision_encoder: navibridge_encoder
encoding_size: 256
obs_encoder: efficientnet-b0
attn_unet: False
cond_predict_scale: False
mha_num_attention_heads: 4
mha_num_attention_layers: 4
mha_ff_dim_factor: 4
down_dims: [64, 128, 256]

# diffusion model params
num_diffusion_iters: 10

# mask 
goal_mask_prob: 0.5

# normalization for the action space
normalize: True

# context
context_type: temporal
context_size: 3 # 5
alpha: 1e-4

# distance bounds for distance and action and distance predictions 
distance:
  min_dist_cat: 0
  max_dist_cat: 20
action:
  min_dist_cat: 3
  max_dist_cat: 20

# action output params
len_traj_pred: 8
action_dim: 2
learn_angle: False

# navibridge
sampler_name: "uniform"
pred_mode: "ve"
weight_schedule: "karras"
sigma_data: 0.5
sigma_min: 0.002
sigma_max: 80.0
rho: 7.0
beta_d: 2
beta_min: 0.1
cov_xy: 0.
guidance: 1.
# sample defaults
clip_denoised: True
sampler: "euler"
churn_step_ratio: 0.
# prior settings
prior_policy: "gaussian"  # handcraft, gaussian, cvae
class_num: 5

angle_ranges: [[0, 67.5],
              [67.5, 112.5],
              [112.5, 180],
              [180, 270],
              [270, 360]]
min_std_angle: 5.0
max_std_angle: 20.0
min_std_length: 1.0
max_std_length: 5.0

# cvae
train_params:
  batch_size: 256
  num_itr: 3001
  lr: 0.5e-5
  lr_gamma: 0.99
  lr_step: 1000
  l2_norm: 0.0
  ema: 0.99


diffuse_params:
  latent_dim: 64
  layer: 3
  net_type: vae_mlp
  ckpt_path: /workspace/src/NaiviBridger/deployment/model_weights/cvae.pth
  pretrain: False

# dataset specific parameters
image_size: [96, 96] # width, height
datasets:
  recon:
    data_folder: ./datasets/recon
    train: ./datasets/data_splits/recon/train # path to train folder with traj_names.txt
    test: ./datasets/data_splits/recon/test # path to test folder with traj_names.txt
    end_slack: 3 # because many trajectories end in collisions
    goals_per_obs: 1 # how many goals are sampled per observation
    negative_mining: True # negative mining from the ViNG paper (Shah et al.)
  go_stanford:
    data_folder: ./datasets/go_stanford/ # datasets/stanford_go_new
    train: ./datasets/data_splits/go_stanford/train/
    test: ./datasets/data_splits/go_stanford/test/
    end_slack: 0
    goals_per_obs: 2 # increase dataset size
    negative_mining: True
  sacson:
    data_folder: ./datasets/sacson/
    train: ./datasets/data_splits/sacson/train/
    test: ./datasets/data_splits/sacson/test/
    end_slack: 3 # because many trajectories end in collisions
    goals_per_obs: 1
    negative_mining: True
  scand:
    data_folder: ./datasets/scand/
    train: ./datasets/data_splits/scand/train/
    test: ./datasets/data_splits/scand/test/
    end_slack: 0
    goals_per_obs: 1
    negative_mining: True

# logging stuff
## =0 turns off
print_log_freq: 500 # in iterations
image_log_freq: 1000 #0 # in iterations
num_images_log: 8 #0 
pairwise_test_freq: 0 # in epochs
eval_fraction: 0.25
wandb_log_freq: 10 # in iterations
eval_freq: 1 # in epochs