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Browse files- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/config.yaml +120 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/args.json +205 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/env_config.yaml +86 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0011_Local_0002.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0013_Local_0002.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0020_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0021_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0024_Local_0000.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0034_Local_0000.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0044_Local_0000.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0045_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0047_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0059_Local_0000.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0062_Local_0002.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0069_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0074_Local_0002.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0075_Local_0002.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0077_Local_0002.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0000.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0089_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0091_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0093_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0094_Local_0001.pcd +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0001_Local_0002.ply +157 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0005_Local_0001.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0006_Local_0000.ply +81 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0012_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0001.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0002.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0031_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0040_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0047_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0050_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0051_Local_0002.ply +103 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0055_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0001.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0002.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0068_Local_0001.ply +66 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0001.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0002.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0073_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0078_Local_0000.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0081_Local_0001.ply +182 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0001.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0002.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0093_Local_0002.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0094_Local_0001.ply +0 -0
- alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/training.log +0 -0
alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/config.yaml
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| 1 |
+
exp_name: alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256
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| 2 |
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seed: &seed 310
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| 3 |
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out_dir: ./logs/
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| 4 |
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tensorboard_log_dir: runs/
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| 5 |
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save_every_iter: &log_freq 1
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| 6 |
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total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
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substep_count: 3 # remember to update in diffusion config in pointe, under the k keys
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| 8 |
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| 9 |
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cond_config:
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| 10 |
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- name: "SoftZoo_Sim"
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| 11 |
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grad_scale: !!float 1e-3
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| 12 |
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grad_clamp: !!float 1e-4
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| 13 |
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calc_gradient: True
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| 14 |
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logging_bool: True
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| 15 |
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# - name: "Dist_To_Origin"
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# grad_scale: !!float 1e0
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| 17 |
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# grad_clamp: !!float 1e-2
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| 18 |
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# calc_gradient: True
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# logging_bool: True
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| 20 |
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cond_overall_logging: True
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| 21 |
+
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| 22 |
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preload_emb:
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| 23 |
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condition_embedding:
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| 24 |
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shape: [1,3,224,224]
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| 25 |
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path: img_asset/hand.jpg
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| 26 |
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random: False
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| 27 |
+
diffusion_noise:
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| 28 |
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shape: [2,6,1024]
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| 29 |
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path: null
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| 30 |
+
upsample_noise:
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| 31 |
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shape: [1,6,3072]
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| 32 |
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path: null
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| 33 |
+
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| 34 |
+
softzoo_config:
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| 35 |
+
out_dir: null # Placeholder, need to be set in run.py
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| 36 |
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env_config_file: gripping_env.yaml
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| 37 |
+
save_every_iter: *log_freq
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| 38 |
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render_every_iter: *log_freq
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| 39 |
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n_iters: 301
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| 40 |
+
n_frames: 150
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| 41 |
+
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| 42 |
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controller_type: all_on
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| 43 |
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action_v_strength: 0.3
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| 44 |
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| 45 |
+
loss_types: [GrippingObjectLoss]
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| 46 |
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obj_particle_id: 2
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| 47 |
+
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| 48 |
+
seed: *seed # Placeholder, do not use
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| 49 |
+
torch_seed: *seed # Placeholder, do not use
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| 50 |
+
static_as_fixed: True
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| 51 |
+
device_memory_fraction: 0.7
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| 52 |
+
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| 53 |
+
optimize_designer: True
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| 54 |
+
optimize_design_types: ['geometry']
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| 55 |
+
designer_lr: 0.1
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| 56 |
+
gen_pointe_bounding_box:
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| 57 |
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max: [0.5,0.5,0.5]
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| 58 |
+
# mean: [0.,0.,0.]
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| 59 |
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min: [-0.5,-0.5,-0.5]
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| 60 |
+
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| 61 |
+
design_device: cpu
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| 62 |
+
obj_initial_pos: [0,0,0]
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| 63 |
+
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| 64 |
+
sap_config:
|
| 65 |
+
data:
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| 66 |
+
data_type: point
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| 67 |
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n_views_per_iter: 2
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| 68 |
+
zero_level: 0
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| 69 |
+
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| 70 |
+
model:
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| 71 |
+
sphere_radius: 0.2
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| 72 |
+
num_points: 20000
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| 73 |
+
grid_res: 128 # poisson grid resolution
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| 74 |
+
psr_sigma: 2
|
| 75 |
+
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| 76 |
+
apply_sigmoid: True
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| 77 |
+
normal_normalize: False
|
| 78 |
+
|
| 79 |
+
train:
|
| 80 |
+
schedule:
|
| 81 |
+
initial: 1e-2
|
| 82 |
+
interval: 200
|
| 83 |
+
factor: 0.5
|
| 84 |
+
final: 1e-3
|
| 85 |
+
|
| 86 |
+
total_epochs: 500
|
| 87 |
+
|
| 88 |
+
w_chamfer: 1.
|
| 89 |
+
w_chamfer_v_mesh: 1.
|
| 90 |
+
w_chamfer_x_0: 10.
|
| 91 |
+
w_inside: 0.1
|
| 92 |
+
w_outside: 1.
|
| 93 |
+
|
| 94 |
+
n_sup_point: 20000
|
| 95 |
+
n_grow_points: 2000
|
| 96 |
+
subsample_vertex: False
|
| 97 |
+
l_weight: {}
|
| 98 |
+
|
| 99 |
+
exp_mesh: True
|
| 100 |
+
exp_pcl: True
|
| 101 |
+
|
| 102 |
+
resample_every: 75
|
| 103 |
+
|
| 104 |
+
sample:
|
| 105 |
+
num_points: 10000
|
| 106 |
+
density: 3.0
|
| 107 |
+
voxel_size: 0.02
|
| 108 |
+
|
| 109 |
+
device: cuda:0
|
| 110 |
+
gradient_alpha: 10.0
|
| 111 |
+
save_every_iter: *log_freq
|
| 112 |
+
save_every_sub_iter: 1
|
| 113 |
+
|
| 114 |
+
pointe_config:
|
| 115 |
+
base_model_name: base300M
|
| 116 |
+
device: cuda:0
|
| 117 |
+
guidance_scale: [3.0, 0.0]
|
| 118 |
+
num_points: [1024, 3072]
|
| 119 |
+
sampling_mode: ddim
|
| 120 |
+
|
alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/args.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_space": "actuation",
|
| 3 |
+
"action_v_strength": 0.3,
|
| 4 |
+
"actuation_activation": "linear",
|
| 5 |
+
"actuation_omega": [
|
| 6 |
+
30.0
|
| 7 |
+
],
|
| 8 |
+
"annotated_pcd_n_voxels": 60,
|
| 9 |
+
"annotated_pcd_passive_geometry_mul": 0.5,
|
| 10 |
+
"annotated_pcd_passive_softness_mul": 10,
|
| 11 |
+
"annotated_pcd_path": null,
|
| 12 |
+
"closed_loop_actuation_omega": [
|
| 13 |
+
30.0
|
| 14 |
+
],
|
| 15 |
+
"closed_loop_n_sin_waves": 4,
|
| 16 |
+
"closed_loop_sinwave_activation": "Tanh",
|
| 17 |
+
"closed_loop_sinwave_hidden_filters": [
|
| 18 |
+
32,
|
| 19 |
+
32
|
| 20 |
+
],
|
| 21 |
+
"closed_loop_sinwave_obs_names": [
|
| 22 |
+
"com",
|
| 23 |
+
"objective"
|
| 24 |
+
],
|
| 25 |
+
"controller_lr": 0.003,
|
| 26 |
+
"controller_mlp_activation": "Tanh",
|
| 27 |
+
"controller_mlp_final_activation": null,
|
| 28 |
+
"controller_mlp_hidden_filters": [
|
| 29 |
+
32,
|
| 30 |
+
32
|
| 31 |
+
],
|
| 32 |
+
"controller_obs_names": [
|
| 33 |
+
"com",
|
| 34 |
+
"objective"
|
| 35 |
+
],
|
| 36 |
+
"controller_type": "all_on",
|
| 37 |
+
"cppn_activation_options": [
|
| 38 |
+
"sin",
|
| 39 |
+
"sigmoid"
|
| 40 |
+
],
|
| 41 |
+
"cppn_activation_repeat": 10,
|
| 42 |
+
"cppn_coord_input_names": [
|
| 43 |
+
"x",
|
| 44 |
+
"y",
|
| 45 |
+
"z",
|
| 46 |
+
"d_xy",
|
| 47 |
+
"d_yz",
|
| 48 |
+
"d_xz",
|
| 49 |
+
"d_xyz"
|
| 50 |
+
],
|
| 51 |
+
"cppn_n_hiddens": 3,
|
| 52 |
+
"cppn_seed_meshes": [],
|
| 53 |
+
"design_device": "cpu",
|
| 54 |
+
"designer_geometry_offset": 0.5,
|
| 55 |
+
"designer_lr": 0.1,
|
| 56 |
+
"designer_softness_offset": 0.5,
|
| 57 |
+
"designer_type": "mlp",
|
| 58 |
+
"device_memory_fraction": 0.7,
|
| 59 |
+
"dump_rendering_data": false,
|
| 60 |
+
"env": "land_environment",
|
| 61 |
+
"env_config_file": "gripping_env.yaml",
|
| 62 |
+
"eval": false,
|
| 63 |
+
"final_target_idx": null,
|
| 64 |
+
"fixed_v": "default.json",
|
| 65 |
+
"gen_pointe_bounding_box": {
|
| 66 |
+
"max": [
|
| 67 |
+
0.5,
|
| 68 |
+
0.5,
|
| 69 |
+
0.5
|
| 70 |
+
],
|
| 71 |
+
"min": [
|
| 72 |
+
-0.5,
|
| 73 |
+
-0.5,
|
| 74 |
+
-0.5
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
"goal": [
|
| 78 |
+
0.8,
|
| 79 |
+
0.0,
|
| 80 |
+
0.0,
|
| 81 |
+
1700
|
| 82 |
+
],
|
| 83 |
+
"load_args": null,
|
| 84 |
+
"load_controller": null,
|
| 85 |
+
"load_designer": null,
|
| 86 |
+
"load_rl_controller": null,
|
| 87 |
+
"log_every_iter": 1,
|
| 88 |
+
"log_reward": false,
|
| 89 |
+
"loss_coefs": [
|
| 90 |
+
1.0
|
| 91 |
+
],
|
| 92 |
+
"loss_landscape_vbr_grid_index": [
|
| 93 |
+
0,
|
| 94 |
+
0,
|
| 95 |
+
0
|
| 96 |
+
],
|
| 97 |
+
"loss_landscape_vbr_n_trials": 10,
|
| 98 |
+
"loss_landscape_vbr_trial_type": "geometry",
|
| 99 |
+
"loss_landscape_vbr_value_range": [
|
| 100 |
+
0.0,
|
| 101 |
+
1.0
|
| 102 |
+
],
|
| 103 |
+
"loss_types": [
|
| 104 |
+
"GrippingObjectLoss"
|
| 105 |
+
],
|
| 106 |
+
"mesh_dir": "./local/meshes/fantasy_horse",
|
| 107 |
+
"mesh_num_points": 5000,
|
| 108 |
+
"mlp_activation": "Tanh",
|
| 109 |
+
"mlp_coord_input_names": [
|
| 110 |
+
"x",
|
| 111 |
+
"y",
|
| 112 |
+
"z",
|
| 113 |
+
"d_xy",
|
| 114 |
+
"d_yz",
|
| 115 |
+
"d_xz",
|
| 116 |
+
"d_xyz"
|
| 117 |
+
],
|
| 118 |
+
"mlp_filters": [
|
| 119 |
+
32,
|
| 120 |
+
32
|
| 121 |
+
],
|
| 122 |
+
"mlp_seed_meshes": [],
|
| 123 |
+
"n_frames": 150,
|
| 124 |
+
"n_iters": 301,
|
| 125 |
+
"n_sin_waves": 4,
|
| 126 |
+
"non_taichi_device": "torch_cpu",
|
| 127 |
+
"obj_initial_pos": [
|
| 128 |
+
0,
|
| 129 |
+
0,
|
| 130 |
+
0
|
| 131 |
+
],
|
| 132 |
+
"obj_particle_id": 2,
|
| 133 |
+
"obj_v_mul": [
|
| 134 |
+
1.0,
|
| 135 |
+
0.0,
|
| 136 |
+
0.0
|
| 137 |
+
],
|
| 138 |
+
"obj_x_mul": [
|
| 139 |
+
1.0,
|
| 140 |
+
0.0,
|
| 141 |
+
0.0
|
| 142 |
+
],
|
| 143 |
+
"objective_reward_mode": null,
|
| 144 |
+
"optimize_controller": false,
|
| 145 |
+
"optimize_design_types": [
|
| 146 |
+
"geometry"
|
| 147 |
+
],
|
| 148 |
+
"optimize_designer": true,
|
| 149 |
+
"out_dir": "./logs/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo",
|
| 150 |
+
"recenter_mesh_target": false,
|
| 151 |
+
"render_every_iter": 1,
|
| 152 |
+
"rotation_up_direction": [
|
| 153 |
+
0.0,
|
| 154 |
+
1.0,
|
| 155 |
+
0.0
|
| 156 |
+
],
|
| 157 |
+
"save_controller": false,
|
| 158 |
+
"save_designer": false,
|
| 159 |
+
"save_every_iter": 1,
|
| 160 |
+
"sdf_basis_actuator_mul": 1.0,
|
| 161 |
+
"sdf_basis_coefs_activation": "linear",
|
| 162 |
+
"sdf_basis_init_coefs_actuator": null,
|
| 163 |
+
"sdf_basis_init_coefs_actuator_direction": null,
|
| 164 |
+
"sdf_basis_init_coefs_geometry": null,
|
| 165 |
+
"sdf_basis_init_coefs_softness": null,
|
| 166 |
+
"sdf_basis_mesh_paths": [],
|
| 167 |
+
"sdf_basis_n_voxels": 60,
|
| 168 |
+
"sdf_basis_passive_geometry_mul": 0.5,
|
| 169 |
+
"sdf_basis_passive_softness_mul": 10,
|
| 170 |
+
"sdf_basis_pcd_paths": [],
|
| 171 |
+
"sdf_basis_use_global_coefs": false,
|
| 172 |
+
"seed": 310,
|
| 173 |
+
"set_design_types": [
|
| 174 |
+
"geometry",
|
| 175 |
+
"softness",
|
| 176 |
+
"actuator",
|
| 177 |
+
"actuator_direction",
|
| 178 |
+
"is_passive_fixed"
|
| 179 |
+
],
|
| 180 |
+
"sin_omega_mul": 10.0,
|
| 181 |
+
"static_as_fixed": true,
|
| 182 |
+
"substep_freq": 100,
|
| 183 |
+
"torch_seed": 310,
|
| 184 |
+
"v_following_mode": 0,
|
| 185 |
+
"v_following_v_mul": [
|
| 186 |
+
1.0,
|
| 187 |
+
1.0,
|
| 188 |
+
1.0
|
| 189 |
+
],
|
| 190 |
+
"v_mul": [
|
| 191 |
+
1.0,
|
| 192 |
+
0.0,
|
| 193 |
+
0.0
|
| 194 |
+
],
|
| 195 |
+
"wass_barycenter_init_coefs_actuator": null,
|
| 196 |
+
"wass_barycenter_init_coefs_geometry": null,
|
| 197 |
+
"wass_barycenter_init_coefs_softness": null,
|
| 198 |
+
"wass_barycenter_passive_geometry_mul": 0.5,
|
| 199 |
+
"wass_barycenter_passive_softness_mul": 10,
|
| 200 |
+
"x_mul": [
|
| 201 |
+
1.0,
|
| 202 |
+
0.0,
|
| 203 |
+
0.0
|
| 204 |
+
]
|
| 205 |
+
}
|
alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/env_config.yaml
ADDED
|
@@ -0,0 +1,86 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
SIMULATOR:
|
| 2 |
+
dim: 3
|
| 3 |
+
gravity: [0., -3.8, 0.]
|
| 4 |
+
default_dt: 5.e-4
|
| 5 |
+
quality: 1.
|
| 6 |
+
padding: [28, 3, 28]
|
| 7 |
+
needs_grad: True
|
| 8 |
+
use_checkpointing: True
|
| 9 |
+
max_substeps_local: 20
|
| 10 |
+
max_substeps: 7000
|
| 11 |
+
max_num_particles: 100000
|
| 12 |
+
use_dynamic_field: False
|
| 13 |
+
checkpoint_cache_device: torch_cpu
|
| 14 |
+
base_active_materials: []
|
| 15 |
+
max_actuation: 13
|
| 16 |
+
ENVIRONMENT:
|
| 17 |
+
objective: move_forward
|
| 18 |
+
objective_config:
|
| 19 |
+
reward_mode: per_step_velocity
|
| 20 |
+
forward_direction: [1., 0., 0.]
|
| 21 |
+
max_episode_steps: 400
|
| 22 |
+
ITEMS:
|
| 23 |
+
# Terrain
|
| 24 |
+
- type: Static.BoundingBox # World boundary
|
| 25 |
+
semantic_id: 0 # static obstacle
|
| 26 |
+
- type: Static.Terrain
|
| 27 |
+
surface: Surface.Slip
|
| 28 |
+
semantic_id: 0 # static obstacle
|
| 29 |
+
friction: 0.5
|
| 30 |
+
min_height: &ground_height 0.1
|
| 31 |
+
max_height: *ground_height
|
| 32 |
+
dampen_coeff: 0.3 # Should be around 0.5-0.6, lower will cause sinking, higher will cause bounce.
|
| 33 |
+
- type: Primitive.Mesh
|
| 34 |
+
file_path: './obj_placeholder/model.obj'
|
| 35 |
+
scale: [0.6,0.6,0.6]
|
| 36 |
+
initial_position: [0.55, 0.0, 0.4]
|
| 37 |
+
initial_rotation: [0.7071, -0.7071, 0.0, 0.0]
|
| 38 |
+
initial_velocity: [0., 0., 0.]
|
| 39 |
+
sample_density: 16
|
| 40 |
+
material: FakeRigid
|
| 41 |
+
particle_id: 2
|
| 42 |
+
semantic_id: 2
|
| 43 |
+
ground_height: 0.4
|
| 44 |
+
# Environment-specific
|
| 45 |
+
use_renderer: False
|
| 46 |
+
actuation_strength: 0.3
|
| 47 |
+
observation_space: [time, com]
|
| 48 |
+
design_space: pbr
|
| 49 |
+
design_space_config:
|
| 50 |
+
n_actuators: 13
|
| 51 |
+
initial_principle_direction: [1., 0., 0.]
|
| 52 |
+
p_rho_lower_bound_mul: 0.1
|
| 53 |
+
base_shape:
|
| 54 |
+
type: Primitive.Box
|
| 55 |
+
size: [0.08, 0.08, 0.08]
|
| 56 |
+
sample_density: 64
|
| 57 |
+
initial_position: [0.55, 0.345, 0.4]
|
| 58 |
+
initial_velocity: [0., 0., 0.]
|
| 59 |
+
material: DiffAquaMuscle
|
| 60 |
+
particle_id: 3 # used as robot id
|
| 61 |
+
particle_info:
|
| 62 |
+
p_rho_0: 1.e+3
|
| 63 |
+
E_0: 1.e+4
|
| 64 |
+
semantic_id: 3
|
| 65 |
+
CUSTOM:
|
| 66 |
+
randomize_terrain: False
|
| 67 |
+
has_matter_on_ground: False
|
| 68 |
+
matter_id: 4
|
| 69 |
+
matter_materials: []
|
| 70 |
+
matter_thickness: 0.02
|
| 71 |
+
matter_sample_density: 8
|
| 72 |
+
matter_semantic_id: 4
|
| 73 |
+
matter_youngs_modulus: 1.e+5
|
| 74 |
+
matter_padding: [32, 3, 32]
|
| 75 |
+
RENDERER:
|
| 76 |
+
type: ggui
|
| 77 |
+
GGUI:
|
| 78 |
+
ambient_light: [0.5, 0.5, 0.5]
|
| 79 |
+
camera_lookat: [0.5, 0.25, 0.5] # horizontal look
|
| 80 |
+
camera_position: [0.5, 0.5, 0.0]
|
| 81 |
+
particle_radius: 0.002
|
| 82 |
+
particle_coloring_mode: actuation
|
| 83 |
+
ground_surface_cmap: textures/ground.png
|
| 84 |
+
res: [1920, 1080]
|
| 85 |
+
# meshify_particle_ids: [2]
|
| 86 |
+
# meshification_colors: [[1.,0.,0.,1.]]
|
alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd
ADDED
|
Binary file (77.7 kB). View file
|
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0011_Local_0002.pcd
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Binary file (32.2 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0013_Local_0002.pcd
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Binary file (63.8 kB). View file
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|
alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0020_Local_0001.pcd
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Binary file (7.06 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0021_Local_0001.pcd
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Binary file (59.4 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0024_Local_0000.pcd
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Binary file (7.12 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0034_Local_0000.pcd
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Binary file (25.7 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0044_Local_0000.pcd
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Binary file (73.5 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0045_Local_0001.pcd
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Binary file (80.3 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0047_Local_0001.pcd
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Binary file (36.3 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0059_Local_0000.pcd
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Binary file (21.6 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0062_Local_0002.pcd
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Binary file (28 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0069_Local_0001.pcd
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Binary file (40.7 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0074_Local_0002.pcd
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Binary file (70.2 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0075_Local_0002.pcd
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Binary file (67.2 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0077_Local_0002.pcd
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Binary file (53.7 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0000.pcd
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Binary file (68.3 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0001.pcd
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Binary file (53.9 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0089_Local_0001.pcd
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Binary file (61.2 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0091_Local_0001.pcd
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Binary file (58.6 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0093_Local_0001.pcd
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Binary file (60.3 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0094_Local_0001.pcd
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Binary file (62.3 kB). View file
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alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0001_Local_0002.ply
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