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checkpoints/best.ckpt

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events.out.tfevents.1771475789.enine.1856223.0

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events.out.tfevents.1772717276.tongzj-Z790-D.360884.0

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hparams.yaml

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+fold: o2

model_v2aff.yaml

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+version: 2aff
+width_multiplier: 1.
+
+
+input:
+  # Index corresponding to the gripper control point:
+  #  4 *         * 5
+  #    |    1    |
+  #  2 +----+----+ 3
+  #         |
+  #         |0
+  gripper:
+    n_pts: 6
+    center: 1
+    axis_z: [ 0, 1 ]  # flip
+    axis_x: [ 2, 3 ]
+    connections: [ [ 0, 1 ], [ 2, 3 ], [ 2, 4 ], [ 3, 5 ] ]
+
+  graph:
+    class_list: config/graph/class_list.pkl
+    graph_data: config/graph/graph_data.pkl
+    map_obj2cls: config/graph/misc.pkl
+
+
+model:
+  # PointNet++
+  pcd_encoder:
+    c2s_list: [ [ [ 16, 16, 32 ], [ 32, 32, 64 ] ],
+                [ [ 64, 64, 128 ], [ 64, 96, 128 ] ],
+                [ [ 128, 192, 256 ], [ 128, 192, 256 ] ],
+                [ 256, 512, 1024 ] ]
+    n2_list: [ 1024, 256, 64, 1 ]
+    k_list: [ [ 16, 32 ], [ 16, 32 ], [ 16, 32 ], 0 ]
+    r_list: [ [ .05, .1 ], [ .1, .2 ], [ .2, .4 ], 0 ]
+    c2s_list_neck: [ [ 512, 512 ], [ 512, 512 ], [ 768, 768 ] ]
+
+  graph_readout:
+    e: 1.
+    n: 6
+    drop: .2
+
+  grasp_scorer:
+    c2s: [ 256, 256 ]
+    c2s_head: [ 1024, 512 ]
+    k: 32
+    drop: .4
+
+  affordance_head:
+    c2s: [ [ 256, 256 ] ]
+    c2s_head: [ 128, 128 ]
+    n2: 256
+    k: [ 32 ]
+    r: [ .2 ]
+    drop: .2

train_v2aff.yaml

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+p_pcd_full: .5
+
+train:
+  seed: 2025
+  epochs: 200
+  batch_size: 64
+  # accum_grad: 1
+  output: runs
+
+  loss_weight:
+    tog: 1.
+    affordance: .15
+
+  metric:
+    monitor: val/part/acc
+    mode: max
+    # patience: 50
+
+  optimizer:
+    type: AdamW
+    lr0: 0.001  # initial learning rate
+    lrf: 0.01  # final OneCycleLR learning rate (lr0 * lrf)
+    kwargs:
+      weight_decay: 0.  # optimizer weight decay