added rvt2.

rvt2/exp_cfg.yaml

@@ -0,0 +1,35 @@
+agent: our
+bs: 24
+exp_id: rvt2
+epochs: 100
+num_workers: 3
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 1.25e-05
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+sample_distribution_mode: task_uniform
+tasks: all
+train_iter: 160000

rvt2/model_99.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b4cdeae72ac98ecf7eac79604d6553f50d4f8bef6cb2610631875b42cf437f
+size 867812309

rvt2/mvt_cfg.yaml

@@ -0,0 +1,40 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+norm_corr: true
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+rot_ver: 1
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true