| { | |
| "Description" : [ "This experiment trains jointly an SDF model and a SE(3) Grasp Energy" ], | |
| "exp_log_dir": "train_pointcloud_projected_graspdif", | |
| "single_object": false, | |
| "TrainSpecs": { | |
| "batch_size": 2, | |
| "num_epochs": 90000, | |
| "steps_til_summary": 500, | |
| "iters_til_checkpoint": 1000, | |
| "epochs_til_checkpoint": 10 | |
| }, | |
| "NetworkArch" : "PointcloudGraspDiffusion", | |
| "NetworkSpecs" : { | |
| "feature_encoder": { | |
| "enc_dim": 132, | |
| "in_dim": 3, | |
| "out_dim": 7, | |
| "dims" : [ 512, 512, 512, 512, 512, 512, 512, 512], | |
| "dropout" : [0, 1, 2, 3, 4, 5, 6, 7], | |
| "dropout_prob" : 0.2, | |
| "norm_layers" : [0, 1, 2, 3, 4, 5, 6, 7], | |
| "latent_in" : [4], | |
| "xyz_in_all" : false, | |
| "use_tanh" : false, | |
| "latent_dropout" : false, | |
| "weight_norm" : true | |
| }, | |
| "encoder": { | |
| "latent_size": 132, | |
| "hidden_dim": 512 | |
| }, | |
| "points": { | |
| "n_points": 30, | |
| "loc": [0.0, 0.0, 0.5], | |
| "scale": [0.7, 0.5, 0.7] | |
| }, | |
| "decoder": { | |
| "hidden_dim": 512 | |
| } | |
| }, | |
| "LearningRateSchedule" : [ | |
| { | |
| "Type" : "Step", | |
| "Initial" : 0.0005, | |
| "Interval" : 500, | |
| "Factor" : 0.5 | |
| }, | |
| { | |
| "Type" : "Step", | |
| "Initial" : 0.001, | |
| "Interval" : 500, | |
| "Factor" : 0.5 | |
| }, | |
| { | |
| "Type" : "Step", | |
| "Initial" : 0.001, | |
| "Interval" : 500, | |
| "Factor" : 0.5 | |
| }], | |
| "Losses": ["sdf_loss", "projected_denoising_loss"] | |
| } | |