File size: 1,219 Bytes
0d89eb9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 | # @package _group_
name: 'RVT'
# Agent
agent_type: 'leader_follower'
robot_name: 'bimanual'
# Voxelization
image_crop_size: 64
bounds_offset: [0.15]
voxel_sizes: [100]
include_prev_layer: False
low_dim_size: 4
# Perceiver
num_latents: 2048
latent_dim: 512
transformer_depth: 6
transformer_iterations: 1
cross_heads: 1
cross_dim_head: 64
latent_heads: 8
latent_dim_head: 64
pos_encoding_with_lang: True
conv_downsample: True
lang_fusion_type: 'seq' # or 'concat'
voxel_patch_size: 5
voxel_patch_stride: 5
final_dim: 64
# Training
input_dropout: 0.1
attn_dropout: 0.1
decoder_dropout: 0.0
lr: 0.0005
lr_scheduler: False
num_warmup_steps: 3000
optimizer: 'lamb' # or 'adam'
lambda_weight_l2: 0.000001
trans_loss_weight: 1.0
rot_loss_weight: 1.0
grip_loss_weight: 1.0
collision_loss_weight: 1.0
rotation_resolution: 5
# Network
activation: lrelu
norm: None
# Augmentation
crop_augmentation: True
transform_augmentation:
apply_se3: True
aug_xyz: [0.125, 0.125, 0.125]
aug_rpy: [0.0, 0.0, 45.0]
aug_rot_resolution: ${method.rotation_resolution}
demo_augmentation: True
demo_augmentation_every_n: 10
# Ablations
no_skip_connection: False
no_perceiver: False
no_language: False
keypoint_method: 'heuristic'
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