| { |
| "bundle": { |
| "digest": { |
| "algorithm": "sha256", |
| "scope": "structure", |
| "value": "3a71ce928384178e8a5b95bdb1214a6919553ba53fde9ca5bb14594dddad9bdc" |
| }, |
| "files": [ |
| { |
| "path": "assets/graspgen_config.yml" |
| }, |
| { |
| "path": "assets/generator_checkpoint.pth" |
| }, |
| { |
| "path": "assets/discriminator_checkpoint.pth" |
| }, |
| { |
| "path": "assets/adapter.json" |
| } |
| ], |
| "name": "grasp", |
| "revision": 5, |
| "uuid": "b300dc60-3bd4-4a64-8f70-670618235cbe" |
| }, |
| "deployments": { |
| "ascend_310p": { |
| "artifacts": { |
| "denoiser": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/denoiser.om", |
| "sha256": "a4f96a03c38097ec39f66dfefb63e463848158e82f184bd69f58dc991569304b" |
| }, |
| "discriminator_encoder_head": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/discriminator_encoder_head.om", |
| "sha256": "a412e5bbe49eb9c868f5d99eca490e7d76ce9396b8db9b572b699986085e9ae3" |
| }, |
| "discriminator_head": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/discriminator_head.om", |
| "sha256": "84250b7f8c2277eb71709d3f7db87e805cd26047e302e5f5841ff839dbc1a97a" |
| }, |
| "discriminator_sa1": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/discriminator_sa1.om", |
| "sha256": "1c2f5fd2dc9c51c183ecf9199325f45b4c8c1fb26901d22e12d1d097cd970520" |
| }, |
| "discriminator_sa2": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/discriminator_sa2.om", |
| "sha256": "6c9fd7cb793052bb82bb8a2accbbabb44728f17d39d0401b63d1a3c2c45c63a9" |
| }, |
| "generator_encoder_head": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/generator_encoder_head.om", |
| "sha256": "66b7533818654a54f5fb5f3acd251471dc554a8cd2fa45a77423b3c230d4798f" |
| }, |
| "generator_sa1": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/generator_sa1.om", |
| "sha256": "d74e84ce034c9598509b4a5fb89cea41c2fa03b0a0ff716debb92b4c9dd18cee" |
| }, |
| "generator_sa2": { |
| "format": "om", |
| "path": "artifacts/ascend/ascend_310p/generator_sa2.om", |
| "sha256": "15b5796fc49c05be63d44f83389dcfc5af978d98c09ce1b8ce48fc48d0f7a7e1" |
| } |
| }, |
| "bindings": { |
| "denoiser": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "object_embedding", |
| "semantic": "internal.graspgen.generator_embedding", |
| "shape": [ |
| 1, |
| 512 |
| ] |
| }, |
| { |
| "dtype": "float32", |
| "index": 1, |
| "runtime_name": "sample", |
| "semantic": "host.graspgen.diffusion_sample", |
| "shape": [ |
| 1000, |
| 6 |
| ] |
| }, |
| { |
| "dtype": "float32", |
| "index": 2, |
| "runtime_name": "timestep", |
| "semantic": "host.graspgen.diffusion_time", |
| "shape": [ |
| 1 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_130:0:predicted_noise", |
| "semantic": "host.graspgen.predicted_noise", |
| "shape": [ |
| 1000, |
| 6 |
| ] |
| } |
| ] |
| }, |
| "discriminator_encoder_head": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "layout": "NCHW", |
| "runtime_name": "grouped_features", |
| "semantic": "host.graspgen.global_features", |
| "shape": [ |
| 1, |
| 259, |
| 1, |
| 64 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_17:0:object_embedding", |
| "semantic": "internal.graspgen.discriminator_embedding", |
| "shape": [ |
| 1, |
| 512 |
| ] |
| } |
| ] |
| }, |
| "discriminator_head": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "object_embedding", |
| "semantic": "internal.graspgen.discriminator_embedding", |
| "shape": [ |
| 1, |
| 512 |
| ] |
| }, |
| { |
| "dtype": "float32", |
| "index": 1, |
| "runtime_name": "grasp_rt", |
| "semantic": "host.graspgen.grasp_rt", |
| "shape": [ |
| 1000, |
| 6 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_24:0:logits", |
| "semantic": "host.graspgen.grasp_logits", |
| "shape": [ |
| 1000, |
| 1 |
| ] |
| }, |
| { |
| "dtype": "float32", |
| "index": 1, |
| "runtime_name": "/Sigmoid:0:confidence", |
| "semantic": "host.graspgen.grasp_scores", |
| "shape": [ |
| 1000, |
| 1 |
| ] |
| } |
| ] |
| }, |
| "discriminator_sa1": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "layout": "NCHW", |
| "runtime_name": "grouped_features", |
| "semantic": "host.graspgen.grouped_points", |
| "shape": [ |
| 1, |
| 3, |
| 256, |
| 64 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features", |
| "semantic": "host.graspgen.features", |
| "shape": [ |
| 1, |
| 128, |
| 256 |
| ] |
| } |
| ] |
| }, |
| "discriminator_sa2": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "layout": "NCHW", |
| "runtime_name": "grouped_features", |
| "semantic": "host.graspgen.stage2_features", |
| "shape": [ |
| 1, |
| 131, |
| 64, |
| 128 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features", |
| "semantic": "host.graspgen.features", |
| "shape": [ |
| 1, |
| 256, |
| 64 |
| ] |
| } |
| ] |
| }, |
| "generator_encoder_head": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "layout": "NCHW", |
| "runtime_name": "grouped_features", |
| "semantic": "host.graspgen.global_features", |
| "shape": [ |
| 1, |
| 259, |
| 1, |
| 64 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_17:0:object_embedding", |
| "semantic": "internal.graspgen.generator_embedding", |
| "shape": [ |
| 1, |
| 512 |
| ] |
| } |
| ] |
| }, |
| "generator_sa1": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "layout": "NCHW", |
| "runtime_name": "grouped_features", |
| "semantic": "host.graspgen.grouped_points", |
| "shape": [ |
| 1, |
| 3, |
| 256, |
| 64 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features", |
| "semantic": "host.graspgen.features", |
| "shape": [ |
| 1, |
| 128, |
| 256 |
| ] |
| } |
| ] |
| }, |
| "generator_sa2": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "layout": "NCHW", |
| "runtime_name": "grouped_features", |
| "semantic": "host.graspgen.stage2_features", |
| "shape": [ |
| 1, |
| 131, |
| 64, |
| 128 |
| ] |
| } |
| ], |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "index": 0, |
| "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features", |
| "semantic": "host.graspgen.features", |
| "shape": [ |
| 1, |
| 256, |
| 64 |
| ] |
| } |
| ] |
| } |
| }, |
| "device_links": [ |
| { |
| "consumer": "denoiser", |
| "owner": "producer", |
| "producer": "generator_encoder_head", |
| "semantic": "internal.graspgen.generator_embedding", |
| "transport": "device_pointer" |
| }, |
| { |
| "consumer": "discriminator_head", |
| "owner": "producer", |
| "producer": "discriminator_encoder_head", |
| "semantic": "internal.graspgen.discriminator_embedding", |
| "transport": "device_pointer" |
| } |
| ], |
| "execution": [ |
| "generator_sa1", |
| "generator_sa2", |
| "generator_encoder_head", |
| "discriminator_sa1", |
| "discriminator_sa2", |
| "discriminator_encoder_head", |
| "denoiser", |
| "discriminator_head" |
| ], |
| "execution_contract": { |
| "cancellation_granularity": "request_boundary", |
| "execution_structure": "direct", |
| "state_scope": "request" |
| }, |
| "revision": 1, |
| "runtime_profile": { |
| "backend": "ascend", |
| "profile": { |
| "device_id": 0 |
| }, |
| "target": { |
| "runtime": "acl", |
| "soc": "Ascend310P1" |
| } |
| }, |
| "uuid": "11d63596-aa79-414d-ad3c-b63c4057fbd1" |
| }, |
| "torch_cuda": { |
| "execution_contract": { |
| "cancellation_granularity": "request_boundary", |
| "execution_structure": "direct", |
| "state_scope": "request" |
| }, |
| "revision": 1, |
| "runtime_profile": { |
| "backend": "torch", |
| "profile": { |
| "device": "cuda" |
| }, |
| "target": { |
| "runtime": "torch" |
| } |
| }, |
| "uuid": "2bbc4acc-5ce8-44c9-aa2d-74666d06f4f2" |
| } |
| }, |
| "model": { |
| "inputs": [ |
| { |
| "dtype": "float32", |
| "semantic": "observation.object_points", |
| "shape": [ |
| -1, |
| 3 |
| ] |
| } |
| ], |
| "interface": "tensor_model", |
| "model_type": "graspgen", |
| "operation": "generate_grasps", |
| "outputs": [ |
| { |
| "dtype": "float32", |
| "semantic": "grasp.poses", |
| "shape": [ |
| -1, |
| 4, |
| 4 |
| ] |
| }, |
| { |
| "dtype": "float32", |
| "semantic": "grasp.confidence", |
| "shape": [ |
| -1 |
| ] |
| } |
| ], |
| "semantic_identity": { |
| "logical_model_revision": "graspgen@v2", |
| "output_semantics": "grasp-pose-matrix-confidence-sorted-v1", |
| "preprocessing_contract": "object-points-outlier-filtered-centered-kappa-scaled-v1" |
| } |
| }, |
| "schema_version": 3 |
| } |
|
|