init

.gitattributes

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45_2_scratch/.hydra/config.yaml

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+dataset:
+  name: grasp_dataset
+  version: interpolation4d_v14
+  num_episodes: 10000
+  num_points: 64
+  rank_topk: 32
+  camera: realsense
+  fric_coef_thresh: 0.3
+  img_size: 1024
+  min_score: 0.9
+  exp_type: normal
+  depth_fill_mode: left
+  label_mode: soft
+model:
+  name: graspformer
+  pretrained: ckpts/sam_vit_l_0b3195.pth
+  fix_img_en: true
+  fix_prompt_en: false
+  fix_mask_de: false
+  decompose: false
+  early_fusion: true
+  late_fusion: false
+  vit_type: vit_l
+  prompt_embed_dim: 256
+  image_size: 1024
+  vit_patch_size: 16
+  transformer_depth: 2
+  transformer_mlp_dim: 2048
+  transformer_num_heads: 8
+  pixel_mean:
+  - 123.675
+  - 116.28
+  - 103.53
+  pixel_std:
+  - 58.395
+  - 57.12
+  - 57.375
+  num_views: 300
+  num_rots: 12
+  num_gds: 4
+  decomp_views: 30
+  decomp_rots: 4
+  decomp_gds: 2
+  str_pn_radius: 500
+  str_pn_nsample: 256
+  str_pn_mlp:
+  - 64
+  - 128
+  - 256
+  str_pn_sort: true
+  fusion_coeff: 1.0
+  first_pn: structured
+  pn_input: depth_pcl
+  pn_sa_mlp:
+  - - 32
+    - 64
+    - 128
+  - - 64
+    - 64
+    - 128
+  - - 128
+    - 128
+    - 256
+  - - 256
+    - 256
+    - 512
+  pn_fp_mlp:
+  - - 256
+    - 256
+  - - 256
+    - 256
+  - - 256
+    - 256
+  fusion_mode: add
+  depth_coeff: 1.0
+  img_coeff: 1.0
+  late_pn_radius: 500
+  late_pn_nsample: 256
+  late_pn_mlp:
+  - 64
+  - 128
+  - 256
+  late_pn_sort: true
+  query_roi_size: 4
+  loss:
+  - focal
+  rank_mode: none
+wandb:
+  project: graspformer
+  entity: peize
+  name: exp45_2
+  mode: online
+mode: train
+data_loader:
+  train:
+    num_workers: 4
+    persistent_workers: true
+    batch_size: 1
+    seed: 1234
+    split: train
+  test:
+    num_workers: 4
+    persistent_workers: true
+    batch_size: 1
+    seed: 2345
+    split: single_scene
+  val:
+    num_workers: 4
+    persistent_workers: true
+    batch_size: 1
+    seed: 3456
+    split: train
+    limit_val_batches: 44
+optimizer:
+  lr: 0.001
+  warm_up_steps: 0
+  milestones:
+  - 2000
+  - 4000
+  - 6000
+  - 8000
+  - 10000
+  - 12000
+  - 14000
+  gamma: 0.8
+checkpointing:
+  continue_training: false
+  load: ''
+  every_n_train_steps: 200
+  save_top_k: 4
+train:
+  output_path: outputs/train
+  extended_visualization: false
+test:
+  output_path: outputs/test
+  metric_thresh: 0.3
+seed: 111123
+trainer:
+  max_steps: 1000000
+  val_check_interval: 3200
+  devices: 1
+  accumulate_grad_batches: 16
+  gradient_clip_val: 0.5

45_2_scratch/.hydra/hydra.yaml

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+hydra:
+  run:
+    dir: /scratch-01/shell/graspnet/outputs/45_2_scratch
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.run.dir=/scratch-01/shell/graspnet/outputs/45_2_scratch
+    - hydra.mode=RUN
+    task: []
+  job:
+    name: main
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: exp45_2.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /home/CORP/shell.hu/robot_dir/graspformer
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/CORP/shell.hu/robot_dir/graspformer/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /scratch-01/shell/graspnet/outputs/45_2_scratch
+    choices:
+      model: singleloss_focal
+      dataset: soft
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

45_2_scratch/.hydra/overrides.yaml

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