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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 diff --git a/45_2_scratch/.hydra/hydra.yaml b/45_2_scratch/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8bcf5f12647f035c621bee301623c43321b456e --- /dev/null +++ b/45_2_scratch/.hydra/hydra.yaml @@ -0,0 +1,157 @@ +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: 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0000000000000000000000000000000000000000..286dd9ad8b410d772d0c77a30c6276f78a800566 --- /dev/null +++ b/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/conda-environment.yaml @@ -0,0 +1,323 @@ +name: grasp +channels: + - pytorch + - nvidia + - defaults +dependencies: + - _libgcc_mutex=0.1=main + - _openmp_mutex=5.1=1_gnu + - blas=1.0=mkl + - brotlicffi=1.0.9.2=py311h6a678d5_1 + - bzip2=1.0.8=h5eee18b_6 + - ca-certificates=2025.9.9=h06a4308_0 + - cffi=1.17.1=py311h1fdaa30_1 + - charset-normalizer=3.3.2=pyhd3eb1b0_0 + - cuda-cudart=12.1.105=0 + - cuda-cupti=12.1.105=0 + - cuda-libraries=12.1.0=0 + - cuda-nvrtc=12.1.105=0 + - cuda-nvtx=12.1.105=0 + - cuda-opencl=12.9.19=0 + - cuda-runtime=12.1.0=0 + - cuda-version=12.9=3 + - ffmpeg=4.3=hf484d3e_0 + - freetype=2.13.3=h4a9f257_0 + - giflib=5.2.2=h5eee18b_0 + - gmp=6.3.0=h6a678d5_0 + - gmpy2=2.2.1=py311h5eee18b_0 + - gnutls=3.6.15=he1e5248_0 + - idna=3.7=py311h06a4308_0 + - intel-openmp=2025.0.0=h06a4308_1171 + - jpeg=9f=h5ce9db8_0 + - lame=3.100=h7b6447c_0 + - lcms2=2.16=hb9589c4_0 + - ld_impl_linux-64=2.38=h1181459_1 + - lerc=4.0.0=h6a678d5_0 + - libcublas=12.1.0.26=0 + - libcufft=11.0.2.4=0 + - libcufile=1.14.1.1=4 + - libcurand=10.3.10.19=0 + - libcusolver=11.4.4.55=0 + - libcusparse=12.0.2.55=0 + - libdeflate=1.22=h5eee18b_0 + - libffi=3.4.4=h6a678d5_1 + - libgcc-ng=11.2.0=h1234567_1 + - libgomp=11.2.0=h1234567_1 + - libiconv=1.16=h5eee18b_3 + - libidn2=2.3.4=h5eee18b_0 + - libjpeg-turbo=2.0.0=h9bf148f_0 + - libnpp=12.0.2.50=0 + - libnvjitlink=12.1.105=0 + - libnvjpeg=12.1.1.14=0 + - libpng=1.6.39=h5eee18b_0 + - libstdcxx-ng=11.2.0=h1234567_1 + - libtasn1=4.19.0=h5eee18b_0 + - libtiff=4.5.1=hffd6297_1 + - libunistring=0.9.10=h27cfd23_0 + - libuuid=1.41.5=h5eee18b_0 + - libwebp=1.3.2=h11a3e52_0 + - libwebp-base=1.3.2=h5eee18b_1 + - llvm-openmp=14.0.6=h9e868ea_0 + - lz4-c=1.9.4=h6a678d5_1 + - mkl=2025.0.0=hacee8c2_941 + - mkl-service=2.4.0=py311h5eee18b_3 + - mkl_fft=1.3.11=py311hacdc0fc_1 + - mkl_random=1.2.8=py311h2fd27a0_1 + - mpc=1.3.1=h5eee18b_0 + - mpfr=4.2.1=h5eee18b_0 + - mpmath=1.3.0=py311h06a4308_0 + - ncurses=6.4=h6a678d5_0 + - nettle=3.7.3=hbbd107a_1 + - numpy-base=2.3.3=py311h6ab9638_0 + - ocl-icd=2.3.2=h5eee18b_1 + - openh264=2.1.1=h4ff587b_0 + - openjpeg=2.5.2=he7f1fd0_0 + - openssl=3.0.17=h5eee18b_0 + - pip=24.0=py311h06a4308_0 + - pysocks=1.7.1=py311h06a4308_0 + - python=3.11.9=h955ad1f_0 + - pytorch-cuda=12.1=ha16c6d3_6 + - pytorch-mutex=1.0=cuda + - readline=8.2=h5eee18b_0 + - setuptools=69.5.1=py311h06a4308_0 + - sqlite=3.45.3=h5eee18b_0 + - tbb=2022.0.0=hdb19cb5_0 + - tbb-devel=2022.0.0=hdb19cb5_0 + - tk=8.6.14=h39e8969_0 + - typing_extensions=4.15.0=py311h06a4308_0 + - wheel=0.43.0=py311h06a4308_0 + - xz=5.4.6=h5eee18b_1 + - yaml=0.2.5=h7b6447c_0 + - zlib=1.2.13=h5eee18b_1 + - zstd=1.5.6=hc292b87_0 + - pip: + - addict==2.4.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.10.5 + - aiosignal==1.3.1 + - allrank==1.4.3 + - antlr4-python3-runtime==4.9.3 + - anyio==4.6.0 + - argon2-cffi==23.1.0 + - argon2-cffi-bindings==21.2.0 + - arrow==1.3.0 + - asttokens==2.4.1 + - async-lru==2.0.4 + - attrs==24.2.0 + - autolab-core==1.1.1 + - autolab-perception==1.0.0 + - babel==2.17.0 + - beautifulsoup4==4.12.3 + - bleach==6.2.0 + - blinker==1.8.2 + - cachetools==6.2.2 + - certifi==2024.8.30 + - click==8.1.7 + - colorama==0.4.6 + - colorlog==6.8.2 + - comm==0.2.2 + - configargparse==1.7 + - contourpy==1.3.0 + - cvx==0.1.3 + - cvxopt==1.3.2 + - cycler==0.12.1 + - cython==3.0.11 + - dacite==1.8.1 + - dash==2.18.0 + - dash-core-components==2.0.0 + - dash-html-components==2.0.0 + - dash-table==5.0.0 + - debugpy==1.8.13 + - decorator==5.1.1 + - defusedxml==0.7.1 + - dill==0.3.9 + - docker-pycreds==0.4.0 + - exceptiongroup==1.2.2 + - executing==2.0.1 + - fastjsonschema==2.20.0 + - ffmpeg-python==0.2.0 + - filelock==3.13.1 + - flask==3.0.3 + - fonttools==4.53.1 + - fqdn==1.5.1 + - frozenlist==1.4.1 + - fsspec==2025.10.0 + - future==1.0.0 + - gcsfs==2025.10.0 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jupyterlab-server==2.27.3 + - jupyterlab-widgets==3.0.11 + - kiwisolver==1.4.7 + - lazy-loader==0.4 + - lightning==2.4.0 + - lightning-utilities==0.11.6 + - lxml==5.3.0 + - markupsafe==2.1.5 + - matplotlib==3.9.2 + - matplotlib-inline==0.1.7 + - mistune==3.1.3 + - multidict==6.0.5 + - multiprocess==0.70.16 + - nbclient==0.10.2 + - nbconvert==7.16.6 + - nbformat==5.10.4 + - nest-asyncio==1.6.0 + - networkx==3.3 + - notebook-shim==0.2.4 + - numpy==1.26.4 + - nvidia-cublas-cu11==11.11.3.6 + - nvidia-cublas-cu12==12.4.5.8 + - nvidia-cuda-cupti-cu11==11.8.87 + - nvidia-cuda-cupti-cu12==12.4.127 + - nvidia-cuda-nvrtc-cu11==11.8.89 + - nvidia-cuda-nvrtc-cu12==12.4.127 + - nvidia-cuda-runtime-cu11==11.8.89 + - nvidia-cuda-runtime-cu12==12.4.127 + - nvidia-cudnn-cu11==9.1.0.70 + - nvidia-cudnn-cu12==9.1.0.70 + - nvidia-cufft-cu11==10.9.0.58 + - nvidia-cufft-cu12==11.2.1.3 + - nvidia-curand-cu11==10.3.0.86 + - nvidia-curand-cu12==10.3.5.147 + - nvidia-cusolver-cu11==11.4.1.48 + - nvidia-cusolver-cu12==11.6.1.9 + - nvidia-cusparse-cu11==11.7.5.86 + - nvidia-cusparse-cu12==12.3.1.170 + - nvidia-cusparselt-cu12==0.6.2 + - nvidia-nccl-cu11==2.20.5 + - nvidia-nccl-cu12==2.21.5 + - nvidia-nvjitlink-cu12==12.4.127 + - nvidia-nvtx-cu11==11.8.86 + - nvidia-nvtx-cu12==12.4.127 + - oauthlib==3.3.1 + - omegaconf==2.3.0 + - open3d==0.19.0 + - opencv-python==4.10.0.84 + - overrides==7.7.0 + - packaging==24.1 + - pandas==2.2.2 + - pandocfilters==1.5.1 + - parso==0.8.4 + - pexpect==4.9.0 + - pillow==10.4.0 + - platformdirs==4.2.2 + - plotly==5.24.0 + - prometheus-client==0.21.1 + - prompt-toolkit==3.0.43 + - proto-plus==1.26.1 + - protobuf==5.28.0 + - psutil==6.0.0 + - ptyprocess==0.7.0 + - pure-eval==0.2.3 + - pyasn1==0.6.1 + - pyasn1-modules==0.4.2 + - pycparser==2.22 + - pygments==2.18.0 + - pyparsing==3.1.2 + - pyquaternion==0.9.9 + - pyserial==3.5 + - python-dateutil==2.9.0.post0 + - python-json-logger==3.3.0 + - pytorch-lightning==2.4.0 + - pytz==2024.1 + - pywavefront==1.3.3 + - pywavelets==1.6.0 + - pyyaml==6.0.1 + - pyzmq==26.3.0 + - referencing==0.35.1 + - requests==2.32.3 + - requests-oauthlib==2.0.0 + - retrying==1.3.4 + - rfc3339-validator==0.1.4 + - rfc3986-validator==0.1.1 + - rpds-py==0.19.1 + - rsa==4.9.1 + - ruamel-yaml==0.18.6 + - ruamel-yaml-clib==0.2.8 + - scikit-image==0.24.0 + - scikit-learn==1.5.1 + - scipy==1.15.1 + - seaborn==0.13.2 + - send2trash==1.8.3 + - sentry-sdk==2.11.0 + - setproctitle==1.3.3 + - shellingham==1.5.4 + - six==1.16.0 + - smmap==5.0.1 + - sniffio==1.3.1 + - soupsieve==2.6 + - stack-data==0.6.3 + - sympy==1.13.1 + - tenacity==8.5.0 + - terminado==0.18.1 + - threadpoolctl==3.5.0 + - tifffile==2024.7.24 + - tinycss2==1.4.0 + - torch==2.4.0 + - torchaudio==2.6.0+cu124 + - torchmetrics==1.4.1 + - torchrbf==0.0.1 + - torchvision==0.21.0+cu124 + - tornado==6.4.2 + - tqdm==4.66.5 + - traitlets==5.14.3 + - transform3d==0.0.4 + - transforms3d==0.4.2 + - trimesh==4.4.9 + - triton==3.0.0 + - typer-slim==0.20.0 + - types-python-dateutil==2.9.0.20241206 + - typing-extensions==4.11.0 + - tzdata==2024.1 + - uri-template==1.3.0 + - urllib3==2.2.2 + - wandb==0.17.8 + - wcwidth==0.2.13 + - webcolors==24.11.1 + - webencodings==0.5.1 + - websocket-client==1.8.0 + - werkzeug==3.0.4 + - widgetsnbextension==4.0.11 + - yarl==1.11.1 + - zipp==3.19.2 +prefix: /home/CORP/shell.hu/miniconda/envs/grasp diff --git a/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/config.yaml b/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..52401d28f78ad2b976d3a41dccef24ddd921fbea --- /dev/null +++ b/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/config.yaml @@ -0,0 +1,258 @@ +wandb_version: 1 + +dataset: + desc: null + value: + 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: + desc: null + value: + 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: + desc: null + value: + project: graspformer + entity: peize + name: exp45_2 + mode: online +mode: + desc: null + value: train +data_loader: + desc: null + value: + 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: + desc: null + value: + lr: 0.001 + warm_up_steps: 0 + milestones: + - 2000 + - 4000 + - 6000 + - 8000 + - 10000 + - 12000 + - 14000 + gamma: 0.8 +checkpointing: + desc: null + value: + continue_training: false + load: '' + every_n_train_steps: 200 + save_top_k: 4 +train: + desc: null + value: + output_path: outputs/train + extended_visualization: false +test: + desc: null + value: + output_path: outputs/test + metric_thresh: 0.3 +seed: + desc: null + value: 111123 +trainer: + desc: null + value: + max_steps: 1000000 + val_check_interval: 3200 + devices: 1 + accumulate_grad_batches: 16 + gradient_clip_val: 0.5 +_wandb: + desc: null + value: + python_version: 3.11.9 + cli_version: 0.17.8 + framework: torch + is_jupyter_run: false + is_kaggle_kernel: false + start_time: 1764181645 + t: + 1: + - 1 + - 5 + - 41 + - 50 + - 51 + - 53 + - 55 + - 106 + 2: + - 1 + - 5 + - 41 + - 50 + - 51 + - 53 + - 55 + - 106 + 3: + - 7 + - 13 + - 16 + - 23 + - 66 + 4: 3.11.9 + 5: 0.17.8 + 8: + - 5 + 13: linux-x86_64 + m: + - 1: trainer/global_step + 6: + - 3 + - 1: lr-Adam + 5: 1 + 6: + - 1 + - 1: lr-Adam-momentum + 5: 1 + 6: + - 1 + - 1: train/loss_focal + 5: 1 + 6: + - 1 + - 1: train/total_loss + 5: 1 + 6: + - 1 + - 1: epoch + 5: 1 + 6: + - 1 + - 1: val/acc_train + 5: 1 + 6: + - 1 + - 1: val/acc_test_seen + 5: 1 + 6: + - 1 + - 1: val/acc_test_similar + 5: 1 + 6: + - 1 + - 1: val/acc_test_novel + 5: 1 + 6: + - 1 + - 1: val/acc_graspnet_all + 5: 1 + 6: + - 1 + - 1: val/average_precision + 5: 1 + 6: + - 1 + - 1: val/auroc + 5: 1 + 6: + - 1 diff --git a/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/output.log b/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..5dbe9d1cd9931ad831df3d863bdc0a21f30644ad --- /dev/null +++ b/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/output.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:380deab6af291dcf54cba18eb6555bdd7f63a761a23dbe4e01edc4e9b0e8a0e8 +size 11713298 diff --git a/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/requirements.txt b/45_2_scratch/wandb/run-20251126_182725-shygb0f5/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..5bbf4e091e15cf44532ed7fda08a0a590e105446 --- /dev/null +++ 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MainThread:1395793 [wandb_init.py:_log_setup():525] Logging internal logs to /scratch-01/shell/graspnet/outputs/45_2_scratch/wandb/run-20251126_182725-shygb0f5/logs/debug-internal.log +2025-11-26 18:27:25,316 INFO MainThread:1395793 [wandb_init.py:init():607] calling init triggers +2025-11-26 18:27:25,316 INFO MainThread:1395793 [wandb_init.py:init():614] wandb.init called with sweep_config: {} +config: {'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, 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'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}} +2025-11-26 18:27:25,316 INFO MainThread:1395793 [wandb_init.py:init():657] starting backend +2025-11-26 18:27:25,316 INFO MainThread:1395793 [wandb_init.py:init():661] setting up manager +2025-11-26 18:27:25,317 INFO MainThread:1395793 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-11-26 18:27:25,319 INFO MainThread:1395793 [wandb_init.py:init():669] backend started and connected +2025-11-26 18:27:25,325 INFO MainThread:1395793 [wandb_init.py:init():767] updated telemetry +2025-11-26 18:27:25,330 INFO MainThread:1395793 [wandb_init.py:init():800] communicating run to backend with 90.0 second timeout +2025-11-26 18:27:26,412 INFO MainThread:1395793 [wandb_init.py:init():851] starting run threads in backend +2025-11-26 18:27:40,287 INFO MainThread:1395793 [wandb_run.py:_console_start():2463] atexit reg +2025-11-26 18:27:40,287 INFO MainThread:1395793 [wandb_run.py:_redirect():2309] redirect: wrap_raw +2025-11-26 18:27:40,287 INFO MainThread:1395793 [wandb_run.py:_redirect():2374] Wrapping output streams. +2025-11-26 18:27:40,287 INFO MainThread:1395793 [wandb_run.py:_redirect():2399] Redirects installed. +2025-11-26 18:27:40,290 INFO 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