configs/pairwise_collision.yaml

random_seed: 1

WANDB:
  project: StructDiffusion
  save_dir: ${base_dirs.wandb_dir}
  name: pairwise_collision

DATASET:
  urdf_pc_idx_file: ${base_dirs.pairwise_collision_data}/urdf_pc_idx.pkl
  collision_data_dir: ${base_dirs.pairwise_collision_data}

  # important
  num_pts: 1024
  num_scene_pts: 2048
  normalize_pc: True
  random_rotation: True
  data_augmentation: False

DATALOADER:
  batch_size: 32
  num_workers: 8
  pin_memory: True

MODEL:
  max_num_objects: 2
  include_env_pc: False
  pct_random_sampling: True

LOSS:
  type: Focal
  focal_gamma: 2

OPTIMIZER:
  lr: 0.0001
  weight_decay: 0

TRAINER:
  max_epochs: 200
  gradient_clip_val: 1.0
  gpus: 1
  deterministic: False
  # enable_progress_bar: False