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DeformPAM_PrimitiveDiffusion

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feat: upload checkpoints of all tasks and stages

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Files changed (12) hide show
  1. nut_finetune/checkpoints/last.ckpt +3 -0
  2. nut_finetune/config.yaml +253 -0
  3. nut_supervised/checkpoints/last.ckpt +3 -0
  4. nut_supervised/config.yaml +242 -0
  5. rope_finetune/checkpoints/last.ckpt +3 -0
  6. rope_finetune/config.yaml +253 -0
  7. rope_supervised/checkpoints/last.ckpt +3 -0
  8. rope_supervised/config.yaml +243 -0
  9. tshirt_short_finetune/checkpoints/last.ckpt +3 -0
  10. tshirt_short_finetune/config.yaml +240 -0
  11. tshirt_short_supervised/checkpoints/last.ckpt +3 -0
  12. tshirt_short_supervised/config.yaml +229 -0
nut_finetune/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:a829ecfc4e03dc6abb50af7c9edda964ecf855a55ba153f1694a6253470317e3
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+ size 108400565
nut_finetune/config.yaml ADDED
@@ -0,0 +1,253 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3000
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: nut-action14_real_zero_center_finetune_v20
45
+ run_name: action14_finetune_real
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ cpl_lambda: 1.0
50
+ diffusion_head_params:
51
+ action_input_mlp_nn_channels:
52
+ - 120
53
+ - 240
54
+ action_output_mlp_nn_channels:
55
+ - 240
56
+ - 120
57
+ adaptive_xyz: false
58
+ data_format: xyz
59
+ match_idx:
60
+ - 0
61
+ - 1
62
+ - 2
63
+ num_diffusion_transformer_heads: 4
64
+ num_diffusion_transformer_layers: 2
65
+ num_gripper_points: 2
66
+ num_of_grasp_points: 16
67
+ prediction_type: epsilon
68
+ use_positional_encoding_in_attention_net: true
69
+ weight_decay: 0.001
70
+ dpo_beta: 100
71
+ enable_new_pipeline_finetune: true
72
+ finetune_loss_type: dpo
73
+ gripper_points_idx:
74
+ - 0
75
+ - 1
76
+ init_lr: 1.0e-05
77
+ loss_cls_weight: 0.0
78
+ loss_diffusion_finetune_sft_euqal_weight: 1.0
79
+ loss_diffusion_finetune_sft_weight: 1.0
80
+ loss_diffusion_finetune_weight: 1.0
81
+ loss_diffusion_weight: 1.0
82
+ loss_keypoint_weight: 0.0
83
+ loss_nocs_weight: 0.0
84
+ num_gripper_points: 2
85
+ reference_model_path: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-07/14-29-45
86
+ rescale_nocs: true
87
+ sparse_unet3d_encoder_params:
88
+ CHANNELS:
89
+ - None
90
+ - 64
91
+ - 64
92
+ - 128
93
+ - 256
94
+ TR_CHANNELS:
95
+ - None
96
+ - 64
97
+ - 64
98
+ - 64
99
+ - 128
100
+ conv1_kernel_size: 5
101
+ in_channels: 3
102
+ normalize_feature: true
103
+ out_channels: 64
104
+ state_head_params:
105
+ cls_base_nn_channels:
106
+ - 1024
107
+ - 256
108
+ - 128
109
+ detach_for_classifier: false
110
+ detach_for_detector: false
111
+ global_nn_channels:
112
+ - 128
113
+ - 256
114
+ - 1024
115
+ grasp_nocs_feat_nn_channels:
116
+ - 1152
117
+ - 512
118
+ - 240
119
+ gt_nocs_ratio_decay_factor: 0.98
120
+ min_gt_nocs_ratio: 0.7
121
+ nocs_distance_weight_alpha: 25.0
122
+ nocs_nn_channels:
123
+ - 128
124
+ - 256
125
+ - 128
126
+ - 3
127
+ num_pred_candidates: 16
128
+ num_smoothing_style: 4
129
+ pointnet_channels:
130
+ - 3
131
+ - 64
132
+ - 128
133
+ - 512
134
+ use_gt_nocs_pred_for_distance_weight: true
135
+ use_nocs_for_dense_feat: false
136
+ use_xyz_variety_loss: true
137
+ transformer_params:
138
+ d_model: 64
139
+ encoder_pos_embed_input_dim: 3
140
+ fea_channels:
141
+ - 64
142
+ - 128
143
+ - 128
144
+ input_channels: 3
145
+ input_size: 3000
146
+ key_feature_dim: 64
147
+ num_heads: 1
148
+ num_layers: 2
149
+ use_xyz: true
150
+ with_pos_embed: true
151
+ use_cos_lr: true
152
+ use_matched_action_gt: false
153
+ use_minsnr_reweight: false
154
+ use_multiple_poses: true
155
+ use_sft_for_equal_samples: false
156
+ use_sft_for_gt_data: false
157
+ use_sym_loss: false
158
+ use_virtual_reward_for_inference: false
159
+ valid_primitive_idx: 14
160
+ muitiple_poses: true
161
+ num_gripper_points: 2
162
+ num_of_grasp_points: 16
163
+ num_pc_sample_final: 3000
164
+ rescale_nocs: true
165
+ runtime_datamodule:
166
+ auto_fill_multiple_poses: true
167
+ batch_size: 28
168
+ cache_data: false
169
+ data_type: new_pipeline_finetune
170
+ dataset_split:
171
+ - 8
172
+ - 1
173
+ - 1
174
+ debug: false
175
+ depth_scale_range:
176
+ - 1.0
177
+ - 1.0
178
+ depth_trans_range:
179
+ - -0.02
180
+ - 0.02
181
+ episode_range:
182
+ - 0
183
+ - 100
184
+ flip_lr_percent: 0.0
185
+ flip_ud_percent: 0.0
186
+ label_smoothing_value: 0.15
187
+ log_api: /v1/log_stream
188
+ log_endpoint: http://192.168.2.223:8080
189
+ logging_dir: /home/xuehan/GarmentImitation/log
190
+ manual_num_rankings_per_sample: 16
191
+ max_normal_rot_angle: 20
192
+ max_other_rot_angle: 25
193
+ namespace: experiment_finetune
194
+ namespace_extra: null
195
+ normal_aug_types:
196
+ - depth
197
+ - affine
198
+ normal_scale_range:
199
+ - 3.0
200
+ - 3.0
201
+ normal_trans_place_pose: true
202
+ normal_x_trans_range:
203
+ - 0.0
204
+ - 0.0
205
+ normal_y_trans_range:
206
+ - 0.0
207
+ - 0.0
208
+ num_multiple_poses: 10
209
+ num_pc_sample_final: 3000
210
+ num_rankings_per_sample: 24
211
+ num_workers: 8
212
+ oss_bucket_name: unifolding
213
+ oss_endpoint: oss.robotflow.ai
214
+ other_aug_types:
215
+ - depth
216
+ - flip
217
+ - affine
218
+ - random_permute
219
+ other_scale_range:
220
+ - 3.0
221
+ - 3.0
222
+ other_trans_place_pose: true
223
+ other_x_trans_range:
224
+ - 0.0
225
+ - 0.0
226
+ other_y_trans_range:
227
+ - 0.0
228
+ - 0.0
229
+ return_multiple_poses: true
230
+ split_seed: 0
231
+ tag: nut_action14_real_zero_center_finetune_v20
232
+ tag_extra: null
233
+ use_augmentation: true
234
+ use_database: true
235
+ use_ood_points_removal: true
236
+ use_oss: false
237
+ use_table_plane_correction: true
238
+ use_zero_center: true
239
+ valid_primitive:
240
+ - sweep
241
+ voxel_size: 0.006
242
+ weighted_sampler:
243
+ enable: false
244
+ max_sample_num: 200
245
+ min_weight: 0.2
246
+ mode: linear
247
+ trainer:
248
+ max_epochs: 200
249
+ trainer_adjustment:
250
+ use_adaptive_episode: false
251
+ voxel_size: 0.006
252
+ xy_normalize_factor: 3.0
253
+ output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-09/18-01-27
nut_supervised/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e591c7beeeb9367a3da1688bf0429f5e5d6eb9eef19761741fd3093d3170b2c
3
+ size 54219707
nut_supervised/config.yaml ADDED
@@ -0,0 +1,242 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3000
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
+ split_seed: 0
38
+ use_augmentation: true
39
+ use_tanh_reward: true
40
+ use_zero_center: true
41
+ voxel_size: 0.002
42
+ grasp_nocs_feat_size: 240
43
+ logger:
44
+ experiment_name: nut-action14_real_zero_center_supervised_v20
45
+ run_name: action14_supervised_real
46
+ tracking_uri: https://unifold.mlflow.robotflow.ai/
47
+ model:
48
+ cos_t_max: 200
49
+ diffusion_head_params:
50
+ action_input_mlp_nn_channels:
51
+ - 120
52
+ - 240
53
+ action_output_mlp_nn_channels:
54
+ - 240
55
+ - 120
56
+ adaptive_xyz: false
57
+ data_format: xyz
58
+ match_idx:
59
+ - 0
60
+ - 1
61
+ - 2
62
+ num_diffusion_transformer_heads: 4
63
+ num_diffusion_transformer_layers: 2
64
+ num_gripper_points: 2
65
+ num_of_grasp_points: 16
66
+ prediction_type: epsilon
67
+ use_positional_encoding_in_attention_net: true
68
+ weight_decay: 0.001
69
+ gripper_points_idx:
70
+ - 0
71
+ - 1
72
+ init_lr: 0.0001
73
+ loss_cls_weight: 0.0
74
+ loss_diffusion_weight: 1.0
75
+ loss_keypoint_weight: 0.0
76
+ loss_nocs_weight: 0.0
77
+ num_gripper_points: 2
78
+ rescale_nocs: true
79
+ sparse_unet3d_encoder_params:
80
+ CHANNELS:
81
+ - None
82
+ - 64
83
+ - 64
84
+ - 128
85
+ - 256
86
+ TR_CHANNELS:
87
+ - None
88
+ - 64
89
+ - 64
90
+ - 64
91
+ - 128
92
+ conv1_kernel_size: 5
93
+ in_channels: 3
94
+ normalize_feature: true
95
+ out_channels: 64
96
+ state_head_params:
97
+ cls_base_nn_channels:
98
+ - 1024
99
+ - 256
100
+ - 128
101
+ detach_for_classifier: false
102
+ detach_for_detector: false
103
+ global_nn_channels:
104
+ - 128
105
+ - 256
106
+ - 1024
107
+ grasp_nocs_feat_nn_channels:
108
+ - 1152
109
+ - 512
110
+ - 240
111
+ gt_nocs_ratio_decay_factor: 0.98
112
+ min_gt_nocs_ratio: 0.7
113
+ nocs_distance_weight_alpha: 25.0
114
+ nocs_nn_channels:
115
+ - 128
116
+ - 256
117
+ - 128
118
+ - 3
119
+ num_pred_candidates: 16
120
+ num_smoothing_style: 4
121
+ pointnet_channels:
122
+ - 3
123
+ - 64
124
+ - 128
125
+ - 512
126
+ use_gt_nocs_pred_for_distance_weight: true
127
+ use_nocs_for_dense_feat: false
128
+ use_xyz_variety_loss: true
129
+ transformer_params:
130
+ d_model: 64
131
+ encoder_pos_embed_input_dim: 3
132
+ fea_channels:
133
+ - 64
134
+ - 128
135
+ - 128
136
+ input_channels: 3
137
+ input_size: 3000
138
+ key_feature_dim: 64
139
+ num_heads: 1
140
+ num_layers: 2
141
+ use_xyz: true
142
+ with_pos_embed: true
143
+ use_cos_lr: true
144
+ use_matched_action_gt: false
145
+ use_minsnr_reweight: false
146
+ use_multiple_poses: true
147
+ use_sym_loss: false
148
+ use_virtual_reward_for_inference: false
149
+ valid_primitive_idx: 14
150
+ muitiple_poses: true
151
+ num_gripper_points: 2
152
+ num_of_grasp_points: 16
153
+ num_pc_sample_final: 3000
154
+ rescale_nocs: true
155
+ runtime_datamodule:
156
+ auto_fill_multiple_poses: true
157
+ batch_size: 30
158
+ cache_data: false
159
+ data_type: new_pipeline_supervised
160
+ dataset_split:
161
+ - 8
162
+ - 1
163
+ - 1
164
+ debug: false
165
+ depth_scale_range:
166
+ - 1.0
167
+ - 1.0
168
+ depth_trans_range:
169
+ - -0.02
170
+ - 0.02
171
+ episode_range:
172
+ - 0
173
+ - 100
174
+ flip_lr_percent: 0.0
175
+ flip_ud_percent: 0.0
176
+ label_smoothing_value: 0.15
177
+ log_api: /v1/log_stream
178
+ log_endpoint: http://192.168.2.223:8080
179
+ logging_dir: /home/xuehan/GarmentImitation/log
180
+ max_normal_rot_angle: 20
181
+ max_other_rot_angle: 25
182
+ namespace: experiment_supervised
183
+ namespace_extra: null
184
+ normal_aug_types:
185
+ - depth
186
+ - affine
187
+ normal_scale_range:
188
+ - 3.0
189
+ - 3.0
190
+ normal_trans_place_pose: true
191
+ normal_x_trans_range:
192
+ - 0.0
193
+ - 0.0
194
+ normal_y_trans_range:
195
+ - 0.0
196
+ - 0.0
197
+ num_multiple_poses: 10
198
+ num_pc_sample_final: 3000
199
+ num_rankings_per_sample: 44
200
+ num_workers: 8
201
+ oss_bucket_name: unifolding
202
+ oss_endpoint: oss.robotflow.ai
203
+ other_aug_types:
204
+ - depth
205
+ - flip
206
+ - affine
207
+ - random_permute
208
+ other_scale_range:
209
+ - 3.0
210
+ - 3.0
211
+ other_trans_place_pose: true
212
+ other_x_trans_range:
213
+ - 0.0
214
+ - 0.0
215
+ other_y_trans_range:
216
+ - 0.0
217
+ - 0.0
218
+ return_multiple_poses: true
219
+ split_seed: 0
220
+ tag: nut_action14_real_zero_center_supervised_v20
221
+ tag_extra: null
222
+ use_augmentation: true
223
+ use_database: true
224
+ use_ood_points_removal: true
225
+ use_oss: false
226
+ use_table_plane_correction: true
227
+ use_zero_center: true
228
+ valid_primitive:
229
+ - sweep
230
+ voxel_size: 0.006
231
+ weighted_sampler:
232
+ enable: false
233
+ max_sample_num: 200
234
+ min_weight: 0.2
235
+ mode: linear
236
+ trainer:
237
+ max_epochs: 2000
238
+ trainer_adjustment:
239
+ use_adaptive_episode: true
240
+ voxel_size: 0.006
241
+ xy_normalize_factor: 3.0
242
+ output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-07/14-29-45
rope_finetune/checkpoints/last.ckpt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d4979c457408569eee0c33425017237c1582932ec688f2bb0489b22762b7edb
3
+ size 108400693
rope_finetune/config.yaml ADDED
@@ -0,0 +1,253 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ config:
2
+ datamodule:
3
+ batch_size: 32
4
+ dataset_split:
5
+ - 8
6
+ - 1
7
+ - 1
8
+ delta_coverage_as_reward: true
9
+ depth_scale_range:
10
+ - 0.1
11
+ - 1.0
12
+ fold_aug_types:
13
+ - depth
14
+ - affine
15
+ h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
16
+ intrinsic_name: camera_intrinsic_scanner_v2.json
17
+ max_depth_offset: 0.03
18
+ max_fold_rot_angle: 20
19
+ max_normal_rot_angle: 20
20
+ max_other_rot_angle: 180
21
+ normal_aug_types:
22
+ - depth
23
+ - affine
24
+ num_pc_sample: 20000
25
+ num_pc_sample_final: 3000
26
+ num_rotations: 10
27
+ num_workers: 8
28
+ other_aug_types:
29
+ - depth
30
+ - flip
31
+ - affine
32
+ - random_permute
33
+ rescale_nocs: true
34
+ reward_alpha: 2.0
35
+ reward_beta: 1.0
36
+ sigma: 0.025
37
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