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{
"Description" : [ "This experiment trains jointly an SDF model and a SE(3) Grasp Energy" ],
"exp_log_dir": "multiobject_p_graspdif2",
"cuda_device":1,
"single_object": false,
"TrainSpecs": {
"batch_size": 10,
"num_epochs": 90000,
"steps_til_summary": 500,
"iters_til_checkpoint": 1000,
"epochs_til_checkpoint": 10
},
"NetworkArch" : "PointcloudGraspDiffusion",
"NetworkSpecs" : {
"feature_encoder": {
"enc_dim": 528,
"in_dim": 3,
"out_dim": 20,
"dims" : [ 512, 512, 512, 2048, 1024, 1024],
"dropout" : [0, 1, 2, 3, 4, 5],
"dropout_prob" : 0.2,
"norm_layers" : [0, 1, 2, 3, 4, 5],
"latent_in" : [4],
"xyz_in_all" : false,
"use_tanh" : false,
"latent_dropout" : false,
"weight_norm" : true
},
"encoder": {
"latent_size": 528,
"hidden_dim": 512
},
"points": {
"n_points": 30,
"loc": [0.0, 0.0, 0.5],
"scale": [0.7, 0.5, 0.7]
},
"decoder": {
"hidden_dim": 512
}
},
"LearningRateSchedule" : [
{
"Type" : "Step",
"Initial" : 0.0005,
"Interval" : 500,
"Factor" : 0.5
},
{
"Type" : "Step",
"Initial" : 0.001,
"Interval" : 500,
"Factor" : 0.5
},
{
"Type" : "Step",
"Initial" : 0.001,
"Interval" : 500,
"Factor" : 0.5
}],
"Losses": ["sdf_loss", "projected_denoising_loss"]
}
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