Upload params.json
Browse files- params.json +61 -0
params.json
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{
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"Description" : [ "This experiment trains jointly an SDF model and a SE(3) Grasp Energy" ],
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"exp_log_dir": "train_pointcloud_projected_graspdif",
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"single_object": false,
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"TrainSpecs": {
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"batch_size": 2,
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"num_epochs": 90000,
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"steps_til_summary": 500,
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"iters_til_checkpoint": 1000,
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"epochs_til_checkpoint": 10
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},
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"NetworkArch" : "PointcloudGraspDiffusion",
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"NetworkSpecs" : {
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"feature_encoder": {
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"enc_dim": 132,
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"in_dim": 3,
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"out_dim": 7,
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"dims" : [ 512, 512, 512, 512, 512, 512, 512, 512],
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"dropout" : [0, 1, 2, 3, 4, 5, 6, 7],
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"dropout_prob" : 0.2,
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"norm_layers" : [0, 1, 2, 3, 4, 5, 6, 7],
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"latent_in" : [4],
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"xyz_in_all" : false,
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"use_tanh" : false,
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"latent_dropout" : false,
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"weight_norm" : true
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},
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"encoder": {
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"latent_size": 132,
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"hidden_dim": 512
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},
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"points": {
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"n_points": 30,
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"loc": [0.0, 0.0, 0.5],
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"scale": [0.7, 0.5, 0.7]
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},
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"decoder": {
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"hidden_dim": 512
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}
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},
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"LearningRateSchedule" : [
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{
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"Type" : "Step",
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"Initial" : 0.0005,
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"Interval" : 500,
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"Factor" : 0.5
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},
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{
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"Type" : "Step",
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"Initial" : 0.001,
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"Interval" : 500,
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"Factor" : 0.5
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},
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{
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"Type" : "Step",
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"Initial" : 0.001,
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"Interval" : 500,
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"Factor" : 0.5
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}],
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"Losses": ["sdf_loss", "projected_denoising_loss"]
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}
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