{
  "Description" : [ "This experiment trains jointly an SDF model and a SE(3) Grasp Energy" ],
  "exp_log_dir": "train_pointcloud_projected_graspdif",
  "single_object": false,
  "TrainSpecs": {
    "batch_size": 2,
    "num_epochs": 90000,
    "steps_til_summary": 500,
    "iters_til_checkpoint": 1000,
    "epochs_til_checkpoint": 10
  },
  "NetworkArch" : "PointcloudGraspDiffusion",
  "NetworkSpecs" : {
    "feature_encoder": {
      "enc_dim": 132,
      "in_dim": 3,
      "out_dim": 7,
      "dims" : [ 512, 512, 512, 512, 512, 512, 512, 512],
      "dropout" : [0, 1, 2, 3, 4, 5, 6, 7],
      "dropout_prob" : 0.2,
      "norm_layers" : [0, 1, 2, 3, 4, 5, 6, 7],
      "latent_in" : [4],
      "xyz_in_all" : false,
      "use_tanh" : false,
      "latent_dropout" : false,
      "weight_norm" : true
    },
    "encoder": {
      "latent_size": 132,
      "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"]
}