upload model

README.md

@@ -1,3 +1,21 @@
 ---
 license: cc-by-4.0
 ---
+
+# RoArtNet
+
+This is the official model checkpoints for [RPMArt](https://r-pmart.github.io/). It contains 6 checkpoints for different articulated objects.
+
+## Usage
+Please refer to [RPMArt Github](https://github.com/R-PMArt/rpmart) for how to train and load these models.
+
+## License
+These checkpoints are released under the [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/) license. If you find them helpful, please consider citing our work: 
+```
+@article{wang2024rpmart,
+  title={RPMArt: Towards Robust Perception and Manipulation for Articulated Objects},
+  author={Wang, Junbo and Liu, Wenhai and Yu, Qiaojun and You, Yang and Liu, Liu and Wang, Weiming and Lu, Cewu},
+  journal={arXiv preprint arXiv:2403.16023},
+  year={2024}
+}
+```

formal_drawer_2024_01_18_11_18_23/.hydra/config.yaml

@@ -0,0 +1,69 @@
+dataset:
+  train_path: /data2/junbo/sapien4/train
+  test_path: /data2/junbo/sapien4/test
+  train_categories:
+  - Drawer
+  test_categories:
+  - Drawer
+  joint_num: 3
+  resolution: 0.01
+  receptive_field: 10
+  normalize: none
+  sample_points_num: 1024
+  rgb: false
+  denoise: false
+algorithm:
+  sampling:
+    sample_tuples_num: 100000
+    tuple_more_num: 3
+  shot_encoder:
+    hidden_dims:
+    - 128
+    - 128
+    - 128
+    - 128
+    - 128
+    feature_dim: 64
+    bn: false
+    ln: false
+    dropout: 0
+  encoder:
+    hidden_dims:
+    - 128
+    - 128
+    - 128
+    - 128
+    - 128
+    bn: false
+    ln: false
+    dropout: 0
+  voting:
+    rot_bin_num: 36
+    voting_num: 120
+    angle_tol: 1.5
+    translation2pc: false
+    rotation_cluster: false
+    multi_candidate: false
+    candidate_threshold: 0.5
+    rotation_multi_neighbor: false
+    neighbor_threshold: 10
+    bmm_size: 100000
+training:
+  seed: 42
+  device: 2
+  batch_size: 16
+  num_workers: 8
+  epoch_num: 100
+  lr: 0.001
+  weight_decay: 0
+  lambda_rot: 0.1
+  lambda_afford: 1.0
+  lambda_conf: 0.5
+  val_training: true
+  val_training_num: 64
+  val_testing: true
+  val_testing_num: 64
+  test_train: true
+  test_test: true
+abbr: formal_drawer
+debug: false

formal_drawer_2024_01_18_11_18_23/.hydra/hydra.yaml

@@ -0,0 +1,157 @@
+hydra:
+  run:
+    dir: ./outputs/train/${abbr}_${now:%Y_%m_%d_%H_%M_%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task: []
+  job:
+    name: train
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: train_config
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.2'
+    cwd: /home/junbo/Codes/rpmart
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/junbo/Codes/rpmart/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/junbo/Codes/rpmart/outputs/train/formal_drawer_2024_01_18_11_18_23
+    choices:
+      training: formal
+      algorithm: formal
+      dataset: formal_drawer
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

formal_drawer_2024_01_18_11_18_23/.hydra/overrides.yaml

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