| CONFIG | |
| ├── data | |
| │ └── train_val_split: null | |
| │ train_data_budget: 1.0 | |
| │ val_data_budget: 1.0 | |
| │ max_train_data: null | |
| │ sensor: digit | |
| │ dataset: | |
| │ _target_: tactile_ssl.data.vision_tactile_forcefield.VisionTactileBackboneDataset | |
| │ config: | |
| │ sensor: digit | |
| │ remove_bg: true | |
| │ out_format: concat_ch_img | |
| │ num_frames: 2 | |
| │ frame_stride: 5 | |
| │ path_dataset: /media/chiguera/GUM//datasets/digitv1/Object-Slide/ | |
| │ path_bgs: /media/chiguera/GUM//datasets/digitv1/Object-Slide/bgs/ | |
| │ list_datasets: | |
| │ - 004_sugar_box/dataset_0 | |
| │ - 025_mug/dataset_0 | |
| │ - 048_hammer/dataset_0 | |
| │ - 005_tomato_soup_can/dataset_0 | |
| │ - 035_power_drill/dataset_0 | |
| │ - 055_baseball/dataset_0 | |
| │ - 006_mustard_bottle/dataset_0 | |
| │ - 037_scissors/dataset_0 | |
| │ - 021_bleach_cleanser/dataset_0 | |
| │ - 042_adjustable_wrench/dataset_0 | |
| │ - 004_sugar_box/dataset_1 | |
| │ - 025_mug/dataset_1 | |
| │ - 048_hammer/dataset_1 | |
| │ - 005_tomato_soup_can/dataset_1 | |
| │ - 035_power_drill/dataset_1 | |
| │ - 055_baseball/dataset_1 | |
| │ - 006_mustard_bottle/dataset_1 | |
| │ - 037_scissors/dataset_1 | |
| │ - 021_bleach_cleanser/dataset_1 | |
| │ - 042_adjustable_wrench/dataset_1 | |
| │ - 004_sugar_box/dataset_2 | |
| │ - 025_mug/dataset_2 | |
| │ - 048_hammer/dataset_2 | |
| │ - 005_tomato_soup_can/dataset_2 | |
| │ - 035_power_drill/dataset_2 | |
| │ - 055_baseball/dataset_2 | |
| │ - 006_mustard_bottle/dataset_2 | |
| │ - 037_scissors/dataset_2 | |
| │ - 021_bleach_cleanser/dataset_2 | |
| │ - 042_adjustable_wrench/dataset_2 | |
| │ - 004_sugar_box/dataset_3 | |
| │ - 025_mug/dataset_3 | |
| │ - 048_hammer/dataset_3 | |
| │ - 005_tomato_soup_can/dataset_3 | |
| │ - 035_power_drill/dataset_3 | |
| │ - 055_baseball/dataset_3 | |
| │ - 006_mustard_bottle/dataset_3 | |
| │ - 037_scissors/dataset_3 | |
| │ - 021_bleach_cleanser/dataset_3 | |
| │ - 042_adjustable_wrench/dataset_3 | |
| │ - banana/dataset_0 | |
| │ - banana/dataset_1 | |
| │ - banana/dataset_2 | |
| │ - banana/dataset_3 | |
| │ - bread/dataset_0 | |
| │ - bread/dataset_1 | |
| │ - bread/dataset_2 | |
| │ - bread/dataset_3 | |
| │ - cheese/dataset_0 | |
| │ - cheese/dataset_1 | |
| │ - cheese/dataset_2 | |
| │ - cheese/dataset_3 | |
| │ - cookie/dataset_0 | |
| │ - cookie/dataset_1 | |
| │ - cookie/dataset_2 | |
| │ - cookie/dataset_3 | |
| │ - corn/dataset_0 | |
| │ - corn/dataset_1 | |
| │ - corn/dataset_2 | |
| │ - corn/dataset_3 | |
| │ - lettuce/dataset_0 | |
| │ - lettuce/dataset_1 | |
| │ - lettuce/dataset_2 | |
| │ - lettuce/dataset_3 | |
| │ - plum/dataset_0 | |
| │ - plum/dataset_1 | |
| │ - plum/dataset_2 | |
| │ - plum/dataset_3 | |
| │ - strawberry/dataset_0 | |
| │ - strawberry/dataset_1 | |
| │ - strawberry/dataset_2 | |
| │ - strawberry/dataset_3 | |
| │ - tomato/dataset_0 | |
| │ - tomato/dataset_1 | |
| │ - tomato/dataset_2 | |
| │ - tomato/dataset_3 | |
| │ - sphere/dataset_0 | |
| │ - sphere/dataset_1 | |
| │ - sphere/dataset_2 | |
| │ list_datasets_test: | |
| │ - 004_sugar_box/dataset_4 | |
| │ - 025_mug/dataset_4 | |
| │ - 048_hammer/dataset_4 | |
| │ - 005_tomato_soup_can/dataset_4 | |
| │ - 035_power_drill/dataset_4 | |
| │ - 055_baseball/dataset_4 | |
| │ - 006_mustard_bottle/dataset_4 | |
| │ - 037_scissors/dataset_4 | |
| │ - 021_bleach_cleanser/dataset_4 | |
| │ - 042_adjustable_wrench/dataset_4 | |
| │ - sphere/dataset_1 | |
| │ - sphere/dataset_2 | |
| │ look_in_folder: false | |
| │ transforms: | |
| │ with_augmentation: false | |
| │ resize: | |
| │ - 224 | |
| │ - 224 | |
| │ p_flip: 0.0 | |
| │ p_crop: 0.0 | |
| │ p_rot: 0.0 | |
| │ train_dataloader: | |
| │ batch_size: 20 | |
| │ num_workers: 2 | |
| │ drop_last: true | |
| │ pin_memory: true | |
| │ persistent_workers: true | |
| │ shuffle: true | |
| │ val_dataloader: | |
| │ batch_size: 20 | |
| │ num_workers: 2 | |
| │ drop_last: true | |
| │ pin_memory: true | |
| │ persistent_workers: true | |
| │ | |
| ├── trainer | |
| │ └── max_epochs: 31 | |
| │ validation_frequency: 2 | |
| │ sanity_validate: false | |
| │ save_checkpoint_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase | |
| │ checkpoint_interval_type: log | |
| │ max_task_checkpoints: 10 | |
| │ save_probe_weights_only: true | |
| │ limit_train_batches: 500 | |
| │ limit_val_batches: 150 | |
| │ use_distributed_sampler: false | |
| │ devices: | |
| │ - 0 | |
| │ | |
| ├── paths | |
| │ └── data_root: /media/chiguera/GUM/ | |
| │ encoder_checkpoint_root: /media/chiguera/2TB/sparsh/encoders_460k/ | |
| │ log_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase_t0/logs/ | |
| │ output_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase_t0/ | |
| │ work_dir: /media/chiguera/2TB/sparsh/tactile-ssl | |
| │ | |
| ├── wandb | |
| │ └── project: t1_forcefield_digit | |
| │ entity: chiguera | |
| │ save_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase_t0/ | |
| │ id: 2024.09.28_17-57_digit_t1_forcefield_dino_vitbase_t0 | |
| │ tags: | |
| │ - dino | |
| │ group: null | |
| │ notes: null | |
| │ | |
| ├── task | |
| │ └── _target_: tactile_ssl.downstream_task.ForceFieldModuleSL | |
| │ model_encoder: | |
| │ _target_: tactile_ssl.model.vit_base | |
| │ img_size: | |
| │ - 224 | |
| │ - 224 | |
| │ in_chans: 6 | |
| │ pos_embed_fn: sinusoidal | |
| │ num_register_tokens: 1 | |
| │ model_task: | |
| │ _target_: tactile_ssl.downstream_task.ForceFieldDecoderSL | |
| │ embed_dim: base | |
| │ checkpoint_encoder: /media/chiguera/2TB/sparsh/encoders_460k//dino_vitbase.ckpt | |
| │ checkpoint_task: null | |
| │ train_encoder: false | |
| │ optim_cfg: | |
| │ _partial_: true | |
| │ _target_: torch.optim.Adam | |
| │ lr: 0.0001 | |
| │ scheduler_cfg: null | |
| │ ssl_config: | |
| │ img_sz: | |
| │ - 224 | |
| │ - 224 | |
| │ pose_estimator: | |
| │ num_encoder_layers: 18 | |
| │ loss: | |
| │ with_mask_supervision: false | |
| │ with_sl_supervision: false | |
| │ with_ssim: true | |
| │ disparity_smoothness: 0.001 | |
| │ min_depth: 0.1 | |
| │ max_depth: 100.0 | |
| │ encoder_type: dino | |
| │ | |
| ├── ssl_name | |
| │ └── dino | |
| ├── sensor | |
| │ └── digit | |
| ├── ckpt_path | |
| │ └── None | |
| ├── task_name | |
| │ └── t1_forcefield | |
| ├── ssl_model_size | |
| │ └── base | |
| ├── train_data_budget | |
| │ └── 1.0 | |
| ├── val_data_budget | |
| │ └── 1.0 | |
| ├── experiment_name | |
| │ └── digit_t1_forcefield_dino_vitbase_t0 | |
| ├── seed | |
| │ └── 42 | |
| ├── data_out_format | |
| │ └── concat_ch_img | |
| ├── num_frames | |
| │ └── 2 | |
| ├── frame_stride | |
| │ └── 5 | |
| └── test | |
| └── data: | |
| dataset_name: | |
| - 005_tomato_soup_can/dataset_0 | |
| batch_size: 1 | |
| tester: | |
| _partial_: true | |
| _target_: tactile_ssl.test.TestForceField | |
| demo: | |
| _partial_: true | |
| _target_: tactile_ssl.test.DemoForceField | |
| path_outputs: null | |