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| general { | |
| base_exp_dir = exp/CASE_NAME/wmask | |
| tag = "train_retargeted_shadow_hand_seq_102_diffhand_model_" | |
| recording = [ | |
| ./, | |
| ./models | |
| ] | |
| } | |
| dataset { | |
| data_dir = public_data/CASE_NAME/ | |
| render_cameras_name = cameras_sphere.npz | |
| object_cameras_name = cameras_sphere.npz | |
| obj_idx = 102 | |
| } | |
| train { | |
| learning_rate = 5e-4 | |
| # learning_rate = 5e-6 | |
| learning_rate_actions = 5e-6 | |
| learning_rate_alpha = 0.05 | |
| end_iter = 300000 | |
| # batch_size = 128 # 64 | |
| # batch_size = 4000 | |
| # batch_size = 3096 # 64 | |
| batch_size = 1024 | |
| validate_resolution_level = 4 | |
| warm_up_end = 5000 | |
| anneal_end = 0 | |
| use_white_bkgd = False | |
| # save_freq = 10000 | |
| save_freq = 10000 | |
| val_freq = 20 # 2500 | |
| val_mesh_freq = 20 # 5000 | |
| report_freq = 10 | |
| ### igr weight ### | |
| igr_weight = 0.1 | |
| mask_weight = 0.1 | |
| } | |
| model { | |
| load_redmax_robot_actions = "" | |
| penetrating_depth_penalty = 0.0 | |
| train_states = True | |
| minn_dist_threshold = 0.000 | |
| obj_mass = 100.0 | |
| obj_mass = 30.0 | |
| # use_mano_hand_for_test = False | |
| use_mano_hand_for_test = True | |
| # train_residual_friction = False | |
| train_residual_friction = True | |
| # use_LBFGS = True | |
| use_LBFGS = False | |
| use_mano_hand_for_test = False | |
| train_residual_friction = True | |
| extract_delta_mesh = False | |
| freeze_weights = True | |
| # gt_act_xs_def = True | |
| gt_act_xs_def = False | |
| use_bending_network = True | |
| use_delta_bending = True | |
| use_passive_nets = True | |
| use_split_network = True | |
| n_timesteps = 60 | |
| # using_delta_glb_trans = True | |
| using_delta_glb_trans = False | |
| # train_multi_seqs = True | |
| # optimize_with_intermediates = False | |
| optimize_with_intermediates = True | |
| loss_tangential_diff_coef = 1000 | |
| loss_tangential_diff_coef = 0 | |
| optimize_active_object = True | |
| no_friction_constraint = False | |
| optimize_glb_transformations = True | |
| sim_model_path = "DiffHand/assets/hand_sphere_only_hand_testt.xml" | |
| mano_sim_model_path = "rsc/mano/mano_mean_wcollision_scaled_scaled_0_9507_nroot.urdf" | |
| mano_mult_const_after_cent = 1.0 | |
| sim_num_steps = 1000000 | |
| bending_net_type = "active_force_field_v18" | |
| ### try to train the residual friction ? ### | |
| train_residual_friction = True | |
| optimize_rules = True | |
| load_optimized_init_actions = "" | |
| use_optimizable_params = True | |
| ### grab train seq 224 ### | |
| penetration_determining = "sdf_of_canon" | |
| train_with_forces_to_active = False | |
| loss_scale_coef = 1000.0 | |
| # penetration_proj_k_to_robot_friction = 40000000.0 | |
| # penetration_proj_k_to_robot_friction = 100000000.0 # as friction coefs here # | |
| use_same_contact_spring_k = False | |
| # sim_model_path = "/home/xueyi/diffsim/DiffHand/assets/hand_sphere_only_hand_testt.xml" | |
| sim_model_path = "rsc/shadow_hand_description/shadowhand_new.urdf" | |
| optimize_rules = False | |
| penetration_determining = "sdf_of_canon" | |
| optimize_rules = False | |
| optim_sim_model_params_from_mano = False | |
| optimize_rules = False | |
| penetration_proj_k_to_robot_friction = 100000000.0 # as friction coefs here # ## confs ## | |
| penetration_proj_k_to_robot = 40000000.0 # | |
| penetrating_depth_penalty = 1 | |
| minn_dist_threshold_robot_to_obj = 0.0 | |
| minn_dist_threshold_robot_to_obj = 0.1 | |
| optim_sim_model_params_from_mano = False | |
| optimize_rules = False | |
| optim_sim_model_params_from_mano = True | |
| optimize_rules = True | |
| minn_dist_threshold_robot_to_obj = 0.0 | |
| optim_sim_model_params_from_mano = False | |
| optimize_rules = False | |
| minn_dist_threshold_robot_to_obj = 0.1 | |
| ### kinematics confgs ### | |
| obj_sdf_fn = "data/grab/102/102_obj.npy" | |
| kinematic_mano_gt_sv_fn = "data/grab/102/102_sv_dict.npy" | |
| scaled_obj_mesh_fn = "data/grab/102/102_obj.obj" | |
| # ckpt_fn = "" | |
| # load_optimized_init_transformations = "" | |
| optim_sim_model_params_from_mano = True | |
| optimize_rules = True | |
| minn_dist_threshold_robot_to_obj = 0.0 | |
| optim_sim_model_params_from_mano = False | |
| optimize_rules = False | |
| optimize_rules = True | |
| ckpt_fn = "ckpts/grab/102/retargeted_shadow.pth" | |
| load_optimized_init_transformations = "ckpts/grab/102/retargeted_shadow.pth" | |
| optimize_rules = False | |
| optimize_rules = True | |
| ## opt roboto ## | |
| opt_robo_glb_trans = True | |
| opt_robo_glb_rot = False # opt rot # ## opt rot ## | |
| opt_robo_states = True | |
| use_multi_stages = False | |
| minn_dist_threshold_robot_to_obj = 0.1 | |
| penetration_proj_k_to_robot = 40000 | |
| penetration_proj_k_to_robot_friction = 100000 | |
| drive_robot = "actions" | |
| opt_robo_glb_trans = False | |
| opt_robo_states = True | |
| opt_robo_glb_rot = False | |
| train_with_forces_to_active = True | |
| load_redmax_robot_actions_fn = "" | |
| optimize_rules = False | |
| loss_scale_coef = 1.0 | |
| use_opt_rigid_translations=True | |
| train_def = True | |
| optimizable_rigid_translations=True | |
| nerf { | |
| D = 8, | |
| d_in = 4, | |
| d_in_view = 3, | |
| W = 256, | |
| multires = 10, | |
| multires_view = 4, | |
| output_ch = 4, | |
| skips=[4], | |
| use_viewdirs=True | |
| } | |
| sdf_network { | |
| d_out = 257, | |
| d_in = 3, | |
| d_hidden = 256, | |
| n_layers = 8, | |
| skip_in = [4], | |
| multires = 6, | |
| bias = 0.5, | |
| scale = 1.0, | |
| geometric_init = True, | |
| weight_norm = True, | |
| } | |
| variance_network { | |
| init_val = 0.3 | |
| } | |
| rendering_network { | |
| d_feature = 256, | |
| mode = idr, | |
| d_in = 9, | |
| d_out = 3, | |
| d_hidden = 256, | |
| n_layers = 4, | |
| weight_norm = True, | |
| multires_view = 4, | |
| squeeze_out = True, | |
| } | |
| neus_renderer { | |
| n_samples = 64, | |
| n_importance = 64, | |
| n_outside = 0, | |
| up_sample_steps = 4 , | |
| perturb = 1.0, | |
| } | |
| bending_network { | |
| multires = 6, | |
| bending_latent_size = 32, | |
| d_in = 3, | |
| rigidity_hidden_dimensions = 64, | |
| rigidity_network_depth = 5, | |
| use_rigidity_network = False, | |
| bending_n_timesteps = 10, | |
| } | |
| } | |