| { |
| "Description" : [ "This experiment trains jointly an SDF model and a SE(3) Grasp Energy" ], |
| "exp_log_dir": "multiobject_partial_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"] |
| } |
|
|
