DeXplicit / dexplicit-3d-config.json
Abecid's picture
Rename geometry-config.json to dexplicit-3d-config.json
b768fb5 verified
Raw History Blame Contribute Delete
7.07 kB
{
"seed": 2026,
"deterministic_data": true,
"deterministic_train": true,
"deterministic_algorithms": true,
"log_dir": null,
"output_dir": null,
"exp_name": "dexplicit",
"unique_run_dir": false,
"run_id": null,
"distributed": false,
"ddp": false,
"device": "cuda",
"batch_size": 16,
"num_epochs": 200,
"num_workers": 0,
"eval_num_workers": 2,
"eval_freq": 640,
"save_freq": 128,
"save_best_only": true,
"checkpoint_metric": "test/l2_moved/mean_t01_t34",
"checkpoint_metric_mode": "min",
"num_eval_batches": 81,
"model_path": null,
"allow_optimizer_reset": false,
"reset_optimizer_on_resume": true,
"grad_clip_max_norm": 5.0,
"data_dirs": [],
"dataset_type": "hoi_npz",
"hoi_train_dirs": [],
"hoi_train_dirs_list": [],
"hoi_val_dirs": [],
"hoi_val_dirs_list": [],
"hoi_domain": "hand_world",
"hoi_target_horizon": 35,
"hoi_require_dino_features": true,
"hoi_mano_sidecar_root": null,
"dino_cache_warmup": true,
"dino_cache_warmup_workers": 8,
"use_precomputed_scene_features": true,
"identity_norm_stats": true,
"native_pointworld": true,
"max_train_steps": 25600,
"train_splits": null,
"max_robot_points": 500,
"max_scene_points": 12000,
"train_min_num_cameras": 1,
"train_max_num_cameras": 3,
"eval_min_num_cameras": 2,
"eval_max_num_cameras": 2,
"robot_features": [
"robot_flows",
"robot_colors",
"robot_normals",
"gripper_open",
"robot_velocity",
"robot_acceleration"
],
"scene_features": [
"scene_flows",
"scene_colors",
"scene_normals",
"gripper_open",
"dist2robot"
],
"domains": [
"hand_world"
],
"base_lr": 0.0001,
"weight_decay": 0.01,
"grid_size": 0.015,
"norm_stats_path": "stats/droid",
"disable_compile": true,
"depth_threshold": 0.003,
"ptv3_size": "base",
"ptv3_patch_size": 256,
"predictor_dim": 256,
"hand_condition_encoder": "joint_transformer",
"hand_condition_fusion": "append",
"hand_encoder_layers": 4,
"hand_encoder_heads": 4,
"hand_encoder_dropout": 0.1,
"hand_encoder_num_joints": 21,
"hand_encoder_mano_param_dim": 64,
"hand_action_token_encoder": "mano_relative_transformer",
"hand_action_encoder_layers": 2,
"hand_action_encoder_heads": 4,
"hand_action_encoder_dropout": 0.1,
"hand_action_mano_pose_dim": 15,
"hand_action_beta_dim": 10,
"huber_delta": 5.0,
"min_motion_loss_weight": null,
"balanced_moved_static_loss": false,
"moved_loss_weight": 1.0,
"static_loss_weight": 1.0,
"static_displacement_loss_weight": 0.0,
"static_displacement_tau": 0.005,
"use_move_prediction_head": false,
"move_prediction_loss_weight": 0.1,
"move_prediction_tau": 0.005,
"move_prediction_temp_scale": 5.0,
"confidence_thres": 0.8,
"eval_exp_name": null,
"eval_num_batches": -1,
"run_confidence_annotation": false,
"allow_missing_confidence_mask": false,
"eval_viz_num": -1,
"eval_skip_viz": false,
"viewer_port": 8080,
"wandb": false,
"wandb_project": "dexplicit",
"wandb_run_name": null,
"wandb_mode": "online",
"amp": true,
"dynamics_head_init_scale": 0.0,
"dynamics_experiment": "structured",
"require_pointwise_dino": true,
"local_increment_loss_weight": 0.0,
"horizon_position_loss_weight": 0.0,
"horizon_weight_start": 1.0,
"horizon_weight_end": 1.0,
"velocity_loss_weight": 0.0,
"acceleration_loss_weight": 0.0,
"object_displacement_loss_weight": 0.0,
"local_isometry_loss_weight": 0.0,
"local_isometry_k": 20,
"local_isometry_decay": 2000.0,
"action_conditioning_mode": "delta_tokens",
"ever_moved_threshold": 0.005,
"eval_test_only": true,
"full_train_coverage": true,
"final_eval_and_save": false,
"score_se3_eval": true,
"score_se3_candidate": "metric_pose",
"score_se3_loss_weight": 12.630234373007811,
"score_se3_gradient_ratio": 0.0,
"score_se3_max_calibrated_weight": 100.0,
"score_se3_calibration_only": false,
"score_se3_calibration_artifact": null,
"score_se3_calibration_batches": 16,
"score_se3_require_calibration_artifact": false,
"score_se3_calibration_artifact_sha256": null,
"score_se3_calibration_formula_version": null,
"score_se3_calibration_sample_sequence_sha256": null,
"score_se3_calibration_warm_checkpoint_sha256": null,
"score_se3_contact_loss_weight": 0.1,
"score_se3_contact_stop_gradient": true,
"score_se3_checkpoint_role": "finetune",
"score_se3_split_role": "validation",
"score_se3_eval_only": false,
"score_se3_allow_oracle": false,
"score_se3_keep_eval_checkpoints": true,
"score_se3_export_per_window": true,
"score_se3_eval_data_seed": 2026,
"score_se3_require_full_eval": true,
"score_se3_manifest_path": null,
"score_se3_strict_contract": true,
"score_se3_phase_a_steps": 256,
"score_se3_schedule_mode": "warmup_hold_cosine",
"score_se3_hold_steps": 12800,
"score_se3_min_lr_ratio": 0.1,
"score_se3_total_steps": 25600,
"score_se3_warmup_steps": 256,
"score_se3_adapter_lr": 6e-05,
"score_se3_adapter_phase_b_lr": 6e-05,
"score_se3_base_lr": 6e-06,
"score_se3_translation_bound_m": 0.05,
"score_se3_rotation_bound_deg": 15.0,
"score_se3_contact_tau_m": 0.02,
"deformation_graph_candidate": "gated_deformation_graph",
"deformation_graph_nodes": 8,
"deformation_graph_influences": 4,
"deformation_graph_edges": 4,
"deformation_graph_radius_scale": 1.5,
"deformation_graph_minimum_radius_m": 0.005,
"deformation_graph_translation_bound_m": 0.03,
"deformation_graph_rotation_bound_deg": 12.0,
"deformation_graph_arap_weight": 0.25,
"deformation_graph_temporal_weight": 0.05,
"deformation_graph_magnitude_weight": 0.01,
"deformation_graph_gate_weight": 0.1,
"deformation_graph_gate_rigid_floor_m": 0.002,
"deformation_graph_gate_full_scale_m": 0.02,
"dexplicit_3d_mixed50_plan_sha256": "ad87c852f8b2119b00fb5eab7142941b8753cf6120985247a0ea6bff10074225",
"carrier_gauge_candidate": "dexplicit_3d",
"carrier_gauge_mode_rank": 4,
"carrier_gauge_temporal_controls": 6,
"carrier_gauge_relation_temperature_m": 0.04,
"carrier_gauge_carrier_translation_bound_m": 0.05,
"carrier_gauge_carrier_rotation_bound_deg": 15.0,
"carrier_gauge_edge_strain_weight": 0.5,
"carrier_gauge_coefficient_weight": 0.0001,
"carrier_gauge_carrier_tv_weight": 0.001,
"carrier_gauge_carrier_strength_weight": 0.0001,
"carrier_gauge_deformable_threshold_m": 0.005,
"object_jepa_loss_weight": 0.0,
"object_jepa_semantic_weight": 0.25,
"object_jepa_pose_weight": 1.0,
"object_jepa_shape_weight": 0.5,
"object_jepa_delta_weight": 0.25,
"object_jepa_horizon_start": 1.0,
"object_jepa_horizon_end": 2.0,
"object_jepa_dim": 128,
"object_jepa_max_points": 64,
"object_jepa_force_pose_output": false,
"long_horizon_stage": 0,
"long_horizon_stage_name": "pose_control",
"long_horizon_features": [
"pose_canonical"
],
"long_horizon_track": "isolated",
"score_se3_initial_optimizer_phase": "phase_b",
"score_se3_dataset_inventory_fingerprint": "31b3aa287f8829c56e5bfc3a18887e2b6da14332c4b951dc390e1672fddcd7d8"
}