pick_capsule_single_r7good: train_config.json
Browse files
coffee_single/pick_capsule_single_r7good_20261028/train_config.json
ADDED
|
@@ -0,0 +1,70 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"num_action": 20,
|
| 3 |
+
"action_mode": "tcp",
|
| 4 |
+
"action_dim": 11,
|
| 5 |
+
"input_dim": 6,
|
| 6 |
+
"voxel_size": 0.005,
|
| 7 |
+
"obs_feature_dim": 512,
|
| 8 |
+
"hidden_dim": 512,
|
| 9 |
+
"nheads": 8,
|
| 10 |
+
"num_encoder_layers": 4,
|
| 11 |
+
"num_decoder_layers": 1,
|
| 12 |
+
"dim_feedforward": 2048,
|
| 13 |
+
"dropout": 0.2,
|
| 14 |
+
"task": "pick_capsule_single",
|
| 15 |
+
"workspace": [
|
| 16 |
+
0.55,
|
| 17 |
+
-0.65,
|
| 18 |
+
0.28,
|
| 19 |
+
1.0,
|
| 20 |
+
0.25,
|
| 21 |
+
0.65
|
| 22 |
+
],
|
| 23 |
+
"norm_range": [
|
| 24 |
+
0.2,
|
| 25 |
+
-0.8,
|
| 26 |
+
-0.1,
|
| 27 |
+
1.4,
|
| 28 |
+
0.8,
|
| 29 |
+
1.0
|
| 30 |
+
],
|
| 31 |
+
"enable_seg": false,
|
| 32 |
+
"enhance_gripper": true,
|
| 33 |
+
"enhance_point": false,
|
| 34 |
+
"ref_point": false,
|
| 35 |
+
"tcp_action": "state",
|
| 36 |
+
"gripper_rz": {
|
| 37 |
+
"right": 0.0
|
| 38 |
+
},
|
| 39 |
+
"data_path": "data/pick_capsule_good7",
|
| 40 |
+
"aug": true,
|
| 41 |
+
"aug_jitter": true,
|
| 42 |
+
"aug_point_dropout": 0.0,
|
| 43 |
+
"aug_region_dropout": 0.0,
|
| 44 |
+
"aug_scene_shift": 0.0,
|
| 45 |
+
"aug_scene_trans": [
|
| 46 |
+
0.025,
|
| 47 |
+
0.025,
|
| 48 |
+
0.01
|
| 49 |
+
],
|
| 50 |
+
"aug_scene_rot": 3.0,
|
| 51 |
+
"oversample_pattern": null,
|
| 52 |
+
"oversample": 1,
|
| 53 |
+
"val_group_pattern": null,
|
| 54 |
+
"lr": 0.0003,
|
| 55 |
+
"weight_decay": 0.01,
|
| 56 |
+
"batch_size": 240,
|
| 57 |
+
"num_epochs": 450,
|
| 58 |
+
"seed": 233,
|
| 59 |
+
"val_ratio": 0.1,
|
| 60 |
+
"val_demos_file": "dp3d_jobs/val_pick_capsule_r7.txt",
|
| 61 |
+
"val_epochs": 10,
|
| 62 |
+
"resume_ckpt": null,
|
| 63 |
+
"resume_epoch": -1,
|
| 64 |
+
"cache_key": "661059b97ef8",
|
| 65 |
+
"val_demos": [
|
| 66 |
+
"20261027151735_17",
|
| 67 |
+
"20261027151735_45",
|
| 68 |
+
"20261027151735_6"
|
| 69 |
+
]
|
| 70 |
+
}
|