config:
  datamodule:
    batch_size: 32
    dataset_split:
    - 8
    - 1
    - 1
    delta_coverage_as_reward: true
    depth_scale_range:
    - 0.1
    - 1.0
    fold_aug_types:
    - depth
    - affine
    h5_path: /mnt/homes/wendi/data/UniFolding/vr_imitation_flattening-folding-short_v7_dataset/Tshirt/data.h5
    intrinsic_name: camera_intrinsic_scanner_v2.json
    max_depth_offset: 0.03
    max_fold_rot_angle: 20
    max_normal_rot_angle: 20
    max_other_rot_angle: 180
    normal_aug_types:
    - depth
    - affine
    num_pc_sample: 20000
    num_pc_sample_final: 3000
    num_rotations: 10
    num_workers: 8
    other_aug_types:
    - depth
    - flip
    - affine
    - random_permute
    rescale_nocs: true
    reward_alpha: 2.0
    reward_beta: 1.0
    sigma: 0.025
    split_seed: 0
    use_augmentation: true
    use_tanh_reward: true
    use_zero_center: true
    voxel_size: 0.002
  grasp_nocs_feat_size: 240
  logger:
    experiment_name: nut-action14_real_zero_center_finetune_v20
    run_name: action14_finetune_real
    tracking_uri: https://unifold.mlflow.robotflow.ai/
  model:
    cos_t_max: 200
    cpl_lambda: 1.0
    diffusion_head_params:
      action_input_mlp_nn_channels:
      - 120
      - 240
      action_output_mlp_nn_channels:
      - 240
      - 120
      adaptive_xyz: false
      data_format: xyz
      match_idx:
      - 0
      - 1
      - 2
      num_diffusion_transformer_heads: 4
      num_diffusion_transformer_layers: 2
      num_gripper_points: 2
      num_of_grasp_points: 16
      prediction_type: epsilon
      use_positional_encoding_in_attention_net: true
      weight_decay: 0.001
    dpo_beta: 100
    enable_new_pipeline_finetune: true
    finetune_loss_type: dpo
    gripper_points_idx:
    - 0
    - 1
    init_lr: 1.0e-05
    loss_cls_weight: 0.0
    loss_diffusion_finetune_sft_euqal_weight: 1.0
    loss_diffusion_finetune_sft_weight: 1.0
    loss_diffusion_finetune_weight: 1.0
    loss_diffusion_weight: 1.0
    loss_keypoint_weight: 0.0
    loss_nocs_weight: 0.0
    num_gripper_points: 2
    reference_model_path: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-07/14-29-45
    rescale_nocs: true
    sparse_unet3d_encoder_params:
      CHANNELS:
      - None
      - 64
      - 64
      - 128
      - 256
      TR_CHANNELS:
      - None
      - 64
      - 64
      - 64
      - 128
      conv1_kernel_size: 5
      in_channels: 3
      normalize_feature: true
      out_channels: 64
    state_head_params:
      cls_base_nn_channels:
      - 1024
      - 256
      - 128
      detach_for_classifier: false
      detach_for_detector: false
      global_nn_channels:
      - 128
      - 256
      - 1024
      grasp_nocs_feat_nn_channels:
      - 1152
      - 512
      - 240
      gt_nocs_ratio_decay_factor: 0.98
      min_gt_nocs_ratio: 0.7
      nocs_distance_weight_alpha: 25.0
      nocs_nn_channels:
      - 128
      - 256
      - 128
      - 3
      num_pred_candidates: 16
      num_smoothing_style: 4
      pointnet_channels:
      - 3
      - 64
      - 128
      - 512
      use_gt_nocs_pred_for_distance_weight: true
      use_nocs_for_dense_feat: false
      use_xyz_variety_loss: true
    transformer_params:
      d_model: 64
      encoder_pos_embed_input_dim: 3
      fea_channels:
      - 64
      - 128
      - 128
      input_channels: 3
      input_size: 3000
      key_feature_dim: 64
      num_heads: 1
      num_layers: 2
      use_xyz: true
      with_pos_embed: true
    use_cos_lr: true
    use_matched_action_gt: false
    use_minsnr_reweight: false
    use_multiple_poses: true
    use_sft_for_equal_samples: false
    use_sft_for_gt_data: false
    use_sym_loss: false
    use_virtual_reward_for_inference: false
    valid_primitive_idx: 14
  muitiple_poses: true
  num_gripper_points: 2
  num_of_grasp_points: 16
  num_pc_sample_final: 3000
  rescale_nocs: true
  runtime_datamodule:
    auto_fill_multiple_poses: true
    batch_size: 28
    cache_data: false
    data_type: new_pipeline_finetune
    dataset_split:
    - 8
    - 1
    - 1
    debug: false
    depth_scale_range:
    - 1.0
    - 1.0
    depth_trans_range:
    - -0.02
    - 0.02
    episode_range:
    - 0
    - 100
    flip_lr_percent: 0.0
    flip_ud_percent: 0.0
    label_smoothing_value: 0.15
    log_api: /v1/log_stream
    log_endpoint: http://192.168.2.223:8080
    logging_dir: /home/xuehan/GarmentImitation/log
    manual_num_rankings_per_sample: 16
    max_normal_rot_angle: 20
    max_other_rot_angle: 25
    namespace: experiment_finetune
    namespace_extra: null
    normal_aug_types:
    - depth
    - affine
    normal_scale_range:
    - 3.0
    - 3.0
    normal_trans_place_pose: true
    normal_x_trans_range:
    - 0.0
    - 0.0
    normal_y_trans_range:
    - 0.0
    - 0.0
    num_multiple_poses: 10
    num_pc_sample_final: 3000
    num_rankings_per_sample: 24
    num_workers: 8
    oss_bucket_name: unifolding
    oss_endpoint: oss.robotflow.ai
    other_aug_types:
    - depth
    - flip
    - affine
    - random_permute
    other_scale_range:
    - 3.0
    - 3.0
    other_trans_place_pose: true
    other_x_trans_range:
    - 0.0
    - 0.0
    other_y_trans_range:
    - 0.0
    - 0.0
    return_multiple_poses: true
    split_seed: 0
    tag: nut_action14_real_zero_center_finetune_v20
    tag_extra: null
    use_augmentation: true
    use_database: true
    use_ood_points_removal: true
    use_oss: false
    use_table_plane_correction: true
    use_zero_center: true
    valid_primitive:
    - sweep
    voxel_size: 0.006
    weighted_sampler:
      enable: false
      max_sample_num: 200
      min_weight: 0.2
      mode: linear
  trainer:
    max_epochs: 200
  trainer_adjustment:
    use_adaptive_episode: false
  voxel_size: 0.006
  xy_normalize_factor: 3.0
output_dir: /home/xuehan/GarmentImitation.wendi/outputs/2024-08-09/18-01-27