cube_stacking_checkpoint/training_args.json

{
    "accumulate_grad_batches": 1,
    "add_external_cam": false,
    "apply_geometry_noise": 0,
    "apply_random_transforms": 0,
    "base_log_dir": {
        "_string": "/osmo/data/output/train_logs",
        "_type": "python_object (type = PosixPath)",
        "_value": "gASVRgAAAAAAAACMB3BhdGhsaWKUjAlQb3NpeFBhdGiUk5QojAEvlIwEb3Ntb5SMBGRhdGGUjAZvdXRwdXSUjAp0cmFpbl9sb2dzlHSUUpQu"
    },
    "batch_size": 32,
    "batch_size_val": 32,
    "checkpoint": null,
    "data_type": {
        "_string": "DataType.RGBD_AND_MESH",
        "_type": "python_object (type = DataType)",
        "_value": "gASVRAAAAAAAAACMH21pbmRtYXAuZGF0YV9sb2FkaW5nLmRhdGFfdHlwZXOUjAhEYXRhVHlwZZSTlIwNcmdiZF9hbmRfbWVzaJSFlFKULg=="
    },
    "dataset": "/osmo/data/input/1",
    "demos_datagen": "0-149",
    "demos_train": "0-129",
    "demos_valset": "130-149",
    "diffusion_dropout": 0.0,
    "diffusion_timesteps": 100,
    "disable_visualizer_wait_on_key": false,
    "embedding_dim": 120,
    "encode_openness": 1,
    "encoder_dropout": 0.0,
    "eval_only": false,
    "exp_name": "mindmap Training",
    "extra_keyposes_around_grasp_events": null,
    "feature_image_size": {
        "_type": "tuple",
        "_value": [
            32,
            32
        ]
    },
    "feature_type": {
        "_string": "FeatureExtractorType.RADIO_V25_B",
        "_type": "python_object (type = FeatureExtractorType)",
        "_value": "gASVWgAAAAAAAACMK21pbmRtYXAuaW1hZ2VfcHJvY2Vzc2luZy5mZWF0dXJlX2V4dHJhY3Rpb26UjBRGZWF0dXJlRXh0cmFjdG9yVHlwZZSTlIwLcmFkaW9fdjI1X2KUhZRSlC4="
    },
    "fpn_checkpoint": null,
    "fps_subsampling_factor": 5,
    "gripper_encoding_mode": "binary",
    "gripper_loss": 1.0,
    "ignore_model_args_json": false,
    "image_size": {
        "_type": "tuple",
        "_value": [
            512,
            512
        ]
    },
    "include_dynamic": false,
    "include_failed_demos": false,
    "initial_learning_rate": 0.0001,
    "instructions": null,
    "keypose_detection_mode": null,
    "lang_enhanced": 0,
    "learning_rate_convergence_percentage": 0.75,
    "learning_rate_end_factor": 0.5,
    "max_episode_length": 5,
    "max_episodes_per_task": 100,
    "num_batches_per_test_eval": -1,
    "num_batches_per_train_eval": 10,
    "num_history": 3,
    "num_vertices_to_sample": 2048,
    "num_vis_ins_attn_layers": 2,
    "num_workers": 20,
    "num_workers_for_test_dataset": 0,
    "only_sample_keyposes": false,
    "pos_loss": 30.0,
    "pos_noise_stddev_m": 0.01,
    "prediction_horizon": 1,
    "predictor_dropout": 0.0,
    "print_progress_freq": 100,
    "print_timers_freq": 100,
    "projective_appearance_integrator_measurement_weight": null,
    "quaternion_format": "wxyz",
    "random_rpy_range_deg": {
        "_type": "tuple",
        "_value": [
            [
                0.0,
                0.0,
                -90.0
            ],
            [
                0.0,
                0.0,
                90.0
            ]
        ]
    },
    "random_translation_range_m": {
        "_type": "tuple",
        "_value": [
            [
                -0.1,
                -0.1,
                0.0
            ],
            [
                0.1,
                0.1,
                0.0
            ]
        ]
    },
    "relative_action": 0,
    "reproducibility": {
        "command_line": "python run_training.py --dataset /osmo/data/input/1 --base_log_dir /osmo/data/output/train_logs --batch_size 32 --batch_size_val 32 --demos_datagen 0-149 --demos_train 0-129 --demos_valset 130-149 --num_workers 20 --num_workers_for_test_dataset 0 --print_timers_freq 100 --task cube_stacking --train_iters 150000 --val_freq 2500 --wandb_name Release_e2e_cubes_rgbdmesh_radioB_1cam",
        "time": "Fri Sep 12 10:37:59 2025"
    },
    "rgbd_min_depth_threshold": 0.0,
    "rot_loss": 10.0,
    "rot_noise_stddev_deg": 0.01,
    "rotation_parametrization": "6D_from_query",
    "sampling_weighting_type": "uniform",
    "save_checkpoint": true,
    "save_serialized_nvblox_map_to_disk": false,
    "seed": 0,
    "skip_train_val": false,
    "task": {
        "_string": "Tasks.CUBE_STACKING",
        "_type": "python_object (type = Tasks)",
        "_value": "gASVNQAAAAAAAACME21pbmRtYXAudGFza3MudGFza3OUjAVUYXNrc5STlIwNY3ViZV9zdGFja2luZ5SFlFKULg=="
    },
    "train_iters": 150000,
    "use_fps": 1,
    "use_instruction": 0,
    "use_keyposes": 1,
    "use_shared_feature_encoder": 0,
    "val_freq": 2500,
    "validate_demos_with_gt_poses": 1,
    "variations": {
        "_type": "tuple",
        "_value": [
            0
        ]
    },
    "vertex_sampling_method": {
        "_string": "VertexSamplingMethod.RANDOM_WITHOUT_REPLACEMENT",
        "_type": "python_object (type = VertexSamplingMethod)",
        "_value": "gASVYgAAAAAAAACMJG1pbmRtYXAuZGF0YV9sb2FkaW5nLnZlcnRleF9zYW1wbGluZ5SMFFZlcnRleFNhbXBsaW5nTWV0aG9klJOUjBpyYW5kb21fd2l0aG91dF9yZXBsYWNlbWVudJSFlFKULg=="
    },
    "visualize": false,
    "visualize_aabb": false,
    "visualize_attention_weights": false,
    "visualize_backprojected_features": false,
    "visualize_encoded_features": true,
    "visualizer_background_rgb": {
        "_type": "tuple",
        "_value": [
            0.0,
            0.0,
            0.0
        ]
    },
    "visualizer_min_attention_weight": 0.0,
    "visualizer_min_tsdf_weight": 0.0,
    "visualizer_point_size": 3,
    "visualizer_pointcloud_max_distance": null,
    "visualizer_pointclouds_ply_output_dir": null,
    "visualizer_record_camera_output_path": null,
    "visualizer_voxel_size_m": 0.01,
    "viz_freq": 200,
    "voxel_size_m": null,
    "wandb_entity": "nv-welcome",
    "wandb_mode": "online",
    "wandb_name": "Release_e2e_cubes_rgbdmesh_radioB_1cam"
}