| paths: | |
| data_root: /media/chiguera/GUM/ | |
| encoder_checkpoint_root: /media/chiguera/2TB/sparsh/encoders_460k/ | |
| log_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/${experiment_name}/logs/ | |
| output_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/${experiment_name}/ | |
| work_dir: ${hydra:runtime.cwd} | |
| wandb: | |
| project: ${task_name}_${sensor} | |
| entity: chiguera | |
| save_dir: ${paths.output_dir} | |
| id: ${hydra:job.id}_${experiment_name} | |
| tags: | |
| - ${ssl_name} | |
| group: null | |
| notes: null | |
| data: | |
| train_val_split: null | |
| train_data_budget: ${train_data_budget} | |
| val_data_budget: ${val_data_budget} | |
| max_train_data: null | |
| sensor: digit | |
| dataset: | |
| _target_: tactile_ssl.data.vision_tactile_forcefield.VisionTactileBackboneDataset | |
| config: | |
| sensor: ${data.sensor} | |
| remove_bg: true | |
| out_format: concat_ch_img | |
| num_frames: 2 | |
| frame_stride: 5 | |
| path_dataset: ${paths.data_root}/datasets/digitv1/Object-Slide/ | |
| path_bgs: ${paths.data_root}/datasets/digitv1/Object-Slide/bgs/ | |
| list_datasets: | |
| - 004_sugar_box/dataset_0 | |
| - 025_mug/dataset_0 | |
| - 048_hammer/dataset_0 | |
| - 005_tomato_soup_can/dataset_0 | |
| - 035_power_drill/dataset_0 | |
| - 055_baseball/dataset_0 | |
| - 006_mustard_bottle/dataset_0 | |
| - 037_scissors/dataset_0 | |
| - 021_bleach_cleanser/dataset_0 | |
| - 042_adjustable_wrench/dataset_0 | |
| - 004_sugar_box/dataset_1 | |
| - 025_mug/dataset_1 | |
| - 048_hammer/dataset_1 | |
| - 005_tomato_soup_can/dataset_1 | |
| - 035_power_drill/dataset_1 | |
| - 055_baseball/dataset_1 | |
| - 006_mustard_bottle/dataset_1 | |
| - 037_scissors/dataset_1 | |
| - 021_bleach_cleanser/dataset_1 | |
| - 042_adjustable_wrench/dataset_1 | |
| - 004_sugar_box/dataset_2 | |
| - 025_mug/dataset_2 | |
| - 048_hammer/dataset_2 | |
| - 005_tomato_soup_can/dataset_2 | |
| - 035_power_drill/dataset_2 | |
| - 055_baseball/dataset_2 | |
| - 006_mustard_bottle/dataset_2 | |
| - 037_scissors/dataset_2 | |
| - 021_bleach_cleanser/dataset_2 | |
| - 042_adjustable_wrench/dataset_2 | |
| - 004_sugar_box/dataset_3 | |
| - 025_mug/dataset_3 | |
| - 048_hammer/dataset_3 | |
| - 005_tomato_soup_can/dataset_3 | |
| - 035_power_drill/dataset_3 | |
| - 055_baseball/dataset_3 | |
| - 006_mustard_bottle/dataset_3 | |
| - 037_scissors/dataset_3 | |
| - 021_bleach_cleanser/dataset_3 | |
| - 042_adjustable_wrench/dataset_3 | |
| - banana/dataset_0 | |
| - banana/dataset_1 | |
| - banana/dataset_2 | |
| - banana/dataset_3 | |
| - bread/dataset_0 | |
| - bread/dataset_1 | |
| - bread/dataset_2 | |
| - bread/dataset_3 | |
| - cheese/dataset_0 | |
| - cheese/dataset_1 | |
| - cheese/dataset_2 | |
| - cheese/dataset_3 | |
| - cookie/dataset_0 | |
| - cookie/dataset_1 | |
| - cookie/dataset_2 | |
| - cookie/dataset_3 | |
| - corn/dataset_0 | |
| - corn/dataset_1 | |
| - corn/dataset_2 | |
| - corn/dataset_3 | |
| - lettuce/dataset_0 | |
| - lettuce/dataset_1 | |
| - lettuce/dataset_2 | |
| - lettuce/dataset_3 | |
| - plum/dataset_0 | |
| - plum/dataset_1 | |
| - plum/dataset_2 | |
| - plum/dataset_3 | |
| - strawberry/dataset_0 | |
| - strawberry/dataset_1 | |
| - strawberry/dataset_2 | |
| - strawberry/dataset_3 | |
| - tomato/dataset_0 | |
| - tomato/dataset_1 | |
| - tomato/dataset_2 | |
| - tomato/dataset_3 | |
| - sphere/dataset_0 | |
| - sphere/dataset_1 | |
| - sphere/dataset_2 | |
| list_datasets_test: | |
| - 004_sugar_box/dataset_4 | |
| - 025_mug/dataset_4 | |
| - 048_hammer/dataset_4 | |
| - 005_tomato_soup_can/dataset_4 | |
| - 035_power_drill/dataset_4 | |
| - 055_baseball/dataset_4 | |
| - 006_mustard_bottle/dataset_4 | |
| - 037_scissors/dataset_4 | |
| - 021_bleach_cleanser/dataset_4 | |
| - 042_adjustable_wrench/dataset_4 | |
| - sphere/dataset_1 | |
| - sphere/dataset_2 | |
| look_in_folder: false | |
| transforms: | |
| with_augmentation: false | |
| resize: | |
| - 224 | |
| - 224 | |
| p_flip: 0.0 | |
| p_crop: 0.0 | |
| p_rot: 0.0 | |
| train_dataloader: | |
| batch_size: 20 | |
| num_workers: 2 | |
| drop_last: true | |
| pin_memory: true | |
| persistent_workers: true | |
| shuffle: true | |
| val_dataloader: | |
| batch_size: 20 | |
| num_workers: 2 | |
| drop_last: true | |
| pin_memory: true | |
| persistent_workers: true | |
| task: | |
| _target_: tactile_ssl.downstream_task.ForceFieldModuleSL | |
| model_encoder: | |
| _target_: tactile_ssl.model.vit_${ssl_model_size} | |
| img_size: | |
| - 224 | |
| - 224 | |
| in_chans: 6 | |
| pos_embed_fn: sinusoidal | |
| num_register_tokens: 1 | |
| model_task: | |
| _target_: tactile_ssl.downstream_task.ForceFieldDecoderSL | |
| embed_dim: ${ssl_model_size} | |
| checkpoint_encoder: ${paths.encoder_checkpoint_root}/${ssl_name}_vit${ssl_model_size}.ckpt | |
| checkpoint_task: null | |
| train_encoder: false | |
| optim_cfg: | |
| _partial_: true | |
| _target_: torch.optim.Adam | |
| lr: 0.0001 | |
| scheduler_cfg: null | |
| ssl_config: | |
| img_sz: | |
| - 224 | |
| - 224 | |
| pose_estimator: | |
| num_encoder_layers: 18 | |
| loss: | |
| with_mask_supervision: false | |
| with_sl_supervision: false | |
| with_ssim: true | |
| disparity_smoothness: 0.001 | |
| min_depth: 0.1 | |
| max_depth: 100.0 | |
| encoder_type: ${ssl_name} | |
| ssl_name: dino | |
| sensor: digit | |
| ckpt_path: null | |
| task_name: t1_forcefield | |
| ssl_model_size: base | |
| train_data_budget: 1.0 | |
| val_data_budget: 1.0 | |
| experiment_name: ${sensor}_${task_name}_${ssl_name}_vit${ssl_model_size}_t0 | |
| seed: 42 | |
| data_out_format: concat_ch_img | |
| num_frames: 2 | |
| frame_stride: 5 | |
| trainer: | |
| max_epochs: 31 | |
| validation_frequency: 2 | |
| sanity_validate: false | |
| save_checkpoint_dir: ${paths.output_dir}/checkpoints | |
| checkpoint_interval_type: log | |
| max_task_checkpoints: 10 | |
| save_probe_weights_only: true | |
| limit_train_batches: 500 | |
| limit_val_batches: 150 | |
| use_distributed_sampler: false | |
| devices: | |
| - 0 | |
| test: | |
| data: | |
| dataset_name: | |
| - 005_tomato_soup_can/dataset_0 | |
| batch_size: 1 | |
| tester: | |
| _partial_: true | |
| _target_: tactile_ssl.test.TestForceField | |
| demo: | |
| _partial_: true | |
| _target_: tactile_ssl.test.DemoForceField | |
| path_outputs: null | |