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