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{
"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)",
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},
"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)",
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},
"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": [
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]
},
"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": {
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],
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]
]
},
"random_translation_range_m": {
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"_value": [
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0.0
],
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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"
} |