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CONFIG
├── data
│ └── train_val_split: null
│ train_data_budget: 1.0
│ val_data_budget: 1.0
│ max_train_data: null
│ sensor: digit
│ dataset:
│ _target_: tactile_ssl.data.vision_tactile_forcefield.VisionTactileBackboneDataset
│ config:
│ sensor: digit
│ remove_bg: true
│ out_format: concat_ch_img
│ num_frames: 2
│ frame_stride: 5
│ path_dataset: /media/chiguera/GUM//datasets/digitv1/Object-Slide/
│ path_bgs: /media/chiguera/GUM//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
│
├── trainer
│ └── max_epochs: 31
│ validation_frequency: 2
│ sanity_validate: false
│ save_checkpoint_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase
│ 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
│
├── paths
│ └── data_root: /media/chiguera/GUM/
│ encoder_checkpoint_root: /media/chiguera/2TB/sparsh/encoders_460k/
│ log_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase_t0/logs/
│ output_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase_t0/
│ work_dir: /media/chiguera/2TB/sparsh/tactile-ssl
│
├── wandb
│ └── project: t1_forcefield_digit
│ entity: chiguera
│ save_dir: /media/chiguera/GUM/tactile_ssl/outputs_sparsh/digit_t1_forcefield_dino_vitbase_t0/
│ id: 2024.09.28_17-57_digit_t1_forcefield_dino_vitbase_t0
│ tags:
│ - dino
│ group: null
│ notes: null
│
├── task
│ └── _target_: tactile_ssl.downstream_task.ForceFieldModuleSL
│ model_encoder:
│ _target_: tactile_ssl.model.vit_base
│ 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: base
│ checkpoint_encoder: /media/chiguera/2TB/sparsh/encoders_460k//dino_vitbase.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: dino
│
├── ssl_name
│ └── dino
├── sensor
│ └── digit
├── ckpt_path
│ └── None
├── task_name
│ └── t1_forcefield
├── ssl_model_size
│ └── base
├── train_data_budget
│ └── 1.0
├── val_data_budget
│ └── 1.0
├── experiment_name
│ └── digit_t1_forcefield_dino_vitbase_t0
├── seed
│ └── 42
├── data_out_format
│ └── concat_ch_img
├── num_frames
│ └── 2
├── frame_stride
│ └── 5
└── 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
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