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