resume_run_id: null
run_postfix: '269511'
config_id: coarse-gso_shapenet-6among-26views_inplane-one_render
run_comment: ''
run_id: coarse-gso_shapenet-6among-26views_inplane-one_render-906902141--
debug: false
debug_visualization: false
overfit: false
no_eval: true
hardware:
  n_cpus: 10
  n_gpus: 32
train_datasets:
- ds_name: shapenet_1M-shapenet_10mb_20k-split=1_8.webdataset
  obj_ds_name: shapenet_10mb_20k_split=1/8.pointcloud
  panda3d_obj_ds_name: shapenet_10mb_20k_split=1/8.panda3d_bam
  n_repeats: 1
  n_frames: null
  urdf_ds_name: null
- ds_name: gso_1M-gso_940-split=1_8.webdataset
  obj_ds_name: gso_940_split=1/8.pointcloud
  panda3d_obj_ds_name: gso_940_split=1/8
  n_frames: null
  n_repeats: 1
  urdf_ds_name: null
input_resize:
- 720
- 540
n_symmetries_batch: 1
rgb_augmentation: true
background_augmentation: true
depth_augmentation: true
depth_augmentation_level: 2
min_area: null
train_object_ratio: null
gray_augmentation: false
pytorch_version: 1.11.0
resample_n_points: null
hdf5_strategy: default
finetune_config_id: null
finetune_epochs: 100
val_datasets: []
val_epoch_interval: 10
test_ds_names: []
test_n_frames: null
test_epoch_interval: 100
test_only_last_epoch: false
test_n_refiner_iterations: 5
test_hypotheses_n_pose: 50
test_coarse_run_id: null
test_detector_run_id: null
n_dataloader_workers: 10
n_rendering_workers: 10
backbone_str: vanilla_resnet34
run_id_pretrain: null
input_bbox: false
predict_confidence: false
n_views: 6
views_inplane_rotations: true
input_depth: false
depth_normalization_type: tCR_scale_clamp_center
renderer: panda3d
renderer_torch_mp_queue: true
train_refiner: true
loss_disentangled: false
n_points_loss: 2000
add_iteration_epoch_interval: 100
loss_alpha_pose: 0.0
loss_alpha_confidence: 0.0
n_iterations: 1
incorrect_label_negative: false
init_method: gt+noise
init_euler_deg_std:
- 15
- 15
- 15
init_trans_std:
- 0.01
- 0.01
- 0.05
n_pose_dims: 9
use_gt_init: false
gt_init_pose_loss: false
confidence_logits_temperature: 0.07
confidence_views_logits_temperature: 1.0
loss_alpha_views_confidence: 1.0
random_reference_point: false
multiview_type: sphere_26views
render_normals: true
render_depth: false
random_ambient_light: true
multiview_depth: false
predict_views_confidence: true
use_no_views_class: true
random_permutation_views: true
remove_TCO_rendering: true
input_strategy: input=obs+one_render
optimizer: adam
lr: 0.0003
weight_decay: 0.0
clip_grad_norm: 1000
n_epochs_warmup: 50
lr_epoch_decay: 500
batch_size: 16
epoch_size: 3600
val_size: 31
n_epochs: 700
save_epoch_interval: 100
sync_batchnorm: false
cuda_timing: false
do_visualization: false
vis_epoch_interval: 100
vis_batch_size: 64
vis_save_only_last: false
predict_pose_update: false
confidence_view_logits_temperature: 0.07
save_dir: /job_dir/data/node_r8i6n0/experiments/coarse-gso_shapenet-6among-26views_inplane-one_render-906902141--
urdf_ds_name: null
reference_point_randomization: false
label_verification: false
global_batch_size: 512