-
Notifications
You must be signed in to change notification settings - Fork 3
/
wandb_config_padloc.yaml
64 lines (64 loc) · 1.61 KB
/
wandb_config_padloc.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
"experiment":
"project": "deep_lcd" # Project Name, used for W&B
"tags": null
"notes": null
"num_workers": 2
# TRAINING
"training_type" : 3D # RGB, 3D
"epochs" : 150
"batch_size" : 8
"learning_rate" : 0.004
"beta1" : 0.9
"beta2" : 0.999
"eps" : 1.e-8
"weight_decay" : 0.000005
# SCHEDULER
"scheduler": "multistep" # "multistep" or "onecycle" or "swa"
# NETWORK PARAMS 3D
"3D_net" : PVRCNN
"head" : TFHead #SuperGlue #PointNet
"desc_head": NetVLAD
"matching_head": TFEncMatcher
"tf_xa_enc_layers": 1
"tf_xa_enc_nheads": 1
"tf_xa_hiddn_size": 2560
"attn_agg_method": last
"point_weighting_method": berger
"tf_skip_conn1": False
"tf_skip_conn2": True
"load_semantic": False
"load_panoptic": False
"use_logits": False
"use_semantic": False
"use_panoptic": False
"model_norm": batch
"num_points" : 4096
"feature_size" : 640
"cluster_size" : 64
"shared_embeddings": True
"feature_output_dim_3D" : 256
"point_cloud_augmentation": True
"point_cloud_jitter": False
# LOSS
"margin": 0.5
"loss_type": "triplet_random"
"norm_embeddings": True
"semantic_matching_cost": False
"semantic_weight": 0.125
"supersem_weight": 0.5
"panoptic_weight": 10.0
"inv_tf_weight": 1.0
# KITTI
"test_sequence": "08"
"without_ground" : False
"loop_file": "loop_GT_4m"
# LOSS
"weight_metric_learning": 1.20
"weight_rot": 1
"weight_transl": 0
"rot_representation": "6dof" # "yaw", or "sincos", "ce_N", "quat", "bingham", "6dof"
"sinkhorn_iter": 5
"sinkhorn_aux_loss": True
"sinkhorn_type": "unbalanced" # or "slack"
"mode": "pairs"
"hard_mining": False