success

configs/server_train_config.yaml

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+# Train config file
+
+settings:
+  general:
+    seed: 0
+    cuda_visible_devices: "0,1,2,3,4,5,6,7"
+    device: cuda
+    parallel: True
+    test_dir: ""
+    print: True
+    
+
+  experiment:
+    name: new_full_training_test_using_fulldataset
+    root_dir: "experiments"
+    use_checkpoint: True
+    epoch: -1 # -1 stands for last epoch
+    max_epochs: 5000
+    save_checkpoint_interval: 1
+    test_first: True       
+    use_cache: False
+    small_batch_overfit: False
+    small_batch_size: 100
+    small_batch_times: 100
+    grasp_model_path: ../weights/epoch10.tar
+    task: grasp_pose
+    web_api: 
+      host: "127.0.0.1"
+      port: 12345
+      
+  train:
+    optimizer:
+      type: adam
+      lr: 0.00001
+    losses: # loss type : weight
+      gf_loss: 1.0
+    dataset:
+      name: synthetic_train_train_dataset
+      source: nbv1
+      data_type: train
+      gsnet_label: train_gsnet_label
+      #foundation_pose_label: test_foundation_pose_label
+      synthetic: True
+      ratio: 0.05
+      batch_size: 128
+      num_workers: 48
+
+  test:
+    batch_size: 16
+    frequency: 3
+    dataset_list:
+      - name: synthetic_test_train_dataset
+        source: nbv1
+        data_type: train
+        gsnet_label: train_gsnet_label
+        #foundation_pose_label: sample_foundation_pose_label
+        synthetic: True
+        eval_list:
+          - delta_pose
+          - grasp_pose_improvement
+          #- object_pose_improvement
+        ratio: 0.000001
+        batch_size: 32
+        num_workers: 16
+
+      - name: synthetic_test_test_dataset
+        source: nbv1
+        data_type: test
+        gsnet_label: test_gsnet_label
+        #foundation_pose_label: sample_foundation_pose_label
+        synthetic: True
+        eval_list:
+          - delta_pose
+          - grasp_pose_improvement
+          #- object_pose_improvement
+        ratio: 0.000010
+        batch_size: 32
+        num_workers: 16
+
+  pipeline: # module_type: name
+    pts_encoder: pointnet
+    view_finder: gradient_field
+    #rgb_encoder: dinov2
+
+datasets:
+  general:
+    data_dir: "../data"
+    score_limit: 0.2
+    target_pts_num: 1024
+    scene_pts_num: 16384
+    canonical: False
+    image_size: 480
+    rgb_feat_cache: True
+
+modules:
+  general:
+    pts_channels: 3
+    feature_dim: 1024
+    per_point_feature: False
+  pts_encoder:
+    pointnet:
+    pointnet++:
+      params_name: light
+    pointnet++rgb:
+      params_name: light
+      target_layer: 3
+      rgb_feat_dim: 384
+  view_finder:
+    gradient_field:
+      pose_mode: rot_matrix
+      regression_head: Rx_Ry
+      sample_mode: ode
+      sample_repeat: 50
+      sampling_steps: 500
+      sde_mode: ve
+  rgb_encoder:
+    dinov2:
+      model_name: "dinov2_vits14"