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| run_id: assemlm_v2 |
| run_root_dir: ./results |
| seed: 42 |
| wandb_project: assemlm-v2 |
| wandb_entity: null |
| wandb_group: train |
|
|
| datasets: |
| assemble_data: |
| dataset_py: hdf5datasets |
| eval_with_val: true |
| num_samples: 50 |
| point_token_len: 256 |
| label_pad_token_id: -100 |
| per_device_batch_size: 3 |
| num_workers: 4 |
| |
| train_mix: auto |
| test_mix: auto |
| data_features: src_pc,tgt_pc,imgs,lang,asset,category,pre_pose |
| seed: 42 |
| shuffle: true |
| drop_last: true |
| import_rotation: true |
| centering_mode: mean |
| point_token_len: 256 |
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|
| framework: |
| name: AssemLM2 |
| framework_py: AssemLM2 |
| pvlm_py: pvlm |
| vlm: |
| base_vlm: ${oc.env:ASSEMLM_VLM_PATH} |
| attn_implementation: eager |
| point_encoder: |
| type: vn_dgcnn_patch |
| vn_dgcnn_patch: |
| pc_feat_dim: 512 |
| fusion_module: patch_transformer |
| pooling: mean |
| norm_type: rmsnorm |
| num_patches: 128 |
| patch_size: 4 |
| patch_method: fps_knn |
| normalize_frame: true |
| force_fp32: true |
| bridge: |
| enabled: true |
| hidden_dim: 1024 |
| num_layers: 4 |
| num_heads: 8 |
| ffn_dim: 4096 |
| dropout: 0.1 |
| pos_embed_type: fourier |
| fourier_bands: 6 |
| fourier_max_freq: 10.0 |
| deepstack_enabled: true |
| deepstack_num_layers: 3 |
| deepstack_layer_indexes: auto |
| deepstack_init_scale: 0.1 |
| feature_layout: four_branch_equiv_invariant |
| position_normalize: joint_isotropic |
| scale_encoding_enabled: true |
| scale_injection: film |
| scale_feature_mode: part_radii_center_distance_joint_radius |
| scale_reference: 1.0 |
| scale_log_clip: 10.0 |
| attention_isolation: protect_invariant |
| point_projector: |
| projection_hidden_layer: 2 |
| backbone_output_dim: 6 |
| projection_hidden_dim: [1024, 2048] |
| project_output_dim: 2048 |
| point_mrope: |
| enabled: true |
| grid_size: 64 |
| normalize: joint_isotropic |
| base_mode: first_point |
| reflow_text_positions: true |
| point_attention: |
| bidirectional_enabled: true |
| bidirectional_scope: all_points |
| feature_isolation: protect_invariant |
| pose_regression: |
| enabled: true |
| query_mode: pose_query_token |
| query_token: <pose_query> |
| hidden_dim: 4096 |
| num_blocks: 2 |
| output_dim: 9 |
| trans_loss_weight: 1.0 |
| rot_loss_weight: 1.0 |
| rot_loss_unit: radian |
| use_category_in_instruction: true |
|
|
| trainer: |
| max_train_steps: 10000000 |
| num_warmup_steps: 50000 |
| save_interval: 5000 |
| save_start_step: 0 |
| save_end_step: 500000 |
| eval_interval: 1000 |
| eval_start_step: 0 |
| eval_end_step: 10000000 |
| learning_rate: |
| base: 1.0e-5 |
| pvlm_interface: 5.0e-6 |
| lr_scheduler_type: cosine_with_min_lr |
| scheduler_specific_kwargs: |
| min_lr: 5.0e-7 |
| freeze_modules: "" |
| max_grad_norm: 1.0 |
| warmup_ratio: 0.1 |
| weight_decay: 0.0 |
| logging_frequency: 10 |
| gradient_clipping: 1.0 |
| gradient_accumulation_steps: 1 |
| optimizer: |
| name: AdamW |
| betas: [0.9, 0.95] |
| eps: 1.0e-8 |
| weight_decay: 1.0e-8 |
| enable_gradient_checkpointing: true |
| enable_mixed_precision_training: true |
| vlm_max_length: 1800 |
| vlm_padding: true |
| eval_seed: 42 |
| reproducible_training: true |
| deterministic_training: true |
| pa_thresholds: 0.01,0.008,0.005 |
| epoch_eval_enabled: true |
| epoch_checkpoint_enabled: true |
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