method:
  name: ManiGaussian_BC
  use_fabric: true
  eval_neural_renderer: false
  use_depth: true
  use_neural_rendering: true
  num_view_for_nerf: 20
  language_model: CLIP
  language_model_dim: 512
  image_crop_size: 64
  bounds_offset:
  - 0.15
  voxel_sizes:
  - 100
  include_prev_layer: false
  npoints: 4096
  num_latents: 2048
  latent_dim: 512
  transformer_depth: 6
  transformer_iterations: 1
  cross_heads: 1
  cross_dim_head: 64
  latent_heads: 8
  latent_dim_head: 64
  pos_encoding_with_lang: true
  conv_downsample: true
  lang_fusion_type: seq
  voxel_patch_size: 5
  voxel_patch_stride: 5
  final_dim: 128
  input_dropout: 0.1
  attn_dropout: 0.1
  decoder_dropout: 0.0
  lr: 0.0005
  lr_scheduler: true
  num_warmup_steps: 3000
  optimizer: lamb
  lambda_weight_l2: 1.0e-06
  trans_loss_weight: 1.0
  rot_loss_weight: 1.0
  grip_loss_weight: 1.0
  collision_loss_weight: 1.0
  rotation_resolution: 5
  activation: lrelu
  norm: None
  crop_augmentation: true
  transform_augmentation:
    apply_se3: true
    aug_xyz:
    - 0.125
    - 0.125
    - 0.125
    aug_rpy:
    - 0.0
    - 0.0
    - 45.0
    aug_rot_resolution: ${method.rotation_resolution}
  demo_augmentation: true
  demo_augmentation_every_n: 10
  no_skip_connection: false
  no_perceiver: false
  no_language: false
  keypoint_method: heuristic
  use_wandb: true
  lambda_bc: 1.0
  point_cloud_encoder:
    NAME: PointNextEncoder
    blocks:
    - 1
    - 1
    - 1
    - 1
    - 1
    strides:
    - 1
    - 2
    - 2
    - 2
    - 2
    width: 128
    in_channels: 6
    sa_layers: 3
    sa_use_res: true
    radius: 0.05
    radius_scaling: 2.5
    nsample: 32
    expansion: 4
    aggr_args:
      feature_type: dp_fj
      reduction: max
    group_args:
      NAME: ballquery
      normalize_dp: true
    conv_args:
      order: conv-norm-act
    act_args:
      act: relu
      inplace: true
    norm_args:
      norm: bn
  point_cloud_decoder:
    layers: 2
  neural_renderer:
    visdom: false
    render_freq: 2000
    use_clip: false
    use_dynamic_field: true
    lambda_nerf: 0.01
    lambda_embed: 0.01
    lambda_rgb: 1.0
    lambda_l1: 0.8
    lambda_ssim: 0.2
    lambda_dyna: 0.1
    lambda_reg: 0.0
    dataset:
      use_processed_data: true
      bg_color:
      - 0
      - 0
      - 0
      zfar: 4.0
      znear: 0.1
      trans:
      - 0.0
      - 0.0
      - 0.0
      scale: 1.0
      mask_gt_rgb: false
    raft:
      encoder_dims:
      - 32
      - 48
      - 96
    gsnet:
      encoder_dims:
      - 32
      - 48
      - 96
      decoder_dims:
      - 48
      - 64
      - 96
      parm_head_dim: 32
    foundation_model_name: diffusion
    d_embed: 3
    loss_embed_fn: cosine
    d_latent: 128
    use_depth_supervision: false
    d_lang: 128
    voxel_shape: 100
    image_width: 128
    image_height: 128
    z_near: 0.1
    z_far: 4.0
    coordinate_bounds:
    - -0.3
    - -0.5
    - 0.6
    - 0.7
    - 0.5
    - 1.6
    use_code: true
    use_code_viewdirs: false
    use_xyz: true
    use_viewdirs: true
    mlp:
      n_blocks: 5
      d_hidden: 512
      combine_layer: 3
      combine_type: average
      beta: 0.0
      use_spade: false
      opacity_scale: 1.0
      opacity_bias: -2.0
      scale_bias: 0.02
      scale_scale: 0.003
      xyz_scale: 0.1
      xyz_bias: 0.0
      max_sh_degree: 1
    next_mlp:
      d_in: 3
      d_lang: 128
      d_out: 3
      n_blocks: 5
      d_hidden: 512
      combine_layer: 3
      combine_type: average
      beta: 0.0
      use_spade: false
      warm_up: 3000
      use_action: true
      lr: 0.0005
      lambda_weight_l2: 0.0001
    code:
      num_freqs: 6
      freq_factor: 1.5
      include_input: true
ddp:
  master_addr: localhost
  master_port: 12435
  num_devices: 2
  device_id: 0
rlbench:
  task_name: gs_rgb_emb_001_dyna_new_01_0305
  tasks:
  - close_jar
  - open_drawer
  - sweep_to_dustpan_of_size
  - meat_off_grill
  - turn_tap
  - slide_block_to_color_target
  - put_item_in_drawer
  - reach_and_drag
  - push_buttons
  - stack_blocks
  demos: 20
  num_view_for_nerf: 21
  demo_path: /mnt/disk_1/guanxing/GNFactor/data/train_data
  episode_length: 15
  cameras:
  - front
  camera_resolution:
  - 128
  - 128
  scene_bounds:
  - -0.3
  - -0.5
  - 0.6
  - 0.7
  - 0.5
  - 1.6
  include_lang_goal_in_obs: true
  headless: true
replay:
  batch_size: 1
  timesteps: 1
  prioritisation: false
  task_uniform: true
  use_disk: true
  path: /mnt/disk_1/guanxing/GNFactor/replay/gs_rgb_emb_001_dyna_new_01_0305
  max_parallel_processes: 8
evaluation:
  eval_freq: 10000
  eval_episodes: 25
  time_in_state: true
  record_every_n: 10000
  episode_length: 15
  gpu: 0
framework:
  use_online_evaluation: false
  log_freq: 100
  save_freq: 10000
  train_envs: 1
  replay_ratio: ${replay.batch_size}
  transitions_before_train: 200
  tensorboard_logging: false
  csv_logging: true
  training_iterations: 100010
  gpu: 0
  env_gpu: 0
  logdir: logs/
  logging_level: 20
  seeds: 1
  start_seed: 0
  load_existing_weights: false
  num_weights_to_keep: 60
  num_workers: 0
  record_every_n: 5
  use_wandb: true
  wandb_project: gnfactor
  wandb_group: gs_rgb_emb_001_dyna_new_01_0305
  seed: 0
  wandb_name: gs_rgb_emb_001_dyna_new_01_0305
  tqdm_mininterval: 10