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Beneisner/merge taxpose ablations (#37)
* update the ablation config to be as close to train as possible * switch the file to consume only things from the main config, ignore the ablation switch * move ablations into their respective files * move ablation overrides to the global namespace * Refactor all ablations into the exact same config format * change to object_class and relationship system * remove the ablation * merge together the eval ablation stuff
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| # @package _global_ | ||
|
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| ablation: | ||
| name: 0_no_disp_loss | ||
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| displace_loss_weight: 0 |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/0_no_disp_loss/train_mug_grasp.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 0_no_disp_loss | ||
| - override /task: mug_grasp | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: grasp | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/0_no_disp_loss/train_mug_place.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 0_no_disp_loss | ||
| - override /task: mug_place | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: place | ||
| - _self_ | ||
|
|
||
| mode: train |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| # @package _global_ | ||
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| ablation: | ||
| name: 1_no_corr_loss | ||
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| direct_correspondence_loss_weight: 0 |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/1_no_corr_loss/train_mug_grasp.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 1_no_corr_loss | ||
| - override /task: mug_grasp | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: grasp | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/1_no_corr_loss/train_mug_place.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 1_no_corr_loss | ||
| - override /task: mug_place | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: place | ||
| - _self_ | ||
|
|
||
| mode: train |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| # @package _global_ | ||
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| ablation: | ||
| name: 2_no_cons_loss | ||
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| consistency_loss_weight: 0 |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/2_no_cons_loss/train_mug_grasp.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 2_no_cons_loss | ||
| - override /task: mug_grasp | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: grasp | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/2_no_cons_loss/train_mug_place.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 2_no_cons_loss | ||
| - override /task: mug_place | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: place | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 7 additions & 0 deletions
7
configs/commands/ndf/ablations/3_no_disp_loss_combined/_ablation.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| # @package _global_ | ||
|
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| ablation: | ||
| name: 3_no_disp_loss_combined | ||
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| displace_loss_weight: 0 | ||
| consistency_loss_weight: 0.1 |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/3_no_disp_loss_combined/train_mug_grasp.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 3_no_disp_loss_combined | ||
| - override /task: mug_grasp | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: grasp | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/3_no_disp_loss_combined/train_mug_place.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 3_no_disp_loss_combined | ||
| - override /task: mug_place | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: place | ||
| - _self_ | ||
|
|
||
| mode: train |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| # @package _global_ | ||
|
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||
| ablation: | ||
| name: 4_no_residuals | ||
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| model: | ||
| residual_on: False |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/4_no_residuals/train_mug_grasp.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 4_no_residuals | ||
| - override /task: mug_grasp | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: grasp | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/4_no_residuals/train_mug_place.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 4_no_residuals | ||
| - override /task: mug_place | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: place | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 7 additions & 0 deletions
7
configs/commands/ndf/ablations/5_unweighted_svd/_ablation.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| # @package _global_ | ||
|
|
||
| ablation: | ||
| name: 5_unweighted_svd | ||
|
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| model: | ||
| pred_weight: False |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/5_unweighted_svd/train_mug_grasp.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 5_unweighted_svd | ||
| - override /task: mug_grasp | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: grasp | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/5_unweighted_svd/train_mug_place.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 5_unweighted_svd | ||
| - override /task: mug_place | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: place | ||
| - _self_ | ||
|
|
||
| mode: train |
6 changes: 6 additions & 0 deletions
6
configs/commands/ndf/ablations/6_no_finetuning/_ablation.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| # @package _global_ | ||
|
|
||
| ablation: | ||
| name: 6_no_finetuning | ||
|
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| freeze_embnn: True |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/6_no_finetuning/train_mug_grasp.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 6_no_finetuning | ||
| - override /task: mug_grasp | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: grasp | ||
| - _self_ | ||
|
|
||
| mode: train |
7 changes: 4 additions & 3 deletions
7
configs/commands/ndf/ablations/6_no_finetuning/train_mug_place.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| # @package _global_ | ||
|
|
||
| defaults: | ||
| - /train_mug_residual_ablation | ||
| - override /ablation: 6_no_finetuning | ||
| - override /task: mug_place | ||
| - /train_ndf | ||
| - _ablation | ||
| - override /object_class: mug | ||
| - override /relationship: place | ||
| - _self_ | ||
|
|
||
| mode: train |
8 changes: 8 additions & 0 deletions
8
configs/commands/ndf/ablations/7_no_pretraining/_ablation.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| # @package _global_ | ||
|
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||
| ablation: | ||
| name: 7_no_pretraining | ||
|
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| pretraining: | ||
| checkpoint_file_action: Null | ||
| checkpoint_file_anchor: Null |
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