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base.yaml
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defaults:
- _self_
- vlm: gemini #pg_blip # gemini #gpt4v #prismatic
- dataset:
- bridge_test
- detector: grounding_dino #grounding_dino #owlv2
- segmentation_model: sam2 #sam #efficient_sam #sam2
- ov_segmentation_model: clipseg
- llm: googleapi #googleapi #openaiapi
- state_detector: open_clip
- keystate_predictor:
- object_movement_predictor
- scene_graph_predictor
- gripper_close_predictor
- gripper_position_predictor
- object_state_predictor
keystate_predictors_for_voting:
- object_movement_predictor
- gripper_close_predictor
- gripper_position_predictor
- scene_graph_predictor
- object_state_predictor
GPU_IDS: [3]
PROC_PER_GPU: 1
n_splits: 32
#Stage 1
object_retrieval_n_frames: 4
use_vlm_predictions_only: False
check_for_undetected_objects: False
objectness_threshold: 0.15
only_predefined_objects: False
#--------------------------------
#Stage 2
#Perception Settings
detection_threshold: 0.15
embodiment_prompt_clipseg: A picture of a black robotic gripper # A picture of a robot arm
embodiment_prompt_owl: a picture of a robot
embodiment_prompt_grounding_dino: the black robotic gripper #robot gripper #robot arm
use_depth: True
canonicalize: False
#DEVA (Mask Propagation) Settings
deva_detection_every: 20
deva_n_voting_frames: 4
objectness_check_interval: 8
objectness_check_threshold: 0.5
robot_endeffector_location_weight: "bottom"
robot_location_camera_frame: behind #front #behind
enable_temporal_aggregation: True
object_threshold: 0.05
use_vlm_fallback: True
scene_graph:
interval: 1
denoise_interval: 3
#--------------------------------
#Stage 3
keystate_threshold: 0.15
#object_movement_predictor
gripper_close_movement_filter: False
movement_threshold: 1.0
n_frames_movement: 3
use_flow_for_movement: False
use_flow_always: True
prior:
use_predefined_task_list: False
task_list: /home/${oc.env:USER}/NILS/data/task_list.txt
use_predefined_object_list: False
object_list: /home/${oc.env:USER}/NILS/data/object_list.txt
use_gt_keystates: True
io:
labeled_frames_dir: /home/${oc.env:USER}/NILS
save_frames: True
#ABLATIONS
ablation: False
enable_detection_ensembling: True
enable_scene_graph_denoising: True
enable_object_state_filtering: True
enable_detection_refinment: True
enable_object_centric_relations: True
simple_initial_object_detection: False
#Prompt Settings
prompt_interval: 4
prompt:
open_ended: True
use_object_movements: True
use_gripper_object_distances: False
use_state_information: True
use_held_object: False
use_object_relations: True
use_robot_movement: False
use_scene_description: True
use_full_scene_description: False
use_rotations: False
user: ${oc.env:USER}
vocab_file: /home/${user}/NILS/data/lvis_classes.txt
precomputed_embedding_file: /home/${user}/NILS/data/${state_detector.model_name}_lvis_embeddings.pth