| { |
| "data": { |
| "aspect_ratio_range": [0.5, 2.0], |
| "area_range": [250000, 1000000], |
| "clamp_max_depth": 1000.0, |
| "center_augmentation": 0.5, |
| "fov_range_absolute": [1, 179], |
| "fov_range_relative": [0.01, 1.0], |
| "image_augmentation": ["jittering", "jpeg_loss", "blurring"], |
| "datasets": [ |
| { |
| "name": "TartanAir", |
| "path": "blobmnt/data_v3/TartanAir", |
| "label_type": "synthetic", |
| "index": ".index.txt", |
| "depth": "depth.png", |
| "weight": 4.8, |
| "center_augmentation": 0.25, |
| "fov_range_absolute": [30, 150], |
| "fov_range_relative": [0.5, 1.0], |
| "image_augmentation": ["jittering", "jpeg_loss", "blurring", "shot_noise"] |
| } |
| ] |
| }, |
| "model_version": "v1", |
| "model": { |
| "encoder": "dinov2_vitl14", |
| "remap_output": "exp", |
| "intermediate_layers": 4, |
| "dim_upsample": [256, 128, 64], |
| "dim_times_res_block_hidden": 2, |
| "num_res_blocks": 2, |
| "num_tokens_range": [1200, 2500], |
| "last_conv_channels": 32, |
| "last_conv_size": 1 |
| }, |
| "optimizer": { |
| "type": "AdamW", |
| "params": [ |
| {"params": {"include": ["*"], "exclude": ["*backbone.*"]}, "lr": 1e-4}, |
| {"params": {"include": ["*backbone.*"]}, "lr": 1e-5} |
| ] |
| }, |
| "lr_scheduler": { |
| "type": "SequentialLR", |
| "params": { |
| "schedulers": [ |
| {"type": "LambdaLR", "params": {"lr_lambda": ["1.0", "max(0.0, min(1.0, (epoch - 1000) / 1000))"]}}, |
| {"type": "StepLR", "params": {"step_size": 25000, "gamma": 0.5}} |
| ], |
| "milestones": [2000] |
| } |
| }, |
| "low_resolution_training_steps": 50000, |
| "loss": { |
| "invalid": {}, |
| "synthetic": { |
| "global": {"function": "affine_invariant_global_loss", "weight": 1.0, "params": {"align_resolution": 32}}, |
| "patch_4": {"function": "affine_invariant_local_loss", "weight": 1.0, "params": {"level": 4, "align_resolution": 16, "num_patches": 16}}, |
| "patch_16": {"function": "affine_invariant_local_loss", "weight": 1.0, "params": {"level": 16, "align_resolution": 8, "num_patches": 256}}, |
| "patch_64": {"function": "affine_invariant_local_loss", "weight": 1.0, "params": {"level": 64, "align_resolution": 4, "num_patches": 4096}}, |
| "normal": {"function": "normal_loss", "weight": 1.0}, |
| "mask": {"function": "mask_l2_loss", "weight": 1.0} |
| }, |
| "sfm": { |
| "global": {"function": "affine_invariant_global_loss", "weight": 1.0, "params": {"align_resolution": 32}}, |
| "patch_4": {"function": "affine_invariant_local_loss", "weight": 1.0, "params": {"level": 4, "align_resolution": 16, "num_patches": 16}}, |
| "patch_16": {"function": "affine_invariant_local_loss", "weight": 1.0, "params": {"level": 16, "align_resolution": 8, "num_patches": 256}}, |
| "mask": {"function": "mask_l2_loss", "weight": 1.0} |
| }, |
| "lidar": { |
| "global": {"function": "affine_invariant_global_loss", "weight": 1.0, "params": {"align_resolution": 32}}, |
| "patch_4": {"function": "affine_invariant_local_loss", "weight": 1.0, "params": {"level": 4, "align_resolution": 16, "num_patches": 16}}, |
| "mask": {"function": "mask_l2_loss", "weight": 1.0} |
| } |
| } |
| } |
