From 13fc5f2c22b427d4f470d3d1aedc05fe451d2490 Mon Sep 17 00:00:00 2001 From: Vishal Satish Date: Tue, 17 Mar 2020 22:18:49 -0700 Subject: [PATCH] Removed license from configs. --- cfg/examples/antipodal_grasp_sampling.yaml | 22 --------------- cfg/examples/fc_gqcnn_pj.yaml | 22 --------------- cfg/examples/fc_gqcnn_suction.yaml | 22 --------------- cfg/examples/gqcnn_pj.yaml | 24 +--------------- cfg/examples/gqcnn_suction.yaml | 22 --------------- cfg/examples/replication/dex-net_2.0.yaml | 24 +--------------- cfg/examples/replication/dex-net_2.1.yaml | 24 +--------------- cfg/examples/replication/dex-net_3.0.yaml | 22 --------------- .../replication/dex-net_4.0_fc_pj.yaml | 22 --------------- .../replication/dex-net_4.0_fc_suction.yaml | 22 --------------- cfg/examples/replication/dex-net_4.0_pj.yaml | 24 +--------------- .../replication/dex-net_4.0_suction.yaml | 22 --------------- cfg/examples/ros/fc_gqcnn_pj.yaml | 22 --------------- cfg/examples/ros/fc_gqcnn_suction.yaml | 22 --------------- cfg/examples/ros/gqcnn_pj.yaml | 22 --------------- cfg/examples/ros/gqcnn_suction.yaml | 22 --------------- cfg/finetune.yaml | 22 --------------- cfg/finetune_dex-net_4.0_pj.yaml | 22 --------------- cfg/finetune_dex-net_4.0_suction.yaml | 22 --------------- cfg/finetune_example_pj.yaml | 22 --------------- cfg/finetune_example_suction.yaml | 22 --------------- ...-net_4.0_fc_suction_hyperparam_search.yaml | 22 --------------- .../train_hyperparam_search.yaml | 28 +++---------------- cfg/tools/analyze_gqcnn_performance.yaml | 22 --------------- cfg/tools/run_policy.yaml | 26 ++--------------- cfg/train.yaml | 24 +--------------- cfg/train_dex-net_2.0.yaml | 22 --------------- cfg/train_dex-net_3.0.yaml | 22 --------------- cfg/train_dex-net_4.0_fc_pj.yaml | 24 +--------------- cfg/train_dex-net_4.0_fc_suction.yaml | 24 +--------------- cfg/train_dex-net_4.0_pj.yaml | 24 +--------------- cfg/train_dex-net_4.0_suction.yaml | 24 +--------------- cfg/train_example_pj.yaml | 24 +--------------- cfg/train_example_suction.yaml | 24 +--------------- cfg/train_fc.yaml | 24 +--------------- 35 files changed, 18 insertions(+), 786 deletions(-) diff --git a/cfg/examples/antipodal_grasp_sampling.yaml b/cfg/examples/antipodal_grasp_sampling.yaml index 58d7a2c3..26753833 100644 --- a/cfg/examples/antipodal_grasp_sampling.yaml +++ b/cfg/examples/antipodal_grasp_sampling.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # policy params policy: # general params diff --git a/cfg/examples/fc_gqcnn_pj.yaml b/cfg/examples/fc_gqcnn_pj.yaml index b153e90f..664a7582 100644 --- a/cfg/examples/fc_gqcnn_pj.yaml +++ b/cfg/examples/fc_gqcnn_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: type: fully_conv_pj diff --git a/cfg/examples/fc_gqcnn_suction.yaml b/cfg/examples/fc_gqcnn_suction.yaml index e1f39fc0..99bc7f26 100644 --- a/cfg/examples/fc_gqcnn_suction.yaml +++ b/cfg/examples/fc_gqcnn_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: type: fully_conv_suction diff --git a/cfg/examples/gqcnn_pj.yaml b/cfg/examples/gqcnn_pj.yaml index fb3f8c79..894849e7 100644 --- a/cfg/examples/gqcnn_pj.yaml +++ b/cfg/examples/gqcnn_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: # optimization params num_seed_samples: 128 @@ -63,7 +41,7 @@ policy: metric: type: gqcnn gqcnn_model: models/GQCNN-4.0-PJ - + crop_height: 96 crop_width: 96 diff --git a/cfg/examples/gqcnn_suction.yaml b/cfg/examples/gqcnn_suction.yaml index 0ad50ab5..54119996 100644 --- a/cfg/examples/gqcnn_suction.yaml +++ b/cfg/examples/gqcnn_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: # optimization params num_seed_samples: 200 diff --git a/cfg/examples/replication/dex-net_2.0.yaml b/cfg/examples/replication/dex-net_2.0.yaml index f2ba3ac9..7bc51cf9 100644 --- a/cfg/examples/replication/dex-net_2.0.yaml +++ b/cfg/examples/replication/dex-net_2.0.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # policy params policy: # optimization params @@ -64,7 +42,7 @@ policy: metric: type: gqcnn gqcnn_model: models/GQCNN-2.0 - + crop_height: 96 crop_width: 96 diff --git a/cfg/examples/replication/dex-net_2.1.yaml b/cfg/examples/replication/dex-net_2.1.yaml index 93391ea9..b939db89 100644 --- a/cfg/examples/replication/dex-net_2.1.yaml +++ b/cfg/examples/replication/dex-net_2.1.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # policy params policy: # optimization params @@ -64,7 +42,7 @@ policy: metric: type: gqcnn gqcnn_model: models/GQCNN-2.1 - + crop_height: 96 crop_width: 96 diff --git a/cfg/examples/replication/dex-net_3.0.yaml b/cfg/examples/replication/dex-net_3.0.yaml index e8b9bca2..688694ad 100644 --- a/cfg/examples/replication/dex-net_3.0.yaml +++ b/cfg/examples/replication/dex-net_3.0.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # policy params policy: # optimization params diff --git a/cfg/examples/replication/dex-net_4.0_fc_pj.yaml b/cfg/examples/replication/dex-net_4.0_fc_pj.yaml index 51b714ff..ef48a4d3 100644 --- a/cfg/examples/replication/dex-net_4.0_fc_pj.yaml +++ b/cfg/examples/replication/dex-net_4.0_fc_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: type: fully_conv_pj diff --git a/cfg/examples/replication/dex-net_4.0_fc_suction.yaml b/cfg/examples/replication/dex-net_4.0_fc_suction.yaml index 881b3e08..765ecbf6 100644 --- a/cfg/examples/replication/dex-net_4.0_fc_suction.yaml +++ b/cfg/examples/replication/dex-net_4.0_fc_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: type: fully_conv_suction diff --git a/cfg/examples/replication/dex-net_4.0_pj.yaml b/cfg/examples/replication/dex-net_4.0_pj.yaml index 0e970c56..6c52359a 100644 --- a/cfg/examples/replication/dex-net_4.0_pj.yaml +++ b/cfg/examples/replication/dex-net_4.0_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: # optimization params num_seed_samples: 128 @@ -63,7 +41,7 @@ policy: metric: type: gqcnn gqcnn_model: models/GQCNN-4.0-PJ - + crop_height: 96 crop_width: 96 diff --git a/cfg/examples/replication/dex-net_4.0_suction.yaml b/cfg/examples/replication/dex-net_4.0_suction.yaml index 1d8d5d9c..3084b5d8 100644 --- a/cfg/examples/replication/dex-net_4.0_suction.yaml +++ b/cfg/examples/replication/dex-net_4.0_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - policy: # optimization params num_seed_samples: 200 diff --git a/cfg/examples/ros/fc_gqcnn_pj.yaml b/cfg/examples/ros/fc_gqcnn_pj.yaml index 6a58ccf1..5aa5c93a 100644 --- a/cfg/examples/ros/fc_gqcnn_pj.yaml +++ b/cfg/examples/ros/fc_gqcnn_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - !include ../fc_gqcnn_pj.yaml # ROS-specific visualization diff --git a/cfg/examples/ros/fc_gqcnn_suction.yaml b/cfg/examples/ros/fc_gqcnn_suction.yaml index ba840635..dcb3f34e 100644 --- a/cfg/examples/ros/fc_gqcnn_suction.yaml +++ b/cfg/examples/ros/fc_gqcnn_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - !include ../fc_gqcnn_suction.yaml # ROS-specific visualization diff --git a/cfg/examples/ros/gqcnn_pj.yaml b/cfg/examples/ros/gqcnn_pj.yaml index c69407e9..0558cfac 100644 --- a/cfg/examples/ros/gqcnn_pj.yaml +++ b/cfg/examples/ros/gqcnn_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - !include ../gqcnn_pj.yaml # ROS-specific visualization diff --git a/cfg/examples/ros/gqcnn_suction.yaml b/cfg/examples/ros/gqcnn_suction.yaml index e29fe968..934b329d 100644 --- a/cfg/examples/ros/gqcnn_suction.yaml +++ b/cfg/examples/ros/gqcnn_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - !include ../gqcnn_suction.yaml # ROS-specific visualization diff --git a/cfg/finetune.yaml b/cfg/finetune.yaml index 7b3d95e7..97967174 100644 --- a/cfg/finetune.yaml +++ b/cfg/finetune.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/finetune_dex-net_4.0_pj.yaml b/cfg/finetune_dex-net_4.0_pj.yaml index 696eee96..c70fdd32 100644 --- a/cfg/finetune_dex-net_4.0_pj.yaml +++ b/cfg/finetune_dex-net_4.0_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/finetune_dex-net_4.0_suction.yaml b/cfg/finetune_dex-net_4.0_suction.yaml index dcc0ea07..aa2cacbc 100644 --- a/cfg/finetune_dex-net_4.0_suction.yaml +++ b/cfg/finetune_dex-net_4.0_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/finetune_example_pj.yaml b/cfg/finetune_example_pj.yaml index 89aedc7f..cc4d44f9 100644 --- a/cfg/finetune_example_pj.yaml +++ b/cfg/finetune_example_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/finetune_example_suction.yaml b/cfg/finetune_example_suction.yaml index d9ad73eb..8a6ab88b 100644 --- a/cfg/finetune_example_suction.yaml +++ b/cfg/finetune_example_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/hyperparam_search/train_dex-net_4.0_fc_suction_hyperparam_search.yaml b/cfg/hyperparam_search/train_dex-net_4.0_fc_suction_hyperparam_search.yaml index e65f4a65..ed1a806b 100644 --- a/cfg/hyperparam_search/train_dex-net_4.0_fc_suction_hyperparam_search.yaml +++ b/cfg/hyperparam_search/train_dex-net_4.0_fc_suction_hyperparam_search.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/hyperparam_search/train_hyperparam_search.yaml b/cfg/hyperparam_search/train_hyperparam_search.yaml index 5fc08638..76659ecb 100644 --- a/cfg/hyperparam_search/train_hyperparam_search.yaml +++ b/cfg/hyperparam_search/train_hyperparam_search.yaml @@ -1,26 +1,6 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - -### Example hyper-parameter search config corresponding to cfg/train.yaml that grid-searches through number of training epochs, base learning rate, and conv1_1 filter sizes. ### +# Example hyper-parameter search config corresponding to cfg/train.yaml that +# grid-searches through number of training epochs, base learning rate, and +# conv1_1 filter sizes. # general optimization params train_batch_size: 64 @@ -33,7 +13,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.9 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/tools/analyze_gqcnn_performance.yaml b/cfg/tools/analyze_gqcnn_performance.yaml index 26abbf00..dfaadb08 100644 --- a/cfg/tools/analyze_gqcnn_performance.yaml +++ b/cfg/tools/analyze_gqcnn_performance.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - log_rate: 10 font_size: 15 line_width: 4 diff --git a/cfg/tools/run_policy.yaml b/cfg/tools/run_policy.yaml index e68ae52d..021f67d8 100644 --- a/cfg/tools/run_policy.yaml +++ b/cfg/tools/run_policy.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # policy params policy: # optimization params @@ -37,7 +15,7 @@ policy: gripper_width: 0.05 max_approach_angle: 60 logging_dir: logs/debug - + # sampling params sampling: # type @@ -108,7 +86,7 @@ policy: final_grasp: 1 grasp_scale: 1 - + vmin: 0.6 vmax: 0.9 diff --git a/cfg/train.yaml b/cfg/train.yaml index 894ab85c..a274fb91 100644 --- a/cfg/train.yaml +++ b/cfg/train.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.9 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/train_dex-net_2.0.yaml b/cfg/train_dex-net_2.0.yaml index e39ed31a..20ce3ba3 100644 --- a/cfg/train_dex-net_2.0.yaml +++ b/cfg/train_dex-net_2.0.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/train_dex-net_3.0.yaml b/cfg/train_dex-net_3.0.yaml index 7c40fc2c..2e44a7ba 100644 --- a/cfg/train_dex-net_3.0.yaml +++ b/cfg/train_dex-net_3.0.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 diff --git a/cfg/train_dex-net_4.0_fc_pj.yaml b/cfg/train_dex-net_4.0_fc_pj.yaml index 141a1f0b..55c71e72 100644 --- a/cfg/train_dex-net_4.0_fc_pj.yaml +++ b/cfg/train_dex-net_4.0_fc_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.8 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/train_dex-net_4.0_fc_suction.yaml b/cfg/train_dex-net_4.0_fc_suction.yaml index 369f9526..b506e77f 100644 --- a/cfg/train_dex-net_4.0_fc_suction.yaml +++ b/cfg/train_dex-net_4.0_fc_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.8 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/train_dex-net_4.0_pj.yaml b/cfg/train_dex-net_4.0_pj.yaml index f73c2fcb..f0d78cae 100644 --- a/cfg/train_dex-net_4.0_pj.yaml +++ b/cfg/train_dex-net_4.0_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.8 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/train_dex-net_4.0_suction.yaml b/cfg/train_dex-net_4.0_suction.yaml index 83a5ad34..897b333e 100644 --- a/cfg/train_dex-net_4.0_suction.yaml +++ b/cfg/train_dex-net_4.0_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.8 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/train_example_pj.yaml b/cfg/train_example_pj.yaml index b7e27327..db92ff5d 100644 --- a/cfg/train_example_pj.yaml +++ b/cfg/train_example_pj.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.9 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/train_example_suction.yaml b/cfg/train_example_suction.yaml index 682432f6..96dce159 100644 --- a/cfg/train_example_suction.yaml +++ b/cfg/train_example_suction.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.9 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion diff --git a/cfg/train_fc.yaml b/cfg/train_fc.yaml index 141a1f0b..55c71e72 100644 --- a/cfg/train_fc.yaml +++ b/cfg/train_fc.yaml @@ -1,25 +1,3 @@ -# Copyright ©2017. The Regents of the University of California (Regents). -# All Rights Reserved. Permission to use, copy, modify, and distribute this -# software and its documentation for educational, research, and not-for-profit -# purposes, without fee and without a signed licensing agreement, is hereby -# granted, provided that the above copyright notice, this paragraph and the -# following two paragraphs appear in all copies, modifications, and -# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150 -# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201, -# otl@berkeley.edu, -# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities. - -# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, -# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF -# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN -# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, -# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED -# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE -# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - # general optimization params train_batch_size: 64 val_batch_size: &val_batch_size 64 @@ -31,7 +9,7 @@ save_frequency: 10 # how often to save output (in epochs) vis_frequency: 10000 # how often to visualize filters (in epochs) log_frequency: 1 # how often to log output (in steps) -# train / val split params +# train / val split params train_pct: 0.8 # percentage of the data to use for training vs validation total_pct: 1.0 # percentage of all the files to use eval_total_train_error: 0 # whether or not to evaluate the total training error on each validataion