diff --git a/train/config/action_space/unnorm_waypts.yaml b/train/config/action_space/unnorm_waypts.yaml index d545564..baa6658 100644 --- a/train/config/action_space/unnorm_waypts.yaml +++ b/train/config/action_space/unnorm_waypts.yaml @@ -46,29 +46,29 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon - train: data/data_splits/recon/train/ - test: data/data_splits/recon/test/ + train: gnm_train/data/data_splits/recon/train/ + test: gnm_train/data/data_splits/recon/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True scand: data_folder: ../datasets/scand - train: data/data_splits/scand/train/ - test: data/data_splits/scand/test/ + train: gnm_train/data/data_splits/scand/train/ + test: gnm_train/data/data_splits/scand/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True tartan_drive: data_folder: /home/gnmuser/tartan_drive/ - train: data/data_splits/tartan_drive/train/ - test: data/data_splits/tartan_drive/test/ + train: gnm_train/data/data_splits/tartan_drive/train/ + test: gnm_train/data/data_splits/tartan_drive/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True diff --git a/train/config/architectures/siamese.yaml b/train/config/architectures/siamese.yaml index 65ae9f3..a1df3dc 100644 --- a/train/config/architectures/siamese.yaml +++ b/train/config/architectures/siamese.yaml @@ -46,29 +46,29 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon - train: data/data_splits/recon/train/ - test: data/data_splits/recon/test/ + train: gnm_train/data/data_splits/recon/train/ + test: gnm_train/data/data_splits/recon/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True scand: data_folder: ../datasets/scand - train: data/data_splits/scand/train/ - test: data/data_splits/scand/test/ + train: gnm_train/data/data_splits/scand/train/ + test: gnm_train/data/data_splits/scand/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True tartan_drive: data_folder: /home/gnmuser/tartan_drive/ - train: data/data_splits/tartan_drive/train/ - test: data/data_splits/tartan_drive/test/ + train: gnm_train/data/data_splits/tartan_drive/train/ + test: gnm_train/data/data_splits/tartan_drive/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True diff --git a/train/config/architectures/stacked.yaml b/train/config/architectures/stacked.yaml index d7470a2..4ef2420 100644 --- a/train/config/architectures/stacked.yaml +++ b/train/config/architectures/stacked.yaml @@ -45,32 +45,32 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon - train: data/data_splits/recon/train/ - test: data/data_splits/recon/test/ + train: gnm_train/data/data_splits/recon/train/ + test: gnm_train/data/data_splits/recon/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True scand: data_folder: ../datasets/scand - train: data/data_splits/scand/train/ - test: data/data_splits/scand/test/ + train: gnm_train/data/data_splits/scand/train/ + test: gnm_train/data/data_splits/scand/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True tartan_drive: data_folder: /home/gnmuser/tartan_drive/ - train: data/data_splits/tartan_drive/train/ - test: data/data_splits/tartan_drive/test/ + train: gnm_train/data/data_splits/tartan_drive/train/ + test: gnm_train/data/data_splits/tartan_drive/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 diff --git a/train/config/context/no_context.yaml b/train/config/context/no_context.yaml index 3c66c5c..c32e5ea 100644 --- a/train/config/context/no_context.yaml +++ b/train/config/context/no_context.yaml @@ -46,29 +46,29 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon - train: data/data_splits/recon/train/ - test: data/data_splits/recon/test/ + train: gnm_train/data/data_splits/recon/train/ + test: gnm_train/data/data_splits/recon/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True scand: data_folder: ../datasets/scand - train: data/data_splits/scand/train/ - test: data/data_splits/scand/test/ + train: gnm_train/data/data_splits/scand/train/ + test: gnm_train/data/data_splits/scand/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True tartan_drive: data_folder: /home/gnmuser/tartan_drive/ - train: data/data_splits/tartan_drive/train/ - test: data/data_splits/tartan_drive/test/ + train: gnm_train/data/data_splits/tartan_drive/train/ + test: gnm_train/data/data_splits/tartan_drive/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True diff --git a/train/config/context/static_context.yaml b/train/config/context/static_context.yaml index 101c7d2..a506ed8 100644 --- a/train/config/context/static_context.yaml +++ b/train/config/context/static_context.yaml @@ -46,29 +46,29 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon - train: data/data_splits/recon/train/ - test: data/data_splits/recon/test/ + train: gnm_train/data/data_splits/recon/train/ + test: gnm_train/data/data_splits/recon/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True scand: data_folder: ../datasets/scand - train: data/data_splits/scand/train/ - test: data/data_splits/scand/test/ + train: gnm_train/data/data_splits/scand/train/ + test: gnm_train/data/data_splits/scand/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True tartan_drive: data_folder: /home/gnmuser/tartan_drive/ - train: data/data_splits/tartan_drive/train/ - test: data/data_splits/tartan_drive/test/ + train: gnm_train/data/data_splits/tartan_drive/train/ + test: gnm_train/data/data_splits/tartan_drive/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True diff --git a/train/config/gnm/gnm_large.yaml b/train/config/gnm/gnm_large.yaml index eb0ad90..c754933 100644 --- a/train/config/gnm/gnm_large.yaml +++ b/train/config/gnm/gnm_large.yaml @@ -48,43 +48,43 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: /home/gnmuser/recon # path #/home/gnmuser/recon_jpeg120 - train: data/data_splits/recon/train/ # path to train folder with traj_names.txt - test: data/data_splits/recon/test/ # path to test folder with traj_names.txt + train: gnm_train/data/data_splits/recon/train/ # path to train folder with traj_names.txt + test: gnm_train/data/data_splits/recon/test/ # path to test folder with traj_names.txt end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: /home/gnmuser/go_stanford_filtered # datasets/stanford_go_new - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True cory_hall: data_folder: /home/gnmuser/coryhall/ - train: data/data_splits/coryhall/train/ - test: data/data_splits/coryhall/test/ + train: gnm_train/data/data_splits/coryhall/train/ + test: gnm_train/data/data_splits/coryhall/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True seattle: data_folder: /home/gnmuser/uw_cleaned/ - train: data/data_splits/seattle/train/ - test: data/data_splits/seattle/test/ + train: gnm_train/data/data_splits/seattle/train/ + test: gnm_train/data/data_splits/seattle/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True scand: data_folder: /home/gnmuser/scand_cleaned/ - train: data/data_splits/scand/train/ - test: data/data_splits/scand/test/ + train: gnm_train/data/data_splits/scand/train/ + test: gnm_train/data/data_splits/scand/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True tartan_drive: data_folder: /home/gnmuser/tartan_drive_cleaned/ - train: data/data_splits/tartan_drive/train/ - test: data/data_splits/tartan_drive/test/ + train: gnm_train/data/data_splits/tartan_drive/train/ + test: gnm_train/data/data_splits/tartan_drive/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True diff --git a/train/config/gnm/gnm_medium.yaml b/train/config/gnm/gnm_medium.yaml index 0836e03..4567e90 100644 --- a/train/config/gnm/gnm_medium.yaml +++ b/train/config/gnm/gnm_medium.yaml @@ -48,22 +48,22 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: /home/gnmuser/recon # path #/home/gnmuser/recon_jpeg120 - train: data/data_splits/recon/train/ # path to train folder with traj_names.txt - test: data/data_splits/recon/test/ # path to test folder with traj_names.txt + train: gnm_train/data/data_splits/recon/train/ # path to train folder with traj_names.txt + test: gnm_train/data/data_splits/recon/test/ # path to test folder with traj_names.txt end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: /home/gnmuser/go_stanford_filtered # datasets/stanford_go_new - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True cory_hall: data_folder: /home/gnmuser/coryhall/ - train: data/data_splits/coryhall/train/ - test: data/data_splits/coryhall/test/ + train: gnm_train/data/data_splits/coryhall/train/ + test: gnm_train/data/data_splits/coryhall/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True diff --git a/train/config/gnm/gnm_public.yaml b/train/config/gnm/gnm_public.yaml index 38ab0b2..fd8c1c6 100644 --- a/train/config/gnm/gnm_public.yaml +++ b/train/config/gnm/gnm_public.yaml @@ -46,29 +46,29 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon # path to the dataset - train: data/data_splits/recon/train/ # path to the train dir with traj_names.txt - test: data/data_splits/recon/test/ # path to the test dir with traj_names.txt + train: gnm_train/data/data_splits/recon/train/ # path to the train dir with traj_names.txt + test: gnm_train/data/data_splits/recon/test/ # path to the test dir with traj_names.txt end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True scand: data_folder: ../datasets/scand - train: data/data_splits/scand/train/ - test: data/data_splits/scand/test/ + train: gnm_train/data/data_splits/scand/train/ + test: gnm_train/data/data_splits/scand/test/ end_slack: 0 goals_per_obs: 1 negative_mining: True tartan_drive: data_folder: /home/gnmuser/tartan_drive/ - train: data/data_splits/tartan_drive/train/ - test: data/data_splits/tartan_drive/test/ + train: gnm_train/data/data_splits/tartan_drive/train/ + test: gnm_train/data/data_splits/tartan_drive/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 negative_mining: True diff --git a/train/config/gnm/gnm_small.yaml b/train/config/gnm/gnm_small.yaml index d179fa6..5b58b8c 100644 --- a/train/config/gnm/gnm_small.yaml +++ b/train/config/gnm/gnm_small.yaml @@ -46,15 +46,15 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon - train: data/data_splits/recon/train/ - test: data/data_splits/recon/test/ + train: gnm_train/data/data_splits/recon/train/ + test: gnm_train/data/data_splits/recon/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.) go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True diff --git a/train/config/single_domain/go_stanford.yaml b/train/config/single_domain/go_stanford.yaml index 5fb26e9..10be61b 100644 --- a/train/config/single_domain/go_stanford.yaml +++ b/train/config/single_domain/go_stanford.yaml @@ -46,8 +46,8 @@ image_size: [85, 64] # width, height datasets: go_stanford: data_folder: ../datasets/go_stanford - train: data/data_splits/go_stanford/train/ - test: data/data_splits/go_stanford/test/ + train: gnm_train/data/data_splits/go_stanford/train/ + test: gnm_train/data/data_splits/go_stanford/test/ end_slack: 0 goals_per_obs: 2 # increase dataset size negative_mining: True diff --git a/train/config/single_domain/recon.yaml b/train/config/single_domain/recon.yaml index 106ae9b..7b9e53f 100644 --- a/train/config/single_domain/recon.yaml +++ b/train/config/single_domain/recon.yaml @@ -46,8 +46,8 @@ image_size: [85, 64] # width, height datasets: recon: data_folder: ../datasets/recon - train: data/data_splits/recon/train/ - test: data/data_splits/recon/test/ + train: gnm_train/data/data_splits/recon/train/ + test: gnm_train/data/data_splits/recon/test/ end_slack: 3 # because many trajectories end in collisions goals_per_obs: 1 # how many goals are sampled per observation negative_mining: True # negative mining from the ViNG paper (Shah et al.)