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guild.yml
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- package: gpkg.vtsnn
version: 0.1
data-files:
- network_config/*
- model: data
description: >
Model for processing raw data.
- operations:
preprocess-cw:
description: Preprocess raw data for Container & Weight Classification.
main: vtsnn.preprocess
requires:
- config
flags:
save_path:
required: true
data_path:
required: true
tact_threshold: 0
vis_threshold: 1
selection: grasp_lift_hold
bin_duration: 0.02
n_sample_per_object: 40
network_config: network_config/container_weight.yml
task: cw
preprocess-ycb:
description: Preprocess raw data for YCB multi-modal dataset.
main: vtsnn.preprocess
requires:
- config
flags:
save_path:
required: true
data_path:
required: true
tact_threshold: 0
vis_threshold: 1
selection: grasp_lift_hold
bin_duration: 0.02
n_sample_per_object: 25
network_config: network_config/ycb.yml
task: ycb
preprocess-slip:
description: Preprocess raw data for Slip Detection.
main: vtsnn.preprocess
requires:
- config
flags:
save_path: /home/jethro/data_VTSNN_test/slip_data
data_path: /datasets/eventdata/slip2/
tact_threshold: 0
vis_threshold: 0
selection: full
bin_duration: 0.001
n_sample_per_object: 50
network_config: network_config/slip_detection.yml
task: slip
resources:
config:
description: SNN network config yml files
sources:
- file: network_config
- model: analyse
operations:
vtsnn:
description: Analyse SNNs
main: vtsnn.analyse_snn
requires:
- config
flags:
runs:
required: true
resources:
config:
description: SNN network config yml files
sources:
- file: network_config
- model: vtsnn
operations:
train-cw:
description: Train the VT-SNN model on Container & Weight Classification
main: vtsnn.train_snn
requires:
- config
flags:
epochs: 500
lr: 0.001
sample_file: 1
batch_size: 8
data_dir:
required: true
network_config: network_config/container_weight.yml
hidden_size: 32
loss: NumSpikes
mode:
required: true
task: cw
fingers: both
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
train-sd:
description: Train the VT-SNN model on Slip Detection
main: vtsnn.train_snn
requires:
- config
flags:
epochs: 500
lr: 0.001
sample_file: 1
batch_size: 8
data_dir:
required: true
network_config: network_config/slip_detection.yml
hidden_size: 32
loss: NumSpikes
mode:
required: true
task: slip
fingers: both
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
train-ycb:
description: Train the VT-SNN model on the YCB dataset
main: vtsnn.train_snn
requires:
- config
flags:
epochs: 500
lr: 0.001
sample_file: 1
batch_size: 8
data_dir:
required: true
network_config: network_config/ycb.yml
hidden_size: 32
loss: NumSpikes
mode:
required: true
task: ycb
fingers: both
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
resources:
config:
description: SNN network config yml files
sources:
- file: network_config
- model: mlp-gru
operations:
train-cw:
description: Train the MLP-GRU on Container & Weight Classification
main: vtsnn.train_mlp
flags:
epochs: 500
lr: 0.0001
sample_file: 1
batch_size: 8
data_dir:
required: true
hidden_size: 32
mode:
required: true
task: cw
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
train-sd:
description: Train the MLP-GRU model on Slip Detection
main: vtsnn.train_mlp
flags:
epochs: 500
lr: 0.0001
sample_file: 1
batch_size: 8
data_dir:
required: true
hidden_size: 32
mode:
required: true
task: slip
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
- model: cnn3d
operations:
train-cw:
description: Train the CNN3D model on Container & Weight Classification
main: vtsnn.train_cnn3d
flags:
epochs: 1000
lr: 0.00001
sample_file: 1
batch_size: 8
data_dir:
required: true
mode:
required: true
task: cw
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
train-sd:
description: Train the CNN3D model on Slip Detection
main: vtsnn.train_cnn3d
flags:
epochs: 1000
lr: 0.00001
sample_file: 1
batch_size: 8
data_dir:
required: true
mode:
required: true
task: slip
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
- config: loihi
operations:
train-sd:
description: Train the Loihi model on Slip Detection
main: vtsnn.train_loihi
requires:
- config
flags:
epochs: 500
lr: 0.001
sample_file: 1
batch_size: 8
data_dir:
required: true
network_config: network_config/slip_loihi.yml
hidden_size: 32
loss: NumSpikes
mode:
required: true
task: slip
compare:
- =batch_size
- =epochs
- =lr
- =sample_file
- =hidden_size
- =loss
- loss/train as loss_train
- loss/test as loss_test
- acc/train as acc_train
- acc/test as acc_test
- max acc/train as max_acc_train
- max acc/test as max_acc_test
benchmark-sd:
description: Benchmark the Loihi model on Slip Detection
main: vtsnn.benchmark
requires:
- config
flags:
sample_file: 1
hidden_size: 32
num_inf: 1000
model_dir:
required: true
data_dir:
required: true
network_config: network_config/slip_loihi.yml
log: gpu.yml
mode:
required: true
task: slip
delay: 0
resources:
config:
description: SNN network config yml files
sources:
- file: network_config