BC03 Scooping 3D Flow Ablation: MSE after SVD (not pointwise)


# Same as `SVD_POINTWISE_6D_EE2FLOW_SVD` except that we will just take the
# (R,t) produced from the flow, turn it to a 6D vector, and do MSE on that.
# TL;DR test MSE loss instead of pointwise tool flow loss. This will involve
# doing basically the same "flow2act" that we do at inference time, except
# it is done at TRAIN time, and so the forward pass just returns a 6D vector.
SVD_6D_FLOW_EEPOSE_MSE_LOSS = dict(
    obs_type='point_cloud',
    act_type='eepose',
    encoder_type='pointnet_svd_6d_flow_mse_loss',
    method_flow2act='svd',  # this should be a duplicate of the forward pass
    use_consistency_loss=True,  # actually this makes sense to use
    lambda_consistency=0.1,
    scale_targets=True,
    lambda_pos=1.0,
    lambda_rot=100.0,  # 100 for MixedMedia, 1 for PourWater?
)

# Same as `SVD_POINTWISE_SVD` except that we will just take the (R,t) from
# the flow, turn it to a 6D vector, and do MSE on that. MSE instead of PW.
SVD_3D_FLOW_EEPOSE_MSE_LOSS = dict(
    obs_type='point_cloud',
    act_type='eepose',
    encoder_type='pointnet_svd',  # just keep this name
    method_flow2act='svd',  # this should be a duplicate of the forward pass
    use_consistency_loss=True,  # actually this makes sense to use
    lambda_consistency=0.1,
    scale_targets=True,
    lambda_pos=1.0,
    lambda_rot=100.0,  # 100 for MixedMedia, 1 for PourWater?
)