update rover configs for collection

data_collection_model_and_results/rover/rover_v3.1/drone_run.sh

@@ -60,7 +60,7 @@ echo "performance" | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_gover
 
 if [ ${rover_id} -eq 1 ]; then
     routine=diamond
-    config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_43mm.yaml 
+    config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_47mm.yaml 
     n=3000
 	expected_radios=2
 elif [ ${rover_id} -eq 2 ]; then
@@ -71,7 +71,7 @@ elif [ ${rover_id} -eq 2 ]; then
 	expected_radios=1
 elif [ ${rover_id} -eq 3 ]; then
     routine=center
-    config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_35mm.yaml 
+    config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_43mm.yaml 
     n=3000
 	expected_radios=2
 else

latest_configs/feb11_paired.yml

@@ -4,22 +4,22 @@ datasets:
   empirical_individual_radio: false
   empirical_symmetry: true
   flip: false
-  double_flip: false
+  double_flip: true
   precompute_cache: /mnt/md2/cache/precompute_cache_3p5/
   scatter: continuous
   scatter_k: 21
   shuffle: true
-  sigma: 0.05
+  sigma: 0.1
   skip_qc: true
   snapshots_adjacent_stride: 1
   train_snapshots_per_session: 1
   val_snapshots_per_session: 1
   random_snapshot_size: False
   snapshots_stride: 1
   train_paths:
-  - /mnt/md2/splits/feb9_train_nosig.txt
+  - /mnt/md2/splits/feb11_train_nosig.txt
   val_paths:
-  - /mnt/md2/splits/feb9_val_nosig.txt
+  - /mnt/md2/splits/feb11_val_nosig.txt
   val_holdout_fraction: 0.2
   val_subsample_fraction: 0.2
   workers: 30
@@ -71,7 +71,7 @@ model:
       act: leaky
 optim:
   amp: false 
-  checkpoint: /home/mouse9911/gits/spf/checkpoints/feb9/single_checkpoints_windowedbeamformer_nosig_3p5_rotatedist_x2_freq_spac_newloss_nonorm/best.pth
+  checkpoint: /home/mouse9911/gits/spf/checkpoints/feb11/single/best.pth
   checkpoint_every: 5000
   device: cuda
   direct_loss: false

latest_configs/feb11_single.yaml

@@ -67,7 +67,7 @@ optim:
   dtype: torch.float32
   epochs: 100
   head_start: 0
-  learning_rate: 0.0002
+  learning_rate: 0.0001 # started at 0.0002
   loss: mse
   output: /home/mouse9911/gits/spf/checkpoints/feb11/single
   resume_step: 0

latest_configs/feb16_paired_wd0p02_gains_vehicle_0p2dropout_nobounce.yml

@@ -0,0 +1,90 @@
+datasets:
+  batch_size: 256
+  empirical_data_fn:  /home/mouse9911/gits/spf/empirical_dists/full.pkl 
+  empirical_individual_radio: false
+  empirical_symmetry: true
+  flip: false
+  double_flip: true
+  precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/
+  scatter: continuous
+  scatter_k: 21
+  shuffle: true
+  sigma: 0.1
+  skip_qc: true
+  snapshots_adjacent_stride: 1
+  train_snapshots_per_session: 1
+  val_snapshots_per_session: 1
+  random_snapshot_size: False
+  snapshots_stride: 1
+  train_paths:
+  - /mnt/md2/splits/feb16_train_nosig_noroverbounce.txt
+  val_paths:
+  - /mnt/md2/splits/feb16_val_nosig_noroverbounce.txt
+  val_holdout_fraction: 0.2
+  val_subsample_fraction: 0.2
+  workers: 24
+  segmentation_version: 3.5
+global:
+  vehicle_type_input: true
+  gains_input: True
+  windowed_beamformer_input: true
+  signal_matrix_input: false
+  beamformer_input: false
+  empirical_input: false
+  n_radios: 2
+  nthetas: 65
+  phase_input: false
+  rx_spacing_input: true
+  frequency_input: true
+  seed: 10
+logger:
+  log_every: 100
+  name: wandb
+  plot_every: 15000
+  project: 2024_nov22_single_paired_multi
+model:
+  block: true
+  bn: true
+  depth: 4
+  detach: true
+  dropout: 0.0
+  hidden: 1024
+  load_single: true
+  name: pairedbeamformer
+  norm: layer
+  single:
+    block: true
+    bn: true
+    depth: 4
+    detach: true
+    dropout: 0.0
+    hidden: 1024
+    input_dropout: 0.2
+    name: beamformer
+    norm: layer
+    windows_stats_net:
+      dropout: 0.25
+      windowed_beamformer: true
+      normalize_windowed_beamformer: false
+      hidden_channels: 128
+      outputs: 12
+      n_layers: 8
+      norm: false
+      act: leaky
+optim:
+  amp: false 
+  checkpoint: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02_gains_vehicle_0p2dropout_noroverbounce/best.pth
+  checkpoint_every: 5000
+  device: cuda
+  direct_loss: false
+  dtype: torch.float32
+  epochs: 60
+  head_start: 0
+  learning_rate: 0.0002
+  loss: mse
+  resume_step: 0
+  output: /home/mouse9911/gits/spf/checkpoints/feb16/paired_checkpoints_windowedbeamformer_nosig_3p5_randx_wd0p02_gains_vehicle_0p2dropout_noroverbounce
+  save_on: val/paired_loss
+  scheduler_step: 12
+  val_every: 10000
+  weight_decay: 0.0

latest_configs/feb16_single.yaml

@@ -0,0 +1,77 @@
+datasets:
+  batch_size: 256
+  empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl
+  empirical_individual_radio: false
+  empirical_symmetry: true
+  flip: true
+  double_flip: false
+  precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ 
+  scatter: continuous
+  scatter_k: 21
+  shuffle: true
+  sigma: 0.1
+  skip_qc: true
+  snapshots_adjacent_stride: 1
+  train_snapshots_per_session: 1
+  val_snapshots_per_session: 1
+  random_snapshot_size: False
+  snapshots_stride: 1
+  train_paths:
+  - /mnt/md2/splits/feb16_train_nosig.txt
+  val_paths:
+  - /mnt/md2/splits/feb16_val_nosig.txt
+  val_holdout_fraction: 0.2
+  val_subsample_fraction: 0.2
+  workers: 30
+  segmentation_version: 3.5
+global:
+  beamformer_input: false
+  windowed_beamformer_input: true
+  empirical_input: false
+  n_radios: 2
+  nthetas: 65
+  phase_input: false
+  rx_spacing_input: true
+  frequency_input: true
+  signal_matrix_input: false
+  seed: 10
+logger:
+  log_every: 100
+  name: wandb
+  plot_every: 15000
+  project: 2024_nov22_single_paired_multi
+model:
+  block: true
+  bn: true
+  depth: 4
+  detach: true
+  dropout: 0.0
+  hidden: 1024
+  input_dropout: 0.0
+  name: beamformer
+  norm: layer
+  windows_stats_net:
+    dropout: 0.25
+    windowed_beamformer: true
+    normalize_windowed_beamformer: false
+    hidden_channels: 128
+    outputs: 12
+    n_layers: 8
+    norm: false
+    act: leaky
+optim:
+  amp: false
+  checkpoint_every: 5000
+  device: cuda
+  direct_loss: false
+  dtype: torch.float32
+  epochs: 100
+  head_start: 0
+  learning_rate: 0.0001 # started at 0.0002
+  loss: mse
+  output: /home/mouse9911/gits/spf/checkpoints/feb16/single
+  resume_step: 0
+  save_on: val/single_loss
+  scheduler_step: 12
+  val_every: 10000
+  weight_decay: 0.2

latest_configs/feb16_single_wd0p02.yaml

@@ -0,0 +1,77 @@
+datasets:
+  batch_size: 256
+  empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl
+  empirical_individual_radio: false
+  empirical_symmetry: true
+  flip: true
+  double_flip: false
+  precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ 
+  scatter: continuous
+  scatter_k: 21
+  shuffle: true
+  sigma: 0.1
+  skip_qc: true
+  snapshots_adjacent_stride: 1
+  train_snapshots_per_session: 1
+  val_snapshots_per_session: 1
+  random_snapshot_size: False
+  snapshots_stride: 1
+  train_paths:
+  - /mnt/md2/splits/feb16_train_nosig.txt
+  val_paths:
+  - /mnt/md2/splits/feb16_val_nosig.txt
+  val_holdout_fraction: 0.2
+  val_subsample_fraction: 0.2
+  workers: 30
+  segmentation_version: 3.5
+global:
+  beamformer_input: false
+  windowed_beamformer_input: true
+  empirical_input: false
+  n_radios: 2
+  nthetas: 65
+  phase_input: false
+  rx_spacing_input: true
+  frequency_input: true
+  signal_matrix_input: false
+  seed: 10
+logger:
+  log_every: 100
+  name: wandb
+  plot_every: 15000
+  project: 2024_nov22_single_paired_multi
+model:
+  block: true
+  bn: true
+  depth: 4
+  detach: true
+  dropout: 0.0
+  hidden: 1024
+  input_dropout: 0.0
+  name: beamformer
+  norm: layer
+  windows_stats_net:
+    dropout: 0.25
+    windowed_beamformer: true
+    normalize_windowed_beamformer: false
+    hidden_channels: 128
+    outputs: 12
+    n_layers: 8
+    norm: false
+    act: leaky
+optim:
+  amp: false
+  checkpoint_every: 5000
+  device: cuda
+  direct_loss: false
+  dtype: torch.float32
+  epochs: 100
+  head_start: 0
+  learning_rate: 0.0001 # started at 0.0002
+  loss: mse
+  output: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02
+  resume_step: 0
+  save_on: val/single_loss
+  scheduler_step: 12
+  val_every: 10000
+  weight_decay: 0.02

latest_configs/feb16_single_wd0p02_gains.yaml

@@ -0,0 +1,78 @@
+datasets:
+  batch_size: 256
+  empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl
+  empirical_individual_radio: false
+  empirical_symmetry: true
+  flip: true
+  double_flip: false
+  precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ 
+  scatter: continuous
+  scatter_k: 21
+  shuffle: true
+  sigma: 0.1
+  skip_qc: true
+  snapshots_adjacent_stride: 1
+  train_snapshots_per_session: 1
+  val_snapshots_per_session: 1
+  random_snapshot_size: False
+  snapshots_stride: 1
+  train_paths:
+  - /mnt/md2/splits/feb16_train_nosig.txt
+  val_paths:
+  - /mnt/md2/splits/feb16_val_nosig.txt
+  val_holdout_fraction: 0.2
+  val_subsample_fraction: 0.2
+  workers: 24
+  segmentation_version: 3.5
+global:
+  beamformer_input: false
+  gains_input: True
+  windowed_beamformer_input: true
+  empirical_input: false
+  n_radios: 2
+  nthetas: 65
+  phase_input: false
+  rx_spacing_input: true
+  frequency_input: true
+  signal_matrix_input: false
+  seed: 10
+logger:
+  log_every: 100
+  name: wandb
+  plot_every: 15000
+  project: 2024_nov22_single_paired_multi
+model:
+  block: true
+  bn: true
+  depth: 4
+  detach: true
+  dropout: 0.0
+  hidden: 1024
+  input_dropout: 0.0
+  name: beamformer
+  norm: layer
+  windows_stats_net:
+    dropout: 0.25
+    windowed_beamformer: true
+    normalize_windowed_beamformer: false
+    hidden_channels: 128
+    outputs: 12
+    n_layers: 8
+    norm: false
+    act: leaky
+optim:
+  amp: false
+  checkpoint_every: 5000
+  device: cuda
+  direct_loss: false
+  dtype: torch.float32
+  epochs: 100
+  head_start: 0
+  learning_rate: 0.0001 # started at 0.0002
+  loss: mse
+  output: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02_gains
+  resume_step: 0
+  save_on: val/single_loss
+  scheduler_step: 12
+  val_every: 10000
+  weight_decay: 0.02