matpalm / tcn_grasping

pybullet grasping with time contrastive network embeddings
http://matpalm.com/blog/pybullet_tcn_grasping/
MIT License
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offline negative mining #2

Open matpalm opened 5 years ago

matpalm commented 5 years ago

if our main goal is to keep a training loop busy doing useful work (i.e. minimising zero loss cases) we can farm out the checking of triples to a fleet of workers. these workers can randomly (or otherwise) sample triples against a reference model and only send triples to a central trainer if they don't look easy. this is something that parallelises well and we don't care necessarily about having these workers fast so it's a great fit for preemptiable cpu instances (remember performance != scalability) it's fine to have these workers use a slightly stale model for their reference and just update on some schedule.