dataset_cfg:
  action_noise: 0.0
  dataset_json:
  - /storage/nfs/xzhang/experiments/nopool_exps/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/task_robocasa_mem_eight.json
  dataset_val_json:
  - ''
  load_in_mem: false
  n_examples_only: -1
  non_overlapping:
  - 2
  num_repeat_traj:
  - 256
  proprio_noise: 0.005
  sample_each_state: false
  task_name: ''
  task_names: null
  train_on_exploration: false
  use_dali: true
dataset_json_contents:
- action_keys:
  - actions
  dataset_path:
  - memory/MemPutKBreadInMicrowave/2025-07-25-10-40-55/demo_im128_notp.hdf5
  - memory/MemPutKBreadInMicrowave/2025-07-25-13-25-05/demo_im128_notp.hdf5
  - memory/MemPutKBreadInMicrowave/2025-07-25-14-50-59/demo_im128_notp.hdf5
  - memory/MemFruitInSinkLeftFar/2025-07-13-15-44-32/demo_im128_notp.hdf5
  - memory/MemFruitInSinkRightFar/2025-07-15-15-07-57/demo_im128_notp.hdf5
  - memory/MemHeatPot/2025-07-24-22-26-20/demo_im128_notp.hdf5
  - memory/MemHeatPot/2025-07-25-15-56-53/demo_im128_notp.hdf5
  - memory/MemWashAndReturnLeft/2025-07-25-00-12-14/demo_im128_notp.hdf5
  - memory/MemWashAndReturnRight/2025-07-25-00-45-53/demo_im128_notp.hdf5
  - memory/MemHeatPotMultiple/2025-09-20-20-10-55/demo_im128_notp.hdf5
  - memory/MemHeatPotMultiple/2025-09-20-20-35-24/demo_im128_notp.hdf5
  - memory/MemHeatPotMultiple/2025-09-20-20-50-23/demo_im128_notp.hdf5
  - memory/MemHeatPotMultiple/2025-09-20-21-08-42/demo_im128_notp.hdf5
  - memory/MemHeatPotMultiple/2025-09-20-21-35-46/demo_im128_notp.hdf5
  - memory/MemPutKBowlInCabinet/seed0_2025-09-19-23-10-47_6demo/demo_im128_notp.hdf5
  - memory/MemPutKBowlInCabinet/seed1_2025-09-19-23-32-29_20demo/demo_im128_notp.hdf5
  - memory/MemPutKBowlInCabinet/seed2_2025-09-20-00-42-49_30demo/demo_im128_notp.hdf5
  - memory/MemRetrieveOilsFromCounterLL/2025-09-20-22-49-27/demo_im128_notp.hdf5
  - memory/MemRetrieveOilsFromCounterLR/2025-09-20-23-25-19/demo_im128_notp.hdf5
  - memory/MemRetrieveOilsFromCounterRL/2025-09-20-23-06-15/demo_im128_notp.hdf5
  - memory/MemRetrieveOilsFromCounterRR/2025-09-20-23-14-26/demo_im128_notp.hdf5
  - memory/MemWashAndReturnSameLocation/2025-09-20-21-52-31/demo_im128_notp.hdf5
  - memory/MemWashAndReturnSameLocation/2025-09-20-22-11-00/demo_im128_notp.hdf5
  - memory/MemWashAndReturnSameLocation/2025-09-20-22-25-19/demo_im128_notp.hdf5
  group_method: dinov2
  image_keys:
  - obs/robot0_agentview_center_image
  - obs/robot0_eye_in_hand_image
  low_dim_keys: []
  max_traj_len: 2048
  proprio_keys:
  - obs/robot0_joint_pos_cos
  - obs/robot0_gripper_qpos
device: cuda
dist_on_itp: false
dist_url: env://
load_config: null
logging_cfg:
  log_dir: /storage/nfs/xzhang/experiments/nopool_exps/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress
  log_name: exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress
  output_dir: /storage/nfs/xzhang/experiments/nopool_exps/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress
model_cfg:
  policy_cfg:
    attn_drop: 0.0
    attn_scale_factor: null
    block_attn_ind: null
    block_pattern_start_offset: 0
    compress_full_attn: true
    compressor_latent_len: 1
    decoder_pred_head: mlp
    full_attn_inds: null
    gate_full_attn_layers: true
    gating_type: sigmoid_g1
    lora_rank: 4
    model_version: v2
    phase: pretrain
    pool_block_inds: null
    position_language_embedding: start
    pretrained_path: null
    remove_action: false
    remove_proprio: false
    scratch_llama_config: config/model_config/libero_1x.json
    tt_window_obs: false
    use_block_attention: true
    use_linear_attention: false
    use_lstm: false
    use_mamba: false
    use_transformer_xl: false
    xl_chunk_factor: 32
    xl_mem_len: 32
  vision_encoder_cfg:
    freeze_all: false
    vision_encoder: /storage/nfs/rshah/datasets/robocasa/datasets/crossmae_rtx/cross-mae-rtx-vitb.pth
    vision_lora: false
    vision_lora_rank: 8
    vision_nonpretrained: false
    vision_unfreeze_all: false
    vision_unfreeze_last_n: 0
optimizer_cfg:
  blr: 0.001
  lr: 0.0005
  min_lr: 0.0
  warmup_epochs: 2.0
  weight_decay: 0.01
shared_cfg:
  batch_size: 2
  block_finetune: ''
  downsample_obs: 8
  enable_gradient_checkpointing: false
  gripper_img: true
  has_base_action: true
  is_bimanual: false
  k_ptp: 0
  num_cameras: 2
  num_pred_steps: 32
  pad_to_max_length: true
  resume: null
  save_every: 10
  seed: 2
  seq_length: 2048
  split_epoch: 1
  start_epoch: 0
  use_language_conditioning: true
train: true
trainer_cfg:
  accum_iter: 32
  break_after_n_epochs: 101
  compile_model: true
  epochs: 200
  num_workers: 72
  pin_memory: true
  val_every: 10
  wandb_project: icrt_reruns
  wandb_watch: true
world_size: 1