Remove config artifacts from checkpoint release

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Files changed (5) hide show

lift/bc_config.yaml +0 -193
lift/finetune_10v/config.json +0 -1
lift/idm_config.yaml +0 -193
so101_drawer/4v/bc_config.yaml +0 -154
so101_drawer/4v/idm_config.yaml +0 -154

lift/bc_config.yaml DELETED Viewed

@@ -1,193 +0,0 @@
-bc:
-  batch_size: 256
-  camera_num: 25
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  dropout: 0.0
-  encoder_deep: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 32
-  eval_episodes: 5
-  eval_seed: 0
-  fixed_offset: 16
-  frame_stack: 1
-  learning_rate: 5.0e-05
-  mixed_view_sampling: false
-  num_epochs: 1000
-  positive_samples_per_instance: 4
-  resize_size: 64
-  seed: 0
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  - view_04/agentview_image
-  - view_05/agentview_image
-  - view_06/agentview_image
-  - view_07/agentview_image
-  - view_08/agentview_image
-  - view_09/agentview_image
-  - view_10/agentview_image
-  - view_11/agentview_image
-  - view_12/agentview_image
-  - view_13/agentview_image
-  - view_14/agentview_image
-  - view_15/agentview_image
-  - view_16/agentview_image
-  - view_17/agentview_image
-  - view_18/agentview_image
-  - view_19/agentview_image
-  - view_20/agentview_image
-  - view_21/agentview_image
-  - view_22/agentview_image
-  - view_23/agentview_image
-  - view_24/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-bc_checkpoint_path: null
-debug_dataloader: false
-decoder:
-  action_decoder_type: simple
-  batch_size: 256
-  bc_transformer_config_path: null
-  camera_num: 25
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  eval_episodes: 25
-  eval_seed: 0
-  fixed_offset: 16
-  frame_stack: 1
-  hidden_dim: 256
-  learning_rate: 0.0003
-  mixed_view_sampling: false
-  positive_samples_per_instance: 4
-  resize_size: 64
-  total_updates: 2500
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  - view_04/agentview_image
-  - view_05/agentview_image
-  - view_06/agentview_image
-  - view_07/agentview_image
-  - view_08/agentview_image
-  - view_09/agentview_image
-  - view_10/agentview_image
-  - view_11/agentview_image
-  - view_12/agentview_image
-  - view_13/agentview_image
-  - view_14/agentview_image
-  - view_15/agentview_image
-  - view_16/agentview_image
-  - view_17/agentview_image
-  - view_18/agentview_image
-  - view_19/agentview_image
-  - view_20/agentview_image
-  - view_21/agentview_image
-  - view_22/agentview_image
-  - view_23/agentview_image
-  - view_24/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-group: mv-labels-default
-lapo:
-  act_head_dim: 1024
-  act_head_dropout: 0.0
-  auxiliary_consistency_coef: 0.5
-  base_margin: 0.2
-  batch_size: 16
-  camera_embedding_dim: 64
-  camera_num: 10
-  cka_loss_coef: 1.0
-  cka_sigma: null
-  consistency_coef: 1.0
-  contrastive_loss_coef: 1.0
-  cosine_loss: false
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  device: cuda
-  distance_type: l2
-  encoder_deep: false
-  encoder_dropout: 0.0
-  encoder_norm_out: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 1
-  eval_data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  eval_view_keys:
-  - view_10/agentview_image
-  frame_stack: 1
-  future_obs_offset: 16
-  grad_norm: 1.0
-  infonce_temperature: 1.0
-  labeled_batch_size: 16
-  labeled_data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  labeled_loss_coef: 0.0
-  latent_action_dim: 128
-  learning_rate: 0.0001
-  log_consistency_details: true
-  loss_type: weighted_infonce_gram
-  mixed_view_sampling: false
-  normalize_action_distance: false
-  normalize_triplet: false
-  num_epochs: 100
-  num_workers: 12
-  obs_head_dim: 1024
-  obs_head_dropout: 0.0
-  positive_samples_per_instance: 8
-  resize_size: 64
-  seed: 0
-  target_tau: 0.001
-  target_update_every: 1
-  train_dataset_size: null
-  train_traj_num: null
-  triplet_warmup_epochs: 0
-  unlabeled_train_dataset_size: null
-  unlabeled_train_traj_num: null
-  unlabeled_val_dataset_size: null
-  unlabeled_val_traj_num: null
-  use_aug: true
-  use_auxiliary_consistency_losses: false
-  use_camera_conditioning: false
-  use_consistency_loss: false
-  use_random_offset: true
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_02/agentview_image
-  - view_04/agentview_image
-  - view_06/agentview_image
-  - view_08/agentview_image
-  - view_16/agentview_image
-  - view_18/agentview_image
-  - view_20/agentview_image
-  - view_22/agentview_image
-  - view_24/agentview_image
-  views_per_instance: 8
-  warmup_epochs: 20
-  weight_decay: 0.0
-  weighted_infonce_beta: 0.05
-lapo_checkpoint_path: null
-name: mv-labels-1f7233e7-3596-40be-9eae-3be9bc82e967
-project: mv
-run_name: lift-25v-hard-10v-l2-winfonce-gram
-seed: 0

lift/finetune_10v/config.json DELETED Viewed

@@ -1 +0,0 @@

- "{\n \"algo_name\": \"diffusion_policy\",\n \"experiment\": {\n \"name\": \"diffusion_policy_laomft10v_10v\",\n \"validate\": false,\n \"logging\": {\n \"terminal_output_to_txt\": true,\n \"log_tb\": true,\n \"log_wandb\": true,\n \"wandb_proj_name\": \"diffusion_policy_lift\"\n },\n \"save\": {\n \"enabled\": true,\n \"every_n_seconds\": null,\n \"every_n_epochs\": 10,\n \"epochs\": [],\n \"on_best_validation\": false,\n \"on_best_rollout_return\": false,\n \"on_best_rollout_success_rate\": true\n },\n \"epoch_every_n_steps\": 1000,\n \"validation_epoch_every_n_steps\": 10,\n \"env\": null,\n \"additional_envs\": null,\n \"render\": false,\n \"render_video\": false,\n \"keep_all_videos\": false,\n \"video_skip\": 5,\n \"rollout\": {\n \"enabled\": false,\n \"n\": 50,\n \"horizon\": 400,\n \"rate\": 50,\n \"warmstart\": 0,\n \"terminate_on_success\": true\n },\n \"env_meta_update_dict\": {},\n \"ckpt_path\": null,\n \"obs_encoder_path\": null,\n \"obs_encoder_freeze\": false\n },\n \"train\": {\n \"data\": [\n {\n \"path\": \"/shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5\",\n \"traj_split_path\": null\n }\n ],\n \"output_dir\": \"/shared/s2/lab01/youngjoonjeong/multiview/diffusion_policy_lift\",\n \"normalize_weights_by_ds_size\": false,\n \"num_data_workers\": 12,\n \"hdf5_cache_mode\": \"low_dim\",\n \"hdf5_use_swmr\": true,\n \"hdf5_load_next_obs\": false,\n \"hdf5_normalize_obs\": false,\n \"hdf5_filter_key\": null,\n \"hdf5_validation_filter_key\": null,\n \"seq_length\": 16,\n \"pad_seq_length\": true,\n \"frame_stack\": 1,\n \"pad_frame_stack\": true,\n \"dataset_keys\": [\n \"actions\",\n \"rewards\",\n \"dones\"\n ],\n \"action_keys\": [\n \"actions\"\n ],\n \"action_config\": {\n \"actions\": {\n \"normalization\": null\n }\n },\n \"goal_mode\": null,\n \"cuda\": true,\n \"batch_size\": 100,\n \"num_epochs\": 50,\n \"seed\": 1,\n \"max_grad_norm\": null\n },\n \"algo\": {\n \"optim_params\": {\n \"policy\": {\n \"optimizer_type\": \"adamw\",\n \"learning_rate\": {\n \"initial\": 0.0001,\n \"decay_factor\": 0.1,\n \"step_every_batch\": true,\n \"scheduler_type\": \"cosine\",\n \"num_cycles\": 0.5,\n \"warmup_steps\": 500,\n \"epoch_schedule\": []\n },\n \"regularization\": {\n \"L2\": 1e-06\n }\n }\n },\n \"horizon\": {\n \"observation_horizon\": 1,\n \"action_horizon\": 8,\n \"prediction_horizon\": 16\n },\n \"unet\": {\n \"enabled\": true,\n \"diffusion_step_embed_dim\": 256,\n \"down_dims\": [\n 256,\n 512,\n 1024\n ],\n \"kernel_size\": 5,\n \"n_groups\": 8\n },\n \"ema\": {\n \"enabled\": true,\n \"power\": 0.75\n },\n \"ddpm\": {\n \"enabled\": false,\n \"num_train_timesteps\": 100,\n \"num_inference_timesteps\": 100,\n \"beta_schedule\": \"squaredcos_cap_v2\",\n \"clip_sample\": true,\n \"prediction_type\": \"epsilon\"\n },\n \"ddim\": {\n \"enabled\": true,\n \"num_train_timesteps\": 100,\n \"num_inference_timesteps\": 10,\n \"beta_schedule\": \"squaredcos_cap_v2\",\n \"clip_sample\": true,\n \"set_alpha_to_one\": true,\n \"steps_offset\": 0,\n \"prediction_type\": \"epsilon\"\n }\n },\n \"observation\": {\n \"modalities\": {\n \"obs\": {\n \"low_dim\": [],\n \"rgb\": [\n \"view_00/agentview_image\",\n \"view_02/agentview_image\",\n \"view_04/agentview_image\",\n \"view_06/agentview_image\",\n \"view_08/agentview_image\",\n \"view_16/agentview_image\",\n \"view_18/agentview_image\",\n \"view_20/agentview_image\",\n \"view_22/agentview_image\",\n \"view_24/agentview_image\"\n ],\n \"depth\": [],\n \"scan\": []\n },\n \"goal\": {\n \"low_dim\": [],\n \"rgb\": [],\n \"depth\": [],\n \"scan\": []\n }\n },\n \"encoder\": {\n \"low_dim\": {\n \"core_class\": null,\n \"core_kwargs\": {},\n \"obs_randomizer_class\": null,\n \"obs_randomizer_kwargs\": {}\n },\n \"rgb\": {\n \"core_class\": \"VisualCore\",\n \"core_kwargs\": {\n \"backbone_class\": \"LAOMEncoder\",\n \"backbone_kwargs\": {\n \"model_path\": \"/shared/s2/lab01/youngjoonjeong/multiview/encoders/VILA/lift-25v-hard-10v-l2-winfonce-gram/bc_offset_10_final.pt\",\n \"freeze\": false,\n \"dummy\": false\n },\n \"pool_class\": null,\n \"feature_dimension\": 64\n },\n \"obs_randomizer_class\": null,\n \"obs_randomizer_kwargs\": {}\n },\n \"depth\": {\n \"core_class\": \"VisualCore\",\n \"core_kwargs\": {},\n \"obs_randomizer_class\": null,\n \"obs_randomizer_kwargs\": {}\n },\n \"scan\": {\n \"core_class\": \"ScanCore\",\n \"core_kwargs\": {},\n \"obs_randomizer_class\": null,\n \"obs_randomizer_kwargs\": {}\n }\n }\n },\n \"meta\": {\n \"hp_base_config_file\": null,\n \"hp_keys\": [],\n \"hp_values\": []\n }\n}"

lift/idm_config.yaml DELETED Viewed

@@ -1,193 +0,0 @@
-bc:
-  batch_size: 256
-  camera_num: 25
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  dropout: 0.0
-  encoder_deep: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 32
-  eval_episodes: 5
-  eval_seed: 0
-  fixed_offset: 16
-  frame_stack: 1
-  learning_rate: 5.0e-05
-  mixed_view_sampling: false
-  num_epochs: 1000
-  positive_samples_per_instance: 4
-  resize_size: 64
-  seed: 0
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  - view_04/agentview_image
-  - view_05/agentview_image
-  - view_06/agentview_image
-  - view_07/agentview_image
-  - view_08/agentview_image
-  - view_09/agentview_image
-  - view_10/agentview_image
-  - view_11/agentview_image
-  - view_12/agentview_image
-  - view_13/agentview_image
-  - view_14/agentview_image
-  - view_15/agentview_image
-  - view_16/agentview_image
-  - view_17/agentview_image
-  - view_18/agentview_image
-  - view_19/agentview_image
-  - view_20/agentview_image
-  - view_21/agentview_image
-  - view_22/agentview_image
-  - view_23/agentview_image
-  - view_24/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-bc_checkpoint_path: null
-debug_dataloader: false
-decoder:
-  action_decoder_type: simple
-  batch_size: 256
-  bc_transformer_config_path: null
-  camera_num: 25
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  eval_episodes: 25
-  eval_seed: 0
-  fixed_offset: 16
-  frame_stack: 1
-  hidden_dim: 256
-  learning_rate: 0.0003
-  mixed_view_sampling: false
-  positive_samples_per_instance: 4
-  resize_size: 64
-  total_updates: 2500
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  - view_04/agentview_image
-  - view_05/agentview_image
-  - view_06/agentview_image
-  - view_07/agentview_image
-  - view_08/agentview_image
-  - view_09/agentview_image
-  - view_10/agentview_image
-  - view_11/agentview_image
-  - view_12/agentview_image
-  - view_13/agentview_image
-  - view_14/agentview_image
-  - view_15/agentview_image
-  - view_16/agentview_image
-  - view_17/agentview_image
-  - view_18/agentview_image
-  - view_19/agentview_image
-  - view_20/agentview_image
-  - view_21/agentview_image
-  - view_22/agentview_image
-  - view_23/agentview_image
-  - view_24/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-group: mv-labels-default
-lapo:
-  act_head_dim: 1024
-  act_head_dropout: 0.0
-  auxiliary_consistency_coef: 0.5
-  base_margin: 0.2
-  batch_size: 16
-  camera_embedding_dim: 64
-  camera_num: 10
-  cka_loss_coef: 1.0
-  cka_sigma: null
-  consistency_coef: 1.0
-  contrastive_loss_coef: 1.0
-  cosine_loss: false
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  device: cuda
-  distance_type: l2
-  encoder_deep: false
-  encoder_dropout: 0.0
-  encoder_norm_out: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 1
-  eval_data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  eval_view_keys:
-  - view_10/agentview_image
-  frame_stack: 1
-  future_obs_offset: 16
-  grad_norm: 1.0
-  infonce_temperature: 1.0
-  labeled_batch_size: 16
-  labeled_data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
-  labeled_loss_coef: 0.0
-  latent_action_dim: 128
-  learning_rate: 0.0001
-  log_consistency_details: true
-  loss_type: weighted_infonce_gram
-  mixed_view_sampling: false
-  normalize_action_distance: false
-  normalize_triplet: false
-  num_epochs: 100
-  num_workers: 12
-  obs_head_dim: 1024
-  obs_head_dropout: 0.0
-  positive_samples_per_instance: 8
-  resize_size: 64
-  seed: 0
-  target_tau: 0.001
-  target_update_every: 1
-  train_dataset_size: null
-  train_traj_num: null
-  triplet_warmup_epochs: 0
-  unlabeled_train_dataset_size: null
-  unlabeled_train_traj_num: null
-  unlabeled_val_dataset_size: null
-  unlabeled_val_traj_num: null
-  use_aug: true
-  use_auxiliary_consistency_losses: false
-  use_camera_conditioning: false
-  use_consistency_loss: false
-  use_random_offset: true
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_02/agentview_image
-  - view_04/agentview_image
-  - view_06/agentview_image
-  - view_08/agentview_image
-  - view_16/agentview_image
-  - view_18/agentview_image
-  - view_20/agentview_image
-  - view_22/agentview_image
-  - view_24/agentview_image
-  views_per_instance: 8
-  warmup_epochs: 20
-  weight_decay: 0.0
-  weighted_infonce_beta: 0.05
-lapo_checkpoint_path: null
-name: mv-labels-1f7233e7-3596-40be-9eae-3be9bc82e967
-project: mv
-run_name: lift-25v-hard-10v-l2-winfonce-gram
-seed: 0

so101_drawer/4v/bc_config.yaml DELETED Viewed

@@ -1,154 +0,0 @@
-bc:
-  action_key: delta_ee
-  batch_size: 256
-  camera_num: 4
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  dropout: 0.0
-  encoder_deep: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 32
-  eval_episodes: 5
-  eval_seed: 0
-  filter_noop: false
-  fixed_offset: 10
-  frame_stack: 1
-  learning_rate: 1.0e-05
-  mixed_view_sampling: false
-  num_epochs: 100
-  num_trajectories_to_load: 200
-  positive_samples_per_instance: 4
-  resize_size: 128
-  seed: 0
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-bc_checkpoint_path: null
-debug_dataloader: false
-decoder:
-  action_decoder_type: simple
-  action_key: delta_ee
-  batch_size: 256
-  bc_transformer_config_path: null
-  camera_num: 4
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  eval_episodes: 25
-  eval_seed: 0
-  filter_noop: false
-  fixed_offset: 10
-  frame_stack: 1
-  hidden_dim: 256
-  learning_rate: 0.0003
-  mixed_view_sampling: false
-  num_trajectories_to_load: 200
-  positive_samples_per_instance: 4
-  resize_size: 128
-  total_updates: 2500
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-group: mv-labels-default
-lapo:
-  act_head_dim: 1024
-  act_head_dropout: 0.0
-  action_key: delta_ee
-  auxiliary_consistency_coef: 0.5
-  base_margin: 0.2
-  batch_size: 16
-  camera_embedding_dim: 64
-  camera_num: 4
-  cka_loss_coef: 1.0
-  cka_sigma: null
-  consistency_coef: 1.0
-  contrastive_loss_coef: 1.0
-  cosine_loss: false
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  device: cuda
-  distance_type: l2
-  encoder_deep: false
-  encoder_dropout: 0.0
-  encoder_norm_out: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 1
-  eval_data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  eval_view_keys:
-  - view_00/agentview_image
-  filter_noop: false
-  frame_stack: 1
-  future_obs_offset: 10
-  grad_norm: 1.0
-  infonce_temperature: 1.0
-  labeled_batch_size: 16
-  labeled_data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  labeled_loss_coef: 0.0
-  latent_action_dim: 512
-  learning_rate: 0.0001
-  log_consistency_details: true
-  loss_type: weighted_infonce_gram
-  mixed_view_sampling: false
-  normalize_action_distance: false
-  normalize_triplet: false
-  num_epochs: 100
-  num_trajectories_to_load: 200
-  num_workers: 12
-  obs_head_dim: 1024
-  obs_head_dropout: 0.0
-  positive_samples_per_instance: 8
-  resize_size: 128
-  seed: 0
-  target_tau: 0.001
-  target_update_every: 1
-  train_dataset_size: null
-  train_traj_num: null
-  triplet_warmup_epochs: 0
-  unlabeled_train_dataset_size: null
-  unlabeled_train_traj_num: null
-  unlabeled_val_dataset_size: null
-  unlabeled_val_traj_num: null
-  use_aug: true
-  use_auxiliary_consistency_losses: false
-  use_camera_conditioning: false
-  use_consistency_loss: false
-  use_random_offset: true
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  views_per_instance: 8
-  warmup_epochs: 20
-  weight_decay: 0.0
-  weighted_infonce_beta: 0.05
-lapo_checkpoint_path: null
-name: mv-labels-4f3ee2ab-eef1-42e6-87ff-607e7bf70674
-project: mv
-run_name: so101-drawer-28v-hard-4v-l2-winfonce-gram-deltaee-128x128
-seed: 0

so101_drawer/4v/idm_config.yaml DELETED Viewed

@@ -1,154 +0,0 @@
-bc:
-  action_key: delta_ee
-  batch_size: 256
-  camera_num: 4
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  dropout: 0.0
-  encoder_deep: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 32
-  eval_episodes: 5
-  eval_seed: 0
-  filter_noop: false
-  fixed_offset: 10
-  frame_stack: 1
-  learning_rate: 1.0e-05
-  mixed_view_sampling: false
-  num_epochs: 100
-  num_trajectories_to_load: 200
-  positive_samples_per_instance: 4
-  resize_size: 128
-  seed: 0
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-bc_checkpoint_path: null
-debug_dataloader: false
-decoder:
-  action_decoder_type: simple
-  action_key: delta_ee
-  batch_size: 256
-  bc_transformer_config_path: null
-  camera_num: 4
-  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
-  dcs_backgrounds_split: train
-  eval_episodes: 25
-  eval_seed: 0
-  filter_noop: false
-  fixed_offset: 10
-  frame_stack: 1
-  hidden_dim: 256
-  learning_rate: 0.0003
-  mixed_view_sampling: false
-  num_trajectories_to_load: 200
-  positive_samples_per_instance: 4
-  resize_size: 128
-  total_updates: 2500
-  train_dataset_size: null
-  train_traj_num: null
-  unlabeled_train_dataset_size: null
-  unlabeled_val_dataset_size: null
-  use_aug: false
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  views_per_instance: 1
-  warmup_epochs: 0
-  weight_decay: 0.0
-group: mv-labels-default
-lapo:
-  act_head_dim: 1024
-  act_head_dropout: 0.0
-  action_key: delta_ee
-  auxiliary_consistency_coef: 0.5
-  base_margin: 0.2
-  batch_size: 16
-  camera_embedding_dim: 64
-  camera_num: 4
-  cka_loss_coef: 1.0
-  cka_sigma: null
-  consistency_coef: 1.0
-  contrastive_loss_coef: 1.0
-  cosine_loss: false
-  data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  device: cuda
-  distance_type: l2
-  encoder_deep: false
-  encoder_dropout: 0.0
-  encoder_norm_out: false
-  encoder_num_res_blocks: 2
-  encoder_scale: 1
-  eval_data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  eval_view_keys:
-  - view_00/agentview_image
-  filter_noop: false
-  frame_stack: 1
-  future_obs_offset: 10
-  grad_norm: 1.0
-  infonce_temperature: 1.0
-  labeled_batch_size: 16
-  labeled_data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
-  labeled_loss_coef: 0.0
-  latent_action_dim: 512
-  learning_rate: 0.0001
-  log_consistency_details: true
-  loss_type: weighted_infonce_gram
-  mixed_view_sampling: false
-  normalize_action_distance: false
-  normalize_triplet: false
-  num_epochs: 100
-  num_trajectories_to_load: 200
-  num_workers: 12
-  obs_head_dim: 1024
-  obs_head_dropout: 0.0
-  positive_samples_per_instance: 8
-  resize_size: 128
-  seed: 0
-  target_tau: 0.001
-  target_update_every: 1
-  train_dataset_size: null
-  train_traj_num: null
-  triplet_warmup_epochs: 0
-  unlabeled_train_dataset_size: null
-  unlabeled_train_traj_num: null
-  unlabeled_val_dataset_size: null
-  unlabeled_val_traj_num: null
-  use_aug: true
-  use_auxiliary_consistency_losses: false
-  use_camera_conditioning: false
-  use_consistency_loss: false
-  use_random_offset: true
-  val_dataset_size: null
-  val_traj_num: null
-  view_keys:
-  - view_00/agentview_image
-  - view_01/agentview_image
-  - view_02/agentview_image
-  - view_03/agentview_image
-  views_per_instance: 8
-  warmup_epochs: 20
-  weight_decay: 0.0
-  weighted_infonce_beta: 0.05
-lapo_checkpoint_path: null
-name: mv-labels-4f3ee2ab-eef1-42e6-87ff-607e7bf70674
-project: mv
-run_name: so101-drawer-28v-hard-4v-l2-winfonce-gram-deltaee-128x128
-seed: 0