File size: 11,564 Bytes
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spec:
_target_: far.builders.data.build_dataspec
local_pos_stats:
min:
- -2.5
- -4
max:
- 5
- 4
meters_per_waypoint: 0.25
max_frame_offset: 128
len_traj_pred: ${len_traj_pred}
planner_mu_init:
- -0.1
- 0
- 0
planner_sigma_init:
- 0.02
- 0.1
- 0.3142
pose_fields:
- x
- 'y'
- z
- pitch
- yaw
pose_dim: 5
pos_dim: 2
angle_dim: 1
pose_mode: 2d
fps: 4.0
shared:
manifest_path: results/manifests/recon/recon_split.json
backend:
_target_: far.data.backends.NavigationBackend
transform:
_target_: far.data.transforms.make_centercrop_resize
image_height: ${image_height}
image_width: ${image_width}
sampler:
context_goal:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 12
len_traj_pred: ${len_traj_pred}
goals_per_obs: ${goals_per_obs}
context_traj:
_target_: far.data.samplers.ContextTrajectorySampler
context_pool_size: 12
len_traj_pred: ${len_traj_pred}
formatter:
context_pose:
_target_: far.data.formatters.ContextPoseFormatter2D
spec: ${recon.spec}
train:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_train.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_goal}
transform: ${recon.shared.transform}
test:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_test.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_goal}
transform: ${recon.shared.transform}
eval:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_test_time.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_traj}
transform: ${recon.shared.transform}
eval_traj:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_test_plan.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_traj}
transform: ${recon.shared.transform}
loopnav:
spec:
_target_: far.builders.data.build_dataspec
local_pos_stats:
min:
- -2.5
- -4
- 0
max:
- 5
- 4
- 1
meters_per_waypoint: 0.25
max_frame_offset: 128
len_traj_pred: ${len_traj_pred}
planner_mu_init:
- -0.1
- 0
- 0
- 0
- 0
planner_sigma_init:
- 0.02
- 0.1
- 0
- 0
- 0.3142
pose_fields:
- x
- 'y'
- z
- pitch
- yaw
pose_dim: 5
pos_dim: 3
angle_dim: 2
pose_mode: 3d
fps: 20.0
shared:
manifest_path: results/manifests/loopnav/loopnav_split.json
backend:
_target_: far.data.backends.LoopNavBackend
standard_frame: false
transform:
_target_: far.data.transforms.make_resize
image_height: ${image_height}
image_width: ${image_width}
sampler:
random_clip:
_target_: far.data.samplers.RandomClipSampler
clip_len: 16
frame_stride: 10
context_goal:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 100
len_traj_pred: ${len_traj_pred}
goals_per_obs: ${goals_per_obs}
context_traj:
_target_: far.data.samplers.ContextTrajectorySampler
context_pool_size: 100
len_traj_pred: ${len_traj_pred}
formatter:
frame:
_target_: far.data.formatters.FrameFormatter
context_pose:
_target_: far.data.formatters.ContextPoseFormatter
spec: ${loopnav.spec}
train_tokenizer:
_target_: far.data.datasets.FormattedIterableDataset
formatter: ${loopnav.formatter.frame}
base_dataset:
_target_: far.data.datasets.WebVideoIterableDataset
manifest_path: results/manifests/loopnav/loopnav.json
index_path: results/indices/loopnav/loopnav_train_ABCA.json
backend:
_target_: far.data.backends.WebDatasetBackend
sampler: ${loopnav.sampler.random_clip}
transform: ${loopnav.shared.transform}
cache_dir: null
cache_size: 100
shuffle_shards: 32
shuffle_samples: 100
loopnav_latent:
spec:
_target_: far.builders.data.build_dataspec
local_pos_stats:
min:
- 0
- 0
- 0
max:
- 1
- 1
- 1
meters_per_waypoint: 1.0
max_frame_offset: 20.0
len_traj_pred: ${len_traj_pred}
planner_mu_init:
- -0.1
- 0
- 0
- 0
- 0
planner_sigma_init:
- 0.02
- 0.1
- 0
- 0
- 0.3142
pose_fields:
- x
- 'y'
- z
- pitch
- yaw
pose_dim: 5
pos_dim: 3
angle_dim: 2
pose_mode: 3d
fps: 20.0
shared:
manifest_path: results/manifests/loopnav/loopnav_latent.json
backend:
_target_: far.data.backends.LatentLoopNavBackend
key_suffix: null
standard_frame: false
transform: null
sampler:
random_clip:
_target_: far.data.samplers.RandomClipSampler
clip_len: 8
frame_stride: 10
context_goal:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
goals_per_obs: ${goals_per_obs}
context_goal_test:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
goals_per_obs: 4
context_traj:
_target_: far.data.samplers.ContextTrajectorySampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
formatter:
frame:
_target_: far.data.formatters.FrameFormatter
context_pose:
_target_: far.data.formatters.ContextPoseFormatter
spec: ${loopnav_latent.spec}
train:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${loopnav_latent.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${loopnav_latent.shared.manifest_path}
index_path: results/indices/loopnav/loopnav_latent_train.json
backend: ${loopnav_latent.shared.backend}
sampler: ${loopnav_latent.sampler.context_goal}
transform: ${loopnav_latent.shared.transform}
test:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${loopnav_latent.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${loopnav_latent.shared.manifest_path}
index_path: results/indices/loopnav/loopnav_latent_test.json
backend: ${loopnav_latent.shared.backend}
sampler: ${loopnav_latent.sampler.context_goal_test}
transform: ${loopnav_latent.shared.transform}
soundspaces_latent:
spec:
_target_: far.builders.data.build_dataspec
local_pos_stats:
min:
- 0
- 0
- 0
max:
- 1
- 1
- 1
meters_per_waypoint: 1.0
max_frame_offset: 10.0
len_traj_pred: ${len_traj_pred}
planner_mu_init:
- -0.1
- 0
- 0
- 0
- 0
planner_sigma_init:
- 0.02
- 0.1
- 0
- 0
- 0.3142
pose_fields:
- x
- 'y'
- z
- pitch
- yaw
pose_dim: 5
pos_dim: 3
angle_dim: 2
pose_mode: 3d
fps: 10.0
shared:
manifest_path: results/manifests/soundspaces/soundspaces_latent.json
backend:
_target_: far.data.backends.SoundSpacesBackend
key_suffix: null
audio_mode: null
audio_window_hops: 48
transform: null
sampler:
random_clip:
_target_: far.data.samplers.RandomClipSampler
clip_len: 16
frame_stride: 5
context_goal:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
goals_per_obs: ${goals_per_obs}
context_goal_test:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
goals_per_obs: 4
context_traj:
_target_: far.data.samplers.ContextTrajectorySampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
formatter:
frame:
_target_: far.data.formatters.FrameFormatter
context_pose:
_target_: far.data.formatters.ContextPoseFormatter
spec: ${soundspaces_latent.spec}
train:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${soundspaces_latent.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${soundspaces_latent.shared.manifest_path}
index_path: results/indices/soundspaces/soundspaces_latent_train.json
backend: ${soundspaces_latent.shared.backend}
sampler: ${soundspaces_latent.sampler.context_goal}
transform: ${soundspaces_latent.shared.transform}
test:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${soundspaces_latent.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${soundspaces_latent.shared.manifest_path}
index_path: results/indices/soundspaces/soundspaces_latent_test.json
backend: ${soundspaces_latent.shared.backend}
sampler: ${soundspaces_latent.sampler.context_goal_test}
transform: ${soundspaces_latent.shared.transform}
model:
memory:
_target_: far.memories.pnp_cl.PnPRetrieval
ckpt_path: null
chunk_size: 20
num_sets: 4
softmax_temperature: 1.0
scoring: visual
metadata_hidden: 128
local_pos_stats: null
stride_to_seconds: 1.0
encoder_mode: frozen
adapter_hidden: 384
query_source: frame
gate_eps: 0.05
query_vit:
_target_: far.memories.pnp_cl.QueryViT
img_height: 18
img_width: 32
patch_size: 2
in_chans: 16
embed_dim: 384
depth: 6
num_heads: 12
action_dim: ${action_dim}
key_dim: 256
mlp_ratio: 4.0
wandb:
project: PMem-World
name: null
entity: null
mode: online
group: loopnav_latent
tags:
- loopnav_latent
- retriever_pretrain
- longlive
run_name: retriever_longlive_pretrain
context_size: 4
action_dim: 5
pose_dim: 3
image_height: 224
image_width: 224
len_traj_pred: 128
goals_per_obs: 4
lr: 0.0003
weight_decay: 0.0001
grad_clip_val: 1.0
iterations: 400000
warmup_steps: 0
from_checkpoint: null
global_seed: 0
log_every: 100
ckpt_every: 25000
eval_every: 5000
bfloat16: false
batch_size: 32
num_workers: 12
datasets:
- loopnav_latent
contrastive:
chunk_size: ${model.memory.chunk_size}
positive_pair_type:
- temporal
- pose
- jepa
num_positives: 4
num_negatives: 16
cl_temperature: 0.1
cl_pose_radius: 30.0
cl_pose_fov_half_h: 52.5
cl_pose_fov_half_v: 37.5
cl_pose_num_samples: 1024
local_pos_stats: null
longlive:
hidden_dims:
- 64
- 128
- 256
delta_weight: 1.0
delta_margin: 0.85
delta_window: 3
smooth_weight: 1.0
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