Add sam2act_plus_all_v4 (SAM2Act+, full 10 epochs)

sam2act_plus_all_v4/args_plus.yaml

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+device: '0'
+exp_cfg_opts: tasks PickXtimes,StopCube,SwingXtimes,BinFill,VideoUnmaskSwap,VideoUnmask,ButtonUnmaskSwap,ButtonUnmask,VideoRepick,VideoPlaceButton,VideoPlaceOrder,PickHighlight,InsertPeg,MoveCube,PatternLock,RouteStick
+  train_iter 800000 epochs 10 bs 20 exp_id sam2act exp_name plus_all_v4
+exp_cfg_path: configs/sam2act_plus.yaml
+log_dir: runs
+mvt_cfg_opts: use_memory True
+mvt_cfg_path: mvt/configs/sam2act_plus.yaml
+refresh_replay: false
+with_eval: false

sam2act_plus_all_v4/exp_cfg_plus.yaml

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+agent: our
+bs: 20
+demo: 100
+epochs: 10
+exp_id: sam2act
+exp_name: plus_all_v4
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 1.25e-06
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: false
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: demo_uniform_temporal
+tasks: PickXtimes,StopCube,SwingXtimes,BinFill,VideoUnmaskSwap,VideoUnmask,ButtonUnmaskSwap,ButtonUnmask,VideoRepick,VideoPlaceButton,VideoPlaceOrder,PickHighlight,InsertPeg,MoveCube,PatternLock,RouteStick
+train_iter: 800000
+wandb: true
+

sam2act_plus_all_v4/model_last.pth

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sam2act_plus_all_v4/model_plus_0.pth

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sam2act_plus_all_v4/model_plus_1.pth

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sam2act_plus_all_v4/model_plus_2.pth

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sam2act_plus_all_v4/model_plus_3.pth

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sam2act_plus_all_v4/model_plus_4.pth

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sam2act_plus_all_v4/model_plus_5.pth

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sam2act_plus_all_v4/model_plus_6.pth

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sam2act_plus_all_v4/model_plus_7.pth

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sam2act_plus_all_v4/model_plus_8.pth

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sam2act_plus_all_v4/model_plus_9.pth

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sam2act_plus_all_v4/model_plus_last.pth

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sam2act_plus_all_v4/mvt_cfg_plus.yaml

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+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+norm_corr: true
+num_maskmem: 19
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: /nfs/turbo/coe-chaijy-unreplicated/hongzefu/sam2act_historybench/sam2act/mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: true
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+