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args.yaml

@@ -0,0 +1,8 @@
+device: 0,1,2,3,4,5,6,7
+exp_cfg_opts: ''
+exp_cfg_path: configs/all.yaml
+log_dir: runs/test
+mvt_cfg_opts: ''
+mvt_cfg_path: ''
+refresh_replay: false
+with_eval: false

eval/test_4/1/eval_config.yaml

@@ -0,0 +1,20 @@
+device: 2
+episode_length: 25
+eval_datafolder: /remote-home/share/RLBench/test
+eval_episodes: 25
+eval_log_dir: runs/keyframes_bs.3.8.lr.5e-5_r3m_v3.depth.1.dim.512/eval/test_4/1
+exp_cfg_path: null
+ground_truth: false
+headless: true
+log_name: test_4/1
+model_folder: runs/keyframes_bs.3.8.lr.5e-5_r3m_v3.depth.1.dim.512
+model_name: model_4.pth
+mvt_cfg_path: null
+peract_model_dir: runs/peract_official/seed0/weights/600000
+peract_official: false
+save_video: false
+skip: false
+start_episode: 0
+tasks:
+- all
+use_input_place_with_mean: false

eval/test_4/1/events.out.tfevents.1711381746.df8adc5b96ee.784750.0

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6b03bdccea2f148eb2c602e37435c8471ac42e8653c3369648b50a74b73631
+size 134

eval/test_4/1/model_4/eval_results.csv

@@ -0,0 +1,19 @@
+task,success rate,length,total_transitions
+put_item_in_drawer,12.0,6.72,168
+reach_and_drag,92.0,7.04,344
+turn_tap,72.0,7.88,541
+slide_block_to_color_target,56.0,11.44,827
+open_drawer,80.0,5.0,952
+put_groceries_in_cupboard,24.0,16.08,1354
+place_shape_in_shape_sorter,24.0,21.04,1880
+put_money_in_safe,88.0,8.2,2085
+push_buttons,100.0,3.68,2177
+close_jar,76.0,10.56,2441
+stack_blocks,20.0,19.84,2937
+place_cups,0.0,24.64,3553
+place_wine_at_rack_location,80.0,9.0,3778
+light_bulb_in,24.0,20.56,4292
+sweep_to_dustpan_of_size,32.0,18.6,4757
+insert_onto_square_peg,16.0,21.76,5301
+meat_off_grill,96.0,5.8,5446
+stack_cups,0.0,22.92,6019

eval/test_4/2/eval_config.yaml

@@ -0,0 +1,20 @@
+device: 2
+episode_length: 25
+eval_datafolder: /remote-home/share/RLBench/test
+eval_episodes: 25
+eval_log_dir: runs/keyframes_bs.3.8.lr.5e-5_r3m_v3.depth.1.dim.512/eval/test_4/2
+exp_cfg_path: null
+ground_truth: false
+headless: true
+log_name: test_4/2
+model_folder: runs/keyframes_bs.3.8.lr.5e-5_r3m_v3.depth.1.dim.512
+model_name: model_4.pth
+mvt_cfg_path: null
+peract_model_dir: runs/peract_official/seed0/weights/600000
+peract_official: false
+save_video: false
+skip: false
+start_episode: 0
+tasks:
+- all
+use_input_place_with_mean: false

eval/test_4/2/events.out.tfevents.1711416669.df8adc5b96ee.786462.0

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+version https://git-lfs.github.com/spec/v1
+oid sha256:04b1719c2cd09241ab4a2975bd8db0e0c694a2875f81c568fbbdea82a232df96
+size 134

eval/test_4/2/model_4/eval_results.csv

@@ -0,0 +1,19 @@
+task,success rate,length,total_transitions
+put_item_in_drawer,20.0,6.6,165
+reach_and_drag,96.0,6.2,320
+turn_tap,68.0,7.6,510
+slide_block_to_color_target,64.0,10.52,773
+open_drawer,84.0,5.44,909
+put_groceries_in_cupboard,24.0,14.2,1264
+place_shape_in_shape_sorter,20.0,19.8,1759
+put_money_in_safe,92.0,6.88,1931
+push_buttons,100.0,3.52,2019
+close_jar,76.0,10.56,2283
+stack_blocks,16.0,21.04,2809
+place_cups,0.0,23.92,3407
+place_wine_at_rack_location,80.0,9.0,3632
+light_bulb_in,36.0,18.16,4086
+sweep_to_dustpan_of_size,36.0,17.8,4531
+insert_onto_square_peg,16.0,20.44,5042
+meat_off_grill,96.0,5.8,5187
+stack_cups,0.0,24.52,5800

eval/test_4/3/eval_config.yaml

@@ -0,0 +1,20 @@
+device: 2
+episode_length: 25
+eval_datafolder: /remote-home/share/RLBench/test
+eval_episodes: 25
+eval_log_dir: runs/keyframes_bs.3.8.lr.5e-5_r3m_v3.depth.1.dim.512/eval/test_4/3
+exp_cfg_path: null
+ground_truth: false
+headless: true
+log_name: test_4/3
+model_folder: runs/keyframes_bs.3.8.lr.5e-5_r3m_v3.depth.1.dim.512
+model_name: model_4.pth
+mvt_cfg_path: null
+peract_model_dir: runs/peract_official/seed0/weights/600000
+peract_official: false
+save_video: false
+skip: false
+start_episode: 0
+tasks:
+- all
+use_input_place_with_mean: false

eval/test_4/3/events.out.tfevents.1711427679.df8adc5b96ee.787370.0

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+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4f7b4096833e483808b659dc23ed6ea39326083fd6bc7ab3f5da885c22d1ba
+size 134

eval/test_4/3/model_4/eval_results.csv

@@ -0,0 +1,19 @@
+task,success rate,length,total_transitions
+put_item_in_drawer,12.0,4.44,111
+reach_and_drag,100.0,6.12,264
+turn_tap,76.0,6.2,419
+slide_block_to_color_target,60.0,10.56,683
+open_drawer,76.0,6.0,833
+put_groceries_in_cupboard,24.0,15.84,1229
+place_shape_in_shape_sorter,16.0,21.76,1773
+put_money_in_safe,92.0,7.16,1952
+push_buttons,100.0,3.68,2044
+close_jar,72.0,11.32,2327
+stack_blocks,12.0,19.48,2814
+place_cups,0.0,24.6,3429
+place_wine_at_rack_location,72.0,9.8,3674
+light_bulb_in,32.0,19.12,4152
+sweep_to_dustpan_of_size,40.0,17.04,4578
+insert_onto_square_peg,20.0,21.12,5106
+meat_off_grill,96.0,6.24,5262
+stack_cups,0.0,23.92,5860

eval/test_4/model_4_final_scores.txt

@@ -0,0 +1,10 @@
+Avg: 49.56;  12.0, 92.0, 72.0, 56.0, 80.0, 24.0, 24.0, 88.0, 100.0, 76.0, 20.0, 0.0, 80.0, 24.0, 32.0, 16.0, 96.0, 0.0
+Avg: 51.33;  20.0, 96.0, 68.0, 64.0, 84.0, 24.0, 20.0, 92.0, 100.0, 76.0, 16.0, 0.0, 80.0, 36.0, 36.0, 16.0, 96.0, 0.0
+Avg: 50.00;  12.0, 100.0, 76.0, 60.0, 76.0, 24.0, 16.0, 92.0, 100.0, 72.0, 12.0, 0.0, 72.0, 32.0, 40.0, 20.0, 96.0, 0.0
+
+14.7 & 96.0 & 72.0 & 60.0 & 80.0 & 24.0 & 20.0 & 90.7 & 100.0 & 74.7 & 16.0 & 0.0 & 77.3 & 30.7 & 36.0 & 17.3 & 96.0 & 0.0 & 50.3
+4.6 & 4.0 & 4.0 & 4.0 & 4.0 & 0.0 & 4.0 & 2.3 & 0.0 & 2.3 & 4.0 & 0.0 & 4.6 & 6.1 & 4.0 & 2.3 & 0.0 & 0.0 & 0.9
+
+14.7_{\pm 4.6} & 96.0_{\pm 4.0} & 72.0_{\pm 4.0} & 60.0_{\pm 4.0} & 80.0_{\pm 4.0} & 24.0_{\pm 0.0} & 20.0_{\pm 4.0} & 90.7_{\pm 2.3} & 100.0_{\pm 0.0} & 74.7_{\pm 2.3} & 16.0_{\pm 4.0} & 0.0_{\pm 0.0} & 77.3_{\pm 4.6} & 30.7_{\pm 6.1} & 36.0_{\pm 4.0} & 17.3_{\pm 2.3} & 96.0_{\pm 0.0} & 0.0_{\pm 0.0} & 50.3 \pm 0.9
+
+final score ::: 50.30

exp_cfg.yaml

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+adapter: []
+agent: our
+attn_dim: 512
+bs: 3
+depth: 1
+ds_rate: 1.0
+epochs: 15
+exp_id: rvt
+model: MVT_Resnet
+output_dim: 512
+num_workers: 4
+overwriter_log_dir: runs/UnadaptedR3M2RLBench
+peract:
+  add_rgc_loss: true
+  lambda_weight_l2: 1.0e-06
+  lr: 5.0e-05
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  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
+pretrain: ../pretrains/UnadaptedR3M.pt
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.1
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: task_uniform
+tasks: all
+

model_4.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f2eb5c4fd2e46102b17258c888063f5ca5ff7d5874abcab2032387108f816951
+size 636874353

mvt_cfg.yaml

@@ -0,0 +1,29 @@
+activation: lrelu
+adapter: []
+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
+decoder_dropout: 0.0
+depth: 1
+ds_rate: 1.0
+feat_dim: 220
+final_dim: 64
+im_channels: 64
+img_feat_dim: 3
+img_patch_size: 11
+img_size: 220
+lang_dim: 512
+lang_len: 77
+model: MVT_Resnet
+output_dim: 512
+pe_fix: true
+proprio_dim: 4
+self_cross_ver: 1
+weight_tie_layers: false
+