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.hydra/config.yaml

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+method:
+  name: GNFACTOR_BC
+rlbench:
+  task_name: hyperTASR_gnfactor
+  tasks:
+  - close_jar
+  - open_drawer
+  - sweep_to_dustpan_of_size
+  - meat_off_grill
+  - turn_tap
+  - slide_block_to_color_target
+  - put_item_in_drawer
+  - reach_and_drag
+  - push_buttons
+  - stack_blocks
+  demo_path: /public/home/group_yangych/yangych/hyperTASR/GNFactor/data/test_data
+  episode_length: 25
+  cameras:
+  - front
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: logs/
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 5
+  eval_from_eps_number: 0
+  eval_episodes: 25
+  eval_type: missing
+  eval_save_metrics: true
+  novel_command: None
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.01
+  save_path: eval/videos/

.hydra/hydra.yaml

@@ -0,0 +1,152 @@
+hydra:
+  run:
+    dir: ${framework.logdir}/${rlbench.task_name}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra: []
+    task:
+    - method.name=GNFACTOR_BC
+    - rlbench.task_name=hyperTASR_gnfactor
+    - rlbench.demo_path=/public/home/group_yangych/yangych/hyperTASR/GNFactor/data/test_data
+    - framework.start_seed=0
+  job:
+    name: eval
+    override_dirname: framework.start_seed=0,method.name=GNFACTOR_BC,rlbench.demo_path=/public/home/group_yangych/yangych/hyperTASR/GNFactor/data/test_data,rlbench.task_name=hyperTASR_gnfactor
+    id: ???
+    num: ???
+    config_name: eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.1.0
+    cwd: /public/home/group_yangych/yangych/hyperTASR/GNFactor/GNFactor
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /public/home/group_yangych/yangych/hyperTASR/GNFactor/GNFactor/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

.hydra/overrides.yaml

@@ -0,0 +1,4 @@
+- method.name=GNFACTOR_BC
+- rlbench.task_name=hyperTASR_gnfactor
+- rlbench.demo_path=/public/home/group_yangych/yangych/hyperTASR/GNFactor/data/test_data
+- framework.start_seed=0

eval.log

@@ -0,0 +1,18 @@
+[2025-10-13 01:14:35,367][root][INFO] - Using env device cuda:0.
+[2025-10-13 01:14:35,643][root][INFO] - Evaluating seed 0.
+[2025-10-13 17:43:39,297][root][INFO] - Using env device cuda:0.
+[2025-10-13 17:43:39,522][root][INFO] - Evaluating seed 0.
+[2025-10-13 17:44:40,164][root][INFO] - Using env device cuda:0.
+[2025-10-13 17:44:40,261][root][INFO] - Evaluating seed 0.
+[2025-10-14 00:16:42,525][root][INFO] - Using env device cuda:0.
+[2025-10-14 00:16:42,627][root][INFO] - Evaluating seed 0.
+[2025-10-14 00:59:17,859][root][INFO] - Using env device cuda:0.
+[2025-10-14 00:59:18,014][root][INFO] - Evaluating seed 0.
+[2025-10-16 22:42:26,198][root][INFO] - Using env device cuda:0.
+[2025-10-16 22:42:26,446][root][INFO] - Evaluating seed 0.
+[2025-10-16 22:48:56,436][root][INFO] - Using env device cuda:0.
+[2025-10-16 22:48:56,475][root][INFO] - Evaluating seed 0.
+[2025-10-16 22:50:37,508][root][INFO] - Using env device cuda:0.
+[2025-10-16 22:50:37,547][root][INFO] - Evaluating seed 0.
+[2025-10-16 22:55:27,278][root][INFO] - Using env device cuda:0.
+[2025-10-16 22:55:27,320][root][INFO] - Evaluating seed 0.

seed0/config.yaml

@@ -0,0 +1,196 @@
+method:
+  name: GNFACTOR_BC
+  use_neural_rendering: false
+  num_view_for_nerf: 20
+  language_model: CLIP
+  language_model_dim: 512
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 128
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  use_wandb: true
+  neural_renderer:
+    foundation_model_name: diffusion
+    d_embed: 512
+    d_latent: 128
+    use_multi_scale_voxel: false
+    d_multi_scale_latent: 266
+    use_depth_supervision: false
+    lambda_nerf: 0.01
+    lambda_embed: 0.01
+    lambda_rgb: 1.0
+    ray_chunk_size: 512
+    d_lang: 128
+    voxel_shape: 100
+    share_mlp: true
+    image_width: 128
+    image_height: 128
+    z_near: 0.1
+    z_far: 4.0
+    coordinate_bounds:
+    - -0.3
+    - -0.5
+    - 0.6
+    - 0.7
+    - 0.5
+    - 1.6
+    regress_coord: false
+    regress_attention: false
+    ret_last_feat: false
+    use_code: true
+    use_code_viewdirs: false
+    use_xyz: true
+    n_coarse: 64
+    n_fine: 32
+    n_fine_depth: 16
+    white_bkgd: false
+    lindisp: false
+    normalize_z: false
+    canon_xyz: true
+    use_viewdirs: true
+    eval_batch_size: 4096
+    noise_std: 0.0
+    depth_std: 0.001
+    mlp:
+      n_blocks: 5
+      d_hidden: 512
+      combine_layer: 3
+      combine_type: average
+      beta: 0.0
+      use_spade: false
+    code:
+      num_freqs: 6
+      freq_factor: 1.5
+      include_input: true
+ddp:
+  master_addr: localhost
+  master_port: 12345
+  num_devices: 2
+  device_id: 0
+rlbench:
+  task_name: GNFACTOR_BC_20250109
+  tasks:
+  - close_jar
+  - open_drawer
+  - sweep_to_dustpan_of_size
+  - meat_off_grill
+  - turn_tap
+  - slide_block_to_color_target
+  - put_item_in_drawer
+  - reach_and_drag
+  - push_buttons
+  - stack_blocks
+  demos: 20
+  num_view_for_nerf: 21
+  demo_path: /public/home/group_yangych/yangych/GNF/GNFactor_hyperopt/data/train_data
+  episode_length: 15
+  cameras:
+  - front
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  headless: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /public/home/group_yangych/yangych/GNF/GNFactor_hyperopt/replay/GNFACTOR_BC_20250109
+  max_parallel_processes: 8
+evaluation:
+  eval_freq: 10000
+  eval_episodes: 25
+  time_in_state: true
+  record_every_n: 10000
+  episode_length: 15
+  gpu: 0
+framework:
+  useHyper:
+  - false
+  - false
+  - false
+  - true
+  - true
+  - true
+  - true
+  use_online_evaluation: false
+  log_freq: 100
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 100010
+  gpu: 0
+  env_gpu: 0
+  logdir: logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  use_wandb: true
+  wandb_project: gnfactor
+  wandb_group: GNFACTOR_BC_20250109
+  seed: 0

seed0/eval_data.csv

@@ -0,0 +1,2 @@
+step,eval_envs/return/close_jar,eval_envs/length/close_jar,eval_envs/total_transitions/close_jar,eval_envs/return/open_drawer,eval_envs/length/open_drawer,eval_envs/total_transitions/open_drawer,eval_envs/return/sweep_to_dustpan_of_size,eval_envs/length/sweep_to_dustpan_of_size,eval_envs/total_transitions/sweep_to_dustpan_of_size,eval_envs/return/meat_off_grill,eval_envs/length/meat_off_grill,eval_envs/total_transitions/meat_off_grill,eval_envs/return/turn_tap,eval_envs/length/turn_tap,eval_envs/total_transitions/turn_tap,eval_envs/return/slide_block_to_color_target,eval_envs/length/slide_block_to_color_target,eval_envs/total_transitions/slide_block_to_color_target,eval_envs/return/put_item_in_drawer,eval_envs/length/put_item_in_drawer,eval_envs/total_transitions/put_item_in_drawer,eval_envs/return/reach_and_drag,eval_envs/length/reach_and_drag,eval_envs/total_transitions/reach_and_drag,eval_envs/return/push_buttons,eval_envs/length/push_buttons,eval_envs/total_transitions/push_buttons,eval_envs/return/stack_blocks,eval_envs/length/stack_blocks,eval_envs/total_transitions/stack_blocks
+200000,24.0,19.92,498,64.0,10.36,757,40.0,17.76,1201,76.0,11.52,1489,60.0,10.24,1745,28.0,16.88,2167,24.0,20.68,2684,88.0,9.2,2914,32.0,18.28,3371,8.0,21.8,3916

seed0/weights/200000/QAttentionAgent_layer0.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e62437028b0e8846878b7cb2a3c3afdce35e93db2b3bd34c2bab4fb9a9a7801
+size 396972411