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