!!python/object:icrt.util.args.ExperimentConfig dataset_cfg: !!python/object:icrt.util.args.DatasetConfig action_noise: 0.0 action_traj_noise: false dataset_fraction: 1.0 dataset_json: - /storage/nfs/xzhang/experiments/nopool_exps/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/task_robocasa_mem_eight.json dataset_val_json: - '' goal_conditioned: false load_in_mem: false low_dim_noise: 0.005 min_subsample_length: 64 n_examples_only: -1 non_overlapping: - 2 num_repeat_traj: - 256 num_weighted_steps: 30 only_k: 10 proprio_noise: 0.005 random_patch_masking: false rebalance_indices: false rebalance_tasks: true sample_each_state: false shuffle_repeat_traj: true shuffle_rnd_prob: 0.0 sim_score_th: -1.0 skip_step: false sort_by_closeness: false sort_by_lang: true start_from_beginning: false subsample_traj: false task_barrier: true task_name: '' task_names: null toy_max_distractors: 1 toy_max_tasks: 5 toy_task_id: 1 toy_train_dataset_size: 1000000 toy_train_seed: 42 toy_val_dataset_size: 500000 toy_val_seed: 84 train_on_exploration: false trim_num: -1 trim_set: '' use_dali: true val_only_k: 5 video_conditioned: false vision_aug: true weight_by_dataset: - 1 dataset_json_contents: - action_keys: - actions dataset_path: - memory/MemPutKBreadInMicrowave/2025-07-25-10-40-55/demo_im128_notp.hdf5 - memory/MemPutKBreadInMicrowave/2025-07-25-13-25-05/demo_im128_notp.hdf5 - memory/MemPutKBreadInMicrowave/2025-07-25-14-50-59/demo_im128_notp.hdf5 - memory/MemFruitInSinkLeftFar/2025-07-13-15-44-32/demo_im128_notp.hdf5 - memory/MemFruitInSinkRightFar/2025-07-15-15-07-57/demo_im128_notp.hdf5 - memory/MemHeatPot/2025-07-24-22-26-20/demo_im128_notp.hdf5 - memory/MemHeatPot/2025-07-25-15-56-53/demo_im128_notp.hdf5 - memory/MemWashAndReturnLeft/2025-07-25-00-12-14/demo_im128_notp.hdf5 - memory/MemWashAndReturnRight/2025-07-25-00-45-53/demo_im128_notp.hdf5 - memory/MemHeatPotMultiple/2025-09-20-20-10-55/demo_im128_notp.hdf5 - memory/MemHeatPotMultiple/2025-09-20-20-35-24/demo_im128_notp.hdf5 - memory/MemHeatPotMultiple/2025-09-20-20-50-23/demo_im128_notp.hdf5 - memory/MemHeatPotMultiple/2025-09-20-21-08-42/demo_im128_notp.hdf5 - memory/MemHeatPotMultiple/2025-09-20-21-35-46/demo_im128_notp.hdf5 - memory/MemPutKBowlInCabinet/seed0_2025-09-19-23-10-47_6demo/demo_im128_notp.hdf5 - memory/MemPutKBowlInCabinet/seed1_2025-09-19-23-32-29_20demo/demo_im128_notp.hdf5 - memory/MemPutKBowlInCabinet/seed2_2025-09-20-00-42-49_30demo/demo_im128_notp.hdf5 - memory/MemRetrieveOilsFromCounterLL/2025-09-20-22-49-27/demo_im128_notp.hdf5 - memory/MemRetrieveOilsFromCounterLR/2025-09-20-23-25-19/demo_im128_notp.hdf5 - memory/MemRetrieveOilsFromCounterRL/2025-09-20-23-06-15/demo_im128_notp.hdf5 - memory/MemRetrieveOilsFromCounterRR/2025-09-20-23-14-26/demo_im128_notp.hdf5 - memory/MemWashAndReturnSameLocation/2025-09-20-21-52-31/demo_im128_notp.hdf5 - memory/MemWashAndReturnSameLocation/2025-09-20-22-11-00/demo_im128_notp.hdf5 - memory/MemWashAndReturnSameLocation/2025-09-20-22-25-19/demo_im128_notp.hdf5 group_method: dinov2 image_keys: - obs/robot0_agentview_center_image - obs/robot0_eye_in_hand_image low_dim_keys: [] max_traj_len: 2048 proprio_keys: - obs/robot0_joint_pos_cos - obs/robot0_gripper_qpos device: cuda dist_on_itp: false dist_url: env:// load_config: null local_rank: -1 logging_cfg: !!python/object:icrt.util.args.LoggingConfig log_dir: /storage/nfs/xzhang/experiments/nopool_exps/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress log_name: exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress output_dir: /storage/nfs/xzhang/experiments/nopool_exps/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress/exp_ds8_libero_1x_task_robocasa_mem_eight_GBS256_cfgtask_robocasa_mem_eight_sl2048_s2_crossmae_block_sigmoid_g1_nopool_compress model_cfg: !!python/object:icrt.util.args.ModelConfig policy_cfg: !!python/object:icrt.util.args.PolicyConfig adapter_mlp_ratio: 4.0 adapter_num_heads: 8 add_sink_token_to_full_attn: false attn_drop: 0.0 attn_latent_len: 1 attn_scale_factor: null block_attn_ind: null block_pattern_start_offset: 0 compress_full_attn: true compress_include_prev_action: false compressor_latent_len: 1 decoder_cfg_path: config/model_config/action_head.json decoder_pred_head: mlp full_attn_inds: null gate_full_attn_layers: true gating_type: sigmoid_g1 gr00t_add_dit_lora: false gr00t_add_full_attn: true gr00t_add_lora_to_vision_projector: false gr00t_compute_dtype: bfloat16 gr00t_full_attn_idx: - 3 - 7 - 11 - 15 gr00t_pretrained_model: true gr00t_tune_diffusion_model: true gr00t_tune_llm: false gr00t_tune_projector: true gr00t_tune_vision_projector: false gr00t_tune_visual: false hist_attn_latent_len: 1 hist_blind_gating: false hist_feature_gating: false interpolation_factor: null llama_ckpt_dir: /home/rutavms/.llama/checkpoints/Llama3.2-1B-Instruct load_llama: true lora_layer_idxs: null lora_rank: 4 loss_w_action: 1.0 model_version: v2 multikv_attn_pool: false no_prompt_loss: true num_inference_diffusion_steps: null num_train_diffusion_steps: null phase: pretrain pool_block_inds: null position_language_embedding: start pretrained_path: null prop_act_norm: null remove_action: false remove_proprio: false scale_loss: 1.0 scratch_llama_config: config/model_config/libero_1x.json separate_camera_adapter: true skip_obs_pooling: true step_weight: 1.0 tt_window_obs: false use_block_attention: true use_linear_attention: false use_lstm: false use_mamba: false use_reshape_block_attn: false use_transformer_xl: false use_yarn: null vision_projection_layer: false xl_chunk_factor: 32 xl_mem_len: 32 vision_encoder_cfg: !!python/object:icrt.util.args.VisionEncoderConfig bbox_vision_encoder_cfg: config/model_config/bbox_vit_128_16.json freeze_all: false vision_encoder: /storage/nfs/rshah/datasets/robocasa/datasets/crossmae_rtx/cross-mae-rtx-vitb.pth vision_lora: false vision_lora_rank: 8 vision_nonpretrained: false vision_unfreeze_all: false vision_unfreeze_last_n: 0 optimizer_cfg: !!python/object:icrt.util.args.OptimizerConfig blr: 0.001 lr: 0.0005 min_lr: 0.0 warmup_epochs: 2.0 weight_decay: 0.01 shared_cfg: !!python/object:icrt.util.args.SharedConfig batch_size: 2 bbox_noise: 0.015625 block_finetune: '' downsample_obs: 8 drop_bbox_prob: 0.0 dropping_prompt_rnd: false enable_gradient_checkpointing: false gr00t_embodiment_str: single_panda_omron gr00t_metadata_path: metadata.json gr00t_model_path: nvidia/GR00T-N1.5-3B gripper_img: true has_base_action: true hist_seq_length: 2048 is_bimanual: false k_ptp: 0 max_bbox_per_img: 15 no_img: false no_img_low_dim: 42 normalize_io: false num_cameras: 2 num_pred_steps: 32 num_stages: 1 only_first_obs: false pad_to_max_length: true resume: null rot_6d: false rot_euler: false save_every: 10 seed: 2 seq_length: 2048 split_epoch: 1 start_epoch: 0 state_center_coords: false tokenizer_path: physical-intelligence/fast use_bboxes: false use_delta_action: false use_fast_tokenizer: false use_gr00t: false use_history: false use_language_conditioning: true use_toy_vision_dataset: false use_vqvae_tokenizer: false train: true trainer_cfg: !!python/object:icrt.util.args.TrainerConfig accum_iter: 32 break_after_n_epochs: 101 compile_model: true epochs: 200 num_workers: 72 pin_memory: true val_every: 10 wandb_project: icrt_reruns wandb_watch: true world_size: 1