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  1. .gitattributes +6 -0
  2. act/act-g1-simple/g1wholebodybendpick-v0.g1.cosine.lr1.0e-04.b128.gpus4.2604160601/argv.txt +40 -0
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  11. act/act-g1-simple/g1wholebodybendpick-v0.g1.cosine.lr1.0e-04.b128.gpus4.2604160601/checkpoints/ckpt_15000/random_states_3.pkl +3 -0
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+ scripts/train.py
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+ simple_act_config
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+ --seed=2026
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+ --exp=g1wholebodybendpick-v0
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+ --train.name=act-g1
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+ --log.report-to=wandb
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+ --train.data_parallel=ddp
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+ --train.mixed_precision=bf16
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+ --train.train-batch-size=32
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+ --train.warmup-steps=1000
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+ --train.warmup-ratio=None
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+ --train.checkpointing-steps=5000
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+ --train.validation_steps=500
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+ --train.val_num_batches=20
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+ --train.gradient_accumulation_steps=1
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+ --train.max-training-steps=40000
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+ --train.learning-rate=1e-4
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+ --train.max-grad-norm=1.0
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+ --train.lr_scheduler_kwargs.weight_decay=1e-6
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+ --train.lr_scheduler_kwargs.betas 0.95 0.999
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+ --train.lr_scheduler_type=cosine
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+ --data.root_dir=/data/jliu/data
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+ --data.train-repo-ids=G1WholebodyBendPick-v0
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+ --data.transform.repack.action_chunk_size=100
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+ --data.transform.repack.pad-action-dim=36
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+ --data.transform.repack.pad-state-dim=36
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+ --data.transform.field.stat-path=meta/stats_psi0.json
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+ --data.transform.field.stat-action-key=action
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+ --data.transform.field.stat-state-key=states
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+ --data.transform.field.normalize-state
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+ --data.transform.model.img-aug
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+ --model.chunk-size=100
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+ --model.n-action-steps=100
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+ --model.action-dim=36
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+ --model.state-dim=36
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+ --model.use-vae
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+ --model.kl-weight=10.0
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