upload pull_out_drawer 0812 encoder and 14 test-ready policies
Browse files- checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml +35 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml +37 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/encoder/stage2_v2_encoder_only.pth +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/manifest.json +119 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000.yml +48 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml +48 -0
checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000/dataset_stats.pkl
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oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
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size 6614
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checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000/policy_best.ckpt
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oid sha256:81af0afb726588c60cb7a42b11d90833f6d65df4adec493665b6a60c500cb7b4
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size 335800690
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checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml
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state_dim: 8
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kl_weight: 7.5
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chunk_size: 40
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hidden_dim: 512
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dim_feedforward: 3200
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temporal_agg: true
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device: cuda:0
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ckpt_dir: null
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policy_class: ACT
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num_steps: 16000
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batch_size: 32
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num_workers: 4
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save_freq: 1000
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position_embedding: sine
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lr_vision_backbone: 1.0e-05
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weight_decay: 0.0001
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lr: 1.0e-05
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masks: false
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dilation: false
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backbone: resnet18
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nheads: 8
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enc_layers: 4
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dec_layers: 7
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pre_norm: false
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dropout: 0.025
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camera_names:
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- cam_high
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tactile_names: []
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lr_tactile_backbone: 0.0
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tactile_masks: false
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tactile_backbone: resnet18
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tactile_ckpt: null
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tactile_dilation: false
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use_vitacdreamer_feature: false
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save_step_ckpts: false
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checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000/dataset_stats.pkl
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version https://git-lfs.github.com/spec/v1
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oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
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size 6614
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checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000/policy_best.ckpt
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version https://git-lfs.github.com/spec/v1
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oid sha256:ba3f37be322321c2bafa2e157687c111416a60d1b942c507f8c63111d39f9230
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size 382684484
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checkpoints/a800/pull_out_drawer_0812_20260813/actbaseline/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000/rollout_train_config_actbaseline_pull_out_drawer_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml
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state_dim: 8
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kl_weight: 7.5
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chunk_size: 40
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hidden_dim: 512
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dim_feedforward: 3200
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temporal_agg: true
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device: cuda:0
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ckpt_dir: null
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policy_class: ACT
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num_steps: 16000
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batch_size: 32
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num_workers: 4
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save_freq: 1000
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position_embedding: sine
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lr_vision_backbone: 1.0e-05
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weight_decay: 0.0001
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lr: 1.0e-05
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masks: false
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dilation: false
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backbone: resnet18
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nheads: 8
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enc_layers: 4
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dec_layers: 7
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pre_norm: false
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dropout: 0.025
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camera_names:
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- cam_high
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| 28 |
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tactile_names:
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- tac_left
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- tac_right
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| 31 |
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lr_tactile_backbone: 1.0e-05
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tactile_masks: false
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tactile_backbone: resnet18
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| 34 |
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tactile_ckpt: null
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| 35 |
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tactile_dilation: false
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| 36 |
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use_vitacdreamer_feature: false
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| 37 |
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save_step_ckpts: false
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checkpoints/a800/pull_out_drawer_0812_20260813/encoder/stage2_v2_encoder_only.pth
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version https://git-lfs.github.com/spec/v1
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oid sha256:b48b69e10e1bb607625413362bffd279ca93cd28a105492cd73e4a53910d6390
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size 940356694
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checkpoints/a800/pull_out_drawer_0812_20260813/manifest.json
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| 1 |
+
{
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| 2 |
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"repo": "Joshua69/vitac500",
|
| 3 |
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|
| 4 |
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| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 59 |
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|
| 60 |
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| 61 |
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| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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|
| 75 |
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| 76 |
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|
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| 80 |
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| 83 |
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| 84 |
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| 85 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 91 |
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|
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| 93 |
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|
| 95 |
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| 96 |
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|
| 97 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
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|
| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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"stats": "checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/dataset_stats.pkl",
|
| 115 |
+
"config": "checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml",
|
| 116 |
+
"encoder": "checkpoints/a800/pull_out_drawer_0812_20260813/encoder/stage2_v2_encoder_only.pth"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
}
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
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|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
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| 3 |
+
size 6614
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 404248448
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 10.0
|
| 3 |
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chunk_size: 40
|
| 4 |
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hidden_dim: 512
|
| 5 |
+
dim_feedforward: 3200
|
| 6 |
+
temporal_agg: true
|
| 7 |
+
device: cuda:0
|
| 8 |
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ckpt_dir: null
|
| 9 |
+
policy_class: ACT
|
| 10 |
+
num_steps: 16000
|
| 11 |
+
batch_size: 32
|
| 12 |
+
num_workers: 4
|
| 13 |
+
save_freq: 1000
|
| 14 |
+
position_embedding: sine
|
| 15 |
+
lr_vision_backbone: 1.0e-05
|
| 16 |
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weight_decay: 0.0001
|
| 17 |
+
lr: 1.0e-05
|
| 18 |
+
vitacdreamer_adapter_lr: 3.0e-05
|
| 19 |
+
masks: false
|
| 20 |
+
dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
+
nheads: 8
|
| 23 |
+
enc_layers: 4
|
| 24 |
+
dec_layers: 7
|
| 25 |
+
pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
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| 3 |
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size 6614
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 404268928
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
| 1 |
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state_dim: 8
|
| 2 |
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|
| 3 |
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chunk_size: 45
|
| 4 |
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|
| 5 |
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dim_feedforward: 3200
|
| 6 |
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temporal_agg: true
|
| 7 |
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device: cuda:0
|
| 8 |
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ckpt_dir: null
|
| 9 |
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policy_class: ACT
|
| 10 |
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num_steps: 16000
|
| 11 |
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batch_size: 32
|
| 12 |
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num_workers: 4
|
| 13 |
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save_freq: 1000
|
| 14 |
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position_embedding: sine
|
| 15 |
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lr_vision_backbone: 1.0e-05
|
| 16 |
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weight_decay: 0.0001
|
| 17 |
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lr: 1.0e-05
|
| 18 |
+
vitacdreamer_adapter_lr: 3.0e-05
|
| 19 |
+
masks: false
|
| 20 |
+
dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
+
nheads: 8
|
| 23 |
+
enc_layers: 4
|
| 24 |
+
dec_layers: 7
|
| 25 |
+
pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
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size 6614
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
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|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 404289408
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
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kl_weight: 10.0
|
| 3 |
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chunk_size: 50
|
| 4 |
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|
| 5 |
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dim_feedforward: 3200
|
| 6 |
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temporal_agg: true
|
| 7 |
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device: cuda:0
|
| 8 |
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ckpt_dir: null
|
| 9 |
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policy_class: ACT
|
| 10 |
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num_steps: 16000
|
| 11 |
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batch_size: 32
|
| 12 |
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num_workers: 4
|
| 13 |
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save_freq: 1000
|
| 14 |
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position_embedding: sine
|
| 15 |
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lr_vision_backbone: 1.0e-05
|
| 16 |
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weight_decay: 0.0001
|
| 17 |
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lr: 1.0e-05
|
| 18 |
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vitacdreamer_adapter_lr: 3.0e-05
|
| 19 |
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masks: false
|
| 20 |
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dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
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nheads: 8
|
| 23 |
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enc_layers: 4
|
| 24 |
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dec_layers: 7
|
| 25 |
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pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 6614
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 404248448
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
|
|
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|
| 1 |
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state_dim: 8
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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dim_feedforward: 3200
|
| 6 |
+
temporal_agg: true
|
| 7 |
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device: cuda:0
|
| 8 |
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ckpt_dir: null
|
| 9 |
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policy_class: ACT
|
| 10 |
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|
| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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dropout: 0.025
|
| 27 |
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camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
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tactile_names:
|
| 30 |
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- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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tactile_ckpt: null
|
| 36 |
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tactile_dilation: false
|
| 37 |
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use_vitacdreamer_feature: true
|
| 38 |
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vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
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vitacdreamer_feature_dim: 512
|
| 41 |
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vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000/dataset_stats.pkl
ADDED
|
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size 6614
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000/policy_best.ckpt
ADDED
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
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|
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ckpt_dir: null
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|
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|
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|
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|
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|
| 16 |
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lr: 1.0e-05
|
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vitacdreamer_adapter_lr: 5.0e-05
|
| 19 |
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|
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|
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backbone: resnet18
|
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|
| 24 |
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|
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|
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|
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|
| 28 |
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- cam_high
|
| 29 |
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- tac_left
|
| 31 |
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- tac_right
|
| 32 |
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|
| 33 |
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tactile_masks: false
|
| 34 |
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tactile_backbone: resnet18
|
| 35 |
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tactile_ckpt: null
|
| 36 |
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tactile_dilation: false
|
| 37 |
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use_vitacdreamer_feature: true
|
| 38 |
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|
| 39 |
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vitacdreamer_sample_stride: 5
|
| 40 |
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vitacdreamer_feature_dim: 512
|
| 41 |
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vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
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vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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size 6614
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000/policy_best.ckpt
ADDED
|
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ADDED
|
@@ -0,0 +1,48 @@
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| 1 |
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|
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|
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|
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|
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
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|
| 18 |
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|
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|
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|
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|
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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- cam_high
|
| 29 |
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|
| 30 |
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- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
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|
| 33 |
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tactile_masks: false
|
| 34 |
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tactile_backbone: resnet18
|
| 35 |
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tactile_ckpt: null
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| 36 |
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tactile_dilation: false
|
| 37 |
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use_vitacdreamer_feature: true
|
| 38 |
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vitacdreamer_history_len: 5
|
| 39 |
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vitacdreamer_sample_stride: 5
|
| 40 |
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vitacdreamer_feature_dim: 512
|
| 41 |
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vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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| 3 |
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size 6614
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
| 1 |
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state_dim: 8
|
| 2 |
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kl_weight: 7.5
|
| 3 |
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|
| 4 |
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|
| 5 |
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dim_feedforward: 3200
|
| 6 |
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temporal_agg: true
|
| 7 |
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device: cuda:0
|
| 8 |
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ckpt_dir: null
|
| 9 |
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policy_class: ACT
|
| 10 |
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num_steps: 16000
|
| 11 |
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batch_size: 32
|
| 12 |
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num_workers: 4
|
| 13 |
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save_freq: 1000
|
| 14 |
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position_embedding: sine
|
| 15 |
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lr_vision_backbone: 1.0e-05
|
| 16 |
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|
| 17 |
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lr: 1.0e-05
|
| 18 |
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vitacdreamer_adapter_lr: 3.0e-05
|
| 19 |
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masks: false
|
| 20 |
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|
| 21 |
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backbone: resnet18
|
| 22 |
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|
| 23 |
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enc_layers: 4
|
| 24 |
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dec_layers: 7
|
| 25 |
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pre_norm: false
|
| 26 |
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dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
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- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
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tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
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vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
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vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 404268928
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
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|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 45
|
| 4 |
+
hidden_dim: 512
|
| 5 |
+
dim_feedforward: 3200
|
| 6 |
+
temporal_agg: true
|
| 7 |
+
device: cuda:0
|
| 8 |
+
ckpt_dir: null
|
| 9 |
+
policy_class: ACT
|
| 10 |
+
num_steps: 16000
|
| 11 |
+
batch_size: 32
|
| 12 |
+
num_workers: 4
|
| 13 |
+
save_freq: 1000
|
| 14 |
+
position_embedding: sine
|
| 15 |
+
lr_vision_backbone: 1.0e-05
|
| 16 |
+
weight_decay: 0.0001
|
| 17 |
+
lr: 1.0e-05
|
| 18 |
+
vitacdreamer_adapter_lr: 3.0e-05
|
| 19 |
+
masks: false
|
| 20 |
+
dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
+
nheads: 8
|
| 23 |
+
enc_layers: 4
|
| 24 |
+
dec_layers: 7
|
| 25 |
+
pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
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| 3 |
+
size 6614
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
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size 404289408
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
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|
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|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 50
|
| 4 |
+
hidden_dim: 512
|
| 5 |
+
dim_feedforward: 3200
|
| 6 |
+
temporal_agg: true
|
| 7 |
+
device: cuda:0
|
| 8 |
+
ckpt_dir: null
|
| 9 |
+
policy_class: ACT
|
| 10 |
+
num_steps: 16000
|
| 11 |
+
batch_size: 32
|
| 12 |
+
num_workers: 4
|
| 13 |
+
save_freq: 1000
|
| 14 |
+
position_embedding: sine
|
| 15 |
+
lr_vision_backbone: 1.0e-05
|
| 16 |
+
weight_decay: 0.0001
|
| 17 |
+
lr: 1.0e-05
|
| 18 |
+
vitacdreamer_adapter_lr: 3.0e-05
|
| 19 |
+
masks: false
|
| 20 |
+
dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
+
nheads: 8
|
| 23 |
+
enc_layers: 4
|
| 24 |
+
dec_layers: 7
|
| 25 |
+
pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
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| 3 |
+
size 6614
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
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size 404248448
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checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 40
|
| 4 |
+
hidden_dim: 512
|
| 5 |
+
dim_feedforward: 3200
|
| 6 |
+
temporal_agg: true
|
| 7 |
+
device: cuda:0
|
| 8 |
+
ckpt_dir: null
|
| 9 |
+
policy_class: ACT
|
| 10 |
+
num_steps: 16000
|
| 11 |
+
batch_size: 32
|
| 12 |
+
num_workers: 4
|
| 13 |
+
save_freq: 1000
|
| 14 |
+
position_embedding: sine
|
| 15 |
+
lr_vision_backbone: 1.0e-05
|
| 16 |
+
weight_decay: 0.0001
|
| 17 |
+
lr: 1.0e-05
|
| 18 |
+
vitacdreamer_adapter_lr: 5.0e-05
|
| 19 |
+
masks: false
|
| 20 |
+
dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
+
nheads: 8
|
| 23 |
+
enc_layers: 4
|
| 24 |
+
dec_layers: 7
|
| 25 |
+
pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000/dataset_stats.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
|
| 3 |
+
size 6614
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000/policy_best.ckpt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 404268928
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 45
|
| 4 |
+
hidden_dim: 512
|
| 5 |
+
dim_feedforward: 3200
|
| 6 |
+
temporal_agg: true
|
| 7 |
+
device: cuda:0
|
| 8 |
+
ckpt_dir: null
|
| 9 |
+
policy_class: ACT
|
| 10 |
+
num_steps: 16000
|
| 11 |
+
batch_size: 32
|
| 12 |
+
num_workers: 4
|
| 13 |
+
save_freq: 1000
|
| 14 |
+
position_embedding: sine
|
| 15 |
+
lr_vision_backbone: 1.0e-05
|
| 16 |
+
weight_decay: 0.0001
|
| 17 |
+
lr: 1.0e-05
|
| 18 |
+
vitacdreamer_adapter_lr: 5.0e-05
|
| 19 |
+
masks: false
|
| 20 |
+
dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
+
nheads: 8
|
| 23 |
+
enc_layers: 4
|
| 24 |
+
dec_layers: 7
|
| 25 |
+
pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/dataset_stats.pkl
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ffebb745068ef9276a20f2119a99f71c6d28ed65902296d4cba0439a01e7e012
|
| 3 |
+
size 6614
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/policy_best.ckpt
ADDED
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@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:01d5c90718ea0b351f6565c3eb3d4245a389a05b82cd642888b4f40ce8e825cf
|
| 3 |
+
size 404289408
|
checkpoints/a800/pull_out_drawer_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000/rollout_train_config_vitacdreamer_pull_out_drawer_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml
ADDED
|
@@ -0,0 +1,48 @@
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| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 50
|
| 4 |
+
hidden_dim: 512
|
| 5 |
+
dim_feedforward: 3200
|
| 6 |
+
temporal_agg: true
|
| 7 |
+
device: cuda:0
|
| 8 |
+
ckpt_dir: null
|
| 9 |
+
policy_class: ACT
|
| 10 |
+
num_steps: 16000
|
| 11 |
+
batch_size: 32
|
| 12 |
+
num_workers: 4
|
| 13 |
+
save_freq: 1000
|
| 14 |
+
position_embedding: sine
|
| 15 |
+
lr_vision_backbone: 1.0e-05
|
| 16 |
+
weight_decay: 0.0001
|
| 17 |
+
lr: 1.0e-05
|
| 18 |
+
vitacdreamer_adapter_lr: 5.0e-05
|
| 19 |
+
masks: false
|
| 20 |
+
dilation: false
|
| 21 |
+
backbone: resnet18
|
| 22 |
+
nheads: 8
|
| 23 |
+
enc_layers: 4
|
| 24 |
+
dec_layers: 7
|
| 25 |
+
pre_norm: false
|
| 26 |
+
dropout: 0.025
|
| 27 |
+
camera_names:
|
| 28 |
+
- cam_high
|
| 29 |
+
tactile_names:
|
| 30 |
+
- tac_left
|
| 31 |
+
- tac_right
|
| 32 |
+
lr_tactile_backbone: 1.0e-05
|
| 33 |
+
tactile_masks: false
|
| 34 |
+
tactile_backbone: resnet18
|
| 35 |
+
tactile_ckpt: null
|
| 36 |
+
tactile_dilation: false
|
| 37 |
+
use_vitacdreamer_feature: true
|
| 38 |
+
vitacdreamer_history_len: 5
|
| 39 |
+
vitacdreamer_sample_stride: 5
|
| 40 |
+
vitacdreamer_feature_dim: 512
|
| 41 |
+
vitacdreamer_fusion_mode: feature_query_policy_kv
|
| 42 |
+
vitacdreamer_cross_attn_layers: none
|
| 43 |
+
finetune_vitacdreamer_encoder: false
|
| 44 |
+
vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/pull_out_drawer_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
|
| 45 |
+
vitacdreamer_feature_cache_dir: ./data/act_processed/pull_out_drawer/real-0812-50/vitacdreamer_features_pull_out_drawer_0812_stage2_depthdelta_hlen5_20260813
|
| 46 |
+
vitacdreamer_task_order:
|
| 47 |
+
- pull_out_drawer-real
|
| 48 |
+
save_step_ckpts: false
|