upload real4_50 ACT baseline cs20 policies 20260811
Browse files- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000/dataset_stats.pkl +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000/policy_best.ckpt +3 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000.yml +34 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000.yml +34 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000.yml +34 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000.yml +36 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000.yml +36 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000.yml +36 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000.yml +36 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000.yml +34 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/manifests/manifest_actbaseline_real4_50_cs20_s16000_20260810.jsonl +8 -0
- checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/manifests/upload_manifest.jsonl +25 -0
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000/policy_best.ckpt
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000/policy_best.ckpt
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000/policy_best.ckpt
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000/policy_best.ckpt
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000/policy_best.ckpt
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000/policy_best.ckpt
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000/dataset_stats.pkl
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000/policy_best.ckpt
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000.yml
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state_dim: 8
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kl_weight: 7.5
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chunk_size: 20
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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 |
+
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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| 34 |
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use_vitacdreamer_feature: false
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checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000.yml
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state_dim: 8
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kl_weight: 7.5
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chunk_size: 20
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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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| 8 |
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ckpt_dir: null
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| 9 |
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policy_class: ACT
|
| 10 |
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num_steps: 16000
|
| 11 |
+
batch_size: 32
|
| 12 |
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num_workers: 4
|
| 13 |
+
save_freq: 1000
|
| 14 |
+
position_embedding: sine
|
| 15 |
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lr_vision_backbone: 1.0e-05
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weight_decay: 0.0001
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| 17 |
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lr: 1.0e-05
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| 18 |
+
masks: false
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| 19 |
+
dilation: false
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| 20 |
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backbone: resnet18
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| 21 |
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nheads: 8
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| 22 |
+
enc_layers: 4
|
| 23 |
+
dec_layers: 7
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| 24 |
+
pre_norm: false
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| 25 |
+
dropout: 0.025
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| 26 |
+
camera_names:
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| 27 |
+
- cam_high
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| 28 |
+
tactile_names: []
|
| 29 |
+
lr_tactile_backbone: 0.0
|
| 30 |
+
tactile_masks: false
|
| 31 |
+
tactile_backbone: resnet18
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| 32 |
+
tactile_ckpt: null
|
| 33 |
+
tactile_dilation: false
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| 34 |
+
use_vitacdreamer_feature: false
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000.yml
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state_dim: 8
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| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 20
|
| 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 |
+
masks: false
|
| 19 |
+
dilation: false
|
| 20 |
+
backbone: resnet18
|
| 21 |
+
nheads: 8
|
| 22 |
+
enc_layers: 4
|
| 23 |
+
dec_layers: 7
|
| 24 |
+
pre_norm: false
|
| 25 |
+
dropout: 0.025
|
| 26 |
+
camera_names:
|
| 27 |
+
- cam_high
|
| 28 |
+
tactile_names: []
|
| 29 |
+
lr_tactile_backbone: 0.0
|
| 30 |
+
tactile_masks: false
|
| 31 |
+
tactile_backbone: resnet18
|
| 32 |
+
tactile_ckpt: null
|
| 33 |
+
tactile_dilation: false
|
| 34 |
+
use_vitacdreamer_feature: false
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000.yml
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 20
|
| 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 |
+
masks: false
|
| 19 |
+
dilation: false
|
| 20 |
+
backbone: resnet18
|
| 21 |
+
nheads: 8
|
| 22 |
+
enc_layers: 4
|
| 23 |
+
dec_layers: 7
|
| 24 |
+
pre_norm: false
|
| 25 |
+
dropout: 0.025
|
| 26 |
+
camera_names:
|
| 27 |
+
- cam_high
|
| 28 |
+
tactile_names:
|
| 29 |
+
- tac_left
|
| 30 |
+
- tac_right
|
| 31 |
+
lr_tactile_backbone: 1.0e-05
|
| 32 |
+
tactile_masks: false
|
| 33 |
+
tactile_backbone: resnet18
|
| 34 |
+
tactile_ckpt: null
|
| 35 |
+
tactile_dilation: false
|
| 36 |
+
use_vitacdreamer_feature: false
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000.yml
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 20
|
| 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 |
+
masks: false
|
| 19 |
+
dilation: false
|
| 20 |
+
backbone: resnet18
|
| 21 |
+
nheads: 8
|
| 22 |
+
enc_layers: 4
|
| 23 |
+
dec_layers: 7
|
| 24 |
+
pre_norm: false
|
| 25 |
+
dropout: 0.025
|
| 26 |
+
camera_names:
|
| 27 |
+
- cam_high
|
| 28 |
+
tactile_names:
|
| 29 |
+
- tac_left
|
| 30 |
+
- tac_right
|
| 31 |
+
lr_tactile_backbone: 1.0e-05
|
| 32 |
+
tactile_masks: false
|
| 33 |
+
tactile_backbone: resnet18
|
| 34 |
+
tactile_ckpt: null
|
| 35 |
+
tactile_dilation: false
|
| 36 |
+
use_vitacdreamer_feature: false
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000.yml
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 20
|
| 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 |
+
masks: false
|
| 19 |
+
dilation: false
|
| 20 |
+
backbone: resnet18
|
| 21 |
+
nheads: 8
|
| 22 |
+
enc_layers: 4
|
| 23 |
+
dec_layers: 7
|
| 24 |
+
pre_norm: false
|
| 25 |
+
dropout: 0.025
|
| 26 |
+
camera_names:
|
| 27 |
+
- cam_high
|
| 28 |
+
tactile_names:
|
| 29 |
+
- tac_left
|
| 30 |
+
- tac_right
|
| 31 |
+
lr_tactile_backbone: 1.0e-05
|
| 32 |
+
tactile_masks: false
|
| 33 |
+
tactile_backbone: resnet18
|
| 34 |
+
tactile_ckpt: null
|
| 35 |
+
tactile_dilation: false
|
| 36 |
+
use_vitacdreamer_feature: false
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000.yml
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 20
|
| 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 |
+
masks: false
|
| 19 |
+
dilation: false
|
| 20 |
+
backbone: resnet18
|
| 21 |
+
nheads: 8
|
| 22 |
+
enc_layers: 4
|
| 23 |
+
dec_layers: 7
|
| 24 |
+
pre_norm: false
|
| 25 |
+
dropout: 0.025
|
| 26 |
+
camera_names:
|
| 27 |
+
- cam_high
|
| 28 |
+
tactile_names:
|
| 29 |
+
- tac_left
|
| 30 |
+
- tac_right
|
| 31 |
+
lr_tactile_backbone: 1.0e-05
|
| 32 |
+
tactile_masks: false
|
| 33 |
+
tactile_backbone: resnet18
|
| 34 |
+
tactile_ckpt: null
|
| 35 |
+
tactile_dilation: false
|
| 36 |
+
use_vitacdreamer_feature: false
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/configs/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000.yml
ADDED
|
@@ -0,0 +1,34 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
state_dim: 8
|
| 2 |
+
kl_weight: 7.5
|
| 3 |
+
chunk_size: 20
|
| 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 |
+
masks: false
|
| 19 |
+
dilation: false
|
| 20 |
+
backbone: resnet18
|
| 21 |
+
nheads: 8
|
| 22 |
+
enc_layers: 4
|
| 23 |
+
dec_layers: 7
|
| 24 |
+
pre_norm: false
|
| 25 |
+
dropout: 0.025
|
| 26 |
+
camera_names:
|
| 27 |
+
- cam_high
|
| 28 |
+
tactile_names: []
|
| 29 |
+
lr_tactile_backbone: 0.0
|
| 30 |
+
tactile_masks: false
|
| 31 |
+
tactile_backbone: resnet18
|
| 32 |
+
tactile_ckpt: null
|
| 33 |
+
tactile_dilation: false
|
| 34 |
+
use_vitacdreamer_feature: false
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/manifests/manifest_actbaseline_real4_50_cs20_s16000_20260810.jsonl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task": "insert_tube", "mode": "vision", "name": "train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_insert_tube_cs20_s16000"}
|
| 2 |
+
{"task": "press_toaster", "mode": "vision", "name": "train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_press_toaster_cs20_s16000"}
|
| 3 |
+
{"task": "pull_out_drawer", "mode": "vision", "name": "train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_pull_out_drawer_cs20_s16000"}
|
| 4 |
+
{"task": "wipe_board", "mode": "vision", "name": "train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_wipe_board_cs20_s16000"}
|
| 5 |
+
{"task": "insert_tube", "mode": "vision_tactile", "name": "train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-insert_tube/real-50/train_config_actbaseline_real4_50_vision_tactile_insert_tube_cs20_s16000"}
|
| 6 |
+
{"task": "press_toaster", "mode": "vision_tactile", "name": "train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-press_toaster/real-50/train_config_actbaseline_real4_50_vision_tactile_press_toaster_cs20_s16000"}
|
| 7 |
+
{"task": "pull_out_drawer", "mode": "vision_tactile", "name": "train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-pull_out_drawer/real-50/train_config_actbaseline_real4_50_vision_tactile_pull_out_drawer_cs20_s16000"}
|
| 8 |
+
{"task": "wipe_board", "mode": "vision_tactile", "name": "train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_actbaseline_20260810/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000.yml", "ckpt_dir": "./act_ckpt/act-wipe_board/real-50/train_config_actbaseline_real4_50_vision_tactile_wipe_board_cs20_s16000"}
|
checkpoints/a800/real4_50_actbaseline_policy_cs20_20260811/manifests/upload_manifest.jsonl
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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