add press_toaster 0812 small-chunk policy sweep cs15 cs20 cs25 cs30

checkpoints/a800/press_toaster_0812_20260813/smallchunk_manifest.json

@@ -0,0 +1,112 @@
+{
+  "repo": "Joshua69/vitac500",
+  "repo_type": "dataset",
+  "root": "checkpoints/a800/press_toaster_0812_20260813",
+  "experiment": "press_toaster_0812_smallchunk",
+  "variants": [
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000",
+      "chunk_size": 15,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 3e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    },
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000",
+      "chunk_size": 20,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 3e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    },
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000",
+      "chunk_size": 25,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 3e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    },
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000",
+      "chunk_size": 30,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 3e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    },
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000",
+      "chunk_size": 15,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 5e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    },
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000",
+      "chunk_size": 20,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 5e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    },
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000",
+      "chunk_size": 25,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 5e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    },
+    {
+      "name": "rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000",
+      "chunk_size": 30,
+      "kl_weight": 7.5,
+      "policy_lr": 1e-05,
+      "adapter_lr": 5e-05,
+      "num_steps": 16000,
+      "temporal_agg": true,
+      "policy": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000/policy_best.ckpt",
+      "stats": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000/dataset_stats.pkl",
+      "config": "checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000.yml",
+      "encoder": "checkpoints/a800/press_toaster_0812_20260813/encoder/stage2_v2_encoder_only.pth"
+    }
+  ]
+}

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb53d8acae2a0acabdd0315c0bf53cda43b5b53e1f7d9747a9b26d3cff18ced9
+size 404146048

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46917df5af2c84385927d25d727847b89224025a1b9fa358523088fd19857e6e
+size 404166528

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67af1c93fd0c71a7af29df46482757ab2207b8dfeb5be30928c48f337726c147
+size 404187008

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d50291b608b732952386e7e9d7eb17e37844abbbb545e37bead54e19e0f56ecb
+size 404207488

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a004e421abb693a1c1e707c3065386ac7984e293f65524c0ed2ff09420c902
+size 404146048

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc726372ffe0495b93a533b20625e5eb74dd262189b3958bcfc9191e64823c4
+size 404166528

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea0cd52ad4db6023547c2e9435eb6eee43407981288353fb039d97ceee50378
+size 404187008

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000/dataset_stats.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3665354cbf097c248232bf2be4fd744d581f949276212042e158044a74420f71
+size 5686

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000/policy_best.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f054161c5bb7ccf0a8a0fd2c1b308c0fa88757102e520112b0341d9180cfa9d1
+size 404207488

checkpoints/a800/press_toaster_0812_20260813/vitacdreamer_policy/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000/rollout_train_config_vitacdreamer_press_toaster_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/press_toaster_0812_20260813/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/press_toaster/real-0812-50/vitacdreamer_features_press_toaster_0812_stage2_depthdelta_hlen5_20260813
+vitacdreamer_task_order:
+- press_toaster-real
+save_step_ckpts: false