diff --git a/checkpoints/a800/insert_tube_0812_20260812/README.md b/checkpoints/a800/insert_tube_0812_20260812/README.md new file mode 100644 index 0000000000000000000000000000000000000000..fd133ca7fb635fa11b8f5d6716f47b0f1e23c9a6 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/README.md @@ -0,0 +1,23 @@ +# insert_tube_0812_20260812 + +Single-task real insert_tube training with 50 trajectories collected on 2026-08-12. + +Encoder: stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth + +Policy test files per version: policy_best.ckpt + dataset_stats.pkl + matching yml under configs/. + +Policy versions: +- rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000 +- rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000 +- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000 diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..96c95523b63b3ab99b17f1af192c424e893fc7a8 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml @@ -0,0 +1,35 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 40 +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 +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: [] +lr_tactile_backbone: 0.0 +tactile_masks: false +tactile_backbone: resnet18 +tactile_ckpt: null +tactile_dilation: false +use_vitacdreamer_feature: false +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..78b1668ad69b9b009ed5975ac45084a4fea71563 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml @@ -0,0 +1,37 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 40 +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 +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: false +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/manifest_insert_tube_0812_policy_sweep12_20260812.jsonl b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/manifest_insert_tube_0812_policy_sweep12_20260812.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7821d5a4fe167159c8ff425010b83af7994a9c3e --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/manifest_insert_tube_0812_policy_sweep12_20260812.jsonl @@ -0,0 +1,14 @@ +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000", "chunk_size": 40, "kl": 7.5, "adapter_lr": 3e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000", "chunk_size": 40, "kl": 7.5, "adapter_lr": 5e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000", "chunk_size": 40, "kl": 10.0, "adapter_lr": 3e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000", "chunk_size": 40, "kl": 10.0, "adapter_lr": 5e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000", "chunk_size": 45, "kl": 7.5, "adapter_lr": 3e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000", "chunk_size": 45, "kl": 7.5, "adapter_lr": 5e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000", "chunk_size": 45, "kl": 10.0, "adapter_lr": 3e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000", "chunk_size": 45, "kl": 10.0, "adapter_lr": 5e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000", "chunk_size": 50, "kl": 7.5, "adapter_lr": 3e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000", "chunk_size": 50, "kl": 7.5, "adapter_lr": 5e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000", "chunk_size": 50, "kl": 10.0, "adapter_lr": 3e-05} +{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000", "chunk_size": 50, "kl": 10.0, "adapter_lr": 5e-05} +{"task": "insert_tube", "name": "rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_actbaseline_20260812/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000", "baseline": "actbaseline_vision", "chunk_size": 40, "kl": 7.5, "lr": 1e-05} +{"task": "insert_tube", "name": "rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_actbaseline_20260812/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000", "baseline": "actbaseline_vision_tactile", "chunk_size": 40, "kl": 7.5, "lr": 1e-05} diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..c1f893d8f56a3b869da0e6df7fc31148fd4b1978 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 10.0 +chunk_size: 40 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..38c385dc0c339be7239a9fe8c5150ab21748b90d --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 10.0 +chunk_size: 45 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..47e385c2edb8d5d742cde1542b6107c8e9897b41 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 10.0 +chunk_size: 50 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..ca51ef45d0a28798a1872f390b8b56031eebaba3 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 10.0 +chunk_size: 40 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..cad316b3da5b8abe4b2234e957ffa8e8e77aaaf8 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 10.0 +chunk_size: 45 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..0b570b925bf1a8ef54d10be98596a59882fdf45b --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 10.0 +chunk_size: 50 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..d52a776b0178ae6c071f3051ede4b4db0f4d61d9 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 40 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..769558a07c57c0d19dd0edb284e14b964f5b95f1 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 45 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..d965f276c227ee26af5c42df3223474d6a746156 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 50 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f1da2e016603429cae2dfc600fd09286c21441d --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 40 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..0e14d6bedebba22efd99205804cb984b2e2f61c5 --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 45 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git a/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml new file mode 100644 index 0000000000000000000000000000000000000000..7cd804a4332cfca6f491e19550320251f10f48af --- /dev/null +++ b/checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml @@ -0,0 +1,48 @@ +state_dim: 8 +kl_weight: 7.5 +chunk_size: 50 +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/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth +vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812 +vitacdreamer_task_order: +- insert_tube-real +save_step_ckpts: false diff --git 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