add h100 hlen6 artifact run_formal4_hlen6_stage12_20260728.sh

scripts/h100/formal4_window_ablation_hlen6_20260728/run_formal4_hlen6_stage12_20260728.sh

@@ -0,0 +1,54 @@
+#!/usr/bin/env bash
+set -euo pipefail
+ROOT=/dev/shm/muse/src/ViTacDreamer_policy
+ENV=/dev/shm/muse/envs/vitacdreamer_prior512
+cd "$ROOT"
+export PATH="$ENV/bin:$PATH"
+export PYTHONPATH="$ROOT:${PYTHONPATH:-}"
+export TMPDIR=/dev/shm/muse/tmp
+export CUDA_VISIBLE_DEVICES=0,1,2,3
+export HF_HUB_OFFLINE=1
+export TRANSFORMERS_OFFLINE=1
+export VITACDREAMER_VIT_CHECKPOINT="$ROOT/.hf_cache/google_vit_base_patch16_224"
+mkdir -p "$TMPDIR" logs/formal4_hlen6_stage12_policy_20260728
+OUT_ROOT=/dev/shm/muse/checkpoints/formal4_window_ablation_20260728
+TRAIN_DATA="$ROOT/dataset_encoder500_multitask4_formal_hlen6_h100_20260728/train"
+VAL_DATA="$ROOT/dataset_encoder500_multitask4_formal_hlen6_h100_20260728/val"
+STAGE1_OUT="$OUT_ROOT/stage1_prior512_encoder500_multitask4_hlen6_stride5_e30_b160"
+STAGE2_OUT="$OUT_ROOT/stage2_prior512_encoder500_multitask4_hlen6_stride5_e20_b160_from_stage1e30b160"
+mkdir -p "$STAGE1_OUT" "$STAGE2_OUT"
+echo "[$(date '+%F %T')] Stage1 hlen=6 on GPUs $CUDA_VISIBLE_DEVICES" | tee -a logs/formal4_hlen6_stage12_policy_20260728/pipeline.log
+"$ENV/bin/torchrun" --standalone --nproc_per_node=4 -m vitacdreamer.train_v2 \
+  --train_data "$TRAIN_DATA" --val_data "$VAL_DATA" \
+  --output_dir "$STAGE1_OUT" \
+  --stage 1 --epochs_stage1 30 --lr_stage1 1e-4 --batch_size 160 \
+  --num_workers 8 --prefetch_factor 4 --no_tf32 --amp_dtype none \
+  --history_len 6 --sample_stride 5 --num_tail_frames 2 \
+  --latent_dim 512 --num_memory_layers 4 --num_latent_layers 4 --max_delta_t 32 \
+  --tactile_temporal_mode raw --no_action_conditioning \
+  --contrastive_temp 0.07 --stage1_cross_weight 1.0 --stage1_temporal_weight 1.0 --stage1_consistency_weight 1.0 \
+  --ddp_contrastive_all_gather --trainable_vit_layers 3 \
+  --plot_curve_render_every 30 --wandb_mode offline --wandb_project vitacdreamer \
+  --wandb_group formal4_hlen6_h100_20260728 --wandb_name stage1_formal4_hlen6_b160_g4_e30 \
+  2>&1 | tee logs/formal4_hlen6_stage12_policy_20260728/stage1.log
+if [ ! -f "$STAGE1_OUT/stage1_v2_best.pth" ]; then
+  echo "[$(date '+%F %T')] ERROR: missing stage1 best checkpoint" | tee -a logs/formal4_hlen6_stage12_policy_20260728/pipeline.log
+  exit 2
+fi
+echo "[$(date '+%F %T')] Stage2 hlen=6 on GPUs $CUDA_VISIBLE_DEVICES" | tee -a logs/formal4_hlen6_stage12_policy_20260728/pipeline.log
+"$ENV/bin/torchrun" --standalone --nproc_per_node=4 -m vitacdreamer.train_v2 \
+  --train_data "$TRAIN_DATA" --val_data "$VAL_DATA" \
+  --output_dir "$STAGE2_OUT" \
+  --stage 2 --resume "$STAGE1_OUT/stage1_v2_best.pth" \
+  --epochs_stage2 20 --lr_stage2 1e-4 --batch_size 160 \
+  --num_workers 8 --prefetch_factor 4 --no_tf32 --amp_dtype none \
+  --history_len 6 --sample_stride 5 --num_tail_frames 2 \
+  --latent_dim 512 --num_memory_layers 4 --num_latent_layers 4 --max_delta_t 32 \
+  --tactile_temporal_mode raw --tactile_flow_target_mode depth_delta \
+  --depth_delta_clip 0.5 --tactile_flow_clip 0.25 --marker_flow_clip 1.0 \
+  --perceptual_weight 0.0 --val_random_tail_mask --no_action_conditioning \
+  --stage2_reuse_frozen_encoder_tokens --stage2_frozen_encoders_eval \
+  --plot_curve_render_every 30 --wandb_mode offline --wandb_project vitacdreamer \
+  --wandb_group formal4_hlen6_h100_20260728 --wandb_name stage2_formal4_hlen6_b160_g4_e20 \
+  2>&1 | tee logs/formal4_hlen6_stage12_policy_20260728/stage2.log
+echo "[$(date '+%F %T')] Stage1+Stage2 finished. Policy needs ACT data check/feature precompute next." | tee -a logs/formal4_hlen6_stage12_policy_20260728/pipeline.log