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bs: 4
epochs: 500
exp_id: bridgevla_memorybench
feat_from_stage1: true
freeze_epochs: 20
gradient_checkpointing: true
initial_viz: true
memory:
dim_head: 128
discriminator:
enabled: false
heads: 8
hidden: 512
input: current
loss_weight: 1.0
pos_weight: 5.5
threshold: 0.5
enabled: true
ffn_mult: 2
grad_through_tokens: true
heads: 8
k_temporal: 2
num_layers: 2
select: keyframe_gt
share_spatial_across_stages: false
spatial_at_mvt1: true
spatial_at_mvt2: true
spatial_memory: true
temporal_at_mvt1: true
temporal_memory: true
use_fast_attn: false
num_arms: 1
num_workers: 4
peract:
add_rgc_loss: true
betas:
- 0.9
- 0.95
lambda_weight_l2: 0.0001
lr: 5.0e-05
num_rotation_classes: 72
optimizer_type: adamw
transform_augmentation: true
transform_augmentation_rpy:
- 0.0
- 0.0
- 45.0
transform_augmentation_xyz:
- 0.125
- 0.125
- 0.125
weight_decay: 0.001
peract_official:
cfg_path: configs/peract_official_config.yaml
predict_collision: true
renderer_img_sizes_w: 2.0
rotate_top_ccw90: false
rotation_representation: 6d
rvt:
gt_hm_sigma: 1.5
img_aug: 0.0
move_pc_in_bound: true
place_with_mean: false
use_view_logvar: false
sample_distribution_mode: transition_uniform
save_every_n_epochs: 20
save_optimizer_state: false
splat_radius: 0.012
splat_radius_mvt2: 0.012
st_wpt_loc_aug: 0.05
task_sampling:
alpha: 0.5
mode: transition_uniform
tasks: all
train_iter: 160000
use_scheduler: true
viz_every_n_epochs: 20
viz_tasks: null
warmup_steps: 1000
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