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planner_ckpt/libero_book_planner/config.yaml

@@ -0,0 +1,108 @@
+experiment: libero_book_track_transformer_ep1001
+wandb:
+  project: atm_libero
+  name: ${now:%m%d}_${experiment}_${now:%H%M}_${hydra:job.num}
+  group: ${experiment}
+train_gpus:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+lr: 0.0001
+batch_size: 64
+mix_precision: true
+num_workers: 8
+val_freq: 5
+save_freq: 25
+clip_grad: 10.0
+epochs: 1001
+seed: 0
+dry: true
+model_name: TrackTransformer
+p_img: 0.5
+lbd_track: 10.0
+lbd_img: 1.0
+dim: 384
+dim_head: null
+heads: 8
+depth: 8
+img_size: 128
+frame_stack: 1
+num_track_ts: 16
+num_track_ids: 32
+patch_size: 16
+track_patch_size: 4
+aug_prob: 0.9
+train_dataset:
+- data/planner_dataset/libero_book/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_demo/train/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo_new/train/
+- data/planner_dataset/libero_book/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo/train/
+val_dataset:
+- data/planner_dataset/libero_book/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_demo/val/
+- data/planner_dataset/libero_book/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo_new/val/
+- data/planner_dataset/libero_book/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_demo/val/
+optimizer_cfg:
+  type: optim.Adam
+  params:
+    lr: ${lr}
+    weight_decay: 0
+scheduler_cfg:
+  type: CosineAnnealingLRWithWarmup
+  params:
+    warmup_lr: 1.0e-05
+    warmup_epoch: 5
+    T_max: ${epochs}
+model_cfg:
+  transformer_cfg:
+    use_norm: true
+    dim: ${dim}
+    dim_head: ${dim_head}
+    heads: ${heads}
+    depth: ${depth}
+    attn_dropout: 0.2
+    ff_dropout: 0.2
+  track_cfg:
+    num_track_ts: ${num_track_ts}
+    num_track_ids: ${num_track_ids}
+    patch_size: ${track_patch_size}
+  vid_cfg:
+    img_size: ${img_size}
+    frame_stack: ${frame_stack}
+    patch_size: ${patch_size}
+  language_encoder_cfg:
+    use_language: true
+    network_name: MLPEncoder
+    input_size: 768
+    hidden_size: 128
+    num_layers: 1
+dataset_cfg:
+  img_size: ${img_size}
+  frame_stack: ${frame_stack}
+  num_track_ts: ${num_track_ts}
+  num_track_ids: ${num_track_ids}
+  augment_track: true
+  cache_all: true
+  cache_image: false
+  views:
+  - agentview
+  - eye_in_hand

planner_ckpt/libero_book_planner/model_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a682b008ac3a0cfe724410d360f3999c870377fbd0187caebea5e0bf266d52d8
+size 26103850

planner_ckpt/libero_butter_planner/config.yaml

@@ -0,0 +1,90 @@
+experiment: libero_butter_track_transformer_ep1001
+wandb:
+  project: atm_libero
+  name: ${now:%m%d}_${experiment}_${now:%H%M}_${hydra:job.num}
+  group: ${experiment}
+train_gpus:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+lr: 0.0001
+batch_size: 64
+mix_precision: true
+num_workers: 8
+val_freq: 5
+save_freq: 25
+clip_grad: 10.0
+epochs: 1001
+seed: 0
+dry: true
+model_name: TrackTransformer
+p_img: 0.5
+lbd_track: 10.0
+lbd_img: 1.0
+dim: 384
+dim_head: null
+heads: 8
+depth: 8
+img_size: 128
+frame_stack: 1
+num_track_ts: 16
+num_track_ids: 32
+patch_size: 16
+track_patch_size: 4
+aug_prob: 0.9
+train_dataset:
+- data/planner_dataset/libero_butter/pick_up_the_butter_and_place_it_in_the_basket_demo/train/
+- data/planner_dataset/libero_butter/pick_up_the_butter_and_place_it_in_the_basket_demo_new/train/
+val_dataset:
+- data/planner_dataset/libero_butter/pick_up_the_butter_and_place_it_in_the_basket_demo/val/
+- data/planner_dataset/libero_butter/pick_up_the_butter_and_place_it_in_the_basket_demo_new/val/
+optimizer_cfg:
+  type: optim.Adam
+  params:
+    lr: ${lr}
+    weight_decay: 0
+scheduler_cfg:
+  type: CosineAnnealingLRWithWarmup
+  params:
+    warmup_lr: 1.0e-05
+    warmup_epoch: 5
+    T_max: ${epochs}
+model_cfg:
+  transformer_cfg:
+    use_norm: true
+    dim: ${dim}
+    dim_head: ${dim_head}
+    heads: ${heads}
+    depth: ${depth}
+    attn_dropout: 0.2
+    ff_dropout: 0.2
+  track_cfg:
+    num_track_ts: ${num_track_ts}
+    num_track_ids: ${num_track_ids}
+    patch_size: ${track_patch_size}
+  vid_cfg:
+    img_size: ${img_size}
+    frame_stack: ${frame_stack}
+    patch_size: ${patch_size}
+  language_encoder_cfg:
+    use_language: true
+    network_name: MLPEncoder
+    input_size: 768
+    hidden_size: 128
+    num_layers: 1
+dataset_cfg:
+  img_size: ${img_size}
+  frame_stack: ${frame_stack}
+  num_track_ts: ${num_track_ts}
+  num_track_ids: ${num_track_ids}
+  augment_track: true
+  cache_all: true
+  cache_image: false
+  views:
+  - agentview
+  - eye_in_hand

planner_ckpt/libero_butter_planner/model_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fd7c3009e6e4fa12826dd3832822ccb19c1490ae90ec2ab02aad69485bbd76a7
+size 26103850

planner_ckpt/libero_chocolate_planner/config.yaml

@@ -0,0 +1,100 @@
+experiment: libero_chocolate_track_transformer_ep1001
+wandb:
+  project: atm_libero
+  name: ${now:%m%d}_${experiment}_${now:%H%M}_${hydra:job.num}
+  group: ${experiment}
+train_gpus:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+lr: 0.0001
+batch_size: 64
+mix_precision: true
+num_workers: 8
+val_freq: 5
+save_freq: 25
+clip_grad: 10.0
+epochs: 1001
+seed: 0
+dry: true
+model_name: TrackTransformer
+p_img: 0.5
+lbd_track: 10.0
+lbd_img: 1.0
+dim: 384
+dim_head: null
+heads: 8
+depth: 8
+img_size: 128
+frame_stack: 1
+num_track_ts: 16
+num_track_ids: 32
+patch_size: 16
+track_patch_size: 4
+aug_prob: 0.9
+train_dataset:
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it_demo/train/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_demo/train/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_demo/train/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_demo_new/train/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_demo/train/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it_demo/train/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it_demo/train/
+val_dataset:
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it_demo/val/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_demo/val/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_demo/val/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_demo_new/val/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_demo/val/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it_demo/val/
+- data/planner_dataset/libero_chocolate/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it_demo/val/
+optimizer_cfg:
+  type: optim.Adam
+  params:
+    lr: ${lr}
+    weight_decay: 0
+scheduler_cfg:
+  type: CosineAnnealingLRWithWarmup
+  params:
+    warmup_lr: 1.0e-05
+    warmup_epoch: 5
+    T_max: ${epochs}
+model_cfg:
+  transformer_cfg:
+    use_norm: true
+    dim: ${dim}
+    dim_head: ${dim_head}
+    heads: ${heads}
+    depth: ${depth}
+    attn_dropout: 0.2
+    ff_dropout: 0.2
+  track_cfg:
+    num_track_ts: ${num_track_ts}
+    num_track_ids: ${num_track_ids}
+    patch_size: ${track_patch_size}
+  vid_cfg:
+    img_size: ${img_size}
+    frame_stack: ${frame_stack}
+    patch_size: ${patch_size}
+  language_encoder_cfg:
+    use_language: true
+    network_name: MLPEncoder
+    input_size: 768
+    hidden_size: 128
+    num_layers: 1
+dataset_cfg:
+  img_size: ${img_size}
+  frame_stack: ${frame_stack}
+  num_track_ts: ${num_track_ts}
+  num_track_ids: ${num_track_ids}
+  augment_track: true
+  cache_all: true
+  cache_image: false
+  views:
+  - agentview
+  - eye_in_hand

planner_ckpt/libero_chocolate_planner/model_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:27c66a5fc2acb53f9cf62eca078e304ef5b63548109f77253ed037ae4fee032c
+size 26103850

planner_ckpt/libero_microwave_planner/config.yaml

@@ -0,0 +1,88 @@
+experiment: libero_microwave_track_transformer_ep1001
+wandb:
+  project: atm_libero
+  name: ${now:%m%d}_${experiment}_${now:%H%M}_${hydra:job.num}
+  group: ${experiment}
+train_gpus:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+lr: 0.0001
+batch_size: 64
+mix_precision: true
+num_workers: 8
+val_freq: 5
+save_freq: 25
+clip_grad: 10.0
+epochs: 1001
+seed: 0
+dry: true
+model_name: TrackTransformer
+p_img: 0.5
+lbd_track: 10.0
+lbd_img: 1.0
+dim: 384
+dim_head: null
+heads: 8
+depth: 8
+img_size: 128
+frame_stack: 1
+num_track_ts: 16
+num_track_ids: 32
+patch_size: 16
+track_patch_size: 4
+aug_prob: 0.9
+train_dataset:
+- data/planner_dataset/libero_microwave/KITCHEN_SCENE6_close_the_microwave_demo/train/
+val_dataset:
+- data/planner_dataset/libero_microwave/KITCHEN_SCENE6_close_the_microwave_demo/val/
+optimizer_cfg:
+  type: optim.Adam
+  params:
+    lr: ${lr}
+    weight_decay: 0
+scheduler_cfg:
+  type: CosineAnnealingLRWithWarmup
+  params:
+    warmup_lr: 1.0e-05
+    warmup_epoch: 5
+    T_max: ${epochs}
+model_cfg:
+  transformer_cfg:
+    use_norm: true
+    dim: ${dim}
+    dim_head: ${dim_head}
+    heads: ${heads}
+    depth: ${depth}
+    attn_dropout: 0.2
+    ff_dropout: 0.2
+  track_cfg:
+    num_track_ts: ${num_track_ts}
+    num_track_ids: ${num_track_ids}
+    patch_size: ${track_patch_size}
+  vid_cfg:
+    img_size: ${img_size}
+    frame_stack: ${frame_stack}
+    patch_size: ${patch_size}
+  language_encoder_cfg:
+    use_language: true
+    network_name: MLPEncoder
+    input_size: 768
+    hidden_size: 128
+    num_layers: 1
+dataset_cfg:
+  img_size: ${img_size}
+  frame_stack: ${frame_stack}
+  num_track_ts: ${num_track_ts}
+  num_track_ids: ${num_track_ids}
+  augment_track: true
+  cache_all: true
+  cache_image: false
+  views:
+  - agentview
+  - eye_in_hand_high

planner_ckpt/libero_microwave_planner/model_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4b70be24f3c0a7b3fa480c6d6eafc1d3a1bc1c2f6924a7109c0538f49d5e31
+size 26103850

planner_ckpt/maniskill_placesphere_planner/config.yaml

@@ -0,0 +1,88 @@
+experiment: maniskill_placesphere_track_transformer_ep1001
+wandb:
+  project: atm_libero
+  name: ${now:%m%d}_${experiment}_${now:%H%M}_${hydra:job.num}
+  group: ${experiment}
+train_gpus:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+lr: 0.0001
+batch_size: 64
+mix_precision: true
+num_workers: 8
+val_freq: 5
+save_freq: 25
+clip_grad: 10.0
+epochs: 1001
+seed: 0
+dry: true
+model_name: TrackTransformer
+p_img: 0.5
+lbd_track: 10.0
+lbd_img: 1.0
+dim: 384
+dim_head: null
+heads: 8
+depth: 8
+img_size: 128
+frame_stack: 1
+num_track_ts: 16
+num_track_ids: 32
+patch_size: 16
+track_patch_size: 4
+aug_prob: 0.9
+train_dataset:
+- data/planner_dataset/maniskill_placesphere/PlaceSphere-v2/train
+val_dataset:
+- data/planner_dataset/maniskill_placesphere/PlaceSphere-v2/val
+optimizer_cfg:
+  type: optim.Adam
+  params:
+    lr: ${lr}
+    weight_decay: 0
+scheduler_cfg:
+  type: CosineAnnealingLRWithWarmup
+  params:
+    warmup_lr: 1.0e-05
+    warmup_epoch: 5
+    T_max: ${epochs}
+model_cfg:
+  transformer_cfg:
+    use_norm: true
+    dim: ${dim}
+    dim_head: ${dim_head}
+    heads: ${heads}
+    depth: ${depth}
+    attn_dropout: 0.2
+    ff_dropout: 0.2
+  track_cfg:
+    num_track_ts: ${num_track_ts}
+    num_track_ids: ${num_track_ids}
+    patch_size: ${track_patch_size}
+  vid_cfg:
+    img_size: ${img_size}
+    frame_stack: ${frame_stack}
+    patch_size: ${patch_size}
+  language_encoder_cfg:
+    use_language: false
+    network_name: MLPEncoder
+    input_size: 768
+    hidden_size: 128
+    num_layers: 1
+dataset_cfg:
+  img_size: ${img_size}
+  frame_stack: ${frame_stack}
+  num_track_ts: ${num_track_ts}
+  num_track_ids: ${num_track_ids}
+  augment_track: true
+  cache_all: true
+  cache_image: false
+  views:
+  - agentview
+  - eye_in_hand

planner_ckpt/maniskill_placesphere_planner/model_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4ebdc9ddfb6a515c49e592ac265562a8f1431b29de4b66bf60cebd5225231997
+size 26103594

planner_ckpt/maniskill_pokecube_planner/config.yaml

@@ -0,0 +1,84 @@
+experiment: maniskill_pokecube_track_transformer_ep1001
+wandb:
+  project: atm_libero
+  name: ${now:%m%d}_${experiment}_${now:%H%M}_${hydra:job.num}
+  group: ${experiment}
+train_gpus:
+- 0
+- 1
+- 2
+- 3
+lr: 0.0001
+batch_size: 64
+mix_precision: true
+num_workers: 8
+val_freq: 5
+save_freq: 25
+clip_grad: 10.0
+epochs: 1001
+seed: 0
+dry: true
+model_name: TrackTransformer
+p_img: 0.5
+lbd_track: 10.0
+lbd_img: 1.0
+dim: 384
+dim_head: null
+heads: 8
+depth: 8
+img_size: 128
+frame_stack: 1
+num_track_ts: 16
+num_track_ids: 32
+patch_size: 16
+track_patch_size: 4
+aug_prob: 0.9
+train_dataset:
+- data/planner_dataset/maniskill_pokecube/PokeCube-v2/train/
+val_dataset:
+- data/planner_dataset/maniskill_pokecube/PokeCube-v2/val/
+optimizer_cfg:
+  type: optim.Adam
+  params:
+    lr: ${lr}
+    weight_decay: 0
+scheduler_cfg:
+  type: CosineAnnealingLRWithWarmup
+  params:
+    warmup_lr: 1.0e-05
+    warmup_epoch: 5
+    T_max: ${epochs}
+model_cfg:
+  transformer_cfg:
+    use_norm: true
+    dim: ${dim}
+    dim_head: ${dim_head}
+    heads: ${heads}
+    depth: ${depth}
+    attn_dropout: 0.2
+    ff_dropout: 0.2
+  track_cfg:
+    num_track_ts: ${num_track_ts}
+    num_track_ids: ${num_track_ids}
+    patch_size: ${track_patch_size}
+  vid_cfg:
+    img_size: ${img_size}
+    frame_stack: ${frame_stack}
+    patch_size: ${patch_size}
+  language_encoder_cfg:
+    use_language: false
+    network_name: MLPEncoder
+    input_size: 768
+    hidden_size: 128
+    num_layers: 1
+dataset_cfg:
+  img_size: ${img_size}
+  frame_stack: ${frame_stack}
+  num_track_ts: ${num_track_ts}
+  num_track_ids: ${num_track_ids}
+  augment_track: true
+  cache_all: true
+  cache_image: false
+  views:
+  - agentview
+  - eye_in_hand

planner_ckpt/maniskill_pokecube_planner/model_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4e25ed43264239239c4c3f2b1a1672ed9c9b7bf325f2684cc73ae6a4226edd69
+size 26103850

planner_ckpt/maniskill_pullcubetool_planner/config.yaml

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+experiment: maniskill_pullcubetool_track_transformer_ep1001
+wandb:
+  project: atm_libero
+  name: ${now:%m%d}_${experiment}_${now:%H%M}_${hydra:job.num}
+  group: ${experiment}
+train_gpus:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+lr: 0.0001
+batch_size: 64
+mix_precision: true
+num_workers: 8
+val_freq: 5
+save_freq: 25
+clip_grad: 10.0
+epochs: 1001
+seed: 0
+dry: true
+model_name: TrackTransformer
+p_img: 0.5
+lbd_track: 10.0
+lbd_img: 1.0
+dim: 384
+dim_head: null
+heads: 8
+depth: 8
+img_size: 128
+frame_stack: 1
+num_track_ts: 16
+num_track_ids: 32
+patch_size: 16
+track_patch_size: 4
+aug_prob: 0.9
+train_dataset:
+- data/planner_dataset/maniskill_pullcubetool/PullCubeTool-v2/train
+val_dataset:
+- data/planner_dataset/maniskill_pullcubetool/PullCubeTool-v2/val
+optimizer_cfg:
+  type: optim.Adam
+  params:
+    lr: ${lr}
+    weight_decay: 0
+scheduler_cfg:
+  type: CosineAnnealingLRWithWarmup
+  params:
+    warmup_lr: 1.0e-05
+    warmup_epoch: 5
+    T_max: ${epochs}
+model_cfg:
+  transformer_cfg:
+    use_norm: true
+    dim: ${dim}
+    dim_head: ${dim_head}
+    heads: ${heads}
+    depth: ${depth}
+    attn_dropout: 0.2
+    ff_dropout: 0.2
+  track_cfg:
+    num_track_ts: ${num_track_ts}
+    num_track_ids: ${num_track_ids}
+    patch_size: ${track_patch_size}
+  vid_cfg:
+    img_size: ${img_size}
+    frame_stack: ${frame_stack}
+    patch_size: ${patch_size}
+  language_encoder_cfg:
+    use_language: false
+    network_name: MLPEncoder
+    input_size: 768
+    hidden_size: 128
+    num_layers: 1
+dataset_cfg:
+  img_size: ${img_size}
+  frame_stack: ${frame_stack}
+  num_track_ts: ${num_track_ts}
+  num_track_ids: ${num_track_ids}
+  augment_track: true
+  cache_all: true
+  cache_image: false
+  views:
+  - agentview
+  - eye_in_hand

planner_ckpt/maniskill_pullcubetool_planner/model_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb9cfdad03c1f4eadafbe5190fd8685429f0a9818457a3f81358e51c82254ae
+size 26103850