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+ scratch_llama_config: config/model_config/custom_transformer.json
51
+ separate_camera_adapter: true
52
+ step_weight: 1.0
53
+ vision_encoder_cfg: !!python/object:icrt.util.args.VisionEncoderConfig
54
+ vision_encoder: ./checkpoints/crossmae_rtx/cross-mae-rtx-vitb.pth
55
+ vision_lora: false
56
+ vision_lora_rank: 8
57
+ vision_nonpretrained: false
58
+ vision_unfreeze_all: false
59
+ vision_unfreeze_last_n: 0
60
+ optimizer_cfg: !!python/object:icrt.util.args.OptimizerConfig
61
+ blr: 0.001
62
+ lr: 0.0005
63
+ min_lr: 0.0
64
+ warmup_epochs: 1.25
65
+ weight_decay: 0.01
66
+ shared_cfg: !!python/object:icrt.util.args.SharedConfig
67
+ batch_size: 2
68
+ num_cameras: 2
69
+ num_pred_steps: 16
70
+ num_stages: 1
71
+ num_visual_trace_points: 5
72
+ random_mask_visual_trace: true
73
+ resume: /data/tientoan/icrt_output/output_libero_90/visual_trace_mma_3d_no_prompt_loss_0_ver3/checkpoint-47.pth
74
+ rot_6d: true
75
+ save_every: 1
76
+ scale_action: null
77
+ seed: 0
78
+ seq_length: 512
79
+ split_epoch: 1
80
+ start_epoch: 0
81
+ use_delta_action: true
82
+ train: true
83
+ trainer_cfg: !!python/object:icrt.util.args.TrainerConfig
84
+ accum_iter: 32
85
+ epochs: 125
86
+ num_workers: 20
87
+ pin_memory: true
88
+ world_size: 1
train_split.json ADDED
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val_split.json ADDED
@@ -0,0 +1 @@
 
 
1
+ ["STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_2", "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_0", "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_47", "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_30", "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate_38", "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet_5", "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket_49", "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_47", "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray_18", "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray_23", "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_42", "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate_45", "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug_42", "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_33", "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_41", "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_47", "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet_3", "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_40", "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket_29", "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_29", "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet_27", "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_13", "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket_1", "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove_44", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate_0", "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it_46", "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_21", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate_47", "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_41", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate_22", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate_7", "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_25", "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet_37", "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray_43", "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it_23", "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_19", "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray_28", "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet_8", "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_29", "KITCHEN_SCENE9_turn_on_the_stove_26", "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket_23", "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray_22", "KITCHEN_SCENE3_turn_on_the_stove_1", "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_24", "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket_46", "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket_6", "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_41", "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove_13", "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket_20", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_11", "KITCHEN_SCENE3_turn_on_the_stove_30", "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet_48", "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket_44", "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet_16", "KITCHEN_SCENE6_close_the_microwave_46", "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_10", "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it_16", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate_42", "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it_15", "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_44", "KITCHEN_SCENE3_turn_on_the_stove_48", "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_43", "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate_0", "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_14", "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl_3", "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet_40", "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_15", "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf_1", "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf_35", "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_22", "STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy_17", "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_23", "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate_10", "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet_27", "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate_31", "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket_24", "KITCHEN_SCENE7_open_the_microwave_26", "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_27", "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet_9", "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet_9", "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_49", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate_35", "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray_0", "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_33", "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_35", "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_20", "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate_16", "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet_45", "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it_16", "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_39", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate_31", "KITCHEN_SCENE3_turn_on_the_stove_47", "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet_32", "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it_28", "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf_47", "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer_33", "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_46", "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_34", "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet_43", "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket_11", "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it_44", "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_2", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate_34", "KITCHEN_SCENE7_open_the_microwave_0", "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_44", "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray_24", "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf_6", "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it_7", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate_44", "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate_22", "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_22", "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate_34", "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket_9", "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket_7", "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_41", "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_23", "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove_13", "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf_45", "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet_21", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate_8", "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate_16", "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it_21", "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket_11", "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_4", "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_17", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_46", "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_4", "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet_10", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate_18", "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet_42", "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf_34", "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket_28", "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl_14", "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket_25", "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet_41", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate_8", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_0", "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray_39", "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_13", "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it_15", "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket_5", "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet_22", "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray_25", "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet_38", "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate_4", "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_34", "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_15", "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_48", "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate_15", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate_36", "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_18", "KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate_16", "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl_1", "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf_20", "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_48", "KITCHEN_SCENE9_turn_on_the_stove_45", "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet_13", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate_12", "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray_27", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy_29", "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet_45", "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it_40", "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf_28", "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_16", "KITCHEN_SCENE3_turn_on_the_stove_6", "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket_16", "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet_26", "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray_20", "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket_21", "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray_8", "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet_31", "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate_33", "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate_11", "STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy_11", "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket_29", "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket_35", "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray_32", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_42", "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet_13", "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket_34", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_33", "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_34", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy_24", "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate_33", "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray_33", "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf_39", "KITCHEN_SCENE8_turn_off_the_stove_25", "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it_43", "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf_40", "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_36", "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_30", "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove_21", "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle_24", "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl_6", "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy_18", "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate_28", "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray_40", "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray_21"]