| !!python/object:icrt.util.args.ExperimentConfig |
| dataset_cfg: !!python/object:icrt.util.args.DatasetConfig |
| action_noise: 0.0 |
| dataset_fraction: 1.0 |
| dataset_json: ./config/dataset_config_libero_90_visual_trace_ver4.json |
| goal_conditioned: false |
| non_overlapping: 64 |
| num_repeat_traj: 1 |
| num_weighted_steps: 30 |
| proprio_noise: 0.005 |
| rebalance_tasks: true |
| shuffle_repeat_traj: true |
| skip_step: false |
| sort_by_lang: true |
| task_barrier: true |
| task_names: null |
| vision_aug: true |
| visual_trace_noise: 0.005 |
| device: cuda |
| dist_on_itp: false |
| dist_url: env:// |
| load_config: null |
| local_rank: -1 |
| logging_cfg: !!python/object:icrt.util.args.LoggingConfig |
| log_dir: /data/tientoan/icrt_output/output_libero_90/visual_trace_mma_3d_no_prompt_loss_0_ver4 |
| log_name: visual_trace_mma_3d_no_prompt_loss_0_ver4 |
| output_dir: /data/tientoan/icrt_output/output_libero_90/visual_trace_mma_3d_no_prompt_loss_0_ver4 |
| model_cfg: !!python/object:icrt.util.args.ModelConfig |
| policy_cfg: !!python/object:icrt.util.args.PolicyConfig |
| adapter_mlp_ratio: 4.0 |
| adapter_num_heads: 8 |
| camera_pos_emb: false |
| decoder_pred_head: mlp |
| kl_div_loss: false |
| llama_ckpt_dir: /home/mfu/checkpoints/llama-2/llama-2-7b |
| load_llama: true |
| lora_layer_idxs: null |
| lora_rank: 4 |
| loss_w_action: 1.0 |
| modality_pos_emb: false |
| multikv_attn_pool: false |
| no_prompt_loss: true |
| num_inference_diffusion_steps: null |
| num_train_diffusion_steps: null |
| phase: pretrain |
| pred_action_only: true |
| pretrained_path: null |
| remove_proprio: false |
| scale_loss: 1.0 |
| scratch_llama_config: config/model_config/custom_transformer.json |
| separate_camera_adapter: true |
| step_weight: 1.0 |
| vision_encoder_cfg: !!python/object:icrt.util.args.VisionEncoderConfig |
| vision_encoder: ./checkpoints/crossmae_rtx/cross-mae-rtx-vitb.pth |
| vision_lora: false |
| vision_lora_rank: 8 |
| vision_nonpretrained: false |
| vision_unfreeze_all: false |
| vision_unfreeze_last_n: 0 |
| optimizer_cfg: !!python/object:icrt.util.args.OptimizerConfig |
| blr: 0.001 |
| lr: 0.0005 |
| min_lr: 0.0 |
| warmup_epochs: 1.25 |
| weight_decay: 0.01 |
| shared_cfg: !!python/object:icrt.util.args.SharedConfig |
| batch_size: 1 |
| num_cameras: 2 |
| num_pred_steps: 16 |
| num_stages: 1 |
| num_visual_trace_points: 5 |
| random_mask_visual_trace: true |
| resume: /data/tientoan/icrt_output/output_libero_90/visual_trace_mma_3d_no_prompt_loss_0_ver4/checkpoint-124.pth |
| rot_6d: true |
| save_every: 1 |
| scale_action: null |
| seed: 0 |
| seq_length: 512 |
| split_epoch: 1 |
| start_epoch: 0 |
| use_delta_action: true |
| train: true |
| trainer_cfg: !!python/object:icrt.util.args.TrainerConfig |
| accum_iter: 64 |
| epochs: 125 |
| num_workers: 20 |
| pin_memory: true |
| world_size: 1 |
|
|
