Upload policy_checkpoints/NutAssemblySquare/2024-11-30-00-45-56_E8.2.0b-sq-maxvel1/wandb/run-20241130_031226-mxhmxn6b/files/config.yaml with huggingface_hub

policy_checkpoints/NutAssemblySquare/2024-11-30-00-45-56_E8.2.0b-sq-maxvel1/wandb/run-20241130_031226-mxhmxn6b/files/config.yaml

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+_target_:
+    value: adaflow.workspace.train_diffusion_unet_image_workspace.TrainDiffusionUnetImageWorkspace
+_wandb:
+    value:
+        cli_version: 0.18.7
+        code_path: code/train.py
+        m: []
+        python_version: 3.10.15
+        t:
+            "1":
+                - 1
+                - 41
+                - 49
+                - 50
+                - 55
+                - 83
+            "2":
+                - 1
+                - 41
+                - 49
+                - 50
+                - 55
+                - 83
+            "3":
+                - 13
+                - 15
+                - 16
+                - 23
+                - 55
+                - 61
+            "4": 3.10.15
+            "5": 0.18.7
+            "8":
+                - 5
+            "12": 0.18.7
+            "13": linux-x86_64
+checkpoint:
+    value:
+        save_last_ckpt: true
+        save_last_snapshot: false
+        topk:
+            format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
+            k: 1
+            mode: max
+            monitor_key: test_mean_score
+dataloader:
+    value:
+        batch_size: 64
+        num_workers: 4
+        persistent_workers: false
+        pin_memory: true
+        shuffle: true
+dataset_obs_steps:
+    value: 2
+dataset_type:
+    value: ph
+ema:
+    value:
+        _target_: adaflow.model.diffusion.ema_model.EMAModel
+        inv_gamma: 1
+        max_value: 0.9999
+        min_value: 0
+        power: 0.75
+        update_after_step: 0
+exp_name:
+    value: default
+horizon:
+    value: 16
+keypoint_visible_rate:
+    value: 1
+logging:
+    value:
+        group: null
+        id: null
+        mode: online
+        name: E8.2.0b-sq-maxvel1_square_2024-11-30-00-45-56
+        project: adaflow
+        resume: true
+        tags:
+            - train_diffusion_unet_image
+            - square_image
+            - default
+multi_run:
+    value:
+        run_dir: /mnt/data3/kevin/autom/adaflow//outputs/square/2024-11-30-00-45-56_E8.2.0b-sq-maxvel1
+        wandb_name_base: 2024.11.30-03.02.46_train_diffusion_unet_image_square_image_ph
+n_action_steps:
+    value: 8
+n_latency_steps:
+    value: 0
+n_obs_steps:
+    value: 2
+name:
+    value: train_diffusion_unet_image
+obs_as_global_cond:
+    value: true
+optimizer:
+    value:
+        _target_: torch.optim.AdamW
+        betas:
+            - 0.95
+            - 0.999
+        eps: 1e-08
+        lr: 0.0001
+        weight_decay: 1e-06
+output_dir:
+    value: /mnt/data3/kevin/autom/adaflow/outputs/square/2024-11-30-00-45-56_E8.2.0b-sq-maxvel1
+past_action_visible:
+    value: false
+policy:
+    value:
+        _target_: adaflow.policy.diffusion_unet_image_policy.DiffusionUnetImagePolicy
+        cond_predict_scale: true
+        diffusion_step_embed_dim: 128
+        down_dims:
+            - 512
+            - 1024
+            - 2048
+        horizon: 16
+        kernel_size: 5
+        n_action_steps: 8
+        n_groups: 8
+        n_obs_steps: 2
+        noise_scheduler:
+            _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
+            beta_end: 0.02
+            beta_schedule: squaredcos_cap_v2
+            beta_start: 0.0001
+            clip_sample: true
+            num_train_timesteps: 100
+            prediction_type: epsilon
+            variance_type: fixed_small
+        num_inference_steps: 100
+        obs_as_global_cond: true
+        obs_encoder:
+            _target_: adaflow.model.vision.multi_image_obs_encoder.MultiImageObsEncoder
+            crop_shape:
+                - 76
+                - 76
+            imagenet_norm: true
+            random_crop: true
+            resize_shape: null
+            rgb_model:
+                _target_: adaflow.model.vision.model_getter.get_resnet
+                name: resnet18
+                weights: null
+            shape_meta:
+                action:
+                    shape:
+                        - 10
+                obs:
+                    agentview_image:
+                        shape:
+                            - 3
+                            - 84
+                            - 84
+                        type: rgb
+                    robot0_eef_pos:
+                        shape:
+                            - 3
+                    robot0_eef_quat:
+                        shape:
+                            - 4
+                    robot0_eye_in_hand_image:
+                        shape:
+                            - 3
+                            - 84
+                            - 84
+                        type: rgb
+                    robot0_gripper_qpos:
+                        shape:
+                            - 2
+            share_rgb_model: false
+            use_group_norm: true
+        shape_meta:
+            action:
+                shape:
+                    - 10
+            obs:
+                agentview_image:
+                    shape:
+                        - 3
+                        - 84
+                        - 84
+                    type: rgb
+                robot0_eef_pos:
+                    shape:
+                        - 3
+                robot0_eef_quat:
+                    shape:
+                        - 4
+                robot0_eye_in_hand_image:
+                    shape:
+                        - 3
+                        - 84
+                        - 84
+                    type: rgb
+                robot0_gripper_qpos:
+                    shape:
+                        - 2
+shape_meta:
+    value:
+        action:
+            shape:
+                - 10
+        obs:
+            agentview_image:
+                shape:
+                    - 3
+                    - 84
+                    - 84
+                type: rgb
+            robot0_eef_pos:
+                shape:
+                    - 3
+            robot0_eef_quat:
+                shape:
+                    - 4
+            robot0_eye_in_hand_image:
+                shape:
+                    - 3
+                    - 84
+                    - 84
+                type: rgb
+            robot0_gripper_qpos:
+                shape:
+                    - 2
+task:
+    value:
+        abs_action: true
+        dataset:
+            _target_: adaflow.dataset.robomimic_replay_image_dataset.RobomimicReplayImageDataset
+            abs_action: true
+            dataset_path: /mnt/data3/kevin/autom/demo-aug//datasets/generated/square/2024-11-30-00-45-56/merged_E8.2.0b-sq-maxvel1_all.hdf5
+            horizon: 16
+            n_obs_steps: 2
+            pad_after: 7
+            pad_before: 1
+            rotation_rep: rotation_6d
+            seed: 42
+            shape_meta:
+                action:
+                    shape:
+                        - 10
+                obs:
+                    agentview_image:
+                        shape:
+                            - 3
+                            - 84
+                            - 84
+                        type: rgb
+                    robot0_eef_pos:
+                        shape:
+                            - 3
+                    robot0_eef_quat:
+                        shape:
+                            - 4
+                    robot0_eye_in_hand_image:
+                        shape:
+                            - 3
+                            - 84
+                            - 84
+                        type: rgb
+                    robot0_gripper_qpos:
+                        shape:
+                            - 2
+            use_cache: true
+            use_legacy_normalizer: false
+            val_ratio: 0.02
+        dataset_path: /mnt/data3/kevin/autom/demo-aug//datasets/generated/square/2024-11-30-00-45-56/merged_E8.2.0b-sq-maxvel1_all.hdf5
+        dataset_type: ph
+        env_runner:
+            _target_: adaflow.env_runner.robomimic_image_runner.RobomimicImageRunner
+            abs_action: true
+            crf: 22
+            dataset_path: /mnt/data3/kevin/autom/demo-aug//datasets/generated/square/2024-11-30-00-45-56/merged_E8.2.0b-sq-maxvel1_all.hdf5
+            fps: 10
+            max_steps: 400
+            n_action_steps: 8
+            n_envs: 29
+            n_obs_steps: 2
+            n_test: 50
+            n_test_vis: 50
+            n_train: 8
+            n_train_vis: 8
+            past_action: false
+            render_obs_key: agentview_image
+            shape_meta:
+                action:
+                    shape:
+                        - 10
+                obs:
+                    agentview_image:
+                        shape:
+                            - 3
+                            - 84
+                            - 84
+                        type: rgb
+                    robot0_eef_pos:
+                        shape:
+                            - 3
+                    robot0_eef_quat:
+                        shape:
+                            - 4
+                    robot0_eye_in_hand_image:
+                        shape:
+                            - 3
+                            - 84
+                            - 84
+                        type: rgb
+                    robot0_gripper_qpos:
+                        shape:
+                            - 2
+            test_start_seed: 100000
+            tqdm_interval_sec: 1
+            train_start_idx: 0
+        name: square_image
+        shape_meta:
+            action:
+                shape:
+                    - 10
+            obs:
+                agentview_image:
+                    shape:
+                        - 3
+                        - 84
+                        - 84
+                    type: rgb
+                robot0_eef_pos:
+                    shape:
+                        - 3
+                robot0_eef_quat:
+                    shape:
+                        - 4
+                robot0_eye_in_hand_image:
+                    shape:
+                        - 3
+                        - 84
+                        - 84
+                    type: rgb
+                robot0_gripper_qpos:
+                    shape:
+                        - 2
+        task_name: square
+task_name:
+    value: square_image
+training:
+    value:
+        checkpoint_every: 20
+        debug: false
+        device: cuda:0
+        freeze_encoder: false
+        gradient_accumulate_every: 1
+        lr_scheduler: cosine
+        lr_warmup_steps: 500
+        max_train_steps: null
+        max_val_steps: null
+        num_epochs: 800
+        pretrained_ckpt: null
+        resume: true
+        resume_dir: null
+        rollout_every: 20
+        sample_every: 5
+        seed: 42
+        tqdm_interval_sec: 1
+        use_ema: true
+        val_every: 5
+val_dataloader:
+    value:
+        batch_size: 64
+        num_workers: 8
+        persistent_workers: false
+        pin_memory: true
+        shuffle: false
+wandb_run_url_0:
+    value: https://wandb.ai/kevin-lin/cpgen/runs/hzqsgkw0
+wandb_run_url_1:
+    value: https://wandb.ai/kevin-lin/cpgen/runs/hhpcrm4u