initial commit

seed0/config.yaml

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+method:
+  name: ManiGaussian_BC
+  use_fabric: true
+  eval_neural_renderer: false
+  use_depth: true
+  use_neural_rendering: true
+  num_view_for_nerf: 20
+  language_model: CLIP
+  language_model_dim: 512
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  npoints: 4096
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 128
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: true
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  use_wandb: true
+  lambda_bc: 1.0
+  point_cloud_encoder:
+    NAME: PointNextEncoder
+    blocks:
+    - 1
+    - 1
+    - 1
+    - 1
+    - 1
+    strides:
+    - 1
+    - 2
+    - 2
+    - 2
+    - 2
+    width: 128
+    in_channels: 6
+    sa_layers: 3
+    sa_use_res: true
+    radius: 0.05
+    radius_scaling: 2.5
+    nsample: 32
+    expansion: 4
+    aggr_args:
+      feature_type: dp_fj
+      reduction: max
+    group_args:
+      NAME: ballquery
+      normalize_dp: true
+    conv_args:
+      order: conv-norm-act
+    act_args:
+      act: relu
+      inplace: true
+    norm_args:
+      norm: bn
+  point_cloud_decoder:
+    layers: 2
+  neural_renderer:
+    visdom: false
+    render_freq: 2000
+    use_clip: false
+    use_dynamic_field: true
+    lambda_nerf: 0.01
+    lambda_embed: 0.01
+    lambda_rgb: 1.0
+    lambda_l1: 0.8
+    lambda_ssim: 0.2
+    lambda_dyna: 0.1
+    lambda_reg: 0.0
+    dataset:
+      use_processed_data: true
+      bg_color:
+      - 0
+      - 0
+      - 0
+      zfar: 4.0
+      znear: 0.1
+      trans:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale: 1.0
+      mask_gt_rgb: false
+    raft:
+      encoder_dims:
+      - 32
+      - 48
+      - 96
+    gsnet:
+      encoder_dims:
+      - 32
+      - 48
+      - 96
+      decoder_dims:
+      - 48
+      - 64
+      - 96
+      parm_head_dim: 32
+    foundation_model_name: diffusion
+    d_embed: 3
+    loss_embed_fn: cosine
+    d_latent: 128
+    use_depth_supervision: false
+    d_lang: 128
+    voxel_shape: 100
+    image_width: 128
+    image_height: 128
+    z_near: 0.1
+    z_far: 4.0
+    coordinate_bounds:
+    - -0.3
+    - -0.5
+    - 0.6
+    - 0.7
+    - 0.5
+    - 1.6
+    use_code: true
+    use_code_viewdirs: false
+    use_xyz: true
+    use_viewdirs: true
+    mlp:
+      n_blocks: 5
+      d_hidden: 512
+      combine_layer: 3
+      combine_type: average
+      beta: 0.0
+      use_spade: false
+      opacity_scale: 1.0
+      opacity_bias: -2.0
+      scale_bias: 0.02
+      scale_scale: 0.003
+      xyz_scale: 0.1
+      xyz_bias: 0.0
+      max_sh_degree: 1
+    next_mlp:
+      d_in: 3
+      d_lang: 128
+      d_out: 3
+      n_blocks: 5
+      d_hidden: 512
+      combine_layer: 3
+      combine_type: average
+      beta: 0.0
+      use_spade: false
+      warm_up: 3000
+      use_action: true
+      lr: 0.0005
+      lambda_weight_l2: 0.0001
+    code:
+      num_freqs: 6
+      freq_factor: 1.5
+      include_input: true
+ddp:
+  master_addr: localhost
+  master_port: 12435
+  num_devices: 2
+  device_id: 0
+rlbench:
+  task_name: gs_rgb_emb_001_dyna_new_01_0305
+  tasks:
+  - close_jar
+  - open_drawer
+  - sweep_to_dustpan_of_size
+  - meat_off_grill
+  - turn_tap
+  - slide_block_to_color_target
+  - put_item_in_drawer
+  - reach_and_drag
+  - push_buttons
+  - stack_blocks
+  demos: 20
+  num_view_for_nerf: 21
+  demo_path: /mnt/disk_1/guanxing/GNFactor/data/train_data
+  episode_length: 15
+  cameras:
+  - front
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  headless: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /mnt/disk_1/guanxing/GNFactor/replay/gs_rgb_emb_001_dyna_new_01_0305
+  max_parallel_processes: 8
+evaluation:
+  eval_freq: 10000
+  eval_episodes: 25
+  time_in_state: true
+  record_every_n: 10000
+  episode_length: 15
+  gpu: 0
+framework:
+  use_online_evaluation: false
+  log_freq: 100
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 100010
+  gpu: 0
+  env_gpu: 0
+  logdir: logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  use_wandb: true
+  wandb_project: gnfactor
+  wandb_group: gs_rgb_emb_001_dyna_new_01_0305
+  seed: 0
+  wandb_name: gs_rgb_emb_001_dyna_new_01_0305
+  tqdm_mininterval: 10

seed0/eval_data.csv

@@ -0,0 +1,9 @@
+step,eval_envs/return/close_jar,eval_envs/length/close_jar,eval_envs/total_transitions/close_jar,eval_envs/return/open_drawer,eval_envs/length/open_drawer,eval_envs/total_transitions/open_drawer,eval_envs/return/sweep_to_dustpan_of_size,eval_envs/length/sweep_to_dustpan_of_size,eval_envs/total_transitions/sweep_to_dustpan_of_size,eval_envs/return/meat_off_grill,eval_envs/length/meat_off_grill,eval_envs/total_transitions/meat_off_grill,eval_envs/return/turn_tap,eval_envs/length/turn_tap,eval_envs/total_transitions/turn_tap,eval_envs/return/slide_block_to_color_target,eval_envs/length/slide_block_to_color_target,eval_envs/total_transitions/slide_block_to_color_target,eval_envs/return/put_item_in_drawer,eval_envs/length/put_item_in_drawer,eval_envs/total_transitions/put_item_in_drawer,eval_envs/return/reach_and_drag,eval_envs/length/reach_and_drag,eval_envs/total_transitions/reach_and_drag,eval_envs/return/push_buttons,eval_envs/length/push_buttons,eval_envs/total_transitions/push_buttons,eval_envs/return/stack_blocks,eval_envs/length/stack_blocks,eval_envs/total_transitions/stack_blocks
+70000,28.0,20.2,505,64.0,8.2,710,48.0,16.32,1118,52.0,15.4,1503,56.0,12.08,1805,8.0,24.04,2406,4.0,19.92,2904,80.0,12.8,3224,16.0,21.52,3762,8.0,21.6,4302
+80000,44.0,17.72,443,64.0,8.44,654,44.0,16.64,1070,48.0,16.36,1479,48.0,12.4,1789,4.0,24.32,2397,8.0,15.36,2781,92.0,8.88,3003,12.0,22.44,3564,16.0,20.2,4069
+90000,16.0,21.72,543,68.0,10.28,800,64.0,12.56,1114,60.0,14.48,1476,56.0,13.52,1814,8.0,22.84,2385,12.0,17.28,2817,84.0,10.12,3070,12.0,22.64,3636,16.0,22.48,4198
+100000,28.0,20.32,508,76.0,9.16,737,64.0,12.76,1056,60.0,14.32,1414,56.0,13.6,1754,24.0,20.2,2259,16.0,18.16,2713,92.0,8.64,2929,20.0,20.76,3448,12.0,23.92,4046
+100000,28.0,20.52,513,68.0,8.64,729,56.0,14.24,1085,60.0,15.2,1465,44.0,15.84,1861,8.0,23.32,2444,12.0,18.36,2903,88.0,9.28,3135,28.0,19.04,3611,0.0,25.0,4236
+100000,28.0,20.0,500,56.0,12.16,804,64.0,12.64,1120,64.0,14.16,1474,48.0,15.6,1864,24.0,19.68,2356,8.0,20.56,2870,88.0,9.44,3106,12.0,22.4,3666,0.0,25.0,4291
+90000,20.0,21.76,544,76.0,8.68,761,56.0,14.28,1118,60.0,13.8,1463,52.0,13.92,1811,8.0,23.44,2397,12.0,16.68,2814,80.0,10.84,3085,20.0,20.64,3601,12.0,20.88,4123
+100000,32.0,19.64,491,68.0,10.2,746,64.0,12.8,1066,64.0,13.0,1391,48.0,14.2,1746,16.0,21.72,2289,8.0,18.36,2748,92.0,8.56,2962,20.0,20.8,3482,0.0,24.12,4085

seed0/weights/100000/QAttentionAgent_layer0.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9437d9533fcfaed06cd539e6ca0bebcbb78cbe69ae75627a4d43adcd768db846
+size 256762042