Upload SAM2Act release models

sam2act_memorybench/sam2act_put_block_back/exp_cfg.yaml

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+agent: our
+bs: 8
+data_source: memorybench
+demo: 100
+epochs: 10
+exp_id: sam2act
+exp_name: put_block_back
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 1.25e-05
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: false
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: task_uniform
+tasks: put_block_back
+train_iter: 160000
+wandb: true
+

sam2act_memorybench/sam2act_put_block_back/exp_cfg_plus.yaml

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+agent: our
+bs: 16
+data_source: memorybench
+demo: 100
+epochs: 20
+exp_id: sam2act
+exp_name: put_block_back
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 2.5e-06
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: true
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: demo_uniform_temporal
+tasks: put_block_back
+train_iter: 160000
+wandb: true
+

sam2act_memorybench/sam2act_put_block_back/model_9.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4ac210ffa72fa2a731c29b6d193450e60c9c4b15d58af1f55d8eb62db5051b
+size 599707653

sam2act_memorybench/sam2act_put_block_back/model_plus_19.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bbdfa57a373394f022c303f2ef98f765655e28a1df6da56c8571f1d446b7eda2
+size 599714517

sam2act_memorybench/sam2act_put_block_back/mvt_cfg.yaml

@@ -0,0 +1,51 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+memory_target_source: gt
+norm_corr: true
+num_maskmem: 7
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: ./mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: false
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+

sam2act_memorybench/sam2act_put_block_back/mvt_cfg_plus.yaml

@@ -0,0 +1,51 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+memory_target_source: gt
+norm_corr: true
+num_maskmem: 7
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: ./mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: true
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+

sam2act_memorybench/sam2act_rearrange_block/exp_cfg.yaml

@@ -0,0 +1,41 @@
+agent: our
+bs: 8
+data_source: memorybench
+demo: 100
+epochs: 10
+exp_id: sam2act
+exp_name: rearrange_block
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 1.25e-05
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: false
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: task_uniform
+tasks: rearrange_block
+train_iter: 160000
+wandb: true
+

sam2act_memorybench/sam2act_rearrange_block/exp_cfg_plus.yaml

@@ -0,0 +1,41 @@
+agent: our
+bs: 16
+data_source: memorybench
+demo: 100
+epochs: 20
+exp_id: sam2act
+exp_name: rearrange_block
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 2.5e-06
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: true
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: demo_uniform_temporal
+tasks: rearrange_block
+train_iter: 160000
+wandb: true
+

sam2act_memorybench/sam2act_rearrange_block/model_9.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a6c8e4c09ee571c7207b55e623748d741336d7d941edc907b5003ff3d308a42
+size 599707653

sam2act_memorybench/sam2act_rearrange_block/model_plus_19.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b8c6b373113a07d044f70f15edf5e7b801fd46a1786898b9428b103327ae8ce9
+size 599714517

sam2act_memorybench/sam2act_rearrange_block/mvt_cfg.yaml

@@ -0,0 +1,51 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+memory_target_source: gt
+norm_corr: true
+num_maskmem: 7
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: ./mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: false
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+

sam2act_memorybench/sam2act_rearrange_block/mvt_cfg_plus.yaml

@@ -0,0 +1,51 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+memory_target_source: gt
+norm_corr: true
+num_maskmem: 7
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: ./mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: true
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+

sam2act_memorybench/sam2act_reopen_drawer/exp_cfg.yaml

@@ -0,0 +1,41 @@
+agent: our
+bs: 16
+data_source: memorybench
+demo: 100
+epochs: 10
+exp_id: sam2act
+exp_name: reopen_drawer
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 2.5e-05
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: false
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: task_uniform
+tasks: reopen_drawer
+train_iter: 160000
+wandb: true
+

sam2act_memorybench/sam2act_reopen_drawer/exp_cfg_plus.yaml

@@ -0,0 +1,41 @@
+agent: our
+bs: 16
+data_source: memorybench
+demo: 100
+epochs: 20
+exp_id: sam2act
+exp_name: reopen_drawer
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 2.5e-06
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: true
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: demo_uniform_temporal
+tasks: reopen_drawer
+train_iter: 160000
+wandb: true
+

sam2act_memorybench/sam2act_reopen_drawer/model_9.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe661805602fe77cc47b81934da74bf3032db82fa50e7a6237f78d331036d31
+size 599707653

sam2act_memorybench/sam2act_reopen_drawer/model_plus_19.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f6018db0afffcbc8bc4ada53eed8ed4ea95248a7067403c934c8ad68415e1560
+size 599714517

sam2act_memorybench/sam2act_reopen_drawer/mvt_cfg.yaml

@@ -0,0 +1,51 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+memory_target_source: pred
+norm_corr: true
+num_maskmem: 7
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: ./mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: false
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+

sam2act_memorybench/sam2act_reopen_drawer/mvt_cfg_plus.yaml

@@ -0,0 +1,51 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+memory_target_source: gt
+norm_corr: true
+num_maskmem: 7
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: ./mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: true
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+

sam2act_rlbench/exp_cfg.yaml

@@ -0,0 +1,40 @@
+agent: our
+bs: 8
+demo: 100
+epochs: 90
+exp_id: sam2act
+exp_name: rlbench
+num_workers: 5
+peract:
+  add_rgc_loss: true
+  amp: true
+  bnb: true
+  lambda_weight_l2: 0.0001
+  lr: 1.25e-05
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  same_trans_aug_per_seq: false
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_steps: 2000
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+resume: ''
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.0
+  move_pc_in_bound: true
+  place_with_mean: false
+sample_distribution_mode: task_uniform
+tasks: all
+train_iter: 160000
+wandb: true
+

sam2act_rlbench/model_89.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9abefbac84103f00df26725d8d1f668fc9083ac741ff11b05afaf8e0c1522c32
+size 599745530

sam2act_rlbench/mvt_cfg.yaml

@@ -0,0 +1,50 @@
+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+cvx_up: true
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+feat_ver: 1
+final_dim: 64
+ifSAM2: true
+ifsep: false
+im_channels: 64
+img_aug_2: 0.05
+img_feat_dim: 3
+img_patch_size: 14
+img_size: 224
+inp_pre_con: false
+inp_pre_pro: false
+lang_dim: 512
+lang_len: 77
+lora_finetune: true
+lora_r: 16
+norm_corr: true
+num_maskmem: 9
+num_rot: 72
+pe_fix: true
+proprio_dim: 4
+rend_three_views: true
+resize_rgb: true
+rot_ver: 1
+sam2_ckpt: ./mvt/sam2_train/checkpoints/sam2.1_hiera_base_plus.pt
+sam2_config: /configs/sam2.1/sam2.1_hiera_b+
+self_cross_ver: 1
+st_sca: 4
+st_wpt_loc_aug: 0.05
+st_wpt_loc_inp_no_noise: true
+stage_two: true
+use_memory: false
+use_point_renderer: true
+weight_tie_layers: false
+wpt_img_aug: 0.0
+xops: true
+