Upload config: lift_finetune_10v_latest

lift/finetune_10v/config.json

@@ -0,0 +1 @@
+"{\n    \"algo_name\": \"diffusion_policy\",\n    \"experiment\": {\n        \"name\": \"diffusion_policy_laomft10v_10v\",\n        \"validate\": false,\n        \"logging\": {\n            \"terminal_output_to_txt\": true,\n            \"log_tb\": true,\n            \"log_wandb\": true,\n            \"wandb_proj_name\": \"diffusion_policy_lift\"\n        },\n        \"save\": {\n            \"enabled\": true,\n            \"every_n_seconds\": null,\n            \"every_n_epochs\": 10,\n            \"epochs\": [],\n            \"on_best_validation\": false,\n            \"on_best_rollout_return\": false,\n            \"on_best_rollout_success_rate\": true\n        },\n        \"epoch_every_n_steps\": 1000,\n        \"validation_epoch_every_n_steps\": 10,\n        \"env\": null,\n        \"additional_envs\": null,\n        \"render\": false,\n        \"render_video\": false,\n        \"keep_all_videos\": false,\n        \"video_skip\": 5,\n        \"rollout\": {\n            \"enabled\": false,\n            \"n\": 50,\n            \"horizon\": 400,\n            \"rate\": 50,\n            \"warmstart\": 0,\n            \"terminate_on_success\": true\n        },\n        \"env_meta_update_dict\": {},\n        \"ckpt_path\": null,\n        \"obs_encoder_path\": null,\n        \"obs_encoder_freeze\": false\n    },\n    \"train\": {\n        \"data\": [\n            {\n                \"path\": \"/shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5\",\n                \"traj_split_path\": null\n            }\n        ],\n        \"output_dir\": \"/shared/s2/lab01/youngjoonjeong/multiview/diffusion_policy_lift\",\n        \"normalize_weights_by_ds_size\": false,\n        \"num_data_workers\": 12,\n        \"hdf5_cache_mode\": \"low_dim\",\n        \"hdf5_use_swmr\": true,\n        \"hdf5_load_next_obs\": false,\n        \"hdf5_normalize_obs\": false,\n        \"hdf5_filter_key\": null,\n        \"hdf5_validation_filter_key\": null,\n        \"seq_length\": 16,\n        \"pad_seq_length\": true,\n        \"frame_stack\": 1,\n        \"pad_frame_stack\": true,\n        \"dataset_keys\": [\n            \"actions\",\n            \"rewards\",\n            \"dones\"\n        ],\n        \"action_keys\": [\n            \"actions\"\n        ],\n        \"action_config\": {\n            \"actions\": {\n                \"normalization\": null\n            }\n        },\n        \"goal_mode\": null,\n        \"cuda\": true,\n        \"batch_size\": 100,\n        \"num_epochs\": 50,\n        \"seed\": 1,\n        \"max_grad_norm\": null\n    },\n    \"algo\": {\n        \"optim_params\": {\n            \"policy\": {\n                \"optimizer_type\": \"adamw\",\n                \"learning_rate\": {\n                    \"initial\": 0.0001,\n                    \"decay_factor\": 0.1,\n                    \"step_every_batch\": true,\n                    \"scheduler_type\": \"cosine\",\n                    \"num_cycles\": 0.5,\n                    \"warmup_steps\": 500,\n                    \"epoch_schedule\": []\n                },\n                \"regularization\": {\n                    \"L2\": 1e-06\n                }\n            }\n        },\n        \"horizon\": {\n            \"observation_horizon\": 1,\n            \"action_horizon\": 8,\n            \"prediction_horizon\": 16\n        },\n        \"unet\": {\n            \"enabled\": true,\n            \"diffusion_step_embed_dim\": 256,\n            \"down_dims\": [\n                256,\n                512,\n                1024\n            ],\n            \"kernel_size\": 5,\n            \"n_groups\": 8\n        },\n        \"ema\": {\n            \"enabled\": true,\n            \"power\": 0.75\n        },\n        \"ddpm\": {\n            \"enabled\": false,\n            \"num_train_timesteps\": 100,\n            \"num_inference_timesteps\": 100,\n            \"beta_schedule\": \"squaredcos_cap_v2\",\n            \"clip_sample\": true,\n            \"prediction_type\": \"epsilon\"\n        },\n        \"ddim\": {\n            \"enabled\": true,\n            \"num_train_timesteps\": 100,\n            \"num_inference_timesteps\": 10,\n            \"beta_schedule\": \"squaredcos_cap_v2\",\n            \"clip_sample\": true,\n            \"set_alpha_to_one\": true,\n            \"steps_offset\": 0,\n            \"prediction_type\": \"epsilon\"\n        }\n    },\n    \"observation\": {\n        \"modalities\": {\n            \"obs\": {\n                \"low_dim\": [],\n                \"rgb\": [\n                    \"view_00/agentview_image\",\n                    \"view_02/agentview_image\",\n                    \"view_04/agentview_image\",\n                    \"view_06/agentview_image\",\n                    \"view_08/agentview_image\",\n                    \"view_16/agentview_image\",\n                    \"view_18/agentview_image\",\n                    \"view_20/agentview_image\",\n                    \"view_22/agentview_image\",\n                    \"view_24/agentview_image\"\n                ],\n                \"depth\": [],\n                \"scan\": []\n            },\n            \"goal\": {\n                \"low_dim\": [],\n                \"rgb\": [],\n                \"depth\": [],\n                \"scan\": []\n            }\n        },\n        \"encoder\": {\n            \"low_dim\": {\n                \"core_class\": null,\n                \"core_kwargs\": {},\n                \"obs_randomizer_class\": null,\n                \"obs_randomizer_kwargs\": {}\n            },\n            \"rgb\": {\n                \"core_class\": \"VisualCore\",\n                \"core_kwargs\": {\n                    \"backbone_class\": \"LAOMEncoder\",\n                    \"backbone_kwargs\": {\n                        \"model_path\": \"/shared/s2/lab01/youngjoonjeong/multiview/encoders/VILA/lift-25v-hard-10v-l2-winfonce-gram/bc_offset_10_final.pt\",\n                        \"freeze\": false,\n                        \"dummy\": false\n                    },\n                    \"pool_class\": null,\n                    \"feature_dimension\": 64\n                },\n                \"obs_randomizer_class\": null,\n                \"obs_randomizer_kwargs\": {}\n            },\n            \"depth\": {\n                \"core_class\": \"VisualCore\",\n                \"core_kwargs\": {},\n                \"obs_randomizer_class\": null,\n                \"obs_randomizer_kwargs\": {}\n            },\n            \"scan\": {\n                \"core_class\": \"ScanCore\",\n                \"core_kwargs\": {},\n                \"obs_randomizer_class\": null,\n                \"obs_randomizer_kwargs\": {}\n            }\n        }\n    },\n    \"meta\": {\n        \"hp_base_config_file\": null,\n        \"hp_keys\": [],\n        \"hp_values\": []\n    }\n}"