Upload config: so101_drawer_idm_4v

so101_drawer/4v/idm_config.yaml

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+bc:
+  action_key: delta_ee
+  batch_size: 256
+  camera_num: 4
+  data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
+  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
+  dcs_backgrounds_split: train
+  dropout: 0.0
+  encoder_deep: false
+  encoder_num_res_blocks: 2
+  encoder_scale: 32
+  eval_episodes: 5
+  eval_seed: 0
+  filter_noop: false
+  fixed_offset: 10
+  frame_stack: 1
+  learning_rate: 1.0e-05
+  mixed_view_sampling: false
+  num_epochs: 100
+  num_trajectories_to_load: 200
+  positive_samples_per_instance: 4
+  resize_size: 128
+  seed: 0
+  train_dataset_size: null
+  train_traj_num: null
+  unlabeled_train_dataset_size: null
+  unlabeled_val_dataset_size: null
+  use_aug: false
+  val_dataset_size: null
+  val_traj_num: null
+  view_keys:
+  - view_00/agentview_image
+  - view_01/agentview_image
+  - view_02/agentview_image
+  - view_03/agentview_image
+  views_per_instance: 1
+  warmup_epochs: 0
+  weight_decay: 0.0
+bc_checkpoint_path: null
+debug_dataloader: false
+decoder:
+  action_decoder_type: simple
+  action_key: delta_ee
+  batch_size: 256
+  bc_transformer_config_path: null
+  camera_num: 4
+  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
+  dcs_backgrounds_split: train
+  eval_episodes: 25
+  eval_seed: 0
+  filter_noop: false
+  fixed_offset: 10
+  frame_stack: 1
+  hidden_dim: 256
+  learning_rate: 0.0003
+  mixed_view_sampling: false
+  num_trajectories_to_load: 200
+  positive_samples_per_instance: 4
+  resize_size: 128
+  total_updates: 2500
+  train_dataset_size: null
+  train_traj_num: null
+  unlabeled_train_dataset_size: null
+  unlabeled_val_dataset_size: null
+  use_aug: false
+  val_dataset_size: null
+  val_traj_num: null
+  view_keys:
+  - view_00/agentview_image
+  - view_01/agentview_image
+  - view_02/agentview_image
+  - view_03/agentview_image
+  views_per_instance: 1
+  warmup_epochs: 0
+  weight_decay: 0.0
+group: mv-labels-default
+lapo:
+  act_head_dim: 1024
+  act_head_dropout: 0.0
+  action_key: delta_ee
+  auxiliary_consistency_coef: 0.5
+  base_margin: 0.2
+  batch_size: 16
+  camera_embedding_dim: 64
+  camera_num: 4
+  cka_loss_coef: 1.0
+  cka_sigma: null
+  consistency_coef: 1.0
+  contrastive_loss_coef: 1.0
+  cosine_loss: false
+  data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
+  device: cuda
+  distance_type: l2
+  encoder_deep: false
+  encoder_dropout: 0.0
+  encoder_norm_out: false
+  encoder_num_res_blocks: 2
+  encoder_scale: 1
+  eval_data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
+  eval_view_keys:
+  - view_00/agentview_image
+  filter_noop: false
+  frame_stack: 1
+  future_obs_offset: 10
+  grad_norm: 1.0
+  infonce_temperature: 1.0
+  labeled_batch_size: 16
+  labeled_data_path: /shared/s2/lab01/dataset/robotics/robomimic/so101_drawer/so101_drawer_128x128.hdf5
+  labeled_loss_coef: 0.0
+  latent_action_dim: 512
+  learning_rate: 0.0001
+  log_consistency_details: true
+  loss_type: weighted_infonce_gram
+  mixed_view_sampling: false
+  normalize_action_distance: false
+  normalize_triplet: false
+  num_epochs: 100
+  num_trajectories_to_load: 200
+  num_workers: 12
+  obs_head_dim: 1024
+  obs_head_dropout: 0.0
+  positive_samples_per_instance: 8
+  resize_size: 128
+  seed: 0
+  target_tau: 0.001
+  target_update_every: 1
+  train_dataset_size: null
+  train_traj_num: null
+  triplet_warmup_epochs: 0
+  unlabeled_train_dataset_size: null
+  unlabeled_train_traj_num: null
+  unlabeled_val_dataset_size: null
+  unlabeled_val_traj_num: null
+  use_aug: true
+  use_auxiliary_consistency_losses: false
+  use_camera_conditioning: false
+  use_consistency_loss: false
+  use_random_offset: true
+  val_dataset_size: null
+  val_traj_num: null
+  view_keys:
+  - view_00/agentview_image
+  - view_01/agentview_image
+  - view_02/agentview_image
+  - view_03/agentview_image
+  views_per_instance: 8
+  warmup_epochs: 20
+  weight_decay: 0.0
+  weighted_infonce_beta: 0.05
+lapo_checkpoint_path: null
+name: mv-labels-4f3ee2ab-eef1-42e6-87ff-607e7bf70674
+project: mv
+run_name: so101-drawer-28v-hard-4v-l2-winfonce-gram-deltaee-128x128
+seed: 0