Upload config: lift_idm

lift/idm_config.yaml

@@ -0,0 +1,193 @@
+bc:
+  batch_size: 256
+  camera_num: 25
+  data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.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
+  fixed_offset: 16
+  frame_stack: 1
+  learning_rate: 5.0e-05
+  mixed_view_sampling: false
+  num_epochs: 1000
+  positive_samples_per_instance: 4
+  resize_size: 64
+  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
+  - view_04/agentview_image
+  - view_05/agentview_image
+  - view_06/agentview_image
+  - view_07/agentview_image
+  - view_08/agentview_image
+  - view_09/agentview_image
+  - view_10/agentview_image
+  - view_11/agentview_image
+  - view_12/agentview_image
+  - view_13/agentview_image
+  - view_14/agentview_image
+  - view_15/agentview_image
+  - view_16/agentview_image
+  - view_17/agentview_image
+  - view_18/agentview_image
+  - view_19/agentview_image
+  - view_20/agentview_image
+  - view_21/agentview_image
+  - view_22/agentview_image
+  - view_23/agentview_image
+  - view_24/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
+  batch_size: 256
+  bc_transformer_config_path: null
+  camera_num: 25
+  dcs_backgrounds_path: /shared/s2/lab01/dataset/DAVIS/JPEGImages/480p
+  dcs_backgrounds_split: train
+  eval_episodes: 25
+  eval_seed: 0
+  fixed_offset: 16
+  frame_stack: 1
+  hidden_dim: 256
+  learning_rate: 0.0003
+  mixed_view_sampling: false
+  positive_samples_per_instance: 4
+  resize_size: 64
+  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
+  - view_04/agentview_image
+  - view_05/agentview_image
+  - view_06/agentview_image
+  - view_07/agentview_image
+  - view_08/agentview_image
+  - view_09/agentview_image
+  - view_10/agentview_image
+  - view_11/agentview_image
+  - view_12/agentview_image
+  - view_13/agentview_image
+  - view_14/agentview_image
+  - view_15/agentview_image
+  - view_16/agentview_image
+  - view_17/agentview_image
+  - view_18/agentview_image
+  - view_19/agentview_image
+  - view_20/agentview_image
+  - view_21/agentview_image
+  - view_22/agentview_image
+  - view_23/agentview_image
+  - view_24/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
+  auxiliary_consistency_coef: 0.5
+  base_margin: 0.2
+  batch_size: 16
+  camera_embedding_dim: 64
+  camera_num: 10
+  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/lift/ph/lift_multiview_25v_hard_rand_64x64.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/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
+  eval_view_keys:
+  - view_10/agentview_image
+  frame_stack: 1
+  future_obs_offset: 16
+  grad_norm: 1.0
+  infonce_temperature: 1.0
+  labeled_batch_size: 16
+  labeled_data_path: /shared/s2/lab01/dataset/robotics/robomimic/lift/ph/lift_multiview_25v_hard_rand_64x64.hdf5
+  labeled_loss_coef: 0.0
+  latent_action_dim: 128
+  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_workers: 12
+  obs_head_dim: 1024
+  obs_head_dropout: 0.0
+  positive_samples_per_instance: 8
+  resize_size: 64
+  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_02/agentview_image
+  - view_04/agentview_image
+  - view_06/agentview_image
+  - view_08/agentview_image
+  - view_16/agentview_image
+  - view_18/agentview_image
+  - view_20/agentview_image
+  - view_22/agentview_image
+  - view_24/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-1f7233e7-3596-40be-9eae-3be9bc82e967
+project: mv
+run_name: lift-25v-hard-10v-l2-winfonce-gram
+seed: 0