| { |
| "args": { |
| "config": "configs/idm_exp2_depth.yaml", |
| "data_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/datasets/libero_lerobot/", |
| "subsets": [ |
| "libero_10_no_noops_1.0.0_lerobot", |
| "libero_spatial_no_noops_1.0.0_lerobot", |
| "libero_goal_no_noops_1.0.0_lerobot", |
| "libero_object_no_noops_1.0.0_lerobot", |
| "libero_90_no_noops_lerobot" |
| ], |
| "flow_cache_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/datasets/libero_flow_cache", |
| "flow_store": "raft_h8_r256.zarr", |
| "depth_cache_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/datasets/libero_depth_cache", |
| "depth_store": "da3_da3metric-large_r256.zarr", |
| "depth_repr": "depth_colormap", |
| "depth_cmap": "turbo", |
| "depth_power": 0.5, |
| "output_dir": "./runs_idm", |
| "num_actions": 8, |
| "image_size": 256, |
| "batch_size": 512, |
| "num_workers": 16, |
| "color_jitter": false, |
| "safe_skip": true, |
| "backbone": "facebook/dinov3-vits16-pretrain-lvd1689m", |
| "input_mode": "source_depth_flow", |
| "freeze_backbone": true, |
| "proprio_dim": 8, |
| "head_type": "xattn", |
| "head_hidden": 1024, |
| "head_layers": 3, |
| "proprio_hidden": 256, |
| "decoder_layers": 4, |
| "decoder_heads": 8, |
| "dropout": 0.1, |
| "huber_delta": 0.1, |
| "gripper_weight": 1.0, |
| "gripper_idx": 6, |
| "action_dim": 7, |
| "encoder_input_size": 224, |
| "norm_mode": "zscore", |
| "norm_stats_path": "fluxflow/norm_stats/libero_norm.json", |
| "lr": 0.001, |
| "lr_scheduler": "cosine", |
| "max_steps": 50000, |
| "warmup_steps": 500, |
| "save_every": 2000, |
| "grad_accum": 4, |
| "max_grad_norm": 1.0, |
| "mixed_precision": "bf16", |
| "seed": 42, |
| "wandb_project": "fluxflow-idm", |
| "wandb_entity": null, |
| "run_name": null, |
| "log_every": 20, |
| "val_every": 500, |
| "num_val_samples": 64, |
| "val_fraction": 0.05, |
| "split_seed": 0, |
| "profile": false, |
| "pretrained_model": "black-forest-labs/FLUX.2-klein-base-4B", |
| "flux_lora_ckpt": null, |
| "mix_flux_p": 0.0, |
| "num_inference_steps": 4, |
| "flux_guidance_scale": 1.0, |
| "flux_batch_size": 0, |
| "overfit_episodes": 0, |
| "overfit_n": 0, |
| "overfit_sample_mode": "linspace", |
| "append_progress": true, |
| "on_the_fly_flow": false, |
| "flow_model": "raft", |
| "flow_scale": 0.0, |
| "flow_sigma": 0.15, |
| "flow_repr": "uv", |
| "flow_chunk_size": 32, |
| "waft_cfg": "config/a1/tar-c-t.json", |
| "waft_ckpt": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/waft/checkpoints/waft-a1.pth", |
| "waft_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/waft", |
| "waft_da_ckpt": null, |
| "raft_ckpt": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/raft/checkpoints/raft-things.pth", |
| "raft_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/raft", |
| "raft_iters": 20, |
| "raft_small": false, |
| "_overrides": [ |
| "batch_size", |
| "data_dir", |
| "grad_accum", |
| "max_steps", |
| "num_workers", |
| "safe_skip" |
| ] |
| }, |
| "step": 34000 |
| } |
