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action_head--120000_checkpoint.pt

@@ -1,3 +1,3 @@
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args_config.json

@@ -7,11 +7,11 @@
   "robocasa_task_suite": "robocasa",
   "data_root_dir": "datasets/rlds",
   "dataset_name": "robocasa",
-  "run_root_dir": "/weka/jisookim/experiment/openvla/robocasa/ckpt/robocasa_single_stage_regenerate_3image--proprio_state_b16_aug",
+  "run_root_dir": "/weka/jisookim/experiment/openvla/robocasa/ckpt/robocasa_1024_input_head_onlytrack_mlp_8_stride1_hidden1024_blocks4_b16",
   "shuffle_buffer_size": 100000,
   "window_stride": 1,
   "action_chunk_size": null,
-  "tracking_tracks_root": null,
+  "tracking_tracks_root": "/weka/jisookim/dataset/robocasa/datasets/pointrack",
   "tracking_tracks_filename": "vertex_tracks_face_uniform.npy",
   "precomputed_statistics_path": "/weka/jisookim/dataset/robocasa/datasets/single_stage_regenerate/robocasa_statistics.json",
   "use_l1_regression": true,
@@ -20,24 +20,24 @@
   "use_film": false,
   "num_images_in_input": 3,
   "use_pointcloud_input": false,
-  "pointcloud_input_num_points": 0,
+  "pointcloud_input_num_points": 1024,
   "pointcloud_input_dim": 3,
   "use_proprio": true,
-  "use_tracking_head": false,
-  "tracking_dim": 0,
-  "tracking_num_points": 1,
-  "tracking_hidden_dim": 0,
-  "tracking_num_blocks": 2,
-  "tracking_head_type": "mlp",
+  "use_tracking_head": true,
+  "tracking_dim": 3,
+  "tracking_num_points": 1024,
+  "tracking_hidden_dim": 1024,
+  "tracking_num_blocks": 4,
+  "tracking_head_type": "with_point_input",
   "tracking_loss_weight": 1.0,
   "tracking_label_key": null,
-  "tracking_use_point_features": false,
-  "tracking_point_hidden_dim": 0,
-  "tracking_use_pointcloud_input": false,
-  "save_tracking_viz": false,
-  "tracking_viz_freq": 100,
+  "tracking_use_point_features": true,
+  "tracking_point_hidden_dim": 1024,
+  "tracking_use_pointcloud_input": true,
+  "save_tracking_viz": true,
+  "tracking_viz_freq": 2000,
   "tracking_viz_max_points": 2000,
-  "tracking_viz_dir": null,
+  "tracking_viz_dir": "/weka/jisookim/experiment/openvla/robocasa/ckpt/robocasa_1024_input_head_onlytrack_mlp_8_stride1_hidden1024_blocks4_b16/videos",
   "normalize_pointcloud": true,
   "normalize_tracking": true,
   "batch_size": 8,
@@ -63,7 +63,7 @@
   "merge_lora_during_training": true,
   "use_wandb": false,
   "use_tensorboard": true,
-  "tensorboard_log_dir": "/weka/jisookim/experiment/openvla/robocasa/runs/tensorboard_robocasa_single_stage_regenerate_3image--proprio_state_b16_aug",
+  "tensorboard_log_dir": "/weka/jisookim/experiment/openvla/robocasa/runs/tensorboard_robocasa_1024_input_head_onlytrack_mlp_8_stride1_hidden1024_blocks4_b16",
   "wandb_entity": "your-wandb-entity",
   "wandb_project": "your-wandb-project",
   "run_id_note": "robocasa_single_stage_regenerate_3image--proprio_state_b16_aug",

config.json

@@ -3166,4 +3166,4 @@
   "transformers_version": "4.40.1",
   "use_fused_vision_backbone": true,
   "vision_backbone_id": "dinosiglip-vit-so-224px"
-}
+}

lora_adapter/adapter_config.json

@@ -23,21 +23,21 @@
   "rank_pattern": {},
   "revision": null,
   "target_modules": [
-    "qkv",
-    "up_proj",
-    "proj",
-    "gate_proj",
-    "lm_head",
-    "fc1",
     "o_proj",
     "v_proj",
+    "fc1",
+    "qkv",
+    "k_proj",
     "q",
-    "fc2",
-    "fc3",
+    "proj",
+    "up_proj",
+    "down_proj",
     "q_proj",
-    "k_proj",
+    "fc3",
+    "gate_proj",
+    "lm_head",
     "kv",
-    "down_proj"
+    "fc2"
   ],
   "task_type": null,
   "use_dora": false,

lora_adapter/adapter_model.safetensors

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model-00001-of-00004.safetensors

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model-00003-of-00004.safetensors

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optimizer--120000_checkpoint.pt

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proprio_projector--120000_checkpoint.pt

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scheduler--120000_checkpoint.pt

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tracking_head--120000_checkpoint.pt

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