| seed: 0 |
| output_dir: output/04_04_2024_00_18_28_1061204 |
| domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_dataset_converted_externally_to_rlds, |
| austin_buds_dataset_converted_externally_to_rlds, austin_sirius_dataset_converted_externally_to_rlds, |
| berkeley_mvp_converted_externally_to_rlds, berkeley_rpt_converted_externally_to_rlds, |
| iamlab_cmu_pickup_insert_converted_externally_to_rlds, utaustin_mutex, imperialcollege_sawyer_wrist_cam, |
| stanford_mask_vit_converted_externally_to_rlds, language_table, kuka, bc_z, robo_net, |
| dlr_sara_pour_converted_externally_to_rlds, stanford_robocook_converted_externally_to_rlds, |
| cmu_play_fusion, bridge, furniture_bench_dataset_converted_externally_to_rlds, ucsd_pick_and_place_dataset_converted_externally_to_rlds, |
| usc_cloth_sim_converted_externally_to_rlds, stanford_kuka_multimodal_dataset_converted_externally_to_rlds, |
| roboturk, kaist_nonprehensile_converted_externally_to_rlds, asu_table_top_converted_externally_to_rlds, |
| utokyo_xarm_pick_and_place_converted_externally_to_rlds, berkeley_cable_routing, |
| droid |
| log_dir: output/04_04_2024_00_18_28_1061204 |
| debug_distributed: false |
| wb_tag: default |
| wb_cont_run: 37fe2kep |
| log_interval: 10 |
| script_name: run_resnet_30dataset_traj1000_embed_128_batch1024_800k_cons |
| save_wb_checkpoint: true |
| slurm_job_id: '25682608' |
| effective_total_epochs: 100 |
| effective_batch_size: 256 |
| epoch_size: 10 |
| total_num_traj: 0 |
| total_num_sample: 0 |
| rank: 0 |
| gpu: 0 |
| task_per_gpu: 1 |
| world_size: 32 |
| debug_submitit: false |
| ngpus: 8 |
| nodes: 4 |
| timeout: 4320 |
| job_dir: logs/ |
| partition: learnlab |
| use_volta32: true |
| comment: '' |
| resume: logs/ |
| dist_url: file:///checkpoint/xinleic/experiments/b96f1c1c8a1e49f691901ccebe7e3f1f_init |
| dist_on_itp: false |
| local_rank: 1 |
| distributed: true |
| dist_backend: nccl |
| dset_w_temperature: 2.0 |
| dataset_shuffle: true |
| dataset_groups: '' |
| nodelist: learnlab,learnfair,scavenge |
| fsdp: false |
| dataset: |
| _target_: hpt_pretrain.dataset.traj_dataset.TrajDataset |
| horizon: 5 |
| val_ratio: 0.1 |
| pad_after: 0 |
| precompute_feat: true |
| image_encoder: resnet |
| episode_cnt: 1000 |
| step_cnt: 10000000 |
| data_augmentation: false |
| use_disk: true |
| pad_before: 0 |
| data_ratio: 1 |
| action_horizon: 8 |
| observation_horizon: 4 |
| dataset_postfix: _traj1000 |
| dataset_encoder_postfix: _resnet |
| use_multiview: false |
| normalize_state: true |
| use_heldout_dataset: true |
| heldout_dataset: false |
| regenerate: false |
| continue_generate: false |
| network: |
| _target_: hpt_pretrain.models.policy.Policy |
| embed_dim: 128 |
| num_blocks: 16 |
| num_heads: 8 |
| use_modality_embedding: true |
| use_domain_embedding: false |
| token_postprocessing: mean |
| weight_init_style: pytorch |
| drop_path: 0.1 |
| mae_loss_scale: 0.0 |
| masked_autoencoding: false |
| stem: |
| modalities: |
| - image |
| - state |
| modality_embed_dim: 128 |
| normalize_state: ${dataset.normalize_state} |
| state_embedding_dim: 1 |
| image_encoder: ${dataset.image_encoder} |
| crossattn_dim_head: 64 |
| crossattn_heads: 8 |
| crossattn_modality_dropout: 0.1 |
| observation_horizon: ${dataset.observation_horizon} |
| random_horizon_masking: true |
| add_pos_embedding_to_state: false |
| num_blocks: 1 |
| crossattn_latent: |
| image: 16 |
| state: 16 |
| image: |
| _target_: hpt_pretrain.models.policy_stem.MLP |
| input_dim: 512 |
| output_dim: 128 |
| widths: |
| - 128 |
| num_of_copy: 1 |
| state: |
| _target_: hpt_pretrain.models.policy_stem.MLP |
| input_dim: 7 |
| output_dim: 128 |
| widths: |
| - 128 |
| head: |
| _target_: hpt_pretrain.models.policy_head.MLP |
| input_dim: 128 |
| tanh_end: true |
| output_dim: 56 |
| dropout: true |
| widths: |
| - 256 |
| - 128 |
| dataloader: |
| batch_size: 32 |
| num_workers: 1 |
| pin_memory: false |
| persistent_workers: false |
| drop_last: true |
| val_dataloader: |
| num_workers: 1 |
| pin_memory: false |
| persistent_workers: false |
| ddp_dataloader: |
| num_workers: 8 |
| pin_memory: false |
| persistent_workers: false |
| drop_last: false |
| prefetch_factor: 2 |
| ddp_val_dataloader: |
| num_workers: 8 |
| pin_memory: false |
| persistent_workers: false |
| drop_last: false |
| prefetch_factor: 2 |
| optimizer: |
| _target_: torch.optim.AdamW |
| lr: 0.0008 |
| eps: 1.0e-06 |
| weight_decay: 0.05 |
| optimizer_misc: |
| nontrunk_lr_scale: 0.5 |
| warmup_lr: |
| lr: 1.0e-10 |
| step: 1000 |
| train: |
| total_epochs: 3000 |
| total_iters: 800000 |
| epoch_iters: 1000 |
| validation_iters: 100 |
| use_accumulation: false |
| pretrained_dir: '' |
| max_validation_size: 10 |
| accumulate_batch_step: 1 |
| lr_scheduler: |
| _target_: torch.optim.lr_scheduler.ConstantLR |
| factor: 1 |
|
|
