| experiment_name: proxy_interaction_state | |
| output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction | |
| device: cuda | |
| seed: 13 | |
| data: | |
| proxies: | |
| - foliage_proxy | |
| - bag_proxy | |
| - cloth_proxy | |
| resolution: 96 | |
| train_episodes_per_proxy: 48 | |
| val_episodes_per_proxy: 16 | |
| train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v4_noleak_counterfactual.pt | |
| val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v4_noleak_counterfactual.pt | |
| rebuild_dataset: false | |
| chunk_horizon: 8 | |
| rollout_horizon: 5 | |
| history_steps: 6 | |
| planner_candidates: 8 | |
| seed: 13 | |
| optim: | |
| epochs: 8 | |
| batch_size: 16 | |
| num_workers: 0 | |
| lr: 0.001 | |
| weight_decay: 0.0001 | |
| trainer: | |
| policy_type: interaction_state | |
| use_bf16: true | |
| grad_clip_norm: 1.0 | |
| freeze_backbone: true | |
| gradient_checkpointing: false | |
| plan_during_train: true | |
| plan_during_eval: true | |
| support_mode_conditioning: true | |
| planner_mode: trainable | |
| policy: | |
| backbone: | |
| model_name: openai/clip-vit-base-patch32 | |
| hidden_dim: 128 | |
| max_text_tokens: 32 | |
| freeze_backbone: true | |
| gradient_checkpointing: false | |
| use_dummy_backbone: true | |
| fusion: | |
| hidden_dim: 128 | |
| num_cameras: 3 | |
| num_layers: 2 | |
| num_heads: 4 | |
| ff_dim: 256 | |
| dropout: 0.1 | |
| proprio_dim: 32 | |
| proprio_tokens: 1 | |
| memory: | |
| hidden_dim: 128 | |
| history_steps: 6 | |
| num_layers: 2 | |
| dropout: 0.1 | |
| memory_bank_size: 4 | |
| num_heads: 4 | |
| max_history_steps: 8 | |
| decoder: | |
| hidden_dim: 128 | |
| num_heads: 4 | |
| num_layers: 2 | |
| ff_dim: 256 | |
| dropout: 0.1 | |
| chunk_size: 8 | |
| action_dim: 14 | |
| arm_action_dim: 7 | |
| num_candidates: 8 | |
| num_phases: 5 | |
| num_arm_roles: 4 | |
| reveal_head: | |
| hidden_dim: 128 | |
| num_support_modes: 3 | |
| num_approach_templates: 32 | |
| rollout_horizon: 5 | |
| belief_map_size: 32 | |
| field_size: 16 | |
| num_heads: 4 | |
| predict_belief_map: true | |
| num_phases: 5 | |
| num_arm_roles: 4 | |
| num_interaction_tokens: 8 | |
| world_model: | |
| hidden_dim: 128 | |
| action_dim: 14 | |
| num_support_modes: 3 | |
| num_approach_templates: 32 | |
| rollout_horizon: 5 | |
| field_size: 16 | |
| num_heads: 4 | |
| num_phases: 5 | |
| num_arm_roles: 4 | |
| num_interaction_tokens: 8 | |
| planner: | |
| hidden_dim: 128 | |
| num_candidates: 8 | |
| action_dim: 14 | |
| num_support_modes: 3 | |
| utility_margin: 0.1 | |
| num_heads: 4 | |
| num_layers: 2 | |
| num_phases: 5 | |
| num_arm_roles: 4 | |
| loss_weights: | |
| action: 1.0 | |
| support_mode: 0.15 | |
| corridor: 0.2 | |
| persistence: 0.1 | |
| disturbance: 0.1 | |
| world_model: 0.25 | |
| belief: 0.05 | |
| planner_success: 0.2 | |
| planner_risk: 0.1 | |
| planner_ranking: 0.1 | |
| proposal_reconstruction: 0.2 | |
| proposal_success: 0.1 | |
| proposal_ranking: 0.1 | |