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- .gitattributes +512 -0
- VLAarchtests/artifacts/data/reveal_proxy/proposal_dataset_build_selector_align.json +15 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_clip_seed7.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_clip_seed8.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_clip_seed9.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_dummy_seed13.yaml +147 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_dummy_seed14.yaml +147 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_dummy_seed15.yaml +147 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_clip_seed11.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_clip_seed12.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_clip_seed13.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_dummy_seed21.yaml +148 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_dummy_seed22.yaml +148 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_dummy_seed23.yaml +148 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage3_clip_rgbd_seed17.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage3_clip_rgbd_seed18.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage3_clip_rgbd_seed19.yaml +149 -0
- VLAarchtests/artifacts/generated_configs/reveal_proxy_iter9_bag_train_specs.json +642 -0
- VLAarchtests/artifacts/generated_configs/reveal_proxy_iter9_bag_val_specs.json +242 -0
- VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json +2702 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/config_resolved.yaml +160 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/metrics.json +356 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/summary.json +92 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/config_resolved.yaml +160 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/metrics.json +356 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/summary.json +92 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/config_resolved.yaml +160 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/metrics.json +238 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/summary.json +92 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/config_resolved.yaml +160 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/metrics.json +238 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/summary.json +92 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/config_resolved.yaml +155 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/metrics.json +238 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/summary.json +31 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/config_resolved.yaml +161 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/metrics.json +246 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/summary.json +92 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/config_resolved.yaml +162 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/metrics.json +246 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/summary.json +92 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/config_resolved.yaml +158 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/metrics.json +238 -0
- VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/summary.json +42 -0
- VLAarchtests/artifacts/reports/ablations_v7/ablations.md +92 -0
- VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter1/aligned_shortlist_diagnostics.json +68 -0
- VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter1/aligned_shortlist_diagnostics.md +21 -0
- VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter2/aligned_shortlist_diagnostics.json +113 -0
- VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter2/aligned_shortlist_diagnostics.md +34 -0
- VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter3/aligned_shortlist_diagnostics.json +113 -0
.gitattributes
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12495.replay filter=lfs diff=lfs merge=lfs -text
|
| 13535 |
+
baselines/AnyBimanual_overlap_replay/multi/10000-14999/12497.replay filter=lfs diff=lfs merge=lfs -text
|
| 13536 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12498.replay filter=lfs diff=lfs merge=lfs -text
|
| 13537 |
+
baselines/AnyBimanual_overlap_replay/multi/10000-14999/12499.replay filter=lfs diff=lfs merge=lfs -text
|
| 13538 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12500.replay filter=lfs diff=lfs merge=lfs -text
|
| 13539 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12503.replay filter=lfs diff=lfs merge=lfs -text
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| 13540 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12501.replay filter=lfs diff=lfs merge=lfs -text
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| 13541 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12502.replay filter=lfs diff=lfs merge=lfs -text
|
| 13542 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12504.replay filter=lfs diff=lfs merge=lfs -text
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| 13543 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12505.replay filter=lfs diff=lfs merge=lfs -text
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| 13544 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12507.replay filter=lfs diff=lfs merge=lfs -text
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| 13545 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12506.replay filter=lfs diff=lfs merge=lfs -text
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| 13546 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12508.replay filter=lfs diff=lfs merge=lfs -text
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| 13547 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12509.replay filter=lfs diff=lfs merge=lfs -text
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| 13548 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12510.replay filter=lfs diff=lfs merge=lfs -text
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| 13549 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12511.replay filter=lfs diff=lfs merge=lfs -text
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| 13550 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12512.replay filter=lfs diff=lfs merge=lfs -text
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| 13551 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12513.replay filter=lfs diff=lfs merge=lfs -text
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| 13552 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12515.replay filter=lfs diff=lfs merge=lfs -text
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| 13553 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12516.replay filter=lfs diff=lfs merge=lfs -text
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| 13554 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12514.replay filter=lfs diff=lfs merge=lfs -text
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| 13555 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12517.replay filter=lfs diff=lfs merge=lfs -text
|
| 13556 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12518.replay filter=lfs diff=lfs merge=lfs -text
|
| 13557 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12519.replay filter=lfs diff=lfs merge=lfs -text
|
| 13558 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12520.replay filter=lfs diff=lfs merge=lfs -text
|
| 13559 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12522.replay filter=lfs diff=lfs merge=lfs -text
|
| 13560 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12521.replay filter=lfs diff=lfs merge=lfs -text
|
| 13561 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12523.replay filter=lfs diff=lfs merge=lfs -text
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| 13562 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12524.replay filter=lfs diff=lfs merge=lfs -text
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| 13563 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12525.replay filter=lfs diff=lfs merge=lfs -text
|
| 13564 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12526.replay filter=lfs diff=lfs merge=lfs -text
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| 13565 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12527.replay filter=lfs diff=lfs merge=lfs -text
|
| 13566 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12528.replay filter=lfs diff=lfs merge=lfs -text
|
| 13567 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12530.replay filter=lfs diff=lfs merge=lfs -text
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| 13568 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12529.replay filter=lfs diff=lfs merge=lfs -text
|
| 13569 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12531.replay filter=lfs diff=lfs merge=lfs -text
|
| 13570 |
+
baselines/AnyBimanual_overlap_replay/multi/10000-14999/12532.replay filter=lfs diff=lfs merge=lfs -text
|
| 13571 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12534.replay filter=lfs diff=lfs merge=lfs -text
|
| 13572 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12535.replay filter=lfs diff=lfs merge=lfs -text
|
| 13573 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12536.replay filter=lfs diff=lfs merge=lfs -text
|
| 13574 |
+
baselines/AnyBimanual_overlap_replay/multi/10000-14999/12537.replay filter=lfs diff=lfs merge=lfs -text
|
| 13575 |
+
baselines/AnyBimanual_overlap_replay/multi/10000-14999/12533.replay filter=lfs diff=lfs merge=lfs -text
|
| 13576 |
+
baselines/AnyBimanual_overlap_replay/multi/10000-14999/12538.replay filter=lfs diff=lfs merge=lfs -text
|
| 13577 |
+
baselines/AnyBimanual_overlap_replay/multi/10000-14999/12539.replay filter=lfs diff=lfs merge=lfs -text
|
| 13578 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12540.replay filter=lfs diff=lfs merge=lfs -text
|
| 13579 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12541.replay filter=lfs diff=lfs merge=lfs -text
|
| 13580 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12543.replay filter=lfs diff=lfs merge=lfs -text
|
| 13581 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12542.replay filter=lfs diff=lfs merge=lfs -text
|
| 13582 |
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/12547.replay filter=lfs diff=lfs merge=lfs -text
|
VLAarchtests/artifacts/data/reveal_proxy/proposal_dataset_build_selector_align.json
ADDED
|
@@ -0,0 +1,15 @@
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|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/checkpoint_best.pt",
|
| 3 |
+
"device": "cuda",
|
| 4 |
+
"dataset_suffix": "selector_align",
|
| 5 |
+
"train": {
|
| 6 |
+
"output_path": "/workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt",
|
| 7 |
+
"samples": 359,
|
| 8 |
+
"dataset_version": "reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter1_selector_align"
|
| 9 |
+
},
|
| 10 |
+
"val": {
|
| 11 |
+
"output_path": "/workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt",
|
| 12 |
+
"samples": 123,
|
| 13 |
+
"dataset_version": "reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter1_selector_align"
|
| 14 |
+
}
|
| 15 |
+
}
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_clip_seed7.yaml
ADDED
|
@@ -0,0 +1,149 @@
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|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_clip_seed7
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 7
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage1_seed7.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage1_seed7.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 7
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: false
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.2
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_clip_seed8.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_clip_seed8
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 8
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage1_seed8.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage1_seed8.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 8
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: false
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.2
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_clip_seed9.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_clip_seed9
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 9
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage1_seed9.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage1_seed9.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 9
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: false
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.2
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_dummy_seed13.yaml
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_dummy_seed13
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
data:
|
| 6 |
+
proxies:
|
| 7 |
+
- foliage_proxy
|
| 8 |
+
- bag_proxy
|
| 9 |
+
- cloth_proxy
|
| 10 |
+
resolution: 96
|
| 11 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 12 |
+
train_episodes_per_proxy: 48
|
| 13 |
+
val_episodes_per_proxy: 16
|
| 14 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage1_dummy_seed13.pt
|
| 15 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage1_dummy_seed13.pt
|
| 16 |
+
rebuild_dataset: false
|
| 17 |
+
chunk_horizon: 8
|
| 18 |
+
rollout_horizon: 5
|
| 19 |
+
history_steps: 6
|
| 20 |
+
planner_candidates: 8
|
| 21 |
+
seed: 13
|
| 22 |
+
optim:
|
| 23 |
+
epochs: 4
|
| 24 |
+
batch_size: 16
|
| 25 |
+
num_workers: 4
|
| 26 |
+
lr: 0.001
|
| 27 |
+
weight_decay: 0.0001
|
| 28 |
+
trainer:
|
| 29 |
+
policy_type: elastic_reveal
|
| 30 |
+
use_bf16: false
|
| 31 |
+
grad_clip_norm: 1.0
|
| 32 |
+
freeze_backbone: true
|
| 33 |
+
gradient_checkpointing: false
|
| 34 |
+
plan_during_train: true
|
| 35 |
+
plan_during_eval: true
|
| 36 |
+
support_mode_conditioning: true
|
| 37 |
+
planner_mode: trainable
|
| 38 |
+
use_depth: false
|
| 39 |
+
use_world_model: true
|
| 40 |
+
use_role_tokens: true
|
| 41 |
+
compute_equivariance_probe: true
|
| 42 |
+
policy:
|
| 43 |
+
backbone:
|
| 44 |
+
model_name: openai/clip-vit-base-patch32
|
| 45 |
+
hidden_dim: 192
|
| 46 |
+
max_text_tokens: 32
|
| 47 |
+
freeze_backbone: true
|
| 48 |
+
gradient_checkpointing: false
|
| 49 |
+
use_dummy_backbone: true
|
| 50 |
+
fusion:
|
| 51 |
+
hidden_dim: 192
|
| 52 |
+
num_cameras: 3
|
| 53 |
+
num_layers: 2
|
| 54 |
+
num_heads: 4
|
| 55 |
+
ff_dim: 384
|
| 56 |
+
dropout: 0.1
|
| 57 |
+
proprio_dim: 32
|
| 58 |
+
proprio_tokens: 1
|
| 59 |
+
memory:
|
| 60 |
+
hidden_dim: 192
|
| 61 |
+
action_dim: 14
|
| 62 |
+
history_steps: 6
|
| 63 |
+
scene_history_steps: 3
|
| 64 |
+
belief_history_steps: 8
|
| 65 |
+
num_layers: 2
|
| 66 |
+
dropout: 0.1
|
| 67 |
+
memory_bank_size: 4
|
| 68 |
+
scene_bank_size: 2
|
| 69 |
+
belief_bank_size: 2
|
| 70 |
+
num_heads: 4
|
| 71 |
+
max_history_steps: 8
|
| 72 |
+
decoder:
|
| 73 |
+
hidden_dim: 192
|
| 74 |
+
num_heads: 4
|
| 75 |
+
num_layers: 2
|
| 76 |
+
ff_dim: 384
|
| 77 |
+
dropout: 0.1
|
| 78 |
+
chunk_size: 8
|
| 79 |
+
action_dim: 14
|
| 80 |
+
arm_action_dim: 7
|
| 81 |
+
num_candidates: 8
|
| 82 |
+
num_phases: 5
|
| 83 |
+
num_arm_roles: 4
|
| 84 |
+
num_proposal_modes: 6
|
| 85 |
+
planner_top_k: 4
|
| 86 |
+
reveal_head:
|
| 87 |
+
hidden_dim: 192
|
| 88 |
+
num_support_modes: 3
|
| 89 |
+
num_approach_templates: 32
|
| 90 |
+
rollout_horizon: 5
|
| 91 |
+
belief_map_size: 32
|
| 92 |
+
field_size: 16
|
| 93 |
+
num_heads: 4
|
| 94 |
+
predict_belief_map: true
|
| 95 |
+
num_phases: 5
|
| 96 |
+
num_arm_roles: 4
|
| 97 |
+
num_interaction_tokens: 8
|
| 98 |
+
world_model:
|
| 99 |
+
hidden_dim: 192
|
| 100 |
+
action_dim: 14
|
| 101 |
+
num_support_modes: 3
|
| 102 |
+
num_approach_templates: 32
|
| 103 |
+
rollout_horizon: 5
|
| 104 |
+
field_size: 16
|
| 105 |
+
num_heads: 4
|
| 106 |
+
num_phases: 5
|
| 107 |
+
num_arm_roles: 4
|
| 108 |
+
num_interaction_tokens: 8
|
| 109 |
+
belief_map_size: 32
|
| 110 |
+
predict_belief_map: true
|
| 111 |
+
scene_bank_size: 2
|
| 112 |
+
belief_bank_size: 2
|
| 113 |
+
planner:
|
| 114 |
+
hidden_dim: 192
|
| 115 |
+
num_candidates: 8
|
| 116 |
+
action_dim: 14
|
| 117 |
+
num_support_modes: 3
|
| 118 |
+
utility_margin: 0.1
|
| 119 |
+
num_heads: 4
|
| 120 |
+
num_layers: 2
|
| 121 |
+
num_phases: 5
|
| 122 |
+
num_arm_roles: 4
|
| 123 |
+
top_k: 4
|
| 124 |
+
loss_weights:
|
| 125 |
+
action: 1.0
|
| 126 |
+
phase: 0.15
|
| 127 |
+
arm_role: 0.2
|
| 128 |
+
support_mode: 0.15
|
| 129 |
+
corridor: 0.2
|
| 130 |
+
persistence: 0.1
|
| 131 |
+
disturbance: 0.1
|
| 132 |
+
world_model: 0.25
|
| 133 |
+
belief: 0.05
|
| 134 |
+
visibility: 0.05
|
| 135 |
+
clearance: 0.05
|
| 136 |
+
support_stability: 0.05
|
| 137 |
+
reocclusion: 0.05
|
| 138 |
+
occluder_contact: 0.05
|
| 139 |
+
grasp_affordance: 0.05
|
| 140 |
+
planner_success: 0.2
|
| 141 |
+
planner_risk: 0.1
|
| 142 |
+
planner_ranking: 0.1
|
| 143 |
+
proposal_reconstruction: 0.2
|
| 144 |
+
proposal_success: 0.1
|
| 145 |
+
proposal_ranking: 0.1
|
| 146 |
+
proposal_diversity: 0.05
|
| 147 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_dummy_seed14.yaml
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_dummy_seed14
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 14
|
| 5 |
+
data:
|
| 6 |
+
proxies:
|
| 7 |
+
- foliage_proxy
|
| 8 |
+
- bag_proxy
|
| 9 |
+
- cloth_proxy
|
| 10 |
+
resolution: 96
|
| 11 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 12 |
+
train_episodes_per_proxy: 48
|
| 13 |
+
val_episodes_per_proxy: 16
|
| 14 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage1_dummy_seed14.pt
|
| 15 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage1_dummy_seed14.pt
|
| 16 |
+
rebuild_dataset: false
|
| 17 |
+
chunk_horizon: 8
|
| 18 |
+
rollout_horizon: 5
|
| 19 |
+
history_steps: 6
|
| 20 |
+
planner_candidates: 8
|
| 21 |
+
seed: 14
|
| 22 |
+
optim:
|
| 23 |
+
epochs: 4
|
| 24 |
+
batch_size: 16
|
| 25 |
+
num_workers: 4
|
| 26 |
+
lr: 0.001
|
| 27 |
+
weight_decay: 0.0001
|
| 28 |
+
trainer:
|
| 29 |
+
policy_type: elastic_reveal
|
| 30 |
+
use_bf16: false
|
| 31 |
+
grad_clip_norm: 1.0
|
| 32 |
+
freeze_backbone: true
|
| 33 |
+
gradient_checkpointing: false
|
| 34 |
+
plan_during_train: true
|
| 35 |
+
plan_during_eval: true
|
| 36 |
+
support_mode_conditioning: true
|
| 37 |
+
planner_mode: trainable
|
| 38 |
+
use_depth: false
|
| 39 |
+
use_world_model: true
|
| 40 |
+
use_role_tokens: true
|
| 41 |
+
compute_equivariance_probe: true
|
| 42 |
+
policy:
|
| 43 |
+
backbone:
|
| 44 |
+
model_name: openai/clip-vit-base-patch32
|
| 45 |
+
hidden_dim: 192
|
| 46 |
+
max_text_tokens: 32
|
| 47 |
+
freeze_backbone: true
|
| 48 |
+
gradient_checkpointing: false
|
| 49 |
+
use_dummy_backbone: true
|
| 50 |
+
fusion:
|
| 51 |
+
hidden_dim: 192
|
| 52 |
+
num_cameras: 3
|
| 53 |
+
num_layers: 2
|
| 54 |
+
num_heads: 4
|
| 55 |
+
ff_dim: 384
|
| 56 |
+
dropout: 0.1
|
| 57 |
+
proprio_dim: 32
|
| 58 |
+
proprio_tokens: 1
|
| 59 |
+
memory:
|
| 60 |
+
hidden_dim: 192
|
| 61 |
+
action_dim: 14
|
| 62 |
+
history_steps: 6
|
| 63 |
+
scene_history_steps: 3
|
| 64 |
+
belief_history_steps: 8
|
| 65 |
+
num_layers: 2
|
| 66 |
+
dropout: 0.1
|
| 67 |
+
memory_bank_size: 4
|
| 68 |
+
scene_bank_size: 2
|
| 69 |
+
belief_bank_size: 2
|
| 70 |
+
num_heads: 4
|
| 71 |
+
max_history_steps: 8
|
| 72 |
+
decoder:
|
| 73 |
+
hidden_dim: 192
|
| 74 |
+
num_heads: 4
|
| 75 |
+
num_layers: 2
|
| 76 |
+
ff_dim: 384
|
| 77 |
+
dropout: 0.1
|
| 78 |
+
chunk_size: 8
|
| 79 |
+
action_dim: 14
|
| 80 |
+
arm_action_dim: 7
|
| 81 |
+
num_candidates: 8
|
| 82 |
+
num_phases: 5
|
| 83 |
+
num_arm_roles: 4
|
| 84 |
+
num_proposal_modes: 6
|
| 85 |
+
planner_top_k: 4
|
| 86 |
+
reveal_head:
|
| 87 |
+
hidden_dim: 192
|
| 88 |
+
num_support_modes: 3
|
| 89 |
+
num_approach_templates: 32
|
| 90 |
+
rollout_horizon: 5
|
| 91 |
+
belief_map_size: 32
|
| 92 |
+
field_size: 16
|
| 93 |
+
num_heads: 4
|
| 94 |
+
predict_belief_map: true
|
| 95 |
+
num_phases: 5
|
| 96 |
+
num_arm_roles: 4
|
| 97 |
+
num_interaction_tokens: 8
|
| 98 |
+
world_model:
|
| 99 |
+
hidden_dim: 192
|
| 100 |
+
action_dim: 14
|
| 101 |
+
num_support_modes: 3
|
| 102 |
+
num_approach_templates: 32
|
| 103 |
+
rollout_horizon: 5
|
| 104 |
+
field_size: 16
|
| 105 |
+
num_heads: 4
|
| 106 |
+
num_phases: 5
|
| 107 |
+
num_arm_roles: 4
|
| 108 |
+
num_interaction_tokens: 8
|
| 109 |
+
belief_map_size: 32
|
| 110 |
+
predict_belief_map: true
|
| 111 |
+
scene_bank_size: 2
|
| 112 |
+
belief_bank_size: 2
|
| 113 |
+
planner:
|
| 114 |
+
hidden_dim: 192
|
| 115 |
+
num_candidates: 8
|
| 116 |
+
action_dim: 14
|
| 117 |
+
num_support_modes: 3
|
| 118 |
+
utility_margin: 0.1
|
| 119 |
+
num_heads: 4
|
| 120 |
+
num_layers: 2
|
| 121 |
+
num_phases: 5
|
| 122 |
+
num_arm_roles: 4
|
| 123 |
+
top_k: 4
|
| 124 |
+
loss_weights:
|
| 125 |
+
action: 1.0
|
| 126 |
+
phase: 0.15
|
| 127 |
+
arm_role: 0.2
|
| 128 |
+
support_mode: 0.15
|
| 129 |
+
corridor: 0.2
|
| 130 |
+
persistence: 0.1
|
| 131 |
+
disturbance: 0.1
|
| 132 |
+
world_model: 0.25
|
| 133 |
+
belief: 0.05
|
| 134 |
+
visibility: 0.05
|
| 135 |
+
clearance: 0.05
|
| 136 |
+
support_stability: 0.05
|
| 137 |
+
reocclusion: 0.05
|
| 138 |
+
occluder_contact: 0.05
|
| 139 |
+
grasp_affordance: 0.05
|
| 140 |
+
planner_success: 0.2
|
| 141 |
+
planner_risk: 0.1
|
| 142 |
+
planner_ranking: 0.1
|
| 143 |
+
proposal_reconstruction: 0.2
|
| 144 |
+
proposal_success: 0.1
|
| 145 |
+
proposal_ranking: 0.1
|
| 146 |
+
proposal_diversity: 0.05
|
| 147 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage1_dummy_seed15.yaml
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_dummy_seed15
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 15
|
| 5 |
+
data:
|
| 6 |
+
proxies:
|
| 7 |
+
- foliage_proxy
|
| 8 |
+
- bag_proxy
|
| 9 |
+
- cloth_proxy
|
| 10 |
+
resolution: 96
|
| 11 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 12 |
+
train_episodes_per_proxy: 48
|
| 13 |
+
val_episodes_per_proxy: 16
|
| 14 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage1_dummy_seed15.pt
|
| 15 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage1_dummy_seed15.pt
|
| 16 |
+
rebuild_dataset: false
|
| 17 |
+
chunk_horizon: 8
|
| 18 |
+
rollout_horizon: 5
|
| 19 |
+
history_steps: 6
|
| 20 |
+
planner_candidates: 8
|
| 21 |
+
seed: 15
|
| 22 |
+
optim:
|
| 23 |
+
epochs: 4
|
| 24 |
+
batch_size: 16
|
| 25 |
+
num_workers: 4
|
| 26 |
+
lr: 0.001
|
| 27 |
+
weight_decay: 0.0001
|
| 28 |
+
trainer:
|
| 29 |
+
policy_type: elastic_reveal
|
| 30 |
+
use_bf16: false
|
| 31 |
+
grad_clip_norm: 1.0
|
| 32 |
+
freeze_backbone: true
|
| 33 |
+
gradient_checkpointing: false
|
| 34 |
+
plan_during_train: true
|
| 35 |
+
plan_during_eval: true
|
| 36 |
+
support_mode_conditioning: true
|
| 37 |
+
planner_mode: trainable
|
| 38 |
+
use_depth: false
|
| 39 |
+
use_world_model: true
|
| 40 |
+
use_role_tokens: true
|
| 41 |
+
compute_equivariance_probe: true
|
| 42 |
+
policy:
|
| 43 |
+
backbone:
|
| 44 |
+
model_name: openai/clip-vit-base-patch32
|
| 45 |
+
hidden_dim: 192
|
| 46 |
+
max_text_tokens: 32
|
| 47 |
+
freeze_backbone: true
|
| 48 |
+
gradient_checkpointing: false
|
| 49 |
+
use_dummy_backbone: true
|
| 50 |
+
fusion:
|
| 51 |
+
hidden_dim: 192
|
| 52 |
+
num_cameras: 3
|
| 53 |
+
num_layers: 2
|
| 54 |
+
num_heads: 4
|
| 55 |
+
ff_dim: 384
|
| 56 |
+
dropout: 0.1
|
| 57 |
+
proprio_dim: 32
|
| 58 |
+
proprio_tokens: 1
|
| 59 |
+
memory:
|
| 60 |
+
hidden_dim: 192
|
| 61 |
+
action_dim: 14
|
| 62 |
+
history_steps: 6
|
| 63 |
+
scene_history_steps: 3
|
| 64 |
+
belief_history_steps: 8
|
| 65 |
+
num_layers: 2
|
| 66 |
+
dropout: 0.1
|
| 67 |
+
memory_bank_size: 4
|
| 68 |
+
scene_bank_size: 2
|
| 69 |
+
belief_bank_size: 2
|
| 70 |
+
num_heads: 4
|
| 71 |
+
max_history_steps: 8
|
| 72 |
+
decoder:
|
| 73 |
+
hidden_dim: 192
|
| 74 |
+
num_heads: 4
|
| 75 |
+
num_layers: 2
|
| 76 |
+
ff_dim: 384
|
| 77 |
+
dropout: 0.1
|
| 78 |
+
chunk_size: 8
|
| 79 |
+
action_dim: 14
|
| 80 |
+
arm_action_dim: 7
|
| 81 |
+
num_candidates: 8
|
| 82 |
+
num_phases: 5
|
| 83 |
+
num_arm_roles: 4
|
| 84 |
+
num_proposal_modes: 6
|
| 85 |
+
planner_top_k: 4
|
| 86 |
+
reveal_head:
|
| 87 |
+
hidden_dim: 192
|
| 88 |
+
num_support_modes: 3
|
| 89 |
+
num_approach_templates: 32
|
| 90 |
+
rollout_horizon: 5
|
| 91 |
+
belief_map_size: 32
|
| 92 |
+
field_size: 16
|
| 93 |
+
num_heads: 4
|
| 94 |
+
predict_belief_map: true
|
| 95 |
+
num_phases: 5
|
| 96 |
+
num_arm_roles: 4
|
| 97 |
+
num_interaction_tokens: 8
|
| 98 |
+
world_model:
|
| 99 |
+
hidden_dim: 192
|
| 100 |
+
action_dim: 14
|
| 101 |
+
num_support_modes: 3
|
| 102 |
+
num_approach_templates: 32
|
| 103 |
+
rollout_horizon: 5
|
| 104 |
+
field_size: 16
|
| 105 |
+
num_heads: 4
|
| 106 |
+
num_phases: 5
|
| 107 |
+
num_arm_roles: 4
|
| 108 |
+
num_interaction_tokens: 8
|
| 109 |
+
belief_map_size: 32
|
| 110 |
+
predict_belief_map: true
|
| 111 |
+
scene_bank_size: 2
|
| 112 |
+
belief_bank_size: 2
|
| 113 |
+
planner:
|
| 114 |
+
hidden_dim: 192
|
| 115 |
+
num_candidates: 8
|
| 116 |
+
action_dim: 14
|
| 117 |
+
num_support_modes: 3
|
| 118 |
+
utility_margin: 0.1
|
| 119 |
+
num_heads: 4
|
| 120 |
+
num_layers: 2
|
| 121 |
+
num_phases: 5
|
| 122 |
+
num_arm_roles: 4
|
| 123 |
+
top_k: 4
|
| 124 |
+
loss_weights:
|
| 125 |
+
action: 1.0
|
| 126 |
+
phase: 0.15
|
| 127 |
+
arm_role: 0.2
|
| 128 |
+
support_mode: 0.15
|
| 129 |
+
corridor: 0.2
|
| 130 |
+
persistence: 0.1
|
| 131 |
+
disturbance: 0.1
|
| 132 |
+
world_model: 0.25
|
| 133 |
+
belief: 0.05
|
| 134 |
+
visibility: 0.05
|
| 135 |
+
clearance: 0.05
|
| 136 |
+
support_stability: 0.05
|
| 137 |
+
reocclusion: 0.05
|
| 138 |
+
occluder_contact: 0.05
|
| 139 |
+
grasp_affordance: 0.05
|
| 140 |
+
planner_success: 0.2
|
| 141 |
+
planner_risk: 0.1
|
| 142 |
+
planner_ranking: 0.1
|
| 143 |
+
proposal_reconstruction: 0.2
|
| 144 |
+
proposal_success: 0.1
|
| 145 |
+
proposal_ranking: 0.1
|
| 146 |
+
proposal_diversity: 0.05
|
| 147 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_clip_seed11.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_clip_seed11
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 11
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage2_seed11.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage2_seed11.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 11
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: false
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.25
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_clip_seed12.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_clip_seed12
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 12
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage2_seed12.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage2_seed12.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 12
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: false
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.25
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_clip_seed13.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_clip_seed13
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage2_seed13.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage2_seed13.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 13
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: false
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.25
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_dummy_seed21.yaml
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_dummy_seed21
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 21
|
| 5 |
+
defaults: []
|
| 6 |
+
data:
|
| 7 |
+
proxies:
|
| 8 |
+
- foliage_proxy
|
| 9 |
+
- bag_proxy
|
| 10 |
+
- cloth_proxy
|
| 11 |
+
resolution: 96
|
| 12 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 13 |
+
train_episodes_per_proxy: 48
|
| 14 |
+
val_episodes_per_proxy: 16
|
| 15 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage2_dummy_seed21.pt
|
| 16 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage2_dummy_seed21.pt
|
| 17 |
+
rebuild_dataset: false
|
| 18 |
+
chunk_horizon: 8
|
| 19 |
+
rollout_horizon: 5
|
| 20 |
+
history_steps: 6
|
| 21 |
+
planner_candidates: 8
|
| 22 |
+
seed: 21
|
| 23 |
+
optim:
|
| 24 |
+
epochs: 4
|
| 25 |
+
batch_size: 16
|
| 26 |
+
num_workers: 4
|
| 27 |
+
lr: 0.001
|
| 28 |
+
weight_decay: 0.0001
|
| 29 |
+
trainer:
|
| 30 |
+
policy_type: elastic_reveal
|
| 31 |
+
use_bf16: false
|
| 32 |
+
grad_clip_norm: 1.0
|
| 33 |
+
freeze_backbone: true
|
| 34 |
+
gradient_checkpointing: false
|
| 35 |
+
plan_during_train: true
|
| 36 |
+
plan_during_eval: true
|
| 37 |
+
support_mode_conditioning: true
|
| 38 |
+
planner_mode: trainable
|
| 39 |
+
use_depth: false
|
| 40 |
+
use_world_model: true
|
| 41 |
+
use_role_tokens: true
|
| 42 |
+
compute_equivariance_probe: true
|
| 43 |
+
policy:
|
| 44 |
+
backbone:
|
| 45 |
+
model_name: openai/clip-vit-base-patch32
|
| 46 |
+
hidden_dim: 192
|
| 47 |
+
max_text_tokens: 32
|
| 48 |
+
freeze_backbone: true
|
| 49 |
+
gradient_checkpointing: false
|
| 50 |
+
use_dummy_backbone: true
|
| 51 |
+
fusion:
|
| 52 |
+
hidden_dim: 192
|
| 53 |
+
num_cameras: 3
|
| 54 |
+
num_layers: 2
|
| 55 |
+
num_heads: 4
|
| 56 |
+
ff_dim: 384
|
| 57 |
+
dropout: 0.1
|
| 58 |
+
proprio_dim: 32
|
| 59 |
+
proprio_tokens: 1
|
| 60 |
+
memory:
|
| 61 |
+
hidden_dim: 192
|
| 62 |
+
action_dim: 14
|
| 63 |
+
history_steps: 6
|
| 64 |
+
scene_history_steps: 3
|
| 65 |
+
belief_history_steps: 8
|
| 66 |
+
num_layers: 2
|
| 67 |
+
dropout: 0.1
|
| 68 |
+
memory_bank_size: 4
|
| 69 |
+
scene_bank_size: 2
|
| 70 |
+
belief_bank_size: 2
|
| 71 |
+
num_heads: 4
|
| 72 |
+
max_history_steps: 8
|
| 73 |
+
decoder:
|
| 74 |
+
hidden_dim: 192
|
| 75 |
+
num_heads: 4
|
| 76 |
+
num_layers: 2
|
| 77 |
+
ff_dim: 384
|
| 78 |
+
dropout: 0.1
|
| 79 |
+
chunk_size: 8
|
| 80 |
+
action_dim: 14
|
| 81 |
+
arm_action_dim: 7
|
| 82 |
+
num_candidates: 8
|
| 83 |
+
num_phases: 5
|
| 84 |
+
num_arm_roles: 4
|
| 85 |
+
num_proposal_modes: 6
|
| 86 |
+
planner_top_k: 4
|
| 87 |
+
reveal_head:
|
| 88 |
+
hidden_dim: 192
|
| 89 |
+
num_support_modes: 3
|
| 90 |
+
num_approach_templates: 32
|
| 91 |
+
rollout_horizon: 5
|
| 92 |
+
belief_map_size: 32
|
| 93 |
+
field_size: 16
|
| 94 |
+
num_heads: 4
|
| 95 |
+
predict_belief_map: true
|
| 96 |
+
num_phases: 5
|
| 97 |
+
num_arm_roles: 4
|
| 98 |
+
num_interaction_tokens: 8
|
| 99 |
+
world_model:
|
| 100 |
+
hidden_dim: 192
|
| 101 |
+
action_dim: 14
|
| 102 |
+
num_support_modes: 3
|
| 103 |
+
num_approach_templates: 32
|
| 104 |
+
rollout_horizon: 5
|
| 105 |
+
field_size: 16
|
| 106 |
+
num_heads: 4
|
| 107 |
+
num_phases: 5
|
| 108 |
+
num_arm_roles: 4
|
| 109 |
+
num_interaction_tokens: 8
|
| 110 |
+
belief_map_size: 32
|
| 111 |
+
predict_belief_map: true
|
| 112 |
+
scene_bank_size: 2
|
| 113 |
+
belief_bank_size: 2
|
| 114 |
+
planner:
|
| 115 |
+
hidden_dim: 192
|
| 116 |
+
num_candidates: 8
|
| 117 |
+
action_dim: 14
|
| 118 |
+
num_support_modes: 3
|
| 119 |
+
utility_margin: 0.1
|
| 120 |
+
num_heads: 4
|
| 121 |
+
num_layers: 2
|
| 122 |
+
num_phases: 5
|
| 123 |
+
num_arm_roles: 4
|
| 124 |
+
top_k: 4
|
| 125 |
+
loss_weights:
|
| 126 |
+
action: 1.0
|
| 127 |
+
phase: 0.15
|
| 128 |
+
arm_role: 0.2
|
| 129 |
+
support_mode: 0.15
|
| 130 |
+
corridor: 0.2
|
| 131 |
+
persistence: 0.1
|
| 132 |
+
disturbance: 0.1
|
| 133 |
+
world_model: 0.3
|
| 134 |
+
belief: 0.05
|
| 135 |
+
visibility: 0.05
|
| 136 |
+
clearance: 0.05
|
| 137 |
+
support_stability: 0.05
|
| 138 |
+
reocclusion: 0.05
|
| 139 |
+
occluder_contact: 0.05
|
| 140 |
+
grasp_affordance: 0.05
|
| 141 |
+
planner_success: 0.2
|
| 142 |
+
planner_risk: 0.1
|
| 143 |
+
planner_ranking: 0.1
|
| 144 |
+
proposal_reconstruction: 0.2
|
| 145 |
+
proposal_success: 0.1
|
| 146 |
+
proposal_ranking: 0.1
|
| 147 |
+
proposal_diversity: 0.05
|
| 148 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_dummy_seed22.yaml
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_dummy_seed22
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 22
|
| 5 |
+
defaults: []
|
| 6 |
+
data:
|
| 7 |
+
proxies:
|
| 8 |
+
- foliage_proxy
|
| 9 |
+
- bag_proxy
|
| 10 |
+
- cloth_proxy
|
| 11 |
+
resolution: 96
|
| 12 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 13 |
+
train_episodes_per_proxy: 48
|
| 14 |
+
val_episodes_per_proxy: 16
|
| 15 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage2_dummy_seed22.pt
|
| 16 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage2_dummy_seed22.pt
|
| 17 |
+
rebuild_dataset: false
|
| 18 |
+
chunk_horizon: 8
|
| 19 |
+
rollout_horizon: 5
|
| 20 |
+
history_steps: 6
|
| 21 |
+
planner_candidates: 8
|
| 22 |
+
seed: 22
|
| 23 |
+
optim:
|
| 24 |
+
epochs: 4
|
| 25 |
+
batch_size: 16
|
| 26 |
+
num_workers: 4
|
| 27 |
+
lr: 0.001
|
| 28 |
+
weight_decay: 0.0001
|
| 29 |
+
trainer:
|
| 30 |
+
policy_type: elastic_reveal
|
| 31 |
+
use_bf16: false
|
| 32 |
+
grad_clip_norm: 1.0
|
| 33 |
+
freeze_backbone: true
|
| 34 |
+
gradient_checkpointing: false
|
| 35 |
+
plan_during_train: true
|
| 36 |
+
plan_during_eval: true
|
| 37 |
+
support_mode_conditioning: true
|
| 38 |
+
planner_mode: trainable
|
| 39 |
+
use_depth: false
|
| 40 |
+
use_world_model: true
|
| 41 |
+
use_role_tokens: true
|
| 42 |
+
compute_equivariance_probe: true
|
| 43 |
+
policy:
|
| 44 |
+
backbone:
|
| 45 |
+
model_name: openai/clip-vit-base-patch32
|
| 46 |
+
hidden_dim: 192
|
| 47 |
+
max_text_tokens: 32
|
| 48 |
+
freeze_backbone: true
|
| 49 |
+
gradient_checkpointing: false
|
| 50 |
+
use_dummy_backbone: true
|
| 51 |
+
fusion:
|
| 52 |
+
hidden_dim: 192
|
| 53 |
+
num_cameras: 3
|
| 54 |
+
num_layers: 2
|
| 55 |
+
num_heads: 4
|
| 56 |
+
ff_dim: 384
|
| 57 |
+
dropout: 0.1
|
| 58 |
+
proprio_dim: 32
|
| 59 |
+
proprio_tokens: 1
|
| 60 |
+
memory:
|
| 61 |
+
hidden_dim: 192
|
| 62 |
+
action_dim: 14
|
| 63 |
+
history_steps: 6
|
| 64 |
+
scene_history_steps: 3
|
| 65 |
+
belief_history_steps: 8
|
| 66 |
+
num_layers: 2
|
| 67 |
+
dropout: 0.1
|
| 68 |
+
memory_bank_size: 4
|
| 69 |
+
scene_bank_size: 2
|
| 70 |
+
belief_bank_size: 2
|
| 71 |
+
num_heads: 4
|
| 72 |
+
max_history_steps: 8
|
| 73 |
+
decoder:
|
| 74 |
+
hidden_dim: 192
|
| 75 |
+
num_heads: 4
|
| 76 |
+
num_layers: 2
|
| 77 |
+
ff_dim: 384
|
| 78 |
+
dropout: 0.1
|
| 79 |
+
chunk_size: 8
|
| 80 |
+
action_dim: 14
|
| 81 |
+
arm_action_dim: 7
|
| 82 |
+
num_candidates: 8
|
| 83 |
+
num_phases: 5
|
| 84 |
+
num_arm_roles: 4
|
| 85 |
+
num_proposal_modes: 6
|
| 86 |
+
planner_top_k: 4
|
| 87 |
+
reveal_head:
|
| 88 |
+
hidden_dim: 192
|
| 89 |
+
num_support_modes: 3
|
| 90 |
+
num_approach_templates: 32
|
| 91 |
+
rollout_horizon: 5
|
| 92 |
+
belief_map_size: 32
|
| 93 |
+
field_size: 16
|
| 94 |
+
num_heads: 4
|
| 95 |
+
predict_belief_map: true
|
| 96 |
+
num_phases: 5
|
| 97 |
+
num_arm_roles: 4
|
| 98 |
+
num_interaction_tokens: 8
|
| 99 |
+
world_model:
|
| 100 |
+
hidden_dim: 192
|
| 101 |
+
action_dim: 14
|
| 102 |
+
num_support_modes: 3
|
| 103 |
+
num_approach_templates: 32
|
| 104 |
+
rollout_horizon: 5
|
| 105 |
+
field_size: 16
|
| 106 |
+
num_heads: 4
|
| 107 |
+
num_phases: 5
|
| 108 |
+
num_arm_roles: 4
|
| 109 |
+
num_interaction_tokens: 8
|
| 110 |
+
belief_map_size: 32
|
| 111 |
+
predict_belief_map: true
|
| 112 |
+
scene_bank_size: 2
|
| 113 |
+
belief_bank_size: 2
|
| 114 |
+
planner:
|
| 115 |
+
hidden_dim: 192
|
| 116 |
+
num_candidates: 8
|
| 117 |
+
action_dim: 14
|
| 118 |
+
num_support_modes: 3
|
| 119 |
+
utility_margin: 0.1
|
| 120 |
+
num_heads: 4
|
| 121 |
+
num_layers: 2
|
| 122 |
+
num_phases: 5
|
| 123 |
+
num_arm_roles: 4
|
| 124 |
+
top_k: 4
|
| 125 |
+
loss_weights:
|
| 126 |
+
action: 1.0
|
| 127 |
+
phase: 0.15
|
| 128 |
+
arm_role: 0.2
|
| 129 |
+
support_mode: 0.15
|
| 130 |
+
corridor: 0.2
|
| 131 |
+
persistence: 0.1
|
| 132 |
+
disturbance: 0.1
|
| 133 |
+
world_model: 0.3
|
| 134 |
+
belief: 0.05
|
| 135 |
+
visibility: 0.05
|
| 136 |
+
clearance: 0.05
|
| 137 |
+
support_stability: 0.05
|
| 138 |
+
reocclusion: 0.05
|
| 139 |
+
occluder_contact: 0.05
|
| 140 |
+
grasp_affordance: 0.05
|
| 141 |
+
planner_success: 0.2
|
| 142 |
+
planner_risk: 0.1
|
| 143 |
+
planner_ranking: 0.1
|
| 144 |
+
proposal_reconstruction: 0.2
|
| 145 |
+
proposal_success: 0.1
|
| 146 |
+
proposal_ranking: 0.1
|
| 147 |
+
proposal_diversity: 0.05
|
| 148 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage2_dummy_seed23.yaml
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_dummy_seed23
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 23
|
| 5 |
+
defaults: []
|
| 6 |
+
data:
|
| 7 |
+
proxies:
|
| 8 |
+
- foliage_proxy
|
| 9 |
+
- bag_proxy
|
| 10 |
+
- cloth_proxy
|
| 11 |
+
resolution: 96
|
| 12 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 13 |
+
train_episodes_per_proxy: 48
|
| 14 |
+
val_episodes_per_proxy: 16
|
| 15 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage2_dummy_seed23.pt
|
| 16 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage2_dummy_seed23.pt
|
| 17 |
+
rebuild_dataset: false
|
| 18 |
+
chunk_horizon: 8
|
| 19 |
+
rollout_horizon: 5
|
| 20 |
+
history_steps: 6
|
| 21 |
+
planner_candidates: 8
|
| 22 |
+
seed: 23
|
| 23 |
+
optim:
|
| 24 |
+
epochs: 4
|
| 25 |
+
batch_size: 16
|
| 26 |
+
num_workers: 4
|
| 27 |
+
lr: 0.001
|
| 28 |
+
weight_decay: 0.0001
|
| 29 |
+
trainer:
|
| 30 |
+
policy_type: elastic_reveal
|
| 31 |
+
use_bf16: false
|
| 32 |
+
grad_clip_norm: 1.0
|
| 33 |
+
freeze_backbone: true
|
| 34 |
+
gradient_checkpointing: false
|
| 35 |
+
plan_during_train: true
|
| 36 |
+
plan_during_eval: true
|
| 37 |
+
support_mode_conditioning: true
|
| 38 |
+
planner_mode: trainable
|
| 39 |
+
use_depth: false
|
| 40 |
+
use_world_model: true
|
| 41 |
+
use_role_tokens: true
|
| 42 |
+
compute_equivariance_probe: true
|
| 43 |
+
policy:
|
| 44 |
+
backbone:
|
| 45 |
+
model_name: openai/clip-vit-base-patch32
|
| 46 |
+
hidden_dim: 192
|
| 47 |
+
max_text_tokens: 32
|
| 48 |
+
freeze_backbone: true
|
| 49 |
+
gradient_checkpointing: false
|
| 50 |
+
use_dummy_backbone: true
|
| 51 |
+
fusion:
|
| 52 |
+
hidden_dim: 192
|
| 53 |
+
num_cameras: 3
|
| 54 |
+
num_layers: 2
|
| 55 |
+
num_heads: 4
|
| 56 |
+
ff_dim: 384
|
| 57 |
+
dropout: 0.1
|
| 58 |
+
proprio_dim: 32
|
| 59 |
+
proprio_tokens: 1
|
| 60 |
+
memory:
|
| 61 |
+
hidden_dim: 192
|
| 62 |
+
action_dim: 14
|
| 63 |
+
history_steps: 6
|
| 64 |
+
scene_history_steps: 3
|
| 65 |
+
belief_history_steps: 8
|
| 66 |
+
num_layers: 2
|
| 67 |
+
dropout: 0.1
|
| 68 |
+
memory_bank_size: 4
|
| 69 |
+
scene_bank_size: 2
|
| 70 |
+
belief_bank_size: 2
|
| 71 |
+
num_heads: 4
|
| 72 |
+
max_history_steps: 8
|
| 73 |
+
decoder:
|
| 74 |
+
hidden_dim: 192
|
| 75 |
+
num_heads: 4
|
| 76 |
+
num_layers: 2
|
| 77 |
+
ff_dim: 384
|
| 78 |
+
dropout: 0.1
|
| 79 |
+
chunk_size: 8
|
| 80 |
+
action_dim: 14
|
| 81 |
+
arm_action_dim: 7
|
| 82 |
+
num_candidates: 8
|
| 83 |
+
num_phases: 5
|
| 84 |
+
num_arm_roles: 4
|
| 85 |
+
num_proposal_modes: 6
|
| 86 |
+
planner_top_k: 4
|
| 87 |
+
reveal_head:
|
| 88 |
+
hidden_dim: 192
|
| 89 |
+
num_support_modes: 3
|
| 90 |
+
num_approach_templates: 32
|
| 91 |
+
rollout_horizon: 5
|
| 92 |
+
belief_map_size: 32
|
| 93 |
+
field_size: 16
|
| 94 |
+
num_heads: 4
|
| 95 |
+
predict_belief_map: true
|
| 96 |
+
num_phases: 5
|
| 97 |
+
num_arm_roles: 4
|
| 98 |
+
num_interaction_tokens: 8
|
| 99 |
+
world_model:
|
| 100 |
+
hidden_dim: 192
|
| 101 |
+
action_dim: 14
|
| 102 |
+
num_support_modes: 3
|
| 103 |
+
num_approach_templates: 32
|
| 104 |
+
rollout_horizon: 5
|
| 105 |
+
field_size: 16
|
| 106 |
+
num_heads: 4
|
| 107 |
+
num_phases: 5
|
| 108 |
+
num_arm_roles: 4
|
| 109 |
+
num_interaction_tokens: 8
|
| 110 |
+
belief_map_size: 32
|
| 111 |
+
predict_belief_map: true
|
| 112 |
+
scene_bank_size: 2
|
| 113 |
+
belief_bank_size: 2
|
| 114 |
+
planner:
|
| 115 |
+
hidden_dim: 192
|
| 116 |
+
num_candidates: 8
|
| 117 |
+
action_dim: 14
|
| 118 |
+
num_support_modes: 3
|
| 119 |
+
utility_margin: 0.1
|
| 120 |
+
num_heads: 4
|
| 121 |
+
num_layers: 2
|
| 122 |
+
num_phases: 5
|
| 123 |
+
num_arm_roles: 4
|
| 124 |
+
top_k: 4
|
| 125 |
+
loss_weights:
|
| 126 |
+
action: 1.0
|
| 127 |
+
phase: 0.15
|
| 128 |
+
arm_role: 0.2
|
| 129 |
+
support_mode: 0.15
|
| 130 |
+
corridor: 0.2
|
| 131 |
+
persistence: 0.1
|
| 132 |
+
disturbance: 0.1
|
| 133 |
+
world_model: 0.3
|
| 134 |
+
belief: 0.05
|
| 135 |
+
visibility: 0.05
|
| 136 |
+
clearance: 0.05
|
| 137 |
+
support_stability: 0.05
|
| 138 |
+
reocclusion: 0.05
|
| 139 |
+
occluder_contact: 0.05
|
| 140 |
+
grasp_affordance: 0.05
|
| 141 |
+
planner_success: 0.2
|
| 142 |
+
planner_risk: 0.1
|
| 143 |
+
planner_ranking: 0.1
|
| 144 |
+
proposal_reconstruction: 0.2
|
| 145 |
+
proposal_success: 0.1
|
| 146 |
+
proposal_ranking: 0.1
|
| 147 |
+
proposal_diversity: 0.05
|
| 148 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage3_clip_rgbd_seed17.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_seed17.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_seed17.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 17
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: true
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.25
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage3_clip_rgbd_seed18.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_seed18
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 18
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_seed18.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_seed18.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 18
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: true
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.25
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/proxy_interaction_r3d_stage3_clip_rgbd_seed19.yaml
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_seed19
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 19
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_seed19.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_seed19.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 19
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 2
|
| 27 |
+
num_workers: 4
|
| 28 |
+
lr: 0.0003
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: true
|
| 37 |
+
plan_during_eval: true
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: true
|
| 41 |
+
use_world_model: true
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: true
|
| 44 |
+
policy:
|
| 45 |
+
backbone:
|
| 46 |
+
model_name: openai/clip-vit-base-patch32
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
max_text_tokens: 32
|
| 49 |
+
freeze_backbone: true
|
| 50 |
+
gradient_checkpointing: false
|
| 51 |
+
use_dummy_backbone: false
|
| 52 |
+
fusion:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
num_cameras: 3
|
| 55 |
+
num_layers: 4
|
| 56 |
+
num_heads: 8
|
| 57 |
+
ff_dim: 2048
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
proprio_dim: 32
|
| 60 |
+
proprio_tokens: 1
|
| 61 |
+
memory:
|
| 62 |
+
hidden_dim: 512
|
| 63 |
+
action_dim: 14
|
| 64 |
+
history_steps: 6
|
| 65 |
+
scene_history_steps: 3
|
| 66 |
+
belief_history_steps: 8
|
| 67 |
+
num_layers: 2
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
memory_bank_size: 4
|
| 70 |
+
scene_bank_size: 2
|
| 71 |
+
belief_bank_size: 2
|
| 72 |
+
num_heads: 8
|
| 73 |
+
max_history_steps: 8
|
| 74 |
+
decoder:
|
| 75 |
+
hidden_dim: 512
|
| 76 |
+
num_heads: 8
|
| 77 |
+
num_layers: 4
|
| 78 |
+
ff_dim: 2048
|
| 79 |
+
dropout: 0.1
|
| 80 |
+
chunk_size: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
arm_action_dim: 7
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_proposal_modes: 6
|
| 87 |
+
planner_top_k: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 512
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
belief_map_size: 32
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 8
|
| 96 |
+
predict_belief_map: true
|
| 97 |
+
num_phases: 5
|
| 98 |
+
num_arm_roles: 4
|
| 99 |
+
num_interaction_tokens: 8
|
| 100 |
+
world_model:
|
| 101 |
+
hidden_dim: 512
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
num_approach_templates: 32
|
| 105 |
+
rollout_horizon: 5
|
| 106 |
+
field_size: 16
|
| 107 |
+
num_heads: 8
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
belief_map_size: 32
|
| 112 |
+
predict_belief_map: true
|
| 113 |
+
scene_bank_size: 2
|
| 114 |
+
belief_bank_size: 2
|
| 115 |
+
planner:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
num_candidates: 8
|
| 118 |
+
action_dim: 14
|
| 119 |
+
num_support_modes: 3
|
| 120 |
+
utility_margin: 0.1
|
| 121 |
+
num_heads: 8
|
| 122 |
+
num_layers: 2
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
top_k: 4
|
| 126 |
+
loss_weights:
|
| 127 |
+
action: 1.0
|
| 128 |
+
phase: 0.1
|
| 129 |
+
arm_role: 0.15
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.15
|
| 132 |
+
persistence: 0.05
|
| 133 |
+
disturbance: 0.05
|
| 134 |
+
world_model: 0.25
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.05
|
| 138 |
+
support_stability: 0.05
|
| 139 |
+
reocclusion: 0.05
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.25
|
| 143 |
+
planner_risk: 0.1
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.1
|
| 146 |
+
proposal_success: 0.15
|
| 147 |
+
proposal_ranking: 0.2
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.05
|
VLAarchtests/artifacts/generated_configs/reveal_proxy_iter9_bag_train_specs.json
ADDED
|
@@ -0,0 +1,642 @@
|
|
|
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|
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| 2 |
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| 350 |
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"seed": 200006
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"proxy_name": "bag_proxy",
|
| 354 |
+
"task_name": "bag",
|
| 355 |
+
"task_id": 1,
|
| 356 |
+
"stress_slice": "camera_perturbation",
|
| 357 |
+
"difficulty_bin": "hard",
|
| 358 |
+
"episode_id": 35,
|
| 359 |
+
"episode_index": 35,
|
| 360 |
+
"seed": 200007
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"proxy_name": "bag_proxy",
|
| 364 |
+
"task_name": "bag",
|
| 365 |
+
"task_id": 1,
|
| 366 |
+
"stress_slice": "one_sided_slip",
|
| 367 |
+
"difficulty_bin": "medium",
|
| 368 |
+
"episode_id": 36,
|
| 369 |
+
"episode_index": 36,
|
| 370 |
+
"seed": 210000
|
| 371 |
+
},
|
| 372 |
+
{
|
| 373 |
+
"proxy_name": "bag_proxy",
|
| 374 |
+
"task_name": "bag",
|
| 375 |
+
"task_id": 1,
|
| 376 |
+
"stress_slice": "one_sided_slip",
|
| 377 |
+
"difficulty_bin": "medium",
|
| 378 |
+
"episode_id": 37,
|
| 379 |
+
"episode_index": 37,
|
| 380 |
+
"seed": 210001
|
| 381 |
+
},
|
| 382 |
+
{
|
| 383 |
+
"proxy_name": "bag_proxy",
|
| 384 |
+
"task_name": "bag",
|
| 385 |
+
"task_id": 1,
|
| 386 |
+
"stress_slice": "one_sided_slip",
|
| 387 |
+
"difficulty_bin": "medium",
|
| 388 |
+
"episode_id": 38,
|
| 389 |
+
"episode_index": 38,
|
| 390 |
+
"seed": 210002
|
| 391 |
+
},
|
| 392 |
+
{
|
| 393 |
+
"proxy_name": "bag_proxy",
|
| 394 |
+
"task_name": "bag",
|
| 395 |
+
"task_id": 1,
|
| 396 |
+
"stress_slice": "one_sided_slip",
|
| 397 |
+
"difficulty_bin": "medium",
|
| 398 |
+
"episode_id": 39,
|
| 399 |
+
"episode_index": 39,
|
| 400 |
+
"seed": 210003
|
| 401 |
+
},
|
| 402 |
+
{
|
| 403 |
+
"proxy_name": "bag_proxy",
|
| 404 |
+
"task_name": "bag",
|
| 405 |
+
"task_id": 1,
|
| 406 |
+
"stress_slice": "one_sided_slip",
|
| 407 |
+
"difficulty_bin": "medium",
|
| 408 |
+
"episode_id": 40,
|
| 409 |
+
"episode_index": 40,
|
| 410 |
+
"seed": 210004
|
| 411 |
+
},
|
| 412 |
+
{
|
| 413 |
+
"proxy_name": "bag_proxy",
|
| 414 |
+
"task_name": "bag",
|
| 415 |
+
"task_id": 1,
|
| 416 |
+
"stress_slice": "one_sided_slip",
|
| 417 |
+
"difficulty_bin": "medium",
|
| 418 |
+
"episode_id": 41,
|
| 419 |
+
"episode_index": 41,
|
| 420 |
+
"seed": 210005
|
| 421 |
+
},
|
| 422 |
+
{
|
| 423 |
+
"proxy_name": "bag_proxy",
|
| 424 |
+
"task_name": "bag",
|
| 425 |
+
"task_id": 1,
|
| 426 |
+
"stress_slice": "one_sided_slip",
|
| 427 |
+
"difficulty_bin": "medium",
|
| 428 |
+
"episode_id": 42,
|
| 429 |
+
"episode_index": 42,
|
| 430 |
+
"seed": 210006
|
| 431 |
+
},
|
| 432 |
+
{
|
| 433 |
+
"proxy_name": "bag_proxy",
|
| 434 |
+
"task_name": "bag",
|
| 435 |
+
"task_id": 1,
|
| 436 |
+
"stress_slice": "one_sided_slip",
|
| 437 |
+
"difficulty_bin": "medium",
|
| 438 |
+
"episode_id": 43,
|
| 439 |
+
"episode_index": 43,
|
| 440 |
+
"seed": 210007
|
| 441 |
+
},
|
| 442 |
+
{
|
| 443 |
+
"proxy_name": "bag_proxy",
|
| 444 |
+
"task_name": "bag",
|
| 445 |
+
"task_id": 1,
|
| 446 |
+
"stress_slice": "one_sided_slip",
|
| 447 |
+
"difficulty_bin": "medium",
|
| 448 |
+
"episode_id": 44,
|
| 449 |
+
"episode_index": 44,
|
| 450 |
+
"seed": 210008
|
| 451 |
+
},
|
| 452 |
+
{
|
| 453 |
+
"proxy_name": "bag_proxy",
|
| 454 |
+
"task_name": "bag",
|
| 455 |
+
"task_id": 1,
|
| 456 |
+
"stress_slice": "one_sided_slip",
|
| 457 |
+
"difficulty_bin": "medium",
|
| 458 |
+
"episode_id": 45,
|
| 459 |
+
"episode_index": 45,
|
| 460 |
+
"seed": 210009
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"proxy_name": "bag_proxy",
|
| 464 |
+
"task_name": "bag",
|
| 465 |
+
"task_id": 1,
|
| 466 |
+
"stress_slice": "one_sided_slip",
|
| 467 |
+
"difficulty_bin": "medium",
|
| 468 |
+
"episode_id": 46,
|
| 469 |
+
"episode_index": 46,
|
| 470 |
+
"seed": 210010
|
| 471 |
+
},
|
| 472 |
+
{
|
| 473 |
+
"proxy_name": "bag_proxy",
|
| 474 |
+
"task_name": "bag",
|
| 475 |
+
"task_id": 1,
|
| 476 |
+
"stress_slice": "one_sided_slip",
|
| 477 |
+
"difficulty_bin": "medium",
|
| 478 |
+
"episode_id": 47,
|
| 479 |
+
"episode_index": 47,
|
| 480 |
+
"seed": 210011
|
| 481 |
+
},
|
| 482 |
+
{
|
| 483 |
+
"proxy_name": "bag_proxy",
|
| 484 |
+
"task_name": "bag",
|
| 485 |
+
"task_id": 1,
|
| 486 |
+
"stress_slice": "one_sided_slip",
|
| 487 |
+
"difficulty_bin": "hard",
|
| 488 |
+
"episode_id": 48,
|
| 489 |
+
"episode_index": 48,
|
| 490 |
+
"seed": 220000
|
| 491 |
+
},
|
| 492 |
+
{
|
| 493 |
+
"proxy_name": "bag_proxy",
|
| 494 |
+
"task_name": "bag",
|
| 495 |
+
"task_id": 1,
|
| 496 |
+
"stress_slice": "one_sided_slip",
|
| 497 |
+
"difficulty_bin": "hard",
|
| 498 |
+
"episode_id": 49,
|
| 499 |
+
"episode_index": 49,
|
| 500 |
+
"seed": 220001
|
| 501 |
+
},
|
| 502 |
+
{
|
| 503 |
+
"proxy_name": "bag_proxy",
|
| 504 |
+
"task_name": "bag",
|
| 505 |
+
"task_id": 1,
|
| 506 |
+
"stress_slice": "one_sided_slip",
|
| 507 |
+
"difficulty_bin": "hard",
|
| 508 |
+
"episode_id": 50,
|
| 509 |
+
"episode_index": 50,
|
| 510 |
+
"seed": 220002
|
| 511 |
+
},
|
| 512 |
+
{
|
| 513 |
+
"proxy_name": "bag_proxy",
|
| 514 |
+
"task_name": "bag",
|
| 515 |
+
"task_id": 1,
|
| 516 |
+
"stress_slice": "one_sided_slip",
|
| 517 |
+
"difficulty_bin": "hard",
|
| 518 |
+
"episode_id": 51,
|
| 519 |
+
"episode_index": 51,
|
| 520 |
+
"seed": 220003
|
| 521 |
+
},
|
| 522 |
+
{
|
| 523 |
+
"proxy_name": "bag_proxy",
|
| 524 |
+
"task_name": "bag",
|
| 525 |
+
"task_id": 1,
|
| 526 |
+
"stress_slice": "one_sided_slip",
|
| 527 |
+
"difficulty_bin": "hard",
|
| 528 |
+
"episode_id": 52,
|
| 529 |
+
"episode_index": 52,
|
| 530 |
+
"seed": 220004
|
| 531 |
+
},
|
| 532 |
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{
|
| 533 |
+
"proxy_name": "bag_proxy",
|
| 534 |
+
"task_name": "bag",
|
| 535 |
+
"task_id": 1,
|
| 536 |
+
"stress_slice": "one_sided_slip",
|
| 537 |
+
"difficulty_bin": "hard",
|
| 538 |
+
"episode_id": 53,
|
| 539 |
+
"episode_index": 53,
|
| 540 |
+
"seed": 220005
|
| 541 |
+
},
|
| 542 |
+
{
|
| 543 |
+
"proxy_name": "bag_proxy",
|
| 544 |
+
"task_name": "bag",
|
| 545 |
+
"task_id": 1,
|
| 546 |
+
"stress_slice": "one_sided_slip",
|
| 547 |
+
"difficulty_bin": "hard",
|
| 548 |
+
"episode_id": 54,
|
| 549 |
+
"episode_index": 54,
|
| 550 |
+
"seed": 220006
|
| 551 |
+
},
|
| 552 |
+
{
|
| 553 |
+
"proxy_name": "bag_proxy",
|
| 554 |
+
"task_name": "bag",
|
| 555 |
+
"task_id": 1,
|
| 556 |
+
"stress_slice": "one_sided_slip",
|
| 557 |
+
"difficulty_bin": "hard",
|
| 558 |
+
"episode_id": 55,
|
| 559 |
+
"episode_index": 55,
|
| 560 |
+
"seed": 220007
|
| 561 |
+
},
|
| 562 |
+
{
|
| 563 |
+
"proxy_name": "bag_proxy",
|
| 564 |
+
"task_name": "bag",
|
| 565 |
+
"task_id": 1,
|
| 566 |
+
"stress_slice": "one_sided_slip",
|
| 567 |
+
"difficulty_bin": "hard",
|
| 568 |
+
"episode_id": 56,
|
| 569 |
+
"episode_index": 56,
|
| 570 |
+
"seed": 220008
|
| 571 |
+
},
|
| 572 |
+
{
|
| 573 |
+
"proxy_name": "bag_proxy",
|
| 574 |
+
"task_name": "bag",
|
| 575 |
+
"task_id": 1,
|
| 576 |
+
"stress_slice": "one_sided_slip",
|
| 577 |
+
"difficulty_bin": "hard",
|
| 578 |
+
"episode_id": 57,
|
| 579 |
+
"episode_index": 57,
|
| 580 |
+
"seed": 220009
|
| 581 |
+
},
|
| 582 |
+
{
|
| 583 |
+
"proxy_name": "bag_proxy",
|
| 584 |
+
"task_name": "bag",
|
| 585 |
+
"task_id": 1,
|
| 586 |
+
"stress_slice": "one_sided_slip",
|
| 587 |
+
"difficulty_bin": "hard",
|
| 588 |
+
"episode_id": 58,
|
| 589 |
+
"episode_index": 58,
|
| 590 |
+
"seed": 220010
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"proxy_name": "bag_proxy",
|
| 594 |
+
"task_name": "bag",
|
| 595 |
+
"task_id": 1,
|
| 596 |
+
"stress_slice": "one_sided_slip",
|
| 597 |
+
"difficulty_bin": "hard",
|
| 598 |
+
"episode_id": 59,
|
| 599 |
+
"episode_index": 59,
|
| 600 |
+
"seed": 220011
|
| 601 |
+
},
|
| 602 |
+
{
|
| 603 |
+
"proxy_name": "bag_proxy",
|
| 604 |
+
"task_name": "bag",
|
| 605 |
+
"task_id": 1,
|
| 606 |
+
"stress_slice": "one_sided_slip",
|
| 607 |
+
"difficulty_bin": "hard",
|
| 608 |
+
"episode_id": 60,
|
| 609 |
+
"episode_index": 60,
|
| 610 |
+
"seed": 220012
|
| 611 |
+
},
|
| 612 |
+
{
|
| 613 |
+
"proxy_name": "bag_proxy",
|
| 614 |
+
"task_name": "bag",
|
| 615 |
+
"task_id": 1,
|
| 616 |
+
"stress_slice": "one_sided_slip",
|
| 617 |
+
"difficulty_bin": "hard",
|
| 618 |
+
"episode_id": 61,
|
| 619 |
+
"episode_index": 61,
|
| 620 |
+
"seed": 220013
|
| 621 |
+
},
|
| 622 |
+
{
|
| 623 |
+
"proxy_name": "bag_proxy",
|
| 624 |
+
"task_name": "bag",
|
| 625 |
+
"task_id": 1,
|
| 626 |
+
"stress_slice": "one_sided_slip",
|
| 627 |
+
"difficulty_bin": "hard",
|
| 628 |
+
"episode_id": 62,
|
| 629 |
+
"episode_index": 62,
|
| 630 |
+
"seed": 220014
|
| 631 |
+
},
|
| 632 |
+
{
|
| 633 |
+
"proxy_name": "bag_proxy",
|
| 634 |
+
"task_name": "bag",
|
| 635 |
+
"task_id": 1,
|
| 636 |
+
"stress_slice": "one_sided_slip",
|
| 637 |
+
"difficulty_bin": "hard",
|
| 638 |
+
"episode_id": 63,
|
| 639 |
+
"episode_index": 63,
|
| 640 |
+
"seed": 220015
|
| 641 |
+
}
|
| 642 |
+
]
|
VLAarchtests/artifacts/generated_configs/reveal_proxy_iter9_bag_val_specs.json
ADDED
|
@@ -0,0 +1,242 @@
|
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|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"proxy_name": "bag_proxy",
|
| 4 |
+
"task_name": "bag",
|
| 5 |
+
"task_id": 1,
|
| 6 |
+
"stress_slice": "nominal",
|
| 7 |
+
"difficulty_bin": "medium",
|
| 8 |
+
"episode_id": 0,
|
| 9 |
+
"episode_index": 0,
|
| 10 |
+
"seed": 270000
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"proxy_name": "bag_proxy",
|
| 14 |
+
"task_name": "bag",
|
| 15 |
+
"task_id": 1,
|
| 16 |
+
"stress_slice": "nominal",
|
| 17 |
+
"difficulty_bin": "medium",
|
| 18 |
+
"episode_id": 1,
|
| 19 |
+
"episode_index": 1,
|
| 20 |
+
"seed": 270001
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"proxy_name": "bag_proxy",
|
| 24 |
+
"task_name": "bag",
|
| 25 |
+
"task_id": 1,
|
| 26 |
+
"stress_slice": "nominal",
|
| 27 |
+
"difficulty_bin": "medium",
|
| 28 |
+
"episode_id": 2,
|
| 29 |
+
"episode_index": 2,
|
| 30 |
+
"seed": 270002
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"proxy_name": "bag_proxy",
|
| 34 |
+
"task_name": "bag",
|
| 35 |
+
"task_id": 1,
|
| 36 |
+
"stress_slice": "nominal",
|
| 37 |
+
"difficulty_bin": "medium",
|
| 38 |
+
"episode_id": 3,
|
| 39 |
+
"episode_index": 3,
|
| 40 |
+
"seed": 270003
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"proxy_name": "bag_proxy",
|
| 44 |
+
"task_name": "bag",
|
| 45 |
+
"task_id": 1,
|
| 46 |
+
"stress_slice": "nominal",
|
| 47 |
+
"difficulty_bin": "hard",
|
| 48 |
+
"episode_id": 4,
|
| 49 |
+
"episode_index": 4,
|
| 50 |
+
"seed": 280000
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"proxy_name": "bag_proxy",
|
| 54 |
+
"task_name": "bag",
|
| 55 |
+
"task_id": 1,
|
| 56 |
+
"stress_slice": "nominal",
|
| 57 |
+
"difficulty_bin": "hard",
|
| 58 |
+
"episode_id": 5,
|
| 59 |
+
"episode_index": 5,
|
| 60 |
+
"seed": 280001
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"proxy_name": "bag_proxy",
|
| 64 |
+
"task_name": "bag",
|
| 65 |
+
"task_id": 1,
|
| 66 |
+
"stress_slice": "nominal",
|
| 67 |
+
"difficulty_bin": "hard",
|
| 68 |
+
"episode_id": 6,
|
| 69 |
+
"episode_index": 6,
|
| 70 |
+
"seed": 280002
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"proxy_name": "bag_proxy",
|
| 74 |
+
"task_name": "bag",
|
| 75 |
+
"task_id": 1,
|
| 76 |
+
"stress_slice": "nominal",
|
| 77 |
+
"difficulty_bin": "hard",
|
| 78 |
+
"episode_id": 7,
|
| 79 |
+
"episode_index": 7,
|
| 80 |
+
"seed": 280003
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"proxy_name": "bag_proxy",
|
| 84 |
+
"task_name": "bag",
|
| 85 |
+
"task_id": 1,
|
| 86 |
+
"stress_slice": "high_reocclusion",
|
| 87 |
+
"difficulty_bin": "hard",
|
| 88 |
+
"episode_id": 8,
|
| 89 |
+
"episode_index": 8,
|
| 90 |
+
"seed": 290000
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"proxy_name": "bag_proxy",
|
| 94 |
+
"task_name": "bag",
|
| 95 |
+
"task_id": 1,
|
| 96 |
+
"stress_slice": "high_reocclusion",
|
| 97 |
+
"difficulty_bin": "hard",
|
| 98 |
+
"episode_id": 9,
|
| 99 |
+
"episode_index": 9,
|
| 100 |
+
"seed": 290001
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"proxy_name": "bag_proxy",
|
| 104 |
+
"task_name": "bag",
|
| 105 |
+
"task_id": 1,
|
| 106 |
+
"stress_slice": "high_reocclusion",
|
| 107 |
+
"difficulty_bin": "hard",
|
| 108 |
+
"episode_id": 10,
|
| 109 |
+
"episode_index": 10,
|
| 110 |
+
"seed": 290002
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"proxy_name": "bag_proxy",
|
| 114 |
+
"task_name": "bag",
|
| 115 |
+
"task_id": 1,
|
| 116 |
+
"stress_slice": "high_reocclusion",
|
| 117 |
+
"difficulty_bin": "hard",
|
| 118 |
+
"episode_id": 11,
|
| 119 |
+
"episode_index": 11,
|
| 120 |
+
"seed": 290003
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"proxy_name": "bag_proxy",
|
| 124 |
+
"task_name": "bag",
|
| 125 |
+
"task_id": 1,
|
| 126 |
+
"stress_slice": "camera_perturbation",
|
| 127 |
+
"difficulty_bin": "hard",
|
| 128 |
+
"episode_id": 12,
|
| 129 |
+
"episode_index": 12,
|
| 130 |
+
"seed": 300000
|
| 131 |
+
},
|
| 132 |
+
{
|
| 133 |
+
"proxy_name": "bag_proxy",
|
| 134 |
+
"task_name": "bag",
|
| 135 |
+
"task_id": 1,
|
| 136 |
+
"stress_slice": "camera_perturbation",
|
| 137 |
+
"difficulty_bin": "hard",
|
| 138 |
+
"episode_id": 13,
|
| 139 |
+
"episode_index": 13,
|
| 140 |
+
"seed": 300001
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"proxy_name": "bag_proxy",
|
| 144 |
+
"task_name": "bag",
|
| 145 |
+
"task_id": 1,
|
| 146 |
+
"stress_slice": "camera_perturbation",
|
| 147 |
+
"difficulty_bin": "hard",
|
| 148 |
+
"episode_id": 14,
|
| 149 |
+
"episode_index": 14,
|
| 150 |
+
"seed": 300002
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"proxy_name": "bag_proxy",
|
| 154 |
+
"task_name": "bag",
|
| 155 |
+
"task_id": 1,
|
| 156 |
+
"stress_slice": "camera_perturbation",
|
| 157 |
+
"difficulty_bin": "hard",
|
| 158 |
+
"episode_id": 15,
|
| 159 |
+
"episode_index": 15,
|
| 160 |
+
"seed": 300003
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"proxy_name": "bag_proxy",
|
| 164 |
+
"task_name": "bag",
|
| 165 |
+
"task_id": 1,
|
| 166 |
+
"stress_slice": "one_sided_slip",
|
| 167 |
+
"difficulty_bin": "medium",
|
| 168 |
+
"episode_id": 16,
|
| 169 |
+
"episode_index": 16,
|
| 170 |
+
"seed": 310000
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"proxy_name": "bag_proxy",
|
| 174 |
+
"task_name": "bag",
|
| 175 |
+
"task_id": 1,
|
| 176 |
+
"stress_slice": "one_sided_slip",
|
| 177 |
+
"difficulty_bin": "medium",
|
| 178 |
+
"episode_id": 17,
|
| 179 |
+
"episode_index": 17,
|
| 180 |
+
"seed": 310001
|
| 181 |
+
},
|
| 182 |
+
{
|
| 183 |
+
"proxy_name": "bag_proxy",
|
| 184 |
+
"task_name": "bag",
|
| 185 |
+
"task_id": 1,
|
| 186 |
+
"stress_slice": "one_sided_slip",
|
| 187 |
+
"difficulty_bin": "medium",
|
| 188 |
+
"episode_id": 18,
|
| 189 |
+
"episode_index": 18,
|
| 190 |
+
"seed": 310002
|
| 191 |
+
},
|
| 192 |
+
{
|
| 193 |
+
"proxy_name": "bag_proxy",
|
| 194 |
+
"task_name": "bag",
|
| 195 |
+
"task_id": 1,
|
| 196 |
+
"stress_slice": "one_sided_slip",
|
| 197 |
+
"difficulty_bin": "medium",
|
| 198 |
+
"episode_id": 19,
|
| 199 |
+
"episode_index": 19,
|
| 200 |
+
"seed": 310003
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"proxy_name": "bag_proxy",
|
| 204 |
+
"task_name": "bag",
|
| 205 |
+
"task_id": 1,
|
| 206 |
+
"stress_slice": "one_sided_slip",
|
| 207 |
+
"difficulty_bin": "hard",
|
| 208 |
+
"episode_id": 20,
|
| 209 |
+
"episode_index": 20,
|
| 210 |
+
"seed": 320000
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"proxy_name": "bag_proxy",
|
| 214 |
+
"task_name": "bag",
|
| 215 |
+
"task_id": 1,
|
| 216 |
+
"stress_slice": "one_sided_slip",
|
| 217 |
+
"difficulty_bin": "hard",
|
| 218 |
+
"episode_id": 21,
|
| 219 |
+
"episode_index": 21,
|
| 220 |
+
"seed": 320001
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"proxy_name": "bag_proxy",
|
| 224 |
+
"task_name": "bag",
|
| 225 |
+
"task_id": 1,
|
| 226 |
+
"stress_slice": "one_sided_slip",
|
| 227 |
+
"difficulty_bin": "hard",
|
| 228 |
+
"episode_id": 22,
|
| 229 |
+
"episode_index": 22,
|
| 230 |
+
"seed": 320002
|
| 231 |
+
},
|
| 232 |
+
{
|
| 233 |
+
"proxy_name": "bag_proxy",
|
| 234 |
+
"task_name": "bag",
|
| 235 |
+
"task_id": 1,
|
| 236 |
+
"stress_slice": "one_sided_slip",
|
| 237 |
+
"difficulty_bin": "hard",
|
| 238 |
+
"episode_id": 23,
|
| 239 |
+
"episode_index": 23,
|
| 240 |
+
"seed": 320003
|
| 241 |
+
}
|
| 242 |
+
]
|
VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json
ADDED
|
@@ -0,0 +1,2702 @@
|
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|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"proxy_name": "foliage_proxy",
|
| 4 |
+
"task_name": "foliage",
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| 5 |
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| 6 |
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| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
+
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|
| 11 |
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{
|
| 12 |
+
"proxy_name": "foliage_proxy",
|
| 13 |
+
"task_name": "foliage",
|
| 14 |
+
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|
| 15 |
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|
| 16 |
+
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|
| 17 |
+
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|
| 18 |
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"seed": 1000
|
| 19 |
+
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|
| 20 |
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{
|
| 21 |
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"proxy_name": "foliage_proxy",
|
| 22 |
+
"task_name": "foliage",
|
| 23 |
+
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|
| 24 |
+
"stress_slice": "nominal",
|
| 25 |
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"difficulty_bin": "hard",
|
| 26 |
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|
| 27 |
+
"seed": 2000
|
| 28 |
+
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|
| 29 |
+
{
|
| 30 |
+
"proxy_name": "foliage_proxy",
|
| 31 |
+
"task_name": "foliage",
|
| 32 |
+
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|
| 33 |
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|
| 34 |
+
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|
| 35 |
+
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|
| 36 |
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"seed": 3000
|
| 37 |
+
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"seed": 4000
|
| 46 |
+
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|
| 47 |
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{
|
| 48 |
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"proxy_name": "foliage_proxy",
|
| 49 |
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"task_name": "foliage",
|
| 50 |
+
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|
| 51 |
+
"stress_slice": "tight_corridor_high_collateral",
|
| 52 |
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|
| 53 |
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|
| 54 |
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"seed": 5000
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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"seed": 6000
|
| 64 |
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|
| 65 |
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{
|
| 66 |
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"proxy_name": "foliage_proxy",
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"seed": 7000
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"seed": 1
|
| 82 |
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|
| 83 |
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{
|
| 84 |
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"proxy_name": "foliage_proxy",
|
| 85 |
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"task_name": "foliage",
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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"seed": 1001
|
| 91 |
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|
| 92 |
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{
|
| 93 |
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"proxy_name": "foliage_proxy",
|
| 94 |
+
"task_name": "foliage",
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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"seed": 2001
|
| 100 |
+
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|
| 101 |
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{
|
| 102 |
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"proxy_name": "foliage_proxy",
|
| 103 |
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"task_name": "foliage",
|
| 104 |
+
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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"seed": 3001
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"proxy_name": "foliage_proxy",
|
| 112 |
+
"task_name": "foliage",
|
| 113 |
+
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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"seed": 4001
|
| 118 |
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|
| 119 |
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{
|
| 120 |
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"proxy_name": "foliage_proxy",
|
| 121 |
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"task_name": "foliage",
|
| 122 |
+
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|
| 123 |
+
"stress_slice": "tight_corridor_high_collateral",
|
| 124 |
+
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|
| 125 |
+
"episode_index": 13,
|
| 126 |
+
"seed": 5001
|
| 127 |
+
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|
| 128 |
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{
|
| 129 |
+
"proxy_name": "foliage_proxy",
|
| 130 |
+
"task_name": "foliage",
|
| 131 |
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"task_id": 0,
|
| 132 |
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"stress_slice": "camera_perturbation",
|
| 133 |
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"difficulty_bin": "hard",
|
| 134 |
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|
| 135 |
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"seed": 6001
|
| 136 |
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|
| 137 |
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{
|
| 138 |
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"proxy_name": "foliage_proxy",
|
| 139 |
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"task_name": "foliage",
|
| 140 |
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|
| 141 |
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"stress_slice": "tight_corridor_high_collateral",
|
| 142 |
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"difficulty_bin": "hard",
|
| 143 |
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"episode_index": 15,
|
| 144 |
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"seed": 7001
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"proxy_name": "foliage_proxy",
|
| 148 |
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"task_name": "foliage",
|
| 149 |
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|
| 150 |
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"stress_slice": "nominal",
|
| 151 |
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|
| 152 |
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|
| 153 |
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"seed": 2
|
| 154 |
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|
| 155 |
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{
|
| 156 |
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"proxy_name": "foliage_proxy",
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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"seed": 1002
|
| 163 |
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|
| 164 |
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{
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"seed": 2002
|
| 172 |
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|
| 173 |
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{
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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"difficulty_bin": "hard",
|
| 179 |
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"episode_index": 19,
|
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| 2567 |
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{
|
| 2568 |
+
"proxy_name": "cloth_proxy",
|
| 2569 |
+
"task_name": "cloth",
|
| 2570 |
+
"task_id": 2,
|
| 2571 |
+
"stress_slice": "nominal",
|
| 2572 |
+
"difficulty_bin": "hard",
|
| 2573 |
+
"episode_index": 85,
|
| 2574 |
+
"seed": 202012
|
| 2575 |
+
},
|
| 2576 |
+
{
|
| 2577 |
+
"proxy_name": "cloth_proxy",
|
| 2578 |
+
"task_name": "cloth",
|
| 2579 |
+
"task_id": 2,
|
| 2580 |
+
"stress_slice": "nominal",
|
| 2581 |
+
"difficulty_bin": "medium",
|
| 2582 |
+
"episode_index": 86,
|
| 2583 |
+
"seed": 200013
|
| 2584 |
+
},
|
| 2585 |
+
{
|
| 2586 |
+
"proxy_name": "cloth_proxy",
|
| 2587 |
+
"task_name": "cloth",
|
| 2588 |
+
"task_id": 2,
|
| 2589 |
+
"stress_slice": "nominal",
|
| 2590 |
+
"difficulty_bin": "hard",
|
| 2591 |
+
"episode_index": 87,
|
| 2592 |
+
"seed": 202013
|
| 2593 |
+
},
|
| 2594 |
+
{
|
| 2595 |
+
"proxy_name": "cloth_proxy",
|
| 2596 |
+
"task_name": "cloth",
|
| 2597 |
+
"task_id": 2,
|
| 2598 |
+
"stress_slice": "nominal",
|
| 2599 |
+
"difficulty_bin": "medium",
|
| 2600 |
+
"episode_index": 88,
|
| 2601 |
+
"seed": 200014
|
| 2602 |
+
},
|
| 2603 |
+
{
|
| 2604 |
+
"proxy_name": "cloth_proxy",
|
| 2605 |
+
"task_name": "cloth",
|
| 2606 |
+
"task_id": 2,
|
| 2607 |
+
"stress_slice": "nominal",
|
| 2608 |
+
"difficulty_bin": "hard",
|
| 2609 |
+
"episode_index": 89,
|
| 2610 |
+
"seed": 202014
|
| 2611 |
+
},
|
| 2612 |
+
{
|
| 2613 |
+
"proxy_name": "cloth_proxy",
|
| 2614 |
+
"task_name": "cloth",
|
| 2615 |
+
"task_id": 2,
|
| 2616 |
+
"stress_slice": "nominal",
|
| 2617 |
+
"difficulty_bin": "medium",
|
| 2618 |
+
"episode_index": 90,
|
| 2619 |
+
"seed": 200015
|
| 2620 |
+
},
|
| 2621 |
+
{
|
| 2622 |
+
"proxy_name": "cloth_proxy",
|
| 2623 |
+
"task_name": "cloth",
|
| 2624 |
+
"task_id": 2,
|
| 2625 |
+
"stress_slice": "nominal",
|
| 2626 |
+
"difficulty_bin": "hard",
|
| 2627 |
+
"episode_index": 91,
|
| 2628 |
+
"seed": 202015
|
| 2629 |
+
},
|
| 2630 |
+
{
|
| 2631 |
+
"proxy_name": "cloth_proxy",
|
| 2632 |
+
"task_name": "cloth",
|
| 2633 |
+
"task_id": 2,
|
| 2634 |
+
"stress_slice": "nominal",
|
| 2635 |
+
"difficulty_bin": "medium",
|
| 2636 |
+
"episode_index": 92,
|
| 2637 |
+
"seed": 200016
|
| 2638 |
+
},
|
| 2639 |
+
{
|
| 2640 |
+
"proxy_name": "cloth_proxy",
|
| 2641 |
+
"task_name": "cloth",
|
| 2642 |
+
"task_id": 2,
|
| 2643 |
+
"stress_slice": "nominal",
|
| 2644 |
+
"difficulty_bin": "hard",
|
| 2645 |
+
"episode_index": 93,
|
| 2646 |
+
"seed": 202016
|
| 2647 |
+
},
|
| 2648 |
+
{
|
| 2649 |
+
"proxy_name": "cloth_proxy",
|
| 2650 |
+
"task_name": "cloth",
|
| 2651 |
+
"task_id": 2,
|
| 2652 |
+
"stress_slice": "nominal",
|
| 2653 |
+
"difficulty_bin": "medium",
|
| 2654 |
+
"episode_index": 94,
|
| 2655 |
+
"seed": 200017
|
| 2656 |
+
},
|
| 2657 |
+
{
|
| 2658 |
+
"proxy_name": "cloth_proxy",
|
| 2659 |
+
"task_name": "cloth",
|
| 2660 |
+
"task_id": 2,
|
| 2661 |
+
"stress_slice": "nominal",
|
| 2662 |
+
"difficulty_bin": "hard",
|
| 2663 |
+
"episode_index": 95,
|
| 2664 |
+
"seed": 202017
|
| 2665 |
+
},
|
| 2666 |
+
{
|
| 2667 |
+
"proxy_name": "cloth_proxy",
|
| 2668 |
+
"task_name": "cloth",
|
| 2669 |
+
"task_id": 2,
|
| 2670 |
+
"stress_slice": "nominal",
|
| 2671 |
+
"difficulty_bin": "medium",
|
| 2672 |
+
"episode_index": 96,
|
| 2673 |
+
"seed": 200018
|
| 2674 |
+
},
|
| 2675 |
+
{
|
| 2676 |
+
"proxy_name": "cloth_proxy",
|
| 2677 |
+
"task_name": "cloth",
|
| 2678 |
+
"task_id": 2,
|
| 2679 |
+
"stress_slice": "nominal",
|
| 2680 |
+
"difficulty_bin": "hard",
|
| 2681 |
+
"episode_index": 97,
|
| 2682 |
+
"seed": 202018
|
| 2683 |
+
},
|
| 2684 |
+
{
|
| 2685 |
+
"proxy_name": "cloth_proxy",
|
| 2686 |
+
"task_name": "cloth",
|
| 2687 |
+
"task_id": 2,
|
| 2688 |
+
"stress_slice": "nominal",
|
| 2689 |
+
"difficulty_bin": "medium",
|
| 2690 |
+
"episode_index": 98,
|
| 2691 |
+
"seed": 200019
|
| 2692 |
+
},
|
| 2693 |
+
{
|
| 2694 |
+
"proxy_name": "cloth_proxy",
|
| 2695 |
+
"task_name": "cloth",
|
| 2696 |
+
"task_id": 2,
|
| 2697 |
+
"stress_slice": "nominal",
|
| 2698 |
+
"difficulty_bin": "hard",
|
| 2699 |
+
"episode_index": 99,
|
| 2700 |
+
"seed": 202019
|
| 2701 |
+
}
|
| 2702 |
+
]
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,160 @@
|
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|
|
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|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 17
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 6
|
| 26 |
+
batch_size: 8
|
| 27 |
+
num_workers: 48
|
| 28 |
+
lr: 0.0001
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: false
|
| 37 |
+
plan_during_eval: false
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: true
|
| 41 |
+
use_world_model: false
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: false
|
| 44 |
+
trainable_parameter_prefixes:
|
| 45 |
+
- decoder.proposal_score
|
| 46 |
+
- decoder.proposal_mode_head
|
| 47 |
+
- decoder.proposal_mode_embeddings
|
| 48 |
+
- decoder.proposal_slot_embeddings
|
| 49 |
+
- decoder.slot_delta
|
| 50 |
+
- decoder.mode_residual_heads
|
| 51 |
+
policy:
|
| 52 |
+
backbone:
|
| 53 |
+
model_name: openai/clip-vit-base-patch32
|
| 54 |
+
hidden_dim: 512
|
| 55 |
+
max_text_tokens: 32
|
| 56 |
+
freeze_backbone: true
|
| 57 |
+
gradient_checkpointing: false
|
| 58 |
+
use_dummy_backbone: false
|
| 59 |
+
fusion:
|
| 60 |
+
hidden_dim: 512
|
| 61 |
+
num_cameras: 3
|
| 62 |
+
num_layers: 4
|
| 63 |
+
num_heads: 8
|
| 64 |
+
ff_dim: 2048
|
| 65 |
+
dropout: 0.1
|
| 66 |
+
proprio_dim: 32
|
| 67 |
+
proprio_tokens: 1
|
| 68 |
+
memory:
|
| 69 |
+
hidden_dim: 512
|
| 70 |
+
action_dim: 14
|
| 71 |
+
history_steps: 6
|
| 72 |
+
scene_history_steps: 3
|
| 73 |
+
belief_history_steps: 8
|
| 74 |
+
num_layers: 2
|
| 75 |
+
dropout: 0.1
|
| 76 |
+
memory_bank_size: 4
|
| 77 |
+
scene_bank_size: 2
|
| 78 |
+
belief_bank_size: 2
|
| 79 |
+
num_heads: 8
|
| 80 |
+
max_history_steps: 8
|
| 81 |
+
decoder:
|
| 82 |
+
hidden_dim: 512
|
| 83 |
+
num_heads: 8
|
| 84 |
+
num_layers: 4
|
| 85 |
+
ff_dim: 2048
|
| 86 |
+
dropout: 0.1
|
| 87 |
+
chunk_size: 8
|
| 88 |
+
action_dim: 14
|
| 89 |
+
arm_action_dim: 7
|
| 90 |
+
num_candidates: 8
|
| 91 |
+
num_phases: 5
|
| 92 |
+
num_arm_roles: 4
|
| 93 |
+
num_proposal_modes: 7
|
| 94 |
+
planner_top_k: 4
|
| 95 |
+
reveal_head:
|
| 96 |
+
hidden_dim: 512
|
| 97 |
+
num_support_modes: 3
|
| 98 |
+
num_approach_templates: 32
|
| 99 |
+
rollout_horizon: 5
|
| 100 |
+
belief_map_size: 32
|
| 101 |
+
field_size: 16
|
| 102 |
+
num_heads: 8
|
| 103 |
+
predict_belief_map: true
|
| 104 |
+
num_phases: 5
|
| 105 |
+
num_arm_roles: 4
|
| 106 |
+
num_interaction_tokens: 8
|
| 107 |
+
num_tasks: 4
|
| 108 |
+
world_model:
|
| 109 |
+
hidden_dim: 512
|
| 110 |
+
action_dim: 14
|
| 111 |
+
num_support_modes: 3
|
| 112 |
+
num_approach_templates: 32
|
| 113 |
+
rollout_horizon: 5
|
| 114 |
+
field_size: 16
|
| 115 |
+
num_heads: 8
|
| 116 |
+
num_phases: 5
|
| 117 |
+
num_arm_roles: 4
|
| 118 |
+
num_interaction_tokens: 8
|
| 119 |
+
belief_map_size: 32
|
| 120 |
+
predict_belief_map: true
|
| 121 |
+
scene_bank_size: 2
|
| 122 |
+
belief_bank_size: 2
|
| 123 |
+
rollout_mode: compact_rollout
|
| 124 |
+
num_tasks: 4
|
| 125 |
+
planner:
|
| 126 |
+
hidden_dim: 512
|
| 127 |
+
num_candidates: 8
|
| 128 |
+
action_dim: 14
|
| 129 |
+
num_support_modes: 3
|
| 130 |
+
utility_margin: 0.1
|
| 131 |
+
num_heads: 8
|
| 132 |
+
num_layers: 2
|
| 133 |
+
num_phases: 5
|
| 134 |
+
num_arm_roles: 4
|
| 135 |
+
top_k: 4
|
| 136 |
+
loss_weights:
|
| 137 |
+
action: 1.0
|
| 138 |
+
phase: 0.08
|
| 139 |
+
arm_role: 0.1
|
| 140 |
+
support_mode: 0.1
|
| 141 |
+
corridor: 0.12
|
| 142 |
+
persistence: 0.06
|
| 143 |
+
disturbance: 0.06
|
| 144 |
+
world_model: 0.0
|
| 145 |
+
belief: 0.05
|
| 146 |
+
visibility: 0.05
|
| 147 |
+
clearance: 0.06
|
| 148 |
+
support_stability: 0.06
|
| 149 |
+
reocclusion: 0.06
|
| 150 |
+
occluder_contact: 0.05
|
| 151 |
+
grasp_affordance: 0.05
|
| 152 |
+
planner_success: 0.0
|
| 153 |
+
planner_risk: 0.0
|
| 154 |
+
planner_ranking: 0.0
|
| 155 |
+
proposal_reconstruction: 0.2
|
| 156 |
+
proposal_success: 0.35
|
| 157 |
+
proposal_ranking: 0.5
|
| 158 |
+
proposal_diversity: 0.02
|
| 159 |
+
role_swap_consistency: 0.0
|
| 160 |
+
task_metrics: 0.05
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/metrics.json
ADDED
|
@@ -0,0 +1,356 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
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|
|
|
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|
|
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/summary.json
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@@ -0,0 +1,92 @@
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,160 @@
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|
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|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 17
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 6
|
| 26 |
+
batch_size: 8
|
| 27 |
+
num_workers: 48
|
| 28 |
+
lr: 0.0001
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: false
|
| 37 |
+
plan_during_eval: false
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: true
|
| 41 |
+
use_world_model: false
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: false
|
| 44 |
+
trainable_parameter_prefixes:
|
| 45 |
+
- decoder.proposal_score
|
| 46 |
+
- decoder.proposal_mode_head
|
| 47 |
+
- decoder.proposal_mode_embeddings
|
| 48 |
+
- decoder.proposal_slot_embeddings
|
| 49 |
+
- decoder.slot_delta
|
| 50 |
+
- decoder.mode_residual_heads
|
| 51 |
+
policy:
|
| 52 |
+
backbone:
|
| 53 |
+
model_name: openai/clip-vit-base-patch32
|
| 54 |
+
hidden_dim: 512
|
| 55 |
+
max_text_tokens: 32
|
| 56 |
+
freeze_backbone: true
|
| 57 |
+
gradient_checkpointing: false
|
| 58 |
+
use_dummy_backbone: false
|
| 59 |
+
fusion:
|
| 60 |
+
hidden_dim: 512
|
| 61 |
+
num_cameras: 3
|
| 62 |
+
num_layers: 4
|
| 63 |
+
num_heads: 8
|
| 64 |
+
ff_dim: 2048
|
| 65 |
+
dropout: 0.1
|
| 66 |
+
proprio_dim: 32
|
| 67 |
+
proprio_tokens: 1
|
| 68 |
+
memory:
|
| 69 |
+
hidden_dim: 512
|
| 70 |
+
action_dim: 14
|
| 71 |
+
history_steps: 6
|
| 72 |
+
scene_history_steps: 3
|
| 73 |
+
belief_history_steps: 8
|
| 74 |
+
num_layers: 2
|
| 75 |
+
dropout: 0.1
|
| 76 |
+
memory_bank_size: 4
|
| 77 |
+
scene_bank_size: 2
|
| 78 |
+
belief_bank_size: 2
|
| 79 |
+
num_heads: 8
|
| 80 |
+
max_history_steps: 8
|
| 81 |
+
decoder:
|
| 82 |
+
hidden_dim: 512
|
| 83 |
+
num_heads: 8
|
| 84 |
+
num_layers: 4
|
| 85 |
+
ff_dim: 2048
|
| 86 |
+
dropout: 0.1
|
| 87 |
+
chunk_size: 8
|
| 88 |
+
action_dim: 14
|
| 89 |
+
arm_action_dim: 7
|
| 90 |
+
num_candidates: 8
|
| 91 |
+
num_phases: 5
|
| 92 |
+
num_arm_roles: 4
|
| 93 |
+
num_proposal_modes: 7
|
| 94 |
+
planner_top_k: 4
|
| 95 |
+
reveal_head:
|
| 96 |
+
hidden_dim: 512
|
| 97 |
+
num_support_modes: 3
|
| 98 |
+
num_approach_templates: 32
|
| 99 |
+
rollout_horizon: 5
|
| 100 |
+
belief_map_size: 32
|
| 101 |
+
field_size: 16
|
| 102 |
+
num_heads: 8
|
| 103 |
+
predict_belief_map: true
|
| 104 |
+
num_phases: 5
|
| 105 |
+
num_arm_roles: 4
|
| 106 |
+
num_interaction_tokens: 8
|
| 107 |
+
num_tasks: 4
|
| 108 |
+
world_model:
|
| 109 |
+
hidden_dim: 512
|
| 110 |
+
action_dim: 14
|
| 111 |
+
num_support_modes: 3
|
| 112 |
+
num_approach_templates: 32
|
| 113 |
+
rollout_horizon: 5
|
| 114 |
+
field_size: 16
|
| 115 |
+
num_heads: 8
|
| 116 |
+
num_phases: 5
|
| 117 |
+
num_arm_roles: 4
|
| 118 |
+
num_interaction_tokens: 8
|
| 119 |
+
belief_map_size: 32
|
| 120 |
+
predict_belief_map: true
|
| 121 |
+
scene_bank_size: 2
|
| 122 |
+
belief_bank_size: 2
|
| 123 |
+
rollout_mode: compact_rollout
|
| 124 |
+
num_tasks: 4
|
| 125 |
+
planner:
|
| 126 |
+
hidden_dim: 512
|
| 127 |
+
num_candidates: 8
|
| 128 |
+
action_dim: 14
|
| 129 |
+
num_support_modes: 3
|
| 130 |
+
utility_margin: 0.1
|
| 131 |
+
num_heads: 8
|
| 132 |
+
num_layers: 2
|
| 133 |
+
num_phases: 5
|
| 134 |
+
num_arm_roles: 4
|
| 135 |
+
top_k: 4
|
| 136 |
+
loss_weights:
|
| 137 |
+
action: 1.0
|
| 138 |
+
phase: 0.08
|
| 139 |
+
arm_role: 0.1
|
| 140 |
+
support_mode: 0.1
|
| 141 |
+
corridor: 0.12
|
| 142 |
+
persistence: 0.06
|
| 143 |
+
disturbance: 0.06
|
| 144 |
+
world_model: 0.0
|
| 145 |
+
belief: 0.05
|
| 146 |
+
visibility: 0.05
|
| 147 |
+
clearance: 0.06
|
| 148 |
+
support_stability: 0.06
|
| 149 |
+
reocclusion: 0.06
|
| 150 |
+
occluder_contact: 0.05
|
| 151 |
+
grasp_affordance: 0.05
|
| 152 |
+
planner_success: 0.0
|
| 153 |
+
planner_risk: 0.0
|
| 154 |
+
planner_ranking: 0.0
|
| 155 |
+
proposal_reconstruction: 0.1
|
| 156 |
+
proposal_success: 0.35
|
| 157 |
+
proposal_ranking: 0.5
|
| 158 |
+
proposal_diversity: 0.02
|
| 159 |
+
role_swap_consistency: 0.0
|
| 160 |
+
task_metrics: 0.05
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/metrics.json
ADDED
|
@@ -0,0 +1,356 @@
|
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|
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|
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|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"epoch": 0,
|
| 4 |
+
"train": {
|
| 5 |
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"action": 0.008432811576252182,
|
| 6 |
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"arm_role": 0.002273504649444173,
|
| 7 |
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"belief": 0.10277632955047819,
|
| 8 |
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"clearance": 0.08025376283460194,
|
| 9 |
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"corridor": 0.21883455134100385,
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| 10 |
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"disturbance": 0.0014543996891006826,
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| 11 |
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"grasp_affordance": 0.011551767225480743,
|
| 12 |
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"occluder_contact": 0.19488196902804905,
|
| 13 |
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"persistence": 0.9404279150896602,
|
| 14 |
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"phase": 0.17632753915256924,
|
| 15 |
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"planner_ranking": 1.1397207975387573,
|
| 16 |
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"planner_risk": 0.12523935619327758,
|
| 17 |
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"planner_success": 0.6931471837891473,
|
| 18 |
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"proposal_diversity": 0.0,
|
| 19 |
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"proposal_ranking": 0.7124915778636932,
|
| 20 |
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"proposal_reconstruction": 0.17350232236915164,
|
| 21 |
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"proposal_success": 0.6549067020416259,
|
| 22 |
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"reocclusion": 0.20121162566873763,
|
| 23 |
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"role_swap_consistency": 0.0,
|
| 24 |
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"support_mode": 0.0013020760017550654,
|
| 25 |
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"support_stability": 0.13026923984289168,
|
| 26 |
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"task_metrics": 0.14540329062276416,
|
| 27 |
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"total": 0.7607333368725246,
|
| 28 |
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"uncertainty": 2.6053362628570336e-05,
|
| 29 |
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"visibility": 0.09630628029505411,
|
| 30 |
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"world_model": 0.0
|
| 31 |
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},
|
| 32 |
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"val": {
|
| 33 |
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"action": 0.0053514603059738874,
|
| 34 |
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"arm_role": 0.0022453996643889695,
|
| 35 |
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"belief": 0.10027084173634648,
|
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| 347 |
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"support_mode": 0.0011425519696786068,
|
| 348 |
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"support_stability": 0.13256454304791987,
|
| 349 |
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"task_metrics": 0.14390430646017194,
|
| 350 |
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"total": 0.7096461318433285,
|
| 351 |
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"uncertainty": 2.918480456770567e-05,
|
| 352 |
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"visibility": 0.09417397761717439,
|
| 353 |
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"world_model": 0.0
|
| 354 |
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}
|
| 355 |
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}
|
| 356 |
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]
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/summary.json
ADDED
|
@@ -0,0 +1,92 @@
|
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|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17",
|
| 3 |
+
"device": "cuda",
|
| 4 |
+
"best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/checkpoint_best.pt",
|
| 5 |
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"final_train_total": 0.7429640769958497,
|
| 6 |
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| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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"planner_mode": "trainable",
|
| 12 |
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"frozen_modules": [],
|
| 13 |
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"trainable_parameter_prefixes": [
|
| 14 |
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"decoder.proposal_score",
|
| 15 |
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"decoder.proposal_mode_head",
|
| 16 |
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"decoder.proposal_mode_embeddings",
|
| 17 |
+
"decoder.proposal_slot_embeddings",
|
| 18 |
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"decoder.slot_delta",
|
| 19 |
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"decoder.mode_residual_heads"
|
| 20 |
+
],
|
| 21 |
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"trainable_parameter_names": [
|
| 22 |
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"decoder.proposal_mode_head.0.weight",
|
| 23 |
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|
| 24 |
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"decoder.proposal_mode_head.1.weight",
|
| 25 |
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"decoder.proposal_mode_head.1.bias",
|
| 26 |
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|
| 27 |
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|
| 28 |
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"decoder.proposal_mode_embeddings.weight",
|
| 29 |
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"decoder.proposal_slot_embeddings.weight",
|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"decoder.mode_residual_heads.4.3.bias",
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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"decoder.mode_residual_heads.5.1.bias",
|
| 64 |
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|
| 65 |
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"decoder.mode_residual_heads.5.3.bias",
|
| 66 |
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|
| 67 |
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"decoder.mode_residual_heads.6.0.bias",
|
| 68 |
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"decoder.mode_residual_heads.6.1.weight",
|
| 69 |
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"decoder.mode_residual_heads.6.1.bias",
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"decoder.slot_delta.0.bias",
|
| 74 |
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"decoder.slot_delta.1.weight",
|
| 75 |
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"decoder.slot_delta.1.bias",
|
| 76 |
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|
| 77 |
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"decoder.slot_delta.3.bias",
|
| 78 |
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"decoder.proposal_score.0.weight",
|
| 79 |
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"decoder.proposal_score.0.bias",
|
| 80 |
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"decoder.proposal_score.1.weight",
|
| 81 |
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"decoder.proposal_score.1.bias",
|
| 82 |
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"decoder.proposal_score.3.weight",
|
| 83 |
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"decoder.proposal_score.3.bias"
|
| 84 |
+
],
|
| 85 |
+
"init_info": {
|
| 86 |
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"path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt",
|
| 87 |
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"loaded_keys": 906,
|
| 88 |
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|
| 89 |
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|
| 90 |
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"unexpected_keys": []
|
| 91 |
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}
|
| 92 |
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}
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,160 @@
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|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
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proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
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- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter1
|
| 14 |
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train_episodes_per_proxy: 48
|
| 15 |
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val_episodes_per_proxy: 16
|
| 16 |
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train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt
|
| 17 |
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val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt
|
| 18 |
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rebuild_dataset: false
|
| 19 |
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chunk_horizon: 8
|
| 20 |
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rollout_horizon: 5
|
| 21 |
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history_steps: 6
|
| 22 |
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planner_candidates: 8
|
| 23 |
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seed: 17
|
| 24 |
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optim:
|
| 25 |
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epochs: 4
|
| 26 |
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batch_size: 8
|
| 27 |
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num_workers: 48
|
| 28 |
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lr: 5.0e-05
|
| 29 |
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weight_decay: 0.0001
|
| 30 |
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trainer:
|
| 31 |
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policy_type: elastic_reveal
|
| 32 |
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use_bf16: true
|
| 33 |
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grad_clip_norm: 1.0
|
| 34 |
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freeze_backbone: true
|
| 35 |
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gradient_checkpointing: false
|
| 36 |
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plan_during_train: false
|
| 37 |
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plan_during_eval: false
|
| 38 |
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support_mode_conditioning: true
|
| 39 |
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planner_mode: trainable
|
| 40 |
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use_depth: true
|
| 41 |
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use_world_model: false
|
| 42 |
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use_role_tokens: true
|
| 43 |
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compute_equivariance_probe: false
|
| 44 |
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trainable_parameter_prefixes:
|
| 45 |
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- decoder.proposal_score
|
| 46 |
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|
| 47 |
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|
| 48 |
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- decoder.proposal_slot_embeddings
|
| 49 |
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- decoder.slot_delta
|
| 50 |
+
- decoder.mode_residual_heads
|
| 51 |
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policy:
|
| 52 |
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backbone:
|
| 53 |
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model_name: openai/clip-vit-base-patch32
|
| 54 |
+
hidden_dim: 512
|
| 55 |
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max_text_tokens: 32
|
| 56 |
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freeze_backbone: true
|
| 57 |
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gradient_checkpointing: false
|
| 58 |
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use_dummy_backbone: false
|
| 59 |
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fusion:
|
| 60 |
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hidden_dim: 512
|
| 61 |
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num_cameras: 3
|
| 62 |
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num_layers: 4
|
| 63 |
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num_heads: 8
|
| 64 |
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ff_dim: 2048
|
| 65 |
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dropout: 0.1
|
| 66 |
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proprio_dim: 32
|
| 67 |
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proprio_tokens: 1
|
| 68 |
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memory:
|
| 69 |
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hidden_dim: 512
|
| 70 |
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action_dim: 14
|
| 71 |
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history_steps: 6
|
| 72 |
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scene_history_steps: 3
|
| 73 |
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belief_history_steps: 8
|
| 74 |
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num_layers: 2
|
| 75 |
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dropout: 0.1
|
| 76 |
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memory_bank_size: 4
|
| 77 |
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scene_bank_size: 2
|
| 78 |
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belief_bank_size: 2
|
| 79 |
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num_heads: 8
|
| 80 |
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max_history_steps: 8
|
| 81 |
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decoder:
|
| 82 |
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hidden_dim: 512
|
| 83 |
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num_heads: 8
|
| 84 |
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num_layers: 4
|
| 85 |
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ff_dim: 2048
|
| 86 |
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dropout: 0.1
|
| 87 |
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chunk_size: 8
|
| 88 |
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action_dim: 14
|
| 89 |
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arm_action_dim: 7
|
| 90 |
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num_candidates: 8
|
| 91 |
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num_phases: 5
|
| 92 |
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num_arm_roles: 4
|
| 93 |
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num_proposal_modes: 7
|
| 94 |
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planner_top_k: 4
|
| 95 |
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reveal_head:
|
| 96 |
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hidden_dim: 512
|
| 97 |
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num_support_modes: 3
|
| 98 |
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num_approach_templates: 32
|
| 99 |
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rollout_horizon: 5
|
| 100 |
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belief_map_size: 32
|
| 101 |
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field_size: 16
|
| 102 |
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num_heads: 8
|
| 103 |
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predict_belief_map: true
|
| 104 |
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num_phases: 5
|
| 105 |
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num_arm_roles: 4
|
| 106 |
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num_interaction_tokens: 8
|
| 107 |
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num_tasks: 4
|
| 108 |
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world_model:
|
| 109 |
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hidden_dim: 512
|
| 110 |
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action_dim: 14
|
| 111 |
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num_support_modes: 3
|
| 112 |
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num_approach_templates: 32
|
| 113 |
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rollout_horizon: 5
|
| 114 |
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field_size: 16
|
| 115 |
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num_heads: 8
|
| 116 |
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num_phases: 5
|
| 117 |
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num_arm_roles: 4
|
| 118 |
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num_interaction_tokens: 8
|
| 119 |
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belief_map_size: 32
|
| 120 |
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predict_belief_map: true
|
| 121 |
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scene_bank_size: 2
|
| 122 |
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belief_bank_size: 2
|
| 123 |
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rollout_mode: compact_rollout
|
| 124 |
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num_tasks: 4
|
| 125 |
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planner:
|
| 126 |
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hidden_dim: 512
|
| 127 |
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num_candidates: 8
|
| 128 |
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action_dim: 14
|
| 129 |
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num_support_modes: 3
|
| 130 |
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utility_margin: 0.1
|
| 131 |
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num_heads: 8
|
| 132 |
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num_layers: 2
|
| 133 |
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num_phases: 5
|
| 134 |
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num_arm_roles: 4
|
| 135 |
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top_k: 4
|
| 136 |
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loss_weights:
|
| 137 |
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action: 1.0
|
| 138 |
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phase: 0.08
|
| 139 |
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arm_role: 0.1
|
| 140 |
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support_mode: 0.1
|
| 141 |
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corridor: 0.12
|
| 142 |
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/metrics.json
ADDED
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| 215 |
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|
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| 218 |
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|
| 224 |
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| 225 |
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|
| 229 |
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| 231 |
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| 237 |
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|
| 238 |
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]
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/summary.json
ADDED
|
@@ -0,0 +1,92 @@
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|
|
| 1 |
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{
|
| 2 |
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"experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17",
|
| 3 |
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"device": "cuda",
|
| 4 |
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"best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/checkpoint_best.pt",
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| 5 |
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| 14 |
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| 15 |
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| 16 |
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|
| 17 |
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"decoder.proposal_slot_embeddings",
|
| 18 |
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|
| 19 |
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|
| 20 |
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],
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| 21 |
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| 22 |
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| 23 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 50 |
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| 52 |
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| 54 |
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| 56 |
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| 58 |
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|
| 59 |
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| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"init_info": {
|
| 86 |
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"path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt",
|
| 87 |
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|
| 91 |
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}
|
| 92 |
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}
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,160 @@
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|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17
|
| 2 |
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output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
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device: cuda
|
| 4 |
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seed: 17
|
| 5 |
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init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt
|
| 6 |
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init_strict: false
|
| 7 |
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data:
|
| 8 |
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proxies:
|
| 9 |
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- foliage_proxy
|
| 10 |
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- bag_proxy
|
| 11 |
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- cloth_proxy
|
| 12 |
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resolution: 224
|
| 13 |
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dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter1
|
| 14 |
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train_episodes_per_proxy: 48
|
| 15 |
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val_episodes_per_proxy: 16
|
| 16 |
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train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt
|
| 17 |
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val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt
|
| 18 |
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rebuild_dataset: false
|
| 19 |
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chunk_horizon: 8
|
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rollout_horizon: 5
|
| 21 |
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history_steps: 6
|
| 22 |
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planner_candidates: 8
|
| 23 |
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seed: 17
|
| 24 |
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optim:
|
| 25 |
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epochs: 4
|
| 26 |
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batch_size: 8
|
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num_workers: 48
|
| 28 |
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lr: 5.0e-05
|
| 29 |
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weight_decay: 0.0001
|
| 30 |
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trainer:
|
| 31 |
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policy_type: elastic_reveal
|
| 32 |
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use_bf16: true
|
| 33 |
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grad_clip_norm: 1.0
|
| 34 |
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freeze_backbone: true
|
| 35 |
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gradient_checkpointing: false
|
| 36 |
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plan_during_train: false
|
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plan_during_eval: false
|
| 38 |
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support_mode_conditioning: true
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| 39 |
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planner_mode: trainable
|
| 40 |
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use_depth: true
|
| 41 |
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use_world_model: false
|
| 42 |
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use_role_tokens: true
|
| 43 |
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compute_equivariance_probe: false
|
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trainable_parameter_prefixes:
|
| 45 |
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|
| 46 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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policy:
|
| 52 |
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backbone:
|
| 53 |
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model_name: openai/clip-vit-base-patch32
|
| 54 |
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hidden_dim: 512
|
| 55 |
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max_text_tokens: 32
|
| 56 |
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freeze_backbone: true
|
| 57 |
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gradient_checkpointing: false
|
| 58 |
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use_dummy_backbone: false
|
| 59 |
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fusion:
|
| 60 |
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hidden_dim: 512
|
| 61 |
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num_cameras: 3
|
| 62 |
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num_layers: 4
|
| 63 |
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num_heads: 8
|
| 64 |
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ff_dim: 2048
|
| 65 |
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dropout: 0.1
|
| 66 |
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proprio_dim: 32
|
| 67 |
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proprio_tokens: 1
|
| 68 |
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memory:
|
| 69 |
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hidden_dim: 512
|
| 70 |
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action_dim: 14
|
| 71 |
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history_steps: 6
|
| 72 |
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scene_history_steps: 3
|
| 73 |
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belief_history_steps: 8
|
| 74 |
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num_layers: 2
|
| 75 |
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dropout: 0.1
|
| 76 |
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memory_bank_size: 4
|
| 77 |
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scene_bank_size: 2
|
| 78 |
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belief_bank_size: 2
|
| 79 |
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num_heads: 8
|
| 80 |
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max_history_steps: 8
|
| 81 |
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decoder:
|
| 82 |
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hidden_dim: 512
|
| 83 |
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num_heads: 8
|
| 84 |
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num_layers: 4
|
| 85 |
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ff_dim: 2048
|
| 86 |
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dropout: 0.1
|
| 87 |
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chunk_size: 8
|
| 88 |
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action_dim: 14
|
| 89 |
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arm_action_dim: 7
|
| 90 |
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num_candidates: 8
|
| 91 |
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num_phases: 5
|
| 92 |
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num_arm_roles: 4
|
| 93 |
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num_proposal_modes: 7
|
| 94 |
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planner_top_k: 4
|
| 95 |
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reveal_head:
|
| 96 |
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hidden_dim: 512
|
| 97 |
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num_support_modes: 3
|
| 98 |
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num_approach_templates: 32
|
| 99 |
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rollout_horizon: 5
|
| 100 |
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belief_map_size: 32
|
| 101 |
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field_size: 16
|
| 102 |
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num_heads: 8
|
| 103 |
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predict_belief_map: true
|
| 104 |
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num_phases: 5
|
| 105 |
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num_arm_roles: 4
|
| 106 |
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num_interaction_tokens: 8
|
| 107 |
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num_tasks: 4
|
| 108 |
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world_model:
|
| 109 |
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hidden_dim: 512
|
| 110 |
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action_dim: 14
|
| 111 |
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num_support_modes: 3
|
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|
| 113 |
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|
| 114 |
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|
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num_arm_roles: 4
|
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num_interaction_tokens: 8
|
| 119 |
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belief_map_size: 32
|
| 120 |
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predict_belief_map: true
|
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/metrics.json
ADDED
|
@@ -0,0 +1,238 @@
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| 210 |
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|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/summary.json
ADDED
|
@@ -0,0 +1,92 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
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| 18 |
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| 19 |
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| 20 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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|
| 86 |
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"path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt",
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|
| 92 |
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}
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,155 @@
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|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
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device: cuda
|
| 4 |
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seed: 17
|
| 5 |
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init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/checkpoint_best.pt
|
| 6 |
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init_strict: false
|
| 7 |
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data:
|
| 8 |
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proxies:
|
| 9 |
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- foliage_proxy
|
| 10 |
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- bag_proxy
|
| 11 |
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- cloth_proxy
|
| 12 |
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resolution: 224
|
| 13 |
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dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter5_clothx2
|
| 14 |
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train_episodes_per_proxy: 48
|
| 15 |
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val_episodes_per_proxy: 16
|
| 16 |
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train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt
|
| 17 |
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val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt
|
| 18 |
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rebuild_dataset: false
|
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|
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rollout_horizon: 5
|
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history_steps: 6
|
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|
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seed: 17
|
| 24 |
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optim:
|
| 25 |
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epochs: 4
|
| 26 |
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batch_size: 8
|
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num_workers: 48
|
| 28 |
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lr: 3.0e-05
|
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weight_decay: 0.0001
|
| 30 |
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trainer:
|
| 31 |
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policy_type: elastic_reveal
|
| 32 |
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use_bf16: true
|
| 33 |
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grad_clip_norm: 1.0
|
| 34 |
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freeze_backbone: true
|
| 35 |
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gradient_checkpointing: false
|
| 36 |
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plan_during_train: false
|
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plan_during_eval: false
|
| 38 |
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support_mode_conditioning: true
|
| 39 |
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planner_mode: trainable
|
| 40 |
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use_depth: true
|
| 41 |
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use_world_model: false
|
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use_role_tokens: true
|
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compute_equivariance_probe: false
|
| 44 |
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trainable_parameter_prefixes:
|
| 45 |
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- decoder.proposal_score
|
| 46 |
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policy:
|
| 47 |
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backbone:
|
| 48 |
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model_name: openai/clip-vit-base-patch32
|
| 49 |
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hidden_dim: 512
|
| 50 |
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max_text_tokens: 32
|
| 51 |
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freeze_backbone: true
|
| 52 |
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gradient_checkpointing: false
|
| 53 |
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use_dummy_backbone: false
|
| 54 |
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fusion:
|
| 55 |
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hidden_dim: 512
|
| 56 |
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num_cameras: 3
|
| 57 |
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num_layers: 4
|
| 58 |
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num_heads: 8
|
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ff_dim: 2048
|
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dropout: 0.1
|
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proprio_dim: 32
|
| 62 |
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proprio_tokens: 1
|
| 63 |
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memory:
|
| 64 |
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hidden_dim: 512
|
| 65 |
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action_dim: 14
|
| 66 |
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history_steps: 6
|
| 67 |
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scene_history_steps: 3
|
| 68 |
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belief_history_steps: 8
|
| 69 |
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num_layers: 2
|
| 70 |
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dropout: 0.1
|
| 71 |
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memory_bank_size: 4
|
| 72 |
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scene_bank_size: 2
|
| 73 |
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belief_bank_size: 2
|
| 74 |
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num_heads: 8
|
| 75 |
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max_history_steps: 8
|
| 76 |
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decoder:
|
| 77 |
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hidden_dim: 512
|
| 78 |
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num_heads: 8
|
| 79 |
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num_layers: 4
|
| 80 |
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ff_dim: 2048
|
| 81 |
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dropout: 0.1
|
| 82 |
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chunk_size: 8
|
| 83 |
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action_dim: 14
|
| 84 |
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arm_action_dim: 7
|
| 85 |
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num_candidates: 8
|
| 86 |
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num_phases: 5
|
| 87 |
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num_arm_roles: 4
|
| 88 |
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num_proposal_modes: 7
|
| 89 |
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planner_top_k: 4
|
| 90 |
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reveal_head:
|
| 91 |
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hidden_dim: 512
|
| 92 |
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num_support_modes: 3
|
| 93 |
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num_approach_templates: 32
|
| 94 |
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rollout_horizon: 5
|
| 95 |
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belief_map_size: 32
|
| 96 |
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field_size: 16
|
| 97 |
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num_heads: 8
|
| 98 |
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predict_belief_map: true
|
| 99 |
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num_phases: 5
|
| 100 |
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num_arm_roles: 4
|
| 101 |
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num_interaction_tokens: 8
|
| 102 |
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/metrics.json
ADDED
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@@ -0,0 +1,238 @@
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|
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|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/summary.json
ADDED
|
@@ -0,0 +1,31 @@
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|
| 1 |
+
{
|
| 2 |
+
"experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17",
|
| 3 |
+
"device": "cuda",
|
| 4 |
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"best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt",
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|
| 12 |
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|
| 13 |
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|
| 14 |
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"decoder.proposal_score"
|
| 15 |
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],
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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"decoder.proposal_score.1.bias",
|
| 21 |
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"decoder.proposal_score.3.weight",
|
| 22 |
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"decoder.proposal_score.3.bias"
|
| 23 |
+
],
|
| 24 |
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"init_info": {
|
| 25 |
+
"path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/checkpoint_best.pt",
|
| 26 |
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| 27 |
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|
| 28 |
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"missing_keys": [],
|
| 29 |
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"unexpected_keys": []
|
| 30 |
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}
|
| 31 |
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}
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,161 @@
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|
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|
|
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|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt
|
| 6 |
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init_strict: false
|
| 7 |
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data:
|
| 8 |
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proxies:
|
| 9 |
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- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
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- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter5_clothx2
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
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train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt
|
| 18 |
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rebuild_dataset: false
|
| 19 |
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chunk_horizon: 8
|
| 20 |
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rollout_horizon: 5
|
| 21 |
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history_steps: 6
|
| 22 |
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planner_candidates: 8
|
| 23 |
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seed: 17
|
| 24 |
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optim:
|
| 25 |
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epochs: 4
|
| 26 |
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batch_size: 8
|
| 27 |
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num_workers: 48
|
| 28 |
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lr: 2.0e-05
|
| 29 |
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weight_decay: 0.0001
|
| 30 |
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trainer:
|
| 31 |
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policy_type: elastic_reveal
|
| 32 |
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use_bf16: true
|
| 33 |
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grad_clip_norm: 1.0
|
| 34 |
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freeze_backbone: true
|
| 35 |
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gradient_checkpointing: false
|
| 36 |
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plan_during_train: false
|
| 37 |
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plan_during_eval: false
|
| 38 |
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support_mode_conditioning: true
|
| 39 |
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planner_mode: trainable
|
| 40 |
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use_depth: true
|
| 41 |
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use_world_model: false
|
| 42 |
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use_role_tokens: true
|
| 43 |
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compute_equivariance_probe: false
|
| 44 |
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trainable_parameter_prefixes:
|
| 45 |
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- decoder.proposal_score
|
| 46 |
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|
| 47 |
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|
| 48 |
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- decoder.proposal_slot_embeddings
|
| 49 |
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- decoder.slot_delta
|
| 50 |
+
- decoder.mode_residual_heads
|
| 51 |
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policy:
|
| 52 |
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backbone:
|
| 53 |
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model_name: openai/clip-vit-base-patch32
|
| 54 |
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hidden_dim: 512
|
| 55 |
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max_text_tokens: 32
|
| 56 |
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freeze_backbone: true
|
| 57 |
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gradient_checkpointing: false
|
| 58 |
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use_dummy_backbone: false
|
| 59 |
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fusion:
|
| 60 |
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hidden_dim: 512
|
| 61 |
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num_cameras: 3
|
| 62 |
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num_layers: 4
|
| 63 |
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num_heads: 8
|
| 64 |
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ff_dim: 2048
|
| 65 |
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dropout: 0.1
|
| 66 |
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proprio_dim: 32
|
| 67 |
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proprio_tokens: 1
|
| 68 |
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memory:
|
| 69 |
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hidden_dim: 512
|
| 70 |
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action_dim: 14
|
| 71 |
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history_steps: 6
|
| 72 |
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scene_history_steps: 3
|
| 73 |
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belief_history_steps: 8
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| 74 |
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num_layers: 2
|
| 75 |
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dropout: 0.1
|
| 76 |
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memory_bank_size: 4
|
| 77 |
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scene_bank_size: 2
|
| 78 |
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belief_bank_size: 2
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num_heads: 8
|
| 80 |
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max_history_steps: 8
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decoder:
|
| 82 |
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hidden_dim: 512
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| 83 |
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num_heads: 8
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num_layers: 4
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| 85 |
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ff_dim: 2048
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dropout: 0.1
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chunk_size: 8
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action_dim: 14
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arm_action_dim: 7
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num_candidates: 8
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num_phases: 5
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num_arm_roles: 4
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num_proposal_modes: 7
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| 94 |
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planner_top_k: 4
|
| 95 |
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reveal_head:
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| 96 |
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hidden_dim: 512
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num_support_modes: 3
|
| 98 |
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num_approach_templates: 32
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| 99 |
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| 100 |
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belief_map_size: 32
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| 101 |
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field_size: 16
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| 102 |
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predict_belief_map: true
|
| 104 |
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|
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|
| 107 |
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| 108 |
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predict_belief_map: true
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belief_bank_size: 2
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|
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|
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|
| 126 |
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|
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|
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|
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/metrics.json
ADDED
|
@@ -0,0 +1,246 @@
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|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/summary.json
ADDED
|
@@ -0,0 +1,92 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17",
|
| 3 |
+
"device": "cuda",
|
| 4 |
+
"best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/checkpoint_best.pt",
|
| 5 |
+
"final_train_total": 1.201023959276969,
|
| 6 |
+
"final_val_total": 1.1767956353724003,
|
| 7 |
+
"train_time_sec": 401.30605459213257,
|
| 8 |
+
"peak_gpu_memory_mb": 1564.50537109375,
|
| 9 |
+
"num_train_samples": 456,
|
| 10 |
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"num_val_samples": 123,
|
| 11 |
+
"planner_mode": "trainable",
|
| 12 |
+
"frozen_modules": [],
|
| 13 |
+
"trainable_parameter_prefixes": [
|
| 14 |
+
"decoder.proposal_score",
|
| 15 |
+
"decoder.proposal_mode_head",
|
| 16 |
+
"decoder.proposal_mode_embeddings",
|
| 17 |
+
"decoder.proposal_slot_embeddings",
|
| 18 |
+
"decoder.slot_delta",
|
| 19 |
+
"decoder.mode_residual_heads"
|
| 20 |
+
],
|
| 21 |
+
"trainable_parameter_names": [
|
| 22 |
+
"decoder.proposal_mode_head.0.weight",
|
| 23 |
+
"decoder.proposal_mode_head.0.bias",
|
| 24 |
+
"decoder.proposal_mode_head.1.weight",
|
| 25 |
+
"decoder.proposal_mode_head.1.bias",
|
| 26 |
+
"decoder.proposal_mode_head.3.weight",
|
| 27 |
+
"decoder.proposal_mode_head.3.bias",
|
| 28 |
+
"decoder.proposal_mode_embeddings.weight",
|
| 29 |
+
"decoder.proposal_slot_embeddings.weight",
|
| 30 |
+
"decoder.mode_residual_heads.0.0.weight",
|
| 31 |
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"decoder.mode_residual_heads.0.0.bias",
|
| 32 |
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"decoder.mode_residual_heads.0.1.weight",
|
| 33 |
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"decoder.mode_residual_heads.0.1.bias",
|
| 34 |
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"decoder.mode_residual_heads.0.3.weight",
|
| 35 |
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"decoder.mode_residual_heads.0.3.bias",
|
| 36 |
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"decoder.mode_residual_heads.1.0.weight",
|
| 37 |
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"decoder.mode_residual_heads.1.0.bias",
|
| 38 |
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"decoder.mode_residual_heads.1.1.weight",
|
| 39 |
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"decoder.mode_residual_heads.1.1.bias",
|
| 40 |
+
"decoder.mode_residual_heads.1.3.weight",
|
| 41 |
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"decoder.mode_residual_heads.1.3.bias",
|
| 42 |
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"decoder.mode_residual_heads.2.0.weight",
|
| 43 |
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"decoder.mode_residual_heads.2.0.bias",
|
| 44 |
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"decoder.mode_residual_heads.2.1.weight",
|
| 45 |
+
"decoder.mode_residual_heads.2.1.bias",
|
| 46 |
+
"decoder.mode_residual_heads.2.3.weight",
|
| 47 |
+
"decoder.mode_residual_heads.2.3.bias",
|
| 48 |
+
"decoder.mode_residual_heads.3.0.weight",
|
| 49 |
+
"decoder.mode_residual_heads.3.0.bias",
|
| 50 |
+
"decoder.mode_residual_heads.3.1.weight",
|
| 51 |
+
"decoder.mode_residual_heads.3.1.bias",
|
| 52 |
+
"decoder.mode_residual_heads.3.3.weight",
|
| 53 |
+
"decoder.mode_residual_heads.3.3.bias",
|
| 54 |
+
"decoder.mode_residual_heads.4.0.weight",
|
| 55 |
+
"decoder.mode_residual_heads.4.0.bias",
|
| 56 |
+
"decoder.mode_residual_heads.4.1.weight",
|
| 57 |
+
"decoder.mode_residual_heads.4.1.bias",
|
| 58 |
+
"decoder.mode_residual_heads.4.3.weight",
|
| 59 |
+
"decoder.mode_residual_heads.4.3.bias",
|
| 60 |
+
"decoder.mode_residual_heads.5.0.weight",
|
| 61 |
+
"decoder.mode_residual_heads.5.0.bias",
|
| 62 |
+
"decoder.mode_residual_heads.5.1.weight",
|
| 63 |
+
"decoder.mode_residual_heads.5.1.bias",
|
| 64 |
+
"decoder.mode_residual_heads.5.3.weight",
|
| 65 |
+
"decoder.mode_residual_heads.5.3.bias",
|
| 66 |
+
"decoder.mode_residual_heads.6.0.weight",
|
| 67 |
+
"decoder.mode_residual_heads.6.0.bias",
|
| 68 |
+
"decoder.mode_residual_heads.6.1.weight",
|
| 69 |
+
"decoder.mode_residual_heads.6.1.bias",
|
| 70 |
+
"decoder.mode_residual_heads.6.3.weight",
|
| 71 |
+
"decoder.mode_residual_heads.6.3.bias",
|
| 72 |
+
"decoder.slot_delta.0.weight",
|
| 73 |
+
"decoder.slot_delta.0.bias",
|
| 74 |
+
"decoder.slot_delta.1.weight",
|
| 75 |
+
"decoder.slot_delta.1.bias",
|
| 76 |
+
"decoder.slot_delta.3.weight",
|
| 77 |
+
"decoder.slot_delta.3.bias",
|
| 78 |
+
"decoder.proposal_score.0.weight",
|
| 79 |
+
"decoder.proposal_score.0.bias",
|
| 80 |
+
"decoder.proposal_score.1.weight",
|
| 81 |
+
"decoder.proposal_score.1.bias",
|
| 82 |
+
"decoder.proposal_score.3.weight",
|
| 83 |
+
"decoder.proposal_score.3.bias"
|
| 84 |
+
],
|
| 85 |
+
"init_info": {
|
| 86 |
+
"path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt",
|
| 87 |
+
"loaded_keys": 906,
|
| 88 |
+
"skipped_shape_mismatch_keys": [],
|
| 89 |
+
"missing_keys": [],
|
| 90 |
+
"unexpected_keys": []
|
| 91 |
+
}
|
| 92 |
+
}
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,162 @@
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|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter5_clothx2
|
| 14 |
+
train_episodes_per_proxy: 48
|
| 15 |
+
val_episodes_per_proxy: 16
|
| 16 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt
|
| 17 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 17
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 8
|
| 27 |
+
num_workers: 24
|
| 28 |
+
lr: 2.0e-05
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: elastic_reveal
|
| 32 |
+
use_bf16: true
|
| 33 |
+
grad_clip_norm: 1.0
|
| 34 |
+
freeze_backbone: true
|
| 35 |
+
gradient_checkpointing: false
|
| 36 |
+
plan_during_train: false
|
| 37 |
+
plan_during_eval: false
|
| 38 |
+
support_mode_conditioning: true
|
| 39 |
+
planner_mode: trainable
|
| 40 |
+
use_depth: true
|
| 41 |
+
use_world_model: false
|
| 42 |
+
use_role_tokens: true
|
| 43 |
+
compute_equivariance_probe: false
|
| 44 |
+
trainable_parameter_prefixes:
|
| 45 |
+
- decoder.proposal_score
|
| 46 |
+
- decoder.proposal_mode_head
|
| 47 |
+
- decoder.proposal_mode_embeddings
|
| 48 |
+
- decoder.proposal_slot_embeddings
|
| 49 |
+
- decoder.slot_delta
|
| 50 |
+
- decoder.mode_residual_heads
|
| 51 |
+
policy:
|
| 52 |
+
backbone:
|
| 53 |
+
model_name: openai/clip-vit-base-patch32
|
| 54 |
+
hidden_dim: 512
|
| 55 |
+
max_text_tokens: 32
|
| 56 |
+
freeze_backbone: true
|
| 57 |
+
gradient_checkpointing: false
|
| 58 |
+
use_dummy_backbone: false
|
| 59 |
+
fusion:
|
| 60 |
+
hidden_dim: 512
|
| 61 |
+
num_cameras: 3
|
| 62 |
+
num_layers: 4
|
| 63 |
+
num_heads: 8
|
| 64 |
+
ff_dim: 2048
|
| 65 |
+
dropout: 0.1
|
| 66 |
+
proprio_dim: 32
|
| 67 |
+
proprio_tokens: 1
|
| 68 |
+
memory:
|
| 69 |
+
hidden_dim: 512
|
| 70 |
+
action_dim: 14
|
| 71 |
+
history_steps: 6
|
| 72 |
+
scene_history_steps: 3
|
| 73 |
+
belief_history_steps: 8
|
| 74 |
+
num_layers: 2
|
| 75 |
+
dropout: 0.1
|
| 76 |
+
memory_bank_size: 4
|
| 77 |
+
scene_bank_size: 2
|
| 78 |
+
belief_bank_size: 2
|
| 79 |
+
num_heads: 8
|
| 80 |
+
max_history_steps: 8
|
| 81 |
+
decoder:
|
| 82 |
+
hidden_dim: 512
|
| 83 |
+
num_heads: 8
|
| 84 |
+
num_layers: 4
|
| 85 |
+
ff_dim: 2048
|
| 86 |
+
dropout: 0.1
|
| 87 |
+
chunk_size: 8
|
| 88 |
+
action_dim: 14
|
| 89 |
+
arm_action_dim: 7
|
| 90 |
+
num_candidates: 8
|
| 91 |
+
num_phases: 5
|
| 92 |
+
num_arm_roles: 4
|
| 93 |
+
num_proposal_modes: 7
|
| 94 |
+
planner_top_k: 4
|
| 95 |
+
reveal_head:
|
| 96 |
+
hidden_dim: 512
|
| 97 |
+
num_support_modes: 3
|
| 98 |
+
num_approach_templates: 32
|
| 99 |
+
rollout_horizon: 5
|
| 100 |
+
belief_map_size: 32
|
| 101 |
+
field_size: 16
|
| 102 |
+
num_heads: 8
|
| 103 |
+
predict_belief_map: true
|
| 104 |
+
num_phases: 5
|
| 105 |
+
num_arm_roles: 4
|
| 106 |
+
num_interaction_tokens: 8
|
| 107 |
+
num_tasks: 4
|
| 108 |
+
world_model:
|
| 109 |
+
hidden_dim: 512
|
| 110 |
+
action_dim: 14
|
| 111 |
+
num_support_modes: 3
|
| 112 |
+
num_approach_templates: 32
|
| 113 |
+
rollout_horizon: 5
|
| 114 |
+
field_size: 16
|
| 115 |
+
num_heads: 8
|
| 116 |
+
num_phases: 5
|
| 117 |
+
num_arm_roles: 4
|
| 118 |
+
num_interaction_tokens: 8
|
| 119 |
+
belief_map_size: 32
|
| 120 |
+
predict_belief_map: true
|
| 121 |
+
scene_bank_size: 2
|
| 122 |
+
belief_bank_size: 2
|
| 123 |
+
rollout_mode: compact_rollout
|
| 124 |
+
num_tasks: 4
|
| 125 |
+
planner:
|
| 126 |
+
hidden_dim: 512
|
| 127 |
+
num_candidates: 8
|
| 128 |
+
action_dim: 14
|
| 129 |
+
num_support_modes: 3
|
| 130 |
+
utility_margin: 0.1
|
| 131 |
+
num_heads: 8
|
| 132 |
+
num_layers: 2
|
| 133 |
+
num_phases: 5
|
| 134 |
+
num_arm_roles: 4
|
| 135 |
+
top_k: 4
|
| 136 |
+
loss_weights:
|
| 137 |
+
action: 0.0
|
| 138 |
+
phase: 0.0
|
| 139 |
+
arm_role: 0.0
|
| 140 |
+
support_mode: 0.0
|
| 141 |
+
corridor: 0.0
|
| 142 |
+
persistence: 0.0
|
| 143 |
+
disturbance: 0.0
|
| 144 |
+
world_model: 0.0
|
| 145 |
+
belief: 0.0
|
| 146 |
+
visibility: 0.0
|
| 147 |
+
clearance: 0.0
|
| 148 |
+
support_stability: 0.0
|
| 149 |
+
reocclusion: 0.0
|
| 150 |
+
occluder_contact: 0.0
|
| 151 |
+
grasp_affordance: 0.0
|
| 152 |
+
planner_success: 0.0
|
| 153 |
+
planner_risk: 0.0
|
| 154 |
+
planner_ranking: 0.0
|
| 155 |
+
proposal_reconstruction: 0.05
|
| 156 |
+
proposal_success: 0.45
|
| 157 |
+
proposal_ranking: 0.6
|
| 158 |
+
proposal_mode: 0.2
|
| 159 |
+
proposal_mode_cloth_only: true
|
| 160 |
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/metrics.json
ADDED
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| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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| 228 |
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| 229 |
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| 230 |
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|
| 231 |
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|
| 232 |
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| 233 |
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| 234 |
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| 236 |
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|
| 237 |
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|
| 238 |
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| 239 |
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| 240 |
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| 241 |
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| 242 |
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| 243 |
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| 244 |
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}
|
| 245 |
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}
|
| 246 |
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]
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/summary.json
ADDED
|
@@ -0,0 +1,92 @@
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|
|
| 1 |
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{
|
| 2 |
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"experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17",
|
| 3 |
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"device": "cuda",
|
| 4 |
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|
| 5 |
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|
| 12 |
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| 14 |
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|
| 15 |
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| 16 |
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|
| 17 |
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"decoder.proposal_slot_embeddings",
|
| 18 |
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|
| 19 |
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|
| 20 |
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],
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| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"init_info": {
|
| 86 |
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"path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt",
|
| 87 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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}
|
| 92 |
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}
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/config_resolved.yaml
ADDED
|
@@ -0,0 +1,158 @@
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|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
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init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt
|
| 6 |
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init_strict: false
|
| 7 |
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data:
|
| 8 |
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proxies:
|
| 9 |
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- foliage_proxy
|
| 10 |
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- bag_proxy
|
| 11 |
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- cloth_proxy
|
| 12 |
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resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align
|
| 14 |
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train_episodes_per_proxy: 48
|
| 15 |
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val_episodes_per_proxy: 16
|
| 16 |
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train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 17 |
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val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 18 |
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rebuild_dataset: false
|
| 19 |
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chunk_horizon: 8
|
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rollout_horizon: 5
|
| 21 |
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history_steps: 6
|
| 22 |
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planner_candidates: 8
|
| 23 |
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seed: 17
|
| 24 |
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optim:
|
| 25 |
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epochs: 4
|
| 26 |
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batch_size: 8
|
| 27 |
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num_workers: 48
|
| 28 |
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lr: 0.0002
|
| 29 |
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weight_decay: 0.0001
|
| 30 |
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trainer:
|
| 31 |
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policy_type: elastic_reveal
|
| 32 |
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use_bf16: true
|
| 33 |
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grad_clip_norm: 1.0
|
| 34 |
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freeze_backbone: true
|
| 35 |
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gradient_checkpointing: false
|
| 36 |
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plan_during_train: false
|
| 37 |
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plan_during_eval: false
|
| 38 |
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support_mode_conditioning: true
|
| 39 |
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planner_mode: trainable
|
| 40 |
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use_depth: true
|
| 41 |
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use_world_model: false
|
| 42 |
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use_role_tokens: true
|
| 43 |
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compute_equivariance_probe: false
|
| 44 |
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trainable_parameter_prefixes:
|
| 45 |
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- decoder.proposal_score
|
| 46 |
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|
| 47 |
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|
| 48 |
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- decoder.proposal_slot_embeddings
|
| 49 |
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policy:
|
| 50 |
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backbone:
|
| 51 |
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model_name: openai/clip-vit-base-patch32
|
| 52 |
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hidden_dim: 512
|
| 53 |
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max_text_tokens: 32
|
| 54 |
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freeze_backbone: true
|
| 55 |
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gradient_checkpointing: false
|
| 56 |
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use_dummy_backbone: false
|
| 57 |
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fusion:
|
| 58 |
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hidden_dim: 512
|
| 59 |
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num_cameras: 3
|
| 60 |
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num_layers: 4
|
| 61 |
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num_heads: 8
|
| 62 |
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ff_dim: 2048
|
| 63 |
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dropout: 0.1
|
| 64 |
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proprio_dim: 32
|
| 65 |
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proprio_tokens: 1
|
| 66 |
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memory:
|
| 67 |
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hidden_dim: 512
|
| 68 |
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action_dim: 14
|
| 69 |
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history_steps: 6
|
| 70 |
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scene_history_steps: 3
|
| 71 |
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belief_history_steps: 8
|
| 72 |
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num_layers: 2
|
| 73 |
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dropout: 0.1
|
| 74 |
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memory_bank_size: 4
|
| 75 |
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scene_bank_size: 2
|
| 76 |
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belief_bank_size: 2
|
| 77 |
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num_heads: 8
|
| 78 |
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max_history_steps: 8
|
| 79 |
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decoder:
|
| 80 |
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hidden_dim: 512
|
| 81 |
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num_heads: 8
|
| 82 |
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num_layers: 4
|
| 83 |
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ff_dim: 2048
|
| 84 |
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dropout: 0.1
|
| 85 |
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chunk_size: 8
|
| 86 |
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action_dim: 14
|
| 87 |
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arm_action_dim: 7
|
| 88 |
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num_candidates: 8
|
| 89 |
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num_phases: 5
|
| 90 |
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num_arm_roles: 4
|
| 91 |
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num_proposal_modes: 7
|
| 92 |
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planner_top_k: 4
|
| 93 |
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reveal_head:
|
| 94 |
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hidden_dim: 512
|
| 95 |
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num_support_modes: 3
|
| 96 |
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num_approach_templates: 32
|
| 97 |
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rollout_horizon: 5
|
| 98 |
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belief_map_size: 32
|
| 99 |
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field_size: 16
|
| 100 |
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num_heads: 8
|
| 101 |
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predict_belief_map: true
|
| 102 |
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num_phases: 5
|
| 103 |
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num_arm_roles: 4
|
| 104 |
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num_interaction_tokens: 8
|
| 105 |
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num_tasks: 4
|
| 106 |
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world_model:
|
| 107 |
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hidden_dim: 512
|
| 108 |
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action_dim: 14
|
| 109 |
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num_support_modes: 3
|
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num_approach_templates: 32
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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num_interaction_tokens: 8
|
| 117 |
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belief_map_size: 32
|
| 118 |
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predict_belief_map: true
|
| 119 |
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scene_bank_size: 2
|
| 120 |
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belief_bank_size: 2
|
| 121 |
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rollout_mode: compact_rollout
|
| 122 |
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num_tasks: 4
|
| 123 |
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VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/metrics.json
ADDED
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"support_mode": 0.0013087218239282569,
|
| 202 |
+
"support_stability": 0.13019564615355597,
|
| 203 |
+
"task_metrics": 0.14553608016835318,
|
| 204 |
+
"total": 0.7492951816982694,
|
| 205 |
+
"uncertainty": 2.593846887369485e-05,
|
| 206 |
+
"visibility": 0.0962998597158326,
|
| 207 |
+
"world_model": 0.0
|
| 208 |
+
},
|
| 209 |
+
"val": {
|
| 210 |
+
"action": 0.0053514603059738874,
|
| 211 |
+
"arm_role": 0.0022453996643889695,
|
| 212 |
+
"belief": 0.10027084173634648,
|
| 213 |
+
"clearance": 0.07778254197910428,
|
| 214 |
+
"corridor": 0.2157157389447093,
|
| 215 |
+
"disturbance": 0.0014214217544576968,
|
| 216 |
+
"grasp_affordance": 0.01136290206341073,
|
| 217 |
+
"occluder_contact": 0.19327112287282944,
|
| 218 |
+
"persistence": 0.7723222486674786,
|
| 219 |
+
"phase": 0.15601468390377704,
|
| 220 |
+
"planner_ranking": 1.1397207975387573,
|
| 221 |
+
"planner_risk": 0.126484238775447,
|
| 222 |
+
"planner_success": 0.6931471824645996,
|
| 223 |
+
"proposal_diversity": 0.0,
|
| 224 |
+
"proposal_ranking": 0.6982644964009523,
|
| 225 |
+
"proposal_reconstruction": 5.400877170796958e-06,
|
| 226 |
+
"proposal_success": 0.6099250027909875,
|
| 227 |
+
"reocclusion": 0.19295985670760274,
|
| 228 |
+
"role_swap_consistency": 0.0,
|
| 229 |
+
"support_mode": 0.0011425519696786068,
|
| 230 |
+
"support_stability": 0.13256454304791987,
|
| 231 |
+
"task_metrics": 0.14390430646017194,
|
| 232 |
+
"total": 0.7044358011335135,
|
| 233 |
+
"uncertainty": 2.918480456770567e-05,
|
| 234 |
+
"visibility": 0.09417397761717439,
|
| 235 |
+
"world_model": 0.0
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
]
|
VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/summary.json
ADDED
|
@@ -0,0 +1,42 @@
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|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17",
|
| 3 |
+
"device": "cuda",
|
| 4 |
+
"best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt",
|
| 5 |
+
"final_train_total": 0.7492951816982694,
|
| 6 |
+
"final_val_total": 0.7044358011335135,
|
| 7 |
+
"train_time_sec": 51.14777445793152,
|
| 8 |
+
"peak_gpu_memory_mb": 1512.69482421875,
|
| 9 |
+
"num_train_samples": 359,
|
| 10 |
+
"num_val_samples": 123,
|
| 11 |
+
"planner_mode": "trainable",
|
| 12 |
+
"frozen_modules": [],
|
| 13 |
+
"trainable_parameter_prefixes": [
|
| 14 |
+
"decoder.proposal_score",
|
| 15 |
+
"decoder.proposal_mode_head",
|
| 16 |
+
"decoder.proposal_mode_embeddings",
|
| 17 |
+
"decoder.proposal_slot_embeddings"
|
| 18 |
+
],
|
| 19 |
+
"trainable_parameter_names": [
|
| 20 |
+
"decoder.proposal_mode_head.0.weight",
|
| 21 |
+
"decoder.proposal_mode_head.0.bias",
|
| 22 |
+
"decoder.proposal_mode_head.1.weight",
|
| 23 |
+
"decoder.proposal_mode_head.1.bias",
|
| 24 |
+
"decoder.proposal_mode_head.3.weight",
|
| 25 |
+
"decoder.proposal_mode_head.3.bias",
|
| 26 |
+
"decoder.proposal_mode_embeddings.weight",
|
| 27 |
+
"decoder.proposal_slot_embeddings.weight",
|
| 28 |
+
"decoder.proposal_score.0.weight",
|
| 29 |
+
"decoder.proposal_score.0.bias",
|
| 30 |
+
"decoder.proposal_score.1.weight",
|
| 31 |
+
"decoder.proposal_score.1.bias",
|
| 32 |
+
"decoder.proposal_score.3.weight",
|
| 33 |
+
"decoder.proposal_score.3.bias"
|
| 34 |
+
],
|
| 35 |
+
"init_info": {
|
| 36 |
+
"path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 37 |
+
"loaded_keys": 906,
|
| 38 |
+
"skipped_shape_mismatch_keys": [],
|
| 39 |
+
"missing_keys": [],
|
| 40 |
+
"unexpected_keys": []
|
| 41 |
+
}
|
| 42 |
+
}
|
VLAarchtests/artifacts/reports/ablations_v7/ablations.md
ADDED
|
@@ -0,0 +1,92 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Reveal Ablations
|
| 2 |
+
|
| 3 |
+
## full_model
|
| 4 |
+
- mean_success: 0.280
|
| 5 |
+
- visibility_integral: 31.968
|
| 6 |
+
- corridor_availability: 0.675
|
| 7 |
+
- reocclusion_rate: 0.014
|
| 8 |
+
- disturbance_cost: 0.393
|
| 9 |
+
- premature_retrieve_rate: 0.125
|
| 10 |
+
- reocclusion_after_reveal_rate: 0.547
|
| 11 |
+
- planner_regret: 0.091
|
| 12 |
+
- chunk_commit_steps: 0.000
|
| 13 |
+
|
| 14 |
+
## no_planner
|
| 15 |
+
- mean_success: 0.200
|
| 16 |
+
- visibility_integral: 6.978
|
| 17 |
+
- corridor_availability: 0.230
|
| 18 |
+
- reocclusion_rate: 0.020
|
| 19 |
+
- disturbance_cost: 0.110
|
| 20 |
+
- premature_retrieve_rate: 0.151
|
| 21 |
+
- reocclusion_after_reveal_rate: 0.800
|
| 22 |
+
- planner_regret: 0.041
|
| 23 |
+
- chunk_commit_steps: 0.000
|
| 24 |
+
- paired_paired_episodes_vs_full_model: 300.000
|
| 25 |
+
- paired_success_delta_vs_full_model: -0.080
|
| 26 |
+
- paired_visibility_delta_vs_full_model: -24.990
|
| 27 |
+
- paired_reocclusion_delta_vs_full_model: 0.006
|
| 28 |
+
- paired_disturbance_delta_vs_full_model: -0.283
|
| 29 |
+
|
| 30 |
+
## no_spatial_memory
|
| 31 |
+
- mean_success: 0.323
|
| 32 |
+
- visibility_integral: 37.043
|
| 33 |
+
- corridor_availability: 0.825
|
| 34 |
+
- reocclusion_rate: 0.015
|
| 35 |
+
- disturbance_cost: 0.441
|
| 36 |
+
- premature_retrieve_rate: 0.112
|
| 37 |
+
- reocclusion_after_reveal_rate: 0.260
|
| 38 |
+
- planner_regret: 0.163
|
| 39 |
+
- chunk_commit_steps: 0.000
|
| 40 |
+
- paired_paired_episodes_vs_full_model: 300.000
|
| 41 |
+
- paired_success_delta_vs_full_model: 0.043
|
| 42 |
+
- paired_visibility_delta_vs_full_model: 5.075
|
| 43 |
+
- paired_reocclusion_delta_vs_full_model: 0.001
|
| 44 |
+
- paired_disturbance_delta_vs_full_model: 0.048
|
| 45 |
+
|
| 46 |
+
## no_task_head
|
| 47 |
+
- mean_success: 0.280
|
| 48 |
+
- visibility_integral: 31.965
|
| 49 |
+
- corridor_availability: 0.675
|
| 50 |
+
- reocclusion_rate: 0.014
|
| 51 |
+
- disturbance_cost: 0.393
|
| 52 |
+
- premature_retrieve_rate: 0.125
|
| 53 |
+
- reocclusion_after_reveal_rate: 0.547
|
| 54 |
+
- planner_regret: 0.091
|
| 55 |
+
- chunk_commit_steps: 0.000
|
| 56 |
+
- paired_paired_episodes_vs_full_model: 300.000
|
| 57 |
+
- paired_success_delta_vs_full_model: 0.000
|
| 58 |
+
- paired_visibility_delta_vs_full_model: -0.003
|
| 59 |
+
- paired_reocclusion_delta_vs_full_model: 0.000
|
| 60 |
+
- paired_disturbance_delta_vs_full_model: 0.000
|
| 61 |
+
|
| 62 |
+
## no_geometry
|
| 63 |
+
- mean_success: 0.270
|
| 64 |
+
- visibility_integral: 32.415
|
| 65 |
+
- corridor_availability: 0.675
|
| 66 |
+
- reocclusion_rate: 0.013
|
| 67 |
+
- disturbance_cost: 0.398
|
| 68 |
+
- premature_retrieve_rate: 0.127
|
| 69 |
+
- reocclusion_after_reveal_rate: 0.550
|
| 70 |
+
- planner_regret: 0.091
|
| 71 |
+
- chunk_commit_steps: 0.000
|
| 72 |
+
- paired_paired_episodes_vs_full_model: 300.000
|
| 73 |
+
- paired_success_delta_vs_full_model: -0.010
|
| 74 |
+
- paired_visibility_delta_vs_full_model: 0.446
|
| 75 |
+
- paired_reocclusion_delta_vs_full_model: -0.001
|
| 76 |
+
- paired_disturbance_delta_vs_full_model: 0.004
|
| 77 |
+
|
| 78 |
+
## no_camera_pose
|
| 79 |
+
- mean_success: 0.293
|
| 80 |
+
- visibility_integral: 31.640
|
| 81 |
+
- corridor_availability: 0.681
|
| 82 |
+
- reocclusion_rate: 0.017
|
| 83 |
+
- disturbance_cost: 0.389
|
| 84 |
+
- premature_retrieve_rate: 0.126
|
| 85 |
+
- reocclusion_after_reveal_rate: 0.543
|
| 86 |
+
- planner_regret: 0.092
|
| 87 |
+
- chunk_commit_steps: 0.000
|
| 88 |
+
- paired_paired_episodes_vs_full_model: 300.000
|
| 89 |
+
- paired_success_delta_vs_full_model: 0.013
|
| 90 |
+
- paired_visibility_delta_vs_full_model: -0.329
|
| 91 |
+
- paired_reocclusion_delta_vs_full_model: 0.003
|
| 92 |
+
- paired_disturbance_delta_vs_full_model: -0.004
|
VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter1/aligned_shortlist_diagnostics.json
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base": {
|
| 3 |
+
"label": "base",
|
| 4 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 5 |
+
"overall": {
|
| 6 |
+
"spearman": 0.3265582655826558,
|
| 7 |
+
"top1": 0.07317073170731707,
|
| 8 |
+
"shortlist_recall": 0.6666666666666666,
|
| 9 |
+
"selected_matches_oracle": 0.07317073170731707
|
| 10 |
+
},
|
| 11 |
+
"per_task": {
|
| 12 |
+
"bag": {
|
| 13 |
+
"spearman": 0.6612103174603174,
|
| 14 |
+
"top1": 0.0,
|
| 15 |
+
"shortlist_recall": 0.8541666666666666,
|
| 16 |
+
"selected_matches_oracle": 0.0
|
| 17 |
+
},
|
| 18 |
+
"cloth": {
|
| 19 |
+
"spearman": -0.6190476190476191,
|
| 20 |
+
"top1": 0.125,
|
| 21 |
+
"shortlist_recall": 0.125,
|
| 22 |
+
"selected_matches_oracle": 0.125
|
| 23 |
+
},
|
| 24 |
+
"foliage": {
|
| 25 |
+
"spearman": 0.6566998892580287,
|
| 26 |
+
"top1": 0.11627906976744186,
|
| 27 |
+
"shortlist_recall": 0.8604651162790697,
|
| 28 |
+
"selected_matches_oracle": 0.11627906976744186
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"dataset_path": "/workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt",
|
| 32 |
+
"dataset_version": "reveal_proxy_v6_rgbd_elastic_state_phase_selector_align",
|
| 33 |
+
"samples": 123
|
| 34 |
+
},
|
| 35 |
+
"selector_finetune_iter1": {
|
| 36 |
+
"label": "selector_finetune_iter1",
|
| 37 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt",
|
| 38 |
+
"overall": {
|
| 39 |
+
"spearman": 0.7373209446380179,
|
| 40 |
+
"top1": 0.6829268292682927,
|
| 41 |
+
"shortlist_recall": 0.9349593495934959,
|
| 42 |
+
"selected_matches_oracle": 0.4878048780487805
|
| 43 |
+
},
|
| 44 |
+
"per_task": {
|
| 45 |
+
"bag": {
|
| 46 |
+
"spearman": 0.6577380952380952,
|
| 47 |
+
"top1": 0.7291666666666666,
|
| 48 |
+
"shortlist_recall": 0.9583333333333334,
|
| 49 |
+
"selected_matches_oracle": 0.7291666666666666
|
| 50 |
+
},
|
| 51 |
+
"cloth": {
|
| 52 |
+
"spearman": 0.875,
|
| 53 |
+
"top1": 0.75,
|
| 54 |
+
"shortlist_recall": 1.0,
|
| 55 |
+
"selected_matches_oracle": 0.0
|
| 56 |
+
},
|
| 57 |
+
"foliage": {
|
| 58 |
+
"spearman": 0.7236987818383167,
|
| 59 |
+
"top1": 0.5813953488372093,
|
| 60 |
+
"shortlist_recall": 0.8604651162790697,
|
| 61 |
+
"selected_matches_oracle": 0.5813953488372093
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"dataset_path": "/workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt",
|
| 65 |
+
"dataset_version": "reveal_proxy_v6_rgbd_elastic_state_phase_selector_align",
|
| 66 |
+
"samples": 123
|
| 67 |
+
}
|
| 68 |
+
}
|
VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter1/aligned_shortlist_diagnostics.md
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Aligned Shortlist Diagnostics
|
| 2 |
+
|
| 3 |
+
## base
|
| 4 |
+
- checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt`
|
| 5 |
+
- overall spearman: 0.327
|
| 6 |
+
- overall top1: 0.073
|
| 7 |
+
- overall shortlist recall: 0.667
|
| 8 |
+
- overall selected==oracle: 0.073
|
| 9 |
+
- bag: spearman 0.661, top1 0.000, shortlist recall 0.854, selected==oracle 0.000
|
| 10 |
+
- cloth: spearman -0.619, top1 0.125, shortlist recall 0.125, selected==oracle 0.125
|
| 11 |
+
- foliage: spearman 0.657, top1 0.116, shortlist recall 0.860, selected==oracle 0.116
|
| 12 |
+
|
| 13 |
+
## selector_finetune_iter1
|
| 14 |
+
- checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt`
|
| 15 |
+
- overall spearman: 0.737
|
| 16 |
+
- overall top1: 0.683
|
| 17 |
+
- overall shortlist recall: 0.935
|
| 18 |
+
- overall selected==oracle: 0.488
|
| 19 |
+
- bag: spearman 0.658, top1 0.729, shortlist recall 0.958, selected==oracle 0.729
|
| 20 |
+
- cloth: spearman 0.875, top1 0.750, shortlist recall 1.000, selected==oracle 0.000
|
| 21 |
+
- foliage: spearman 0.724, top1 0.581, shortlist recall 0.860, selected==oracle 0.581
|
VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter2/aligned_shortlist_diagnostics.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base": {
|
| 3 |
+
"label": "base",
|
| 4 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 5 |
+
"overall": {
|
| 6 |
+
"spearman": 0.3265582655826558,
|
| 7 |
+
"top1": 0.07317073170731707,
|
| 8 |
+
"shortlist_recall": 0.6666666666666666,
|
| 9 |
+
"selected_matches_oracle": 0.07317073170731707,
|
| 10 |
+
"teacher_set_reconstruction": 0.18336651662016304
|
| 11 |
+
},
|
| 12 |
+
"per_task": {
|
| 13 |
+
"bag": {
|
| 14 |
+
"spearman": 0.6612103174603174,
|
| 15 |
+
"top1": 0.0,
|
| 16 |
+
"shortlist_recall": 0.8541666666666666,
|
| 17 |
+
"selected_matches_oracle": 0.0,
|
| 18 |
+
"teacher_set_reconstruction": 0.18315939232707024
|
| 19 |
+
},
|
| 20 |
+
"cloth": {
|
| 21 |
+
"spearman": -0.6190476190476191,
|
| 22 |
+
"top1": 0.125,
|
| 23 |
+
"shortlist_recall": 0.125,
|
| 24 |
+
"selected_matches_oracle": 0.125,
|
| 25 |
+
"teacher_set_reconstruction": 0.18537855008617043
|
| 26 |
+
},
|
| 27 |
+
"foliage": {
|
| 28 |
+
"spearman": 0.6566998892580287,
|
| 29 |
+
"top1": 0.11627906976744186,
|
| 30 |
+
"shortlist_recall": 0.8604651162790697,
|
| 31 |
+
"selected_matches_oracle": 0.11627906976744186,
|
| 32 |
+
"teacher_set_reconstruction": 0.18210039790286575
|
| 33 |
+
}
|
| 34 |
+
},
|
| 35 |
+
"dataset_path": "/workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt",
|
| 36 |
+
"dataset_version": "reveal_proxy_v6_rgbd_elastic_state_phase_selector_align",
|
| 37 |
+
"samples": 123
|
| 38 |
+
},
|
| 39 |
+
"selector_finetune_iter1": {
|
| 40 |
+
"label": "selector_finetune_iter1",
|
| 41 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt",
|
| 42 |
+
"overall": {
|
| 43 |
+
"spearman": 0.7373209446380179,
|
| 44 |
+
"top1": 0.6829268292682927,
|
| 45 |
+
"shortlist_recall": 0.9349593495934959,
|
| 46 |
+
"selected_matches_oracle": 0.4878048780487805,
|
| 47 |
+
"teacher_set_reconstruction": 0.1833660958743677
|
| 48 |
+
},
|
| 49 |
+
"per_task": {
|
| 50 |
+
"bag": {
|
| 51 |
+
"spearman": 0.6577380952380952,
|
| 52 |
+
"top1": 0.7291666666666666,
|
| 53 |
+
"shortlist_recall": 0.9583333333333334,
|
| 54 |
+
"selected_matches_oracle": 0.7291666666666666,
|
| 55 |
+
"teacher_set_reconstruction": 0.183158985649546
|
| 56 |
+
},
|
| 57 |
+
"cloth": {
|
| 58 |
+
"spearman": 0.875,
|
| 59 |
+
"top1": 0.75,
|
| 60 |
+
"shortlist_recall": 1.0,
|
| 61 |
+
"selected_matches_oracle": 0.0,
|
| 62 |
+
"teacher_set_reconstruction": 0.18537833401933312
|
| 63 |
+
},
|
| 64 |
+
"foliage": {
|
| 65 |
+
"spearman": 0.7236987818383167,
|
| 66 |
+
"top1": 0.5813953488372093,
|
| 67 |
+
"shortlist_recall": 0.8604651162790697,
|
| 68 |
+
"selected_matches_oracle": 0.5813953488372093,
|
| 69 |
+
"teacher_set_reconstruction": 0.18209980913372928
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"dataset_path": "/workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt",
|
| 73 |
+
"dataset_version": "reveal_proxy_v6_rgbd_elastic_state_phase_selector_align",
|
| 74 |
+
"samples": 123
|
| 75 |
+
},
|
| 76 |
+
"selector_finetune_iter2": {
|
| 77 |
+
"label": "selector_finetune_iter2",
|
| 78 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/checkpoint_best.pt",
|
| 79 |
+
"overall": {
|
| 80 |
+
"spearman": 0.7317073170731707,
|
| 81 |
+
"top1": 0.6829268292682927,
|
| 82 |
+
"shortlist_recall": 0.9349593495934959,
|
| 83 |
+
"selected_matches_oracle": 0.5203252032520326,
|
| 84 |
+
"teacher_set_reconstruction": 0.15634361963446547
|
| 85 |
+
},
|
| 86 |
+
"per_task": {
|
| 87 |
+
"bag": {
|
| 88 |
+
"spearman": 0.664186507936508,
|
| 89 |
+
"top1": 0.7291666666666666,
|
| 90 |
+
"shortlist_recall": 0.9583333333333334,
|
| 91 |
+
"selected_matches_oracle": 0.7291666666666666,
|
| 92 |
+
"teacher_set_reconstruction": 0.16046515324463448
|
| 93 |
+
},
|
| 94 |
+
"cloth": {
|
| 95 |
+
"spearman": 0.8511904761904762,
|
| 96 |
+
"top1": 0.75,
|
| 97 |
+
"shortlist_recall": 1.0,
|
| 98 |
+
"selected_matches_oracle": 0.125,
|
| 99 |
+
"teacher_set_reconstruction": 0.15247009880840778
|
| 100 |
+
},
|
| 101 |
+
"foliage": {
|
| 102 |
+
"spearman": 0.7181616832779624,
|
| 103 |
+
"top1": 0.5813953488372093,
|
| 104 |
+
"shortlist_recall": 0.8604651162790697,
|
| 105 |
+
"selected_matches_oracle": 0.5813953488372093,
|
| 106 |
+
"teacher_set_reconstruction": 0.15462545807971512
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"dataset_path": "/workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt",
|
| 110 |
+
"dataset_version": "reveal_proxy_v6_rgbd_elastic_state_phase_selector_align",
|
| 111 |
+
"samples": 123
|
| 112 |
+
}
|
| 113 |
+
}
|
VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter2/aligned_shortlist_diagnostics.md
ADDED
|
@@ -0,0 +1,34 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Aligned Shortlist Diagnostics Iter2
|
| 2 |
+
|
| 3 |
+
## base
|
| 4 |
+
- checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt`
|
| 5 |
+
- overall spearman: 0.327
|
| 6 |
+
- overall top1: 0.073
|
| 7 |
+
- overall shortlist recall: 0.667
|
| 8 |
+
- overall selected==oracle: 0.073
|
| 9 |
+
- overall teacher-set reconstruction: 0.183
|
| 10 |
+
- bag: spearman 0.661, top1 0.000, shortlist recall 0.854, selected==oracle 0.000, teacher-set reconstruction 0.183
|
| 11 |
+
- cloth: spearman -0.619, top1 0.125, shortlist recall 0.125, selected==oracle 0.125, teacher-set reconstruction 0.185
|
| 12 |
+
- foliage: spearman 0.657, top1 0.116, shortlist recall 0.860, selected==oracle 0.116, teacher-set reconstruction 0.182
|
| 13 |
+
|
| 14 |
+
## selector_finetune_iter1
|
| 15 |
+
- checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt`
|
| 16 |
+
- overall spearman: 0.737
|
| 17 |
+
- overall top1: 0.683
|
| 18 |
+
- overall shortlist recall: 0.935
|
| 19 |
+
- overall selected==oracle: 0.488
|
| 20 |
+
- overall teacher-set reconstruction: 0.183
|
| 21 |
+
- bag: spearman 0.658, top1 0.729, shortlist recall 0.958, selected==oracle 0.729, teacher-set reconstruction 0.183
|
| 22 |
+
- cloth: spearman 0.875, top1 0.750, shortlist recall 1.000, selected==oracle 0.000, teacher-set reconstruction 0.185
|
| 23 |
+
- foliage: spearman 0.724, top1 0.581, shortlist recall 0.860, selected==oracle 0.581, teacher-set reconstruction 0.182
|
| 24 |
+
|
| 25 |
+
## selector_finetune_iter2
|
| 26 |
+
- checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/checkpoint_best.pt`
|
| 27 |
+
- overall spearman: 0.732
|
| 28 |
+
- overall top1: 0.683
|
| 29 |
+
- overall shortlist recall: 0.935
|
| 30 |
+
- overall selected==oracle: 0.520
|
| 31 |
+
- overall teacher-set reconstruction: 0.156
|
| 32 |
+
- bag: spearman 0.664, top1 0.729, shortlist recall 0.958, selected==oracle 0.729, teacher-set reconstruction 0.160
|
| 33 |
+
- cloth: spearman 0.851, top1 0.750, shortlist recall 1.000, selected==oracle 0.125, teacher-set reconstruction 0.152
|
| 34 |
+
- foliage: spearman 0.718, top1 0.581, shortlist recall 0.860, selected==oracle 0.581, teacher-set reconstruction 0.155
|
VLAarchtests/artifacts/reports/aligned_shortlist_diagnostics_v7_iter3/aligned_shortlist_diagnostics.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base": {
|
| 3 |
+
"label": "base",
|
| 4 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 5 |
+
"overall": {
|
| 6 |
+
"spearman": 0.3265582655826558,
|
| 7 |
+
"top1": 0.07317073170731707,
|
| 8 |
+
"shortlist_recall": 0.6666666666666666,
|
| 9 |
+
"selected_matches_oracle": 0.07317073170731707,
|
| 10 |
+
"teacher_set_reconstruction": 0.18336651662016304
|
| 11 |
+
},
|
| 12 |
+
"per_task": {
|
| 13 |
+
"bag": {
|
| 14 |
+
"spearman": 0.6612103174603174,
|
| 15 |
+
"top1": 0.0,
|
| 16 |
+
"shortlist_recall": 0.8541666666666666,
|
| 17 |
+
"selected_matches_oracle": 0.0,
|
| 18 |
+
"teacher_set_reconstruction": 0.18315939232707024
|
| 19 |
+
},
|
| 20 |
+
"cloth": {
|
| 21 |
+
"spearman": -0.6190476190476191,
|
| 22 |
+
"top1": 0.125,
|
| 23 |
+
"shortlist_recall": 0.125,
|
| 24 |
+
"selected_matches_oracle": 0.125,
|
| 25 |
+
"teacher_set_reconstruction": 0.18537855008617043
|
| 26 |
+
},
|
| 27 |
+
"foliage": {
|
| 28 |
+
"spearman": 0.6566998892580287,
|
| 29 |
+
"top1": 0.11627906976744186,
|
| 30 |
+
"shortlist_recall": 0.8604651162790697,
|
| 31 |
+
"selected_matches_oracle": 0.11627906976744186,
|
| 32 |
+
"teacher_set_reconstruction": 0.18210039790286575
|
| 33 |
+
}
|
| 34 |
+
},
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