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- .gitattributes +763 -0
- VLAarchtests/.gitattributes +35 -0
- VLAarchtests/.gitignore +4 -0
- VLAarchtests/FILE_MANIFEST.txt +427 -0
- VLAarchtests/MODEL_INDEX.md +81 -0
- VLAarchtests/README.md +172 -0
- VLAarchtests/code/reveal_vla_bimanual/.gitignore +12 -0
- VLAarchtests/code/reveal_vla_bimanual/README.md +84 -0
- VLAarchtests/code/reveal_vla_bimanual/pyproject.toml +32 -0
- VLAarchtests/code/reveal_vla_bimanual/train/__init__.py +3 -0
- VLAarchtests/code/reveal_vla_bimanual/train/build_aligned_proposal_dataset.py +195 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/base.yaml +20 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_backbone_only.yaml +94 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_backbone_only_clip.yaml +97 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_backbone_only_smoke.yaml +100 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_nodepth.yaml +16 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_noplanner.yaml +16 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_norolesym.yaml +16 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_nowm.yaml +16 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage1_clip.yaml +72 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage1_dummy.yaml +75 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage2_clip.yaml +18 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage2_dummy.yaml +17 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd.yaml +18 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact.yaml +150 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase.yaml +73 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml +73 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune.yaml +78 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3.yaml +80 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5.yaml +80 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6.yaml +75 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7.yaml +81 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8.yaml +82 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial.yaml +151 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase.yaml +74 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state.yaml +122 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_actionhist.yaml +125 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_actionhist_smoke.yaml +125 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_clip_actionhist.yaml +129 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_recency_oracleft.yaml +127 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_smoke.yaml +122 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_reveal_state.yaml +96 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_reveal_state_clip.yaml +99 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_reveal_state_smoke.yaml +100 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current.yaml +92 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current_4train.yaml +92 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current_wide.yaml +94 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_step1.yaml +95 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_open_drawer_interaction_smoke.yaml +128 -0
- VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_peract2_13_interaction_state_dummy.yaml +132 -0
.gitattributes
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@@ -12305,3 +12305,766 @@ baselines/AnyBimanual_overlap_replay/multi/10000-14999/11110.replay filter=lfs d
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/11109.replay filter=lfs diff=lfs merge=lfs -text
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/11112.replay filter=lfs diff=lfs merge=lfs -text
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baselines/AnyBimanual_overlap_replay/multi/10000-14999/11113.replay filter=lfs diff=lfs merge=lfs -text
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| 1 |
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./.gitattributes
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./MODEL_INDEX.md
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./README.md
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./artifacts/data/reveal_proxy/proxy_train_clip224_v4_noleak_counterfactual.pt
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./artifacts/data/reveal_proxy/proxy_train_clip224_v5_actionhist.pt
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./artifacts/data/reveal_proxy/proxy_train_smoke_v4.pt
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./code/reveal_vla_bimanual/train/run_experiment.py
|
| 408 |
+
./code/reveal_vla_bimanual/train/run_rlbench_experiment.py
|
| 409 |
+
./code/reveal_vla_bimanual/train/smoke_checks.py
|
| 410 |
+
./code/reveal_vla_bimanual/train/trainer.py
|
| 411 |
+
./code/upstream_local_patches/YARR/yarr/runners/_independent_env_runner.py
|
| 412 |
+
./code/upstream_local_patches/peract_bimanual/agents/bimanual_peract/qattention_peract_bc_agent.py
|
| 413 |
+
./environment/README.md
|
| 414 |
+
./environment/glxinfo_B.txt
|
| 415 |
+
./environment/hardware_snapshot.txt
|
| 416 |
+
./environment/reveal_env_explicit.txt
|
| 417 |
+
./environment/reveal_env_export.yaml
|
| 418 |
+
./environment/reveal_pip_freeze.txt
|
| 419 |
+
./environment/rlbench_env_explicit.txt
|
| 420 |
+
./environment/rlbench_env_export.yaml
|
| 421 |
+
./environment/rlbench_pip_freeze.txt
|
| 422 |
+
./environment/run_peract2_13_rollouts.sh
|
| 423 |
+
./environment/setup_same_machine.sh
|
| 424 |
+
./environment/system_packages_same_machine.txt
|
| 425 |
+
./environment/upstream_revisions.txt
|
| 426 |
+
./environment/validate_same_machine.sh
|
| 427 |
+
./export_manifest_data.json
|
VLAarchtests/MODEL_INDEX.md
ADDED
|
@@ -0,0 +1,81 @@
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|
|
| 1 |
+
# Model Index
|
| 2 |
+
|
| 3 |
+
## 2026-03-25/26 Additions
|
| 4 |
+
|
| 5 |
+
### Handoff Proxy Checkpoints
|
| 6 |
+
|
| 7 |
+
| Run | Checkpoint | Summary | Report |
|
| 8 |
+
| --- | --- | --- | --- |
|
| 9 |
+
| spatial handoff | `artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17/checkpoint_best.pt` | `artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17/summary.json` | `artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.json` |
|
| 10 |
+
| compact handoff | `artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_seed17/checkpoint_best.pt` | `artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_seed17/summary.json` | `artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.json` |
|
| 11 |
+
| compact-phase handoff | `artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt` | `artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/summary.json` | `artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.json` |
|
| 12 |
+
| spatial-phase handoff | `artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` | `artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/summary.json` | `artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json` |
|
| 13 |
+
|
| 14 |
+
### RLBench Current Checkpoints
|
| 15 |
+
|
| 16 |
+
| Run | Checkpoint | Related files |
|
| 17 |
+
| --- | --- | --- |
|
| 18 |
+
| subset3 valid9 | `artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_valid9/checkpoint_best.pt` | `artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_valid9/checkpoint_stable.pt` |
|
| 19 |
+
| subset3 common23 | `artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` | `artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt` |
|
| 20 |
+
| lift-ball wide | `artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_best.pt` | `artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_stable.pt` |
|
| 21 |
+
| push-box step1 | `artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt` | `artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json`, `artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json` |
|
| 22 |
+
|
| 23 |
+
### RLBench Result Files
|
| 24 |
+
|
| 25 |
+
| Artifact | File |
|
| 26 |
+
| --- | --- |
|
| 27 |
+
| lift-ball wide, one-step replanning | `artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json` |
|
| 28 |
+
| push-box step1, one-step replanning | `artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json` |
|
| 29 |
+
| push-box step1, one-step replanning, `delta_scale=0.05` | `artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.json` |
|
| 30 |
+
| push-box kNN, `episodes=1` | `artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json` |
|
| 31 |
+
| push-box kNN, `episodes=5`, `top_k=5` | `artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json` |
|
| 32 |
+
| push-box kNN, `episodes=5`, `top_k=1`, dense bank | `artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json` |
|
| 33 |
+
|
| 34 |
+
## R3D Proxy Runs
|
| 35 |
+
|
| 36 |
+
| Run | Config | Seed | Checkpoint | Summary | Benchmark | Diagnostics |
|
| 37 |
+
| --- | --- | ---: | --- | --- | --- | --- |
|
| 38 |
+
| stage1 dummy | `proxy_interaction_r3d_stage1_dummy.yaml` | 13 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/diagnostics_full/proxy_diagnostics.json` |
|
| 39 |
+
| stage1 dummy | `proxy_interaction_r3d_stage1_dummy.yaml` | 14 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/diagnostics_full/proxy_diagnostics.json` |
|
| 40 |
+
| stage1 dummy | `proxy_interaction_r3d_stage1_dummy.yaml` | 15 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/diagnostics_full/proxy_diagnostics.json` |
|
| 41 |
+
| stage2 dummy | `proxy_interaction_r3d_stage2_dummy.yaml` | 21 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/diagnostics_full/proxy_diagnostics.json` |
|
| 42 |
+
| stage2 dummy | `proxy_interaction_r3d_stage2_dummy.yaml` | 22 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/diagnostics_full/proxy_diagnostics.json` |
|
| 43 |
+
| stage2 dummy | `proxy_interaction_r3d_stage2_dummy.yaml` | 23 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/diagnostics_full/proxy_diagnostics.json` |
|
| 44 |
+
| stage1 clip | `proxy_interaction_r3d_stage1_clip.yaml` | 7 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/diagnostics_full/proxy_diagnostics.json` |
|
| 45 |
+
| stage1 clip | `proxy_interaction_r3d_stage1_clip.yaml` | 8 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/diagnostics_full/proxy_diagnostics.json` |
|
| 46 |
+
| stage1 clip | `proxy_interaction_r3d_stage1_clip.yaml` | 9 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/diagnostics_full/proxy_diagnostics.json` |
|
| 47 |
+
| stage2 clip | `proxy_interaction_r3d_stage2_clip.yaml` | 11 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/diagnostics_full/proxy_diagnostics.json` |
|
| 48 |
+
| stage2 clip | `proxy_interaction_r3d_stage2_clip.yaml` | 12 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/diagnostics_full/proxy_diagnostics.json` |
|
| 49 |
+
| stage2 clip | `proxy_interaction_r3d_stage2_clip.yaml` | 13 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/diagnostics_full/proxy_diagnostics.json` |
|
| 50 |
+
| stage3 clip rgbd | `proxy_interaction_r3d_stage3_clip_rgbd.yaml` | 17 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/diagnostics_full/proxy_diagnostics.json` |
|
| 51 |
+
| stage3 clip rgbd | `proxy_interaction_r3d_stage3_clip_rgbd.yaml` | 18 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/diagnostics_full/proxy_diagnostics.json` |
|
| 52 |
+
| stage3 clip rgbd | `proxy_interaction_r3d_stage3_clip_rgbd.yaml` | 19 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/diagnostics_full/proxy_diagnostics.json` |
|
| 53 |
+
|
| 54 |
+
## Ablation Benchmark Files
|
| 55 |
+
|
| 56 |
+
| Ablation | File |
|
| 57 |
+
| --- | --- |
|
| 58 |
+
| stage1 dummy `no_planner` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_no_planner/reveal_benchmark.json` |
|
| 59 |
+
| stage1 dummy `no_role_symmetry` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_no_role_symmetry/reveal_benchmark.json` |
|
| 60 |
+
| stage2 dummy `no_world_model` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_no_world_model/reveal_benchmark.json` |
|
| 61 |
+
| stage2 dummy `no_world_model` pre-fix backup | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_no_world_model/reveal_benchmark_pre_null_rollout_fix.json` |
|
| 62 |
+
| stage2 dummy `short_history` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_short_history/reveal_benchmark.json` |
|
| 63 |
+
| stage3 clip RGB-D `no_depth` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/benchmark_no_depth/reveal_benchmark.json` |
|
| 64 |
+
|
| 65 |
+
Equivalent files exist under the other seed directories.
|
| 66 |
+
|
| 67 |
+
## Integration Artifacts
|
| 68 |
+
|
| 69 |
+
| Artifact | File |
|
| 70 |
+
| --- | --- |
|
| 71 |
+
| RLBench import/config smoke | `artifacts/outputs/r3d/rlbench_smokes/smoke_test_output.txt` |
|
| 72 |
+
| RLBench `open_drawer` launch smoke | `artifacts/outputs/r3d/rlbench_smokes/launch_smoke_open_drawer.txt` |
|
| 73 |
+
| RLBench `open_drawer` rollout | `artifacts/outputs/r3d/rlbench_open_drawer_r3d_rollout/rollout_eval.json` |
|
| 74 |
+
| PerAct2 13-task launch smoke summary | `artifacts/outputs/r3d/peract2_13_launch_smoke/launch_smoke_summary.json` |
|
| 75 |
+
|
| 76 |
+
## Historical References
|
| 77 |
+
|
| 78 |
+
| File | Purpose |
|
| 79 |
+
| --- | --- |
|
| 80 |
+
| `regression/baselines.md` | historical baseline metrics from the downloaded snapshot |
|
| 81 |
+
| `results/phase_tracking.md` | phase-by-phase acceptance tracking |
|
VLAarchtests/README.md
ADDED
|
@@ -0,0 +1,172 @@
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|
|
|
| 1 |
+
---
|
| 2 |
+
tags:
|
| 3 |
+
- robotics
|
| 4 |
+
- vision-language-action
|
| 5 |
+
- bimanual-manipulation
|
| 6 |
+
- rlbench
|
| 7 |
+
- rgbd
|
| 8 |
+
---
|
| 9 |
+
|
| 10 |
+
# VLAarchtests
|
| 11 |
+
|
| 12 |
+
Bundle uploaded from `/workspace` runpod sessions dated `2026-03-25 UTC` and `2026-03-26 UTC`.
|
| 13 |
+
|
| 14 |
+
## Top-Level Contents
|
| 15 |
+
|
| 16 |
+
- `code/reveal_vla_bimanual/`
|
| 17 |
+
- project code used for the proxy and RLBench runs in this bundle
|
| 18 |
+
- `artifacts/data/reveal_proxy/`
|
| 19 |
+
- proxy dataset bundles used by the handoff runs
|
| 20 |
+
- `artifacts/outputs/r3d/`
|
| 21 |
+
- previously uploaded R3D proxy outputs already present in the bundle
|
| 22 |
+
- `artifacts/outputs/r3d_handoff/`
|
| 23 |
+
- handoff proxy checkpoints
|
| 24 |
+
- `artifacts/outputs/r3d_handoff_phase/`
|
| 25 |
+
- phase-supervised handoff proxy checkpoints
|
| 26 |
+
- `artifacts/outputs/rlbench_current/`
|
| 27 |
+
- RLBench checkpoints from the current session
|
| 28 |
+
- `artifacts/reports/`
|
| 29 |
+
- proxy and RLBench result files copied from `/workspace/reports`
|
| 30 |
+
- `environment/`
|
| 31 |
+
- same-machine setup files and validation helpers
|
| 32 |
+
- `tests/`
|
| 33 |
+
- local test suite
|
| 34 |
+
- `handoff/instructions.md`
|
| 35 |
+
- instruction file used for the handoff work
|
| 36 |
+
- `MODEL_INDEX.md`
|
| 37 |
+
- checkpoint and result index
|
| 38 |
+
- `results/session_results_20260326.md`
|
| 39 |
+
- raw result tables for the `2026-03-25/26` work
|
| 40 |
+
|
| 41 |
+
## Code Added Or Updated
|
| 42 |
+
|
| 43 |
+
### Core model, memory, planner, and dataset paths
|
| 44 |
+
|
| 45 |
+
- `code/reveal_vla_bimanual/models/backbones.py`
|
| 46 |
+
- `code/reveal_vla_bimanual/models/multiview_fusion.py`
|
| 47 |
+
- `code/reveal_vla_bimanual/models/observation_memory.py`
|
| 48 |
+
- `code/reveal_vla_bimanual/models/reveal_head.py`
|
| 49 |
+
- `code/reveal_vla_bimanual/models/world_model.py`
|
| 50 |
+
- `code/reveal_vla_bimanual/models/action_decoder.py`
|
| 51 |
+
- `code/reveal_vla_bimanual/models/planner.py`
|
| 52 |
+
- `code/reveal_vla_bimanual/models/policy.py`
|
| 53 |
+
- `code/reveal_vla_bimanual/train/losses.py`
|
| 54 |
+
- `code/reveal_vla_bimanual/sim_reveal/dataset.py`
|
| 55 |
+
- `code/reveal_vla_bimanual/sim_reveal/procedural_envs.py`
|
| 56 |
+
- `code/reveal_vla_bimanual/sim_rlbench/dataset.py`
|
| 57 |
+
|
| 58 |
+
### Training and evaluation paths
|
| 59 |
+
|
| 60 |
+
- `code/reveal_vla_bimanual/train/run_rlbench_experiment.py`
|
| 61 |
+
- `code/reveal_vla_bimanual/eval/run_reveal_benchmark.py`
|
| 62 |
+
- `code/reveal_vla_bimanual/eval/run_ablations.py`
|
| 63 |
+
- `code/reveal_vla_bimanual/eval/run_teacher_audit.py`
|
| 64 |
+
- `code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py`
|
| 65 |
+
- `code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py`
|
| 66 |
+
|
| 67 |
+
### Added or updated training configs
|
| 68 |
+
|
| 69 |
+
- `code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact.yaml`
|
| 70 |
+
- `code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial.yaml`
|
| 71 |
+
- `code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase.yaml`
|
| 72 |
+
- `code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase.yaml`
|
| 73 |
+
- `code/reveal_vla_bimanual/train/configs/rlbench_subset3_backbone_only_clip_current_valid9.yaml`
|
| 74 |
+
- `code/reveal_vla_bimanual/train/configs/rlbench_subset3_backbone_only_clip_current_common23.yaml`
|
| 75 |
+
- `code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current_wide.yaml`
|
| 76 |
+
- `code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_step1.yaml`
|
| 77 |
+
- `code/reveal_vla_bimanual/train/configs/rlbench_push_box_backbone_only_clip_step1.yaml`
|
| 78 |
+
|
| 79 |
+
### Test files
|
| 80 |
+
|
| 81 |
+
The staged `tests/` directory contains `32` test modules plus `conftest.py`, including:
|
| 82 |
+
|
| 83 |
+
- geometry and camera rotation coverage
|
| 84 |
+
- phase-label and candidate-ranking coverage
|
| 85 |
+
- planner gradient-flow and reocclusion gating coverage
|
| 86 |
+
- world-model null-rollout, field-consistency, and task-adapter coverage
|
| 87 |
+
- proxy scripted benchmark and teacher-audit coverage
|
| 88 |
+
|
| 89 |
+
## Verification
|
| 90 |
+
|
| 91 |
+
- local test command:
|
| 92 |
+
- `PYTHONPATH=/workspace/VLAarchtests_work/code/reveal_vla_bimanual python -m pytest -q /workspace/VLAarchtests_work/tests`
|
| 93 |
+
- result:
|
| 94 |
+
- `33 passed`
|
| 95 |
+
|
| 96 |
+
## Raw Result Files
|
| 97 |
+
|
| 98 |
+
### Proxy and handoff results
|
| 99 |
+
|
| 100 |
+
- `artifacts/reports/reveal_smoke_mod/reveal_benchmark.json`
|
| 101 |
+
- `artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.json`
|
| 102 |
+
- `artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.json`
|
| 103 |
+
- `artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.json`
|
| 104 |
+
- `artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.json`
|
| 105 |
+
- `artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.json`
|
| 106 |
+
- `artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json`
|
| 107 |
+
- `artifacts/reports/reveal_phase_ablations_compact/ablations.json`
|
| 108 |
+
- `artifacts/reports/reveal_teacher_audit_serious/teacher_audit.json`
|
| 109 |
+
|
| 110 |
+
### RLBench result files
|
| 111 |
+
|
| 112 |
+
- `artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.json`
|
| 113 |
+
- `artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.json`
|
| 114 |
+
- `artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.json`
|
| 115 |
+
- `artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json`
|
| 116 |
+
- `artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json`
|
| 117 |
+
- `artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.json`
|
| 118 |
+
- `artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json`
|
| 119 |
+
- `artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json`
|
| 120 |
+
- `artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json`
|
| 121 |
+
|
| 122 |
+
## Raw Result Tables
|
| 123 |
+
|
| 124 |
+
### Proxy serious runs
|
| 125 |
+
|
| 126 |
+
| Artifact | File | Raw values |
|
| 127 |
+
| --- | --- | --- |
|
| 128 |
+
| spatial handoff vs released baseline | `artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.json` | baseline mean success `0.5833`, handoff mean success `0.2167` |
|
| 129 |
+
| spatial-trained checkpoint with compact world model vs released baseline | `artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.json` | baseline mean success `0.5833`, handoff mean success `0.5200` |
|
| 130 |
+
| compact-phase vs released baseline | `artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.json` | baseline mean success `0.5833`, compact-phase mean success `0.5133` |
|
| 131 |
+
| spatial-phase with compact world model vs released baseline | `artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json` | baseline mean success `0.5833`, spatial-phase compact-world-model mean success `0.4933` |
|
| 132 |
+
|
| 133 |
+
### Proxy ablations
|
| 134 |
+
|
| 135 |
+
| Artifact | File | Raw values |
|
| 136 |
+
| --- | --- | --- |
|
| 137 |
+
| compact-phase ablations | `artifacts/reports/reveal_phase_ablations_compact/ablations.json` | full `0.5133`, `no_geometry` `0.5133`, `no_spatial_memory` `0.4967`, `compact_world_model` `0.5133`, `no_planner` `0.4333`, `gaussian_candidates_only` `0.4667`, `no_task_head` `0.5133`, `no_support_mode_conditioning` `0.5133` |
|
| 138 |
+
|
| 139 |
+
### RLBench direct-policy runs
|
| 140 |
+
|
| 141 |
+
| Artifact | File | Raw values |
|
| 142 |
+
| --- | --- | --- |
|
| 143 |
+
| lift-ball wide checkpoint, one-step replanning | `artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json` | mean success `0.0`, mean return `0.0`, path recoveries `[148]`, noop fallbacks `[11]` |
|
| 144 |
+
| push-box step-1 checkpoint, one-step replanning | `artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json` | mean success `0.0`, mean return `0.0`, path recoveries `[177]`, noop fallbacks `[0]` |
|
| 145 |
+
| push-box step-1 checkpoint, one-step replanning, `delta_scale=0.05` | `artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.json` | mean success `0.0`, mean return `0.0`, path recoveries `[180]`, noop fallbacks `[0]` |
|
| 146 |
+
|
| 147 |
+
### RLBench retrieval runs
|
| 148 |
+
|
| 149 |
+
| Artifact | File | Raw values |
|
| 150 |
+
| --- | --- | --- |
|
| 151 |
+
| push-box kNN, `bank_stride=4`, `top_k=5`, `time_window=8`, `episodes=1` | `artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json` | mean success `1.0`, mean return `1.0`, bank size `2815` |
|
| 152 |
+
| push-box kNN, `bank_stride=4`, `top_k=5`, `time_window=8`, `episodes=5` | `artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json` | successes `[0.0, 1.0, 0.0, 0.0, 0.0]`, mean success `0.2`, bank size `2815` |
|
| 153 |
+
| push-box kNN, `bank_stride=1`, `top_k=1`, `time_window=4`, `episodes=5` | `artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json` | successes `[0.0, 0.0, 1.0, 1.0, 0.0]`, mean success `0.4`, bank size `11259` |
|
| 154 |
+
|
| 155 |
+
## Environment Recreation Files
|
| 156 |
+
|
| 157 |
+
- `environment/setup_same_machine.sh`
|
| 158 |
+
- `environment/validate_same_machine.sh`
|
| 159 |
+
- `environment/run_peract2_13_rollouts.sh`
|
| 160 |
+
- `environment/runtime_env_vars.sh`
|
| 161 |
+
- `environment/hardware_snapshot.txt`
|
| 162 |
+
- `environment/glxinfo_B.txt`
|
| 163 |
+
- `environment/upstream_revisions.txt`
|
| 164 |
+
- `environment/system_packages_same_machine.txt`
|
| 165 |
+
- `environment/rlbench_env_export.yaml`
|
| 166 |
+
- `environment/rlbench_env_explicit.txt`
|
| 167 |
+
- `environment/rlbench_pip_freeze.txt`
|
| 168 |
+
- `environment/reveal_env_export.yaml`
|
| 169 |
+
- `environment/reveal_env_explicit.txt`
|
| 170 |
+
- `environment/reveal_pip_freeze.txt`
|
| 171 |
+
|
| 172 |
+
Detailed raw tables for the `2026-03-25/26` work are in `results/session_results_20260326.md`.
|
VLAarchtests/code/reveal_vla_bimanual/.gitignore
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
__pycache__/
|
| 2 |
+
*.pyc
|
| 3 |
+
.DS_Store
|
| 4 |
+
.mypy_cache/
|
| 5 |
+
.pytest_cache/
|
| 6 |
+
.ruff_cache/
|
| 7 |
+
.venv/
|
| 8 |
+
artifacts/
|
| 9 |
+
outputs/
|
| 10 |
+
logs/
|
| 11 |
+
wandb/
|
| 12 |
+
reports/
|
VLAarchtests/code/reveal_vla_bimanual/README.md
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# reveal_vla_bimanual
|
| 2 |
+
|
| 3 |
+
Simulation-first prototype for a language-conditioned bimanual reveal-and-retrieve policy under elastic occlusion.
|
| 4 |
+
|
| 5 |
+
This repo is not a generalist VLA backbone in the RT-2 / OpenVLA / Octo sense. The current contribution is the reveal-state machinery layered on top of a frozen vision-language encoder.
|
| 6 |
+
|
| 7 |
+
This repo is structured around five top-level modules:
|
| 8 |
+
|
| 9 |
+
- `sim_rlbench/`: RLBench2 / PerAct2 wrappers, dataset hooks, camera setup, and benchmark evaluation helpers.
|
| 10 |
+
- `sim_reveal/`: reveal-proxy environments, scripted teachers, and privileged label extraction.
|
| 11 |
+
- `models/`: shared backbone wrappers, multi-view fusion, bimanual decoder, reveal-state head, world model, and planner.
|
| 12 |
+
- `train/`: trainers, losses, checkpointing, and Hydra/YAML configs.
|
| 13 |
+
- `eval/`: benchmark scripts, ablations, metrics, plots, and report generation.
|
| 14 |
+
|
| 15 |
+
Current bootstrap priorities:
|
| 16 |
+
|
| 17 |
+
1. Reproduce the RLBench2 / PerAct2 stack with a fixed 3-camera interface.
|
| 18 |
+
2. Stand up a backbone-only 3-camera policy in the same training/eval harness.
|
| 19 |
+
3. Add reveal-state supervision and short-horizon planning for synthetic reveal proxies.
|
| 20 |
+
|
| 21 |
+
Upstream dependencies are kept in `/workspace/third_party` and pinned in `docs/upstream_pins.md`.
|
| 22 |
+
|
| 23 |
+
## RLBench env A
|
| 24 |
+
|
| 25 |
+
The RLBench / PerAct2 stack is pinned to Python 3.10 and lives in `/workspace/envs/rlbench`.
|
| 26 |
+
|
| 27 |
+
Bring it up with:
|
| 28 |
+
|
| 29 |
+
```bash
|
| 30 |
+
/workspace/reveal_vla_bimanual/scripts/setup_env_a_rlbench.sh
|
| 31 |
+
/workspace/reveal_vla_bimanual/scripts/setup_rlbench_headless_x.sh
|
| 32 |
+
/workspace/reveal_vla_bimanual/scripts/start_rlbench_x.sh
|
| 33 |
+
```
|
| 34 |
+
|
| 35 |
+
Verify GPU GL on the headless display:
|
| 36 |
+
|
| 37 |
+
```bash
|
| 38 |
+
DISPLAY=:99 glxinfo -B
|
| 39 |
+
```
|
| 40 |
+
|
| 41 |
+
Run the RLBench launch/reset/step smoke test:
|
| 42 |
+
|
| 43 |
+
```bash
|
| 44 |
+
env \
|
| 45 |
+
DISPLAY=:99 \
|
| 46 |
+
XDG_RUNTIME_DIR=/tmp/runtime-root \
|
| 47 |
+
COPPELIASIM_ROOT=/workspace/assets/coppeliasim_v4_1_0 \
|
| 48 |
+
LD_LIBRARY_PATH=/workspace/system_shims/nvidia$(nvidia-smi --query-gpu=driver_version --format=csv,noheader | head -n1 | cut -d. -f1)/usr/lib/x86_64-linux-gnu:/workspace/system_shims/nvidia$(nvidia-smi --query-gpu=driver_version --format=csv,noheader | head -n1 | cut -d. -f1)/usr/lib/x86_64-linux-gnu/nvidia:/workspace/assets/coppeliasim_v4_1_0 \
|
| 49 |
+
QT_QPA_PLATFORM_PLUGIN_PATH=/workspace/assets/coppeliasim_v4_1_0 \
|
| 50 |
+
/workspace/.tools/micromamba/bin/micromamba run \
|
| 51 |
+
-r /workspace/.micromamba \
|
| 52 |
+
-p /workspace/envs/rlbench \
|
| 53 |
+
python -m sim_rlbench.launch_smoke --headless
|
| 54 |
+
```
|
| 55 |
+
|
| 56 |
+
The working benchmark interface is fixed to three cameras only:
|
| 57 |
+
|
| 58 |
+
- `front`
|
| 59 |
+
- `wrist_left`
|
| 60 |
+
- `wrist_right`
|
| 61 |
+
|
| 62 |
+
The smoke test covers launch, bimanual task reset, canonical observation extraction, and one bimanual action step in `headless=True`, which is the same mode used by the upstream PerAct2-style training stack.
|
| 63 |
+
|
| 64 |
+
Generate the PerAct2-compatible train command for the fixed 3-camera interface with:
|
| 65 |
+
|
| 66 |
+
```bash
|
| 67 |
+
micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench \
|
| 68 |
+
python -m sim_rlbench.smoke_test --print-train-command
|
| 69 |
+
```
|
| 70 |
+
|
| 71 |
+
Download the published PerAct2 demos into `/workspace/data/rlbench2` with checksum verification:
|
| 72 |
+
|
| 73 |
+
```bash
|
| 74 |
+
micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench \
|
| 75 |
+
python -m sim_rlbench.dataset_download --resolution 256 --splits train
|
| 76 |
+
```
|
| 77 |
+
|
| 78 |
+
If you want the archives unpacked directly into the demo root expected by RLBench, add `--extract`:
|
| 79 |
+
|
| 80 |
+
```bash
|
| 81 |
+
apt-get install -y squashfs-tools
|
| 82 |
+
micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench \
|
| 83 |
+
python -m sim_rlbench.dataset_download --resolution 256 --splits train --extract
|
| 84 |
+
```
|
VLAarchtests/code/reveal_vla_bimanual/pyproject.toml
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[build-system]
|
| 2 |
+
requires = ["setuptools>=68", "wheel"]
|
| 3 |
+
build-backend = "setuptools.build_meta"
|
| 4 |
+
|
| 5 |
+
[project]
|
| 6 |
+
name = "reveal-vla-bimanual"
|
| 7 |
+
version = "0.1.0"
|
| 8 |
+
description = "Language-conditioned bimanual reveal-and-retrieve policy prototype"
|
| 9 |
+
readme = "README.md"
|
| 10 |
+
requires-python = ">=3.10,<3.11"
|
| 11 |
+
dependencies = [
|
| 12 |
+
"accelerate>=0.31.0",
|
| 13 |
+
"einops>=0.7.0",
|
| 14 |
+
"hydra-core>=1.3.2",
|
| 15 |
+
"matplotlib>=3.8.0",
|
| 16 |
+
"numpy>=1.26,<2.0",
|
| 17 |
+
"omegaconf>=2.3.0",
|
| 18 |
+
"pandas>=2.2.0",
|
| 19 |
+
"pyyaml>=6.0.1",
|
| 20 |
+
"safetensors>=0.4.3",
|
| 21 |
+
"tensorboard>=2.16.2",
|
| 22 |
+
"timm>=1.0.7",
|
| 23 |
+
"torch>=2.3.0",
|
| 24 |
+
"torchvision>=0.18.0",
|
| 25 |
+
"transformers>=4.41.0",
|
| 26 |
+
]
|
| 27 |
+
|
| 28 |
+
[tool.setuptools]
|
| 29 |
+
include-package-data = true
|
| 30 |
+
|
| 31 |
+
[tool.setuptools.packages.find]
|
| 32 |
+
include = ["sim_rlbench*", "sim_reveal*", "models*", "train*", "eval*", "pytorch3d*"]
|
VLAarchtests/code/reveal_vla_bimanual/train/__init__.py
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
from train.losses import compute_total_loss
|
| 2 |
+
|
| 3 |
+
__all__ = ["compute_total_loss"]
|
VLAarchtests/code/reveal_vla_bimanual/train/build_aligned_proposal_dataset.py
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
from __future__ import annotations
|
| 2 |
+
|
| 3 |
+
import argparse
|
| 4 |
+
import json
|
| 5 |
+
from pathlib import Path
|
| 6 |
+
from typing import Any
|
| 7 |
+
|
| 8 |
+
import numpy as np
|
| 9 |
+
import torch
|
| 10 |
+
from omegaconf import OmegaConf
|
| 11 |
+
|
| 12 |
+
from eval.run_reveal_benchmark import load_model, _resolve_checkpoint_from_config
|
| 13 |
+
from sim_reveal.dataset import collect_teacher_dataset, save_teacher_dataset
|
| 14 |
+
from sim_reveal.procedural_envs import render_views_from_state
|
| 15 |
+
from train.dataset_build_utils import dataset_version_with_suffix, output_dataset_path
|
| 16 |
+
|
| 17 |
+
|
| 18 |
+
def _render_history(
|
| 19 |
+
proxy_name: str,
|
| 20 |
+
history_render_states: list[dict[str, Any]],
|
| 21 |
+
resolution: int,
|
| 22 |
+
) -> tuple[list[np.ndarray], list[np.ndarray], list[np.ndarray]]:
|
| 23 |
+
history_images: list[np.ndarray] = []
|
| 24 |
+
history_depths: list[np.ndarray] = []
|
| 25 |
+
history_depth_valid: list[np.ndarray] = []
|
| 26 |
+
for render_state in history_render_states:
|
| 27 |
+
rendered = render_views_from_state(
|
| 28 |
+
proxy_name=proxy_name,
|
| 29 |
+
render_state=render_state,
|
| 30 |
+
resolution=resolution,
|
| 31 |
+
include_depth=True,
|
| 32 |
+
)
|
| 33 |
+
history_images.append(
|
| 34 |
+
np.stack([rendered["front"], rendered["wrist_left"], rendered["wrist_right"]], axis=0).astype(np.uint8)
|
| 35 |
+
)
|
| 36 |
+
history_depths.append(
|
| 37 |
+
np.stack([rendered["front_depth"], rendered["wrist_left_depth"], rendered["wrist_right_depth"]], axis=0)[:, None, :, :].astype(np.float32)
|
| 38 |
+
)
|
| 39 |
+
history_depth_valid.append(
|
| 40 |
+
np.stack(
|
| 41 |
+
[rendered["front_depth_valid"], rendered["wrist_left_depth_valid"], rendered["wrist_right_depth_valid"]],
|
| 42 |
+
axis=0,
|
| 43 |
+
)[:, None, :, :].astype(np.float32)
|
| 44 |
+
)
|
| 45 |
+
return history_images, history_depths, history_depth_valid
|
| 46 |
+
|
| 47 |
+
|
| 48 |
+
def _prepare_model_inputs(
|
| 49 |
+
observation: dict[str, Any],
|
| 50 |
+
sample: dict[str, Any],
|
| 51 |
+
device: torch.device,
|
| 52 |
+
resolution: int,
|
| 53 |
+
) -> dict[str, Any]:
|
| 54 |
+
history_render_states = list(sample.get("history_render_states", []))
|
| 55 |
+
history_images, history_depths, history_depth_valid = _render_history(
|
| 56 |
+
proxy_name=str(sample["proxy_name"]),
|
| 57 |
+
history_render_states=history_render_states,
|
| 58 |
+
resolution=resolution,
|
| 59 |
+
)
|
| 60 |
+
if history_images:
|
| 61 |
+
history_images_tensor = torch.from_numpy(np.stack(history_images, axis=0)).permute(0, 1, 4, 2, 3).unsqueeze(0).float() / 255.0
|
| 62 |
+
history_depths_tensor = torch.from_numpy(np.stack(history_depths, axis=0)).unsqueeze(0).float()
|
| 63 |
+
history_depth_valid_tensor = torch.from_numpy(np.stack(history_depth_valid, axis=0)).unsqueeze(0).float()
|
| 64 |
+
else:
|
| 65 |
+
history_images_tensor = torch.zeros((1, 0, 3, 3, resolution, resolution), dtype=torch.float32)
|
| 66 |
+
history_depths_tensor = torch.zeros((1, 0, 3, 1, resolution, resolution), dtype=torch.float32)
|
| 67 |
+
history_depth_valid_tensor = torch.zeros_like(history_depths_tensor)
|
| 68 |
+
proprio_dim = observation["proprio"].shape[0]
|
| 69 |
+
return {
|
| 70 |
+
"images": torch.from_numpy(observation["images"]).permute(0, 3, 1, 2).unsqueeze(0).float().to(device) / 255.0,
|
| 71 |
+
"depths": torch.from_numpy(observation["depths"]).unsqueeze(0).float().to(device),
|
| 72 |
+
"depth_valid": torch.from_numpy(observation["depth_valid"]).unsqueeze(0).float().to(device),
|
| 73 |
+
"camera_intrinsics": torch.from_numpy(observation["camera_intrinsics"]).unsqueeze(0).float().to(device),
|
| 74 |
+
"camera_extrinsics": torch.from_numpy(observation["camera_extrinsics"]).unsqueeze(0).float().to(device),
|
| 75 |
+
"proprio": torch.from_numpy(observation["proprio"]).unsqueeze(0).float().to(device),
|
| 76 |
+
"texts": [str(observation["text"])],
|
| 77 |
+
"task_names": [str(sample["task_name"])],
|
| 78 |
+
"task_ids": torch.as_tensor([int(sample["task_id"])], dtype=torch.long, device=device),
|
| 79 |
+
"history_images": history_images_tensor.to(device),
|
| 80 |
+
"history_depths": history_depths_tensor.to(device),
|
| 81 |
+
"history_depth_valid": history_depth_valid_tensor.to(device),
|
| 82 |
+
"history_camera_intrinsics": torch.from_numpy(
|
| 83 |
+
sample.get("history_camera_intrinsics", np.zeros((0, 3, 3, 3), dtype=np.float32))
|
| 84 |
+
).unsqueeze(0).float().to(device),
|
| 85 |
+
"history_camera_extrinsics": torch.from_numpy(
|
| 86 |
+
sample.get("history_camera_extrinsics", np.zeros((0, 3, 4, 4), dtype=np.float32))
|
| 87 |
+
).unsqueeze(0).float().to(device),
|
| 88 |
+
"history_camera_valid_mask": torch.from_numpy(
|
| 89 |
+
sample.get("history_camera_valid_mask", np.zeros((0, 3), dtype=np.float32))
|
| 90 |
+
).unsqueeze(0).float().to(device),
|
| 91 |
+
"history_proprio": torch.from_numpy(
|
| 92 |
+
sample.get("history_proprio", np.zeros((0, proprio_dim), dtype=np.float32))
|
| 93 |
+
).unsqueeze(0).float().to(device),
|
| 94 |
+
"history_actions": torch.from_numpy(
|
| 95 |
+
sample.get("history_actions", np.zeros((0, sample["action_chunk"].shape[-1]), dtype=np.float32))
|
| 96 |
+
).unsqueeze(0).float().to(device),
|
| 97 |
+
}
|
| 98 |
+
|
| 99 |
+
|
| 100 |
+
def _proposal_target_builder(model: torch.nn.Module, device: torch.device, resolution: int):
|
| 101 |
+
def _build(env: Any, observation: dict[str, Any], sample: dict[str, Any]) -> dict[str, Any]:
|
| 102 |
+
with torch.inference_mode():
|
| 103 |
+
outputs = model(
|
| 104 |
+
**_prepare_model_inputs(observation, sample, device, resolution),
|
| 105 |
+
plan=False,
|
| 106 |
+
use_planner=False,
|
| 107 |
+
use_world_model=False,
|
| 108 |
+
use_proposal_candidates=True,
|
| 109 |
+
)
|
| 110 |
+
proposal_candidates = outputs["proposal_candidates"][0].detach().float().cpu().numpy().astype(np.float32)
|
| 111 |
+
outcomes = [env.evaluate_action_chunk(candidate, rollout_horizon=env.rollout_horizon) for candidate in proposal_candidates]
|
| 112 |
+
proposal_target_retrieval_success = np.asarray([item["retrieval_success"] for item in outcomes], dtype=np.float32)
|
| 113 |
+
proposal_target_risk = np.clip(
|
| 114 |
+
np.asarray([item["final_disturbance_cost"] + item["reocclusion_rate"] for item in outcomes], dtype=np.float32),
|
| 115 |
+
0.0,
|
| 116 |
+
1.0,
|
| 117 |
+
).astype(np.float32)
|
| 118 |
+
proposal_target_utility = np.asarray(
|
| 119 |
+
[float(env.candidate_outcome_utility(item)) for item in outcomes],
|
| 120 |
+
dtype=np.float32,
|
| 121 |
+
)
|
| 122 |
+
return {
|
| 123 |
+
"proposal_target_action_chunks": proposal_candidates,
|
| 124 |
+
"proposal_target_retrieval_success": proposal_target_retrieval_success,
|
| 125 |
+
"proposal_target_risk": proposal_target_risk,
|
| 126 |
+
"proposal_target_utility": proposal_target_utility,
|
| 127 |
+
"proposal_target_mode_names": list(outputs.get("proposal_mode_names", [["unknown"]])[0]),
|
| 128 |
+
}
|
| 129 |
+
|
| 130 |
+
return _build
|
| 131 |
+
|
| 132 |
+
def main() -> None:
|
| 133 |
+
parser = argparse.ArgumentParser()
|
| 134 |
+
parser.add_argument("--config", required=True)
|
| 135 |
+
parser.add_argument("--checkpoint", default=None)
|
| 136 |
+
parser.add_argument("--device", default="cuda" if torch.cuda.is_available() else "cpu")
|
| 137 |
+
parser.add_argument("--train-output", default=None)
|
| 138 |
+
parser.add_argument("--val-output", default=None)
|
| 139 |
+
parser.add_argument("--dataset-suffix", default="selector_align")
|
| 140 |
+
args = parser.parse_args()
|
| 141 |
+
|
| 142 |
+
cfg = OmegaConf.load(args.config)
|
| 143 |
+
checkpoint_path = Path(args.checkpoint) if args.checkpoint else _resolve_checkpoint_from_config(args.config)
|
| 144 |
+
device = torch.device(args.device)
|
| 145 |
+
model, _ = load_model(checkpoint_path, device)
|
| 146 |
+
model.eval()
|
| 147 |
+
|
| 148 |
+
resolution = int(cfg.data.resolution)
|
| 149 |
+
builder = _proposal_target_builder(model, device, resolution)
|
| 150 |
+
dataset_version = dataset_version_with_suffix(
|
| 151 |
+
str(cfg.data.get("dataset_version", "reveal_proxy_v6")),
|
| 152 |
+
args.dataset_suffix,
|
| 153 |
+
)
|
| 154 |
+
train_output = Path(args.train_output) if args.train_output else output_dataset_path(cfg.data.train_dataset_path, args.dataset_suffix)
|
| 155 |
+
val_output = Path(args.val_output) if args.val_output else output_dataset_path(cfg.data.val_dataset_path, args.dataset_suffix)
|
| 156 |
+
|
| 157 |
+
bundles: dict[str, dict[str, Any]] = {}
|
| 158 |
+
for split, episodes_per_proxy, seed_offset, output_path in (
|
| 159 |
+
("train", int(cfg.data.train_episodes_per_proxy), 0, train_output),
|
| 160 |
+
("val", int(cfg.data.val_episodes_per_proxy), 10_000, val_output),
|
| 161 |
+
):
|
| 162 |
+
bundle = collect_teacher_dataset(
|
| 163 |
+
proxy_names=OmegaConf.to_container(cfg.data.proxies, resolve=True),
|
| 164 |
+
episodes_per_proxy=episodes_per_proxy,
|
| 165 |
+
resolution=resolution,
|
| 166 |
+
seed=int(cfg.data.seed) + seed_offset,
|
| 167 |
+
chunk_horizon=int(cfg.data.chunk_horizon),
|
| 168 |
+
rollout_horizon=int(cfg.data.rollout_horizon),
|
| 169 |
+
history_steps=int(cfg.data.get("history_steps", 2)),
|
| 170 |
+
planner_candidates=int(cfg.data.get("planner_candidates", 4)),
|
| 171 |
+
dataset_version=dataset_version,
|
| 172 |
+
proposal_target_builder=builder,
|
| 173 |
+
)
|
| 174 |
+
save_teacher_dataset(output_path, bundle)
|
| 175 |
+
bundles[split] = {
|
| 176 |
+
"output_path": str(output_path),
|
| 177 |
+
"samples": len(bundle["samples"]),
|
| 178 |
+
"dataset_version": dataset_version,
|
| 179 |
+
}
|
| 180 |
+
print(json.dumps({"phase": "dataset_saved", "split": split, **bundles[split]}), flush=True)
|
| 181 |
+
|
| 182 |
+
summary = {
|
| 183 |
+
"checkpoint": str(checkpoint_path),
|
| 184 |
+
"device": str(device),
|
| 185 |
+
"dataset_suffix": args.dataset_suffix,
|
| 186 |
+
"train": bundles["train"],
|
| 187 |
+
"val": bundles["val"],
|
| 188 |
+
}
|
| 189 |
+
summary_path = train_output.parent / f"proposal_dataset_build_{args.dataset_suffix}.json"
|
| 190 |
+
summary_path.write_text(json.dumps(summary, indent=2), encoding="utf-8")
|
| 191 |
+
print(json.dumps(summary, indent=2))
|
| 192 |
+
|
| 193 |
+
|
| 194 |
+
if __name__ == "__main__":
|
| 195 |
+
main()
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/base.yaml
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
defaults:
|
| 2 |
+
- model: backbone_only
|
| 3 |
+
- data: rlbench_3cam
|
| 4 |
+
- _self_
|
| 5 |
+
|
| 6 |
+
trainer:
|
| 7 |
+
policy_type: backbone_only
|
| 8 |
+
use_bf16: true
|
| 9 |
+
grad_clip_norm: 1.0
|
| 10 |
+
freeze_backbone: true
|
| 11 |
+
gradient_checkpointing: true
|
| 12 |
+
|
| 13 |
+
optim:
|
| 14 |
+
lr: 1.0e-4
|
| 15 |
+
weight_decay: 1.0e-4
|
| 16 |
+
|
| 17 |
+
runtime:
|
| 18 |
+
batch_size: 8
|
| 19 |
+
num_workers: 4
|
| 20 |
+
seed: 0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_backbone_only.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_backbone_only
|
| 2 |
+
output_dir: /workspace/outputs/reveal_runs
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 7
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 96
|
| 9 |
+
train_episodes_per_proxy: 48
|
| 10 |
+
val_episodes_per_proxy: 16
|
| 11 |
+
train_dataset_path: /workspace/data/reveal_proxy/proxy_train_v4_noleak_counterfactual.pt
|
| 12 |
+
val_dataset_path: /workspace/data/reveal_proxy/proxy_val_v4_noleak_counterfactual.pt
|
| 13 |
+
rebuild_dataset: true
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
rollout_horizon: 5
|
| 16 |
+
history_steps: 2
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 7
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 8
|
| 22 |
+
batch_size: 16
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: backbone_only
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
|
| 34 |
+
policy:
|
| 35 |
+
backbone:
|
| 36 |
+
model_name: openai/clip-vit-base-patch32
|
| 37 |
+
hidden_dim: 128
|
| 38 |
+
max_text_tokens: 32
|
| 39 |
+
freeze_backbone: true
|
| 40 |
+
gradient_checkpointing: false
|
| 41 |
+
use_dummy_backbone: true
|
| 42 |
+
fusion:
|
| 43 |
+
hidden_dim: 128
|
| 44 |
+
num_cameras: 3
|
| 45 |
+
num_layers: 2
|
| 46 |
+
num_heads: 4
|
| 47 |
+
ff_dim: 256
|
| 48 |
+
dropout: 0.1
|
| 49 |
+
proprio_dim: 32
|
| 50 |
+
proprio_tokens: 1
|
| 51 |
+
memory:
|
| 52 |
+
hidden_dim: 128
|
| 53 |
+
history_steps: 2
|
| 54 |
+
num_layers: 1
|
| 55 |
+
dropout: 0.1
|
| 56 |
+
decoder:
|
| 57 |
+
hidden_dim: 128
|
| 58 |
+
num_heads: 4
|
| 59 |
+
num_layers: 2
|
| 60 |
+
ff_dim: 256
|
| 61 |
+
dropout: 0.1
|
| 62 |
+
chunk_size: 8
|
| 63 |
+
action_dim: 14
|
| 64 |
+
num_candidates: 8
|
| 65 |
+
reveal_head:
|
| 66 |
+
hidden_dim: 128
|
| 67 |
+
num_support_modes: 3
|
| 68 |
+
num_approach_templates: 32
|
| 69 |
+
rollout_horizon: 5
|
| 70 |
+
belief_map_size: 32
|
| 71 |
+
predict_belief_map: true
|
| 72 |
+
world_model:
|
| 73 |
+
hidden_dim: 128
|
| 74 |
+
action_dim: 14
|
| 75 |
+
num_support_modes: 3
|
| 76 |
+
num_approach_templates: 32
|
| 77 |
+
rollout_horizon: 5
|
| 78 |
+
planner:
|
| 79 |
+
hidden_dim: 128
|
| 80 |
+
num_candidates: 8
|
| 81 |
+
action_dim: 14
|
| 82 |
+
utility_margin: 0.1
|
| 83 |
+
|
| 84 |
+
loss_weights:
|
| 85 |
+
action: 1.0
|
| 86 |
+
support_mode: 0.1
|
| 87 |
+
corridor: 0.1
|
| 88 |
+
persistence: 0.05
|
| 89 |
+
disturbance: 0.05
|
| 90 |
+
world_model: 0.1
|
| 91 |
+
belief: 0.05
|
| 92 |
+
planner_success: 0.0
|
| 93 |
+
planner_risk: 0.0
|
| 94 |
+
planner_ranking: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_backbone_only_clip.yaml
ADDED
|
@@ -0,0 +1,97 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_backbone_only_clip
|
| 2 |
+
output_dir: /workspace/outputs/reveal_runs
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 7
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 224
|
| 9 |
+
train_episodes_per_proxy: 48
|
| 10 |
+
val_episodes_per_proxy: 16
|
| 11 |
+
train_dataset_path: /workspace/data/reveal_proxy/proxy_train_clip224_v4_noleak_counterfactual.pt
|
| 12 |
+
val_dataset_path: /workspace/data/reveal_proxy/proxy_val_clip224_v4_noleak_counterfactual.pt
|
| 13 |
+
rebuild_dataset: true
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
rollout_horizon: 5
|
| 16 |
+
history_steps: 2
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 7
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 4
|
| 22 |
+
batch_size: 2
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.0003
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: backbone_only
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
|
| 37 |
+
policy:
|
| 38 |
+
backbone:
|
| 39 |
+
model_name: openai/clip-vit-base-patch32
|
| 40 |
+
hidden_dim: 512
|
| 41 |
+
max_text_tokens: 32
|
| 42 |
+
freeze_backbone: true
|
| 43 |
+
gradient_checkpointing: false
|
| 44 |
+
use_dummy_backbone: false
|
| 45 |
+
fusion:
|
| 46 |
+
hidden_dim: 512
|
| 47 |
+
num_cameras: 3
|
| 48 |
+
num_layers: 4
|
| 49 |
+
num_heads: 8
|
| 50 |
+
ff_dim: 2048
|
| 51 |
+
dropout: 0.1
|
| 52 |
+
proprio_dim: 32
|
| 53 |
+
proprio_tokens: 1
|
| 54 |
+
memory:
|
| 55 |
+
hidden_dim: 512
|
| 56 |
+
history_steps: 2
|
| 57 |
+
num_layers: 1
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
decoder:
|
| 60 |
+
hidden_dim: 512
|
| 61 |
+
num_heads: 8
|
| 62 |
+
num_layers: 4
|
| 63 |
+
ff_dim: 2048
|
| 64 |
+
dropout: 0.1
|
| 65 |
+
chunk_size: 8
|
| 66 |
+
action_dim: 14
|
| 67 |
+
num_candidates: 8
|
| 68 |
+
reveal_head:
|
| 69 |
+
hidden_dim: 512
|
| 70 |
+
num_support_modes: 3
|
| 71 |
+
num_approach_templates: 32
|
| 72 |
+
rollout_horizon: 5
|
| 73 |
+
belief_map_size: 32
|
| 74 |
+
predict_belief_map: true
|
| 75 |
+
world_model:
|
| 76 |
+
hidden_dim: 512
|
| 77 |
+
action_dim: 14
|
| 78 |
+
num_support_modes: 3
|
| 79 |
+
num_approach_templates: 32
|
| 80 |
+
rollout_horizon: 5
|
| 81 |
+
planner:
|
| 82 |
+
hidden_dim: 512
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
action_dim: 14
|
| 85 |
+
utility_margin: 0.1
|
| 86 |
+
|
| 87 |
+
loss_weights:
|
| 88 |
+
action: 1.0
|
| 89 |
+
support_mode: 0.1
|
| 90 |
+
corridor: 0.1
|
| 91 |
+
persistence: 0.05
|
| 92 |
+
disturbance: 0.05
|
| 93 |
+
world_model: 0.1
|
| 94 |
+
belief: 0.05
|
| 95 |
+
planner_success: 0.0
|
| 96 |
+
planner_risk: 0.0
|
| 97 |
+
planner_ranking: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_backbone_only_smoke.yaml
ADDED
|
@@ -0,0 +1,100 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_backbone_only_smoke
|
| 2 |
+
output_dir: /workspace/outputs/smoke
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 11
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 64
|
| 9 |
+
train_episodes_per_proxy: 6
|
| 10 |
+
val_episodes_per_proxy: 2
|
| 11 |
+
train_dataset_path: /workspace/data/reveal_proxy/proxy_train_smoke_v4.pt
|
| 12 |
+
val_dataset_path: /workspace/data/reveal_proxy/proxy_val_smoke_v4.pt
|
| 13 |
+
rebuild_dataset: true
|
| 14 |
+
chunk_horizon: 4
|
| 15 |
+
rollout_horizon: 3
|
| 16 |
+
history_steps: 2
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 11
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 2
|
| 22 |
+
batch_size: 8
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: backbone_only
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
|
| 37 |
+
policy:
|
| 38 |
+
backbone:
|
| 39 |
+
model_name: openai/clip-vit-base-patch32
|
| 40 |
+
hidden_dim: 64
|
| 41 |
+
max_text_tokens: 32
|
| 42 |
+
freeze_backbone: true
|
| 43 |
+
gradient_checkpointing: false
|
| 44 |
+
use_dummy_backbone: true
|
| 45 |
+
fusion:
|
| 46 |
+
hidden_dim: 64
|
| 47 |
+
num_cameras: 3
|
| 48 |
+
num_layers: 2
|
| 49 |
+
num_heads: 4
|
| 50 |
+
ff_dim: 128
|
| 51 |
+
dropout: 0.1
|
| 52 |
+
proprio_dim: 32
|
| 53 |
+
proprio_tokens: 1
|
| 54 |
+
memory:
|
| 55 |
+
hidden_dim: 64
|
| 56 |
+
history_steps: 2
|
| 57 |
+
num_layers: 1
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
decoder:
|
| 60 |
+
hidden_dim: 64
|
| 61 |
+
num_heads: 4
|
| 62 |
+
num_layers: 2
|
| 63 |
+
ff_dim: 128
|
| 64 |
+
dropout: 0.1
|
| 65 |
+
chunk_size: 4
|
| 66 |
+
action_dim: 14
|
| 67 |
+
arm_action_dim: 7
|
| 68 |
+
num_candidates: 4
|
| 69 |
+
reveal_head:
|
| 70 |
+
hidden_dim: 64
|
| 71 |
+
num_support_modes: 3
|
| 72 |
+
num_approach_templates: 32
|
| 73 |
+
rollout_horizon: 3
|
| 74 |
+
belief_map_size: 32
|
| 75 |
+
field_size: 16
|
| 76 |
+
num_heads: 4
|
| 77 |
+
predict_belief_map: true
|
| 78 |
+
world_model:
|
| 79 |
+
hidden_dim: 64
|
| 80 |
+
action_dim: 14
|
| 81 |
+
num_support_modes: 3
|
| 82 |
+
num_approach_templates: 32
|
| 83 |
+
rollout_horizon: 3
|
| 84 |
+
planner:
|
| 85 |
+
hidden_dim: 64
|
| 86 |
+
num_candidates: 4
|
| 87 |
+
action_dim: 14
|
| 88 |
+
utility_margin: 0.1
|
| 89 |
+
|
| 90 |
+
loss_weights:
|
| 91 |
+
action: 1.0
|
| 92 |
+
support_mode: 0.0
|
| 93 |
+
corridor: 0.0
|
| 94 |
+
persistence: 0.0
|
| 95 |
+
disturbance: 0.0
|
| 96 |
+
world_model: 0.0
|
| 97 |
+
belief: 0.0
|
| 98 |
+
planner_success: 0.0
|
| 99 |
+
planner_risk: 0.0
|
| 100 |
+
planner_ranking: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_nodepth.yaml
ADDED
|
@@ -0,0 +1,16 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_ablation_nodepth
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
data: {proxies: [foliage_proxy, bag_proxy, cloth_proxy], resolution: 224, dataset_version: reveal_proxy_v6_rgbd_elastic_state, train_episodes_per_proxy: 48, val_episodes_per_proxy: 16, train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3.pt, val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3.pt, rebuild_dataset: false, chunk_horizon: 8, rollout_horizon: 5, history_steps: 6, planner_candidates: 8, seed: 17}
|
| 6 |
+
optim: {epochs: 4, batch_size: 2, num_workers: 0, lr: 0.0003, weight_decay: 0.0001}
|
| 7 |
+
trainer: {policy_type: elastic_reveal, use_bf16: true, grad_clip_norm: 1.0, freeze_backbone: true, gradient_checkpointing: false, plan_during_train: true, plan_during_eval: true, support_mode_conditioning: true, planner_mode: trainable, use_depth: false, use_world_model: true, use_role_tokens: true, compute_equivariance_probe: true}
|
| 8 |
+
policy:
|
| 9 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 10 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 11 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 12 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 13 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 14 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 15 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 16 |
+
loss_weights: {action: 1.0, phase: 0.1, arm_role: 0.15, support_mode: 0.1, corridor: 0.15, persistence: 0.05, disturbance: 0.05, world_model: 0.25, belief: 0.05, visibility: 0.05, clearance: 0.05, support_stability: 0.05, reocclusion: 0.05, occluder_contact: 0.05, grasp_affordance: 0.05, planner_success: 0.25, planner_risk: 0.1, planner_ranking: 0.2, proposal_reconstruction: 0.1, proposal_success: 0.15, proposal_ranking: 0.2, proposal_diversity: 0.05, role_swap_consistency: 0.05}
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_noplanner.yaml
ADDED
|
@@ -0,0 +1,16 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_ablation_noplanner
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
data: {proxies: [foliage_proxy, bag_proxy, cloth_proxy], resolution: 96, dataset_version: reveal_proxy_v6_rgbd_elastic_state, train_episodes_per_proxy: 48, val_episodes_per_proxy: 16, train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage2_dummy.pt, val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage2_dummy.pt, rebuild_dataset: false, chunk_horizon: 8, rollout_horizon: 5, history_steps: 6, planner_candidates: 8, seed: 17}
|
| 6 |
+
optim: {epochs: 10, batch_size: 16, num_workers: 0, lr: 0.001, weight_decay: 0.0001}
|
| 7 |
+
trainer: {policy_type: elastic_reveal, use_bf16: false, grad_clip_norm: 1.0, freeze_backbone: true, gradient_checkpointing: false, plan_during_train: false, plan_during_eval: false, support_mode_conditioning: true, planner_mode: off, use_depth: false, use_world_model: true, use_role_tokens: true, compute_equivariance_probe: true}
|
| 8 |
+
policy:
|
| 9 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 192, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: true}
|
| 10 |
+
fusion: {hidden_dim: 192, num_cameras: 3, num_layers: 2, num_heads: 4, ff_dim: 384, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 11 |
+
memory: {hidden_dim: 192, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 4, max_history_steps: 8}
|
| 12 |
+
decoder: {hidden_dim: 192, num_heads: 4, num_layers: 2, ff_dim: 384, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 13 |
+
reveal_head: {hidden_dim: 192, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 4, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 14 |
+
world_model: {hidden_dim: 192, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 4, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 15 |
+
planner: {hidden_dim: 192, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 4, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 16 |
+
loss_weights: {action: 1.0}
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_norolesym.yaml
ADDED
|
@@ -0,0 +1,16 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_ablation_norolesym
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
data: {proxies: [foliage_proxy, bag_proxy, cloth_proxy], resolution: 96, dataset_version: reveal_proxy_v6_rgbd_elastic_state, train_episodes_per_proxy: 48, val_episodes_per_proxy: 16, train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage2_dummy.pt, val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage2_dummy.pt, rebuild_dataset: false, chunk_horizon: 8, rollout_horizon: 5, history_steps: 6, planner_candidates: 8, seed: 17}
|
| 6 |
+
optim: {epochs: 10, batch_size: 16, num_workers: 0, lr: 0.001, weight_decay: 0.0001}
|
| 7 |
+
trainer: {policy_type: elastic_reveal, use_bf16: false, grad_clip_norm: 1.0, freeze_backbone: true, gradient_checkpointing: false, plan_during_train: true, plan_during_eval: true, support_mode_conditioning: true, planner_mode: trainable, use_depth: false, use_world_model: true, use_role_tokens: false, compute_equivariance_probe: false}
|
| 8 |
+
policy:
|
| 9 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 192, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: true}
|
| 10 |
+
fusion: {hidden_dim: 192, num_cameras: 3, num_layers: 2, num_heads: 4, ff_dim: 384, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 11 |
+
memory: {hidden_dim: 192, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 4, max_history_steps: 8}
|
| 12 |
+
decoder: {hidden_dim: 192, num_heads: 4, num_layers: 2, ff_dim: 384, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 13 |
+
reveal_head: {hidden_dim: 192, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 4, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 14 |
+
world_model: {hidden_dim: 192, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 4, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 15 |
+
planner: {hidden_dim: 192, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 4, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 16 |
+
loss_weights: {action: 1.0}
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_ablation_nowm.yaml
ADDED
|
@@ -0,0 +1,16 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_ablation_nowm
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
data: {proxies: [foliage_proxy, bag_proxy, cloth_proxy], resolution: 96, dataset_version: reveal_proxy_v6_rgbd_elastic_state, train_episodes_per_proxy: 48, val_episodes_per_proxy: 16, train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage2_dummy.pt, val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage2_dummy.pt, rebuild_dataset: false, chunk_horizon: 8, rollout_horizon: 5, history_steps: 6, planner_candidates: 8, seed: 17}
|
| 6 |
+
optim: {epochs: 10, batch_size: 16, num_workers: 0, lr: 0.001, weight_decay: 0.0001}
|
| 7 |
+
trainer: {policy_type: elastic_reveal, use_bf16: false, grad_clip_norm: 1.0, freeze_backbone: true, gradient_checkpointing: false, plan_during_train: true, plan_during_eval: true, support_mode_conditioning: true, planner_mode: trainable, use_depth: false, use_world_model: false, use_role_tokens: true, compute_equivariance_probe: true}
|
| 8 |
+
policy:
|
| 9 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 192, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: true}
|
| 10 |
+
fusion: {hidden_dim: 192, num_cameras: 3, num_layers: 2, num_heads: 4, ff_dim: 384, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 11 |
+
memory: {hidden_dim: 192, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 4, max_history_steps: 8}
|
| 12 |
+
decoder: {hidden_dim: 192, num_heads: 4, num_layers: 2, ff_dim: 384, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 13 |
+
reveal_head: {hidden_dim: 192, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 4, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 14 |
+
world_model: {hidden_dim: 192, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 4, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 15 |
+
planner: {hidden_dim: 192, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 4, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 16 |
+
loss_weights: {action: 1.0}
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage1_clip.yaml
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_clip
|
| 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 |
+
|
| 8 |
+
data:
|
| 9 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 10 |
+
resolution: 224
|
| 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_clip224_v6_rgbd_stage1.pt
|
| 15 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage1.pt
|
| 16 |
+
rebuild_dataset: false
|
| 17 |
+
chunk_horizon: 8
|
| 18 |
+
rollout_horizon: 5
|
| 19 |
+
history_steps: 6
|
| 20 |
+
planner_candidates: 8
|
| 21 |
+
seed: 7
|
| 22 |
+
|
| 23 |
+
optim: {epochs: 4, batch_size: 2, num_workers: 4, lr: 0.0003, weight_decay: 0.0001}
|
| 24 |
+
|
| 25 |
+
trainer:
|
| 26 |
+
policy_type: elastic_reveal
|
| 27 |
+
use_bf16: true
|
| 28 |
+
grad_clip_norm: 1.0
|
| 29 |
+
freeze_backbone: true
|
| 30 |
+
gradient_checkpointing: false
|
| 31 |
+
plan_during_train: true
|
| 32 |
+
plan_during_eval: true
|
| 33 |
+
support_mode_conditioning: true
|
| 34 |
+
planner_mode: trainable
|
| 35 |
+
use_depth: false
|
| 36 |
+
use_world_model: true
|
| 37 |
+
use_role_tokens: true
|
| 38 |
+
compute_equivariance_probe: true
|
| 39 |
+
|
| 40 |
+
policy:
|
| 41 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 42 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 43 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 44 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 45 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 46 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 47 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 48 |
+
|
| 49 |
+
loss_weights:
|
| 50 |
+
action: 1.0
|
| 51 |
+
phase: 0.1
|
| 52 |
+
arm_role: 0.15
|
| 53 |
+
support_mode: 0.1
|
| 54 |
+
corridor: 0.15
|
| 55 |
+
persistence: 0.05
|
| 56 |
+
disturbance: 0.05
|
| 57 |
+
world_model: 0.2
|
| 58 |
+
belief: 0.05
|
| 59 |
+
visibility: 0.05
|
| 60 |
+
clearance: 0.05
|
| 61 |
+
support_stability: 0.05
|
| 62 |
+
reocclusion: 0.05
|
| 63 |
+
occluder_contact: 0.05
|
| 64 |
+
grasp_affordance: 0.05
|
| 65 |
+
planner_success: 0.25
|
| 66 |
+
planner_risk: 0.1
|
| 67 |
+
planner_ranking: 0.2
|
| 68 |
+
proposal_reconstruction: 0.1
|
| 69 |
+
proposal_success: 0.15
|
| 70 |
+
proposal_ranking: 0.2
|
| 71 |
+
proposal_diversity: 0.05
|
| 72 |
+
role_swap_consistency: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage1_dummy.yaml
ADDED
|
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage1_dummy
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 96
|
| 9 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 10 |
+
train_episodes_per_proxy: 48
|
| 11 |
+
val_episodes_per_proxy: 16
|
| 12 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage1_dummy.pt
|
| 13 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage1_dummy.pt
|
| 14 |
+
rebuild_dataset: false
|
| 15 |
+
chunk_horizon: 8
|
| 16 |
+
rollout_horizon: 5
|
| 17 |
+
history_steps: 6
|
| 18 |
+
planner_candidates: 8
|
| 19 |
+
seed: 13
|
| 20 |
+
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 4
|
| 23 |
+
batch_size: 16
|
| 24 |
+
num_workers: 4
|
| 25 |
+
lr: 0.001
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
|
| 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 |
+
|
| 43 |
+
policy:
|
| 44 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 192, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: true}
|
| 45 |
+
fusion: {hidden_dim: 192, num_cameras: 3, num_layers: 2, num_heads: 4, ff_dim: 384, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 46 |
+
memory: {hidden_dim: 192, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 4, max_history_steps: 8}
|
| 47 |
+
decoder: {hidden_dim: 192, num_heads: 4, num_layers: 2, ff_dim: 384, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 48 |
+
reveal_head: {hidden_dim: 192, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 4, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 49 |
+
world_model: {hidden_dim: 192, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 4, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 50 |
+
planner: {hidden_dim: 192, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 4, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 51 |
+
|
| 52 |
+
loss_weights:
|
| 53 |
+
action: 1.0
|
| 54 |
+
phase: 0.15
|
| 55 |
+
arm_role: 0.2
|
| 56 |
+
support_mode: 0.15
|
| 57 |
+
corridor: 0.2
|
| 58 |
+
persistence: 0.1
|
| 59 |
+
disturbance: 0.1
|
| 60 |
+
world_model: 0.25
|
| 61 |
+
belief: 0.05
|
| 62 |
+
visibility: 0.05
|
| 63 |
+
clearance: 0.05
|
| 64 |
+
support_stability: 0.05
|
| 65 |
+
reocclusion: 0.05
|
| 66 |
+
occluder_contact: 0.05
|
| 67 |
+
grasp_affordance: 0.05
|
| 68 |
+
planner_success: 0.2
|
| 69 |
+
planner_risk: 0.1
|
| 70 |
+
planner_ranking: 0.1
|
| 71 |
+
proposal_reconstruction: 0.2
|
| 72 |
+
proposal_success: 0.1
|
| 73 |
+
proposal_ranking: 0.1
|
| 74 |
+
proposal_diversity: 0.05
|
| 75 |
+
role_swap_consistency: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage2_clip.yaml
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_clip
|
| 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: {proxies: [foliage_proxy, bag_proxy, cloth_proxy], resolution: 224, dataset_version: reveal_proxy_v6_rgbd_elastic_state, train_episodes_per_proxy: 48, val_episodes_per_proxy: 16, train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage2.pt, val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage2.pt, rebuild_dataset: false, chunk_horizon: 8, rollout_horizon: 5, history_steps: 6, planner_candidates: 8, seed: 11}
|
| 8 |
+
optim: {epochs: 4, batch_size: 2, num_workers: 4, lr: 0.0003, weight_decay: 0.0001}
|
| 9 |
+
trainer: {policy_type: elastic_reveal, use_bf16: true, grad_clip_norm: 1.0, freeze_backbone: true, gradient_checkpointing: false, plan_during_train: true, plan_during_eval: true, support_mode_conditioning: true, planner_mode: trainable, use_depth: false, use_world_model: true, use_role_tokens: true, compute_equivariance_probe: true}
|
| 10 |
+
policy:
|
| 11 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 12 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 13 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 14 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 15 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 16 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 17 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 18 |
+
loss_weights: {action: 1.0, phase: 0.1, arm_role: 0.15, support_mode: 0.1, corridor: 0.15, persistence: 0.05, disturbance: 0.05, world_model: 0.25, belief: 0.05, visibility: 0.05, clearance: 0.05, support_stability: 0.05, reocclusion: 0.05, occluder_contact: 0.05, grasp_affordance: 0.05, planner_success: 0.25, planner_risk: 0.1, planner_ranking: 0.2, proposal_reconstruction: 0.1, proposal_success: 0.15, proposal_ranking: 0.2, proposal_diversity: 0.05, role_swap_consistency: 0.05}
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage2_dummy.yaml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage2_dummy
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 21
|
| 5 |
+
defaults: []
|
| 6 |
+
data: {proxies: [foliage_proxy, bag_proxy, cloth_proxy], resolution: 96, dataset_version: reveal_proxy_v6_rgbd_elastic_state, train_episodes_per_proxy: 48, val_episodes_per_proxy: 16, train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v6_rgbd_stage2_dummy.pt, val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v6_rgbd_stage2_dummy.pt, rebuild_dataset: false, chunk_horizon: 8, rollout_horizon: 5, history_steps: 6, planner_candidates: 8, seed: 21}
|
| 7 |
+
optim: {epochs: 4, batch_size: 16, num_workers: 4, lr: 0.001, weight_decay: 0.0001}
|
| 8 |
+
trainer: {policy_type: elastic_reveal, use_bf16: false, grad_clip_norm: 1.0, freeze_backbone: true, gradient_checkpointing: false, plan_during_train: true, plan_during_eval: true, support_mode_conditioning: true, planner_mode: trainable, use_depth: false, use_world_model: true, use_role_tokens: true, compute_equivariance_probe: true}
|
| 9 |
+
policy:
|
| 10 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 192, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: true}
|
| 11 |
+
fusion: {hidden_dim: 192, num_cameras: 3, num_layers: 2, num_heads: 4, ff_dim: 384, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 12 |
+
memory: {hidden_dim: 192, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 4, max_history_steps: 8}
|
| 13 |
+
decoder: {hidden_dim: 192, num_heads: 4, num_layers: 2, ff_dim: 384, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 14 |
+
reveal_head: {hidden_dim: 192, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 4, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 15 |
+
world_model: {hidden_dim: 192, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 4, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 16 |
+
planner: {hidden_dim: 192, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 4, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 17 |
+
loss_weights: {action: 1.0, phase: 0.15, arm_role: 0.2, support_mode: 0.15, corridor: 0.2, persistence: 0.1, disturbance: 0.1, world_model: 0.3, belief: 0.05, visibility: 0.05, clearance: 0.05, support_stability: 0.05, reocclusion: 0.05, occluder_contact: 0.05, grasp_affordance: 0.05, planner_success: 0.2, planner_risk: 0.1, planner_ranking: 0.1, proposal_reconstruction: 0.2, proposal_success: 0.1, proposal_ranking: 0.1, proposal_diversity: 0.05, role_swap_consistency: 0.05}
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd.yaml
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd
|
| 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: {proxies: [foliage_proxy, bag_proxy, cloth_proxy], resolution: 224, dataset_version: reveal_proxy_v6_rgbd_elastic_state, train_episodes_per_proxy: 48, val_episodes_per_proxy: 16, train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3.pt, val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3.pt, rebuild_dataset: false, chunk_horizon: 8, rollout_horizon: 5, history_steps: 6, planner_candidates: 8, seed: 17}
|
| 8 |
+
optim: {epochs: 4, batch_size: 2, num_workers: 4, lr: 0.0003, weight_decay: 0.0001}
|
| 9 |
+
trainer: {policy_type: elastic_reveal, use_bf16: true, grad_clip_norm: 1.0, freeze_backbone: true, gradient_checkpointing: false, plan_during_train: true, plan_during_eval: true, support_mode_conditioning: true, planner_mode: trainable, use_depth: true, use_world_model: true, use_role_tokens: true, compute_equivariance_probe: true}
|
| 10 |
+
policy:
|
| 11 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 12 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 13 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 14 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 6, planner_top_k: 4}
|
| 15 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8}
|
| 16 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2}
|
| 17 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 18 |
+
loss_weights: {action: 1.0, phase: 0.1, arm_role: 0.15, support_mode: 0.1, corridor: 0.15, persistence: 0.05, disturbance: 0.05, world_model: 0.25, belief: 0.05, visibility: 0.05, clearance: 0.05, support_stability: 0.05, reocclusion: 0.05, occluder_contact: 0.05, grasp_affordance: 0.05, planner_success: 0.25, planner_risk: 0.1, planner_ranking: 0.2, proposal_reconstruction: 0.1, proposal_success: 0.15, proposal_ranking: 0.2, proposal_diversity: 0.05, role_swap_consistency: 0.05}
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact.yaml
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
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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_handoff_compact_seed17
|
| 2 |
+
output_dir: /workspace/outputs/r3d_handoff
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 3
|
| 23 |
+
batch_size: 4
|
| 24 |
+
num_workers: 24
|
| 25 |
+
lr: 0.0001
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: true
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
policy:
|
| 42 |
+
backbone:
|
| 43 |
+
model_name: openai/clip-vit-base-patch32
|
| 44 |
+
hidden_dim: 512
|
| 45 |
+
max_text_tokens: 32
|
| 46 |
+
freeze_backbone: true
|
| 47 |
+
gradient_checkpointing: false
|
| 48 |
+
use_dummy_backbone: false
|
| 49 |
+
fusion:
|
| 50 |
+
hidden_dim: 512
|
| 51 |
+
num_cameras: 3
|
| 52 |
+
num_layers: 4
|
| 53 |
+
num_heads: 8
|
| 54 |
+
ff_dim: 2048
|
| 55 |
+
dropout: 0.1
|
| 56 |
+
proprio_dim: 32
|
| 57 |
+
proprio_tokens: 1
|
| 58 |
+
memory:
|
| 59 |
+
hidden_dim: 512
|
| 60 |
+
action_dim: 14
|
| 61 |
+
history_steps: 6
|
| 62 |
+
scene_history_steps: 3
|
| 63 |
+
belief_history_steps: 8
|
| 64 |
+
num_layers: 2
|
| 65 |
+
dropout: 0.1
|
| 66 |
+
memory_bank_size: 4
|
| 67 |
+
scene_bank_size: 2
|
| 68 |
+
belief_bank_size: 2
|
| 69 |
+
num_heads: 8
|
| 70 |
+
max_history_steps: 8
|
| 71 |
+
decoder:
|
| 72 |
+
hidden_dim: 512
|
| 73 |
+
num_heads: 8
|
| 74 |
+
num_layers: 4
|
| 75 |
+
ff_dim: 2048
|
| 76 |
+
dropout: 0.1
|
| 77 |
+
chunk_size: 8
|
| 78 |
+
action_dim: 14
|
| 79 |
+
arm_action_dim: 7
|
| 80 |
+
num_candidates: 8
|
| 81 |
+
num_phases: 5
|
| 82 |
+
num_arm_roles: 4
|
| 83 |
+
num_proposal_modes: 7
|
| 84 |
+
planner_top_k: 4
|
| 85 |
+
reveal_head:
|
| 86 |
+
hidden_dim: 512
|
| 87 |
+
num_support_modes: 3
|
| 88 |
+
num_approach_templates: 32
|
| 89 |
+
rollout_horizon: 5
|
| 90 |
+
belief_map_size: 32
|
| 91 |
+
field_size: 16
|
| 92 |
+
num_heads: 8
|
| 93 |
+
predict_belief_map: true
|
| 94 |
+
num_phases: 5
|
| 95 |
+
num_arm_roles: 4
|
| 96 |
+
num_interaction_tokens: 8
|
| 97 |
+
num_tasks: 4
|
| 98 |
+
world_model:
|
| 99 |
+
hidden_dim: 512
|
| 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: 8
|
| 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 |
+
rollout_mode: compact_rollout
|
| 114 |
+
num_tasks: 4
|
| 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: 0.05
|
| 129 |
+
arm_role: 0.1
|
| 130 |
+
support_mode: 0.1
|
| 131 |
+
corridor: 0.12
|
| 132 |
+
persistence: 0.06
|
| 133 |
+
disturbance: 0.06
|
| 134 |
+
world_model: 0.2
|
| 135 |
+
belief: 0.05
|
| 136 |
+
visibility: 0.05
|
| 137 |
+
clearance: 0.06
|
| 138 |
+
support_stability: 0.06
|
| 139 |
+
reocclusion: 0.06
|
| 140 |
+
occluder_contact: 0.05
|
| 141 |
+
grasp_affordance: 0.05
|
| 142 |
+
planner_success: 0.2
|
| 143 |
+
planner_risk: 0.08
|
| 144 |
+
planner_ranking: 0.2
|
| 145 |
+
proposal_reconstruction: 0.08
|
| 146 |
+
proposal_success: 0.12
|
| 147 |
+
proposal_ranking: 0.15
|
| 148 |
+
proposal_diversity: 0.05
|
| 149 |
+
role_swap_consistency: 0.02
|
| 150 |
+
task_metrics: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase.yaml
ADDED
|
@@ -0,0 +1,73 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17
|
| 2 |
+
output_dir: /workspace/outputs/r3d_handoff_phase
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 3
|
| 23 |
+
batch_size: 4
|
| 24 |
+
num_workers: 24
|
| 25 |
+
lr: 0.0001
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: true
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
policy:
|
| 42 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 43 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 44 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 45 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 46 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 47 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 48 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 49 |
+
loss_weights:
|
| 50 |
+
action: 1.0
|
| 51 |
+
phase: 0.08
|
| 52 |
+
arm_role: 0.1
|
| 53 |
+
support_mode: 0.1
|
| 54 |
+
corridor: 0.12
|
| 55 |
+
persistence: 0.06
|
| 56 |
+
disturbance: 0.06
|
| 57 |
+
world_model: 0.2
|
| 58 |
+
belief: 0.05
|
| 59 |
+
visibility: 0.05
|
| 60 |
+
clearance: 0.06
|
| 61 |
+
support_stability: 0.06
|
| 62 |
+
reocclusion: 0.06
|
| 63 |
+
occluder_contact: 0.05
|
| 64 |
+
grasp_affordance: 0.05
|
| 65 |
+
planner_success: 0.2
|
| 66 |
+
planner_risk: 0.08
|
| 67 |
+
planner_ranking: 0.2
|
| 68 |
+
proposal_reconstruction: 0.08
|
| 69 |
+
proposal_success: 0.12
|
| 70 |
+
proposal_ranking: 0.15
|
| 71 |
+
proposal_diversity: 0.05
|
| 72 |
+
role_swap_consistency: 0.02
|
| 73 |
+
task_metrics: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml
ADDED
|
@@ -0,0 +1,73 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base_seed17
|
| 2 |
+
output_dir: /workspace/outputs/r3d_handoff_sprint
|
| 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_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 3
|
| 23 |
+
batch_size: 4
|
| 24 |
+
num_workers: 48
|
| 25 |
+
lr: 0.0001
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: true
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
policy:
|
| 42 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 43 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 44 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 45 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 46 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 47 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 48 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 49 |
+
loss_weights:
|
| 50 |
+
action: 1.0
|
| 51 |
+
phase: 0.08
|
| 52 |
+
arm_role: 0.1
|
| 53 |
+
support_mode: 0.1
|
| 54 |
+
corridor: 0.12
|
| 55 |
+
persistence: 0.06
|
| 56 |
+
disturbance: 0.06
|
| 57 |
+
world_model: 0.2
|
| 58 |
+
belief: 0.05
|
| 59 |
+
visibility: 0.05
|
| 60 |
+
clearance: 0.06
|
| 61 |
+
support_stability: 0.06
|
| 62 |
+
reocclusion: 0.06
|
| 63 |
+
occluder_contact: 0.05
|
| 64 |
+
grasp_affordance: 0.05
|
| 65 |
+
planner_success: 0.2
|
| 66 |
+
planner_risk: 0.08
|
| 67 |
+
planner_ranking: 0.2
|
| 68 |
+
proposal_reconstruction: 0.08
|
| 69 |
+
proposal_success: 0.12
|
| 70 |
+
proposal_ranking: 0.15
|
| 71 |
+
proposal_diversity: 0.05
|
| 72 |
+
role_swap_consistency: 0.02
|
| 73 |
+
task_metrics: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune.yaml
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 4
|
| 23 |
+
batch_size: 8
|
| 24 |
+
num_workers: 48
|
| 25 |
+
lr: 0.0002
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: false
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
trainable_parameter_prefixes:
|
| 42 |
+
- decoder.proposal_score
|
| 43 |
+
- decoder.proposal_mode_head
|
| 44 |
+
- decoder.proposal_mode_embeddings
|
| 45 |
+
- decoder.proposal_slot_embeddings
|
| 46 |
+
policy:
|
| 47 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 48 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 49 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 50 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 51 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 52 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 53 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 54 |
+
loss_weights:
|
| 55 |
+
action: 1.0
|
| 56 |
+
phase: 0.08
|
| 57 |
+
arm_role: 0.1
|
| 58 |
+
support_mode: 0.1
|
| 59 |
+
corridor: 0.12
|
| 60 |
+
persistence: 0.06
|
| 61 |
+
disturbance: 0.06
|
| 62 |
+
world_model: 0.0
|
| 63 |
+
belief: 0.05
|
| 64 |
+
visibility: 0.05
|
| 65 |
+
clearance: 0.06
|
| 66 |
+
support_stability: 0.06
|
| 67 |
+
reocclusion: 0.06
|
| 68 |
+
occluder_contact: 0.05
|
| 69 |
+
grasp_affordance: 0.05
|
| 70 |
+
planner_success: 0.0
|
| 71 |
+
planner_risk: 0.0
|
| 72 |
+
planner_ranking: 0.0
|
| 73 |
+
proposal_reconstruction: 0.0
|
| 74 |
+
proposal_success: 0.35
|
| 75 |
+
proposal_ranking: 0.50
|
| 76 |
+
proposal_diversity: 0.02
|
| 77 |
+
role_swap_consistency: 0.0
|
| 78 |
+
task_metrics: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3.yaml
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 6
|
| 23 |
+
batch_size: 8
|
| 24 |
+
num_workers: 48
|
| 25 |
+
lr: 0.0001
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: false
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
trainable_parameter_prefixes:
|
| 42 |
+
- decoder.proposal_score
|
| 43 |
+
- decoder.proposal_mode_head
|
| 44 |
+
- decoder.proposal_mode_embeddings
|
| 45 |
+
- decoder.proposal_slot_embeddings
|
| 46 |
+
- decoder.slot_delta
|
| 47 |
+
- decoder.mode_residual_heads
|
| 48 |
+
policy:
|
| 49 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 50 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 51 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 52 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 53 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 54 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 55 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 56 |
+
loss_weights:
|
| 57 |
+
action: 1.0
|
| 58 |
+
phase: 0.08
|
| 59 |
+
arm_role: 0.1
|
| 60 |
+
support_mode: 0.1
|
| 61 |
+
corridor: 0.12
|
| 62 |
+
persistence: 0.06
|
| 63 |
+
disturbance: 0.06
|
| 64 |
+
world_model: 0.0
|
| 65 |
+
belief: 0.05
|
| 66 |
+
visibility: 0.05
|
| 67 |
+
clearance: 0.06
|
| 68 |
+
support_stability: 0.06
|
| 69 |
+
reocclusion: 0.06
|
| 70 |
+
occluder_contact: 0.05
|
| 71 |
+
grasp_affordance: 0.05
|
| 72 |
+
planner_success: 0.0
|
| 73 |
+
planner_risk: 0.0
|
| 74 |
+
planner_ranking: 0.0
|
| 75 |
+
proposal_reconstruction: 0.1
|
| 76 |
+
proposal_success: 0.35
|
| 77 |
+
proposal_ranking: 0.5
|
| 78 |
+
proposal_diversity: 0.02
|
| 79 |
+
role_swap_consistency: 0.0
|
| 80 |
+
task_metrics: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5.yaml
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_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: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter1
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 4
|
| 23 |
+
batch_size: 8
|
| 24 |
+
num_workers: 48
|
| 25 |
+
lr: 0.00005
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: false
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
trainable_parameter_prefixes:
|
| 42 |
+
- decoder.proposal_score
|
| 43 |
+
- decoder.proposal_mode_head
|
| 44 |
+
- decoder.proposal_mode_embeddings
|
| 45 |
+
- decoder.proposal_slot_embeddings
|
| 46 |
+
- decoder.slot_delta
|
| 47 |
+
- decoder.mode_residual_heads
|
| 48 |
+
policy:
|
| 49 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 50 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 51 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 52 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 53 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 54 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 55 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 56 |
+
loss_weights:
|
| 57 |
+
action: 1.0
|
| 58 |
+
phase: 0.08
|
| 59 |
+
arm_role: 0.1
|
| 60 |
+
support_mode: 0.1
|
| 61 |
+
corridor: 0.12
|
| 62 |
+
persistence: 0.06
|
| 63 |
+
disturbance: 0.06
|
| 64 |
+
world_model: 0.0
|
| 65 |
+
belief: 0.05
|
| 66 |
+
visibility: 0.05
|
| 67 |
+
clearance: 0.06
|
| 68 |
+
support_stability: 0.06
|
| 69 |
+
reocclusion: 0.06
|
| 70 |
+
occluder_contact: 0.05
|
| 71 |
+
grasp_affordance: 0.05
|
| 72 |
+
planner_success: 0.0
|
| 73 |
+
planner_risk: 0.0
|
| 74 |
+
planner_ranking: 0.0
|
| 75 |
+
proposal_reconstruction: 0.05
|
| 76 |
+
proposal_success: 0.35
|
| 77 |
+
proposal_ranking: 0.5
|
| 78 |
+
proposal_diversity: 0.02
|
| 79 |
+
role_swap_consistency: 0.0
|
| 80 |
+
task_metrics: 0.05
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6.yaml
ADDED
|
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
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_iter5_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter5_clothx2
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 4
|
| 23 |
+
batch_size: 8
|
| 24 |
+
num_workers: 48
|
| 25 |
+
lr: 0.00003
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: false
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
trainable_parameter_prefixes:
|
| 42 |
+
- decoder.proposal_score
|
| 43 |
+
policy:
|
| 44 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 45 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 46 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 47 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 48 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 49 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 50 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 51 |
+
loss_weights:
|
| 52 |
+
action: 0.0
|
| 53 |
+
phase: 0.0
|
| 54 |
+
arm_role: 0.0
|
| 55 |
+
support_mode: 0.0
|
| 56 |
+
corridor: 0.0
|
| 57 |
+
persistence: 0.0
|
| 58 |
+
disturbance: 0.0
|
| 59 |
+
world_model: 0.0
|
| 60 |
+
belief: 0.0
|
| 61 |
+
visibility: 0.0
|
| 62 |
+
clearance: 0.0
|
| 63 |
+
support_stability: 0.0
|
| 64 |
+
reocclusion: 0.0
|
| 65 |
+
occluder_contact: 0.0
|
| 66 |
+
grasp_affordance: 0.0
|
| 67 |
+
planner_success: 0.0
|
| 68 |
+
planner_risk: 0.0
|
| 69 |
+
planner_ranking: 0.0
|
| 70 |
+
proposal_reconstruction: 0.0
|
| 71 |
+
proposal_success: 0.5
|
| 72 |
+
proposal_ranking: 0.75
|
| 73 |
+
proposal_diversity: 0.0
|
| 74 |
+
role_swap_consistency: 0.0
|
| 75 |
+
task_metrics: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7.yaml
ADDED
|
@@ -0,0 +1,81 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter5_clothx2
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 4
|
| 23 |
+
batch_size: 8
|
| 24 |
+
num_workers: 48
|
| 25 |
+
lr: 0.00002
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: false
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
trainable_parameter_prefixes:
|
| 42 |
+
- decoder.proposal_score
|
| 43 |
+
- decoder.proposal_mode_head
|
| 44 |
+
- decoder.proposal_mode_embeddings
|
| 45 |
+
- decoder.proposal_slot_embeddings
|
| 46 |
+
- decoder.slot_delta
|
| 47 |
+
- decoder.mode_residual_heads
|
| 48 |
+
policy:
|
| 49 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 50 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 51 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 52 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 53 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 54 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 55 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 56 |
+
loss_weights:
|
| 57 |
+
action: 0.0
|
| 58 |
+
phase: 0.0
|
| 59 |
+
arm_role: 0.0
|
| 60 |
+
support_mode: 0.0
|
| 61 |
+
corridor: 0.0
|
| 62 |
+
persistence: 0.0
|
| 63 |
+
disturbance: 0.0
|
| 64 |
+
world_model: 0.0
|
| 65 |
+
belief: 0.0
|
| 66 |
+
visibility: 0.0
|
| 67 |
+
clearance: 0.0
|
| 68 |
+
support_stability: 0.0
|
| 69 |
+
reocclusion: 0.0
|
| 70 |
+
occluder_contact: 0.0
|
| 71 |
+
grasp_affordance: 0.0
|
| 72 |
+
planner_success: 0.0
|
| 73 |
+
planner_risk: 0.0
|
| 74 |
+
planner_ranking: 0.0
|
| 75 |
+
proposal_reconstruction: 0.05
|
| 76 |
+
proposal_success: 0.45
|
| 77 |
+
proposal_ranking: 0.6
|
| 78 |
+
proposal_diversity: 0.02
|
| 79 |
+
proposal_mode: 0.2
|
| 80 |
+
role_swap_consistency: 0.0
|
| 81 |
+
task_metrics: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8.yaml
ADDED
|
@@ -0,0 +1,82 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 9 |
+
resolution: 224
|
| 10 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_selector_align_iter5_clothx2
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 17
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 4
|
| 23 |
+
batch_size: 8
|
| 24 |
+
num_workers: 24
|
| 25 |
+
lr: 0.00002
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: elastic_reveal
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
use_depth: true
|
| 38 |
+
use_world_model: false
|
| 39 |
+
use_role_tokens: true
|
| 40 |
+
compute_equivariance_probe: false
|
| 41 |
+
trainable_parameter_prefixes:
|
| 42 |
+
- decoder.proposal_score
|
| 43 |
+
- decoder.proposal_mode_head
|
| 44 |
+
- decoder.proposal_mode_embeddings
|
| 45 |
+
- decoder.proposal_slot_embeddings
|
| 46 |
+
- decoder.slot_delta
|
| 47 |
+
- decoder.mode_residual_heads
|
| 48 |
+
policy:
|
| 49 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 50 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 51 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 52 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 53 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 54 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: compact_rollout, num_tasks: 4}
|
| 55 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 56 |
+
loss_weights:
|
| 57 |
+
action: 0.0
|
| 58 |
+
phase: 0.0
|
| 59 |
+
arm_role: 0.0
|
| 60 |
+
support_mode: 0.0
|
| 61 |
+
corridor: 0.0
|
| 62 |
+
persistence: 0.0
|
| 63 |
+
disturbance: 0.0
|
| 64 |
+
world_model: 0.0
|
| 65 |
+
belief: 0.0
|
| 66 |
+
visibility: 0.0
|
| 67 |
+
clearance: 0.0
|
| 68 |
+
support_stability: 0.0
|
| 69 |
+
reocclusion: 0.0
|
| 70 |
+
occluder_contact: 0.0
|
| 71 |
+
grasp_affordance: 0.0
|
| 72 |
+
planner_success: 0.0
|
| 73 |
+
planner_risk: 0.0
|
| 74 |
+
planner_ranking: 0.0
|
| 75 |
+
proposal_reconstruction: 0.05
|
| 76 |
+
proposal_success: 0.45
|
| 77 |
+
proposal_ranking: 0.6
|
| 78 |
+
proposal_mode: 0.2
|
| 79 |
+
proposal_mode_cloth_only: true
|
| 80 |
+
proposal_diversity: 0.02
|
| 81 |
+
role_swap_consistency: 0.0
|
| 82 |
+
task_metrics: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial.yaml
ADDED
|
@@ -0,0 +1,151 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Experimental sprint config. Keep for comparison only; do not use as the default base.
|
| 2 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17
|
| 3 |
+
output_dir: /workspace/outputs/r3d_handoff
|
| 4 |
+
device: cuda
|
| 5 |
+
seed: 17
|
| 6 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt
|
| 7 |
+
init_strict: false
|
| 8 |
+
data:
|
| 9 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 10 |
+
resolution: 224
|
| 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_clip224_v6_rgbd_stage3.pt
|
| 15 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3.pt
|
| 16 |
+
rebuild_dataset: false
|
| 17 |
+
chunk_horizon: 8
|
| 18 |
+
rollout_horizon: 5
|
| 19 |
+
history_steps: 6
|
| 20 |
+
planner_candidates: 8
|
| 21 |
+
seed: 17
|
| 22 |
+
optim:
|
| 23 |
+
epochs: 5
|
| 24 |
+
batch_size: 4
|
| 25 |
+
num_workers: 24
|
| 26 |
+
lr: 0.00015
|
| 27 |
+
weight_decay: 0.0001
|
| 28 |
+
trainer:
|
| 29 |
+
policy_type: elastic_reveal
|
| 30 |
+
use_bf16: true
|
| 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: true
|
| 39 |
+
use_world_model: true
|
| 40 |
+
use_role_tokens: true
|
| 41 |
+
compute_equivariance_probe: false
|
| 42 |
+
policy:
|
| 43 |
+
backbone:
|
| 44 |
+
model_name: openai/clip-vit-base-patch32
|
| 45 |
+
hidden_dim: 512
|
| 46 |
+
max_text_tokens: 32
|
| 47 |
+
freeze_backbone: true
|
| 48 |
+
gradient_checkpointing: false
|
| 49 |
+
use_dummy_backbone: false
|
| 50 |
+
fusion:
|
| 51 |
+
hidden_dim: 512
|
| 52 |
+
num_cameras: 3
|
| 53 |
+
num_layers: 4
|
| 54 |
+
num_heads: 8
|
| 55 |
+
ff_dim: 2048
|
| 56 |
+
dropout: 0.1
|
| 57 |
+
proprio_dim: 32
|
| 58 |
+
proprio_tokens: 1
|
| 59 |
+
memory:
|
| 60 |
+
hidden_dim: 512
|
| 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: 8
|
| 71 |
+
max_history_steps: 8
|
| 72 |
+
decoder:
|
| 73 |
+
hidden_dim: 512
|
| 74 |
+
num_heads: 8
|
| 75 |
+
num_layers: 4
|
| 76 |
+
ff_dim: 2048
|
| 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: 7
|
| 85 |
+
planner_top_k: 4
|
| 86 |
+
reveal_head:
|
| 87 |
+
hidden_dim: 512
|
| 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: 8
|
| 94 |
+
predict_belief_map: true
|
| 95 |
+
num_phases: 5
|
| 96 |
+
num_arm_roles: 4
|
| 97 |
+
num_interaction_tokens: 8
|
| 98 |
+
num_tasks: 4
|
| 99 |
+
world_model:
|
| 100 |
+
hidden_dim: 512
|
| 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: 8
|
| 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 |
+
rollout_mode: spatial_rollout
|
| 115 |
+
num_tasks: 4
|
| 116 |
+
planner:
|
| 117 |
+
hidden_dim: 512
|
| 118 |
+
num_candidates: 8
|
| 119 |
+
action_dim: 14
|
| 120 |
+
num_support_modes: 3
|
| 121 |
+
utility_margin: 0.1
|
| 122 |
+
num_heads: 8
|
| 123 |
+
num_layers: 2
|
| 124 |
+
num_phases: 5
|
| 125 |
+
num_arm_roles: 4
|
| 126 |
+
top_k: 4
|
| 127 |
+
loss_weights:
|
| 128 |
+
action: 0.6
|
| 129 |
+
phase: 0.05
|
| 130 |
+
arm_role: 0.1
|
| 131 |
+
support_mode: 0.1
|
| 132 |
+
corridor: 0.15
|
| 133 |
+
persistence: 0.08
|
| 134 |
+
disturbance: 0.08
|
| 135 |
+
world_model: 0.35
|
| 136 |
+
belief: 0.05
|
| 137 |
+
visibility: 0.05
|
| 138 |
+
clearance: 0.08
|
| 139 |
+
support_stability: 0.08
|
| 140 |
+
reocclusion: 0.08
|
| 141 |
+
occluder_contact: 0.05
|
| 142 |
+
grasp_affordance: 0.05
|
| 143 |
+
planner_success: 0.25
|
| 144 |
+
planner_risk: 0.1
|
| 145 |
+
planner_ranking: 0.25
|
| 146 |
+
proposal_reconstruction: 0.05
|
| 147 |
+
proposal_success: 0.2
|
| 148 |
+
proposal_ranking: 0.25
|
| 149 |
+
proposal_diversity: 0.05
|
| 150 |
+
role_swap_consistency: 0.02
|
| 151 |
+
task_metrics: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase.yaml
ADDED
|
@@ -0,0 +1,74 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Experimental sprint config. Keep for comparison only; do not use as the default base.
|
| 2 |
+
experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17
|
| 3 |
+
output_dir: /workspace/outputs/r3d_handoff_phase
|
| 4 |
+
device: cuda
|
| 5 |
+
seed: 17
|
| 6 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt
|
| 7 |
+
init_strict: false
|
| 8 |
+
data:
|
| 9 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 10 |
+
resolution: 224
|
| 11 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase
|
| 12 |
+
train_episodes_per_proxy: 48
|
| 13 |
+
val_episodes_per_proxy: 16
|
| 14 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase.pt
|
| 15 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase.pt
|
| 16 |
+
rebuild_dataset: false
|
| 17 |
+
chunk_horizon: 8
|
| 18 |
+
rollout_horizon: 5
|
| 19 |
+
history_steps: 6
|
| 20 |
+
planner_candidates: 8
|
| 21 |
+
seed: 17
|
| 22 |
+
optim:
|
| 23 |
+
epochs: 4
|
| 24 |
+
batch_size: 4
|
| 25 |
+
num_workers: 24
|
| 26 |
+
lr: 0.00015
|
| 27 |
+
weight_decay: 0.0001
|
| 28 |
+
trainer:
|
| 29 |
+
policy_type: elastic_reveal
|
| 30 |
+
use_bf16: true
|
| 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: true
|
| 39 |
+
use_world_model: true
|
| 40 |
+
use_role_tokens: true
|
| 41 |
+
compute_equivariance_probe: false
|
| 42 |
+
policy:
|
| 43 |
+
backbone: {model_name: openai/clip-vit-base-patch32, hidden_dim: 512, max_text_tokens: 32, freeze_backbone: true, gradient_checkpointing: false, use_dummy_backbone: false}
|
| 44 |
+
fusion: {hidden_dim: 512, num_cameras: 3, num_layers: 4, num_heads: 8, ff_dim: 2048, dropout: 0.1, proprio_dim: 32, proprio_tokens: 1}
|
| 45 |
+
memory: {hidden_dim: 512, action_dim: 14, history_steps: 6, scene_history_steps: 3, belief_history_steps: 8, num_layers: 2, dropout: 0.1, memory_bank_size: 4, scene_bank_size: 2, belief_bank_size: 2, num_heads: 8, max_history_steps: 8}
|
| 46 |
+
decoder: {hidden_dim: 512, num_heads: 8, num_layers: 4, ff_dim: 2048, dropout: 0.1, chunk_size: 8, action_dim: 14, arm_action_dim: 7, num_candidates: 8, num_phases: 5, num_arm_roles: 4, num_proposal_modes: 7, planner_top_k: 4}
|
| 47 |
+
reveal_head: {hidden_dim: 512, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, belief_map_size: 32, field_size: 16, num_heads: 8, predict_belief_map: true, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, num_tasks: 4}
|
| 48 |
+
world_model: {hidden_dim: 512, action_dim: 14, num_support_modes: 3, num_approach_templates: 32, rollout_horizon: 5, field_size: 16, num_heads: 8, num_phases: 5, num_arm_roles: 4, num_interaction_tokens: 8, belief_map_size: 32, predict_belief_map: true, scene_bank_size: 2, belief_bank_size: 2, rollout_mode: spatial_rollout, num_tasks: 4}
|
| 49 |
+
planner: {hidden_dim: 512, num_candidates: 8, action_dim: 14, num_support_modes: 3, utility_margin: 0.1, num_heads: 8, num_layers: 2, num_phases: 5, num_arm_roles: 4, top_k: 4}
|
| 50 |
+
loss_weights:
|
| 51 |
+
action: 0.6
|
| 52 |
+
phase: 0.08
|
| 53 |
+
arm_role: 0.1
|
| 54 |
+
support_mode: 0.1
|
| 55 |
+
corridor: 0.15
|
| 56 |
+
persistence: 0.08
|
| 57 |
+
disturbance: 0.08
|
| 58 |
+
world_model: 0.35
|
| 59 |
+
belief: 0.05
|
| 60 |
+
visibility: 0.05
|
| 61 |
+
clearance: 0.08
|
| 62 |
+
support_stability: 0.08
|
| 63 |
+
reocclusion: 0.08
|
| 64 |
+
occluder_contact: 0.05
|
| 65 |
+
grasp_affordance: 0.05
|
| 66 |
+
planner_success: 0.25
|
| 67 |
+
planner_risk: 0.1
|
| 68 |
+
planner_ranking: 0.25
|
| 69 |
+
proposal_reconstruction: 0.05
|
| 70 |
+
proposal_success: 0.2
|
| 71 |
+
proposal_ranking: 0.25
|
| 72 |
+
proposal_diversity: 0.05
|
| 73 |
+
role_swap_consistency: 0.02
|
| 74 |
+
task_metrics: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state.yaml
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_state
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 96
|
| 9 |
+
train_episodes_per_proxy: 48
|
| 10 |
+
val_episodes_per_proxy: 16
|
| 11 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v4_noleak_counterfactual.pt
|
| 12 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v4_noleak_counterfactual.pt
|
| 13 |
+
rebuild_dataset: false
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
rollout_horizon: 5
|
| 16 |
+
history_steps: 6
|
| 17 |
+
planner_candidates: 8
|
| 18 |
+
seed: 13
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 8
|
| 22 |
+
batch_size: 16
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: interaction_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
|
| 38 |
+
policy:
|
| 39 |
+
backbone:
|
| 40 |
+
model_name: openai/clip-vit-base-patch32
|
| 41 |
+
hidden_dim: 128
|
| 42 |
+
max_text_tokens: 32
|
| 43 |
+
freeze_backbone: true
|
| 44 |
+
gradient_checkpointing: false
|
| 45 |
+
use_dummy_backbone: true
|
| 46 |
+
fusion:
|
| 47 |
+
hidden_dim: 128
|
| 48 |
+
num_cameras: 3
|
| 49 |
+
num_layers: 2
|
| 50 |
+
num_heads: 4
|
| 51 |
+
ff_dim: 256
|
| 52 |
+
dropout: 0.1
|
| 53 |
+
proprio_dim: 32
|
| 54 |
+
proprio_tokens: 1
|
| 55 |
+
memory:
|
| 56 |
+
hidden_dim: 128
|
| 57 |
+
history_steps: 6
|
| 58 |
+
num_layers: 2
|
| 59 |
+
dropout: 0.1
|
| 60 |
+
memory_bank_size: 4
|
| 61 |
+
num_heads: 4
|
| 62 |
+
max_history_steps: 8
|
| 63 |
+
decoder:
|
| 64 |
+
hidden_dim: 128
|
| 65 |
+
num_heads: 4
|
| 66 |
+
num_layers: 2
|
| 67 |
+
ff_dim: 256
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
chunk_size: 8
|
| 70 |
+
action_dim: 14
|
| 71 |
+
arm_action_dim: 7
|
| 72 |
+
num_candidates: 8
|
| 73 |
+
num_phases: 5
|
| 74 |
+
num_arm_roles: 4
|
| 75 |
+
reveal_head:
|
| 76 |
+
hidden_dim: 128
|
| 77 |
+
num_support_modes: 3
|
| 78 |
+
num_approach_templates: 32
|
| 79 |
+
rollout_horizon: 5
|
| 80 |
+
belief_map_size: 32
|
| 81 |
+
field_size: 16
|
| 82 |
+
num_heads: 4
|
| 83 |
+
predict_belief_map: true
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_interaction_tokens: 8
|
| 87 |
+
world_model:
|
| 88 |
+
hidden_dim: 128
|
| 89 |
+
action_dim: 14
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 5
|
| 93 |
+
field_size: 16
|
| 94 |
+
num_heads: 4
|
| 95 |
+
num_phases: 5
|
| 96 |
+
num_arm_roles: 4
|
| 97 |
+
num_interaction_tokens: 8
|
| 98 |
+
planner:
|
| 99 |
+
hidden_dim: 128
|
| 100 |
+
num_candidates: 8
|
| 101 |
+
action_dim: 14
|
| 102 |
+
num_support_modes: 3
|
| 103 |
+
utility_margin: 0.1
|
| 104 |
+
num_heads: 4
|
| 105 |
+
num_layers: 2
|
| 106 |
+
num_phases: 5
|
| 107 |
+
num_arm_roles: 4
|
| 108 |
+
|
| 109 |
+
loss_weights:
|
| 110 |
+
action: 1.0
|
| 111 |
+
support_mode: 0.15
|
| 112 |
+
corridor: 0.2
|
| 113 |
+
persistence: 0.1
|
| 114 |
+
disturbance: 0.1
|
| 115 |
+
world_model: 0.25
|
| 116 |
+
belief: 0.05
|
| 117 |
+
planner_success: 0.2
|
| 118 |
+
planner_risk: 0.1
|
| 119 |
+
planner_ranking: 0.1
|
| 120 |
+
proposal_reconstruction: 0.2
|
| 121 |
+
proposal_success: 0.1
|
| 122 |
+
proposal_ranking: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_actionhist.yaml
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_state_actionhist
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction_debug
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 96
|
| 9 |
+
train_episodes_per_proxy: 48
|
| 10 |
+
val_episodes_per_proxy: 16
|
| 11 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v5_actionhist.pt
|
| 12 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v5_actionhist.pt
|
| 13 |
+
rebuild_dataset: true
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
rollout_horizon: 5
|
| 16 |
+
history_steps: 6
|
| 17 |
+
planner_candidates: 8
|
| 18 |
+
seed: 13
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 10
|
| 22 |
+
batch_size: 16
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: interaction_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
|
| 38 |
+
policy:
|
| 39 |
+
backbone:
|
| 40 |
+
model_name: openai/clip-vit-base-patch32
|
| 41 |
+
hidden_dim: 128
|
| 42 |
+
max_text_tokens: 32
|
| 43 |
+
freeze_backbone: true
|
| 44 |
+
gradient_checkpointing: false
|
| 45 |
+
use_dummy_backbone: true
|
| 46 |
+
fusion:
|
| 47 |
+
hidden_dim: 128
|
| 48 |
+
num_cameras: 3
|
| 49 |
+
num_layers: 2
|
| 50 |
+
num_heads: 4
|
| 51 |
+
ff_dim: 256
|
| 52 |
+
dropout: 0.1
|
| 53 |
+
proprio_dim: 32
|
| 54 |
+
proprio_tokens: 1
|
| 55 |
+
memory:
|
| 56 |
+
hidden_dim: 128
|
| 57 |
+
action_dim: 14
|
| 58 |
+
history_steps: 6
|
| 59 |
+
num_layers: 2
|
| 60 |
+
dropout: 0.1
|
| 61 |
+
memory_bank_size: 4
|
| 62 |
+
num_heads: 4
|
| 63 |
+
max_history_steps: 8
|
| 64 |
+
decoder:
|
| 65 |
+
hidden_dim: 128
|
| 66 |
+
num_heads: 4
|
| 67 |
+
num_layers: 2
|
| 68 |
+
ff_dim: 256
|
| 69 |
+
dropout: 0.1
|
| 70 |
+
chunk_size: 8
|
| 71 |
+
action_dim: 14
|
| 72 |
+
arm_action_dim: 7
|
| 73 |
+
num_candidates: 8
|
| 74 |
+
num_phases: 5
|
| 75 |
+
num_arm_roles: 4
|
| 76 |
+
reveal_head:
|
| 77 |
+
hidden_dim: 128
|
| 78 |
+
num_support_modes: 3
|
| 79 |
+
num_approach_templates: 32
|
| 80 |
+
rollout_horizon: 5
|
| 81 |
+
belief_map_size: 32
|
| 82 |
+
field_size: 16
|
| 83 |
+
num_heads: 4
|
| 84 |
+
predict_belief_map: true
|
| 85 |
+
num_phases: 5
|
| 86 |
+
num_arm_roles: 4
|
| 87 |
+
num_interaction_tokens: 8
|
| 88 |
+
world_model:
|
| 89 |
+
hidden_dim: 128
|
| 90 |
+
action_dim: 14
|
| 91 |
+
num_support_modes: 3
|
| 92 |
+
num_approach_templates: 32
|
| 93 |
+
rollout_horizon: 5
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 4
|
| 96 |
+
num_phases: 5
|
| 97 |
+
num_arm_roles: 4
|
| 98 |
+
num_interaction_tokens: 8
|
| 99 |
+
planner:
|
| 100 |
+
hidden_dim: 128
|
| 101 |
+
num_candidates: 8
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
utility_margin: 0.1
|
| 105 |
+
num_heads: 4
|
| 106 |
+
num_layers: 2
|
| 107 |
+
num_phases: 5
|
| 108 |
+
num_arm_roles: 4
|
| 109 |
+
|
| 110 |
+
loss_weights:
|
| 111 |
+
action: 1.0
|
| 112 |
+
phase: 0.15
|
| 113 |
+
arm_role: 0.2
|
| 114 |
+
support_mode: 0.15
|
| 115 |
+
corridor: 0.2
|
| 116 |
+
persistence: 0.1
|
| 117 |
+
disturbance: 0.1
|
| 118 |
+
world_model: 0.25
|
| 119 |
+
belief: 0.05
|
| 120 |
+
planner_success: 0.2
|
| 121 |
+
planner_risk: 0.1
|
| 122 |
+
planner_ranking: 0.1
|
| 123 |
+
proposal_reconstruction: 0.2
|
| 124 |
+
proposal_success: 0.1
|
| 125 |
+
proposal_ranking: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_actionhist_smoke.yaml
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_state_actionhist_smoke
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction_debug
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 64
|
| 9 |
+
train_episodes_per_proxy: 6
|
| 10 |
+
val_episodes_per_proxy: 2
|
| 11 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_smoke_v5_actionhist.pt
|
| 12 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_smoke_v5_actionhist.pt
|
| 13 |
+
rebuild_dataset: true
|
| 14 |
+
chunk_horizon: 4
|
| 15 |
+
rollout_horizon: 3
|
| 16 |
+
history_steps: 6
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 13
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 4
|
| 22 |
+
batch_size: 8
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: interaction_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
|
| 38 |
+
policy:
|
| 39 |
+
backbone:
|
| 40 |
+
model_name: openai/clip-vit-base-patch32
|
| 41 |
+
hidden_dim: 64
|
| 42 |
+
max_text_tokens: 32
|
| 43 |
+
freeze_backbone: true
|
| 44 |
+
gradient_checkpointing: false
|
| 45 |
+
use_dummy_backbone: true
|
| 46 |
+
fusion:
|
| 47 |
+
hidden_dim: 64
|
| 48 |
+
num_cameras: 3
|
| 49 |
+
num_layers: 2
|
| 50 |
+
num_heads: 4
|
| 51 |
+
ff_dim: 128
|
| 52 |
+
dropout: 0.1
|
| 53 |
+
proprio_dim: 32
|
| 54 |
+
proprio_tokens: 1
|
| 55 |
+
memory:
|
| 56 |
+
hidden_dim: 64
|
| 57 |
+
action_dim: 14
|
| 58 |
+
history_steps: 6
|
| 59 |
+
num_layers: 2
|
| 60 |
+
dropout: 0.1
|
| 61 |
+
memory_bank_size: 4
|
| 62 |
+
num_heads: 4
|
| 63 |
+
max_history_steps: 8
|
| 64 |
+
decoder:
|
| 65 |
+
hidden_dim: 64
|
| 66 |
+
num_heads: 4
|
| 67 |
+
num_layers: 2
|
| 68 |
+
ff_dim: 128
|
| 69 |
+
dropout: 0.1
|
| 70 |
+
chunk_size: 4
|
| 71 |
+
action_dim: 14
|
| 72 |
+
arm_action_dim: 7
|
| 73 |
+
num_candidates: 4
|
| 74 |
+
num_phases: 5
|
| 75 |
+
num_arm_roles: 4
|
| 76 |
+
reveal_head:
|
| 77 |
+
hidden_dim: 64
|
| 78 |
+
num_support_modes: 3
|
| 79 |
+
num_approach_templates: 32
|
| 80 |
+
rollout_horizon: 3
|
| 81 |
+
belief_map_size: 32
|
| 82 |
+
field_size: 16
|
| 83 |
+
num_heads: 4
|
| 84 |
+
predict_belief_map: true
|
| 85 |
+
num_phases: 5
|
| 86 |
+
num_arm_roles: 4
|
| 87 |
+
num_interaction_tokens: 8
|
| 88 |
+
world_model:
|
| 89 |
+
hidden_dim: 64
|
| 90 |
+
action_dim: 14
|
| 91 |
+
num_support_modes: 3
|
| 92 |
+
num_approach_templates: 32
|
| 93 |
+
rollout_horizon: 3
|
| 94 |
+
field_size: 16
|
| 95 |
+
num_heads: 4
|
| 96 |
+
num_phases: 5
|
| 97 |
+
num_arm_roles: 4
|
| 98 |
+
num_interaction_tokens: 8
|
| 99 |
+
planner:
|
| 100 |
+
hidden_dim: 64
|
| 101 |
+
num_candidates: 4
|
| 102 |
+
action_dim: 14
|
| 103 |
+
num_support_modes: 3
|
| 104 |
+
utility_margin: 0.1
|
| 105 |
+
num_heads: 4
|
| 106 |
+
num_layers: 2
|
| 107 |
+
num_phases: 5
|
| 108 |
+
num_arm_roles: 4
|
| 109 |
+
|
| 110 |
+
loss_weights:
|
| 111 |
+
action: 1.0
|
| 112 |
+
phase: 0.15
|
| 113 |
+
arm_role: 0.2
|
| 114 |
+
support_mode: 0.15
|
| 115 |
+
corridor: 0.2
|
| 116 |
+
persistence: 0.1
|
| 117 |
+
disturbance: 0.1
|
| 118 |
+
world_model: 0.25
|
| 119 |
+
belief: 0.05
|
| 120 |
+
planner_success: 0.2
|
| 121 |
+
planner_risk: 0.1
|
| 122 |
+
planner_ranking: 0.1
|
| 123 |
+
proposal_reconstruction: 0.2
|
| 124 |
+
proposal_success: 0.1
|
| 125 |
+
proposal_ranking: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_clip_actionhist.yaml
ADDED
|
@@ -0,0 +1,129 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_state_clip_actionhist
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction_debug
|
| 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 |
+
|
| 8 |
+
data:
|
| 9 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 10 |
+
resolution: 224
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v5_actionhist.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v5_actionhist.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 7
|
| 21 |
+
|
| 22 |
+
optim:
|
| 23 |
+
epochs: 4
|
| 24 |
+
batch_size: 2
|
| 25 |
+
num_workers: 0
|
| 26 |
+
lr: 0.0003
|
| 27 |
+
weight_decay: 0.0001
|
| 28 |
+
|
| 29 |
+
trainer:
|
| 30 |
+
policy_type: interaction_state
|
| 31 |
+
use_bf16: true
|
| 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 |
+
|
| 40 |
+
policy:
|
| 41 |
+
backbone:
|
| 42 |
+
model_name: openai/clip-vit-base-patch32
|
| 43 |
+
hidden_dim: 512
|
| 44 |
+
max_text_tokens: 32
|
| 45 |
+
freeze_backbone: true
|
| 46 |
+
gradient_checkpointing: false
|
| 47 |
+
use_dummy_backbone: false
|
| 48 |
+
fusion:
|
| 49 |
+
hidden_dim: 512
|
| 50 |
+
num_cameras: 3
|
| 51 |
+
num_layers: 4
|
| 52 |
+
num_heads: 8
|
| 53 |
+
ff_dim: 2048
|
| 54 |
+
dropout: 0.1
|
| 55 |
+
proprio_dim: 32
|
| 56 |
+
proprio_tokens: 1
|
| 57 |
+
memory:
|
| 58 |
+
hidden_dim: 512
|
| 59 |
+
action_dim: 14
|
| 60 |
+
history_steps: 6
|
| 61 |
+
num_layers: 2
|
| 62 |
+
dropout: 0.1
|
| 63 |
+
memory_bank_size: 4
|
| 64 |
+
num_heads: 8
|
| 65 |
+
max_history_steps: 8
|
| 66 |
+
decoder:
|
| 67 |
+
hidden_dim: 512
|
| 68 |
+
num_heads: 8
|
| 69 |
+
num_layers: 4
|
| 70 |
+
ff_dim: 2048
|
| 71 |
+
dropout: 0.1
|
| 72 |
+
chunk_size: 8
|
| 73 |
+
action_dim: 14
|
| 74 |
+
arm_action_dim: 7
|
| 75 |
+
num_candidates: 8
|
| 76 |
+
num_phases: 5
|
| 77 |
+
num_arm_roles: 4
|
| 78 |
+
reveal_head:
|
| 79 |
+
hidden_dim: 512
|
| 80 |
+
num_support_modes: 3
|
| 81 |
+
num_approach_templates: 32
|
| 82 |
+
rollout_horizon: 5
|
| 83 |
+
belief_map_size: 32
|
| 84 |
+
field_size: 16
|
| 85 |
+
num_heads: 8
|
| 86 |
+
predict_belief_map: true
|
| 87 |
+
num_phases: 5
|
| 88 |
+
num_arm_roles: 4
|
| 89 |
+
num_interaction_tokens: 8
|
| 90 |
+
world_model:
|
| 91 |
+
hidden_dim: 512
|
| 92 |
+
action_dim: 14
|
| 93 |
+
num_support_modes: 3
|
| 94 |
+
num_approach_templates: 32
|
| 95 |
+
rollout_horizon: 5
|
| 96 |
+
field_size: 16
|
| 97 |
+
num_heads: 8
|
| 98 |
+
num_phases: 5
|
| 99 |
+
num_arm_roles: 4
|
| 100 |
+
num_interaction_tokens: 8
|
| 101 |
+
belief_map_size: 32
|
| 102 |
+
predict_belief_map: true
|
| 103 |
+
planner:
|
| 104 |
+
hidden_dim: 512
|
| 105 |
+
num_candidates: 8
|
| 106 |
+
action_dim: 14
|
| 107 |
+
num_support_modes: 3
|
| 108 |
+
utility_margin: 0.1
|
| 109 |
+
num_heads: 8
|
| 110 |
+
num_layers: 2
|
| 111 |
+
num_phases: 5
|
| 112 |
+
num_arm_roles: 4
|
| 113 |
+
|
| 114 |
+
loss_weights:
|
| 115 |
+
action: 1.0
|
| 116 |
+
phase: 0.1
|
| 117 |
+
arm_role: 0.15
|
| 118 |
+
support_mode: 0.1
|
| 119 |
+
corridor: 0.15
|
| 120 |
+
persistence: 0.05
|
| 121 |
+
disturbance: 0.05
|
| 122 |
+
world_model: 0.2
|
| 123 |
+
belief: 0.05
|
| 124 |
+
planner_success: 0.25
|
| 125 |
+
planner_risk: 0.1
|
| 126 |
+
planner_ranking: 0.2
|
| 127 |
+
proposal_reconstruction: 0.1
|
| 128 |
+
proposal_success: 0.15
|
| 129 |
+
proposal_ranking: 0.2
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_recency_oracleft.yaml
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_state_recency_oracleft
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction_debug
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt
|
| 6 |
+
init_strict: true
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 10 |
+
resolution: 96
|
| 11 |
+
train_episodes_per_proxy: 48
|
| 12 |
+
val_episodes_per_proxy: 16
|
| 13 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v5_actionhist.pt
|
| 14 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v5_actionhist.pt
|
| 15 |
+
rebuild_dataset: false
|
| 16 |
+
chunk_horizon: 8
|
| 17 |
+
rollout_horizon: 5
|
| 18 |
+
history_steps: 6
|
| 19 |
+
planner_candidates: 8
|
| 20 |
+
seed: 13
|
| 21 |
+
|
| 22 |
+
optim:
|
| 23 |
+
epochs: 8
|
| 24 |
+
batch_size: 16
|
| 25 |
+
num_workers: 0
|
| 26 |
+
lr: 0.0003
|
| 27 |
+
weight_decay: 0.0001
|
| 28 |
+
|
| 29 |
+
trainer:
|
| 30 |
+
policy_type: interaction_state
|
| 31 |
+
use_bf16: true
|
| 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 |
+
|
| 40 |
+
policy:
|
| 41 |
+
backbone:
|
| 42 |
+
model_name: openai/clip-vit-base-patch32
|
| 43 |
+
hidden_dim: 128
|
| 44 |
+
max_text_tokens: 32
|
| 45 |
+
freeze_backbone: true
|
| 46 |
+
gradient_checkpointing: false
|
| 47 |
+
use_dummy_backbone: true
|
| 48 |
+
fusion:
|
| 49 |
+
hidden_dim: 128
|
| 50 |
+
num_cameras: 3
|
| 51 |
+
num_layers: 2
|
| 52 |
+
num_heads: 4
|
| 53 |
+
ff_dim: 256
|
| 54 |
+
dropout: 0.1
|
| 55 |
+
proprio_dim: 32
|
| 56 |
+
proprio_tokens: 1
|
| 57 |
+
memory:
|
| 58 |
+
hidden_dim: 128
|
| 59 |
+
action_dim: 14
|
| 60 |
+
history_steps: 6
|
| 61 |
+
num_layers: 2
|
| 62 |
+
dropout: 0.1
|
| 63 |
+
memory_bank_size: 4
|
| 64 |
+
num_heads: 4
|
| 65 |
+
max_history_steps: 8
|
| 66 |
+
decoder:
|
| 67 |
+
hidden_dim: 128
|
| 68 |
+
num_heads: 4
|
| 69 |
+
num_layers: 2
|
| 70 |
+
ff_dim: 256
|
| 71 |
+
dropout: 0.1
|
| 72 |
+
chunk_size: 8
|
| 73 |
+
action_dim: 14
|
| 74 |
+
arm_action_dim: 7
|
| 75 |
+
num_candidates: 8
|
| 76 |
+
num_phases: 5
|
| 77 |
+
num_arm_roles: 4
|
| 78 |
+
reveal_head:
|
| 79 |
+
hidden_dim: 128
|
| 80 |
+
num_support_modes: 3
|
| 81 |
+
num_approach_templates: 32
|
| 82 |
+
rollout_horizon: 5
|
| 83 |
+
belief_map_size: 32
|
| 84 |
+
field_size: 16
|
| 85 |
+
num_heads: 4
|
| 86 |
+
predict_belief_map: true
|
| 87 |
+
num_phases: 5
|
| 88 |
+
num_arm_roles: 4
|
| 89 |
+
num_interaction_tokens: 8
|
| 90 |
+
world_model:
|
| 91 |
+
hidden_dim: 128
|
| 92 |
+
action_dim: 14
|
| 93 |
+
num_support_modes: 3
|
| 94 |
+
num_approach_templates: 32
|
| 95 |
+
rollout_horizon: 5
|
| 96 |
+
field_size: 16
|
| 97 |
+
num_heads: 4
|
| 98 |
+
num_phases: 5
|
| 99 |
+
num_arm_roles: 4
|
| 100 |
+
num_interaction_tokens: 8
|
| 101 |
+
planner:
|
| 102 |
+
hidden_dim: 128
|
| 103 |
+
num_candidates: 8
|
| 104 |
+
action_dim: 14
|
| 105 |
+
num_support_modes: 3
|
| 106 |
+
utility_margin: 0.1
|
| 107 |
+
num_heads: 4
|
| 108 |
+
num_layers: 2
|
| 109 |
+
num_phases: 5
|
| 110 |
+
num_arm_roles: 4
|
| 111 |
+
|
| 112 |
+
loss_weights:
|
| 113 |
+
action: 1.0
|
| 114 |
+
phase: 0.1
|
| 115 |
+
arm_role: 0.15
|
| 116 |
+
support_mode: 0.1
|
| 117 |
+
corridor: 0.15
|
| 118 |
+
persistence: 0.05
|
| 119 |
+
disturbance: 0.05
|
| 120 |
+
world_model: 0.2
|
| 121 |
+
belief: 0.05
|
| 122 |
+
planner_success: 0.25
|
| 123 |
+
planner_risk: 0.1
|
| 124 |
+
planner_ranking: 0.2
|
| 125 |
+
proposal_reconstruction: 0.1
|
| 126 |
+
proposal_success: 0.15
|
| 127 |
+
proposal_ranking: 0.2
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_state_smoke.yaml
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_interaction_state_smoke
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 64
|
| 9 |
+
train_episodes_per_proxy: 6
|
| 10 |
+
val_episodes_per_proxy: 2
|
| 11 |
+
train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_smoke_v4.pt
|
| 12 |
+
val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_smoke_v4.pt
|
| 13 |
+
rebuild_dataset: false
|
| 14 |
+
chunk_horizon: 4
|
| 15 |
+
rollout_horizon: 3
|
| 16 |
+
history_steps: 6
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 13
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 2
|
| 22 |
+
batch_size: 8
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: interaction_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: trainable
|
| 37 |
+
|
| 38 |
+
policy:
|
| 39 |
+
backbone:
|
| 40 |
+
model_name: openai/clip-vit-base-patch32
|
| 41 |
+
hidden_dim: 64
|
| 42 |
+
max_text_tokens: 32
|
| 43 |
+
freeze_backbone: true
|
| 44 |
+
gradient_checkpointing: false
|
| 45 |
+
use_dummy_backbone: true
|
| 46 |
+
fusion:
|
| 47 |
+
hidden_dim: 64
|
| 48 |
+
num_cameras: 3
|
| 49 |
+
num_layers: 2
|
| 50 |
+
num_heads: 4
|
| 51 |
+
ff_dim: 128
|
| 52 |
+
dropout: 0.1
|
| 53 |
+
proprio_dim: 32
|
| 54 |
+
proprio_tokens: 1
|
| 55 |
+
memory:
|
| 56 |
+
hidden_dim: 64
|
| 57 |
+
history_steps: 6
|
| 58 |
+
num_layers: 2
|
| 59 |
+
dropout: 0.1
|
| 60 |
+
memory_bank_size: 4
|
| 61 |
+
num_heads: 4
|
| 62 |
+
max_history_steps: 8
|
| 63 |
+
decoder:
|
| 64 |
+
hidden_dim: 64
|
| 65 |
+
num_heads: 4
|
| 66 |
+
num_layers: 2
|
| 67 |
+
ff_dim: 128
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
chunk_size: 4
|
| 70 |
+
action_dim: 14
|
| 71 |
+
arm_action_dim: 7
|
| 72 |
+
num_candidates: 4
|
| 73 |
+
num_phases: 5
|
| 74 |
+
num_arm_roles: 4
|
| 75 |
+
reveal_head:
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
num_support_modes: 3
|
| 78 |
+
num_approach_templates: 32
|
| 79 |
+
rollout_horizon: 3
|
| 80 |
+
belief_map_size: 32
|
| 81 |
+
field_size: 16
|
| 82 |
+
num_heads: 4
|
| 83 |
+
predict_belief_map: true
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_interaction_tokens: 8
|
| 87 |
+
world_model:
|
| 88 |
+
hidden_dim: 64
|
| 89 |
+
action_dim: 14
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 3
|
| 93 |
+
field_size: 16
|
| 94 |
+
num_heads: 4
|
| 95 |
+
num_phases: 5
|
| 96 |
+
num_arm_roles: 4
|
| 97 |
+
num_interaction_tokens: 8
|
| 98 |
+
planner:
|
| 99 |
+
hidden_dim: 64
|
| 100 |
+
num_candidates: 4
|
| 101 |
+
action_dim: 14
|
| 102 |
+
num_support_modes: 3
|
| 103 |
+
utility_margin: 0.1
|
| 104 |
+
num_heads: 4
|
| 105 |
+
num_layers: 2
|
| 106 |
+
num_phases: 5
|
| 107 |
+
num_arm_roles: 4
|
| 108 |
+
|
| 109 |
+
loss_weights:
|
| 110 |
+
action: 1.0
|
| 111 |
+
support_mode: 0.15
|
| 112 |
+
corridor: 0.2
|
| 113 |
+
persistence: 0.1
|
| 114 |
+
disturbance: 0.1
|
| 115 |
+
world_model: 0.25
|
| 116 |
+
belief: 0.05
|
| 117 |
+
planner_success: 0.2
|
| 118 |
+
planner_risk: 0.1
|
| 119 |
+
planner_ranking: 0.1
|
| 120 |
+
proposal_reconstruction: 0.2
|
| 121 |
+
proposal_success: 0.1
|
| 122 |
+
proposal_ranking: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_reveal_state.yaml
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_reveal_state
|
| 2 |
+
output_dir: /workspace/outputs/reveal_runs
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 7
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 96
|
| 9 |
+
train_episodes_per_proxy: 48
|
| 10 |
+
val_episodes_per_proxy: 16
|
| 11 |
+
train_dataset_path: /workspace/data/reveal_proxy/proxy_train_v4_noleak_counterfactual.pt
|
| 12 |
+
val_dataset_path: /workspace/data/reveal_proxy/proxy_val_v4_noleak_counterfactual.pt
|
| 13 |
+
rebuild_dataset: true
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
rollout_horizon: 5
|
| 16 |
+
history_steps: 2
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 7
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 8
|
| 22 |
+
batch_size: 16
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: reveal_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
|
| 34 |
+
policy:
|
| 35 |
+
backbone:
|
| 36 |
+
model_name: openai/clip-vit-base-patch32
|
| 37 |
+
hidden_dim: 128
|
| 38 |
+
max_text_tokens: 32
|
| 39 |
+
freeze_backbone: true
|
| 40 |
+
gradient_checkpointing: false
|
| 41 |
+
use_dummy_backbone: true
|
| 42 |
+
fusion:
|
| 43 |
+
hidden_dim: 128
|
| 44 |
+
num_cameras: 3
|
| 45 |
+
num_layers: 2
|
| 46 |
+
num_heads: 4
|
| 47 |
+
ff_dim: 256
|
| 48 |
+
dropout: 0.1
|
| 49 |
+
proprio_dim: 32
|
| 50 |
+
proprio_tokens: 1
|
| 51 |
+
memory:
|
| 52 |
+
hidden_dim: 128
|
| 53 |
+
history_steps: 2
|
| 54 |
+
num_layers: 1
|
| 55 |
+
dropout: 0.1
|
| 56 |
+
decoder:
|
| 57 |
+
hidden_dim: 128
|
| 58 |
+
num_heads: 4
|
| 59 |
+
num_layers: 2
|
| 60 |
+
ff_dim: 256
|
| 61 |
+
dropout: 0.1
|
| 62 |
+
chunk_size: 8
|
| 63 |
+
action_dim: 14
|
| 64 |
+
num_candidates: 8
|
| 65 |
+
reveal_head:
|
| 66 |
+
hidden_dim: 128
|
| 67 |
+
num_support_modes: 3
|
| 68 |
+
num_approach_templates: 32
|
| 69 |
+
rollout_horizon: 5
|
| 70 |
+
belief_map_size: 32
|
| 71 |
+
field_size: 16
|
| 72 |
+
num_heads: 4
|
| 73 |
+
predict_belief_map: true
|
| 74 |
+
world_model:
|
| 75 |
+
hidden_dim: 128
|
| 76 |
+
action_dim: 14
|
| 77 |
+
num_support_modes: 3
|
| 78 |
+
num_approach_templates: 32
|
| 79 |
+
rollout_horizon: 5
|
| 80 |
+
planner:
|
| 81 |
+
hidden_dim: 128
|
| 82 |
+
num_candidates: 8
|
| 83 |
+
action_dim: 14
|
| 84 |
+
utility_margin: 0.1
|
| 85 |
+
|
| 86 |
+
loss_weights:
|
| 87 |
+
action: 1.0
|
| 88 |
+
support_mode: 0.15
|
| 89 |
+
corridor: 0.2
|
| 90 |
+
persistence: 0.1
|
| 91 |
+
disturbance: 0.1
|
| 92 |
+
world_model: 0.2
|
| 93 |
+
belief: 0.05
|
| 94 |
+
planner_success: 0.2
|
| 95 |
+
planner_risk: 0.1
|
| 96 |
+
planner_ranking: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_reveal_state_clip.yaml
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_reveal_state_clip
|
| 2 |
+
output_dir: /workspace/outputs/reveal_runs
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 7
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 224
|
| 9 |
+
train_episodes_per_proxy: 48
|
| 10 |
+
val_episodes_per_proxy: 16
|
| 11 |
+
train_dataset_path: /workspace/data/reveal_proxy/proxy_train_clip224_v4_noleak_counterfactual.pt
|
| 12 |
+
val_dataset_path: /workspace/data/reveal_proxy/proxy_val_clip224_v4_noleak_counterfactual.pt
|
| 13 |
+
rebuild_dataset: true
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
rollout_horizon: 5
|
| 16 |
+
history_steps: 2
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 7
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 4
|
| 22 |
+
batch_size: 2
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.0003
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: reveal_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
|
| 37 |
+
policy:
|
| 38 |
+
backbone:
|
| 39 |
+
model_name: openai/clip-vit-base-patch32
|
| 40 |
+
hidden_dim: 512
|
| 41 |
+
max_text_tokens: 32
|
| 42 |
+
freeze_backbone: true
|
| 43 |
+
gradient_checkpointing: false
|
| 44 |
+
use_dummy_backbone: false
|
| 45 |
+
fusion:
|
| 46 |
+
hidden_dim: 512
|
| 47 |
+
num_cameras: 3
|
| 48 |
+
num_layers: 4
|
| 49 |
+
num_heads: 8
|
| 50 |
+
ff_dim: 2048
|
| 51 |
+
dropout: 0.1
|
| 52 |
+
proprio_dim: 32
|
| 53 |
+
proprio_tokens: 1
|
| 54 |
+
memory:
|
| 55 |
+
hidden_dim: 512
|
| 56 |
+
history_steps: 2
|
| 57 |
+
num_layers: 1
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
decoder:
|
| 60 |
+
hidden_dim: 512
|
| 61 |
+
num_heads: 8
|
| 62 |
+
num_layers: 4
|
| 63 |
+
ff_dim: 2048
|
| 64 |
+
dropout: 0.1
|
| 65 |
+
chunk_size: 8
|
| 66 |
+
action_dim: 14
|
| 67 |
+
num_candidates: 8
|
| 68 |
+
reveal_head:
|
| 69 |
+
hidden_dim: 512
|
| 70 |
+
num_support_modes: 3
|
| 71 |
+
num_approach_templates: 32
|
| 72 |
+
rollout_horizon: 5
|
| 73 |
+
belief_map_size: 32
|
| 74 |
+
field_size: 16
|
| 75 |
+
num_heads: 4
|
| 76 |
+
predict_belief_map: true
|
| 77 |
+
world_model:
|
| 78 |
+
hidden_dim: 512
|
| 79 |
+
action_dim: 14
|
| 80 |
+
num_support_modes: 3
|
| 81 |
+
num_approach_templates: 32
|
| 82 |
+
rollout_horizon: 5
|
| 83 |
+
planner:
|
| 84 |
+
hidden_dim: 512
|
| 85 |
+
num_candidates: 8
|
| 86 |
+
action_dim: 14
|
| 87 |
+
utility_margin: 0.1
|
| 88 |
+
|
| 89 |
+
loss_weights:
|
| 90 |
+
action: 1.0
|
| 91 |
+
support_mode: 0.15
|
| 92 |
+
corridor: 0.2
|
| 93 |
+
persistence: 0.1
|
| 94 |
+
disturbance: 0.1
|
| 95 |
+
world_model: 0.2
|
| 96 |
+
belief: 0.05
|
| 97 |
+
planner_success: 0.2
|
| 98 |
+
planner_risk: 0.1
|
| 99 |
+
planner_ranking: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_reveal_state_smoke.yaml
ADDED
|
@@ -0,0 +1,100 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_reveal_state_smoke
|
| 2 |
+
output_dir: /workspace/outputs/smoke
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 11
|
| 5 |
+
|
| 6 |
+
data:
|
| 7 |
+
proxies: [foliage_proxy, bag_proxy, cloth_proxy]
|
| 8 |
+
resolution: 64
|
| 9 |
+
train_episodes_per_proxy: 6
|
| 10 |
+
val_episodes_per_proxy: 2
|
| 11 |
+
train_dataset_path: /workspace/data/reveal_proxy/proxy_train_smoke_v4.pt
|
| 12 |
+
val_dataset_path: /workspace/data/reveal_proxy/proxy_val_smoke_v4.pt
|
| 13 |
+
rebuild_dataset: false
|
| 14 |
+
chunk_horizon: 4
|
| 15 |
+
rollout_horizon: 3
|
| 16 |
+
history_steps: 2
|
| 17 |
+
planner_candidates: 4
|
| 18 |
+
seed: 11
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 2
|
| 22 |
+
batch_size: 8
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: reveal_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: true
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
|
| 37 |
+
policy:
|
| 38 |
+
backbone:
|
| 39 |
+
model_name: openai/clip-vit-base-patch32
|
| 40 |
+
hidden_dim: 64
|
| 41 |
+
max_text_tokens: 32
|
| 42 |
+
freeze_backbone: true
|
| 43 |
+
gradient_checkpointing: false
|
| 44 |
+
use_dummy_backbone: true
|
| 45 |
+
fusion:
|
| 46 |
+
hidden_dim: 64
|
| 47 |
+
num_cameras: 3
|
| 48 |
+
num_layers: 2
|
| 49 |
+
num_heads: 4
|
| 50 |
+
ff_dim: 128
|
| 51 |
+
dropout: 0.1
|
| 52 |
+
proprio_dim: 32
|
| 53 |
+
proprio_tokens: 1
|
| 54 |
+
memory:
|
| 55 |
+
hidden_dim: 64
|
| 56 |
+
history_steps: 2
|
| 57 |
+
num_layers: 1
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
decoder:
|
| 60 |
+
hidden_dim: 64
|
| 61 |
+
num_heads: 4
|
| 62 |
+
num_layers: 2
|
| 63 |
+
ff_dim: 128
|
| 64 |
+
dropout: 0.1
|
| 65 |
+
chunk_size: 4
|
| 66 |
+
action_dim: 14
|
| 67 |
+
arm_action_dim: 7
|
| 68 |
+
num_candidates: 4
|
| 69 |
+
reveal_head:
|
| 70 |
+
hidden_dim: 64
|
| 71 |
+
num_support_modes: 3
|
| 72 |
+
num_approach_templates: 32
|
| 73 |
+
rollout_horizon: 3
|
| 74 |
+
belief_map_size: 32
|
| 75 |
+
field_size: 16
|
| 76 |
+
num_heads: 4
|
| 77 |
+
predict_belief_map: true
|
| 78 |
+
world_model:
|
| 79 |
+
hidden_dim: 64
|
| 80 |
+
action_dim: 14
|
| 81 |
+
num_support_modes: 3
|
| 82 |
+
num_approach_templates: 32
|
| 83 |
+
rollout_horizon: 3
|
| 84 |
+
planner:
|
| 85 |
+
hidden_dim: 64
|
| 86 |
+
num_candidates: 4
|
| 87 |
+
action_dim: 14
|
| 88 |
+
utility_margin: 0.1
|
| 89 |
+
|
| 90 |
+
loss_weights:
|
| 91 |
+
action: 1.0
|
| 92 |
+
support_mode: 0.15
|
| 93 |
+
corridor: 0.2
|
| 94 |
+
persistence: 0.1
|
| 95 |
+
disturbance: 0.1
|
| 96 |
+
world_model: 0.2
|
| 97 |
+
belief: 0.05
|
| 98 |
+
planner_success: 0.2
|
| 99 |
+
planner_risk: 0.1
|
| 100 |
+
planner_ranking: 0.1
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rlbench_lift_ball_backbone_only_clip_current
|
| 2 |
+
output_dir: /workspace/outputs/rlbench_current
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: null
|
| 6 |
+
init_strict: false
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
dataset_root: /workspace/data/rlbench2
|
| 10 |
+
tasks: [bimanual_lift_ball]
|
| 11 |
+
train_episodes: [0]
|
| 12 |
+
val_episodes: [1]
|
| 13 |
+
resolution: 224
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
proprio_dim: 32
|
| 16 |
+
history_steps: 2
|
| 17 |
+
|
| 18 |
+
optim:
|
| 19 |
+
epochs: 10
|
| 20 |
+
batch_size: 8
|
| 21 |
+
num_workers: 0
|
| 22 |
+
lr: 0.0002
|
| 23 |
+
weight_decay: 0.0001
|
| 24 |
+
|
| 25 |
+
trainer:
|
| 26 |
+
policy_type: backbone_only
|
| 27 |
+
use_bf16: true
|
| 28 |
+
grad_clip_norm: 1.0
|
| 29 |
+
freeze_backbone: true
|
| 30 |
+
gradient_checkpointing: false
|
| 31 |
+
plan_during_train: false
|
| 32 |
+
plan_during_eval: false
|
| 33 |
+
support_mode_conditioning: true
|
| 34 |
+
|
| 35 |
+
policy:
|
| 36 |
+
backbone:
|
| 37 |
+
model_name: openai/clip-vit-base-patch32
|
| 38 |
+
hidden_dim: 512
|
| 39 |
+
max_text_tokens: 32
|
| 40 |
+
freeze_backbone: true
|
| 41 |
+
gradient_checkpointing: false
|
| 42 |
+
use_dummy_backbone: false
|
| 43 |
+
fusion:
|
| 44 |
+
hidden_dim: 512
|
| 45 |
+
num_cameras: 3
|
| 46 |
+
num_layers: 4
|
| 47 |
+
num_heads: 8
|
| 48 |
+
ff_dim: 2048
|
| 49 |
+
dropout: 0.1
|
| 50 |
+
proprio_dim: 32
|
| 51 |
+
proprio_tokens: 1
|
| 52 |
+
memory:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
history_steps: 2
|
| 55 |
+
num_layers: 1
|
| 56 |
+
dropout: 0.1
|
| 57 |
+
decoder:
|
| 58 |
+
hidden_dim: 512
|
| 59 |
+
num_heads: 8
|
| 60 |
+
num_layers: 4
|
| 61 |
+
ff_dim: 2048
|
| 62 |
+
dropout: 0.1
|
| 63 |
+
chunk_size: 8
|
| 64 |
+
action_dim: 14
|
| 65 |
+
num_candidates: 8
|
| 66 |
+
reveal_head:
|
| 67 |
+
hidden_dim: 512
|
| 68 |
+
num_support_modes: 3
|
| 69 |
+
num_approach_templates: 32
|
| 70 |
+
rollout_horizon: 5
|
| 71 |
+
belief_map_size: 32
|
| 72 |
+
predict_belief_map: true
|
| 73 |
+
world_model:
|
| 74 |
+
hidden_dim: 512
|
| 75 |
+
action_dim: 14
|
| 76 |
+
num_support_modes: 3
|
| 77 |
+
num_approach_templates: 32
|
| 78 |
+
rollout_horizon: 5
|
| 79 |
+
planner:
|
| 80 |
+
hidden_dim: 512
|
| 81 |
+
num_candidates: 8
|
| 82 |
+
action_dim: 14
|
| 83 |
+
utility_margin: 0.1
|
| 84 |
+
|
| 85 |
+
loss_weights:
|
| 86 |
+
action: 1.0
|
| 87 |
+
support_mode: 0.0
|
| 88 |
+
corridor: 0.0
|
| 89 |
+
persistence: 0.0
|
| 90 |
+
disturbance: 0.0
|
| 91 |
+
world_model: 0.0
|
| 92 |
+
belief: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current_4train.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rlbench_lift_ball_backbone_only_clip_current_4train
|
| 2 |
+
output_dir: /workspace/outputs/rlbench_current
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: null
|
| 6 |
+
init_strict: false
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
dataset_root: /workspace/data/rlbench2
|
| 10 |
+
tasks: [bimanual_lift_ball]
|
| 11 |
+
train_episodes: [0, 1, 2, 3]
|
| 12 |
+
val_episodes: [4]
|
| 13 |
+
resolution: 224
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
proprio_dim: 32
|
| 16 |
+
history_steps: 2
|
| 17 |
+
|
| 18 |
+
optim:
|
| 19 |
+
epochs: 10
|
| 20 |
+
batch_size: 8
|
| 21 |
+
num_workers: 2
|
| 22 |
+
lr: 0.0002
|
| 23 |
+
weight_decay: 0.0001
|
| 24 |
+
|
| 25 |
+
trainer:
|
| 26 |
+
policy_type: backbone_only
|
| 27 |
+
use_bf16: true
|
| 28 |
+
grad_clip_norm: 1.0
|
| 29 |
+
freeze_backbone: true
|
| 30 |
+
gradient_checkpointing: false
|
| 31 |
+
plan_during_train: false
|
| 32 |
+
plan_during_eval: false
|
| 33 |
+
support_mode_conditioning: true
|
| 34 |
+
|
| 35 |
+
policy:
|
| 36 |
+
backbone:
|
| 37 |
+
model_name: openai/clip-vit-base-patch32
|
| 38 |
+
hidden_dim: 512
|
| 39 |
+
max_text_tokens: 32
|
| 40 |
+
freeze_backbone: true
|
| 41 |
+
gradient_checkpointing: false
|
| 42 |
+
use_dummy_backbone: false
|
| 43 |
+
fusion:
|
| 44 |
+
hidden_dim: 512
|
| 45 |
+
num_cameras: 3
|
| 46 |
+
num_layers: 4
|
| 47 |
+
num_heads: 8
|
| 48 |
+
ff_dim: 2048
|
| 49 |
+
dropout: 0.1
|
| 50 |
+
proprio_dim: 32
|
| 51 |
+
proprio_tokens: 1
|
| 52 |
+
memory:
|
| 53 |
+
hidden_dim: 512
|
| 54 |
+
history_steps: 2
|
| 55 |
+
num_layers: 1
|
| 56 |
+
dropout: 0.1
|
| 57 |
+
decoder:
|
| 58 |
+
hidden_dim: 512
|
| 59 |
+
num_heads: 8
|
| 60 |
+
num_layers: 4
|
| 61 |
+
ff_dim: 2048
|
| 62 |
+
dropout: 0.1
|
| 63 |
+
chunk_size: 8
|
| 64 |
+
action_dim: 14
|
| 65 |
+
num_candidates: 8
|
| 66 |
+
reveal_head:
|
| 67 |
+
hidden_dim: 512
|
| 68 |
+
num_support_modes: 3
|
| 69 |
+
num_approach_templates: 32
|
| 70 |
+
rollout_horizon: 5
|
| 71 |
+
belief_map_size: 32
|
| 72 |
+
predict_belief_map: true
|
| 73 |
+
world_model:
|
| 74 |
+
hidden_dim: 512
|
| 75 |
+
action_dim: 14
|
| 76 |
+
num_support_modes: 3
|
| 77 |
+
num_approach_templates: 32
|
| 78 |
+
rollout_horizon: 5
|
| 79 |
+
planner:
|
| 80 |
+
hidden_dim: 512
|
| 81 |
+
num_candidates: 8
|
| 82 |
+
action_dim: 14
|
| 83 |
+
utility_margin: 0.1
|
| 84 |
+
|
| 85 |
+
loss_weights:
|
| 86 |
+
action: 1.0
|
| 87 |
+
support_mode: 0.0
|
| 88 |
+
corridor: 0.0
|
| 89 |
+
persistence: 0.0
|
| 90 |
+
disturbance: 0.0
|
| 91 |
+
world_model: 0.0
|
| 92 |
+
belief: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current_wide.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rlbench_lift_ball_backbone_only_clip_current_wide
|
| 2 |
+
output_dir: /workspace/outputs/rlbench_current
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/checkpoint_best.pt
|
| 6 |
+
init_strict: true
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
dataset_root: /workspace/data/rlbench2
|
| 10 |
+
tasks: [bimanual_lift_ball]
|
| 11 |
+
train_episodes: [0, 1, 2, 3, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
|
| 12 |
+
val_episodes: [32, 33, 34, 35, 36, 37, 38, 39]
|
| 13 |
+
resolution: 224
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
proprio_dim: 32
|
| 16 |
+
history_steps: 2
|
| 17 |
+
max_train_samples: 4096
|
| 18 |
+
max_val_samples: 2048
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 8
|
| 22 |
+
batch_size: 16
|
| 23 |
+
num_workers: 4
|
| 24 |
+
lr: 0.0001
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: backbone_only
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: false
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
|
| 37 |
+
policy:
|
| 38 |
+
backbone:
|
| 39 |
+
model_name: openai/clip-vit-base-patch32
|
| 40 |
+
hidden_dim: 512
|
| 41 |
+
max_text_tokens: 32
|
| 42 |
+
freeze_backbone: true
|
| 43 |
+
gradient_checkpointing: false
|
| 44 |
+
use_dummy_backbone: false
|
| 45 |
+
fusion:
|
| 46 |
+
hidden_dim: 512
|
| 47 |
+
num_cameras: 3
|
| 48 |
+
num_layers: 4
|
| 49 |
+
num_heads: 8
|
| 50 |
+
ff_dim: 2048
|
| 51 |
+
dropout: 0.1
|
| 52 |
+
proprio_dim: 32
|
| 53 |
+
proprio_tokens: 1
|
| 54 |
+
memory:
|
| 55 |
+
hidden_dim: 512
|
| 56 |
+
history_steps: 2
|
| 57 |
+
num_layers: 1
|
| 58 |
+
dropout: 0.1
|
| 59 |
+
decoder:
|
| 60 |
+
hidden_dim: 512
|
| 61 |
+
num_heads: 8
|
| 62 |
+
num_layers: 4
|
| 63 |
+
ff_dim: 2048
|
| 64 |
+
dropout: 0.1
|
| 65 |
+
chunk_size: 8
|
| 66 |
+
action_dim: 14
|
| 67 |
+
num_candidates: 8
|
| 68 |
+
reveal_head:
|
| 69 |
+
hidden_dim: 512
|
| 70 |
+
num_support_modes: 3
|
| 71 |
+
num_approach_templates: 32
|
| 72 |
+
rollout_horizon: 5
|
| 73 |
+
belief_map_size: 32
|
| 74 |
+
predict_belief_map: true
|
| 75 |
+
world_model:
|
| 76 |
+
hidden_dim: 512
|
| 77 |
+
action_dim: 14
|
| 78 |
+
num_support_modes: 3
|
| 79 |
+
num_approach_templates: 32
|
| 80 |
+
rollout_horizon: 5
|
| 81 |
+
planner:
|
| 82 |
+
hidden_dim: 512
|
| 83 |
+
num_candidates: 8
|
| 84 |
+
action_dim: 14
|
| 85 |
+
utility_margin: 0.1
|
| 86 |
+
|
| 87 |
+
loss_weights:
|
| 88 |
+
action: 1.0
|
| 89 |
+
support_mode: 0.0
|
| 90 |
+
corridor: 0.0
|
| 91 |
+
persistence: 0.0
|
| 92 |
+
disturbance: 0.0
|
| 93 |
+
world_model: 0.0
|
| 94 |
+
belief: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_step1.yaml
ADDED
|
@@ -0,0 +1,95 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rlbench_lift_ball_backbone_only_clip_step1
|
| 2 |
+
output_dir: /workspace/outputs/rlbench_current
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_stable.pt
|
| 6 |
+
init_strict: true
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
dataset_root: /workspace/data/rlbench2
|
| 10 |
+
tasks: [bimanual_lift_ball]
|
| 11 |
+
train_episodes: [0, 1, 2, 3, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
|
| 12 |
+
val_episodes: [32, 33, 34, 35, 36, 37, 38, 39]
|
| 13 |
+
resolution: 224
|
| 14 |
+
chunk_horizon: 8
|
| 15 |
+
supervise_action_steps: 1
|
| 16 |
+
proprio_dim: 32
|
| 17 |
+
history_steps: 2
|
| 18 |
+
max_train_samples: 4096
|
| 19 |
+
max_val_samples: 2048
|
| 20 |
+
|
| 21 |
+
optim:
|
| 22 |
+
epochs: 8
|
| 23 |
+
batch_size: 16
|
| 24 |
+
num_workers: 4
|
| 25 |
+
lr: 0.00005
|
| 26 |
+
weight_decay: 0.0001
|
| 27 |
+
|
| 28 |
+
trainer:
|
| 29 |
+
policy_type: backbone_only
|
| 30 |
+
use_bf16: true
|
| 31 |
+
grad_clip_norm: 1.0
|
| 32 |
+
freeze_backbone: true
|
| 33 |
+
gradient_checkpointing: false
|
| 34 |
+
plan_during_train: false
|
| 35 |
+
plan_during_eval: false
|
| 36 |
+
support_mode_conditioning: true
|
| 37 |
+
|
| 38 |
+
policy:
|
| 39 |
+
backbone:
|
| 40 |
+
model_name: openai/clip-vit-base-patch32
|
| 41 |
+
hidden_dim: 512
|
| 42 |
+
max_text_tokens: 32
|
| 43 |
+
freeze_backbone: true
|
| 44 |
+
gradient_checkpointing: false
|
| 45 |
+
use_dummy_backbone: false
|
| 46 |
+
fusion:
|
| 47 |
+
hidden_dim: 512
|
| 48 |
+
num_cameras: 3
|
| 49 |
+
num_layers: 4
|
| 50 |
+
num_heads: 8
|
| 51 |
+
ff_dim: 2048
|
| 52 |
+
dropout: 0.1
|
| 53 |
+
proprio_dim: 32
|
| 54 |
+
proprio_tokens: 1
|
| 55 |
+
memory:
|
| 56 |
+
hidden_dim: 512
|
| 57 |
+
history_steps: 2
|
| 58 |
+
num_layers: 1
|
| 59 |
+
dropout: 0.1
|
| 60 |
+
decoder:
|
| 61 |
+
hidden_dim: 512
|
| 62 |
+
num_heads: 8
|
| 63 |
+
num_layers: 4
|
| 64 |
+
ff_dim: 2048
|
| 65 |
+
dropout: 0.1
|
| 66 |
+
chunk_size: 8
|
| 67 |
+
action_dim: 14
|
| 68 |
+
num_candidates: 8
|
| 69 |
+
reveal_head:
|
| 70 |
+
hidden_dim: 512
|
| 71 |
+
num_support_modes: 3
|
| 72 |
+
num_approach_templates: 32
|
| 73 |
+
rollout_horizon: 5
|
| 74 |
+
belief_map_size: 32
|
| 75 |
+
predict_belief_map: true
|
| 76 |
+
world_model:
|
| 77 |
+
hidden_dim: 512
|
| 78 |
+
action_dim: 14
|
| 79 |
+
num_support_modes: 3
|
| 80 |
+
num_approach_templates: 32
|
| 81 |
+
rollout_horizon: 5
|
| 82 |
+
planner:
|
| 83 |
+
hidden_dim: 512
|
| 84 |
+
num_candidates: 8
|
| 85 |
+
action_dim: 14
|
| 86 |
+
utility_margin: 0.1
|
| 87 |
+
|
| 88 |
+
loss_weights:
|
| 89 |
+
action: 1.0
|
| 90 |
+
support_mode: 0.0
|
| 91 |
+
corridor: 0.0
|
| 92 |
+
persistence: 0.0
|
| 93 |
+
disturbance: 0.0
|
| 94 |
+
world_model: 0.0
|
| 95 |
+
belief: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_open_drawer_interaction_smoke.yaml
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rlbench_open_drawer_interaction_smoke
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction/proxy_interaction_state_smoke/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
dataset_root: /workspace/VLAarchtests/artifacts/data/rlbench_smoke_open_drawer
|
| 10 |
+
tasks: [open_drawer]
|
| 11 |
+
train_episodes: [0]
|
| 12 |
+
val_episodes: [1]
|
| 13 |
+
resolution: 128
|
| 14 |
+
chunk_horizon: 4
|
| 15 |
+
proprio_dim: 32
|
| 16 |
+
history_steps: 6
|
| 17 |
+
max_train_samples: 8
|
| 18 |
+
max_val_samples: 4
|
| 19 |
+
|
| 20 |
+
optim:
|
| 21 |
+
epochs: 1
|
| 22 |
+
batch_size: 2
|
| 23 |
+
num_workers: 0
|
| 24 |
+
lr: 0.0005
|
| 25 |
+
weight_decay: 0.0001
|
| 26 |
+
|
| 27 |
+
trainer:
|
| 28 |
+
policy_type: interaction_state
|
| 29 |
+
use_bf16: true
|
| 30 |
+
grad_clip_norm: 1.0
|
| 31 |
+
freeze_backbone: true
|
| 32 |
+
gradient_checkpointing: false
|
| 33 |
+
plan_during_train: false
|
| 34 |
+
plan_during_eval: true
|
| 35 |
+
support_mode_conditioning: true
|
| 36 |
+
planner_mode: proxy_pretrained
|
| 37 |
+
|
| 38 |
+
policy:
|
| 39 |
+
backbone:
|
| 40 |
+
model_name: openai/clip-vit-base-patch32
|
| 41 |
+
hidden_dim: 64
|
| 42 |
+
max_text_tokens: 32
|
| 43 |
+
freeze_backbone: true
|
| 44 |
+
gradient_checkpointing: false
|
| 45 |
+
use_dummy_backbone: true
|
| 46 |
+
fusion:
|
| 47 |
+
hidden_dim: 64
|
| 48 |
+
num_cameras: 3
|
| 49 |
+
num_layers: 2
|
| 50 |
+
num_heads: 4
|
| 51 |
+
ff_dim: 128
|
| 52 |
+
dropout: 0.1
|
| 53 |
+
proprio_dim: 32
|
| 54 |
+
proprio_tokens: 1
|
| 55 |
+
memory:
|
| 56 |
+
hidden_dim: 64
|
| 57 |
+
history_steps: 6
|
| 58 |
+
num_layers: 2
|
| 59 |
+
dropout: 0.1
|
| 60 |
+
memory_bank_size: 4
|
| 61 |
+
num_heads: 4
|
| 62 |
+
max_history_steps: 8
|
| 63 |
+
decoder:
|
| 64 |
+
hidden_dim: 64
|
| 65 |
+
num_heads: 4
|
| 66 |
+
num_layers: 2
|
| 67 |
+
ff_dim: 128
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
chunk_size: 4
|
| 70 |
+
action_dim: 14
|
| 71 |
+
arm_action_dim: 7
|
| 72 |
+
num_candidates: 4
|
| 73 |
+
num_phases: 5
|
| 74 |
+
num_arm_roles: 4
|
| 75 |
+
reveal_head:
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
num_support_modes: 3
|
| 78 |
+
num_approach_templates: 32
|
| 79 |
+
rollout_horizon: 3
|
| 80 |
+
belief_map_size: 32
|
| 81 |
+
field_size: 16
|
| 82 |
+
num_heads: 4
|
| 83 |
+
predict_belief_map: true
|
| 84 |
+
num_phases: 5
|
| 85 |
+
num_arm_roles: 4
|
| 86 |
+
num_interaction_tokens: 8
|
| 87 |
+
world_model:
|
| 88 |
+
hidden_dim: 64
|
| 89 |
+
action_dim: 14
|
| 90 |
+
num_support_modes: 3
|
| 91 |
+
num_approach_templates: 32
|
| 92 |
+
rollout_horizon: 3
|
| 93 |
+
field_size: 16
|
| 94 |
+
num_heads: 4
|
| 95 |
+
num_phases: 5
|
| 96 |
+
num_arm_roles: 4
|
| 97 |
+
num_interaction_tokens: 8
|
| 98 |
+
belief_map_size: 32
|
| 99 |
+
predict_belief_map: true
|
| 100 |
+
planner:
|
| 101 |
+
hidden_dim: 64
|
| 102 |
+
num_candidates: 4
|
| 103 |
+
action_dim: 14
|
| 104 |
+
num_support_modes: 3
|
| 105 |
+
utility_margin: 0.1
|
| 106 |
+
corridor_weight: 1.0
|
| 107 |
+
persistence_weight: 0.5
|
| 108 |
+
proposal_weight: 0.5
|
| 109 |
+
task_progress_weight: 0.75
|
| 110 |
+
disturbance_weight: 0.75
|
| 111 |
+
reocclusion_weight: 0.5
|
| 112 |
+
visibility_weight: 0.25
|
| 113 |
+
num_heads: 4
|
| 114 |
+
num_layers: 2
|
| 115 |
+
num_phases: 5
|
| 116 |
+
num_arm_roles: 4
|
| 117 |
+
|
| 118 |
+
loss_weights:
|
| 119 |
+
action: 1.0
|
| 120 |
+
support_mode: 0.0
|
| 121 |
+
corridor: 0.0
|
| 122 |
+
persistence: 0.0
|
| 123 |
+
disturbance: 0.0
|
| 124 |
+
world_model: 0.0
|
| 125 |
+
belief: 0.0
|
| 126 |
+
planner_success: 0.0
|
| 127 |
+
planner_risk: 0.0
|
| 128 |
+
planner_ranking: 0.0
|
VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_peract2_13_interaction_state_dummy.yaml
ADDED
|
@@ -0,0 +1,132 @@
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rlbench_peract2_13_interaction_state_dummy
|
| 2 |
+
output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 13
|
| 5 |
+
init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction/proxy_interaction_state/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
dataset_root: /workspace/data/rlbench2
|
| 10 |
+
tasks:
|
| 11 |
+
[
|
| 12 |
+
bimanual_push_box,
|
| 13 |
+
bimanual_lift_ball,
|
| 14 |
+
bimanual_dual_push_buttons,
|
| 15 |
+
bimanual_pick_plate,
|
| 16 |
+
bimanual_put_item_in_drawer,
|
| 17 |
+
bimanual_put_bottle_in_fridge,
|
| 18 |
+
bimanual_handover_item,
|
| 19 |
+
bimanual_pick_laptop,
|
| 20 |
+
bimanual_straighten_rope,
|
| 21 |
+
bimanual_sweep_to_dustpan,
|
| 22 |
+
bimanual_lift_tray,
|
| 23 |
+
bimanual_handover_item_easy,
|
| 24 |
+
bimanual_take_tray_out_of_oven,
|
| 25 |
+
]
|
| 26 |
+
train_episodes: [0]
|
| 27 |
+
val_episodes: [1]
|
| 28 |
+
resolution: 224
|
| 29 |
+
chunk_horizon: 8
|
| 30 |
+
proprio_dim: 32
|
| 31 |
+
history_steps: 6
|
| 32 |
+
|
| 33 |
+
optim:
|
| 34 |
+
epochs: 2
|
| 35 |
+
batch_size: 4
|
| 36 |
+
num_workers: 0
|
| 37 |
+
lr: 0.0005
|
| 38 |
+
weight_decay: 0.0001
|
| 39 |
+
|
| 40 |
+
trainer:
|
| 41 |
+
policy_type: interaction_state
|
| 42 |
+
use_bf16: true
|
| 43 |
+
grad_clip_norm: 1.0
|
| 44 |
+
freeze_backbone: true
|
| 45 |
+
gradient_checkpointing: false
|
| 46 |
+
plan_during_train: false
|
| 47 |
+
plan_during_eval: true
|
| 48 |
+
support_mode_conditioning: true
|
| 49 |
+
planner_mode: proxy_pretrained
|
| 50 |
+
|
| 51 |
+
policy:
|
| 52 |
+
backbone:
|
| 53 |
+
model_name: openai/clip-vit-base-patch32
|
| 54 |
+
hidden_dim: 128
|
| 55 |
+
max_text_tokens: 32
|
| 56 |
+
freeze_backbone: true
|
| 57 |
+
gradient_checkpointing: false
|
| 58 |
+
use_dummy_backbone: true
|
| 59 |
+
fusion:
|
| 60 |
+
hidden_dim: 128
|
| 61 |
+
num_cameras: 3
|
| 62 |
+
num_layers: 2
|
| 63 |
+
num_heads: 4
|
| 64 |
+
ff_dim: 256
|
| 65 |
+
dropout: 0.1
|
| 66 |
+
proprio_dim: 32
|
| 67 |
+
proprio_tokens: 1
|
| 68 |
+
memory:
|
| 69 |
+
hidden_dim: 128
|
| 70 |
+
history_steps: 6
|
| 71 |
+
num_layers: 2
|
| 72 |
+
dropout: 0.1
|
| 73 |
+
memory_bank_size: 4
|
| 74 |
+
num_heads: 4
|
| 75 |
+
max_history_steps: 8
|
| 76 |
+
decoder:
|
| 77 |
+
hidden_dim: 128
|
| 78 |
+
num_heads: 4
|
| 79 |
+
num_layers: 2
|
| 80 |
+
ff_dim: 256
|
| 81 |
+
dropout: 0.1
|
| 82 |
+
chunk_size: 8
|
| 83 |
+
action_dim: 14
|
| 84 |
+
arm_action_dim: 7
|
| 85 |
+
num_candidates: 8
|
| 86 |
+
num_phases: 5
|
| 87 |
+
num_arm_roles: 4
|
| 88 |
+
reveal_head:
|
| 89 |
+
hidden_dim: 128
|
| 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: 4
|
| 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: 128
|
| 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: 4
|
| 108 |
+
num_phases: 5
|
| 109 |
+
num_arm_roles: 4
|
| 110 |
+
num_interaction_tokens: 8
|
| 111 |
+
planner:
|
| 112 |
+
hidden_dim: 128
|
| 113 |
+
num_candidates: 8
|
| 114 |
+
action_dim: 14
|
| 115 |
+
num_support_modes: 3
|
| 116 |
+
utility_margin: 0.1
|
| 117 |
+
num_heads: 4
|
| 118 |
+
num_layers: 2
|
| 119 |
+
num_phases: 5
|
| 120 |
+
num_arm_roles: 4
|
| 121 |
+
|
| 122 |
+
loss_weights:
|
| 123 |
+
action: 1.0
|
| 124 |
+
support_mode: 0.0
|
| 125 |
+
corridor: 0.0
|
| 126 |
+
persistence: 0.0
|
| 127 |
+
disturbance: 0.0
|
| 128 |
+
world_model: 0.0
|
| 129 |
+
belief: 0.0
|
| 130 |
+
planner_success: 0.0
|
| 131 |
+
planner_risk: 0.0
|
| 132 |
+
planner_ranking: 0.0
|