| 2026-01-13 18:33:01,012 INFO MainThread:718599 [wandb_run.py:_config_callback():1396] config_cb None None {'language_goal': "{'_target_': 'mode.models.networks.clip_lang_encoder.LangClip', '_recursive_': False, 'model_name': 'ViT-B/32'}", 'model': "{'_target_': 'mode.models.edm_diffusion.score_wrappers.FlowMatchingDenoiser', '_recursive_': False, 'inner_model': {'_target_': 'mode.models.networks.modedit.MoDeDiT', 'action_dim': 7, 'goal_dim': 512, 'obs_dim': 2048, 'goal_conditioned': True, 'causal': True, 'use_custom_attn_mask': False, 'use_proprio': False, 'state_dim': 9, 'embed_dim': 1024, 'n_layers': 12, 'goal_seq_len': 1, 'obs_seq_len': 16, 'action_seq_len': 10, 'embed_pdrob': 0, 'goal_drop': 0.1, 'attn_pdrop': 0.3, 'mlp_pdrop': 0.1, 'n_heads': 8, 'device': 'cuda', 'linear_output': True, 'cond_router': True, 'num_experts': 4, 'top_k': 2, 'router_normalize': True, 'use_goal_in_routing': False, 'use_argmax': False, 'use_shared_expert': False, 'use_noise_token_as_input': True, 'init_style': 'olmoe'}}", 'optimizer': "{'_target_': 'torch.optim.AdamW', 'transformer_weight_decay': 0.05, 'obs_encoder_weight_decay': 0.05, 'learning_rate': 0.0001, 'betas': [0.9, 0.95]}", 'lr_scheduler': "{'lr_scheduler': {'init_lr': 0.0001, 'init_lr_scale': 0.1, 'final_lr_scale': 1e-06, 'total_steps': 45000, 'phase_ratio': '(0.02, 0.08, 0.9)', 'lr': 0.0001}}", 'latent_dim': 1024, 'multistep': 10, 'sampler_type': 'flow_matching', 'num_sampling_steps': 10, 'sigma_data': 0.5, 'sigma_min': 0.001, 'sigma_max': 80, 'noise_scheduler': 'exponential', 'sigma_sample_density_type': 'loglogistic', 'use_perceiver': False, 'obs_enc_dim': 512, 'cond_dim': 512, 'use_lr_scheduler': True, 'ckpt_path': None, 'seed': 242, 'entropy_gamma': 0.0, 'router_z_delta': 0.0, 'start_from_pretrained': True, 'use_text_not_embedding': True, 'use_proprio': False, 'act_window_size': 10, 'resnet_type': '50', 'track_adapter_config': "{'_target_': 'mode.models.onestep_tracker.GlobalTrackAdapter', '_recursive_': False, 'output_dim': 512, 'checkpoint_path': '/inspire/hdd/global_user/xuzijun-253108540220/Reviwo/logs/pretrain_track_tokenizer/libero-one-step/checkpoint/step_28500/model.pth/global_step28500/mp_rank_00_model_states.pt', 'global_track_config': {'track_model': {'img_size': [128, 128], 'patch_size': 16, 'track_cfg': {'num_track_ts': 16, 'num_track_ids': 529, 'patch_size': 4}, 'language_encoder_cfg': {'network_name': 'MLPEncoder', 'input_size': 4096, 'hidden_size': 128, 'num_layers': 1}, 'transformer_cfg': {'dim': 384, 'dim_head': 384, 'heads': 8, 'depth': 8, 'attn_dropout': 0.2, 'ff_dropout': 0.2}}, 'global_track_config': {'patch_size': 4, 'num_track_ts': 16, 'num_track_ids': 52}, 'global_track_transformer_cfg': {'dim': 384, 'dim_head': 384, 'heads': 8, 'depth': 8, 'attn_dropout': 0.2, 'ff_dropout': 0.2}, 'global_decoder_tansformer_cfg': {'dim': 384, 'dim_head': 384, 'heads': 8, 'depth': 8, 'attn_dropout': 0.2, 'ff_dropout': 0.2}}}", 'use_track_features': True, 'dataset_path': '/inspire/hdd/global_user/xuzijun-253108540220/xzj/realworld_data_pi_fixed_state_machine', 'lang_emb_path': '/inspire/hdd/global_user/xuzijun-253108540220/xzj/realworld_data_merged_128/carrot_instruction_embedding.pt', 'batch_size': 64, 'num_workers': 10, 'val_ratio': 0.1, 'obs_horizon': 16, 'pred_horizon': 10, 'task_description': 'pick up the carrot in the bowl.', 'action_space': 7} |
