Upload franka_multitask_v1/0020000/config_resolved.yaml with huggingface_hub

franka_multitask_v1/0020000/config_resolved.yaml

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+stage_1:
+  ckpt_path: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/checkpoints/track4world_da3.pth
+  encoder_input_size: 224
+  normalization_stat_path: null
+da3_finetune:
+  enabled: true
+  freeze_blocks_before: 13
+  n_action_steps: 9
+  n_views: 2
+  use_temporal_embed: false
+  action_input_rate: 0.4
+action_head:
+  type: mlp_resnet
+  input_dim: 1536
+  hidden_dim: 1536
+  n_dims: 7
+  chunk_size: 8
+  num_blocks: 2
+  pool_mode: mean
+regularization:
+  lambda_feat: 0.0
+  layer_weight_min: 0.5
+  adaptive_lambda: false
+  lambda_depth: 3.0
+  depth_grad_weight: 1.0
+  depth_decode_chunk_size: 1
+  lambda_camera: 0.0
+  teacher_depth_fallback: true
+  skip_depth_if_no_gt: false
+  lambda_path_b_deep_feat_reg: 0.0
+  deep_feat_reg_layer_weight_min: 0.5
+proprioception:
+  enabled: true
+  proprio_dim: 7
+  hidden_dim: 256
+predictor:
+  enabled: true
+  type: shallow12_ar
+  d_model: 1024
+  depth: 12
+  num_heads: 16
+  ffn_ratio: 4.0
+  dropout: 0.0
+  num_patches_per_view: 256
+  use_language: true
+  language_encoder_type: t5
+  language_dim: 768
+  language_len: 77
+  clip_model: openai/clip-vit-large-patch14
+  t5_model: google-t5/t5-base
+  condition_mode: concat
+  input_proj_norm: ln
+  cache_token_embeddings: true
+  language_cache_max_entries: 4096
+  language_cache_device: cpu
+  lambda_feat_future: 1.0
+  lambda_feat_current: 0.0
+  lambda_proprio_future: 0.0
+  lambda_sigreg: 0.0
+  feature_loss_type: l1
+  feature_target_mode: future
+  H_choices:
+  - 1
+  H_weights:
+  - 1.0
+  num_register_tokens: 0
+  deep_gradient_checkpointing: false
+  use_proprio_head: false
+training:
+  global_batch_size: 512
+  micro_batch_size: 64
+  min_train_batches_per_epoch: 128
+  base_lr: 5.16e-05
+  head_lr_mult: 10.0
+  predictor_lr_mult: 10.0
+  adam_eps: 1.0e-06
+  adam_beta1: 0.9
+  adam_beta2: 0.95
+  weight_decay: 0.0
+  lambda_action: 3.0
+  lambda_action_direct: 0.0
+  lambda_action_refine: 1.0
+  grad_accum_steps: 1
+  epochs: 500000
+  clip_grad: 1.0
+  warmup_steps: 500
+  max_steps: 100000
+  min_lr_ratio: 1.0
+  log_every: 25
+  ckpt_every: 2000
+  vis_every: 200
+  visualization:
+    log_unified_depth: true
+  eval_every: 2000
+  global_seed: 42
+  num_workers: 8
+  prefetch_factor: 4
+  persistent_workers: true
+  bf16: true
+  compile: false
+  distributed_timeout_minutes: 120
+  preemption_check_every_steps: 0
+dataset:
+  type: openx
+  openx_root: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/choonge/jisang_robot/lerobot_franka
+  datasets:
+  - name: franka_pickplace
+  - name: franka_chocomilk
+  - name: franka_kitchen
+  - name: franka_pot
+  sampling_strategy: dataset_weighted
+  stats_dir: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/GAM_realrobot_train/_stats_realrobot
+  image_size:
+  - 224
+  - 224
+  future_steps: 8
+  chunk_size: 8
+  include_current_action: true
+  proprio_dim: 7
+  n_views: 2
+  source_fps: 15
+  action_frame: base_delta
+  download_videos: false
+  lazy_download: false
+  force_cache_sync: false
+  enable_arrow_cache: false
+  da3_input_rotate180: false
+  da3_input_hflip: false
+  da3_input_vflip: false
+  openpi_libero_augment: true
+  openpi_base_crop_scale: 0.9486832980505138
+  openpi_base_rotate_degrees: 5.0
+  color_jitter_brightness: 0.3
+  color_jitter_contrast: 0.4
+  color_jitter_saturation: 0.5
+  color_jitter_hue: 0.05
+  image_augmentation:
+    profile: cosmos_policy_strong
+    train:
+      random_resized_crop_area: 0.9
+      base_only_rotation_degrees: 5.0
+      color_jitter:
+        brightness: 0.3
+        contrast: 0.4
+        saturation: 0.5
+        hue: 0.05
+      jpeg:
+        enabled: true
+        quality: 95
+    eval:
+      center_crop_area: 0.9
+      jpeg:
+        enabled: true
+        quality: 95
+  eval_ratio: 0.05
+  action_stats_samples: 0
+  proprio_stats_samples: 0
+wandb:
+  project: GAM_realrobot
+use_dit: false