File size: 30,268 Bytes
a5d26f0 |
1 |
{"dataset_kwargs": {"balance_weights": false, "batch_size": 8, "dataset_kwargs_list": [{"name": "kuka", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "kuka_dataset_transform", "args": [], "kwargs": {}}}, {"name": "taco_play", "data_dir": null, "image_obs_keys": {"primary": "rgb_static", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "taco_dataset_transform", "args": [], "kwargs": {}}}, {"name": "taco_extra", "data_dir": null, "image_obs_keys": {"primary": "rgb_static", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "taco_dataset_transform", "args": [], "kwargs": {}}}, {"name": "jaco_play", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "jaco_play_dataset_transform", "args": [], "kwargs": {}}}, {"name": "berkeley_cable_routing", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "berkeley_cable_routing_dataset_transform", "args": [], "kwargs": {}}}, {"name": "roboturk", "data_dir": null, "image_obs_keys": {"primary": "front_rgb", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "roboturk_dataset_transform", "args": [], "kwargs": {}}}, {"name": "viola", "data_dir": null, "image_obs_keys": {"primary": "agentview_rgb", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "viola_dataset_transform", "args": [], "kwargs": {}}}, {"name": "berkeley_autolab_ur5", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "berkeley_autolab_ur5_dataset_transform", "args": [], "kwargs": {}}}, {"name": "toto", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "toto_dataset_transform", "args": [], "kwargs": {}}}, {"name": "language_table", "data_dir": null, "image_obs_keys": {"primary": "rgb", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "language_table_dataset_transform", "args": [], "kwargs": {}}}, {"name": "stanford_hydra_dataset_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "stanford_hydra_dataset_transform", "args": [], "kwargs": {}}}, {"name": "austin_buds_dataset_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "austin_buds_dataset_transform", "args": [], "kwargs": {}}}, {"name": "nyu_franka_play_dataset_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "nyu_franka_play_dataset_transform", "args": [], "kwargs": {}}}, {"name": "furniture_bench_dataset_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "furniture_bench_dataset_transform", "args": [], "kwargs": {}}}, {"name": "austin_sailor_dataset_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "nav": null, "high": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "austin_sailor_dataset_transform", "args": [], "kwargs": {}}}, {"name": "austin_sirius_dataset_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "nav": null, "high": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "austin_sirius_dataset_transform", "args": [], "kwargs": {}}}, {"name": "bc_z", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "bc_z_dataset_transform", "args": [], "kwargs": {}}}, {"name": "dlr_edan_shared_control_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "dlr_edan_shared_control_dataset_transform", "args": [], "kwargs": {}}}, {"name": "iamlab_cmu_pickup_insert_converted_externally_to_rlds", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "iamlab_pick_insert_dataset_transform", "args": [], "kwargs": {}}}, {"name": "utaustin_mutex", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "utaustin_mutex_dataset_transform", "args": [], "kwargs": {}}}, {"name": "berkeley_fanuc_manipulation", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "berkeley_fanuc_dataset_transform", "args": [], "kwargs": {}}}, {"name": "cmu_stretch", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "cmu_stretch_dataset_transform", "args": [], "kwargs": {}}}, {"name": "droid", "data_dir": null, "image_obs_keys": {"primary": "exterior_image_1_left", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "filter_functions": [{"module": "experiments.homer.scripts.configs.cross_embodiment", "name": "filter_success", "args": [], "kwargs": {}}], "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "droid_dataset_transform", "args": [], "kwargs": {}}}, {"name": "aloha_pen_uncap_diverse_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": "cam_high", "nav": null, "left_wrist": "cam_left_wrist", "right_wrist": "cam_right_wrist"}, "proprio_obs_keys": {"bimanual": "proprio", "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false, true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "aloha_pen_uncap_dataset_transform", "args": [], "kwargs": {}}}, {"name": "aloha_dough_cut_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": "cam_high", "nav": null, "left_wrist": "cam_left_wrist", "right_wrist": "cam_right_wrist"}, "proprio_obs_keys": {"bimanual": "proprio", "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false, true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "aloha_dough_dataset_transform", "args": [], "kwargs": {}}}, {"name": "aloha_lucy_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": "cam_high", "nav": null, "left_wrist": "cam_left_wrist", "right_wrist": "cam_right_wrist"}, "proprio_obs_keys": {"bimanual": "proprio", "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false, true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "aloha_dough_dataset_transform", "args": [], "kwargs": {}}}, {"name": "aloha_drawer_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": "cam_high", "nav": null, "left_wrist": "cam_left_wrist", "right_wrist": "cam_right_wrist"}, "proprio_obs_keys": {"bimanual": "proprio", "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false, true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "aloha_dough_dataset_transform", "args": [], "kwargs": {}}}, {"name": "aloha_pick_place_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": "cam_high", "nav": null, "left_wrist": "cam_left_wrist", "right_wrist": "cam_right_wrist"}, "proprio_obs_keys": {"bimanual": "proprio", "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false, true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "aloha_dough_dataset_transform", "args": [], "kwargs": {}}}, {"name": "aloha_static_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": "cam_high", "nav": null, "left_wrist": "cam_left_wrist", "right_wrist": "cam_right_wrist"}, "proprio_obs_keys": {"bimanual": "proprio", "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false, true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "aloha_dough_dataset_transform", "args": [], "kwargs": {}}}, {"name": "aloha_sushi_cut_full_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": "cam_high", "nav": null, "left_wrist": "cam_left_wrist", "right_wrist": "cam_right_wrist"}, "proprio_obs_keys": {"bimanual": "proprio", "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false, true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "aloha_dough_dataset_transform", "args": [], "kwargs": {}}}, {"name": "bridge_dataset", "data_dir": null, "image_obs_keys": {"primary": "image_0", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "bridge_dataset_transform", "args": [], "kwargs": {}}}, {"name": "go1", "data_dir": null, "image_obs_keys": {"primary": null, "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": "proprio"}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, true, true, true, true, true, true], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "go1_dataset_transform", "args": [], "kwargs": {}}}, {"name": "droid_wipe", "data_dir": null, "image_obs_keys": {"primary": "exterior_image_2_left", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "droid_dataset_transform", "args": [], "kwargs": {}}}, {"name": "omnimimic_gnm_dataset", "data_dir": null, "image_obs_keys": {"primary": null, "high": null, "nav": "image", "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "omnimimic_gnm_transform", "args": [], "kwargs": {}}}, {"name": "fractal20220817_data", "data_dir": null, "image_obs_keys": {"primary": "image", "high": null, "nav": null, "left_wrist": null, "right_wrist": null}, "proprio_obs_keys": {"bimanual": null, "quadruped": null}, "proprio_obs_dims": {"bimanual": 14, "quadruped": 59}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "rt1_dataset_transform", "args": [], "kwargs": {}}}], "frame_transform_kwargs": {"image_augment_kwargs": {"high": {"augment_order": ["random_resized_crop", "random_brightness", "random_contrast", "random_saturation", "random_hue"], "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_hue": [0.05], "random_resized_crop": {"ratio": [0.75, 1.3333333333333333], "scale": [0.9, 1.0]}, "random_saturation": [0.9, 1.1]}, "left_wrist": {"augment_order": ["random_resized_crop", "random_brightness", "random_contrast", "random_saturation", "random_hue"], "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_hue": [0.05], "random_resized_crop": {"ratio": [0.75, 1.3333333333333333], "scale": [0.9, 1.0]}, "random_saturation": [0.9, 1.1]}, "nav": {"augment_order": ["random_resized_crop", "random_brightness", "random_contrast", "random_saturation", "random_hue"], "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_hue": [0.05], "random_resized_crop": {"ratio": [0.9, 1.1], "scale": [0.8, 1.0]}, "random_saturation": [0.9, 1.1]}, "primary": {"augment_order": ["random_resized_crop", "random_brightness", "random_contrast", "random_saturation", "random_hue"], "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_hue": [0.05], "random_resized_crop": {"ratio": [0.9, 1.1], "scale": [0.8, 1.0]}, "random_saturation": [0.9, 1.1]}, "right_wrist": {"augment_order": ["random_resized_crop", "random_brightness", "random_contrast", "random_saturation", "random_hue"], "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_hue": [0.05], "random_resized_crop": {"ratio": [0.75, 1.3333333333333333], "scale": [0.9, 1.0]}, "random_saturation": [0.9, 1.1]}}, "num_parallel_calls": 200, "resize_size": {"high": [224, 224], "left_wrist": [224, 224], "nav": [224, 224], "primary": [224, 224], "right_wrist": [224, 224]}}, "sample_weights": [0.021755552811740044, 0.009986998241552502, 0.0023179438302583103, 0.0016371801232614254, 0.0008888419195460733, 0.007874885740329124, 0.0032054418194781, 0.004113224757060238, 0.006839324427193265, 0.01479473259297815, 0.015045048015813084, 0.0007163148639093663, 0.002826978440249719, 0.008290489894059044, 0.007414589603576858, 0.005878414243900214, 0.021755552811740044, 0.0001874782805166165, 0.0030709017944702635, 0.007599149035416076, 0.0026296096724881066, 0.0005253087662862543, 0.0002175555281174004, 0.085, 0.014166666666666666, 0.014166666666666666, 0.014166666666666666, 0.014166666666666666, 0.014166666666666666, 0.014166666666666666, 0.17, 0.085, 0.085, 0.17, 0.17], "shuffle_buffer_size": 25000, "traj_read_threads": 48, "traj_transform_kwargs": {"action_horizon": 100, "goal_relabeling_kwargs": {"max_goal_distance": 15}, "goal_relabeling_strategy": "uniform", "head_to_dataset": {"bimanual": ["aloha_pen_uncap_diverse_dataset", "aloha_dough_cut_dataset", "aloha_lucy_dataset", "aloha_drawer_dataset", "aloha_pick_place_dataset", "aloha_static_dataset", "aloha_sushi_cut_full_dataset"], "nav": ["omnimimic_gnm_dataset"], "quadruped": ["go1"], "single_arm": ["bridge_dataset", "fractal20220817_data", "kuka", "taco_play", "taco_extra", "jaco_play", "berkeley_cable_routing", "roboturk", "nyu_door_opening_surprising_effectiveness", "viola", "berkeley_autolab_ur5", "toto", "language_table", "stanford_hydra_dataset_converted_externally_to_rlds", "austin_buds_dataset_converted_externally_to_rlds", "nyu_franka_play_dataset_converted_externally_to_rlds", "furniture_bench_dataset_converted_externally_to_rlds", "austin_sailor_dataset_converted_externally_to_rlds", "austin_sirius_dataset_converted_externally_to_rlds", "bc_z", "dlr_edan_shared_control_converted_externally_to_rlds", "iamlab_cmu_pickup_insert_converted_externally_to_rlds", "utaustin_mutex", "berkeley_fanuc_manipulation", "cmu_stretch", "droid", "droid_wipe"]}, "max_action_dim": 14, "subsample_length": 100, "task_augment_kwargs": {"keep_image_prob": 1.0}, "task_augment_strategy": "delete_task_conditioning", "window_size": 5}, "traj_transform_threads": 48}, "eval_datasets": [], "eval_interval": 5e+20, "log_interval": 500, "model": {"heads": {"bimanual": {"args": [], "kwargs": {"action_dim": 14, "action_horizon": 100, "clip_pred": false, "constrain_loss_dims": true, "loss_weight": 1.0, "num_preds": 14, "pool_strategy": "pass", "readout_key": "readout_bimanual"}, "module": "crossformer.model.components.action_heads", "name": "L1ActionHead"}, "nav": {"args": [], "kwargs": {"action_dim": 2, "action_horizon": 4, "clip_pred": false, "constrain_loss_dims": true, "loss_weight": 1.0, "num_preds": 2, "pool_strategy": "pass", "readout_key": "readout_nav"}, "module": "crossformer.model.components.action_heads", "name": "L1ActionHead"}, "quadruped": {"args": [], "kwargs": {"action_dim": 12, "action_horizon": 1, "clip_pred": false, "constrain_loss_dims": true, "loss_weight": 1.0, "num_preds": 12, "pool_strategy": "pass", "readout_key": "readout_quadruped"}, "module": "crossformer.model.components.action_heads", "name": "L1ActionHead"}, "single_arm": {"args": [], "kwargs": {"action_dim": 7, "action_horizon": 4, "clip_pred": false, "constrain_loss_dims": true, "loss_weight": 1.0, "num_preds": 7, "pool_strategy": "pass", "readout_key": "readout_single_arm"}, "module": "crossformer.model.components.action_heads", "name": "L1ActionHead"}}, "max_horizon": 10, "observation_tokenizers": {"bimanual": {"args": [], "kwargs": {"dropout_rate": 0.2, "obs_keys": ["proprio_bimanual"]}, "module": "crossformer.model.components.tokenizers", "name": "LowdimObsTokenizer"}, "high": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "crossformer.model.components.vit_encoders", "name": "ResNet26FILM"}, "obs_stack_keys": ["image_high"], "task_film_keys": ["language_instruction"], "task_stack_keys": ["image_high"]}, "module": "crossformer.model.components.tokenizers", "name": "ImageTokenizer"}, "left": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "crossformer.model.components.vit_encoders", "name": "ResNet26FILM"}, "obs_stack_keys": ["image_left_wrist"], "task_film_keys": ["language_instruction"], "task_stack_keys": []}, "module": "crossformer.model.components.tokenizers", "name": "ImageTokenizer"}, "nav": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "crossformer.model.components.vit_encoders", "name": "ResNet26"}, "obs_stack_keys": ["image_nav"], "task_film_keys": [], "task_stack_keys": ["image_nav"]}, "module": "crossformer.model.components.tokenizers", "name": "ImageTokenizer"}, "primary": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "crossformer.model.components.vit_encoders", "name": "ResNet26FILM"}, "obs_stack_keys": ["image_primary"], "task_film_keys": ["language_instruction"], "task_stack_keys": ["image_primary"]}, "module": "crossformer.model.components.tokenizers", "name": "ImageTokenizer"}, "quadruped": {"args": [], "kwargs": {"obs_keys": ["proprio_quadruped"]}, "module": "crossformer.model.components.tokenizers", "name": "LowdimObsTokenizer"}, "right": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "crossformer.model.components.vit_encoders", "name": "ResNet26FILM"}, "obs_stack_keys": ["image_right_wrist"], "task_film_keys": ["language_instruction"], "task_stack_keys": []}, "module": "crossformer.model.components.tokenizers", "name": "ImageTokenizer"}, "single": {"args": [], "kwargs": {"dropout_rate": 0.2, "obs_keys": ["proprio_single"]}, "module": "crossformer.model.components.tokenizers", "name": "LowdimObsTokenizer"}}, "readouts": {"bimanual": 100, "nav": 4, "quadruped": 1, "single_arm": 4}, "repeat_task_tokens": true, "task_tokenizers": {}, "token_embedding_size": 512, "transformer_kwargs": {"attention_dropout_rate": 0.0, "dropout_rate": 0.1, "mlp_dim": 2048, "num_attention_heads": 8, "num_layers": 12, "repeat_pos_enc": true}}, "num_steps": 300000, "optimizer": {"clip_gradient": 1.0, "frozen_keys": [], "learning_rate": {"init_value": 0.0, "name": "rsqrt", "peak_value": 0.0003, "timescale": 10000, "warmup_steps": 2000}, "weight_decay": 0.1}, "prefetch_num_batches": 0, "pretrained_loaders": [{"module": "experiments.sudeep.aloha.resnet_pt", "name": "resnet_26_loader", "args": [], "kwargs": {"restore_path": ""}}], "resume_path": null, "save_dir": null, "save_interval": 10000, "seed": 42, "skip_norm_keys": ["proprio_bimanual"], "start_step": null, "text_processor": {"args": [], "kwargs": {}, "module": "crossformer.data.utils.text_processing", "name": "UniversalSentenceEncoder"}, "val_kwargs": {"num_val_batches": 16, "val_shuffle_buffer_size": 1000}, "viz_datasets": [], "viz_interval": 5e+20, "viz_kwargs": {"eval_batch_size": 128, "samples_per_state": 8, "trajs_for_metrics": 100, "trajs_for_viz": 8}, "wandb": {"entity": null, "group": null, "project": "crossformer"}, "wandb_resume_id": null, "window_size": 5} |