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args.yaml

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+cfg_opts: ''
+cfg_path: spatial_actor/configs/spact.yaml
+ckpt_freq: 5
+data_folder: /data/data/rlbench
+device: 0,1,2,3,4,5,6,7
+iter_based: true
+log_dir: /data/ckpt/spact
+num_train: 100
+refresh_replay: false
+train_replay_dir: /data/data/spact-rlbench-replay

cfg.yaml

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+add_rgc_loss: true
+amp: true
+bnb: true
+bs: 8
+epochs: 50
+exp_id: base
+gt_hm_sigma: 1.5
+img_aug: 0.0
+lambda_weight_l2: 0.0001
+lr: 1.25e-05
+lr_cos_dec: true
+model:
+  activation: lrelu
+  add_corr: true
+  add_depth: true
+  add_pixel_loc: true
+  add_proprio: true
+  align_loss: 0.0
+  attn_dim: 512
+  attn_dim_head: 64
+  attn_dropout: 0.1
+  attn_heads: 8
+  dep_exp_path: /data/ckpt/spact/pretrained
+  dep_exp_type: DA-vitb
+  feat_dim: 220
+  final_dim: 64
+  geo_enc_type: RN50
+  im_channels: 128
+  img_feat_dim: 3
+  img_patch_size: 8
+  img_size: 224
+  lang_dim: 512
+  lang_len: 77
+  norm_corr: true
+  num_rot: 72
+  proprio_cat_dim: 64
+  proprio_dim: 4
+  reenc_text: false
+  rend_three_views: true
+  sem_enc_type: CLIP-RN101
+  spt_scene_layers: 4
+  spt_view_layers: 4
+  st_sca: 4
+  st_wpt_loc_aug: 0.05
+  st_wpt_loc_inp_no_noise: true
+  weight_tie_layers: false
+  xops: true
+move_pc_in_bound: true
+noise_type: none
+num_rotation_classes: 72
+num_workers: 8
+optimizer_type: lamb
+place_with_mean: false
+resume: last
+sample_distribution_mode: task_uniform
+tasks: all
+train_iter: 160000
+transform_augmentation: true
+transform_augmentation_rpy:
+- 0.0
+- 0.0
+- 45.0
+transform_augmentation_xyz:
+- 0.125
+- 0.125
+- 0.125
+warmup_steps: 2000
+

eval/rlbench_all/eval_cfg.yaml

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+device: 0
+episode_length: 25
+eval_datafolder: /data/data/rlbench/test
+eval_episodes: 25
+eval_log_dir: /data/ckpt/spact/base/eval/rlbench_all
+headless: true
+log_name: rlbench_all
+model_path: /data/ckpt/spact/base/model_45.pth
+save_video: false
+start_episode: 0
+tasks:
+- all

eval/rlbench_all/model_45/87.78.txt

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+Average Success Rate: 87.78

eval/rlbench_all/model_45/eval_results.csv

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+task,success rate,length,total_transitions
+put_item_in_drawer,100.0,13.0,325
+reach_and_drag,100.0,9.52,563
+turn_tap,88.0,4.8,683
+slide_block_to_color_target,96.0,7.76,877
+open_drawer,72.0,5.72,1020
+put_groceries_in_cupboard,76.0,8.48,1232
+place_shape_in_shape_sorter,84.0,9.4,1467
+put_money_in_safe,96.0,6.52,1630
+push_buttons,100.0,3.76,1825
+close_jar,92.0,6.8,1995
+stack_blocks,52.0,18.52,2335
+place_cups,72.0,19.6,2979
+place_wine_at_rack_location,92.0,8.44,3073
+light_bulb_in,92.0,7.24,3333
+sweep_to_dustpan_of_size,100.0,4.76,3452
+insert_onto_square_peg,96.0,6.2,3607
+meat_off_grill,96.0,6.2,3753
+stack_cups,76.0,14.64,4133

model_45.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:130d851cfca5bae16eda3923d20d51a487cd2bc1e39e0c26a00f06b2747ad3b6
+size 1355169216