Upload training config

config.yaml

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+policy:
+  name: acp
+  _target_: force_il.policies.acp.ACPPolicy
+  action_dim: 19
+  pred_horizon: 16
+  obs_horizon: 2
+  action_horizon: 16
+  vision_encoder_name: vit_base_patch32_clip_224.openai
+  vision_pretrained: true
+  vision_output_dim: 768
+  wrench_encoding: causalconv
+  wrench_window_size: 256
+  wrench_freq: 5000.0
+  wrench_output_dim: 384
+  fuse_mode: modality-attention
+  obs_num_rgb_frames: 2
+  include_low_dim: true
+  low_dim_eef_pos_horizon: 3
+  low_dim_eef_pos_dim: 3
+  low_dim_eef_rot_horizon: 3
+  low_dim_eef_rot_dim: 6
+  num_diffusion_steps: 50
+  noise_scheduler: ddim
+  unet_down_dims:
+  - 256
+  - 512
+  - 1024
+  diffusion_step_embed_dim: 32
+  unet_kernel_size: 5
+  unet_n_groups: 8
+  cond_predict_scale: true
+  input_perturbation: 0.1
+  unified_action: true
+  unified_action_dim: 19
+  pose_dim: 9
+  vt_dim: 9
+  stiffness_dim: 1
+  predict_virtual_target: false
+  predict_stiffness: false
+  default_stiffness: 100.0
+  num_inference_steps: 16
+task:
+  name: flip_up
+  dataset_path: data/flip_up_230/flip_up_new_v5
+  action_dim: 19
+  obs_horizon: 2
+  eef_obs_horizon: 3
+  eef_down_sample_steps: 5
+  pred_horizon: 16
+  action_horizon: 16
+  action_down_sample_steps: 50
+  wrench_horizon: 32
+  wrench_down_sample_steps: 4
+  query_down_sample_steps: 8
+  image_size: 224
+  val_ratio: 0.05
+data:
+  _target_: force_il.data.acp_dataset.ACPEpisodeDataset
+  dataset_path: data/flip-20e_acp
+  pred_horizon: 16
+  obs_horizon: 2
+  rgb_down_sample_steps: 10
+  eef_obs_horizon: 3
+  eef_down_sample_steps: 5
+  action_down_sample_steps: 50
+  wrench_horizon: 32
+  wrench_down_sample_steps: 4
+  query_down_sample_steps: 8
+  image_size: 224
+  val_ratio: 0.05
+  seed: 42
+  is_val: false
+  relative_actions: true
+train:
+  epochs: 300
+  batch_size: 128
+  gradient_accumulation: 1
+  optimizer:
+    _target_: torch.optim.AdamW
+    lr: 0.0003
+    weight_decay: 1.0e-06
+    betas:
+    - 0.95
+    - 0.999
+  scheduler:
+    type: cosine
+    warmup_steps: 2000
+    min_lr: 1.0e-06
+  encoder_lr_scale: 0.1
+  mixed_precision: fp16
+  use_ema: true
+  ema_decay: 0.9999
+  ema_power: 0.75
+  ema_update_after_step: 0
+  log_interval: 50
+  use_wandb: true
+  wandb_project: force_il
+  wandb_name: null
+  val_every: 5
+  sample_every: 5
+  val_interval: 500
+  checkpoint_interval: 10
+  save_best: true
+  best_checkpoint_monitor: train_loss
+  num_workers: 8
+  pin_memory: true
+  prefetch_factor: 2
+  normalizer_use_full_dataset: false
+  upload_to_hf: true
+  hf_repo_id: tangPR/acp-flip-up
+  seed: 42
+experiment_name: acp_flip_up
+seed: 42
+validate:
+  checkpoint: null
+  num_samples: 5
+  output_dir: ./validation_plots
+  use_train_split: false
+output_dir: outputs/2026-03-23/acp_flip_up_204825
+checkpoint_dir: outputs/2026-03-23/acp_flip_up_204825/checkpoints
+log_dir: outputs/2026-03-23/acp_flip_up_204825/logs