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cortex_chunk8/args.json

@@ -0,0 +1,151 @@
+{
+  "model": "cortex",
+  "list_models": false,
+  "train_path": "",
+  "val_path": "",
+  "multitask": true,
+  "train_paths": "/public/home/tianzhechu/beingh_stuff/easy_mode/0/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/1/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/10/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/11/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/12/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/13/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/2/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/3/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/4/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/5/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/6/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/7/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/8/pick_up_card_train_100/;/public/home/tianzhechu/beingh_stuff/easy_mode/9/pick_up_card_train_100/",
+  "val_paths": "/public/home/tianzhechu/beingh_stuff/easy_mode/0/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/1/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/10/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/11/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/12/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/13/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/2/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/3/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/4/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/5/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/6/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/7/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/8/pick_up_card_test/;/public/home/tianzhechu/beingh_stuff/easy_mode/9/pick_up_card_test/",
+  "feature_dir": "",
+  "val_feature_dir": "",
+  "feature_dirs": "",
+  "val_feature_dirs": "",
+  "representation_type": "img-depth-pos",
+  "camera_indices": "012",
+  "rgb_encoder": "siglip_so400m",
+  "depth_encoder": "resnet18",
+  "freeze_rgb_encoder": true,
+  "freeze_depth_encoder": false,
+  "precompute_rgb_features": false,
+  "fuse_rgbd": false,
+  "rgb_per_cam_output": 128,
+  "depth_per_cam_output": 32,
+  "pos_output_size": 128,
+  "eef_output_size": 32,
+  "hand_pos_output_size": 96,
+  "efforts_output_size": 64,
+  "velocity_output_size": 64,
+  "touch_output_size": 64,
+  "enable_crop": false,
+  "crop_size": "216,288",
+  "enable_downsample": false,
+  "downsample_size": "240,320",
+  "use_instruction": false,
+  "use_text_instruction": false,
+  "text_encoder": "clip",
+  "instructions_file": "workflow/instructions.json",
+  "num_instructions": 32,
+  "instruction_embed_dim": 128,
+  "obs_horizon": 1,
+  "action_horizon": 32,
+  "pred_horizon": 64,
+  "action_dim": 30,
+  "epochs": 100,
+  "batch_size": 128,
+  "gradient_accumulation_steps": 2,
+  "lr": 0.0001,
+  "weight_decay": 1e-05,
+  "num_workers": 16,
+  "pin_memory": true,
+  "load_img": true,
+  "isolate_episodes": true,
+  "gpu": "0",
+  "lazy_loading": true,
+  "cache_on_gpu": false,
+  "gradient_checkpointing": false,
+  "lr_schedule": "none",
+  "warmup_steps": 500,
+  "save_path": "/public/home/tianzhechu/checkpoints/cortex_chunk8",
+  "save_freq": 5,
+  "eval_freq": 5,
+  "resume": "",
+  "pretrained_ckpt": "",
+  "num_diffusion_iters": 100,
+  "use_ddim": false,
+  "diffusion_model_type": "auto",
+  "transformer_hidden_size": 256,
+  "transformer_depth": 8,
+  "transformer_num_heads": 4,
+  "transformer_causal_attn": true,
+  "transformer_n_cond_layers": 4,
+  "dp_cond_mask_prob": 0.0,
+  "dp_dedicated_instr_token": false,
+  "act_hidden_dim": 512,
+  "act_num_heads": 8,
+  "act_latent_dim": 32,
+  "act_kl_weight": 10.0,
+  "act_cond_mask_prob": 0.0,
+  "baku_hidden_size": 256,
+  "baku_depth": 8,
+  "baku_num_heads": 4,
+  "baku_ff_dim": 0,
+  "baku_dropout": 0.1,
+  "baku_use_film": true,
+  "rdt_text_encoder": "t5_xxl",
+  "rdt_token_max_len": 120,
+  "rdt_hidden_size": 512,
+  "rdt_depth": 12,
+  "rdt_num_heads": 8,
+  "rdt_ff_dim": 0,
+  "rdt_dropout": 0.0,
+  "rdt_num_diffusion_iters": 1000,
+  "rdt_num_inference_iters": 5,
+  "rdt_inference_scheduler": "dpmsolver",
+  "rdt_prediction_type": "sample",
+  "rdt_cond_mask_prob": 0.0,
+  "rdt_siglip_raw_dim": 1152,
+  "rdt_siglip_resolution": 384,
+  "rdt_siglip_pool_patches": 0,
+  "rdt_prop_dim": 30,
+  "rdt_ctrl_freq": 1.0,
+  "rdt_max_lang_cond_len": 1024,
+  "rdt_max_img_cond_len": 4368,
+  "dpmax_hidden_size": 512,
+  "dpmax_depth": 8,
+  "dpmax_num_heads": 8,
+  "dpmax_ff_dim": 0,
+  "dpmax_dropout": 0.0,
+  "dpmax_cond_mask_prob": 0.0,
+  "dpmax_dinov2_raw_dim": 1024,
+  "dpmax_prop_dim": 30,
+  "cortex_hidden_size": 768,
+  "cortex_depth": 12,
+  "cortex_num_heads": 12,
+  "cortex_ff_dim": 0,
+  "cortex_dropout": 0.0,
+  "cortex_siglip_raw_dim": 1152,
+  "cortex_prop_dim": 30,
+  "cortex_text_token_max_len": 64,
+  "cortex_num_diffusion_iters": 1000,
+  "cortex_num_inference_iters": 5,
+  "cortex_inference_scheduler": "dpmsolver",
+  "cortex_prediction_type": "sample",
+  "cortex_cond_mask_prob": 0.0,
+  "cortex_refiner_hidden": 256,
+  "cortex_refiner_depth": 3,
+  "cortex_refiner_weight": 1.0,
+  "cortex_refiner_clean_prob": 0.1,
+  "cortex_refine_chunk_size": 8,
+  "cortex_dp_cond_mask_prob": 0.0,
+  "cortex_dp_dedicated_instr_token": false,
+  "cortex_dp_prop_dim": 30,
+  "cortex_dp_refiner_hidden": 256,
+  "cortex_dp_refiner_depth": 3,
+  "cortex_dp_refiner_weight": 1.0,
+  "cortex_dp_refiner_clean_prob": 0.1,
+  "cortex_dp_refine_chunk_size": 1,
+  "beingh_pretrained_path": "",
+  "beingh_freeze_llm": false,
+  "beingh_freeze_vit": true,
+  "beingh_freeze_connector": false,
+  "beingh_prop_dim": 30,
+  "beingh_num_inference_steps": 4,
+  "beingh_cond_mask_prob": 0.1,
+  "use_amp": true,
+  "compile": false,
+  "use_wandb": true,
+  "wandb_project": "TexasPoker_Cortex",
+  "wandb_entity": "winniechen2002",
+  "wandb_exp_name": "cortex_chunk8_0417_1730",
+  "_epoch": 99
+}