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tool_hang_img/.hydra/config.yaml

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+_target_: agent.pretrain.train_flow_matching_img_agent.TrainFlowMatchingImgAgent
+name: ${env_name}_pre_flow_matching_mlp_img_ta${horizon_steps}_td${flow_steps}
+logdir: ${oc.env:DICE_RL_LOG_DIR}/robomimic-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}-img.json
+train_dataset_path: data_dir/robomimic/${env_name}-img/ph_pretrain/train.npz
+normalization_path: data_dir/robomimic/${env_name}-img/ph_pretrain/normalization.npz
+seed: 42
+device: cuda:0
+env_name: tool_hang
+obs_dim: 9
+action_dim: 7
+use_6d_rot: false
+abs_action: false
+flow_steps: 20
+horizon_steps: 8
+cond_steps: 1
+img_cond_steps: 1
+act_steps: 8
+env:
+  n_envs: 10
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 700
+  save_video: true
+  use_image_obs: true
+  wrappers:
+    robomimic_image:
+      normalization_path: ${normalization_path}
+      low_dim_keys:
+      - robot0_eef_pos
+      - robot0_eef_quat
+      - robot0_gripper_qpos
+      image_keys:
+      - sideview_image
+      - robot0_eye_in_hand_image
+      shape_meta: ${shape_meta}
+      use_6d_rot: ${use_6d_rot}
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: true
+shape_meta:
+  obs:
+    rgb:
+      shape:
+      - 240
+      - 240
+      - 6
+    state:
+      shape:
+      - 9
+  action:
+    shape:
+    - 7
+wandb:
+  entity: ${oc.env:DICE_RL_WANDB_ENTITY}
+  project: robomimic-${env_name}-pretrain
+  run: ${now:%H-%M-%S}_${name}
+train:
+  n_epochs: 8000
+  batch_size: 64
+  learning_rate: 0.0001
+  weight_decay: 1.0e-06
+  lr_scheduler:
+    first_cycle_steps: 10000
+    warmup_steps: 100
+    min_lr: 1.0e-05
+  epoch_start_ema: 20
+  update_ema_freq: 10
+  save_model_freq: 200
+  render:
+    freq: 2
+    num: 2
+model:
+  _target_: model.flow_matching.flow_matching.FlowMatchingModel
+  network:
+    _target_: model.flow_matching.vision_resnet_mlp_flow_matching.VisionResNetFlowMatchingMLP
+    num_img: 2
+    spatial_emb: 64
+    time_dim: 64
+    dropout: 0.1
+    visual_feature_dim: 128
+    fused_feature_dim: 128
+    img_cond_steps: ${img_cond_steps}
+    cond_dim: 9
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    img_height: 240
+    img_width: 240
+    num_kp: 32
+    unet_base_channels: 128
+    unet_channel_mults:
+    - 1
+    - 2
+    - 2
+    use_augmentation: true
+    crop_height: 216
+    crop_width: 216
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  flow_steps: ${flow_steps}
+  integration_method: euler
+  schedule: linear
+  t_sampling: uniform
+  weight_method: none
+  device: ${device}
+ema:
+  inv_gamma: 1.0
+  max_value: 0.9999
+  min_value: 0.0
+  power: 0.75
+  update_after_step: 0
+train_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceDataset
+  use_img: true
+  dataset_path: ${train_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  img_cond_steps: ${img_cond_steps}
+  device: ${device}
+  max_n_episodes: 50
+  use_6d_rot: ${use_6d_rot}
+  abs_action: ${abs_action}

tool_hang_img/.hydra/hydra.yaml

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+hydra:
+  run:
+    dir: ${logdir}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task: []
+  job:
+    name: run
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: pre_flow_matching_mlp_img
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /store/real/zhanyis/dice-rl
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /store/real/zhanyis/dice-rl/cfg
+      schema: file
+      provider: main
+    - path: /store/real/zhanyis/dice-rl/cfg/robomimic/pretrain/tool_hang
+      schema: file
+      provider: command-line
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /store/real/zhanyis/dice-rl/log_dir/robomimic-pretrain/tool_hang_pre_flow_matching_mlp_img_ta8_td20/2026-01-06_22-40-12_42
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

tool_hang_img/.hydra/overrides.yaml

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+[]

tool_hang_img/checkpoint/state_1400.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e56f77fa72bbd6036b6af5de3b9642ecf8199ae1ab15c5ad95dc89664f4573c9
+size 207871790