backup: flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5 (update 8000 weights, config, statistics)
Browse files- flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/README.md +14 -0
- flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/config.yaml +621 -0
- flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/dataset_stats.json +3396 -0
- flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/launch_command.txt +1 -0
- flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/step_008000.pt +3 -0
flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/README.md
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# flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5
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FlexPI (Flex-pi on RoboTwin, Runjia's FlexPI 8k recipe) plus one generated stream, the robot-arm 3D track video
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(xyz-coloured, spaced points), trained jointly (PLAN task only) for 8000 updates.
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- Code: github.com/NIRVANALAN/vgg_forecast_4d, branch engs2907/dev, commit c6b2042f5a119adfde7f8b5801056bf342571cdb,
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folder reproduction/20261023_flexpi_robot_arm_track_video/ (config track_video_8000_updates).
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- Recipe: native_wan_actiondit init, global batch 64 (8 per GPU x 2 H200 x accumulation 4), lr 1e-4, 8000 updates, ZeRO-1.
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- `step_008000.pt`: model weights at update 8000 (no optimizer state). `config.yaml`: the resolved run config.
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`dataset_stats.json`: the normalization statistics. `launch_command.txt`: the exact launch.
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- Result (Runjia's 294 RoboTwin test windows, matched updates): tool-position error 15.0 mm vs FlexPI 8k 16.4 mm
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(paired -1.35 [-2.04, -0.68]); video PSNR 23.96 vs 23.84 dB; depth AbsRel 0.050 vs 0.051; DINO 0.849 vs 0.851.
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Backup copy; trained 2026-10-23/24.
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flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/config.yaml
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| 1 |
+
output_dir: /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_robotwin_robot_arm_track_video_8000_updates_20261023/c6b2042f5_wandb/run
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batch_size: 8
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| 3 |
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num_workers: 8
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| 4 |
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learning_rate: 0.0001
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| 5 |
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num_epochs: 20
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| 6 |
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max_steps: 8000
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log_every: 10
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| 8 |
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save_every: 1000
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| 9 |
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eval_every: 0
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eval_num_inference_steps: 25
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| 11 |
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keep_last_n_states: 1
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| 12 |
+
keep_last_n_weights: 0
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| 13 |
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eval_video: false
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| 14 |
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share_pca_basis: true
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| 15 |
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gradient_accumulation_steps: 4
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| 16 |
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mixed_precision: bf16
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| 17 |
+
seed: 42
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| 18 |
+
max_grad_norm: 1.0
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| 19 |
+
weight_decay: 0.01
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| 20 |
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resume: null
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| 21 |
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resume_reanchor_lr_schedule: false
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| 22 |
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resume_config_source: current
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| 23 |
+
pretrained_ckpt: null
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| 24 |
+
pretrained_ckpt_strict_shape: false
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| 25 |
+
wandb:
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| 26 |
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enabled: true
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| 27 |
+
workspace: null
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| 28 |
+
project: omni4d-robotwin
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| 29 |
+
name: flexpi_track_video_xyz_spaced_8000_c6b2042f5
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| 30 |
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group: flexpi_track_video
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| 31 |
+
mode: online
|
| 32 |
+
data:
|
| 33 |
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train:
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| 34 |
+
_target_: track_video_dataset.TrackVideoRobotwinDataset
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| 35 |
+
depth_codec: ffv1
|
| 36 |
+
dataset_dirs:
|
| 37 |
+
- /datasets/engs2907/FlexPi/robotwin_3d
|
| 38 |
+
shape_meta:
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| 39 |
+
images:
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| 40 |
+
- key: cam_high
|
| 41 |
+
raw_shape:
|
| 42 |
+
- 3
|
| 43 |
+
- 240
|
| 44 |
+
- 320
|
| 45 |
+
shape:
|
| 46 |
+
- 3
|
| 47 |
+
- 240
|
| 48 |
+
- 320
|
| 49 |
+
- key: cam_left_wrist
|
| 50 |
+
raw_shape:
|
| 51 |
+
- 3
|
| 52 |
+
- 240
|
| 53 |
+
- 320
|
| 54 |
+
shape:
|
| 55 |
+
- 3
|
| 56 |
+
- 240
|
| 57 |
+
- 320
|
| 58 |
+
- key: cam_right_wrist
|
| 59 |
+
raw_shape:
|
| 60 |
+
- 3
|
| 61 |
+
- 240
|
| 62 |
+
- 320
|
| 63 |
+
shape:
|
| 64 |
+
- 3
|
| 65 |
+
- 240
|
| 66 |
+
- 320
|
| 67 |
+
depth:
|
| 68 |
+
- key: cam_high
|
| 69 |
+
raw_shape:
|
| 70 |
+
- 1
|
| 71 |
+
- 240
|
| 72 |
+
- 320
|
| 73 |
+
shape:
|
| 74 |
+
- 1
|
| 75 |
+
- 240
|
| 76 |
+
- 320
|
| 77 |
+
- key: cam_left_wrist
|
| 78 |
+
raw_shape:
|
| 79 |
+
- 1
|
| 80 |
+
- 240
|
| 81 |
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split_manifest: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/flexpi_robotwin_robot_arm_track_video_20261023/split_manifest.json
|
| 208 |
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split_role: train
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calibration_root: /datasets/engs2907/FlexPi/robotwin_3d/calibration
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|
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embodiment_root: /scratch/shared/engs2907/checkouts/robotwin_objects_b5230d8b_266f3aad/RoboTwin/assets/embodiments/aloha-agilex
|
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val:
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_target_: track_video_dataset.TrackVideoRobotwinDataset
|
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depth_codec: ffv1
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- /datasets/engs2907/FlexPi/robotwin_3d
|
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_target_: flexpi.datasets.lerobot.processors.flexpi_processor.FlexPiProcessor
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| 407 |
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|
| 409 |
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| 410 |
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|
| 415 |
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|
| 422 |
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|
| 423 |
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split_role: held_out
|
| 424 |
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|
| 425 |
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calibration_root: /datasets/engs2907/FlexPi/robotwin_3d/calibration
|
| 426 |
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robot_arm_track_video:
|
| 427 |
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|
| 428 |
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embodiment_root: /scratch/shared/engs2907/checkouts/robotwin_objects_b5230d8b_266f3aad/RoboTwin/assets/embodiments/aloha-agilex
|
| 429 |
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|
| 444 |
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xyz_normalization: quantile_0.02_0.98
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| 446 |
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wrist_dense_links:
|
| 453 |
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|
| 454 |
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| 455 |
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| 456 |
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|
| 457 |
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|
| 458 |
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ring_radius_px: 3
|
| 461 |
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ring_width_px: 1
|
| 462 |
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query_draw: fixed
|
| 463 |
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model:
|
| 464 |
+
_target_: flexpi_track_video.create_flexpi_track_video
|
| 465 |
+
model_id: Wan-AI/Wan2.2-TI2V-5B
|
| 466 |
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tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
|
| 467 |
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tokenizer_max_len: 128
|
| 468 |
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load_text_encoder: false
|
| 469 |
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proprio_dim: 14
|
| 470 |
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redirect_common_files: true
|
| 471 |
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mot_checkpoint_mixed_attn: true
|
| 472 |
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action_dit_pretrained_path: /scratch/shared/shug6902/logs/vgg_forecast_4d/cache/flexpi_robotwin_native_training_20261019/models/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt
|
| 473 |
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skip_dit_load_from_pretrain: false
|
| 474 |
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dino_dim: 768
|
| 475 |
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dino_model_name: vit_base_patch16_dinov3.lvd1689m
|
| 476 |
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composite_layout: tshape_robotwin_384x320_uniform
|
| 477 |
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|
| 478 |
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dino_cam_regions: null
|
| 479 |
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dino_temporal_stride: 1
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| 480 |
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dino_stride_keep_far: true
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| 481 |
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dino_pred_x0: true
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| 482 |
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dino_pool_mode: avg
|
| 483 |
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freeze_dino_encoder: true
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| 484 |
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dino_pixel_unshuffle: 2
|
| 485 |
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enable_pointmap: true
|
| 486 |
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pointmap_max_depth_m: 2.0
|
| 487 |
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pointmap_norm_bounds:
|
| 488 |
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x:
|
| 489 |
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'y':
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| 492 |
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z:
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| 495 |
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| 496 |
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|
| 497 |
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pointmap_depth_vis_mode: turbo
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| 498 |
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joint_video: true
|
| 499 |
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joint_dino: true
|
| 500 |
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joint_pointmap: true
|
| 501 |
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flex_joint:
|
| 502 |
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enabled: true
|
| 503 |
+
p_present_video: 0.5
|
| 504 |
+
p_present_dino: 0.5
|
| 505 |
+
p_present_pointmap: 0.5
|
| 506 |
+
p_jv: 0.5
|
| 507 |
+
p_jd: 0.5
|
| 508 |
+
p_jp: 0.5
|
| 509 |
+
cross_modal_predict_video: true
|
| 510 |
+
cross_modal_predict_dino: true
|
| 511 |
+
cross_modal_predict_pointmap: true
|
| 512 |
+
video_dit_config:
|
| 513 |
+
has_image_input: false
|
| 514 |
+
patch_size:
|
| 515 |
+
- 1
|
| 516 |
+
- 2
|
| 517 |
+
- 2
|
| 518 |
+
in_dim: 48
|
| 519 |
+
hidden_dim: 3072
|
| 520 |
+
ffn_dim: 14336
|
| 521 |
+
freq_dim: 256
|
| 522 |
+
text_dim: 4096
|
| 523 |
+
out_dim: 48
|
| 524 |
+
num_heads: 24
|
| 525 |
+
attn_head_dim: 128
|
| 526 |
+
num_layers: 30
|
| 527 |
+
eps: 1.0e-06
|
| 528 |
+
seperated_timestep: true
|
| 529 |
+
require_clip_embedding: false
|
| 530 |
+
require_vae_embedding: false
|
| 531 |
+
fuse_vae_embedding_in_latents: true
|
| 532 |
+
use_gradient_checkpointing: true
|
| 533 |
+
video_attention_mask_mode: first_frame_causal
|
| 534 |
+
action_conditioned: false
|
| 535 |
+
action_dim: 14
|
| 536 |
+
action_group_causal_mask_mode: group_diagonal
|
| 537 |
+
action_dit_config:
|
| 538 |
+
action_dim: 14
|
| 539 |
+
hidden_dim: 1024
|
| 540 |
+
ffn_dim: 4096
|
| 541 |
+
num_heads: 24
|
| 542 |
+
attn_head_dim: 128
|
| 543 |
+
num_layers: 30
|
| 544 |
+
text_dim: 4096
|
| 545 |
+
freq_dim: 256
|
| 546 |
+
eps: 1.0e-06
|
| 547 |
+
use_gradient_checkpointing: true
|
| 548 |
+
video_scheduler:
|
| 549 |
+
train_shift: 6.0
|
| 550 |
+
infer_shift: 6.0
|
| 551 |
+
num_train_timesteps: 1000
|
| 552 |
+
action_scheduler:
|
| 553 |
+
train_shift: 1.0
|
| 554 |
+
infer_shift: 1.0
|
| 555 |
+
num_train_timesteps: 1000
|
| 556 |
+
dino_scheduler:
|
| 557 |
+
train_shift: 6.0
|
| 558 |
+
infer_shift: 6.0
|
| 559 |
+
num_train_timesteps: 1000
|
| 560 |
+
pointmap_scheduler:
|
| 561 |
+
train_shift: 6.0
|
| 562 |
+
infer_shift: 6.0
|
| 563 |
+
num_train_timesteps: 1000
|
| 564 |
+
loss:
|
| 565 |
+
lambda_action: 1.0
|
| 566 |
+
lambda_dino: 1.0
|
| 567 |
+
lambda_pointmap: 1.0
|
| 568 |
+
hbridge:
|
| 569 |
+
enabled: true
|
| 570 |
+
bottom_ratio: 0.25
|
| 571 |
+
top_ratio: 0.25
|
| 572 |
+
track_video:
|
| 573 |
+
attention: visual_stream
|
| 574 |
+
sparse_action: true
|
| 575 |
+
train_shift: 6.0
|
| 576 |
+
infer_shift: 6.0
|
| 577 |
+
loss_lambda: 1.0
|
| 578 |
+
minimum_learning_rate: 1.0e-06
|
| 579 |
+
training_scope: FlexPI 8k's own start (native Wan + ActionDiT) and recipe for 8000
|
| 580 |
+
updates, the sparse action on and every FlexPI stream as in FlexPI 8k, plus the
|
| 581 |
+
robot-arm track video (track_video_encoding; queries drawn every read, first frame
|
| 582 |
+
given); FlexPI 8k is the matched control
|
| 583 |
+
native_control_fps: 50
|
| 584 |
+
action_dimension: 14
|
| 585 |
+
initialization: native_wan_actiondit
|
| 586 |
+
track_video_encoding:
|
| 587 |
+
record_root: /scratch/shared/engs2907/logs/vgg_forecast_4d/data/robotwin_robot_records_all_tasks_7bf528a2_20261023
|
| 588 |
+
embodiment_root: /scratch/shared/engs2907/checkouts/robotwin_objects_b5230d8b_266f3aad/RoboTwin/assets/embodiments/aloha-agilex
|
| 589 |
+
surface_points: 8192
|
| 590 |
+
min_surface_points_per_body: 16
|
| 591 |
+
query_count:
|
| 592 |
+
- 64
|
| 593 |
+
- 256
|
| 594 |
+
camera_query_quota:
|
| 595 |
+
- 224
|
| 596 |
+
- 16
|
| 597 |
+
- 16
|
| 598 |
+
min_visible_queries: 16
|
| 599 |
+
query_draw: per_read
|
| 600 |
+
query_seed: 0
|
| 601 |
+
visibility_margin_m: 0.01
|
| 602 |
+
pixel_center: 0.0
|
| 603 |
+
colouring: frame0_head_xyz
|
| 604 |
+
xyz_normalization: quantile_0.02_0.98
|
| 605 |
+
hues: null
|
| 606 |
+
neighbour_px: null
|
| 607 |
+
colour_floor: 0.2
|
| 608 |
+
min_gap_px:
|
| 609 |
+
- 8
|
| 610 |
+
- 6
|
| 611 |
+
- 6
|
| 612 |
+
wrist_dense_links:
|
| 613 |
+
- fl_link7
|
| 614 |
+
- fl_link8
|
| 615 |
+
- fr_link7
|
| 616 |
+
- fr_link8
|
| 617 |
+
wrist_dense_points: 16384
|
| 618 |
+
disc_radius_px: 2
|
| 619 |
+
occluded_style: ring
|
| 620 |
+
ring_radius_px: 3
|
| 621 |
+
ring_width_px: 1
|
flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/dataset_stats.json
ADDED
|
@@ -0,0 +1,3396 @@
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|
flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/launch_command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
srun --jobid=63096 --overlap --exact --ntasks=1 --cpus-per-task=32 --mem=280000M --gres=gpu:2 --cpu-bind=none --job-name=flexpi_track_video_8000 bash /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_robotwin_robot_arm_track_video_8000_updates_20261023/c6b2042f5_wandb/run_track_video_training_c6b2042f5.sh c6b2042f5a119adfde7f8b5801056bf342571cdb track_video_8000_updates output_dir=/scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_robotwin_robot_arm_track_video_8000_updates_20261023/c6b2042f5_wandb/run wandb.enabled=true wandb.project=omni4d-robotwin wandb.name=flexpi_track_video_xyz_spaced_8000_c6b2042f5 wandb.group=flexpi_track_video
|
flexpi_robotwin_robot_arm_track_video_xyz_spaced_8000_updates_c6b2042f5/step_008000.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:1fc608348914206b0a71090798e3fa7a1b14121da00895e721421324c9eebe64
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| 3 |
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size 12084345145
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