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config.json

@@ -0,0 +1,183 @@
+{
+    "task": {
+        "dataset": {
+            "_target_": "datasets.droid.make_droid_rlds_dataset",
+            "dataset_id": "droid_rlds",
+            "data_dir": "/opt/ml/input/data/training",
+            "batch_size": 200,
+            "shape_meta": {
+                "obs": {
+                    "image": {
+                        "shape": [
+                            180,
+                            320,
+                            3
+                        ],
+                        "type": "rgb"
+                    },
+                    "wrist_image": {
+                        "shape": [
+                            180,
+                            320,
+                            3
+                        ],
+                        "type": "rgb"
+                    },
+                    "joint_position": {
+                        "shape": [
+                            7
+                        ],
+                        "type": "low_dim"
+                    },
+                    "gripper_position": {
+                        "shape": [
+                            1
+                        ],
+                        "type": "low_dim"
+                    }
+                },
+                "action": {
+                    "shape": [
+                        8
+                    ]
+                }
+            },
+            "obs_stack": 1,
+            "action_chunk": 16,
+            "shuffle_buffer_size": 100000,
+            "filter_dict_path": "/opt/ml/input/data/training/droid_sample_ranges_v1_0_1.json",
+            "normalize_action": true,
+            "delta_action": true,
+            "num_parallel_reads": 16
+        }
+    },
+    "wandb": {
+        "project": "latent-reasoning-icml",
+        "entity": "tri",
+        "job_type": "train",
+        "group": "lmp-policy-ppo",
+        "name": "alpha0.1_clipexpdiff0.05_ll0.01_s16v64_sig0.2-0.02_42",
+        "resume": false
+    },
+    "optimizer": {
+        "_target_": "common.optimization.get_optimizer",
+        "name": "AdamW",
+        "model": "???",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "obs_encoder_lr_scale": 0.1
+    },
+    "scheduler": {
+        "_target_": "common.optimization.get_scheduler",
+        "name": "constant",
+        "optimizer": "???",
+        "num_warmup_steps": 20
+    },
+    "algo": "lmp-policy-ppo",
+    "exp_id": "alpha0.1_clipexpdiff0.05_ll0.01_s16v64_sig0.2-0.02",
+    "seed": 42,
+    "logdir": "/opt/ml/checkpoints/lmp-policy-ppo/droid_rlds/alpha0.1_clipexpdiff0.05_ll0.01_s16v64_sig0.2-0.02/42",
+    "resume": false,
+    "use_amp": true,
+    "compile": false,
+    "pretrain_checkpoint_path": null,
+    "num_steps": 5000000,
+    "train_every": 3200,
+    "num_train_epochs": 2,
+    "eval_every": 128000,
+    "save_every": 128000,
+    "eval_rollout_every": 1000000,
+    "num_eval_rollouts": 20,
+    "rollout_batch_size": 200,
+    "train_batch_size": 64,
+    "clip_grad_norm": 1.0,
+    "free_nats_ratio": 0.05,
+    "clip_range": 0.05,
+    "alpha": 0.1,
+    "kl_coef": 1.0,
+    "ll_coef": 0.01,
+    "model": {
+        "_target_": "algorithms.latent_memory_palace.LatentMemoryPalacePolicy",
+        "obs_encoder": {
+            "_target_": "models.obs_encoders.SequenceObservationEncoder",
+            "shape_meta": {
+                "obs": {
+                    "image": {
+                        "shape": [
+                            180,
+                            320,
+                            3
+                        ],
+                        "type": "rgb"
+                    },
+                    "wrist_image": {
+                        "shape": [
+                            180,
+                            320,
+                            3
+                        ],
+                        "type": "rgb"
+                    },
+                    "joint_position": {
+                        "shape": [
+                            7
+                        ],
+                        "type": "low_dim"
+                    },
+                    "gripper_position": {
+                        "shape": [
+                            1
+                        ],
+                        "type": "low_dim"
+                    }
+                },
+                "action": {
+                    "shape": [
+                        8
+                    ]
+                }
+            },
+            "embed_dim": 768,
+            "num_timesteps": 1,
+            "resize_shape": [
+                240,
+                240
+            ],
+            "crop_shape": [
+                224,
+                224
+            ],
+            "random_crop": false,
+            "color_jitter": null,
+            "vision_backbone": "pi05",
+            "use_low_dim": true,
+            "use_language": true,
+            "pool_output": true,
+            "max_language_length": 64,
+            "num_film_layers": 2
+        },
+        "action_dim": 8,
+        "action_chunk": 16,
+        "seq_len": 16,
+        "vocab_size": 64,
+        "enc_embed_dim": 768,
+        "enc_depth": 12,
+        "enc_num_heads": 12,
+        "enc_mlp_ratio": 4.0,
+        "enc_num_registers": 1,
+        "dec_embed_dim": 768,
+        "dec_depth": 10,
+        "dec_num_heads": 12,
+        "dec_mlp_ratio": 4.0,
+        "sigma_max": 0.2,
+        "sigma_min": 0.02,
+        "sigma_type": "learned_grid",
+        "reg_type": "none",
+        "reg_coef": 0
+    }
+}

models.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e843a8d27290540d94762c74a23ce8086972dcf680d5b1807fb22ab6b57b64d3
+size 10160309896