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config.json

@@ -0,0 +1,185 @@
+{
+    "task": {
+        "dataset": {
+            "_target_": "datasets.make_dataset",
+            "seq_len": 1,
+            "pad_mode": "none",
+            "val_ratio": 0.01,
+            "obs_stack": 1,
+            "action_chunk": 16,
+            "to_memory": false,
+            "dataset_id": "libero-90",
+            "data_paths": "/opt/ml/input/data/training/libero_90/*.hdf5",
+            "buffer_dir": "/tmp/buffers/libero_90/",
+            "shape_meta": {
+                "obs": {
+                    "agentview_rgb": {
+                        "shape": [
+                            128,
+                            128,
+                            3
+                        ],
+                        "type": "rgb"
+                    },
+                    "eye_in_hand_rgb": {
+                        "shape": [
+                            128,
+                            128,
+                            3
+                        ],
+                        "type": "rgb"
+                    }
+                },
+                "action": {
+                    "shape": [
+                        7
+                    ]
+                }
+            },
+            "batch_size": 200
+        },
+        "env": {
+            "_target_": "environments.make_env",
+            "seed": 42,
+            "obs_stack": 1,
+            "action_chunk": 16,
+            "env_id": "libero-test",
+            "hdf5_path": "/opt/ml/input/data/training/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl_demo.hdf5",
+            "shape_meta": {
+                "obs": {
+                    "agentview_rgb": {
+                        "shape": [
+                            128,
+                            128,
+                            3
+                        ],
+                        "type": "rgb"
+                    },
+                    "eye_in_hand_rgb": {
+                        "shape": [
+                            128,
+                            128,
+                            3
+                        ],
+                        "type": "rgb"
+                    }
+                },
+                "action": {
+                    "shape": [
+                        7
+                    ]
+                }
+            },
+            "max_episode_steps": 1000
+        }
+    },
+    "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": "clipexpdiff0.05_ll0.01_s16v16_sig0.1-0.01",
+    "seed": 42,
+    "logdir": "/opt/ml/checkpoints/lmp-policy-ppo/libero_90/clipexpdiff0.05_ll0.01_s16v16_sig0.1-0.01/42",
+    "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": 500000,
+    "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": {
+                    "agentview_rgb": {
+                        "shape": [
+                            128,
+                            128,
+                            3
+                        ],
+                        "type": "rgb"
+                    },
+                    "eye_in_hand_rgb": {
+                        "shape": [
+                            128,
+                            128,
+                            3
+                        ],
+                        "type": "rgb"
+                    }
+                },
+                "action": {
+                    "shape": [
+                        7
+                    ]
+                }
+            },
+            "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": 7,
+        "action_chunk": 16,
+        "seq_len": 16,
+        "vocab_size": 16,
+        "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": 0.1,
+        "sigma_min": 0.01,
+        "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 sha256:45893c0553a8f6c5b6b4dbb1d9f4c9cceb0f51334042e34a6fa6234972a1a751
+size 10114863648