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Browse files- config.json +87 -0
- models.pt +3 -0
config.json
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{
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"task": {
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"dataset": {
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"_target_": "datasets.make_dataset",
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"seq_len": 1,
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"pad_mode": "none",
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"val_ratio": 0.05,
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"obs_stack": null,
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"action_chunk": 16,
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"to_memory": true,
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"dataset_id": "robomimic-all_actions-ph",
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"data_paths": [
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"/home/ubuntu/robomimic/datasets/lift/ph/image_v15.hdf5",
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"/home/ubuntu/robomimic/datasets/can/ph/image_v15.hdf5",
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"/home/ubuntu/robomimic/datasets/square/ph/image_v15.hdf5",
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"/home/ubuntu/robomimic/datasets/tool_hang/ph/image_v15.hdf5"
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],
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"buffer_dir": "buffers/robomimic/all_actions/ph/",
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"shape_meta": {
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"obs": {},
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"action": {
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"shape": [
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7
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]
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}
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},
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"normalize_low_dim": true
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}
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},
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"optimizer": {
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"_target_": "common.optimization.get_optimizer",
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"name": "AdamW",
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"model": "???",
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"lr": 0.0001,
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"weight_decay": 1e-06,
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"betas": [
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0.9,
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0.999
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],
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"eps": 1e-08
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},
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"scheduler": {
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"_target_": "common.optimization.get_scheduler",
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"name": "constant",
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"optimizer": "???"
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},
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"algo": "lmp-vae",
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"exp_id": "benchmark",
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"seed": 42,
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"logdir": "/home/ubuntu/logdir/lmp-vae/robomimic_all_actions/benchmark/42",
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"resume": false,
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"use_amp": false,
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"compile": true,
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"num_steps": 25000000,
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"train_every": 25000,
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"num_train_epochs": 2,
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"eval_every": 1000000,
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"save_every": 1000000,
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"eval_rollout_every": 1000000,
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"num_eval_rollouts": 20,
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"rollout_batch_size": 500,
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"train_batch_size": 500,
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"clip_grad_norm": 1.0,
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"free_nats_ratio": 0.2,
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"clip_range": 0.01,
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"kl_coef": 0.1,
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"ll_coef": 1.0,
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"model": {
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"_target_": "algorithms.latent_memory_palace.LatentMemoryPalaceVAE",
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"action_dim": 7,
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"action_chunk": 16,
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"seq_len": 8,
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"vocab_size": 64,
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"enc_embed_dim": 384,
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"enc_depth": 8,
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"enc_num_heads": 8,
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"enc_mlp_ratio": 4.0,
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"enc_num_registers": 1,
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"dec_embed_dim": 384,
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"dec_depth": 6,
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"dec_num_heads": 8,
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"dec_mlp_ratio": 4.0,
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"sigma_max": 1.0,
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"sigma_min": 1.0,
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"sigma_type": "learned_scalar"
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}
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}
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models.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:463660d6564ecc761f62756413529ab3b10e2db7c925a30793fdec0dd2a15671
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size 350464750
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