| callbacks: | |
| ema: | |
| _target_: flower.callbacks.ema.EMA | |
| decay: 0.999 | |
| start_step: 0 | |
| save_ema_weights_in_callback_state: true | |
| evaluate_ema_weights_instead: true | |
| power: 0.6666666666666666 | |
| inv_gamma: 1.0 | |
| min_value: 0.0 | |
| max_value: 0.9999 | |
| rollout_lh: | |
| _target_: flower.rollout.libero_rollout.RolloutLibero | |
| _recursive_: false | |
| env_cfg: | |
| _target_: flower.wrappers.hulc_wrapper.HulcWrapper | |
| skip_epochs: ${rollout_lh_skip_epochs} | |
| benchmark_name: ${libero_benchmark} | |
| rollout_freq: 10 | |
| num_videos: 0 | |
| num_sequences: 50 | |
| max_steps: 520 | |
| empty_cache: false | |
| debug: false | |
| n_eval: 50 | |
| num_procs: 10 | |
| use_mp: false | |
| task_embedding_format: clip | |
| device: ${device} | |
| checkpoint: | |
| _target_: pytorch_lightning.callbacks.ModelCheckpoint | |
| save_top_k: 1 | |
| verbose: true | |
| monitor: eval_lh/avg_seq_len | |
| mode: max | |
| dirpath: saved_models | |
| filename: '{epoch:02d}_{eval_lh/avg_seq_len:.2f}' | |
| every_n_epochs: ${callbacks.rollout_lh.rollout_freq} | |
| datamodule: | |
| transforms: | |
| train: | |
| rgb_static: | |
| - _target_: torchvision.transforms.Resize | |
| size: 112 | |
| antialias: true | |
| - _target_: flower.utils.transforms.RandomShiftsAug | |
| pad: 10 | |
| - _target_: flower.utils.transforms.ScaleImageTensor | |
| - _target_: torchvision.transforms.Normalize | |
| mean: | |
| - 0.48145466 | |
| - 0.4578275 | |
| - 0.40821073 | |
| std: | |
| - 0.26862954 | |
| - 0.26130258 | |
| - 0.27577711 | |
| rgb_gripper: | |
| - _target_: torchvision.transforms.Resize | |
| size: 112 | |
| antialias: true | |
| - _target_: flower.utils.transforms.RandomShiftsAug | |
| pad: 4 | |
| - _target_: flower.utils.transforms.ScaleImageTensor | |
| - _target_: torchvision.transforms.Normalize | |
| mean: | |
| - 0.48145466 | |
| - 0.4578275 | |
| - 0.40821073 | |
| std: | |
| - 0.26862954 | |
| - 0.26130258 | |
| - 0.27577711 | |
| val: | |
| rgb_static: | |
| - _target_: torchvision.transforms.Resize | |
| size: 112 | |
| antialias: true | |
| - _target_: flower.utils.transforms.ScaleImageTensor | |
| - _target_: torchvision.transforms.Normalize | |
| mean: | |
| - 0.48145466 | |
| - 0.4578275 | |
| - 0.40821073 | |
| std: | |
| - 0.26862954 | |
| - 0.26130258 | |
| - 0.27577711 | |
| rgb_gripper: | |
| - _target_: torchvision.transforms.Resize | |
| size: 112 | |
| antialias: true | |
| - _target_: flower.utils.transforms.ScaleImageTensor | |
| - _target_: torchvision.transforms.Normalize | |
| mean: | |
| - 0.48145466 | |
| - 0.4578275 | |
| - 0.40821073 | |
| std: | |
| - 0.26862954 | |
| - 0.26130258 | |
| - 0.27577711 | |
| _target_: flower.datasets.libero_data_module.LiberoDataModule | |
| _recursive_: false | |
| root_data_dir: ${root_data_dir} | |
| action_space: 7 | |
| shuffle_val: false | |
| benchmark_name: ${libero_benchmark} | |
| observation_space: | |
| rgb_obs: | |
| - agentview_rgb | |
| - eye_in_hand_rgb | |
| depth_obs: [] | |
| state_obs: | |
| - gripper_states | |
| - joint_states | |
| actions: | |
| - rel_actions | |
| language: | |
| - language | |
| proprioception_dims: None | |
| datasets: | |
| lang_dataset: | |
| _target_: flower.datasets.libero_dataset.LiberoMultitaskDataset | |
| key: lang | |
| benchmark_name: ${libero_benchmark} | |
| batch_size: ${batch_size} | |
| proprio_state: ${datamodule.proprioception_dims} | |
| obs_space: ${datamodule.observation_space} | |
| num_workers: ${num_workers} | |
| action_seq_len: ${act_seq_len} | |
| obs_seq_len: ${obs_seq_len} | |
| split_ratio: 0.0 | |
| model: | |
| _target_: flower.models.flower.FLOWERVLA | |
| _recursive_: false | |
| vlm_path: microsoft/Florence-2-large | |
| freeze_florence: false | |
| freeze_vision_tower: false | |
| vlm_prompt_style: default | |
| token_dropout: 0.1 | |
| multistep: ${multistep} | |
| num_sampling_steps: 4 | |
| lowdim_obs_dim: 7 | |
| action_dim: 7 | |
| act_window_size: 10 | |
| load_pretrained: true | |
| pretrained_model_path: /home/hk-project-sustainebot/ft4740/code/flower_vla_policy/logs/runs/2025-02-05/10-17-02/360000_model_weights.pt | |
| use_second_view: true | |
| second_view_key: image_wrist | |
| action_type_adaln: true | |
| use_causal_attention: true | |
| use_cross_attn: true | |
| use_adaln_cond: false | |
| use_readout_token: false | |
| use_proprio: false | |
| return_act_chunk: false | |
| sampling_type: uniform | |
| dit_dim: 1024 | |
| n_heads: 16 | |
| n_layers: 18 | |
| attn_pdrop: 0.1 | |
| resid_pdrop: 0.1 | |
| mlp_pdrop: 0.1 | |
| use_rope: true | |
| use_nope: false | |
| query_seq_len: 100 | |
| rope_theta: 32.0 | |
| optimizer_type: adamw | |
| optimizer: | |
| _target_: torch.optim.AdamW | |
| transformer_weight_decay: 0.05 | |
| learning_rate: 2.0e-05 | |
| betas: | |
| - 0.9 | |
| - 0.99 | |
| lr_scheduler: | |
| lr_scheduler: | |
| init_lr: 2.0e-05 | |
| init_lr_scale: 0.1 | |
| final_lr_scale: 0.5 | |
| total_steps: 50000 | |
| phase_ratio: (0.05, 0.1, 0.85) | |
| lr: 2.0e-05 | |
| root_data_dir: /home/yagmurlu/code/MoDE_Calvin/dataset/task_ABC_D | |
| lang_folder: lang_clip_resnet50 | |
| log_dir: ./logs | |
| slurm: false | |
| seed: 42 | |
| device: cuda | |
| batch_size: 8 | |
| devices: 4 | |
| goal_window_size: 1 | |
| act_dim: 7 | |
| proprio_dims: 9 | |
| obs_dim: 512 | |
| goal_dim: 512 | |
| obs_seq_len: 1 | |
| act_seq_len: 10 | |
| multistep: ${act_seq_len} | |
| p_last_state: 0 | |
| max_epochs: 30 | |
| rollout_lh_skip_epochs: 9 | |
| num_workers: 1 | |
| benchmark_name: ${libero_benchmark} | |
| libero_benchmark: libero_spatial | |
| trainer: | |
| devices: ${devices} | |
| precision: bf16-mixed | |
| max_epochs: ${max_epochs} | |
| sync_batchnorm: true | |
| accelerator: gpu | |
| strategy: ddp | |
| limit_train_batches: 1000 | |
| limit_val_batches: 4 | |
| logger: | |
| _target_: pytorch_lightning.loggers.WandbLogger | |
| save_dir: . | |
| name: logger | |
| group: mode | |
| log_model: false | |
| project: ${libero_benchmark} | |
| entity: bennoq | |
| id: ??? | |