| CMD_TRAILING_OPTS: [] | |
| DATASET: {} | |
| MODEL: | |
| action_config: | |
| best_disc_pos: max | |
| context_channels: 256 | |
| dim_actions: 7 | |
| dropout: 0.2 | |
| max_steps: 30 | |
| max_traj_len: 1 | |
| max_txt_len: 77 | |
| pos_bin_size: 0.01 | |
| pos_bins: 15 | |
| pos_heatmap_temp: 0.1 | |
| pos_pred_type: heatmap_disc | |
| reduce: max | |
| rot_pred_type: euler_disc | |
| txt_ft_size: 512 | |
| txt_reduce: mean | |
| use_ee_pose: false | |
| use_step_id: false | |
| voxel_size: 0.01 | |
| loss_config: | |
| pos_weight: 1 | |
| rot_weight: 1 | |
| model_class: SimplePolicyPTV3CA | |
| ptv3_config: | |
| add_coords_in_attn: none | |
| attn_drop: 0.1 | |
| cls_mode: false | |
| dec_channels: | |
| - 128 | |
| - 128 | |
| - 256 | |
| - 512 | |
| dec_depths: | |
| - 1 | |
| - 1 | |
| - 1 | |
| - 1 | |
| dec_num_head: | |
| - 4 | |
| - 4 | |
| - 8 | |
| - 16 | |
| dec_patch_size: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| drop_path: 0.0 | |
| enable_flash: true | |
| enable_rpe: false | |
| enc_channels: | |
| - 64 | |
| - 128 | |
| - 256 | |
| - 512 | |
| - 768 | |
| enc_depths: | |
| - 1 | |
| - 1 | |
| - 1 | |
| - 1 | |
| - 1 | |
| enc_num_head: | |
| - 2 | |
| - 4 | |
| - 8 | |
| - 16 | |
| - 32 | |
| enc_patch_size: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| in_channels: 7 | |
| mlp_ratio: 4 | |
| order: | |
| - z | |
| - z-trans | |
| - hilbert | |
| - hilbert-trans | |
| pdnorm_adaptive: false | |
| pdnorm_affine: true | |
| pdnorm_bn: false | |
| pdnorm_conditions: null | |
| pdnorm_decouple: false | |
| pdnorm_ln: false | |
| pdnorm_only_decoder: false | |
| pre_norm: true | |
| proj_drop: 0.1 | |
| qk_norm: true | |
| qk_scale: null | |
| qkv_bias: true | |
| scaled_cosine_attn: false | |
| shuffle_orders: true | |
| stride: | |
| - 2 | |
| - 2 | |
| - 2 | |
| - 2 | |
| upcast_attention: false | |
| upcast_softmax: false | |
| SEED: 2024 | |
| TRAIN: | |
| betas: | |
| - 0.9 | |
| - 0.98 | |
| freeze_params: | |
| decoder: false | |
| encoder: false | |
| grad_norm: 10 | |
| gradient_accumulation_steps: 1 | |
| learning_rate: 0.0001 | |
| log_steps: 1000 | |
| lr_sched: cosine | |
| n_workers: 4 | |
| num_cosine_cycles: null | |
| num_epochs: 387 | |
| num_train_steps: 150000 | |
| optim: adamw | |
| pin_mem: true | |
| resume_encoder_only: false | |
| resume_training: true | |
| save_steps: 10000 | |
| train_batch_size: 8 | |
| val_batch_size: 8 | |
| val_steps: 10000 | |
| warmup_steps: 5000 | |
| weight_decay: 0.05 | |
| TRAIN_DATASET: | |
| all_step_in_batch: true | |
| aug_max_rot: 180 | |
| augment_pc: true | |
| data_dir: data/gembench/train_dataset/keysteps_bbox_pcd/seed0/voxel1cm | |
| include_last_step: false | |
| instr_embed_file: data/gembench/train_dataset/keysteps_bbox_pcd/instr_embeds_clip.npy | |
| instr_embed_type: all | |
| num_points: 4096 | |
| pos_bin_size: 0.01 | |
| pos_bins: 15 | |
| pos_heatmap_no_robot: true | |
| pos_heatmap_type: dist | |
| pos_type: disc | |
| real_robot: false | |
| rm_pc_outliers: false | |
| rm_pc_outliers_neighbors: 25 | |
| rm_robot: box_keep_gripper | |
| rm_table: true | |
| rot_type: euler_disc | |
| same_npoints_per_example: false | |
| sample_points_by_distance: false | |
| taskvar_file: assets/taskvars_train.json | |
| taskvar_instr_file: assets/taskvars_instructions_new.json | |
| use_height: true | |
| xyz_norm: false | |
| xyz_shift: center | |
| VAL_DATASET: | |
| all_step_in_batch: true | |
| aug_max_rot: 45 | |
| augment_pc: false | |
| data_dir: data/gembench/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm | |
| include_last_step: false | |
| instr_embed_file: data/gembench/train_dataset/keysteps_bbox_pcd/instr_embeds_clip.npy | |
| instr_embed_type: all | |
| num_points: 4096 | |
| pos_bin_size: 0.01 | |
| pos_bins: 15 | |
| pos_heatmap_no_robot: true | |
| pos_heatmap_type: dist | |
| pos_type: disc | |
| real_robot: false | |
| rm_pc_outliers: false | |
| rm_pc_outliers_neighbors: 25 | |
| rm_robot: box_keep_gripper | |
| rm_table: true | |
| rot_type: euler_disc | |
| same_npoints_per_example: false | |
| sample_points_by_distance: false | |
| taskvar_file: assets/taskvars_train.json | |
| taskvar_instr_file: assets/taskvars_instructions_new.json | |
| use_height: true | |
| use_val: true | |
| xyz_norm: false | |
| xyz_shift: center | |
| checkpoint: null | |
| checkpoint_strict_load: false | |
| local_rank: 0 | |
| output_dir: data/experiments/gembench/3dlotus/v1 | |
| rank: 0 | |
| tfboard_log_dir: null | |
| world_size: 1 | |