init

250000/commit_success.txt

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250000/default/commit_success.txt

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config.json

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+{"dataset_kwargs": {"balance_weights": true, "batch_size": 128, "dataset_kwargs_list": [{"name": "bridge_dataset_pnp_no_drawer_machine_fold_GT", "data_dir": "gs://nils_datasets", "image_obs_keys": {"primary": "image_0"}, "language_key": "language_instruction", "language_key_NILS": "language_instruction_NILS", "Gt_ann_dirs": ["put", "pick", "take", "pnp", "icra", "rss", "many_skills", "lift_bowl", "move_drying", "wipe", "right_pepper", "topple", "upright", "flip"], "NILS_ann_dirs": [], "filter_functions": [{"module": "octo.data.utils.data_utils", "name": "filter_by_task_and_language_key", "args": [], "kwargs": {"language_key_gt_template": "language_instruction", "language_key_NILS_template": "language_instruction_NILS_0", "gt_task_templates": ["put", "pick", "take", "pnp", "icra", "rss", "many_skills", "lift_bowl", "move_drying", "wipe", "right_pepper", "topple", "upright", "flip"], "NILS_task_templates": [], "negative_task_templates": ["drawer", "machine", "fold", "bridgev1"]}}], "action_normalization_mask": [true, true, true, true, true, true, false], "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "bridge_dataset_transform", "args": [], "kwargs": {}}}, {"name": "fractal20220817_data", "data_dir": "gs://nils_datasets", "image_obs_keys": {"primary": "image"}, "language_key": "language_instruction", "language_key_NILS": "language_instruction_NILS", "filter_functions": [{"module": "octo.data.utils.data_utils", "name": "filter_by_language_key", "args": [], "kwargs": {"language_key": "language_instruction_NILS_0"}}], "action_normalization_mask": [true, true, true, true, true, true, false], "action_proprio_normalization_type": "normal", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "rt1_dataset_transform", "args": [], "kwargs": {}}}], "frame_transform_kwargs": {"image_augment_kwargs": {"primary": {"augment_order": ["random_resized_crop", 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"eval_interval": 5000, "log_interval": 100, "model": {"heads": {"action": {"args": [], "kwargs": {"action_dim": 7, "action_horizon": 4, "dropout_rate": 0.0, "n_diffusion_samples": 1, "readout_key": "readout_action", "use_map": false}, "module": "octo.model.components.action_heads", "name": "DiffusionActionHead"}}, "max_horizon": 10, "observation_tokenizers": {"primary": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "octo.model.components.vit_encoders", "name": "SmallStem16"}, "obs_stack_keys": ["image_primary"], "task_stack_keys": ["image_primary"]}, "module": "octo.model.components.tokenizers", "name": "ImageTokenizer"}, "wrist": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "octo.model.components.vit_encoders", "name": "SmallStem16"}, "obs_stack_keys": ["image_wrist"], "task_stack_keys": ["image_wrist"]}, "module": "octo.model.components.tokenizers", "name": "ImageTokenizer"}}, "readouts": {"action": 1}, "repeat_task_tokens": true, "task_tokenizers": {"language": {"args": [], "kwargs": {"encoder": "t5-base", "finetune_encoder": false}, "module": "octo.model.components.tokenizers", "name": "LanguageTokenizer"}}, "token_embedding_size": 384, "transformer_kwargs": {"add_position_embedding": false, "attention_dropout_rate": 0.0, "dropout_rate": 0.0, "mlp_dim": 1536, "num_attention_heads": 6, "num_layers": 12}, "use_correct_attention": true}, "num_steps": 400000.0, "optimizer": {"clip_gradient": 1.0, "frozen_keys": ["*hf_model*"], "grad_accumulation_steps": null, "learning_rate": {"init_value": 0.0, "name": "rsqrt", "peak_value": 0.0003, "timescale": 10000, "warmup_steps": 2000}, "weight_decay": 0.1}, "prefetch_num_batches": 0, "pretrained_loaders": [{"module": "octo.utils.train_utils", "name": "hf_weights_loader", "args": [], "kwargs": {"hf_model": "t5-base"}}], "resume_path": null, "save_dir": "gs://nils_datasets/checkpoints", "save_interval": 50000, "seed": 42, "start_step": null, "text_processor": {"args": [], 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dataset_statistics.json

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state/250000/commit_success.txt

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