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!!python/object:icrt.util.args.ExperimentConfig
dataset_cfg: !!python/object:icrt.util.args.DatasetConfig
action_noise: 0.0
dataset_json: config/real_expanded_4_icrt_dataset_config.json
goal_conditioned: false
non_overlapping: 32
num_repeat_traj: 2
num_weighted_steps: 30
proprio_noise: 0.005
rebalance_tasks: true
shuffle_repeat_traj: true
skip_step: false
sort_by_lang: true
task_barrier: true
task_names: null
vision_aug: true
device: cuda
dist_on_itp: false
dist_url: env://
load_config: null
local_rank: -1
logging_cfg: !!python/object:icrt.util.args.LoggingConfig
log_dir: /shared/projects/icrt/output/240605_1549
log_name: '240605_1549'
output_dir: /shared/projects/icrt/output/240605_1549
model_cfg: !!python/object:icrt.util.args.ModelConfig
policy_cfg: !!python/object:icrt.util.args.PolicyConfig
adapter_mlp_ratio: 4.0
adapter_num_heads: 8
camera_pos_emb: false
decoder_pred_head: mlp
kl_div_loss: false
llama_ckpt_dir: /home/mfu/checkpoints/llama-2/llama-2-7b
load_llama: true
lora_layer_idxs: null
lora_rank: 32
loss_w_action: 1.0
modality_pos_emb: false
multikv_attn_pool: false
no_prompt_loss: true
phase: finetune
pred_action_only: true
pretrained_path: null
remove_proprio: false
scale_loss: 1.0
scratch_llama_config: null
separate_camera_adapter: true
step_weight: 1.0
vision_encoder_cfg: !!python/object:icrt.util.args.VisionEncoderConfig
vision_encoder: /home/mfu/Documents/icrt/crossmae_ckpt/cross-mae-rtx.pth
vision_lora: false
vision_lora_rank: 8
vision_nonpretrained: false
vision_unfreeze_all: false
vision_unfreeze_last_n: 0
optimizer_cfg: !!python/object:icrt.util.args.OptimizerConfig
blr: 0.001
lr: 0.0005
min_lr: 0.0
warmup_epochs: 1.25
weight_decay: 0.01
shared_cfg: !!python/object:icrt.util.args.SharedConfig
batch_size: 1
num_cameras: 2
num_pred_steps: 16
num_stages: 1
resume: null
rot_6d: true
save_every: 5
seed: 0
seq_length: 512
split_epoch: 1
start_epoch: 0
use_delta_action: true
train: true
trainer_cfg: !!python/object:icrt.util.args.TrainerConfig
accum_iter: 8
epochs: 125
num_workers: 20
pin_memory: true
world_size: 1
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