| !!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/240604_2024 | |
| log_name: '240604_2024' | |
| output_dir: /shared/projects/icrt/output/240604_2024 | |
| 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: 4 | |
| loss_w_action: 1.0 | |
| modality_pos_emb: false | |
| multikv_attn_pool: false | |
| no_prompt_loss: true | |
| phase: pretrain | |
| pred_action_only: true | |
| pretrained_path: /shared/projects/icrt/output/240604_1852/checkpoint-3.pth | |
| remove_proprio: false | |
| scale_loss: 1.0 | |
| scratch_llama_config: ../config/model_config/custom_transformer.json | |
| 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 | |