!!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