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lr_small/logs/events.out.tfevents.1725763724.pai-a100-153

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lr_small/logs/lr_small_logs_log.txt

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+09/08/2024 02:48:47 - INFO - __main__ -   
+
+Setting up GPS sensor
+09/08/2024 02:48:47 - INFO - __main__ -   
+
+Setting up Compass sensor
+09/08/2024 02:48:47 - INFO - __main__ -   Object categories: 28
+09/08/2024 02:48:47 - INFO - __main__ -   
+
+Setting up Object Goal sensor
+09/08/2024 02:48:47 - INFO - __main__ -   step input size: 512
+09/08/2024 02:48:47 - INFO - __main__ -   Model: nweights 41337062 nparams 414
+09/08/2024 02:48:47 - INFO - __main__ -   Model: trainable nweights 10740390 nparams 87
+09/08/2024 02:48:47 - INFO - __main__ -   ***** Running training with 2 GPUs *****
+09/08/2024 02:48:47 - INFO - __main__ -     Batch size = 128
+09/08/2024 02:48:47 - INFO - __main__ -     Accumulate steps = 1
+09/08/2024 02:48:47 - INFO - __main__ -     Num steps = 13625
+09/08/2024 03:35:48 - INFO - __main__ -   ==============Epoch 0 Step 500===============
+09/08/2024 03:35:48 - INFO - __main__ -   loss:1.8132, acc:0.3073, action_loss:1.8132
+09/08/2024 03:35:48 - INFO - __main__ -   ===============================================
+09/08/2024 04:22:55 - INFO - __main__ -   ==============Epoch 1 Step 1000===============
+09/08/2024 04:22:55 - INFO - __main__ -   loss:1.2762, acc:0.5578, action_loss:1.2762
+09/08/2024 04:22:55 - INFO - __main__ -   ===============================================
+09/08/2024 05:10:02 - INFO - __main__ -   ==============Epoch 2 Step 1500===============
+09/08/2024 05:10:02 - INFO - __main__ -   loss:0.9269, acc:0.6666, action_loss:0.9269
+09/08/2024 05:10:02 - INFO - __main__ -   ===============================================
+09/08/2024 05:57:19 - INFO - __main__ -   ==============Epoch 3 Step 2000===============
+09/08/2024 05:57:19 - INFO - __main__ -   loss:0.8641, acc:0.6820, action_loss:0.8641
+09/08/2024 05:57:19 - INFO - __main__ -   ===============================================
+09/08/2024 06:44:17 - INFO - __main__ -   ==============Epoch 4 Step 2500===============
+09/08/2024 06:44:17 - INFO - __main__ -   loss:0.8267, acc:0.6967, action_loss:0.8267
+09/08/2024 06:44:17 - INFO - __main__ -   ===============================================
+09/08/2024 07:31:19 - INFO - __main__ -   ==============Epoch 5 Step 3000===============
+09/08/2024 07:31:19 - INFO - __main__ -   loss:0.8014, acc:0.7053, action_loss:0.8014
+09/08/2024 07:31:19 - INFO - __main__ -   ===============================================
+09/08/2024 08:17:56 - INFO - __main__ -   ==============Epoch 6 Step 3500===============
+09/08/2024 08:17:56 - INFO - __main__ -   loss:0.7831, acc:0.7114, action_loss:0.7831
+09/08/2024 08:17:56 - INFO - __main__ -   ===============================================
+09/08/2024 09:04:25 - INFO - __main__ -   ==============Epoch 7 Step 4000===============
+09/08/2024 09:04:25 - INFO - __main__ -   loss:0.7723, acc:0.7143, action_loss:0.7723
+09/08/2024 09:04:25 - INFO - __main__ -   ===============================================
+09/08/2024 09:50:56 - INFO - __main__ -   ==============Epoch 8 Step 4500===============
+09/08/2024 09:50:56 - INFO - __main__ -   loss:0.7620, acc:0.7178, action_loss:0.7620
+09/08/2024 09:50:56 - INFO - __main__ -   ===============================================
+09/08/2024 10:37:22 - INFO - __main__ -   ==============Epoch 9 Step 5000===============
+09/08/2024 10:37:22 - INFO - __main__ -   loss:0.7542, acc:0.7199, action_loss:0.7542
+09/08/2024 10:37:22 - INFO - __main__ -   ===============================================
+09/08/2024 11:23:55 - INFO - __main__ -   ==============Epoch 10 Step 5500===============
+09/08/2024 11:23:55 - INFO - __main__ -   loss:0.7462, acc:0.7221, action_loss:0.7462
+09/08/2024 11:23:55 - INFO - __main__ -   ===============================================
+09/08/2024 12:10:37 - INFO - __main__ -   ==============Epoch 11 Step 6000===============
+09/08/2024 12:10:37 - INFO - __main__ -   loss:0.7428, acc:0.7234, action_loss:0.7428
+09/08/2024 12:10:37 - INFO - __main__ -   ===============================================
+09/08/2024 12:57:05 - INFO - __main__ -   ==============Epoch 11 Step 6500===============
+09/08/2024 12:57:05 - INFO - __main__ -   loss:0.7365, acc:0.7252, action_loss:0.7365
+09/08/2024 12:57:05 - INFO - __main__ -   ===============================================
+09/08/2024 13:44:10 - INFO - __main__ -   ==============Epoch 12 Step 7000===============
+09/08/2024 13:44:10 - INFO - __main__ -   loss:0.7310, acc:0.7272, action_loss:0.7310
+09/08/2024 13:44:10 - INFO - __main__ -   ===============================================
+09/08/2024 14:31:16 - INFO - __main__ -   ==============Epoch 13 Step 7500===============
+09/08/2024 14:31:16 - INFO - __main__ -   loss:0.7268, acc:0.7277, action_loss:0.7268
+09/08/2024 14:31:16 - INFO - __main__ -   ===============================================
+09/08/2024 15:18:31 - INFO - __main__ -   ==============Epoch 14 Step 8000===============
+09/08/2024 15:18:31 - INFO - __main__ -   loss:0.7230, acc:0.7286, action_loss:0.7230
+09/08/2024 15:18:31 - INFO - __main__ -   ===============================================
+09/08/2024 16:05:43 - INFO - __main__ -   ==============Epoch 15 Step 8500===============
+09/08/2024 16:05:43 - INFO - __main__ -   loss:0.7186, acc:0.7298, action_loss:0.7186
+09/08/2024 16:05:43 - INFO - __main__ -   ===============================================
+09/08/2024 16:53:20 - INFO - __main__ -   ==============Epoch 16 Step 9000===============
+09/08/2024 16:53:20 - INFO - __main__ -   loss:0.7133, acc:0.7306, action_loss:0.7133
+09/08/2024 16:53:20 - INFO - __main__ -   ===============================================
+09/08/2024 17:41:09 - INFO - __main__ -   ==============Epoch 17 Step 9500===============
+09/08/2024 17:41:09 - INFO - __main__ -   loss:0.7101, acc:0.7312, action_loss:0.7101
+09/08/2024 17:41:09 - INFO - __main__ -   ===============================================
+09/08/2024 18:28:59 - INFO - __main__ -   ==============Epoch 18 Step 10000===============
+09/08/2024 18:28:59 - INFO - __main__ -   loss:0.7057, acc:0.7334, action_loss:0.7057
+09/08/2024 18:28:59 - INFO - __main__ -   ===============================================
+09/08/2024 19:16:18 - INFO - __main__ -   ==============Epoch 19 Step 10500===============
+09/08/2024 19:16:18 - INFO - __main__ -   loss:0.7058, acc:0.7322, action_loss:0.7058
+09/08/2024 19:16:18 - INFO - __main__ -   ===============================================
+09/08/2024 20:03:50 - INFO - __main__ -   ==============Epoch 20 Step 11000===============
+09/08/2024 20:03:50 - INFO - __main__ -   loss:0.7023, acc:0.7338, action_loss:0.7023
+09/08/2024 20:03:50 - INFO - __main__ -   ===============================================
+09/08/2024 20:50:36 - INFO - __main__ -   ==============Epoch 21 Step 11500===============
+09/08/2024 20:50:36 - INFO - __main__ -   loss:0.7006, acc:0.7340, action_loss:0.7006
+09/08/2024 20:50:36 - INFO - __main__ -   ===============================================
+09/08/2024 21:37:23 - INFO - __main__ -   ==============Epoch 22 Step 12000===============
+09/08/2024 21:37:23 - INFO - __main__ -   loss:0.6987, acc:0.7348, action_loss:0.6987
+09/08/2024 21:37:23 - INFO - __main__ -   ===============================================
+09/08/2024 22:23:57 - INFO - __main__ -   ==============Epoch 22 Step 12500===============
+09/08/2024 22:23:57 - INFO - __main__ -   loss:0.6972, acc:0.7344, action_loss:0.6972
+09/08/2024 22:23:57 - INFO - __main__ -   ===============================================
+09/08/2024 23:11:26 - INFO - __main__ -   ==============Epoch 23 Step 13000===============
+09/08/2024 23:11:26 - INFO - __main__ -   loss:0.6951, acc:0.7353, action_loss:0.6951
+09/08/2024 23:11:26 - INFO - __main__ -   ===============================================
+09/08/2024 23:58:36 - INFO - __main__ -   ==============Epoch 24 Step 13500===============
+09/08/2024 23:58:36 - INFO - __main__ -   loss:0.6942, acc:0.7350, action_loss:0.6942
+09/08/2024 23:58:36 - INFO - __main__ -   ===============================================
+09/09/2024 00:10:19 - INFO - __main__ -   ==============Epoch 24 Step 13625===============
+09/09/2024 00:10:19 - INFO - __main__ -   loss:0.6945, acc:0.7351, action_loss:0.6945
+09/09/2024 00:10:19 - INFO - __main__ -   ===============================================

lr_small/logs/lr_small_logs_training_config.yaml

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+CMD_TRAILING_OPTS: []
+DATASET:
+  MAX_EPISODE_STEPS: 1000
+  dataset_class: NavDemoDataset
+  depth_ft_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/depth_fts
+  gpscompass_noise_type: null
+  infer_depth_feature: false
+  infer_local_map_task: false
+  infer_visual_feature_task: true
+  inflection_weight: 3.477512060914205
+  map_dir: null
+  map_image_max_pool: 5
+  map_image_size: 240
+  map_types:
+  - obs
+  - exp
+  max_future_step_size: 20
+  max_steps: 500
+  meta_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/meta_infos_lmdb
+  num_ft_views: 1
+  num_history_fts: 200
+  rgb_ft_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/rgb_fts/clip
+  rgb_image_dir: null
+  rgb_image_size: 224
+  sem_ft_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/sem_fts
+  semseg_dir: null
+  stop_weight: null
+  trn_scene_ids: '*'
+  use_thda: true
+  val_scene_ids: []
+MODEL:
+  DEPTH_ENCODER:
+    backbone: resnet50
+    cnn_type: VlnResnetDepthEncoder
+    ddppo_checkpoint: data/ddppo-models/gibson-2plus-resnet50.pth
+    output_size: 128
+    trainable: false
+  MAP_ENCODER:
+    encode_position: true
+    imap_size: 3
+    token_embed_type: single
+  MAX_EPISODE_STEPS: 1000
+  RGB_ENCODER:
+    backbone: resnet50
+    cnn_type: resnet50_clip
+    normalize_visual_inputs: false
+    output_size: 256
+    train_encoder: false
+  SEMANTIC_ENCODER:
+    backbone: resnet18
+    cnn_type: ResnetSemSegEncoder
+    embedding_size: 4
+    is_thda: true
+    num_classes: 29
+    output_size: 256
+    rednet_ckpt: data/rednet-models/rednet_semmap_mp3d_tuned.pth
+    train_encoder: true
+  SEM_FT_ENCODER:
+    input_size: 22
+    output_size: 128
+    type: null
+  SEQ2SEQ:
+    use_prev_action: true
+  STATE_ENCODER:
+    add_pos_attn: true
+    dropout_prob: 0.1
+    hidden_act: gelu
+    intermediate_size: 2048
+    layer_norm_eps: 1e-12
+    learnable_step_embedding: false
+    max_steps: 500
+    num_attention_heads: 8
+    num_hidden_layers: 4
+    num_nav_hidden_layer: 2
+    num_trans_hidden_layer: 2
+    rnn_type: transformer
+    shape_mode: false
+  SWITCH_TO_PRED_SEMANTICS_UPDATE: 0
+  USE_COMPASS: true
+  USE_GPS: true
+  USE_PRED_SEMANTICS: false
+  USE_SEMANTICS: false
+  action_clf_class: linear
+  dropout_rate: 0.1
+  embed_sge: false
+  encoder_add_objgoal: true
+  encoder_type: concat
+  hidden_size: 512
+  infer_depth_feature: false
+  infer_local_map_loss: 0.0
+  infer_local_map_loss_type: clf
+  infer_sem_label_loss: 0.0
+  infer_visual_feature_loss: 0.0
+  infer_visual_feature_loss_type: nce
+  model_class: NavImapSingleTransformer
+  num_actions: 6
+  num_ft_views: 1
+  obj_embed_file: null
+  pred_map_image_size: 48
+  pred_map_input_token_dim: 64
+  pred_map_nchannels: 2
+SEED: 2023
+betas:
+- 0.9
+- 0.98
+grad_norm: 5
+gradient_accumulation_steps: 1
+learning_rate: 3.0e-05
+local_rank: -1
+log_steps: 500
+lr_sched: linear
+master_addr: gpu003
+master_port: 10000
+n_workers: 1
+num_epochs: 25
+num_train_steps: 13625
+optim: adamw
+output_dir: data/exprs_iros23_release/imap_single_transformer/birirectional_2nav_2trans_lr3e-5
+pin_mem: true
+resume_file: null
+resume_optimizer: null
+train_batch_size: 128
+val_batch_size: 128
+valid_steps: 2500
+warmup_steps: 2500
+weight_decay: 0.01
+world_size: 2
+

lr_small/model_step_13625.pt

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shale_rearrange/logs/events.out.tfevents.1725763472.pai-a100-153

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shale_rearrange/logs/events.out.tfevents.1725801514.pai-a100-153

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shale_rearrange/logs/shale_rerange_logs_log.txt

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+09/08/2024 02:44:35 - INFO - __main__ -   
+
+Setting up GPS sensor
+09/08/2024 02:44:35 - INFO - __main__ -   
+
+Setting up Compass sensor
+09/08/2024 02:44:35 - INFO - __main__ -   Object categories: 28
+09/08/2024 02:44:35 - INFO - __main__ -   
+
+Setting up Object Goal sensor
+09/08/2024 02:44:35 - INFO - __main__ -   step input size: 512
+09/08/2024 02:44:36 - INFO - __main__ -   Model: nweights 41337062 nparams 414
+09/08/2024 02:44:36 - INFO - __main__ -   Model: trainable nweights 10740390 nparams 87
+09/08/2024 02:44:36 - INFO - __main__ -   ***** Running training with 2 GPUs *****
+09/08/2024 02:44:36 - INFO - __main__ -     Batch size = 128
+09/08/2024 02:44:36 - INFO - __main__ -     Accumulate steps = 1
+09/08/2024 02:44:36 - INFO - __main__ -     Num steps = 13625
+09/08/2024 03:31:51 - INFO - __main__ -   ==============Epoch 0 Step 500===============
+09/08/2024 03:31:51 - INFO - __main__ -   loss:1.0392, acc:0.6285, action_loss:1.0392
+09/08/2024 03:31:51 - INFO - __main__ -   ===============================================
+09/08/2024 12:28:13 - INFO - __main__ -   
+
+Setting up GPS sensor
+09/08/2024 12:28:13 - INFO - __main__ -   
+
+Setting up Compass sensor
+09/08/2024 12:28:13 - INFO - __main__ -   Object categories: 28
+09/08/2024 12:28:13 - INFO - __main__ -   
+
+Setting up Object Goal sensor
+09/08/2024 12:28:13 - INFO - __main__ -   step input size: 512
+09/08/2024 12:28:13 - INFO - __main__ -   Model: nweights 41337062 nparams 414
+09/08/2024 12:28:13 - INFO - __main__ -   Model: trainable nweights 10740390 nparams 87
+09/08/2024 12:28:13 - INFO - __main__ -   ***** Running training with 2 GPUs *****
+09/08/2024 12:28:13 - INFO - __main__ -     Batch size = 128
+09/08/2024 12:28:13 - INFO - __main__ -     Accumulate steps = 1
+09/08/2024 12:28:13 - INFO - __main__ -     Num steps = 13625
+09/08/2024 13:18:38 - INFO - __main__ -   
+
+Setting up GPS sensor
+09/08/2024 13:18:38 - INFO - __main__ -   
+
+Setting up Compass sensor
+09/08/2024 13:18:38 - INFO - __main__ -   Object categories: 28
+09/08/2024 13:18:38 - INFO - __main__ -   
+
+Setting up Object Goal sensor
+09/08/2024 13:18:38 - INFO - __main__ -   step input size: 512
+09/08/2024 13:18:38 - INFO - __main__ -   Model: nweights 41337062 nparams 414
+09/08/2024 13:18:38 - INFO - __main__ -   Model: trainable nweights 10740390 nparams 87
+09/08/2024 13:18:38 - INFO - __main__ -   ***** Running training with 2 GPUs *****
+09/08/2024 13:18:38 - INFO - __main__ -     Batch size = 128
+09/08/2024 13:18:38 - INFO - __main__ -     Accumulate steps = 1
+09/08/2024 13:18:38 - INFO - __main__ -     Num steps = 13625
+09/08/2024 14:06:01 - INFO - __main__ -   ==============Epoch 0 Step 500===============
+09/08/2024 14:06:01 - INFO - __main__ -   loss:1.0568, acc:0.6325, action_loss:1.0568
+09/08/2024 14:06:01 - INFO - __main__ -   ===============================================
+09/08/2024 14:52:45 - INFO - __main__ -   ==============Epoch 1 Step 1000===============
+09/08/2024 14:52:45 - INFO - __main__ -   loss:0.8344, acc:0.6963, action_loss:0.8344
+09/08/2024 14:52:45 - INFO - __main__ -   ===============================================
+09/08/2024 15:39:39 - INFO - __main__ -   ==============Epoch 2 Step 1500===============
+09/08/2024 15:39:39 - INFO - __main__ -   loss:0.7789, acc:0.7146, action_loss:0.7789
+09/08/2024 15:39:39 - INFO - __main__ -   ===============================================
+09/08/2024 16:27:00 - INFO - __main__ -   ==============Epoch 3 Step 2000===============
+09/08/2024 16:27:00 - INFO - __main__ -   loss:0.7506, acc:0.7221, action_loss:0.7506
+09/08/2024 16:27:00 - INFO - __main__ -   ===============================================
+09/08/2024 17:14:16 - INFO - __main__ -   ==============Epoch 4 Step 2500===============
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+09/08/2024 17:14:16 - INFO - __main__ -   ===============================================
+09/08/2024 18:01:49 - INFO - __main__ -   ==============Epoch 5 Step 3000===============
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+09/08/2024 18:01:49 - INFO - __main__ -   ===============================================
+09/08/2024 18:49:05 - INFO - __main__ -   ==============Epoch 6 Step 3500===============
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+09/08/2024 18:49:05 - INFO - __main__ -   ===============================================
+09/08/2024 19:36:00 - INFO - __main__ -   ==============Epoch 7 Step 4000===============
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+09/08/2024 19:36:00 - INFO - __main__ -   ===============================================
+09/08/2024 20:23:08 - INFO - __main__ -   ==============Epoch 8 Step 4500===============
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+09/08/2024 20:23:08 - INFO - __main__ -   ===============================================
+09/08/2024 21:10:26 - INFO - __main__ -   ==============Epoch 9 Step 5000===============
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+09/08/2024 21:10:26 - INFO - __main__ -   ===============================================
+09/08/2024 21:57:41 - INFO - __main__ -   ==============Epoch 10 Step 5500===============
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+09/08/2024 21:57:41 - INFO - __main__ -   ===============================================
+09/08/2024 22:45:05 - INFO - __main__ -   ==============Epoch 11 Step 6000===============
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+09/08/2024 22:45:05 - INFO - __main__ -   ===============================================
+09/08/2024 23:32:35 - INFO - __main__ -   ==============Epoch 11 Step 6500===============
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+09/08/2024 23:32:35 - INFO - __main__ -   ===============================================
+09/09/2024 00:19:55 - INFO - __main__ -   ==============Epoch 12 Step 7000===============
+09/09/2024 00:19:55 - INFO - __main__ -   loss:0.6100, acc:0.7553, action_loss:0.6100
+09/09/2024 00:19:55 - INFO - __main__ -   ===============================================
+09/09/2024 01:06:59 - INFO - __main__ -   ==============Epoch 13 Step 7500===============
+09/09/2024 01:06:59 - INFO - __main__ -   loss:0.5936, acc:0.7572, action_loss:0.5936
+09/09/2024 01:06:59 - INFO - __main__ -   ===============================================
+09/09/2024 01:54:22 - INFO - __main__ -   ==============Epoch 14 Step 8000===============
+09/09/2024 01:54:22 - INFO - __main__ -   loss:0.5779, acc:0.7601, action_loss:0.5779
+09/09/2024 01:54:22 - INFO - __main__ -   ===============================================
+09/09/2024 02:42:03 - INFO - __main__ -   ==============Epoch 15 Step 8500===============
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+09/09/2024 02:42:03 - INFO - __main__ -   ===============================================
+09/09/2024 03:29:43 - INFO - __main__ -   ==============Epoch 16 Step 9000===============
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+09/09/2024 03:29:43 - INFO - __main__ -   ===============================================
+09/09/2024 04:17:15 - INFO - __main__ -   ==============Epoch 17 Step 9500===============
+09/09/2024 04:17:15 - INFO - __main__ -   loss:0.5272, acc:0.7706, action_loss:0.5272
+09/09/2024 04:17:15 - INFO - __main__ -   ===============================================
+09/09/2024 05:04:09 - INFO - __main__ -   ==============Epoch 18 Step 10000===============
+09/09/2024 05:04:09 - INFO - __main__ -   loss:0.5094, acc:0.7749, action_loss:0.5094
+09/09/2024 05:04:09 - INFO - __main__ -   ===============================================
+09/09/2024 05:50:55 - INFO - __main__ -   ==============Epoch 19 Step 10500===============
+09/09/2024 05:50:55 - INFO - __main__ -   loss:0.5023, acc:0.7760, action_loss:0.5023
+09/09/2024 05:50:55 - INFO - __main__ -   ===============================================
+09/09/2024 06:37:37 - INFO - __main__ -   ==============Epoch 20 Step 11000===============
+09/09/2024 06:37:37 - INFO - __main__ -   loss:0.4880, acc:0.7801, action_loss:0.4880
+09/09/2024 06:37:37 - INFO - __main__ -   ===============================================
+09/09/2024 07:24:20 - INFO - __main__ -   ==============Epoch 21 Step 11500===============
+09/09/2024 07:24:20 - INFO - __main__ -   loss:0.4795, acc:0.7823, action_loss:0.4795
+09/09/2024 07:24:20 - INFO - __main__ -   ===============================================
+09/09/2024 08:10:54 - INFO - __main__ -   ==============Epoch 22 Step 12000===============
+09/09/2024 08:10:54 - INFO - __main__ -   loss:0.4746, acc:0.7836, action_loss:0.4746
+09/09/2024 08:10:54 - INFO - __main__ -   ===============================================
+09/09/2024 08:57:14 - INFO - __main__ -   ==============Epoch 22 Step 12500===============
+09/09/2024 08:57:14 - INFO - __main__ -   loss:0.4626, acc:0.7861, action_loss:0.4626
+09/09/2024 08:57:14 - INFO - __main__ -   ===============================================
+09/09/2024 09:43:51 - INFO - __main__ -   ==============Epoch 23 Step 13000===============
+09/09/2024 09:43:51 - INFO - __main__ -   loss:0.4497, acc:0.7902, action_loss:0.4497
+09/09/2024 09:43:51 - INFO - __main__ -   ===============================================
+09/09/2024 10:30:41 - INFO - __main__ -   ==============Epoch 24 Step 13500===============
+09/09/2024 10:30:41 - INFO - __main__ -   loss:0.4445, acc:0.7915, action_loss:0.4445
+09/09/2024 10:30:41 - INFO - __main__ -   ===============================================
+09/09/2024 10:42:25 - INFO - __main__ -   ==============Epoch 24 Step 13625===============
+09/09/2024 10:42:25 - INFO - __main__ -   loss:0.4417, acc:0.7924, action_loss:0.4417
+09/09/2024 10:42:25 - INFO - __main__ -   ===============================================

shale_rearrange/logs/shale_rerange_logs_training_config.yaml

@@ -0,0 +1,128 @@
+CMD_TRAILING_OPTS: []
+DATASET:
+  MAX_EPISODE_STEPS: 1000
+  dataset_class: NavDemoDataset
+  depth_ft_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/depth_fts
+  gpscompass_noise_type: null
+  infer_depth_feature: false
+  infer_local_map_task: false
+  infer_visual_feature_task: true
+  inflection_weight: 3.477512060914205
+  map_dir: null
+  map_image_max_pool: 5
+  map_image_size: 240
+  map_types:
+  - obs
+  - exp
+  max_future_step_size: 20
+  max_steps: 500
+  meta_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/meta_infos_lmdb
+  num_ft_views: 1
+  num_history_fts: 200
+  rgb_ft_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/rgb_fts/clip
+  rgb_image_dir: null
+  rgb_image_size: 224
+  sem_ft_dir: data/datasets/objectnav/mp3d_70k_demos_prefts/sem_fts
+  semseg_dir: null
+  stop_weight: null
+  trn_scene_ids: '*'
+  use_thda: true
+  val_scene_ids: []
+MODEL:
+  DEPTH_ENCODER:
+    backbone: resnet50
+    cnn_type: VlnResnetDepthEncoder
+    ddppo_checkpoint: data/ddppo-models/gibson-2plus-resnet50.pth
+    output_size: 128
+    trainable: false
+  MAP_ENCODER:
+    encode_position: true
+    imap_size: 3
+    token_embed_type: single
+  MAX_EPISODE_STEPS: 1000
+  RGB_ENCODER:
+    backbone: resnet50
+    cnn_type: resnet50_clip
+    normalize_visual_inputs: false
+    output_size: 256
+    train_encoder: false
+  SEMANTIC_ENCODER:
+    backbone: resnet18
+    cnn_type: ResnetSemSegEncoder
+    embedding_size: 4
+    is_thda: true
+    num_classes: 29
+    output_size: 256
+    rednet_ckpt: data/rednet-models/rednet_semmap_mp3d_tuned.pth
+    train_encoder: true
+  SEM_FT_ENCODER:
+    input_size: 22
+    output_size: 128
+    type: null
+  SEQ2SEQ:
+    use_prev_action: true
+  STATE_ENCODER:
+    add_pos_attn: true
+    dropout_prob: 0.1
+    hidden_act: gelu
+    intermediate_size: 2048
+    layer_norm_eps: 1e-12
+    learnable_step_embedding: false
+    max_steps: 500
+    num_attention_heads: 8
+    num_hidden_layers: 4
+    num_nav_hidden_layer: 2
+    num_trans_hidden_layer: 2
+    rnn_type: transformer
+    shape_mode: true
+  SWITCH_TO_PRED_SEMANTICS_UPDATE: 0
+  USE_COMPASS: true
+  USE_GPS: true
+  USE_PRED_SEMANTICS: false
+  USE_SEMANTICS: false
+  action_clf_class: linear
+  dropout_rate: 0.1
+  embed_sge: false
+  encoder_add_objgoal: true
+  encoder_type: concat
+  hidden_size: 512
+  infer_depth_feature: false
+  infer_local_map_loss: 0.0
+  infer_local_map_loss_type: clf
+  infer_sem_label_loss: 0.0
+  infer_visual_feature_loss: 0.0
+  infer_visual_feature_loss_type: nce
+  model_class: NavImapSingleTransformer
+  num_actions: 6
+  num_ft_views: 1
+  obj_embed_file: null
+  pred_map_image_size: 48
+  pred_map_input_token_dim: 64
+  pred_map_nchannels: 2
+SEED: 2023
+betas:
+- 0.9
+- 0.98
+grad_norm: 5
+gradient_accumulation_steps: 1
+learning_rate: 0.0003
+local_rank: -1
+log_steps: 500
+lr_sched: linear
+master_addr: gpu003
+master_port: 10000
+n_workers: 1
+num_epochs: 25
+num_train_steps: 13625
+optim: adamw
+output_dir: data/exprs_iros23_release/imap_single_transformer/birirectional_2nav_2trans_shale_rerange
+pin_mem: true
+resume_file: null
+resume_optimizer: null
+train_batch_size: 128
+val_batch_size: 128
+valid_steps: 2500
+warmup_steps: 2500
+weight_decay: 0.01
+world_size: 2
+

shale_rearrange/model_step_13625.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1249f7e7b74caf8fdcef1b20742901ed061a61c6efaa673517e162bb6848b761
+size 118799995