| seed: 0 | |
| output_dir: output/14_05_2024_13_09_38_3482822 | |
| domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_dataset_converted_externally_to_rlds, | |
| austin_buds_dataset_converted_externally_to_rlds, austin_sirius_dataset_converted_externally_to_rlds, | |
| berkeley_mvp_converted_externally_to_rlds, berkeley_rpt_converted_externally_to_rlds, | |
| iamlab_cmu_pickup_insert_converted_externally_to_rlds, utaustin_mutex, imperialcollege_sawyer_wrist_cam, | |
| stanford_mask_vit_converted_externally_to_rlds, language_table, kuka, bc_z, robo_net, | |
| dlr_sara_pour_converted_externally_to_rlds, stanford_robocook_converted_externally_to_rlds, | |
| cmu_play_fusion, bridge, furniture_bench_dataset_converted_externally_to_rlds, ucsd_pick_and_place_dataset_converted_externally_to_rlds, | |
| usc_cloth_sim_converted_externally_to_rlds, stanford_kuka_multimodal_dataset_converted_externally_to_rlds, | |
| roboturk, kaist_nonprehensile_converted_externally_to_rlds, asu_table_top_converted_externally_to_rlds, | |
| utokyo_xarm_pick_and_place_converted_externally_to_rlds, berkeley_cable_routing, | |
| droid, uiuc_d3field, robo_set, qut_dexterous_manpulation, nyu_door_opening_surprising_effectiveness, | |
| nyu_franka_play_dataset_converted_externally_to_rlds, mimic_play, maniskill_dataset_converted_externally_to_rlds, | |
| columbia_cairlab_pusht_real, conq_hose_manipulation, dlr_edan_shared_control_converted_externally_to_rlds, | |
| berkeley_gnm_sac_son, berkeley_autolab_ur5, aloha_mobile, agent_aware_affordances, | |
| human_image_hammer, human_image_spatula, epic_kitchen, drake_tooluse_image, pybullet_grasping_image, | |
| mujoco_metaworld, mujoco_robomimic, isaac_arnold_image, pybullet_trifinger, mujoco_adroit | |
| log_dir: output/14_05_2024_13_09_38_3482822 | |
| debug_distributed: false | |
| wb_tag: default | |
| wb_cont_run: 2n1ryxkw | |
| log_interval: 10 | |
| script_name: run_resnet_52dataset_traj100000_embed768_batch4096_800k_32block | |
| save_wb_checkpoint: true | |
| slurm_job_id: '27595011' | |
| effective_total_epochs: 100 | |
| effective_batch_size: 256 | |
| epoch_size: 10 | |
| total_num_traj: 0 | |
| total_num_sample: 0 | |
| rank: 0 | |
| gpu: 0 | |
| task_per_gpu: 1 | |
| world_size: 128 | |
| debug_submitit: false | |
| ngpus: 8 | |
| nodes: 16 | |
| timeout: 4320 | |
| job_dir: logs/ | |
| partition: learnlab | |
| use_volta32: true | |
| comment: '' | |
| resume: logs/ | |
| dist_url: file:///checkpoint/xinleic/experiments/3e51596f51c04660aea04b183dba259e_init | |
| dist_on_itp: false | |
| local_rank: 1 | |
| distributed: true | |
| dist_backend: nccl | |
| dset_w_temperature: 2.0 | |
| dataset_shuffle: true | |
| dataset_groups: '' | |
| nodelist: learnlab,learnfair | |
| fsdp: false | |
| count_flops: false | |
| accumuate_gradient_steps: 1 | |
| trunk_acc_gradient_step: 1 | |
| submitit_autoresume: true | |
| customized_dataset_mixture_file: '' | |
| trunk_separate_opt: false | |
| dataset: | |
| _target_: hpt_pretrain.dataset.traj_dataset.TrajDataset | |
| horizon: 5 | |
| val_ratio: 0.1 | |
| pad_after: 0 | |
| precompute_feat: true | |
| image_encoder: resnet | |
| episode_cnt: 100000 | |
| step_cnt: 10000000 | |
| data_augmentation: false | |
| use_disk: true | |
| pad_before: 0 | |
| data_ratio: 1 | |
| action_horizon: 8 | |
| observation_horizon: 4 | |
| dataset_postfix: _traj100000 | |
| dataset_encoder_postfix: _resnet | |
| use_multiview: false | |
| normalize_state: true | |
| use_heldout_dataset: true | |
| heldout_dataset: false | |
| regenerate: false | |
| continue_generate: false | |
| network: | |
| _target_: hpt_pretrain.models.policy.Policy | |
| embed_dim: 768 | |
| num_blocks: 32 | |
| num_heads: 16 | |
| use_modality_embedding: true | |
| use_domain_embedding: false | |
| token_postprocessing: mean | |
| weight_init_style: pytorch | |
| drop_path: 0.1 | |
| mae_loss_scale: 0.0 | |
| masked_autoencoding: false | |
| action_horizon: ${dataset.action_horizon} | |
| stem: | |
| modalities: | |
| - image | |
| - state | |
| modality_embed_dim: 768 | |
| normalize_state: ${dataset.normalize_state} | |
| state_embedding_dim: 1 | |
| image_encoder: ${dataset.image_encoder} | |
| crossattn_dim_head: 64 | |
| crossattn_heads: 8 | |
| crossattn_modality_dropout: 0.1 | |
| observation_horizon: ${dataset.observation_horizon} | |
| random_horizon_masking: true | |
| add_pos_embedding_to_state: false | |
| num_blocks: 1 | |
| crossattn_latent: | |
| image: 16 | |
| state: 16 | |
| image: | |
| _target_: hpt_pretrain.models.policy_stem.MLP | |
| input_dim: 512 | |
| output_dim: 768 | |
| widths: | |
| - 128 | |
| num_of_copy: 1 | |
| state: | |
| _target_: hpt_pretrain.models.policy_stem.MLP | |
| input_dim: 45 | |
| output_dim: 768 | |
| widths: | |
| - 128 | |
| head: | |
| _target_: hpt_pretrain.models.policy_head.MLP | |
| input_dim: 768 | |
| tanh_end: true | |
| output_dim: 192 | |
| dropout: true | |
| widths: | |
| - 256 | |
| - 128 | |
| dataloader: | |
| batch_size: 32 | |
| num_workers: 1 | |
| pin_memory: false | |
| persistent_workers: false | |
| drop_last: true | |
| val_dataloader: | |
| num_workers: 1 | |
| pin_memory: false | |
| persistent_workers: false | |
| ddp_dataloader: | |
| num_workers: 8 | |
| pin_memory: false | |
| persistent_workers: false | |
| drop_last: false | |
| prefetch_factor: 6 | |
| ddp_val_dataloader: | |
| num_workers: 8 | |
| pin_memory: false | |
| persistent_workers: false | |
| drop_last: false | |
| prefetch_factor: 2 | |
| optimizer: | |
| _target_: torch.optim.AdamW | |
| lr: 0.001 | |
| eps: 1.0e-06 | |
| weight_decay: 0.05 | |
| optimizer_misc: | |
| nontrunk_lr_scale: 0.5 | |
| warmup_lr: | |
| lr: 1.0e-10 | |
| step: 1000 | |
| train: | |
| total_epochs: 30000 | |
| total_iters: 800000 | |
| epoch_iters: 1000 | |
| validation_iters: 100 | |
| use_accumulation: false | |
| pretrained_dir: '14_05_2024_13_09_38_3482822' | |
| max_validation_size: 10 | |
| load_pretrain_trunk_only: false | |
| freeze_trunk: false | |
| lr_scheduler: | |
| _target_: torch.optim.lr_scheduler.CosineAnnealingLR | |
| T_max: 800000 | |
| eta_min: 1.0e-06 | |