Upload 3 files

config.yaml

@@ -1,5 +1,5 @@
 seed: 0
-output_dir: output/08_05_2024_21_50_12_1563562
+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,
@@ -15,15 +15,15 @@ domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_data
   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
-log_dir: output/08_05_2024_21_50_12_1563562
+  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: 13h28mb6
+wb_cont_run: 2n1ryxkw
 log_interval: 10
-script_name: run_resnet_30dataset_traj100000_embed_512_batch2048_800k_simhuman
+script_name: run_resnet_52dataset_traj100000_embed768_batch4096_800k_32block
 save_wb_checkpoint: true
-slurm_job_id: '27327006'
+slurm_job_id: '27595011'
 effective_total_epochs: 100
 effective_batch_size: 256
 epoch_size: 10
@@ -32,17 +32,17 @@ total_num_sample: 0
 rank: 0
 gpu: 0
 task_per_gpu: 1
-world_size: 32
+world_size: 128
 debug_submitit: false
 ngpus: 8
-nodes: 4
+nodes: 16
 timeout: 4320
 job_dir: logs/
 partition: learnlab
 use_volta32: true
 comment: ''
 resume: logs/
-dist_url: file:///checkpoint/xinleic/experiments/7b45bdd38afd4f85b05d324035d032b0_init
+dist_url: file:///checkpoint/xinleic/experiments/3e51596f51c04660aea04b183dba259e_init
 dist_on_itp: false
 local_rank: 1
 distributed: true
@@ -50,7 +50,7 @@ dist_backend: nccl
 dset_w_temperature: 2.0
 dataset_shuffle: true
 dataset_groups: ''
-nodelist: learnlab,learnfair,scavenge
+nodelist: learnlab,learnfair
 fsdp: false
 count_flops: false
 accumuate_gradient_steps: 1
@@ -83,9 +83,9 @@ dataset:
   continue_generate: false
 network:
   _target_: hpt_pretrain.models.policy.Policy
-  embed_dim: 512
-  num_blocks: 16
-  num_heads: 8
+  embed_dim: 768
+  num_blocks: 32
+  num_heads: 16
   use_modality_embedding: true
   use_domain_embedding: false
   token_postprocessing: mean
@@ -98,7 +98,7 @@ stem:
   modalities:
   - image
   - state
-  modality_embed_dim: 512
+  modality_embed_dim: 768
   normalize_state: ${dataset.normalize_state}
   state_embedding_dim: 1
   image_encoder: ${dataset.image_encoder}
@@ -115,27 +115,27 @@ stem:
   image:
     _target_: hpt_pretrain.models.policy_stem.MLP
     input_dim: 512
-    output_dim: 512
+    output_dim: 768
     widths:
     - 128
     num_of_copy: 1
   state:
     _target_: hpt_pretrain.models.policy_stem.MLP
-    input_dim: 4
-    output_dim: 512
+    input_dim: 45
+    output_dim: 768
     widths:
     - 128
 head:
   _target_: hpt_pretrain.models.policy_head.MLP
-  input_dim: 512
+  input_dim: 768
   tanh_end: true
-  output_dim: 56
+  output_dim: 192
   dropout: true
   widths:
   - 256
   - 128
 dataloader:
-  batch_size: 64
+  batch_size: 32
   num_workers: 1
   pin_memory: false
   persistent_workers: false
@@ -172,7 +172,7 @@ train:
   epoch_iters: 1000
   validation_iters: 100
   use_accumulation: false
-  pretrained_dir: '08_05_2024_21_50_12_1563562'
+  pretrained_dir: '14_05_2024_13_09_38_3482822'
   max_validation_size: 10
   load_pretrain_trunk_only: false
   freeze_trunk: false

model.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 699884363
+oid sha256:ac92945be3aad4149da11ca8a337ed32c36f1b18f1cc65ea8816e9f459244c92
+size 1672892039

trunk.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e1e96450b017ffca43e2acd7aba7d9744087b14065ca4e1752f5cd19f29dd30e
-size 201883562
+oid sha256:86c5583956e3f8b63e150e19a6c2e9a8faacec58d8e6fdbcd4229a1f3db31d1a
+size 907575146