Upload 3 files

config.yaml

@@ -1,5 +1,5 @@
 seed: 0
-output_dir: output/07_05_2024_14_45_04_1279984
+output_dir: output/04_04_2024_00_18_28_1061204
 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,
@@ -10,18 +10,15 @@ domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_data
   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
-log_dir: output/07_05_2024_14_45_04_1279984
+  droid
+log_dir: output/04_04_2024_00_18_28_1061204
 debug_distributed: false
 wb_tag: default
-wb_cont_run: 11gk7z55
+wb_cont_run: 37fe2kep
 log_interval: 10
-script_name: run_resnet_30dataset_traj100000_embed_128_batch1024_800k_cons
+script_name: run_resnet_30dataset_traj1000_embed_128_batch1024_800k_cons
 save_wb_checkpoint: true
-slurm_job_id: '27228887'
+slurm_job_id: '25682608'
 effective_total_epochs: 100
 effective_batch_size: 256
 epoch_size: 10
@@ -40,7 +37,7 @@ partition: learnlab
 use_volta32: true
 comment: ''
 resume: logs/
-dist_url: file:///checkpoint/xinleic/experiments/ebabe0e1b9544474a6afe161d1e8d7fd_init
+dist_url: file:///checkpoint/xinleic/experiments/b96f1c1c8a1e49f691901ccebe7e3f1f_init
 dist_on_itp: false
 local_rank: 1
 distributed: true
@@ -50,12 +47,6 @@ dataset_shuffle: true
 dataset_groups: ''
 nodelist: learnlab,learnfair,scavenge
 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
@@ -63,7 +54,7 @@ dataset:
   pad_after: 0
   precompute_feat: true
   image_encoder: resnet
-  episode_cnt: 100000
+  episode_cnt: 1000
   step_cnt: 10000000
   data_augmentation: false
   use_disk: true
@@ -71,7 +62,7 @@ dataset:
   data_ratio: 1
   action_horizon: 8
   observation_horizon: 4
-  dataset_postfix: _traj100000
+  dataset_postfix: _traj1000
   dataset_encoder_postfix: _resnet
   use_multiview: false
   normalize_state: true
@@ -91,7 +82,6 @@ network:
   drop_path: 0.1
   mae_loss_scale: 0.0
   masked_autoencoding: false
-  action_horizon: ${dataset.action_horizon}
 stem:
   modalities:
   - image
@@ -119,7 +109,7 @@ stem:
     num_of_copy: 1
   state:
     _target_: hpt_pretrain.models.policy_stem.MLP
-    input_dim: 8
+    input_dim: 7
     output_dim: 128
     widths:
     - 128
@@ -127,7 +117,7 @@ head:
   _target_: hpt_pretrain.models.policy_head.MLP
   input_dim: 128
   tanh_end: true
-  output_dim: 48
+  output_dim: 56
   dropout: true
   widths:
   - 256
@@ -147,7 +137,7 @@ ddp_dataloader:
   pin_memory: false
   persistent_workers: false
   drop_last: false
-  prefetch_factor: 6
+  prefetch_factor: 2
 ddp_val_dataloader:
   num_workers: 8
   pin_memory: false
@@ -156,7 +146,7 @@ ddp_val_dataloader:
   prefetch_factor: 2
 optimizer:
   _target_: torch.optim.AdamW
-  lr: 0.001
+  lr: 0.0008
   eps: 1.0e-06
   weight_decay: 0.05
 optimizer_misc:
@@ -165,15 +155,14 @@ warmup_lr:
   lr: 1.0e-10
   step: 1000
 train:
-  total_epochs: 30000
+  total_epochs: 3000
   total_iters: 800000
   epoch_iters: 1000
   validation_iters: 100
   use_accumulation: false
-  pretrained_dir: '07_05_2024_14_45_04_1279984'
+  pretrained_dir: ''
   max_validation_size: 10
-  load_pretrain_trunk_only: false
-  freeze_trunk: false
+  accumulate_batch_step: 1
 lr_scheduler:
   _target_: torch.optim.lr_scheduler.ConstantLR
   factor: 1

model.pth

@@ -1,3 +1,3 @@
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-size 131534043
+oid sha256:ea2a35d7c01bb713fb5da12091bf4e1c3f269390b51eaa62e3b676e5032906eb
+size 91938181

trunk.pth

@@ -1,3 +1,3 @@
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-oid sha256:34cde2b6bc7be6b1ed743ca0bc1db738752a2847983f01aae5bb66da8bb64a92
+oid sha256:ceb19f70209ce5eaa88303f167e607e0f7bf8ff81247879ea90505508f1c3c2d
 size 12770730