Upload 3 files

config.yaml

@@ -1,5 +1,5 @@
 seed: 0
-output_dir: output/08_04_2024_18_13_30_2327515
+output_dir: output/05_05_2024_20_21_54_727265
 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,
@@ -9,15 +9,19 @@ domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_data
   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
-log_dir: output/08_04_2024_18_13_30_2327515
+  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/05_05_2024_20_21_54_727265
 debug_distributed: false
 wb_tag: default
-wb_cont_run: 24yg5gb8
+wb_cont_run: quoc2fk1
 log_interval: 10
-script_name: run_resnet_30dataset_traj10000_embed256_batch2048
+script_name: run_resnet_42dataset_traj100000_embed256_batch2048_800k
 save_wb_checkpoint: true
-slurm_job_id: '26140239'
+slurm_job_id: '27155761'
 effective_total_epochs: 100
 effective_batch_size: 256
 epoch_size: 10
@@ -36,7 +40,7 @@ partition: learnlab
 use_volta32: true
 comment: ''
 resume: logs/
-dist_url: file:///checkpoint/xinleic/experiments/0a3d948fc6f644428ef132eb4f3a0d15_init
+dist_url: file:///checkpoint/xinleic/experiments/5ced703f08c64c1581c9f903a520b2b1_init
 dist_on_itp: false
 local_rank: 1
 distributed: true
@@ -46,6 +50,12 @@ dataset_shuffle: true
 dataset_groups: ''
 nodelist: learnlab,learnfair,scavenge
 fsdp: false
+count_flops: false
+accumuate_gradient_steps: 2
+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
@@ -53,7 +63,7 @@ dataset:
   pad_after: 0
   precompute_feat: true
   image_encoder: resnet
-  episode_cnt: 10000
+  episode_cnt: 100000
   step_cnt: 10000000
   data_augmentation: false
   use_disk: true
@@ -81,6 +91,7 @@ network:
   drop_path: 0.1
   mae_loss_scale: 0.0
   masked_autoencoding: false
+  action_horizon: ${dataset.action_horizon}
 stem:
   modalities:
   - image
@@ -108,7 +119,7 @@ stem:
     num_of_copy: 1
   state:
     _target_: hpt_pretrain.models.policy_stem.MLP
-    input_dim: 7
+    input_dim: 8
     output_dim: 256
     widths:
     - 128
@@ -132,11 +143,11 @@ val_dataloader:
   pin_memory: false
   persistent_workers: false
 ddp_dataloader:
-  num_workers: 16
+  num_workers: 8
   pin_memory: false
   persistent_workers: false
   drop_last: false
-  prefetch_factor: 2
+  prefetch_factor: 6
 ddp_val_dataloader:
   num_workers: 8
   pin_memory: false
@@ -154,15 +165,16 @@ warmup_lr:
   lr: 1.0e-10
   step: 1000
 train:
-  total_epochs: 3000
-  total_iters: 80000
+  total_epochs: 30000
+  total_iters: 800000
   epoch_iters: 1000
   validation_iters: 100
   use_accumulation: false
-  pretrained_dir: ''
+  pretrained_dir: '05_05_2024_20_21_54_727265'
   max_validation_size: 10
-  accumulate_batch_step: 1
+  load_pretrain_trunk_only: false
+  freeze_trunk: false
 lr_scheduler:
   _target_: torch.optim.lr_scheduler.CosineAnnealingLR
-  T_max: 80000
+  T_max: 800000
   eta_min: 1.0e-06

model.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:373fbb85fec94341e853f5befea479677bcfde02fa0ba522f3865ec6b5571b6e
+size 269273499

trunk.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fe69015f0e7456423d8db2f2a8a32be0399487277fb1253e30b3959de8119110
+oid sha256:a99023257c3371746cfbb8c3d504ccf4043ea13f4ea59d15424c44be6b14df9c
 size 50642858