hpt-large / config.json
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{
"accumuate_gradient_steps": 2,
"comment": "",
"count_flops": false,
"customized_dataset_mixture_file": "",
"dataloader": {
"batch_size": 64,
"drop_last": true,
"num_workers": 1,
"persistent_workers": false,
"pin_memory": false
},
"dataset": {
"_target_": "hpt_pretrain.dataset.traj_dataset.TrajDataset",
"action_horizon": 8,
"continue_generate": false,
"data_augmentation": false,
"data_ratio": 1,
"dataset_encoder_postfix": "_resnet",
"dataset_postfix": "_traj100000",
"episode_cnt": 100000,
"heldout_dataset": false,
"horizon": 5,
"image_encoder": "resnet",
"normalize_state": true,
"observation_horizon": 4,
"pad_after": 0,
"pad_before": 0,
"precompute_feat": true,
"regenerate": false,
"step_cnt": 10000000,
"use_disk": true,
"use_heldout_dataset": true,
"use_multiview": false,
"val_ratio": 0.1
},
"dataset_groups": "",
"dataset_shuffle": true,
"ddp_dataloader": {
"drop_last": false,
"num_workers": 8,
"persistent_workers": false,
"pin_memory": false,
"prefetch_factor": 6
},
"ddp_val_dataloader": {
"drop_last": false,
"num_workers": 8,
"persistent_workers": false,
"pin_memory": false,
"prefetch_factor": 2
},
"debug_distributed": false,
"debug_submitit": false,
"dist_backend": "nccl",
"dist_on_itp": false,
"dist_url": "file:///checkpoint/xinleic/experiments/855d1a9c880549309c4f301b0fe381be_init",
"distributed": true,
"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",
"dset_w_temperature": 2.0,
"effective_batch_size": 256,
"effective_total_epochs": 100,
"epoch_size": 10,
"fsdp": false,
"gpu": 0,
"head": {
"_target_": "hpt_pretrain.models.policy_head.MLP",
"dropout": true,
"input_dim": 512,
"output_dim": 48,
"tanh_end": true,
"widths": [
256,
128
]
},
"job_dir": "logs/",
"local_rank": 1,
"log_dir": "output/05_05_2024_20_21_54_727275",
"log_interval": 10,
"lr_scheduler": {
"T_max": 800000,
"_target_": "torch.optim.lr_scheduler.CosineAnnealingLR",
"eta_min": 1e-06
},
"network": {
"_target_": "hpt_pretrain.models.policy.Policy",
"action_horizon": 8,
"drop_path": 0.1,
"embed_dim": 512,
"mae_loss_scale": 0.0,
"masked_autoencoding": false,
"num_blocks": 16,
"num_heads": 8,
"token_postprocessing": "mean",
"use_domain_embedding": false,
"use_modality_embedding": true,
"weight_init_style": "pytorch"
},
"ngpus": 8,
"nodelist": "learnlab,learnfair,scavenge",
"nodes": 4,
"optimizer": {
"_target_": "torch.optim.AdamW",
"eps": 1e-06,
"lr": 0.001,
"weight_decay": 0.05
},
"optimizer_misc": {
"nontrunk_lr_scale": 0.5
},
"output_dir": "output/05_05_2024_20_21_54_727275",
"partition": "learnlab",
"rank": 0,
"resume": "logs/",
"save_wb_checkpoint": true,
"script_name": "run_resnet_30dataset_traj100000_embed_512_batch2048_800k",
"seed": 0,
"slurm_job_id": "27155766",
"stem": {
"add_pos_embedding_to_state": false,
"crossattn_dim_head": 64,
"crossattn_heads": 8,
"crossattn_latent": {
"image": 16,
"state": 16
},
"crossattn_modality_dropout": 0.1,
"image": {
"_target_": "hpt_pretrain.models.policy_stem.MLP",
"input_dim": 512,
"num_of_copy": 1,
"output_dim": 512,
"widths": [
128
]
},
"image_encoder": "resnet",
"modalities": [
"image",
"state"
],
"modality_embed_dim": 512,
"normalize_state": true,
"num_blocks": 1,
"observation_horizon": 4,
"random_horizon_masking": true,
"state": {
"_target_": "hpt_pretrain.models.policy_stem.MLP",
"input_dim": 8,
"output_dim": 512,
"widths": [
128
]
},
"state_embedding_dim": 1
},
"submitit_autoresume": true,
"task_per_gpu": 1,
"timeout": 4320,
"total_num_sample": 0,
"total_num_traj": 0,
"train": {
"epoch_iters": 1000,
"freeze_trunk": false,
"load_pretrain_trunk_only": false,
"max_validation_size": 10,
"pretrained_dir": "05_05_2024_20_21_54_727275",
"total_epochs": 30000,
"total_iters": 800000,
"use_accumulation": false,
"validation_iters": 100
},
"trunk_acc_gradient_step": 1,
"trunk_separate_opt": false,
"use_volta32": true,
"val_dataloader": {
"num_workers": 1,
"persistent_workers": false,
"pin_memory": false
},
"warmup_lr": {
"lr": 1e-10,
"step": 1000
},
"wb_cont_run": "3tv0j6ts",
"wb_tag": "default",
"world_size": 32
}