| datamodule: | |
| transforms: | |
| combine_goal_obs: false | |
| move_axis: false | |
| bytes_to_string: true | |
| adjust_type: null | |
| add_robot_information: false | |
| language_encoders: | |
| _target_: medit.agents.input_encoders.goal_encoders.language_encoders.clip_tokens.TokenLangClip | |
| _recursive_: false | |
| model_name: ${clip_lang_model_name} | |
| _target_: oxe_torch_dataloader.uha.uha_datamodule.UhaDataModule | |
| _recursive_: false | |
| num_workers: ${num_workers} | |
| batch_size: ${batch_size} | |
| pin_memory: ${pin_memory} | |
| drop_last: ${drop_last} | |
| datasets: | |
| DATA_NAME: ${DATA_NAME} | |
| DATA_PATH: gs://gresearch/robotics | |
| load_camera_views: ${load_camera_views} | |
| dataset_size_limit: ${dataset_size_limit} | |
| action_proprio_normalization_type: bounds | |
| interleaved_dataset_cfg: | |
| shuffle_buffer_size: ${shuffle_buffer_size} | |
| balance_weights: true | |
| traj_transform_kwargs: | |
| goal_relabeling_strategy: ${goal_relabeling_strategy} | |
| goal_relabeling_kwargs: ${goal_relabeling_kwargs} | |
| window_size: ${window_size} | |
| action_horizon: ${act_seq_len} | |
| subsample_length: ${subsample_length} | |
| skip_unlabeled: ${skip_unlabeled} | |
| frame_transform_kwargs: | |
| image_augment_kwargs: | |
| primary: | |
| random_resized_crop: | |
| scale: | |
| - 0.8 | |
| - 1.0 | |
| ratio: | |
| - 0.9 | |
| - 1.1 | |
| random_brightness: | |
| - 0.1 | |
| random_contrast: | |
| - 0.9 | |
| - 1.1 | |
| random_saturation: | |
| - 0.9 | |
| - 1.1 | |
| random_hue: | |
| - 0.05 | |
| augment_order: | |
| - random_resized_crop | |
| - random_brightness | |
| - random_contrast | |
| - random_saturation | |
| - random_hue | |
| secondary: | |
| random_resized_crop: | |
| scale: | |
| - 0.8 | |
| - 1.0 | |
| ratio: | |
| - 0.9 | |
| - 1.1 | |
| random_brightness: | |
| - 0.1 | |
| random_contrast: | |
| - 0.9 | |
| - 1.1 | |
| random_saturation: | |
| - 0.9 | |
| - 1.1 | |
| random_hue: | |
| - 0.05 | |
| augment_order: | |
| - random_resized_crop | |
| - random_brightness | |
| - random_contrast | |
| - random_saturation | |
| - random_hue | |
| wrist: | |
| random_brightness: | |
| - 0.1 | |
| random_contrast: | |
| - 0.9 | |
| - 1.1 | |
| random_saturation: | |
| - 0.9 | |
| - 1.1 | |
| random_hue: | |
| - 0.05 | |
| augment_order: | |
| - random_brightness | |
| - random_contrast | |
| - random_saturation | |
| - random_hue | |
| resize_size: | |
| primary: | |
| - 224 | |
| - 224 | |
| secondary: | |
| - 224 | |
| - 224 | |
| wrist: | |
| - 224 | |
| - 224 | |
| resize_size_future_obs: | |
| primary: | |
| - 112 | |
| - 112 | |
| secondary: | |
| - 112 | |
| - 112 | |
| wrist: | |
| - 112 | |
| - 112 | |
| num_parallel_calls: 128 | |
| traj_transform_threads: 64 | |
| traj_read_threads: 32 | |
| trainer: | |
| agent: | |
| agent: | |
| language_goal: | |
| _target_: medit.agents.input_encoders.goal_encoders.language_encoders.clip_tokens.LangClip | |
| _recursive_: false | |
| freeze_backbone: true | |
| model_name: ${clip_lang_model_name} | |
| model: | |
| _target_: medit.agents.inner_models.edm_diffusion_policy.score_wrappers.GCDenoiser | |
| _recursive_: true | |
| sigma_data: 0.5 | |
| inner_model: | |
| _target_: medit.agents.inner_models.modedit.MoDeDiT | |
| action_dim: ${act_dim} | |
| goal_dim: ${goal_dim} | |
| obs_dim: 2048 | |
| goal_conditioned: true | |
| causal: true | |
| use_custom_attn_mask: false | |
| use_proprio: false | |
| state_dim: 8 | |
| embed_dim: 1024 | |
| n_layers: 12 | |
| goal_seq_len: 1 | |
| obs_seq_len: ${obs_seq_len} | |
| action_seq_len: ${act_seq_len} | |
| embed_pdrob: 0 | |
| goal_drop: 0.1 | |
| attn_pdrop: 0.3 | |
| mlp_pdrop: 0.1 | |
| n_heads: 8 | |
| linear_output: true | |
| cond_router: true | |
| num_experts: 4 | |
| top_k: 2 | |
| router_normalize: true | |
| use_goal_in_routing: false | |
| use_argmax: false | |
| use_shared_expert: false | |
| use_noise_token_as_input: true | |
| init_style: olmoe | |
| _target_: medit.agents.mode_agent.MoDEAgent | |
| _recursive_: false | |
| latent_dim: 1024 | |
| multistep: 5 | |
| sampler_type: ddim | |
| num_sampling_steps: 5 | |
| sigma_data: 0.5 | |
| sigma_min: 0.001 | |
| sigma_max: 80 | |
| noise_scheduler: exponential | |
| sigma_sample_density_type: loglogistic | |
| act_window_size: ${act_seq_len} | |
| act_dim: ${act_dim} | |
| seed: ${seed} | |
| obs_modalities: ${obs_modalities} | |
| goal_modalities: ${goal_modalities} | |
| img_modalities: ${img_modalities} | |
| lang_modalities: ${lang_modalities} | |
| target_modality: ${target_modality} | |
| entropy_gamma: 0.01 | |
| router_z_delta: 0.0 | |
| resnet_type: '50' | |
| _target_: medit.agents.ddp_wrapper.DDPAgentWrapper | |
| _recursive_: false | |
| obs_modalities: ${obs_modalities} | |
| goal_modalities: ${goal_modalities} | |
| img_modalities: ${img_modalities} | |
| lang_modalities: ${lang_modalities} | |
| target_modality: ${target_modality} | |
| _target_: medit.trainers.accelerate_trainer.AccelerateTrainer | |
| _recursive_: false | |
| weight_decay: | |
| transformer_weight_decay: 0.1 | |
| obs_encoder_weight_decay: 0.1 | |
| perceptual_encoder_lr: 0.0001 | |
| lr_scheduler: ${lr_scheduler} | |
| eval_every_n_steps: ${eval_every_n_steps} | |
| save_every_n_steps: ${save_every_n_steps} | |
| max_train_steps: ${max_train_steps} | |
| max_eval_steps: ${max_eval_steps} | |
| use_ema: true | |
| decay: ${decay} | |
| rampup_ratio: ${rampup_ratio} | |
| update_ema_every_n_steps: ${update_ema_every_n_steps} | |
| batch_size: ${batch_size} | |
| obs_modalities: ${obs_modalities} | |
| goal_modalities: ${goal_modalities} | |
| img_modalities: ${img_modalities} | |
| lang_modalities: ${lang_modalities} | |
| target_modality: ${target_modality} | |
| vis_clip_model_name: ViT-B/16 | |
| clip_lang_model_name: ViT-B/32 | |
| DATA_NAME: MO | |
| wandb: | |
| name: uha_${now:%H-%M-%S} | |
| group: ${now:%Y-%m-%d} | |
| project: simulation_eval | |
| entity: irl-masterthesis | |
| mode: null | |
| lr_scheduler: | |
| _target_: medit.agents.utils.lr_schedulers.InverseSquareRootLRSchedule | |
| num_warmup_steps: 1000 | |
| timescale: ${max_train_steps} | |
| log_dir: logs/ | |
| window_size: 1 | |
| obs_seq_len: 1 | |
| goal_window_size: 1 | |
| seed: 42 | |
| obs_dim: 512 | |
| goal_dim: 512 | |
| act_seq_len: 10 | |
| update_ema_every_n_steps: 1 | |
| decay: 0.999 | |
| rampup_ratio: 0.001 | |
| gen_img_res: 112 | |
| num_tokens_voltron: 10 | |
| img_gen_frame_diff: 3 | |
| use_modality_encoder: false | |
| goal_relabeling_strategy: null | |
| goal_relabeling_kwargs: | |
| min_bound: 20 | |
| max_bound: 50 | |
| frame_diff: ${img_gen_frame_diff} | |
| subsample_length: null | |
| skip_unlabeled: true | |
| load_camera_views: | |
| - primary | |
| - secondary | |
| - wrist | |
| obs_modalities: observation | |
| goal_modalities: task | |
| img_modalities: | |
| - image_primary | |
| - image_secondary | |
| - image_wrist | |
| lang_modalities: | |
| - language_instruction | |
| target_modality: action | |
| drop_last: true | |
| pin_memory: true | |
| num_workers: 0 | |
| gradient_accumulation_steps: 1 | |
| act_dim: 7 | |
| max_train_steps: 300000 | |
| max_eval_steps: 200 | |
| eval_every_n_steps: 5000 | |
| save_every_n_steps: 5000 | |
| shuffle_buffer_size: 400000 | |
| batch_size: 512 | |
| dataset_size_limit: null | |