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- .gitattributes +34 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_0/20240602_011058/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_0/20240602_011058/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_0/20240602_011058/config.yaml +71 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/config.yaml +71 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/config.yaml +71 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/config.yaml +71 -0
- susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/config.yaml +71 -0
- susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/config.yaml +71 -0
- susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/config.yaml +71 -0
- susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/checkpoint +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/serialized_policy_ckpt +3 -0
- susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/config.yaml +71 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/config.yaml +75 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/config.yaml +75 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/config.yaml +75 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/config.yaml +75 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/config.yaml +75 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/config.yaml +75 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/config.yaml +75 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/checkpoint_100000/checkpoint +3 -0
- susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/config.yaml +75 -0
- susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_0/20240227_194024/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_1/20240227_194024/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_2/20240227_194024/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_3/20240227_194024/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvin/gcdiffusion/default/seed_0/20240507_010213/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvin/gcdiffusion/default/seed_1/20240507_010213/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvin/gcdiffusion/default/seed_2/20240507_010213/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvin/gcdiffusion/default/seed_3/20240507_010213/checkpoint_150000/checkpoint +3 -0
- susie_low_level/calvinlcbc/lcgcprogressvf/auggoaldiff/seed_0/20240510_005751/checkpoint_100000/checkpoint +3 -0
.gitattributes
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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SuSIE/bridge/params_ema/checkpoint filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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SuSIE/bridge/params_ema/checkpoint filter=lfs diff=lfs merge=lfs -text
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SuSIE/calvin/params_ema/checkpoint filter=lfs diff=lfs merge=lfs -text
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_0/20240602_011058/checkpoint_150000/serialized_policy_ckpt filter=lfs diff=lfs merge=lfs -text
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/checkpoint_150000/serialized_policy_ckpt filter=lfs diff=lfs merge=lfs -text
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/serialized_policy_ckpt filter=lfs diff=lfs merge=lfs -text
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susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/checkpoint_100000/checkpoint filter=lfs diff=lfs merge=lfs -text
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susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/checkpoint_100000/checkpoint filter=lfs diff=lfs merge=lfs -text
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_0/20240602_011058/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:13309fb939410a61fb1d5632a44c52236e9894e299d3b42e2ea3db5e6254aba4
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3 |
+
size 368607511
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_0/20240602_011058/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:4421f19833ffc3379dca109221a36c5d11eaf9102cc29330d843592fbf197100
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3 |
+
size 92739495
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_0/20240602_011058/config.yaml
ADDED
@@ -0,0 +1,71 @@
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agent: gc_ddpm_bc
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agent_kwargs:
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action_samples: 1
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actor_decay_steps: 2000000
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beta_schedule: cosine
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diffusion_steps: 20
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early_goal_concat: true
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learning_rate: 0.0003
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repeat_last_step: 0
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score_network_kwargs:
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dropout_rate: 0.1
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hidden_dim: 256
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num_blocks: 3
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time_dim: 32
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use_layer_norm: true
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shared_goal_encoder: true
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use_proprio: false
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warmup_steps: 2000
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batch_size: 256
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data_path: /opt/ml/input/data/bridgev2_processed
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dataset_kwargs:
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act_pred_horizon: 4
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augment: true
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augment_kwargs:
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augment_order:
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- random_resized_crop
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- random_brightness
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- random_contrast
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- random_saturation
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- random_hue
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random_brightness:
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- 0.2
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random_contrast:
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- 0.8
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- 1.2
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random_hue:
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- 0.1
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random_resized_crop:
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ratio:
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- 0.9
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- 1.1
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scale:
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- 0.8
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- 1.0
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random_saturation:
|
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- 0.8
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- 1.2
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augment_next_obs_goal_differently: true
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goal_relabeling_kwargs:
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goal_delta:
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- 0
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- 24
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goal_relabeling_strategy: delta_goals
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obs_horizon: 1
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relabel_actions: true
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shuffle_buffer_size: 25000
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dataset_name: bridge
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encoder: resnetv1-34-bridge
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encoder_kwargs:
|
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act: swish
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add_spatial_coordinates: true
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pooling_method: avg
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eval_interval: 50000
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language_conditioned: false
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log_interval: 1000
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num_steps: 600000
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num_val_batches: 8
|
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resume_path: null
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save_dir: /opt/ml/code/results
|
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save_interval: 50000
|
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seed: 0
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:50acd50cf4d1386bb8a9f684f74b42559007d63a0d5396a5146c3a23f4603a53
|
3 |
+
size 368607511
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
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1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:08afc8fcd64c509e4bf70a10655b1c7b7cd446862cb9a5796cab07b244b3baa2
|
3 |
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size 92739495
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susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/config.yaml
ADDED
@@ -0,0 +1,71 @@
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agent: gc_ddpm_bc
|
2 |
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agent_kwargs:
|
3 |
+
action_samples: 1
|
4 |
+
actor_decay_steps: 2000000
|
5 |
+
beta_schedule: cosine
|
6 |
+
diffusion_steps: 20
|
7 |
+
early_goal_concat: true
|
8 |
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learning_rate: 0.0003
|
9 |
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repeat_last_step: 0
|
10 |
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score_network_kwargs:
|
11 |
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dropout_rate: 0.1
|
12 |
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hidden_dim: 256
|
13 |
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num_blocks: 3
|
14 |
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time_dim: 32
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: true
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: 4
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: true
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 0
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals
|
54 |
+
obs_horizon: 1
|
55 |
+
relabel_actions: true
|
56 |
+
shuffle_buffer_size: 25000
|
57 |
+
dataset_name: bridge
|
58 |
+
encoder: resnetv1-34-bridge
|
59 |
+
encoder_kwargs:
|
60 |
+
act: swish
|
61 |
+
add_spatial_coordinates: true
|
62 |
+
pooling_method: avg
|
63 |
+
eval_interval: 50000
|
64 |
+
language_conditioned: false
|
65 |
+
log_interval: 1000
|
66 |
+
num_steps: 600000
|
67 |
+
num_val_batches: 8
|
68 |
+
resume_path: null
|
69 |
+
save_dir: /opt/ml/code/results
|
70 |
+
save_interval: 50000
|
71 |
+
seed: 1
|
susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:fd31319afe449218d4b9bb988bbe280b4e876db5985ea93a7a8a8c24efe3d18e
|
3 |
+
size 368607511
|
susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:525781954fcd30a3bd6321696d9bea0a0131e02b957e5605438e4247889ad30e
|
3 |
+
size 92739495
|
susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/config.yaml
ADDED
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: gc_ddpm_bc
|
2 |
+
agent_kwargs:
|
3 |
+
action_samples: 1
|
4 |
+
actor_decay_steps: 2000000
|
5 |
+
beta_schedule: cosine
|
6 |
+
diffusion_steps: 20
|
7 |
+
early_goal_concat: true
|
8 |
+
learning_rate: 0.0003
|
9 |
+
repeat_last_step: 0
|
10 |
+
score_network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dim: 256
|
13 |
+
num_blocks: 3
|
14 |
+
time_dim: 32
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: true
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: 4
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: true
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 0
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals
|
54 |
+
obs_horizon: 1
|
55 |
+
relabel_actions: true
|
56 |
+
shuffle_buffer_size: 25000
|
57 |
+
dataset_name: bridge
|
58 |
+
encoder: resnetv1-34-bridge
|
59 |
+
encoder_kwargs:
|
60 |
+
act: swish
|
61 |
+
add_spatial_coordinates: true
|
62 |
+
pooling_method: avg
|
63 |
+
eval_interval: 50000
|
64 |
+
language_conditioned: false
|
65 |
+
log_interval: 1000
|
66 |
+
num_steps: 600000
|
67 |
+
num_val_batches: 8
|
68 |
+
resume_path: null
|
69 |
+
save_dir: /opt/ml/code/results
|
70 |
+
save_interval: 50000
|
71 |
+
seed: 2
|
susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:6ad39d14c0fd1d33ca960bd72c8b6c2b45eb440da6037fdfe3c014a28f059d21
|
3 |
+
size 368607511
|
susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:414295ff41a0d48aac5ce2ad20fc08227f8be4e87b0bc0b039ded51ccdae54d4
|
3 |
+
size 92739495
|
susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/config.yaml
ADDED
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: gc_ddpm_bc
|
2 |
+
agent_kwargs:
|
3 |
+
action_samples: 1
|
4 |
+
actor_decay_steps: 2000000
|
5 |
+
beta_schedule: cosine
|
6 |
+
diffusion_steps: 20
|
7 |
+
early_goal_concat: true
|
8 |
+
learning_rate: 0.0003
|
9 |
+
repeat_last_step: 0
|
10 |
+
score_network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dim: 256
|
13 |
+
num_blocks: 3
|
14 |
+
time_dim: 32
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: true
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: 4
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: true
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 0
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals
|
54 |
+
obs_horizon: 1
|
55 |
+
relabel_actions: true
|
56 |
+
shuffle_buffer_size: 25000
|
57 |
+
dataset_name: bridge
|
58 |
+
encoder: resnetv1-34-bridge
|
59 |
+
encoder_kwargs:
|
60 |
+
act: swish
|
61 |
+
add_spatial_coordinates: true
|
62 |
+
pooling_method: avg
|
63 |
+
eval_interval: 50000
|
64 |
+
language_conditioned: false
|
65 |
+
log_interval: 1000
|
66 |
+
num_steps: 600000
|
67 |
+
num_val_batches: 8
|
68 |
+
resume_path: null
|
69 |
+
save_dir: /opt/ml/code/results
|
70 |
+
save_interval: 50000
|
71 |
+
seed: 3
|
susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:ad010d397c1eae238e175cb1617553c2aeaf08e6abcfb076e0dfcbb89d73edee
|
3 |
+
size 368607511
|
susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:43adc676be470c9c277029e39d08c19bb4b12a36f1d64dafa6833bf934a784ba
|
3 |
+
size 92739495
|
susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/config.yaml
ADDED
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: gc_ddpm_bc
|
2 |
+
agent_kwargs:
|
3 |
+
action_samples: 1
|
4 |
+
actor_decay_steps: 2000000
|
5 |
+
beta_schedule: cosine
|
6 |
+
diffusion_steps: 20
|
7 |
+
early_goal_concat: true
|
8 |
+
learning_rate: 0.0003
|
9 |
+
repeat_last_step: 0
|
10 |
+
score_network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dim: 256
|
13 |
+
num_blocks: 3
|
14 |
+
time_dim: 32
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: true
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: 4
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: false
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 0
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals
|
54 |
+
obs_horizon: 1
|
55 |
+
relabel_actions: true
|
56 |
+
shuffle_buffer_size: 25000
|
57 |
+
dataset_name: bridge
|
58 |
+
encoder: resnetv1-34-bridge
|
59 |
+
encoder_kwargs:
|
60 |
+
act: swish
|
61 |
+
add_spatial_coordinates: true
|
62 |
+
pooling_method: avg
|
63 |
+
eval_interval: 50000
|
64 |
+
language_conditioned: false
|
65 |
+
log_interval: 1000
|
66 |
+
num_steps: 600000
|
67 |
+
num_val_batches: 8
|
68 |
+
resume_path: null
|
69 |
+
save_dir: /opt/ml/code/results
|
70 |
+
save_interval: 50000
|
71 |
+
seed: 0
|
susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:41fde3b3ec785e940c89ff8a4baabdb6caa955d35adf65262b80a59d9c5cd991
|
3 |
+
size 368607511
|
susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:537971c402a104ca45ab4cfdb2fb41f3aff4d5135492b947bb6bcfa3d101e9ad
|
3 |
+
size 92739495
|
susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/config.yaml
ADDED
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: gc_ddpm_bc
|
2 |
+
agent_kwargs:
|
3 |
+
action_samples: 1
|
4 |
+
actor_decay_steps: 2000000
|
5 |
+
beta_schedule: cosine
|
6 |
+
diffusion_steps: 20
|
7 |
+
early_goal_concat: true
|
8 |
+
learning_rate: 0.0003
|
9 |
+
repeat_last_step: 0
|
10 |
+
score_network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dim: 256
|
13 |
+
num_blocks: 3
|
14 |
+
time_dim: 32
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: true
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: 4
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: false
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 0
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals
|
54 |
+
obs_horizon: 1
|
55 |
+
relabel_actions: true
|
56 |
+
shuffle_buffer_size: 25000
|
57 |
+
dataset_name: bridge
|
58 |
+
encoder: resnetv1-34-bridge
|
59 |
+
encoder_kwargs:
|
60 |
+
act: swish
|
61 |
+
add_spatial_coordinates: true
|
62 |
+
pooling_method: avg
|
63 |
+
eval_interval: 50000
|
64 |
+
language_conditioned: false
|
65 |
+
log_interval: 1000
|
66 |
+
num_steps: 600000
|
67 |
+
num_val_batches: 8
|
68 |
+
resume_path: null
|
69 |
+
save_dir: /opt/ml/code/results
|
70 |
+
save_interval: 50000
|
71 |
+
seed: 1
|
susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:727d3ba0fda6ea6438da85b468b76df2eec86fb63b5ee25ecd32d5557f48c042
|
3 |
+
size 368607511
|
susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:bdefbbd01cadc46c1e55c7de5a76aa866d41700c34357a0e8a813cb701d7a293
|
3 |
+
size 92739495
|
susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/config.yaml
ADDED
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: gc_ddpm_bc
|
2 |
+
agent_kwargs:
|
3 |
+
action_samples: 1
|
4 |
+
actor_decay_steps: 2000000
|
5 |
+
beta_schedule: cosine
|
6 |
+
diffusion_steps: 20
|
7 |
+
early_goal_concat: true
|
8 |
+
learning_rate: 0.0003
|
9 |
+
repeat_last_step: 0
|
10 |
+
score_network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dim: 256
|
13 |
+
num_blocks: 3
|
14 |
+
time_dim: 32
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: true
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: 4
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: false
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 0
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals
|
54 |
+
obs_horizon: 1
|
55 |
+
relabel_actions: true
|
56 |
+
shuffle_buffer_size: 25000
|
57 |
+
dataset_name: bridge
|
58 |
+
encoder: resnetv1-34-bridge
|
59 |
+
encoder_kwargs:
|
60 |
+
act: swish
|
61 |
+
add_spatial_coordinates: true
|
62 |
+
pooling_method: avg
|
63 |
+
eval_interval: 50000
|
64 |
+
language_conditioned: false
|
65 |
+
log_interval: 1000
|
66 |
+
num_steps: 600000
|
67 |
+
num_val_batches: 8
|
68 |
+
resume_path: null
|
69 |
+
save_dir: /opt/ml/code/results
|
70 |
+
save_interval: 50000
|
71 |
+
seed: 2
|
susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:f9fc615a60c7336045ed1db82bb466fcb5d20d7e33d85bea0ef44ab74bd40a3a
|
3 |
+
size 368607511
|
susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/serialized_policy_ckpt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:44eb9dee7f8d34445334ef227861943ac1ed9fae161f13a0ef997e10b6e98978
|
3 |
+
size 92739495
|
susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/config.yaml
ADDED
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: gc_ddpm_bc
|
2 |
+
agent_kwargs:
|
3 |
+
action_samples: 1
|
4 |
+
actor_decay_steps: 2000000
|
5 |
+
beta_schedule: cosine
|
6 |
+
diffusion_steps: 20
|
7 |
+
early_goal_concat: true
|
8 |
+
learning_rate: 0.0003
|
9 |
+
repeat_last_step: 0
|
10 |
+
score_network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dim: 256
|
13 |
+
num_blocks: 3
|
14 |
+
time_dim: 32
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: true
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: 4
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: false
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 0
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals
|
54 |
+
obs_horizon: 1
|
55 |
+
relabel_actions: true
|
56 |
+
shuffle_buffer_size: 25000
|
57 |
+
dataset_name: bridge
|
58 |
+
encoder: resnetv1-34-bridge
|
59 |
+
encoder_kwargs:
|
60 |
+
act: swish
|
61 |
+
add_spatial_coordinates: true
|
62 |
+
pooling_method: avg
|
63 |
+
eval_interval: 50000
|
64 |
+
language_conditioned: false
|
65 |
+
log_interval: 1000
|
66 |
+
num_steps: 600000
|
67 |
+
num_val_batches: 8
|
68 |
+
resume_path: null
|
69 |
+
save_dir: /opt/ml/code/results
|
70 |
+
save_interval: 50000
|
71 |
+
seed: 3
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:c5dd6c2098751630481f5f18420fe01752f8d113872f5241211b5d0019815697
|
3 |
+
size 810601157
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: lcgc_progress_vf
|
2 |
+
agent_kwargs:
|
3 |
+
early_goal_concat: false
|
4 |
+
frac_neg_reverse_direction: 0.2
|
5 |
+
frac_neg_wrong_goalimg: 0.1
|
6 |
+
frac_neg_wrong_lang: 0.2
|
7 |
+
frac_pos: 0.5
|
8 |
+
learning_rate: 0.0003
|
9 |
+
loss_fn: bce
|
10 |
+
network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dims:
|
13 |
+
- 256
|
14 |
+
- 256
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: false
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: null
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: true
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 16
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals2
|
54 |
+
load_language: true
|
55 |
+
obs_horizon: null
|
56 |
+
relabel_actions: true
|
57 |
+
shuffle_buffer_size: 25000
|
58 |
+
skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
+
add_spatial_coordinates: true
|
64 |
+
pooling_method: avg
|
65 |
+
eval_interval: 50000
|
66 |
+
language_conditioned: true
|
67 |
+
log_interval: 1000
|
68 |
+
num_steps: 600000
|
69 |
+
num_val_batches: 8
|
70 |
+
resume_path: null
|
71 |
+
save_dir: /opt/ml/code/results
|
72 |
+
save_interval: 50000
|
73 |
+
seed: 0
|
74 |
+
text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:c3fdc1782cfceb78d61500b0291d67c49014db2322174215e0479d86940c17f8
|
3 |
+
size 810601157
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: lcgc_progress_vf
|
2 |
+
agent_kwargs:
|
3 |
+
early_goal_concat: false
|
4 |
+
frac_neg_reverse_direction: 0.2
|
5 |
+
frac_neg_wrong_goalimg: 0.1
|
6 |
+
frac_neg_wrong_lang: 0.2
|
7 |
+
frac_pos: 0.5
|
8 |
+
learning_rate: 0.0003
|
9 |
+
loss_fn: bce
|
10 |
+
network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dims:
|
13 |
+
- 256
|
14 |
+
- 256
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: false
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: null
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: true
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 16
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals2
|
54 |
+
load_language: true
|
55 |
+
obs_horizon: null
|
56 |
+
relabel_actions: true
|
57 |
+
shuffle_buffer_size: 25000
|
58 |
+
skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
+
add_spatial_coordinates: true
|
64 |
+
pooling_method: avg
|
65 |
+
eval_interval: 50000
|
66 |
+
language_conditioned: true
|
67 |
+
log_interval: 1000
|
68 |
+
num_steps: 600000
|
69 |
+
num_val_batches: 8
|
70 |
+
resume_path: null
|
71 |
+
save_dir: /opt/ml/code/results
|
72 |
+
save_interval: 50000
|
73 |
+
seed: 1
|
74 |
+
text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:a92367feb29dc4c4f26c436582a0133637215e652001fb1279745803e5c36a21
|
3 |
+
size 810601157
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: lcgc_progress_vf
|
2 |
+
agent_kwargs:
|
3 |
+
early_goal_concat: false
|
4 |
+
frac_neg_reverse_direction: 0.2
|
5 |
+
frac_neg_wrong_goalimg: 0.1
|
6 |
+
frac_neg_wrong_lang: 0.2
|
7 |
+
frac_pos: 0.5
|
8 |
+
learning_rate: 0.0003
|
9 |
+
loss_fn: bce
|
10 |
+
network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dims:
|
13 |
+
- 256
|
14 |
+
- 256
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: false
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: null
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: true
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 16
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals2
|
54 |
+
load_language: true
|
55 |
+
obs_horizon: null
|
56 |
+
relabel_actions: true
|
57 |
+
shuffle_buffer_size: 25000
|
58 |
+
skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
+
add_spatial_coordinates: true
|
64 |
+
pooling_method: avg
|
65 |
+
eval_interval: 50000
|
66 |
+
language_conditioned: true
|
67 |
+
log_interval: 1000
|
68 |
+
num_steps: 600000
|
69 |
+
num_val_batches: 8
|
70 |
+
resume_path: null
|
71 |
+
save_dir: /opt/ml/code/results
|
72 |
+
save_interval: 50000
|
73 |
+
seed: 2
|
74 |
+
text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:adf8ded29658e108cdec44a99fd0253c83eb07ceedfd8ad4193d4fc080d9bc1d
|
3 |
+
size 810601157
|
susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: lcgc_progress_vf
|
2 |
+
agent_kwargs:
|
3 |
+
early_goal_concat: false
|
4 |
+
frac_neg_reverse_direction: 0.2
|
5 |
+
frac_neg_wrong_goalimg: 0.1
|
6 |
+
frac_neg_wrong_lang: 0.2
|
7 |
+
frac_pos: 0.5
|
8 |
+
learning_rate: 0.0003
|
9 |
+
loss_fn: bce
|
10 |
+
network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dims:
|
13 |
+
- 256
|
14 |
+
- 256
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: false
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: null
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: true
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 16
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals2
|
54 |
+
load_language: true
|
55 |
+
obs_horizon: null
|
56 |
+
relabel_actions: true
|
57 |
+
shuffle_buffer_size: 25000
|
58 |
+
skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
+
add_spatial_coordinates: true
|
64 |
+
pooling_method: avg
|
65 |
+
eval_interval: 50000
|
66 |
+
language_conditioned: true
|
67 |
+
log_interval: 1000
|
68 |
+
num_steps: 600000
|
69 |
+
num_val_batches: 8
|
70 |
+
resume_path: null
|
71 |
+
save_dir: /opt/ml/code/results
|
72 |
+
save_interval: 50000
|
73 |
+
seed: 3
|
74 |
+
text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:94e110262e291764f4da59c73a14b1941f47abcaf905514f88b62ecac1a60af0
|
3 |
+
size 810601157
|
susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: lcgc_progress_vf
|
2 |
+
agent_kwargs:
|
3 |
+
early_goal_concat: false
|
4 |
+
frac_neg_reverse_direction: 0.2
|
5 |
+
frac_neg_wrong_goalimg: 0.1
|
6 |
+
frac_neg_wrong_lang: 0.2
|
7 |
+
frac_pos: 0.5
|
8 |
+
learning_rate: 0.0003
|
9 |
+
loss_fn: bce
|
10 |
+
network_kwargs:
|
11 |
+
dropout_rate: 0.1
|
12 |
+
hidden_dims:
|
13 |
+
- 256
|
14 |
+
- 256
|
15 |
+
use_layer_norm: true
|
16 |
+
shared_goal_encoder: false
|
17 |
+
use_proprio: false
|
18 |
+
warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
+
act_pred_horizon: null
|
23 |
+
augment: true
|
24 |
+
augment_kwargs:
|
25 |
+
augment_order:
|
26 |
+
- random_resized_crop
|
27 |
+
- random_brightness
|
28 |
+
- random_contrast
|
29 |
+
- random_saturation
|
30 |
+
- random_hue
|
31 |
+
random_brightness:
|
32 |
+
- 0.2
|
33 |
+
random_contrast:
|
34 |
+
- 0.8
|
35 |
+
- 1.2
|
36 |
+
random_hue:
|
37 |
+
- 0.1
|
38 |
+
random_resized_crop:
|
39 |
+
ratio:
|
40 |
+
- 0.9
|
41 |
+
- 1.1
|
42 |
+
scale:
|
43 |
+
- 0.8
|
44 |
+
- 1.0
|
45 |
+
random_saturation:
|
46 |
+
- 0.8
|
47 |
+
- 1.2
|
48 |
+
augment_next_obs_goal_differently: false
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 16
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals2
|
54 |
+
load_language: true
|
55 |
+
obs_horizon: null
|
56 |
+
relabel_actions: true
|
57 |
+
shuffle_buffer_size: 25000
|
58 |
+
skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
+
add_spatial_coordinates: true
|
64 |
+
pooling_method: avg
|
65 |
+
eval_interval: 50000
|
66 |
+
language_conditioned: true
|
67 |
+
log_interval: 1000
|
68 |
+
num_steps: 600000
|
69 |
+
num_val_batches: 8
|
70 |
+
resume_path: null
|
71 |
+
save_dir: /opt/ml/code/results
|
72 |
+
save_interval: 50000
|
73 |
+
seed: 0
|
74 |
+
text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:fb6310181cc72a48637b87768a294ac9c07be2101843f03348a3ddca325d9257
|
3 |
+
size 810601157
|
susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
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agent: lcgc_progress_vf
|
2 |
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agent_kwargs:
|
3 |
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early_goal_concat: false
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4 |
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frac_neg_reverse_direction: 0.2
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frac_neg_wrong_lang: 0.2
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7 |
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frac_pos: 0.5
|
8 |
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learning_rate: 0.0003
|
9 |
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loss_fn: bce
|
10 |
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network_kwargs:
|
11 |
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dropout_rate: 0.1
|
12 |
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hidden_dims:
|
13 |
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- 256
|
14 |
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- 256
|
15 |
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use_layer_norm: true
|
16 |
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shared_goal_encoder: false
|
17 |
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use_proprio: false
|
18 |
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warmup_steps: 2000
|
19 |
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batch_size: 256
|
20 |
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data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
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dataset_kwargs:
|
22 |
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act_pred_horizon: null
|
23 |
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augment: true
|
24 |
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augment_kwargs:
|
25 |
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augment_order:
|
26 |
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- random_resized_crop
|
27 |
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- random_brightness
|
28 |
+
- random_contrast
|
29 |
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- random_saturation
|
30 |
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- random_hue
|
31 |
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random_brightness:
|
32 |
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- 0.2
|
33 |
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random_contrast:
|
34 |
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- 0.8
|
35 |
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- 1.2
|
36 |
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random_hue:
|
37 |
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|
38 |
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random_resized_crop:
|
39 |
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ratio:
|
40 |
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- 0.9
|
41 |
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|
42 |
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scale:
|
43 |
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- 0.8
|
44 |
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- 1.0
|
45 |
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random_saturation:
|
46 |
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|
47 |
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|
48 |
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augment_next_obs_goal_differently: false
|
49 |
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goal_relabeling_kwargs:
|
50 |
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goal_delta:
|
51 |
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- 16
|
52 |
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- 24
|
53 |
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goal_relabeling_strategy: delta_goals2
|
54 |
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load_language: true
|
55 |
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obs_horizon: null
|
56 |
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relabel_actions: true
|
57 |
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shuffle_buffer_size: 25000
|
58 |
+
skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
+
add_spatial_coordinates: true
|
64 |
+
pooling_method: avg
|
65 |
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eval_interval: 50000
|
66 |
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language_conditioned: true
|
67 |
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log_interval: 1000
|
68 |
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num_steps: 600000
|
69 |
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num_val_batches: 8
|
70 |
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resume_path: null
|
71 |
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save_dir: /opt/ml/code/results
|
72 |
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save_interval: 50000
|
73 |
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seed: 1
|
74 |
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text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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|
|
|
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|
|
|
|
1 |
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version https://git-lfs.github.com/spec/v1
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size 810601157
|
susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
agent: lcgc_progress_vf
|
2 |
+
agent_kwargs:
|
3 |
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early_goal_concat: false
|
4 |
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frac_neg_reverse_direction: 0.2
|
5 |
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frac_neg_wrong_goalimg: 0.1
|
6 |
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frac_neg_wrong_lang: 0.2
|
7 |
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frac_pos: 0.5
|
8 |
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learning_rate: 0.0003
|
9 |
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loss_fn: bce
|
10 |
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network_kwargs:
|
11 |
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dropout_rate: 0.1
|
12 |
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hidden_dims:
|
13 |
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- 256
|
14 |
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- 256
|
15 |
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use_layer_norm: true
|
16 |
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shared_goal_encoder: false
|
17 |
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use_proprio: false
|
18 |
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warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
+
data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
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dataset_kwargs:
|
22 |
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act_pred_horizon: null
|
23 |
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augment: true
|
24 |
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augment_kwargs:
|
25 |
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augment_order:
|
26 |
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- random_resized_crop
|
27 |
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- random_brightness
|
28 |
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- random_contrast
|
29 |
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- random_saturation
|
30 |
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- random_hue
|
31 |
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random_brightness:
|
32 |
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- 0.2
|
33 |
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random_contrast:
|
34 |
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- 0.8
|
35 |
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- 1.2
|
36 |
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random_hue:
|
37 |
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- 0.1
|
38 |
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random_resized_crop:
|
39 |
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ratio:
|
40 |
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- 0.9
|
41 |
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- 1.1
|
42 |
+
scale:
|
43 |
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- 0.8
|
44 |
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- 1.0
|
45 |
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random_saturation:
|
46 |
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- 0.8
|
47 |
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- 1.2
|
48 |
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augment_next_obs_goal_differently: false
|
49 |
+
goal_relabeling_kwargs:
|
50 |
+
goal_delta:
|
51 |
+
- 16
|
52 |
+
- 24
|
53 |
+
goal_relabeling_strategy: delta_goals2
|
54 |
+
load_language: true
|
55 |
+
obs_horizon: null
|
56 |
+
relabel_actions: true
|
57 |
+
shuffle_buffer_size: 25000
|
58 |
+
skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
+
add_spatial_coordinates: true
|
64 |
+
pooling_method: avg
|
65 |
+
eval_interval: 50000
|
66 |
+
language_conditioned: true
|
67 |
+
log_interval: 1000
|
68 |
+
num_steps: 600000
|
69 |
+
num_val_batches: 8
|
70 |
+
resume_path: null
|
71 |
+
save_dir: /opt/ml/code/results
|
72 |
+
save_interval: 50000
|
73 |
+
seed: 2
|
74 |
+
text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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|
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|
1 |
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version https://git-lfs.github.com/spec/v1
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size 810601157
|
susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/config.yaml
ADDED
@@ -0,0 +1,75 @@
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
1 |
+
agent: lcgc_progress_vf
|
2 |
+
agent_kwargs:
|
3 |
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early_goal_concat: false
|
4 |
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frac_neg_reverse_direction: 0.2
|
5 |
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frac_neg_wrong_goalimg: 0.1
|
6 |
+
frac_neg_wrong_lang: 0.2
|
7 |
+
frac_pos: 0.5
|
8 |
+
learning_rate: 0.0003
|
9 |
+
loss_fn: bce
|
10 |
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network_kwargs:
|
11 |
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dropout_rate: 0.1
|
12 |
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hidden_dims:
|
13 |
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- 256
|
14 |
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- 256
|
15 |
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use_layer_norm: true
|
16 |
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shared_goal_encoder: false
|
17 |
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use_proprio: false
|
18 |
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warmup_steps: 2000
|
19 |
+
batch_size: 256
|
20 |
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data_path: /opt/ml/input/data/bridgev2_processed
|
21 |
+
dataset_kwargs:
|
22 |
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act_pred_horizon: null
|
23 |
+
augment: true
|
24 |
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augment_kwargs:
|
25 |
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augment_order:
|
26 |
+
- random_resized_crop
|
27 |
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- random_brightness
|
28 |
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- random_contrast
|
29 |
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- random_saturation
|
30 |
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- random_hue
|
31 |
+
random_brightness:
|
32 |
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- 0.2
|
33 |
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random_contrast:
|
34 |
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- 0.8
|
35 |
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- 1.2
|
36 |
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random_hue:
|
37 |
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- 0.1
|
38 |
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random_resized_crop:
|
39 |
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ratio:
|
40 |
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- 0.9
|
41 |
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- 1.1
|
42 |
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scale:
|
43 |
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|
44 |
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|
45 |
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random_saturation:
|
46 |
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|
47 |
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- 1.2
|
48 |
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augment_next_obs_goal_differently: false
|
49 |
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goal_relabeling_kwargs:
|
50 |
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goal_delta:
|
51 |
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- 16
|
52 |
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- 24
|
53 |
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goal_relabeling_strategy: delta_goals2
|
54 |
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load_language: true
|
55 |
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obs_horizon: null
|
56 |
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relabel_actions: true
|
57 |
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shuffle_buffer_size: 25000
|
58 |
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skip_unlabeled: true
|
59 |
+
dataset_name: bridge
|
60 |
+
encoder: resnetv1-34-bridge-film
|
61 |
+
encoder_kwargs:
|
62 |
+
act: swish
|
63 |
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add_spatial_coordinates: true
|
64 |
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pooling_method: avg
|
65 |
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eval_interval: 50000
|
66 |
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language_conditioned: true
|
67 |
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log_interval: 1000
|
68 |
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num_steps: 600000
|
69 |
+
num_val_batches: 8
|
70 |
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resume_path: null
|
71 |
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save_dir: /opt/ml/code/results
|
72 |
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save_interval: 50000
|
73 |
+
seed: 3
|
74 |
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text_processor: muse_embedding
|
75 |
+
text_processor_kwargs: {}
|
susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_0/20240227_194024/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_1/20240227_194024/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_2/20240227_194024/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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susie_low_level/calvin/gcdiffusion/auggoaldiff/seed_3/20240227_194024/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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susie_low_level/calvin/gcdiffusion/default/seed_0/20240507_010213/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 368607511
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susie_low_level/calvin/gcdiffusion/default/seed_1/20240507_010213/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 368607511
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susie_low_level/calvin/gcdiffusion/default/seed_2/20240507_010213/checkpoint_150000/checkpoint
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version https://git-lfs.github.com/spec/v1
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size 368607511
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susie_low_level/calvin/gcdiffusion/default/seed_3/20240507_010213/checkpoint_150000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 368607511
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susie_low_level/calvinlcbc/lcgcprogressvf/auggoaldiff/seed_0/20240510_005751/checkpoint_100000/checkpoint
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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