zhaohui
commited on
Commit
·
23a3cfe
1
Parent(s):
cf302c2
add r2r models
Browse files- r2r/fine_tuned/cma/config.json +134 -0
- r2r/fine_tuned/cma/optimizer.pt +3 -0
- r2r/fine_tuned/cma/pytorch_model.bin +3 -0
- r2r/fine_tuned/cma/rng_state.pth +3 -0
- r2r/fine_tuned/cma/scheduler.pt +3 -0
- r2r/fine_tuned/cma/trainer_state.json +0 -0
- r2r/fine_tuned/cma_plus/pytorch_model.bin +3 -0
- r2r/fine_tuned/rdp/config.json +253 -0
- r2r/fine_tuned/rdp/optimizer.pt +3 -0
- r2r/fine_tuned/rdp/pytorch_model.bin +3 -0
- r2r/fine_tuned/rdp/rng_state.pth +3 -0
- r2r/fine_tuned/rdp/scheduler.pt +3 -0
- r2r/fine_tuned/rdp/trainer_state.json +0 -0
- r2r/fine_tuned/seq2seq/config.json +136 -0
- r2r/fine_tuned/seq2seq/optimizer.pt +3 -0
- r2r/fine_tuned/seq2seq/pytorch_model.bin +3 -0
- r2r/fine_tuned/seq2seq/rng_state.pth +3 -0
- r2r/fine_tuned/seq2seq/scheduler.pt +3 -0
- r2r/fine_tuned/seq2seq/trainer_state.json +0 -0
- r2r/fine_tuned/seq2seq_plus/pytorch_model.bin +3 -0
- r2r/zero_shot/cma/pytorch_model.bin +3 -0
- r2r/zero_shot/seq2seq/pytorch_model.bin +3 -0
r2r/fine_tuned/cma/config.json
ADDED
@@ -0,0 +1,134 @@
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{
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"architectures": [
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"CMANet"
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],
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"model_cfg": {
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"checkpoint_folder": "data/checkpoints/20250619_cma_train/ckpts",
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"eval": {
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"action": null,
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"ckpt_to_load": "",
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"len_traj_act": null,
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"max_steps": 195,
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"num_sample": null,
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"pm_threshold": null,
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"rotation_threshold": null,
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"sample": false,
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"save_results": true,
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"split": [
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"val_seen"
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],
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"start_eval_epoch": -1,
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"step_interval": 50,
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"stop_mode": null,
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"success_distance": 3.0,
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"use_ckpt_config": false
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},
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"il": {
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"batch_size": 2,
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"camera_name": "pano_camera_0",
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"ckpt_to_load": "",
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"dataset_3dgs_root_dir": "data/datasets/3dgs",
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"dataset_grutopia10_root_dir": "data/datasets/grutopia10",
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"dataset_r2r_root_dir": "data/datasets/R2R_VLNCE_v1-3_preprocessed",
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"epochs": 80,
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"filter_failure": {
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"min_rgb_nums": 15,
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"use": true
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},
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"inflection_weight_coef": 3.2,
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"lmdb_features_dir": "data/sample_episodes/20250211_sample_origin/sample_data.lmdb",
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"lmdb_map_size": 1000000000000.0,
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"load_from_ckpt": false,
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"load_from_pretrain": false,
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"loss": {
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"alpha": 0.0001,
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"dist_scale": 1
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},
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"lr": 0.0001,
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"num_workers": 8,
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"report_to": "wandb",
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"save_filter_frozen_weights": false,
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"save_interval_epochs": 5,
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"save_interval_steps": null,
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"use_descrete_dataset": null,
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"use_iw": true,
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"warmup_ratio": 0.05,
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"weight_decay": 1e-05
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},
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"local_rank": 0,
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"log_dir": "data/checkpoints/20250619_cma_train/logs",
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"model": {
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"ablate_depth": null,
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"ablate_instruction": null,
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"ablate_rgb": null,
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"cross_modal_encoder": null,
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"depth_encoder": {
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"backbone": "resnet50",
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"cnn_type": "VlnResnetDepthEncoder",
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"ddppo_checkpoint": "data/ddppo-models/gibson-4plus-mp3d-train-val-test-resnet50.pth",
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"output_size": 128,
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"trainable": false
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},
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"diffusion_policy": null,
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"distance_predictor": null,
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"image_encoder": null,
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"imu_encoder": null,
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"instruction_encoder": {
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"bidirectional": true,
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"dataset_vocab": "data/datasets/R2R_VLNCE_v1-3_preprocessed/train/train.json.gz",
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"embedding_file": "data/datasets/R2R_VLNCE_v1-3_preprocessed/embeddings.json.gz",
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"embedding_size": 50,
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"final_state_only": true,
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"fine_tune_embeddings": false,
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"hidden_size": 128,
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"load_model": null,
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"max_length": null,
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"rnn_type": "LSTM",
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"sensor_uuid": "instruction",
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"use_pretrained_embeddings": true,
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"vocab_size": 2504
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},
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"learn_angle": null,
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"len_traj_act": 4,
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"max_step": 200,
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"normalize_rgb": null,
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"policy_name": "CMA_Policy",
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"prev_action_encoder": null,
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"progress_monitor": {
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"alpha": 1.0,
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"concat_state_txt": null,
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"use": true
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},
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"rgb_encoder": {
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"cnn_type": "TorchVisionResNet50",
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"output_size": 256,
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"trainable": false
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},
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"seq2seq": null,
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"state_encoder": {
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"dropout_rate": null,
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"hidden_size": 512,
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"num_recurrent_layers": 2,
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"rgb_depth_embed_method": null,
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"rnn_type": "GRU",
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"use_dropout": null
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},
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"stop_progress_predictor": null,
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"text_encoder": null
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},
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"model_name": "cma",
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"name": "20250619_cma_train",
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"num_gpus": 1,
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"output_dir": "data/checkpoints/20250619_cma_train/ckpts",
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"seed": 0,
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"tensorboard_dir": "data/checkpoints/20250619_cma_train/tensorboard",
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"torch_gpu_id": 0,
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"torch_gpu_ids": [
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],
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"world_size": 1
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},
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"model_type": "cma",
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"torch_dtype": "float32",
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"transformers_version": "4.26.1"
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}
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r2r/fine_tuned/cma/optimizer.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:572c625623155f301a114485987128d1317541940fe94432fa92e62e532d66d3
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size 49260090
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r2r/fine_tuned/cma/pytorch_model.bin
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version https://git-lfs.github.com/spec/v1
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size 147809914
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r2r/fine_tuned/cma/rng_state.pth
ADDED
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version https://git-lfs.github.com/spec/v1
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size 14244
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r2r/fine_tuned/cma/scheduler.pt
ADDED
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version https://git-lfs.github.com/spec/v1
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size 1064
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r2r/fine_tuned/cma/trainer_state.json
ADDED
The diff for this file is too large to render.
See raw diff
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r2r/fine_tuned/cma_plus/pytorch_model.bin
ADDED
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version https://git-lfs.github.com/spec/v1
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size 147803318
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r2r/fine_tuned/rdp/config.json
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{
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"architectures": [
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"RDPNet"
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],
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"model_cfg": {
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"checkpoint_folder": "data/checkpoints/20250619_rdp_train_new/ckpts",
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"eval": {
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"action": "descrete",
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"rotation_threshold": 0.01,
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"sample": true,
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"save_results": true,
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"split": [
|
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"val_unseen"
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],
|
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"start_eval_epoch": -1,
|
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"step_interval": 80,
|
22 |
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"stop_mode": "stop_progress",
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"success_distance": 3.0,
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"use_ckpt_config": false
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},
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"il": {
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"batch_size": 4,
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"camera_name": "pano_camera_0",
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"ckpt_to_load": "",
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"dataset_3dgs_root_dir": "data/datasets/3dgs",
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"dataset_grutopia10_root_dir": "data/datasets/grutopia10",
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"dataset_r2r_root_dir": "data/datasets/R2R_VLNCE_v1-3_corrected",
|
33 |
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"epochs": 50,
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"filter_failure": {
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35 |
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"min_rgb_nums": 15,
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"use": true
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},
|
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"inflection_weight_coef": null,
|
39 |
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"lmdb_features_dir": "data/sample_episodes/20250211_sample_origin/sample_data.lmdb",
|
40 |
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"load_from_ckpt": false,
|
41 |
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"load_from_pretrain": true,
|
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"loss": {
|
43 |
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"alpha": 0.0001,
|
44 |
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"dist_scale": 1
|
45 |
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},
|
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"lr": 0.0001,
|
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"num_workers": 8,
|
48 |
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"report_to": "wandb",
|
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"save_filter_frozen_weights": true,
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"save_interval_epochs": 5,
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"save_interval_steps": null,
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"use_descrete_dataset": true,
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"use_iw": null,
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"warmup_ratio": 0.1,
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"weight_decay": 0.0001
|
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},
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"local_rank": 0,
|
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"log_dir": "data/checkpoints/20250619_rdp_train_new/logs",
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"model": {
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"ablate_depth": null,
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"ablate_instruction": null,
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"ablate_rgb": null,
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"cross_modal_encoder": {
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"hidden_size": 512,
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"input_type": 3,
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"load_model": false,
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"num_attention_heads": 8,
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"num_x_layers": 2,
|
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"txt_to_img": true,
|
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"txt_to_img_layer": 2
|
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},
|
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"depth_encoder": null,
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"diffusion_policy": {
|
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r2r/fine_tuned/seq2seq/rng_state.pth
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r2r/fine_tuned/seq2seq/scheduler.pt
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r2r/fine_tuned/seq2seq/trainer_state.json
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r2r/fine_tuned/seq2seq_plus/pytorch_model.bin
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r2r/zero_shot/seq2seq/pytorch_model.bin
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