File size: 10,186 Bytes
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spec:
_target_: far.builders.data.build_dataspec
local_pos_stats:
min:
- -2.5
- -4
max:
- 5
- 4
meters_per_waypoint: 0.25
max_frame_offset: 128
len_traj_pred: ${len_traj_pred}
planner_mu_init:
- -0.1
- 0
- 0
planner_sigma_init:
- 0.02
- 0.1
- 0.3142
pose_fields:
- x
- 'y'
- z
- pitch
- yaw
pose_dim: 5
pos_dim: 2
angle_dim: 1
pose_mode: 2d
fps: 4.0
shared:
manifest_path: results/manifests/recon/recon_split.json
backend:
_target_: far.data.backends.NavigationBackend
transform:
_target_: far.data.transforms.make_centercrop_resize
image_height: ${image_height}
image_width: ${image_width}
sampler:
context_goal:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 12
len_traj_pred: ${len_traj_pred}
goals_per_obs: ${goals_per_obs}
context_traj:
_target_: far.data.samplers.ContextTrajectorySampler
context_pool_size: 12
len_traj_pred: ${len_traj_pred}
formatter:
context_pose:
_target_: far.data.formatters.ContextPoseFormatter2D
spec: ${recon.spec}
train:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_train.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_goal}
transform: ${recon.shared.transform}
test:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_test.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_goal}
transform: ${recon.shared.transform}
eval:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_test_time.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_traj}
transform: ${recon.shared.transform}
eval_traj:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${recon.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${recon.shared.manifest_path}
index_path: results/indices/recon/recon_test_plan.json
backend: ${recon.shared.backend}
sampler: ${recon.sampler.context_traj}
transform: ${recon.shared.transform}
loopnav:
spec:
_target_: far.builders.data.build_dataspec
local_pos_stats:
min:
- -2.5
- -4
- 0
max:
- 5
- 4
- 1
meters_per_waypoint: 0.25
max_frame_offset: 128
len_traj_pred: ${len_traj_pred}
planner_mu_init:
- -0.1
- 0
- 0
- 0
- 0
planner_sigma_init:
- 0.02
- 0.1
- 0
- 0
- 0.3142
pose_fields:
- x
- 'y'
- z
- pitch
- yaw
pose_dim: 5
pos_dim: 3
angle_dim: 2
pose_mode: 3d
fps: 20.0
shared:
manifest_path: results/manifests/loopnav/loopnav_split.json
backend:
_target_: far.data.backends.LoopNavBackend
standard_frame: false
transform:
_target_: far.data.transforms.make_resize
image_height: ${image_height}
image_width: ${image_width}
sampler:
random_clip:
_target_: far.data.samplers.RandomClipSampler
clip_len: 16
frame_stride: 10
context_goal:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 100
len_traj_pred: ${len_traj_pred}
goals_per_obs: ${goals_per_obs}
context_traj:
_target_: far.data.samplers.ContextTrajectorySampler
context_pool_size: 100
len_traj_pred: ${len_traj_pred}
formatter:
frame:
_target_: far.data.formatters.FrameFormatter
context_pose:
_target_: far.data.formatters.ContextPoseFormatter
spec: ${loopnav.spec}
train_tokenizer:
_target_: far.data.datasets.FormattedIterableDataset
formatter: ${loopnav.formatter.frame}
base_dataset:
_target_: far.data.datasets.WebVideoIterableDataset
manifest_path: results/manifests/loopnav/loopnav.json
index_path: results/indices/loopnav/loopnav_train_ABCA.json
backend:
_target_: far.data.backends.WebDatasetBackend
sampler: ${loopnav.sampler.random_clip}
transform: ${loopnav.shared.transform}
cache_dir: null
cache_size: 100
shuffle_shards: 32
shuffle_samples: 100
loopnav_latent:
spec:
_target_: far.builders.data.build_dataspec
local_pos_stats:
min:
- 0
- 0
- 0
max:
- 1
- 1
- 1
meters_per_waypoint: 1.0
max_frame_offset: 20.0
len_traj_pred: ${len_traj_pred}
planner_mu_init:
- -0.1
- 0
- 0
- 0
- 0
planner_sigma_init:
- 0.02
- 0.1
- 0
- 0
- 0.3142
pose_fields:
- x
- 'y'
- z
- pitch
- yaw
pose_dim: 5
pos_dim: 3
angle_dim: 2
pose_mode: 3d
fps: 20.0
shared:
manifest_path: ${oc.env:FAR_RESULT_ROOT}/manifests/loopnav/loopnav_latent.json
backend:
_target_: far.data.backends.LatentLoopNavBackend
key_suffix: .keys_jepa.npy
standard_frame: true
transform: null
sampler:
random_clip:
_target_: far.data.samplers.RandomClipSampler
clip_len: 16
frame_stride: 10
context_goal:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
goals_per_obs: ${goals_per_obs}
context_goal_test:
_target_: far.data.samplers.ContextGoalSampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
goals_per_obs: 4
context_traj:
_target_: far.data.samplers.ContextTrajectorySampler
context_pool_size: 200
len_traj_pred: ${len_traj_pred}
formatter:
frame:
_target_: far.data.formatters.FrameFormatter
context_pose:
_target_: far.data.formatters.ContextPoseFormatter
spec: ${loopnav_latent.spec}
train:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${loopnav_latent.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${loopnav_latent.shared.manifest_path}
index_path: ${oc.env:FAR_RESULT_ROOT}/indices/loopnav/loopnav_latent_train.json
backend: ${loopnav_latent.shared.backend}
sampler: ${loopnav_latent.sampler.context_goal}
transform: ${loopnav_latent.shared.transform}
test:
_target_: far.data.datasets.FormattedVideoDataset
formatter: ${loopnav_latent.formatter.context_pose}
base_dataset:
_target_: far.data.datasets.VideoDataset
manifest_path: ${loopnav_latent.shared.manifest_path}
index_path: ${oc.env:FAR_RESULT_ROOT}/indices/loopnav/loopnav_latent_test.json
backend: ${loopnav_latent.shared.backend}
sampler: ${loopnav_latent.sampler.context_goal_test}
transform: ${loopnav_latent.shared.transform}
model:
tokenizer:
_target_: far.tokenizers.vit_vae.ViTVAE
kl_weight: 1.0e-06
lpips_weight: 0.0
ckpt_path: ${oc.env:FAR_MODELS_ROOT}/oasis_500m_vit_vae.pth
encoder:
_target_: far.tokenizers.vit_vae.Encoder
input_height: ${image_height}
input_width: ${image_width}
patch_size: 20
dim: 1024
depth: 6
heads: 16
latent_dim: 16
use_variational: true
mlp_ratio: 4.0
decoder:
_target_: far.tokenizers.vit_vae.Decoder
input_height: ${image_height}
input_width: ${image_width}
patch_size: 20
dim: 1024
depth: 12
heads: 16
latent_dim: 16
mlp_ratio: 4.0
generator:
_target_: far.generators.cdit_mod_pose_fa.CDiT
depth: 12
hidden_size: 768
patch_size: 2
num_heads: 12
context_size: 4
ckpt_path: null
action_dim: ${action_dim}
pose_dim: ${pose_dim}
fov_half_h: 52.5
fov_half_v: 37.5
local_pos_stats: ${loopnav_latent.spec.local_pos_stats}
stride_to_seconds: 1.0
memory:
_target_: far.memories.pnp_cl.PnPRetrieval
ckpt_path: null
chunk_size: 10
num_sets: 5
softmax_temperature: 1.0
scoring: visual
metadata_hidden: 128
local_pos_stats: ${loopnav_latent.spec.local_pos_stats}
stride_to_seconds: 1.0
encoder_mode: adapter
adapter_hidden: 384
query_vit:
_target_: far.memories.pnp_cl.QueryViT
img_height: 18
img_width: 32
patch_size: 2
in_chans: 16
embed_dim: 384
depth: 6
num_heads: 12
action_dim: ${action_dim}
key_dim: 256
mlp_ratio: 4.0
_target_: far.builders.models.build_ldwm
_recursive_: false
condition_on_context_time: true
condition_on_context_pose: true
retriever_loss_weight: 1.0
diffusion:
_target_: far.generators.diffusion.create_diffusion
timestep_respacing: null
noise_schedule: linear
diffusion_steps: 1000
learn_sigma: true
predict_xstart: false
sigma_small: false
use_kl: false
rescale_learned_sigmas: false
wandb:
project: PMem-World
name: null
entity: null
mode: online
group: loopnav_latent
tags:
- loopnav_latent
run_name: nwm_cdit_b_pnp_visual_posefa_l1_ddim20
context_size: 4
action_dim: 5
pose_dim: 5
image_height: 360
image_width: 640
len_traj_pred: 128
goals_per_obs: 4
lr: 0.0001
lr_mem: 0.0001
weight_decay: 0.0
grad_clip_val: 1.0
iterations: 5000000
warmup_steps: 5000
from_checkpoint: null
global_seed: 0
log_every: 100
ckpt_every: 100000
eval_every: 2500
rag_every: 20
rag_noise_levels: 4
local_rag: true
local_rag_weight: 1.0
bfloat16: false
torch_compile: true
batch_size: 32
eval_batch_size: 64
num_workers: 12
datasets:
- loopnav_latent
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