Add files using upload-large-folder tool
Browse files- lewm-control-suite/checkpoints/action-prior/cube/flags.json +66 -0
- lewm-control-suite/checkpoints/action-prior/cube/params_100000.pkl +3 -0
- lewm-control-suite/checkpoints/action-prior/pusht/flags.json +66 -0
- lewm-control-suite/checkpoints/action-prior/pusht/params_100000.pkl +3 -0
- lewm-control-suite/checkpoints/action-prior/reacher/flags.json +66 -0
- lewm-control-suite/checkpoints/action-prior/reacher/params_100000.pkl +3 -0
- lewm-control-suite/checkpoints/action-prior/tworoom/flags.json +66 -0
- lewm-control-suite/checkpoints/action-prior/tworoom/params_100000.pkl +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/cube/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/cube/config.json +46 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/pusht/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/pusht/config.json +46 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/reacher/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/reacher/config.json +46 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/tworoom/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/h25/tworoom/config.json +46 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/cube/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/cube/config.json +45 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/pusht/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/pusht/config.json +45 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/reacher/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/reacher/config.json +45 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/tworoom/checkpoint_200000.msgpack +3 -0
- lewm-control-suite/checkpoints/latent-path-flow/longh/tworoom/config.json +45 -0
- lewm-control-suite/checkpoints/lewm/cube/config.json +34 -0
- lewm-control-suite/checkpoints/lewm/cube/weights_epoch_10.msgpack +3 -0
- lewm-control-suite/checkpoints/lewm/pusht/weights_epoch_10.msgpack +3 -0
- lewm-control-suite/checkpoints/lewm/reacher/config.json +34 -0
- lewm-control-suite/checkpoints/lewm/reacher/weights_epoch_10.msgpack +3 -0
- lewm-control-suite/checkpoints/lewm/tworoom/config.json +34 -0
- lewm-control-suite/checkpoints/lewm/tworoom/weights_epoch_10.msgpack +3 -0
lewm-control-suite/checkpoints/action-prior/cube/flags.json
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{
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"entrypoint": "train_gciql_chunk.py",
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"env_name": null,
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"dataset_path": "/data-training/yyf/datasets/lewm/cube_single_expert.lance",
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| 5 |
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"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed3072/LeWMJAX_impala_lance_cube_single_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95/weights_epoch_10.msgpack",
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"train_steps": 100000,
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"seed": 777,
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"agent": {
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"actor_geom_sample": false,
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"actor_hidden_dims": [
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512,
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512,
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512
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],
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"actor_loss": "awr",
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"actor_p_curgoal": 0.0,
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"actor_p_randomgoal": 0.0,
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"actor_p_trajgoal": 1.0,
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"agent_name": "gciql_chunk_lewm",
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"alpha": 3.0,
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"batch_size": 256,
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"chunk_size": 5,
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"const_std": true,
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"dataset_class": "GCChunkDataset",
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"discount": 0.99,
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"discrete": false,
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"encoder": "impala_small",
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"expectile": 0.9,
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"frame_stack": null,
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| 30 |
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"gc_negative": true,
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| 31 |
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"latent_dim": 192,
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| 32 |
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"layer_norm": true,
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| 33 |
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"lr": 0.0003,
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| 34 |
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"p_aug": 0.0,
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"representation_mode": "all",
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"share_pi_encoder": true,
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| 37 |
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"share_q_encoder": true,
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| 38 |
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"share_v_encoder": true,
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| 39 |
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"tau": 0.005,
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| 40 |
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"value_geom_sample": true,
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| 41 |
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"value_hidden_dims": [
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| 42 |
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512,
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| 43 |
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512,
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| 44 |
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512
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| 45 |
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],
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| 46 |
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"value_p_curgoal": 0.2,
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| 47 |
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"value_p_randomgoal": 0.3,
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| 48 |
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"value_p_trajgoal": 0.5
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| 49 |
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},
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| 50 |
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"representation": {
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| 51 |
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"mode": "all",
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| 52 |
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"module": "LeWM.encode_pixels",
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| 53 |
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"output": "post_projector",
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| 54 |
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"latent_dim": 192,
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| 55 |
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"frozen": true,
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| 56 |
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"q": "lewm",
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| 57 |
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"v": "lewm",
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| 58 |
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"pi": "lewm",
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| 59 |
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"downstream_heads_shared": false,
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| 60 |
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"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed3072/LeWMJAX_impala_lance_cube_single_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95/weights_epoch_10.msgpack"
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| 61 |
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},
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| 62 |
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"augmentation": {
|
| 63 |
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"probability": 0.0,
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| 64 |
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"applied_before_all_encoders": true
|
| 65 |
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}
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| 66 |
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}
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lewm-control-suite/checkpoints/action-prior/cube/params_100000.pkl
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version https://git-lfs.github.com/spec/v1
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oid sha256:90641c51023d509d17cf15a4a0a019ff32ea2572268fe0e41186fd939290a2b2
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| 3 |
+
size 53007382
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lewm-control-suite/checkpoints/action-prior/pusht/flags.json
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{
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"entrypoint": "train_gciql_chunk.py",
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| 3 |
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"env_name": null,
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| 4 |
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"dataset_path": "/data-training/yyf/datasets/lewm/pusht_expert_train.lance",
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| 5 |
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"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed666/2026-08-19_23_LeWMJAX_impala_lance_pusht_expert_bs128_e10_seed666/weights_epoch_10.msgpack",
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| 6 |
+
"train_steps": 100000,
|
| 7 |
+
"seed": 777,
|
| 8 |
+
"agent": {
|
| 9 |
+
"actor_geom_sample": false,
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| 10 |
+
"actor_hidden_dims": [
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| 11 |
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512,
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| 12 |
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512,
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| 13 |
+
512
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| 14 |
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],
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| 15 |
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"actor_loss": "awr",
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| 16 |
+
"actor_p_curgoal": 0.0,
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| 17 |
+
"actor_p_randomgoal": 0.0,
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| 18 |
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"actor_p_trajgoal": 1.0,
|
| 19 |
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"agent_name": "gciql_chunk_lewm",
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| 20 |
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"alpha": 3.0,
|
| 21 |
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"batch_size": 256,
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| 22 |
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"chunk_size": 5,
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| 23 |
+
"const_std": true,
|
| 24 |
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"dataset_class": "GCChunkDataset",
|
| 25 |
+
"discount": 0.99,
|
| 26 |
+
"discrete": false,
|
| 27 |
+
"encoder": "impala_small",
|
| 28 |
+
"expectile": 0.9,
|
| 29 |
+
"frame_stack": null,
|
| 30 |
+
"gc_negative": true,
|
| 31 |
+
"latent_dim": 192,
|
| 32 |
+
"layer_norm": true,
|
| 33 |
+
"lr": 0.0003,
|
| 34 |
+
"p_aug": 0.0,
|
| 35 |
+
"representation_mode": "all",
|
| 36 |
+
"share_pi_encoder": true,
|
| 37 |
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"share_q_encoder": true,
|
| 38 |
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"share_v_encoder": true,
|
| 39 |
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"tau": 0.005,
|
| 40 |
+
"value_geom_sample": true,
|
| 41 |
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"value_hidden_dims": [
|
| 42 |
+
512,
|
| 43 |
+
512,
|
| 44 |
+
512
|
| 45 |
+
],
|
| 46 |
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"value_p_curgoal": 0.2,
|
| 47 |
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"value_p_randomgoal": 0.3,
|
| 48 |
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"value_p_trajgoal": 0.5
|
| 49 |
+
},
|
| 50 |
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"representation": {
|
| 51 |
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"mode": "all",
|
| 52 |
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"module": "LeWM.encode_pixels",
|
| 53 |
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"output": "post_projector",
|
| 54 |
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"latent_dim": 192,
|
| 55 |
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"frozen": true,
|
| 56 |
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"q": "lewm",
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| 57 |
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"v": "lewm",
|
| 58 |
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"pi": "lewm",
|
| 59 |
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"downstream_heads_shared": false,
|
| 60 |
+
"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed666/2026-08-19_23_LeWMJAX_impala_lance_pusht_expert_bs128_e10_seed666/weights_epoch_10.msgpack"
|
| 61 |
+
},
|
| 62 |
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"augmentation": {
|
| 63 |
+
"probability": 0.0,
|
| 64 |
+
"applied_before_all_encoders": true
|
| 65 |
+
}
|
| 66 |
+
}
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lewm-control-suite/checkpoints/action-prior/pusht/params_100000.pkl
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:3accd20f08fc014ba5e5c42fc9f6e086476b56b85692a8b25edfc948f977aa23
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| 3 |
+
size 52546402
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lewm-control-suite/checkpoints/action-prior/reacher/flags.json
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| 1 |
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{
|
| 2 |
+
"entrypoint": "train_gciql_chunk.py",
|
| 3 |
+
"env_name": null,
|
| 4 |
+
"dataset_path": "/data-training/yyf/datasets/lewm/reacher.lance",
|
| 5 |
+
"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed3072/LeWMJAX_impala_lance_reacher_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95/weights_epoch_10.msgpack",
|
| 6 |
+
"train_steps": 100000,
|
| 7 |
+
"seed": 777,
|
| 8 |
+
"agent": {
|
| 9 |
+
"actor_geom_sample": false,
|
| 10 |
+
"actor_hidden_dims": [
|
| 11 |
+
512,
|
| 12 |
+
512,
|
| 13 |
+
512
|
| 14 |
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],
|
| 15 |
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"actor_loss": "awr",
|
| 16 |
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"actor_p_curgoal": 0.0,
|
| 17 |
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"actor_p_randomgoal": 0.0,
|
| 18 |
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"actor_p_trajgoal": 1.0,
|
| 19 |
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"agent_name": "gciql_chunk_lewm",
|
| 20 |
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"alpha": 3.0,
|
| 21 |
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"batch_size": 256,
|
| 22 |
+
"chunk_size": 5,
|
| 23 |
+
"const_std": true,
|
| 24 |
+
"dataset_class": "GCChunkDataset",
|
| 25 |
+
"discount": 0.99,
|
| 26 |
+
"discrete": false,
|
| 27 |
+
"encoder": "impala_small",
|
| 28 |
+
"expectile": 0.9,
|
| 29 |
+
"frame_stack": null,
|
| 30 |
+
"gc_negative": true,
|
| 31 |
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"latent_dim": 192,
|
| 32 |
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"layer_norm": true,
|
| 33 |
+
"lr": 0.0003,
|
| 34 |
+
"p_aug": 0.0,
|
| 35 |
+
"representation_mode": "all",
|
| 36 |
+
"share_pi_encoder": true,
|
| 37 |
+
"share_q_encoder": true,
|
| 38 |
+
"share_v_encoder": true,
|
| 39 |
+
"tau": 0.005,
|
| 40 |
+
"value_geom_sample": true,
|
| 41 |
+
"value_hidden_dims": [
|
| 42 |
+
512,
|
| 43 |
+
512,
|
| 44 |
+
512
|
| 45 |
+
],
|
| 46 |
+
"value_p_curgoal": 0.2,
|
| 47 |
+
"value_p_randomgoal": 0.3,
|
| 48 |
+
"value_p_trajgoal": 0.5
|
| 49 |
+
},
|
| 50 |
+
"representation": {
|
| 51 |
+
"mode": "all",
|
| 52 |
+
"module": "LeWM.encode_pixels",
|
| 53 |
+
"output": "post_projector",
|
| 54 |
+
"latent_dim": 192,
|
| 55 |
+
"frozen": true,
|
| 56 |
+
"q": "lewm",
|
| 57 |
+
"v": "lewm",
|
| 58 |
+
"pi": "lewm",
|
| 59 |
+
"downstream_heads_shared": false,
|
| 60 |
+
"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed3072/LeWMJAX_impala_lance_reacher_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95/weights_epoch_10.msgpack"
|
| 61 |
+
},
|
| 62 |
+
"augmentation": {
|
| 63 |
+
"probability": 0.0,
|
| 64 |
+
"applied_before_all_encoders": true
|
| 65 |
+
}
|
| 66 |
+
}
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lewm-control-suite/checkpoints/action-prior/reacher/params_100000.pkl
ADDED
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:9693ceb0f078d114227ff793f8863e8d22fbdfdb0410f46732179e1dcb2a4d0d
|
| 3 |
+
size 52546402
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lewm-control-suite/checkpoints/action-prior/tworoom/flags.json
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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 |
+
{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
+
"dataset_path": "/data-training/yyf/datasets/lewm/tworoom.lance",
|
| 5 |
+
"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed3072/LeWMJAX_impala_lance_tworoom_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95/weights_epoch_10.msgpack",
|
| 6 |
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"train_steps": 100000,
|
| 7 |
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"seed": 777,
|
| 8 |
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"agent": {
|
| 9 |
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|
| 10 |
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"actor_hidden_dims": [
|
| 11 |
+
512,
|
| 12 |
+
512,
|
| 13 |
+
512
|
| 14 |
+
],
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"agent_name": "gciql_chunk_lewm",
|
| 20 |
+
"alpha": 3.0,
|
| 21 |
+
"batch_size": 256,
|
| 22 |
+
"chunk_size": 5,
|
| 23 |
+
"const_std": true,
|
| 24 |
+
"dataset_class": "GCChunkDataset",
|
| 25 |
+
"discount": 0.99,
|
| 26 |
+
"discrete": false,
|
| 27 |
+
"encoder": "impala_small",
|
| 28 |
+
"expectile": 0.9,
|
| 29 |
+
"frame_stack": null,
|
| 30 |
+
"gc_negative": true,
|
| 31 |
+
"latent_dim": 192,
|
| 32 |
+
"layer_norm": true,
|
| 33 |
+
"lr": 0.0003,
|
| 34 |
+
"p_aug": 0.0,
|
| 35 |
+
"representation_mode": "all",
|
| 36 |
+
"share_pi_encoder": true,
|
| 37 |
+
"share_q_encoder": true,
|
| 38 |
+
"share_v_encoder": true,
|
| 39 |
+
"tau": 0.005,
|
| 40 |
+
"value_geom_sample": true,
|
| 41 |
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"value_hidden_dims": [
|
| 42 |
+
512,
|
| 43 |
+
512,
|
| 44 |
+
512
|
| 45 |
+
],
|
| 46 |
+
"value_p_curgoal": 0.2,
|
| 47 |
+
"value_p_randomgoal": 0.3,
|
| 48 |
+
"value_p_trajgoal": 0.5
|
| 49 |
+
},
|
| 50 |
+
"representation": {
|
| 51 |
+
"mode": "all",
|
| 52 |
+
"module": "LeWM.encode_pixels",
|
| 53 |
+
"output": "post_projector",
|
| 54 |
+
"latent_dim": 192,
|
| 55 |
+
"frozen": true,
|
| 56 |
+
"q": "lewm",
|
| 57 |
+
"v": "lewm",
|
| 58 |
+
"pi": "lewm",
|
| 59 |
+
"downstream_heads_shared": false,
|
| 60 |
+
"lewm_checkpoint": "/data-training/yyf/models/lewm-jax-seed3072/LeWMJAX_impala_lance_tworoom_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95/weights_epoch_10.msgpack"
|
| 61 |
+
},
|
| 62 |
+
"augmentation": {
|
| 63 |
+
"probability": 0.0,
|
| 64 |
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"applied_before_all_encoders": true
|
| 65 |
+
}
|
| 66 |
+
}
|
lewm-control-suite/checkpoints/action-prior/tworoom/params_100000.pkl
ADDED
|
@@ -0,0 +1,3 @@
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|
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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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|
| 3 |
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size 52546402
|
lewm-control-suite/checkpoints/latent-path-flow/h25/cube/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/h25/cube/config.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_cube_lewm3072_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "uniform_distance_first_aligned_future_same_trajectory_stride_5_max_25",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/cube_single_expert__lewm_s3072_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "0707653d129c2766aa161ead7f777852a783fc82bd940706623b14b80e6d277d",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"max_goal_steps": 25,
|
| 27 |
+
"num_episodes": 10000,
|
| 28 |
+
"num_heads": 8,
|
| 29 |
+
"num_rows": 2010000,
|
| 30 |
+
"num_samples": 8,
|
| 31 |
+
"num_train_episodes": 9500,
|
| 32 |
+
"num_train_transitions": 1862000,
|
| 33 |
+
"num_val_episodes": 500,
|
| 34 |
+
"num_val_transitions": 98000,
|
| 35 |
+
"resume": true,
|
| 36 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10-goalmax25/latent_pathflow_cube_lewm3072_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 37 |
+
"seed": 0,
|
| 38 |
+
"split_seed": 0,
|
| 39 |
+
"subgoal_steps": 10,
|
| 40 |
+
"time_dim": 64,
|
| 41 |
+
"train_fraction": 0.95,
|
| 42 |
+
"train_steps": 200000,
|
| 43 |
+
"validation_pairs": 10000,
|
| 44 |
+
"warmup_steps": 5000,
|
| 45 |
+
"weight_decay": 0.0001
|
| 46 |
+
}
|
lewm-control-suite/checkpoints/latent-path-flow/h25/pusht/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/h25/pusht/config.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_pusht_lewm666_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "uniform_distance_first_aligned_future_same_trajectory_stride_5_max_25",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/pusht_expert_train__lewm_s666_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "ee02a100decff720e0fbd757a60e9281db0159ec04d784735fb22cfe568f3090",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"max_goal_steps": 25,
|
| 27 |
+
"num_episodes": 18685,
|
| 28 |
+
"num_heads": 8,
|
| 29 |
+
"num_rows": 2336736,
|
| 30 |
+
"num_samples": 8,
|
| 31 |
+
"num_train_episodes": 17750,
|
| 32 |
+
"num_train_transitions": 2130385,
|
| 33 |
+
"num_val_episodes": 935,
|
| 34 |
+
"num_val_transitions": 112926,
|
| 35 |
+
"resume": true,
|
| 36 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10-goalmax25/latent_pathflow_pusht_lewm666_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 37 |
+
"seed": 0,
|
| 38 |
+
"split_seed": 0,
|
| 39 |
+
"subgoal_steps": 10,
|
| 40 |
+
"time_dim": 64,
|
| 41 |
+
"train_fraction": 0.95,
|
| 42 |
+
"train_steps": 200000,
|
| 43 |
+
"validation_pairs": 10000,
|
| 44 |
+
"warmup_steps": 5000,
|
| 45 |
+
"weight_decay": 0.0001
|
| 46 |
+
}
|
lewm-control-suite/checkpoints/latent-path-flow/h25/reacher/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:b75bb1d9d7c4b5418994a57048efa63cfa428934a373e6355763e42306644d51
|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/h25/reacher/config.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_reacher_lewm3072_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "uniform_distance_first_aligned_future_same_trajectory_stride_5_max_25",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/reacher__lewm_s3072_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "91f888e5de8f7872b18f209ddbaff0f0f03644d2ef66429c0b09c0d6c34cee3a",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"max_goal_steps": 25,
|
| 27 |
+
"num_episodes": 10000,
|
| 28 |
+
"num_heads": 8,
|
| 29 |
+
"num_rows": 2010000,
|
| 30 |
+
"num_samples": 8,
|
| 31 |
+
"num_train_episodes": 9500,
|
| 32 |
+
"num_train_transitions": 1862000,
|
| 33 |
+
"num_val_episodes": 500,
|
| 34 |
+
"num_val_transitions": 98000,
|
| 35 |
+
"resume": true,
|
| 36 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10-goalmax25/latent_pathflow_reacher_lewm3072_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 37 |
+
"seed": 0,
|
| 38 |
+
"split_seed": 0,
|
| 39 |
+
"subgoal_steps": 10,
|
| 40 |
+
"time_dim": 64,
|
| 41 |
+
"train_fraction": 0.95,
|
| 42 |
+
"train_steps": 200000,
|
| 43 |
+
"validation_pairs": 10000,
|
| 44 |
+
"warmup_steps": 5000,
|
| 45 |
+
"weight_decay": 0.0001
|
| 46 |
+
}
|
lewm-control-suite/checkpoints/latent-path-flow/h25/tworoom/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d79adde1b5d490b37810baaf842c95411d9de013e9c813b570c64746e4fdaf9e
|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/h25/tworoom/config.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_tworoom_lewm3072_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "uniform_distance_first_aligned_future_same_trajectory_stride_5_max_25",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/tworoom__lewm_s3072_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "e77313033e83b41be36ae0c18880b758c4169c102af5bd357fe041b181836e46",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"max_goal_steps": 25,
|
| 27 |
+
"num_episodes": 10000,
|
| 28 |
+
"num_heads": 8,
|
| 29 |
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"num_rows": 920809,
|
| 30 |
+
"num_samples": 8,
|
| 31 |
+
"num_train_episodes": 9500,
|
| 32 |
+
"num_train_transitions": 827091,
|
| 33 |
+
"num_val_episodes": 500,
|
| 34 |
+
"num_val_transitions": 43718,
|
| 35 |
+
"resume": true,
|
| 36 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10-goalmax25/latent_pathflow_tworoom_lewm3072_hist3_sg10_ab5_goalstride5_goalmax25_cfm_ns8_n200000_b1024_s0",
|
| 37 |
+
"seed": 0,
|
| 38 |
+
"split_seed": 0,
|
| 39 |
+
"subgoal_steps": 10,
|
| 40 |
+
"time_dim": 64,
|
| 41 |
+
"train_fraction": 0.95,
|
| 42 |
+
"train_steps": 200000,
|
| 43 |
+
"validation_pairs": 10000,
|
| 44 |
+
"warmup_steps": 5000,
|
| 45 |
+
"weight_decay": 0.0001
|
| 46 |
+
}
|
lewm-control-suite/checkpoints/latent-path-flow/longh/cube/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5fe72a2c09fc11cdb4966f57f7b18aea0501e130cad7357fe32a6d8bb04c30f6
|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/longh/cube/config.json
ADDED
|
@@ -0,0 +1,45 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_cube_lewm3072_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "hiql_uniform_future_same_trajectory",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/cube_single_expert__lewm_s3072_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "0707653d129c2766aa161ead7f777852a783fc82bd940706623b14b80e6d277d",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"num_episodes": 10000,
|
| 27 |
+
"num_heads": 8,
|
| 28 |
+
"num_rows": 2010000,
|
| 29 |
+
"num_samples": 8,
|
| 30 |
+
"num_train_episodes": 9500,
|
| 31 |
+
"num_train_transitions": 1900000,
|
| 32 |
+
"num_val_episodes": 500,
|
| 33 |
+
"num_val_transitions": 100000,
|
| 34 |
+
"resume": true,
|
| 35 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10/latent_pathflow_cube_lewm3072_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 36 |
+
"seed": 0,
|
| 37 |
+
"split_seed": 0,
|
| 38 |
+
"subgoal_steps": 10,
|
| 39 |
+
"time_dim": 64,
|
| 40 |
+
"train_fraction": 0.95,
|
| 41 |
+
"train_steps": 200000,
|
| 42 |
+
"validation_pairs": 10000,
|
| 43 |
+
"warmup_steps": 5000,
|
| 44 |
+
"weight_decay": 0.0001
|
| 45 |
+
}
|
lewm-control-suite/checkpoints/latent-path-flow/longh/pusht/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d130840ede60a8739d71d47b05c1c41996ea1b2053df358d8f27378349135a74
|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/longh/pusht/config.json
ADDED
|
@@ -0,0 +1,45 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_pusht_lewm666_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "hiql_uniform_future_same_trajectory",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/pusht_expert_train__lewm_s666_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "ee02a100decff720e0fbd757a60e9281db0159ec04d784735fb22cfe568f3090",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"num_episodes": 18685,
|
| 27 |
+
"num_heads": 8,
|
| 28 |
+
"num_rows": 2336736,
|
| 29 |
+
"num_samples": 8,
|
| 30 |
+
"num_train_episodes": 17750,
|
| 31 |
+
"num_train_transitions": 2201385,
|
| 32 |
+
"num_val_episodes": 935,
|
| 33 |
+
"num_val_transitions": 116666,
|
| 34 |
+
"resume": true,
|
| 35 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10/latent_pathflow_pusht_lewm666_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 36 |
+
"seed": 0,
|
| 37 |
+
"split_seed": 0,
|
| 38 |
+
"subgoal_steps": 10,
|
| 39 |
+
"time_dim": 64,
|
| 40 |
+
"train_fraction": 0.95,
|
| 41 |
+
"train_steps": 200000,
|
| 42 |
+
"validation_pairs": 10000,
|
| 43 |
+
"warmup_steps": 5000,
|
| 44 |
+
"weight_decay": 0.0001
|
| 45 |
+
}
|
lewm-control-suite/checkpoints/latent-path-flow/longh/reacher/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ac7b00dec99270bed8659399484ce46726027eb3cb5eea2e2388a44d2e824144
|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/longh/reacher/config.json
ADDED
|
@@ -0,0 +1,45 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_reacher_lewm3072_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "hiql_uniform_future_same_trajectory",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/reacher__lewm_s3072_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "91f888e5de8f7872b18f209ddbaff0f0f03644d2ef66429c0b09c0d6c34cee3a",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"num_episodes": 10000,
|
| 27 |
+
"num_heads": 8,
|
| 28 |
+
"num_rows": 2010000,
|
| 29 |
+
"num_samples": 8,
|
| 30 |
+
"num_train_episodes": 9500,
|
| 31 |
+
"num_train_transitions": 1900000,
|
| 32 |
+
"num_val_episodes": 500,
|
| 33 |
+
"num_val_transitions": 100000,
|
| 34 |
+
"resume": true,
|
| 35 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10/latent_pathflow_reacher_lewm3072_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 36 |
+
"seed": 0,
|
| 37 |
+
"split_seed": 0,
|
| 38 |
+
"subgoal_steps": 10,
|
| 39 |
+
"time_dim": 64,
|
| 40 |
+
"train_fraction": 0.95,
|
| 41 |
+
"train_steps": 200000,
|
| 42 |
+
"validation_pairs": 10000,
|
| 43 |
+
"warmup_steps": 5000,
|
| 44 |
+
"weight_decay": 0.0001
|
| 45 |
+
}
|
lewm-control-suite/checkpoints/latent-path-flow/longh/tworoom/checkpoint_200000.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:644b2b6fbf775983975c621cb2115d8c82e54c820d68cc213f16f44ed206a3d8
|
| 3 |
+
size 299898830
|
lewm-control-suite/checkpoints/latent-path-flow/longh/tworoom/config.json
ADDED
|
@@ -0,0 +1,45 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_block": 5,
|
| 3 |
+
"architecture": "latent_path_flow_transformer_encoder",
|
| 4 |
+
"batch_size": 1024,
|
| 5 |
+
"checkpoint_interval": 25000,
|
| 6 |
+
"conditioning": "history_goal_time_adaln",
|
| 7 |
+
"depth": 4,
|
| 8 |
+
"ema_decay": 0.9999,
|
| 9 |
+
"embed_dim": 192,
|
| 10 |
+
"eval_batch_size": 1024,
|
| 11 |
+
"eval_interval": 10000,
|
| 12 |
+
"exp_name": "latent_pathflow_tworoom_lewm3072_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 13 |
+
"ff_dim": 2048,
|
| 14 |
+
"final_learning_rate": 1e-05,
|
| 15 |
+
"flow_sampling_steps": 16,
|
| 16 |
+
"flow_solver": "euler",
|
| 17 |
+
"goal_sampling": "hiql_uniform_future_same_trajectory",
|
| 18 |
+
"gradient_clip": 1.0,
|
| 19 |
+
"hidden_dim": 512,
|
| 20 |
+
"history_size": 3,
|
| 21 |
+
"latent_dataset": "/data-training/yyf/datasets/lewm-latents/tworoom__lewm_s3072_e10_z192.h5",
|
| 22 |
+
"learning_rate": 0.0001,
|
| 23 |
+
"lewm_checkpoint_sha256": "e77313033e83b41be36ae0c18880b758c4169c102af5bd357fe041b181836e46",
|
| 24 |
+
"log_interval": 1000,
|
| 25 |
+
"loss": "conditional_path_flow_matching_mse",
|
| 26 |
+
"num_episodes": 10000,
|
| 27 |
+
"num_heads": 8,
|
| 28 |
+
"num_rows": 920809,
|
| 29 |
+
"num_samples": 8,
|
| 30 |
+
"num_train_episodes": 9500,
|
| 31 |
+
"num_train_transitions": 865091,
|
| 32 |
+
"num_val_episodes": 500,
|
| 33 |
+
"num_val_transitions": 45718,
|
| 34 |
+
"resume": true,
|
| 35 |
+
"save_dir": "/data-training/yyf/ogbench-lewm-policy-runs/latent-path-flow-k10/latent_pathflow_tworoom_lewm3072_hist3_sg10_ab5_cfm_ns8_n200000_b1024_s0",
|
| 36 |
+
"seed": 0,
|
| 37 |
+
"split_seed": 0,
|
| 38 |
+
"subgoal_steps": 10,
|
| 39 |
+
"time_dim": 64,
|
| 40 |
+
"train_fraction": 0.95,
|
| 41 |
+
"train_steps": 200000,
|
| 42 |
+
"validation_pairs": 10000,
|
| 43 |
+
"warmup_steps": 5000,
|
| 44 |
+
"weight_decay": 0.0001
|
| 45 |
+
}
|
lewm-control-suite/checkpoints/lewm/cube/config.json
ADDED
|
@@ -0,0 +1,34 @@
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|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"exp_name": "LeWMJAX_impala_lance_cube_single_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95",
|
| 3 |
+
"dataset_path": "/data/dzb/stablewm-data/datasets/cube_single_expert.lance",
|
| 4 |
+
"architecture": "lewm_impala_small",
|
| 5 |
+
"encoder": "impala_small",
|
| 6 |
+
"seed": 3072,
|
| 7 |
+
"epochs": 10,
|
| 8 |
+
"batch_size": 128,
|
| 9 |
+
"decode_workers": 6,
|
| 10 |
+
"train_fraction": 0.9,
|
| 11 |
+
"image_size": 224,
|
| 12 |
+
"embed_dim": 192,
|
| 13 |
+
"patch_size": 14,
|
| 14 |
+
"history_size": 3,
|
| 15 |
+
"num_preds": 1,
|
| 16 |
+
"frameskip": 5,
|
| 17 |
+
"projector_hidden_dim": 2048,
|
| 18 |
+
"action_smoothed_dim": 10,
|
| 19 |
+
"action_mlp_scale": 4,
|
| 20 |
+
"predictor_depth": 6,
|
| 21 |
+
"predictor_heads": 16,
|
| 22 |
+
"predictor_dim_head": 64,
|
| 23 |
+
"predictor_mlp_dim": 2048,
|
| 24 |
+
"predictor_dropout": 0.1,
|
| 25 |
+
"predictor_emb_dropout": 0.0,
|
| 26 |
+
"learning_rate": 5e-05,
|
| 27 |
+
"lr_schedule": "optimizer_step_warmup_cosine_1pct",
|
| 28 |
+
"weight_decay": 0.001,
|
| 29 |
+
"gradient_clip": 1.0,
|
| 30 |
+
"sigreg_weight": 0.09,
|
| 31 |
+
"sigreg_knots": 17,
|
| 32 |
+
"sigreg_num_proj": 1024,
|
| 33 |
+
"precision": "bf16"
|
| 34 |
+
}
|
lewm-control-suite/checkpoints/lewm/cube/weights_epoch_10.msgpack
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
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| 3 |
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size 104398277
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lewm-control-suite/checkpoints/lewm/pusht/weights_epoch_10.msgpack
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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|
| 3 |
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size 104397665
|
lewm-control-suite/checkpoints/lewm/reacher/config.json
ADDED
|
@@ -0,0 +1,34 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
{
|
| 2 |
+
"exp_name": "LeWMJAX_impala_lance_reacher_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95",
|
| 3 |
+
"dataset_path": "/data/dzb/stablewm-data/datasets/reacher.lance",
|
| 4 |
+
"architecture": "lewm_impala_small",
|
| 5 |
+
"encoder": "impala_small",
|
| 6 |
+
"seed": 3072,
|
| 7 |
+
"epochs": 10,
|
| 8 |
+
"batch_size": 128,
|
| 9 |
+
"decode_workers": 6,
|
| 10 |
+
"train_fraction": 0.9,
|
| 11 |
+
"image_size": 224,
|
| 12 |
+
"embed_dim": 192,
|
| 13 |
+
"patch_size": 14,
|
| 14 |
+
"history_size": 3,
|
| 15 |
+
"num_preds": 1,
|
| 16 |
+
"frameskip": 5,
|
| 17 |
+
"projector_hidden_dim": 2048,
|
| 18 |
+
"action_smoothed_dim": 10,
|
| 19 |
+
"action_mlp_scale": 4,
|
| 20 |
+
"predictor_depth": 6,
|
| 21 |
+
"predictor_heads": 16,
|
| 22 |
+
"predictor_dim_head": 64,
|
| 23 |
+
"predictor_mlp_dim": 2048,
|
| 24 |
+
"predictor_dropout": 0.1,
|
| 25 |
+
"predictor_emb_dropout": 0.0,
|
| 26 |
+
"learning_rate": 5e-05,
|
| 27 |
+
"lr_schedule": "optimizer_step_warmup_cosine_1pct",
|
| 28 |
+
"weight_decay": 0.001,
|
| 29 |
+
"gradient_clip": 1.0,
|
| 30 |
+
"sigreg_weight": 0.09,
|
| 31 |
+
"sigreg_knots": 17,
|
| 32 |
+
"sigreg_num_proj": 1024,
|
| 33 |
+
"precision": "bf16"
|
| 34 |
+
}
|
lewm-control-suite/checkpoints/lewm/reacher/weights_epoch_10.msgpack
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
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|
| 3 |
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size 104397677
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lewm-control-suite/checkpoints/lewm/tworoom/config.json
ADDED
|
@@ -0,0 +1,34 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"exp_name": "LeWMJAX_impala_lance_tworoom_bs128_e10_seed3072_fs5_h3_sigreg009_jpeg95",
|
| 3 |
+
"dataset_path": "/data/dzb/stablewm-data/datasets/tworoom.lance",
|
| 4 |
+
"architecture": "lewm_impala_small",
|
| 5 |
+
"encoder": "impala_small",
|
| 6 |
+
"seed": 3072,
|
| 7 |
+
"epochs": 10,
|
| 8 |
+
"batch_size": 128,
|
| 9 |
+
"decode_workers": 6,
|
| 10 |
+
"train_fraction": 0.9,
|
| 11 |
+
"image_size": 224,
|
| 12 |
+
"embed_dim": 192,
|
| 13 |
+
"patch_size": 14,
|
| 14 |
+
"history_size": 3,
|
| 15 |
+
"num_preds": 1,
|
| 16 |
+
"frameskip": 5,
|
| 17 |
+
"projector_hidden_dim": 2048,
|
| 18 |
+
"action_smoothed_dim": 10,
|
| 19 |
+
"action_mlp_scale": 4,
|
| 20 |
+
"predictor_depth": 6,
|
| 21 |
+
"predictor_heads": 16,
|
| 22 |
+
"predictor_dim_head": 64,
|
| 23 |
+
"predictor_mlp_dim": 2048,
|
| 24 |
+
"predictor_dropout": 0.1,
|
| 25 |
+
"predictor_emb_dropout": 0.0,
|
| 26 |
+
"learning_rate": 5e-05,
|
| 27 |
+
"lr_schedule": "optimizer_step_warmup_cosine_1pct",
|
| 28 |
+
"weight_decay": 0.001,
|
| 29 |
+
"gradient_clip": 1.0,
|
| 30 |
+
"sigreg_weight": 0.09,
|
| 31 |
+
"sigreg_knots": 17,
|
| 32 |
+
"sigreg_num_proj": 1024,
|
| 33 |
+
"precision": "bf16"
|
| 34 |
+
}
|
lewm-control-suite/checkpoints/lewm/tworoom/weights_epoch_10.msgpack
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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size 104397677
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