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exp_config.yaml

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+params:
+  ac_chunk: 60
+  accelerator:
+    grad_accum_steps: 1
+    max_grad_norm: 1.0
+    mixed_precision: bf16
+  agent:
+    _target_: data4robotics.models.diffusion.DiffusionTransformerAgent
+    ac_chunk: ${ac_chunk}
+    ac_dim: ${task.ac_dim}
+    dropout: 0.1
+    eval_diffusion_steps: 10
+    feat_norm: layer_norm
+    features:
+      _target_: data4robotics.models.vit.load_vit
+      model:
+        _target_: data4robotics.models.vit.vit_base_patch16
+        drop_path_rate: 0.0
+        img_size: 224
+        use_cls: true
+      restore_path: /home/shingo/dexwild-training-main/visual_features/vit_base/SOUP_1M_DH.pth
+    lang_dim: 768
+    n_cams: ${task.n_cams}
+    noise_net_kwargs:
+      activation: gelu
+      dim_feedforward: 2048
+      dropout: ${agent.dropout}
+      hidden_dim: 768
+      nhead: 8
+      num_blocks: 6
+      time_dim: 256
+    num_img_frames: ${len:${task.buffer_defaults.img_frame_indices}}
+    num_state_frames: ${len:${task.buffer_defaults.state_frame_indices}}
+    odim: ${task.obs_dim}
+    share_cam_features: false
+    train_diffusion_steps: 100
+    use_lang: false
+    use_obs: add_token
+  batch_size: 32
+  buffer_paths_list:
+  - /home/shingo/handling_ws/data/newcablev5/data_newcablev5.h5
+  checkpoint_path: /home/shingo/dexwild-training-main/dit_policy/local_checkpoints/dg5f_newcablev5_diffusion_ac60
+  devices: 1
+  eval_freq: 100000
+  exp_name: dg5f_newcablev5_diffusion_ac60
+  im_latent_dim:
+  - 201
+  - 768
+  img_chunk: 1
+  is_preprocessing: false
+  keep_freq: 10000
+  latent_caching: false
+  load_only_action: false
+  load_only_vision: false
+  logging_freq: 1
+  lr: 0.0001
+  max_iterations: 100000
+  num_workers: 4
+  resume: false
+  rt: ${hydra:runtime.choices.agent/features}
+  save_freq: 10000
+  schedule_freq: 1
+  seed: 292285
+  task:
+    _target_: data4robotics.task.GeneralBCTask
+    ac_dim: 26
+    buffer_defaults:
+      ac_chunk: ${ac_chunk}
+      ac_dim: ${task.ac_dim}
+      act_keys:
+      - ur_gello_joint_position
+      - dg5f_right_joint_cmd
+      action_norm_stats_path: ''
+      action_space: joint_abs
+      cam_keys:
+      - realsense_color_image_raw
+      - realsense2_color_image_raw
+      - gelsight1_image
+      - gelsight2_image
+      camera_mask:
+      - true
+      - true
+      - true
+      - true
+      frequency_adjust: 1.0
+      im_latent_dim: ${im_latent_dim}
+      image_size: ${task.image_size}
+      img_frame_indices:
+      - 0
+      latent_caching: ${latent_caching}
+      n_val_percent: 0.1
+      obs_dim: ${task.obs_dim}
+      obs_keys:
+      - ur_arm_joint_states
+      - dg5f_right_joint_states
+      state_frame_indices:
+      - -2
+      - -1
+      - 0
+      state_space: joint_abs
+      weighted_regression: false
+    cotrain_weights:
+    - 1.0
+    features: ${agent.features}
+    image_size: 224
+    latent_caching: ${latent_caching}
+    n_cams: ${len:${task.buffer_defaults.cam_keys}}
+    obs_dim: 26
+    test_buffers:
+    - _target_: data4robotics.hdf5_replay_buffer_v2.HDF5ReplayBuffer
+      ac_chunk: ${ac_chunk}
+      ac_dim: ${task.ac_dim}
+      act_keys:
+      - ur_gello_joint_position
+      - dg5f_right_joint_cmd
+      action_norm_stats_path: ''
+      action_space: joint_abs
+      cam_keys:
+      - realsense_color_image_raw
+      - realsense2_color_image_raw
+      - gelsight1_image
+      - gelsight2_image
+      camera_mask:
+      - true
+      - true
+      - true
+      - true
+      frequency_adjust: 1.0
+      h5_path: ${buffer_paths_list[0]}
+      im_latent_dim: ${im_latent_dim}
+      image_size: ${task.image_size}
+      img_frame_indices:
+      - 0
+      latent_caching: ${latent_caching}
+      mode: test
+      n_val_percent: 0.1
+      obs_dim: ${task.obs_dim}
+      obs_keys:
+      - ur_arm_joint_states
+      - dg5f_right_joint_states
+      state_frame_indices:
+      - -2
+      - -1
+      - 0
+      state_space: joint_abs
+      transform: ${transform:preproc,${task.image_size}}
+      weighted_regression: false
+    train_buffers:
+    - _target_: data4robotics.hdf5_replay_buffer_v2.HDF5ReplayBuffer
+      ac_chunk: ${ac_chunk}
+      ac_dim: ${task.ac_dim}
+      act_keys:
+      - ur_gello_joint_position
+      - dg5f_right_joint_cmd
+      action_norm_stats_path: ''
+      action_space: joint_abs
+      cam_keys:
+      - realsense_color_image_raw
+      - realsense2_color_image_raw
+      - gelsight1_image
+      - gelsight2_image
+      camera_mask:
+      - true
+      - true
+      - true
+      - true
+      frequency_adjust: 1.0
+      h5_path: ${buffer_paths_list[0]}
+      im_latent_dim: ${im_latent_dim}
+      image_size: ${task.image_size}
+      img_frame_indices:
+      - 0
+      latent_caching: ${latent_caching}
+      mode: train
+      n_val_percent: 0.1
+      obs_dim: ${task.obs_dim}
+      obs_keys:
+      - ur_arm_joint_states
+      - dg5f_right_joint_states
+      state_frame_indices:
+      - -2
+      - -1
+      - 0
+      state_space: joint_abs
+      transform: ${transform:${train_transform},${task.image_size}}
+      weighted_regression: false
+  train_transform: medium
+  trainer:
+    _target_: data4robotics.trainers.bc.BehaviorCloning
+    optim_builder:
+      _target_: data4robotics.trainers.utils.optim_builder
+      optimizer_kwargs:
+        betas:
+        - 0.95
+        - 0.999
+        eps: 1.0e-08
+        lr: ${lr}
+        weight_decay: 1.0e-06
+      optimizer_type: AdamW
+    schedule_builder:
+      _target_: data4robotics.trainers.utils.schedule_builder
+      from_diffusers: true
+      schedule_kwargs:
+        num_training_steps: ${max_iterations}
+        num_warmup_steps: 5000
+      schedule_type: cosine
+    vision_lr: ${vision_lr}
+  val_buffer_paths_list: []
+  vision_lr: null
+  wandb:
+    debug: false
+    entity: kazutaka5501-waseda-university
+    group: ${exp_name}
+    name: ${exp_name}
+    project: dg5f_manipulation
+    sweep_name_prefix: ${exp_name}_${hydra:runtime.choices.agent/features}
+wandb_id: xtlb0j8s