Upload folder using huggingface_hub (part 3)

.gitattributes

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 rmbench_swapblocks_minmax_post/eval_results/swap_blocks/demo_clean/snapshot_final/eval/episode8.mp4 filter=lfs diff=lfs merge=lfs -text
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rmbench_swapblocks_minmax_post/eval_results/swap_blocks/demo_clean/snapshot_final/eval/eval_log.txt

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+Eval log for swap_blocks | s1_mlp_post | demo_clean | snapshot_final
+
+episode_id=0, seed=100001, result=Fail
+episode_id=1, seed=100002, result=Fail
+episode_id=2, seed=100008, result=Fail
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rmbench_swapblocks_minmax_post/full_config.yaml

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+agent:
+  _target_: agent.post_dynamic_actor.PostDynamicActor
+  stage: post
+  base_weight_dir: ${base_weight_dir}
+  use_memory_router: true
+  use_img_head: false
+  memory_router: ${memory_router}
+  img_head: ${img_head}
+  lr: ${lr}
+  action_head: ${action_head}
+  load_prior_action_head_weights: false
+  freeze_modal_encoder: true
+  backbone_frozen_when_posttrain: true
+  action_query_frozen_when_posttrain: true
+  sample_interval: 10
+  max_his_cache: 30
+  q_type: global_token
+  kv_type: his_token
+  num_his_tokens: 1
+  img_loss_coef: 100
+  img_encoder:
+    _target_: modules.img_encoder.resnet.ResnetRouter
+    input_shape: ${suite.img_size}
+    output_dim: 512
+    pretrained: false
+    frozen: false
+    remove_layer_num: 2
+    no_stride: false
+    language_dim: 512
+    language_fusion: film
+    device: cuda
+  backbone:
+    _target_: modules.backbone.gpt.GPT_Backbone
+    block_size: 65
+    input_dim: ${agent.hidden_dim}
+    output_dim: ${agent.hidden_dim}
+    n_layer: 8
+    n_head: 8
+    n_embd: ${agent.hidden_dim}
+    dropout: 0.1
+    backbone_use_uncausal_mask: false
+    num_cameras: ${agent.num_views}
+    his_len: ${agent.history_len}
+    use_proprio: ${agent.use_proprio}
+    num_act_tokens: ${agent.num_act_tokens}
+    num_img_tokens: ${agent.num_img_tokens}
+    num_his_tokens: ${agent.num_his_tokens}
+  action_dim: 14
+  proprio_dim: 14
+  img_size:
+  - 240
+  - 320
+  num_views: 1
+  pixel_keys:
+  - cam_high
+  proprio_key: qpos
+  lang_key: task_emb
+  hidden_dim: 512
+  num_queries: 32
+  action_arrange_type: chunk_joint
+  action_loss_coef: 100
+  lang_encoder: minilm
+  use_proprio: true
+  use_language: true
+  history_len: 1
+  num_act_tokens: 1
+  num_img_tokens: 0
+memory_router:
+  _target_: modules.memory_router.his_perceiver.HisPerceiver
+  hidden_dim: 512
+  out_dim: 512
+  q_type: global_token
+  global_token_length: 3
+  num_heads: 8
+  layers: 4
+  dropout: 0.1
+  use_avg_patch_token: false
+action_head:
+  _target_: modules.action_head.dit_dm.DitHead
+  stage: post
+  action_dim: 14
+  num_past_queries: 0
+  num_future_queries: 32
+  num_dit_heads: 8
+  num_dit_layers: 4
+  num_new_layers: 2
+  decoder_hidden_dim: 512
+  train_timesteps: 100
+  val_timesteps: 10
+  time_embed_dim: 256
+  learnable_w: false
+  normalization_method: min_max
+img_encoder:
+  _target_: modules.img_encoder.resnet.ResnetRouter
+  input_shape: ${suite.img_size}
+  output_dim: 512
+  pretrained: false
+  frozen: false
+  remove_layer_num: 2
+  no_stride: false
+  language_dim: 512
+  language_fusion: film
+  device: cuda
+backbone:
+  _target_: modules.backbone.gpt.GPT_Backbone
+  block_size: 65
+  input_dim: ${agent.hidden_dim}
+  output_dim: ${agent.hidden_dim}
+  n_layer: 8
+  n_head: 8
+  n_embd: ${agent.hidden_dim}
+  dropout: 0.1
+  backbone_use_uncausal_mask: false
+  num_cameras: ${agent.num_views}
+  his_len: ${agent.history_len}
+  use_proprio: ${agent.use_proprio}
+  num_act_tokens: ${agent.num_act_tokens}
+  num_img_tokens: ${agent.num_img_tokens}
+  num_his_tokens: ${agent.num_his_tokens}
+img_head:
+  _target_: modules.img_head.latent_pred.ImgHead
+  cond_dim: 512
+  hidden_dim: 512
+  num_iterations: 4
+  z_length: 18
+  z_dim: 14
+  num_future_queries: 32
+  num_past_queries: 0
+  dropout: 0.1
+suite:
+  suite: rmbench
+  name: rmbench
+  action_dim: 14
+  proprio_dim: 14
+  pixel_keys:
+  - cam_high
+  num_views: 1
+  proprio_key: qpos
+  img_size:
+  - 240
+  - 320
+  task:
+    suite: rmbench
+    scenes:
+    - desktop
+    task_picked: rmbench_swapblocks
+    tasks:
+    - desktop:
+      - swap_blocks

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