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| "end_lr": 1e-06, |
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| "quaternion_format": "wxyz", |
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| "reproducibility": { |
| "command_line": "python main_trajectory_calvin.py --tasks A B C D --backbone clip --dataset /work/popo9790/dataset/packaged_ABC_D_ours/training --valset /work/popo9790/dataset/packaged_ABC_D_ours/validation --instructions instructions/calvin_task_ABC_D/ --gripper_loc_bounds tasks/calvin_rel_traj_location_bounds_task_ABC_D.json --gripper_loc_bounds_buffer 0.01 --image_size 256,256 --num_workers 4 --max_episode_length 30 --train_iters 44000 --embedding_dim 192 --use_instruction 1 --rotation_parametrization 6D --diffusion_timesteps 25 --val_freq 1000 --val_iters 2 --dense_interpolation 1 --interpolation_length 20 --exp_log_dir Planner_Calvin --batch_size 8 --batch_size_val 1 --cache_size 0 --cache_size_val 0 --keypose_only 0 --lr 3e-4 --end_lr 1e-6 --lr_decay 0.9999 --wd 5e-3 --num_history 3 --cameras front wrist --max_episodes_per_task -1 --relative_action 1 --fps_subsampling_factor 3 --lang_enhanced 1 --quaternion_format wxyz --run_log_dir /work/popo9790/train_log/rep_ctx/rep_ctx-192-B8-accu2-ngpus2-lr3e-4-DI1-20-H3-DT25-backboneclip-S256,256-R1-wd5e-3 --checkpoint /work/popo9790/train_log/rep_ctx/rep_ctx-192-B8-accu2-ngpus2-lr3e-4-DI1-20-H3-DT25-backboneclip-S256,256-R1-wd5e-3/last.pth", |
| "git_has_uncommitted_changes": true, |
| "git_root": "/home/popo9790/rep_ctx", |
| "git_url": "https://github.com/tars3017/CoG/tree/45807b1f6b6382e8e10209c2a7551ba206805439", |
| "time": "Sat 29 Nov 2025 09:39:33 PM CST" |
| }, |
| "rotation_parametrization": "6D", |
| "run_log_dir": "/work/popo9790/train_log/rep_ctx/rep_ctx-192-B8-accu2-ngpus2-lr3e-4-DI1-20-H3-DT25-backboneclip-S256,256-R1-wd5e-3", |
| "seed": 0, |
| "tasks": { |
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| "C", |
| "D" |
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| "val_iters": 2, |
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| }, |
| "variations": { |
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| "_value": [ |
| 0 |
| ] |
| }, |
| "wd": 0.005, |
| "weight_decay": 1e-12 |
| } |
