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beta_schedule: cosine + diffusion_steps: 20 + early_goal_concat: true + learning_rate: 0.0003 + repeat_last_step: 0 + score_network_kwargs: + dropout_rate: 0.1 + hidden_dim: 256 + num_blocks: 3 + time_dim: 32 + use_layer_norm: true + shared_goal_encoder: true + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: 4 + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 0 diff --git a/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/checkpoint b/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..15033fefda911a22e4e8c6e3ddf0a2547e3cfd54 --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/checkpoint_150000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50acd50cf4d1386bb8a9f684f74b42559007d63a0d5396a5146c3a23f4603a53 +size 368607511 diff --git 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b/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_1/20240602_011058/config.yaml @@ -0,0 +1,71 @@ +agent: gc_ddpm_bc +agent_kwargs: + action_samples: 1 + actor_decay_steps: 2000000 + beta_schedule: cosine + diffusion_steps: 20 + early_goal_concat: true + learning_rate: 0.0003 + repeat_last_step: 0 + score_network_kwargs: + dropout_rate: 0.1 + hidden_dim: 256 + num_blocks: 3 + time_dim: 32 + use_layer_norm: true + shared_goal_encoder: true + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: 4 + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 1 diff --git a/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/checkpoint_150000/checkpoint b/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/checkpoint_150000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..2ae94ce25cb16d235cc02ed5602424f19a3dd592 --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/checkpoint_150000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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0000000000000000000000000000000000000000..8604b57b63a63b03d9bf911fc7c9ed9803e9574f --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_2/20240602_011058/config.yaml @@ -0,0 +1,71 @@ +agent: gc_ddpm_bc +agent_kwargs: + action_samples: 1 + actor_decay_steps: 2000000 + beta_schedule: cosine + diffusion_steps: 20 + early_goal_concat: true + learning_rate: 0.0003 + repeat_last_step: 0 + score_network_kwargs: + dropout_rate: 0.1 + hidden_dim: 256 + num_blocks: 3 + time_dim: 32 + use_layer_norm: true + shared_goal_encoder: true + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: 4 + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 2 diff --git a/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/checkpoint_150000/checkpoint b/susie_low_level/bridge/gcdiffusion/auggoaldiff/seed_3/20240602_011058/checkpoint_150000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..0056937661d543bae8619b34736940209b37eb4f --- /dev/null +++ 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random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 3 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/checkpoint_150000/checkpoint b/susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/checkpoint_150000/checkpoint new file mode 100644 index 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a/susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/config.yaml b/susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..686a8e9d97622c6d8d88e840e709c3d1ea5d858d --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_0/20240602_010259/config.yaml @@ -0,0 +1,71 @@ +agent: gc_ddpm_bc +agent_kwargs: + action_samples: 1 + actor_decay_steps: 2000000 + beta_schedule: cosine + diffusion_steps: 20 + early_goal_concat: true + learning_rate: 0.0003 + repeat_last_step: 0 + score_network_kwargs: + dropout_rate: 0.1 + hidden_dim: 256 + num_blocks: 3 + time_dim: 32 + use_layer_norm: true + shared_goal_encoder: true + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: 4 + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 0 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/checkpoint b/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..f244e2a5e06457dc340421b76f8a572ff889a679 --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41fde3b3ec785e940c89ff8a4baabdb6caa955d35adf65262b80a59d9c5cd991 +size 368607511 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/serialized_policy_ckpt b/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/serialized_policy_ckpt new file mode 100644 index 0000000000000000000000000000000000000000..707a5dceb9b14a6b54ec7eadbca004ecb1426f15 --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/checkpoint_150000/serialized_policy_ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:537971c402a104ca45ab4cfdb2fb41f3aff4d5135492b947bb6bcfa3d101e9ad +size 92739495 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/config.yaml b/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8f9b3979208aac467c1ba13f95e0290c68fc5af --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_1/20240602_010259/config.yaml @@ -0,0 +1,71 @@ +agent: gc_ddpm_bc +agent_kwargs: + action_samples: 1 + actor_decay_steps: 2000000 + beta_schedule: cosine + diffusion_steps: 20 + early_goal_concat: true + learning_rate: 0.0003 + repeat_last_step: 0 + score_network_kwargs: + dropout_rate: 0.1 + hidden_dim: 256 + num_blocks: 3 + time_dim: 32 + use_layer_norm: true + shared_goal_encoder: true + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: 4 + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 1 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/checkpoint b/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..2debeae5e9fd23461361d7790e0ae5cea49ecd10 --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:727d3ba0fda6ea6438da85b468b76df2eec86fb63b5ee25ecd32d5557f48c042 +size 368607511 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/serialized_policy_ckpt b/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/serialized_policy_ckpt new file mode 100644 index 0000000000000000000000000000000000000000..8c5da585857294c4a5736b5de18c8ee112f99b3e --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/checkpoint_150000/serialized_policy_ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdefbbd01cadc46c1e55c7de5a76aa866d41700c34357a0e8a813cb701d7a293 +size 92739495 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/config.yaml b/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..757e5fc05b0d5fd11c2180aa8cf483ea4d6739cf --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_2/20240602_010259/config.yaml @@ -0,0 +1,71 @@ +agent: gc_ddpm_bc +agent_kwargs: + action_samples: 1 + actor_decay_steps: 2000000 + beta_schedule: cosine + diffusion_steps: 20 + early_goal_concat: true + learning_rate: 0.0003 + repeat_last_step: 0 + score_network_kwargs: + dropout_rate: 0.1 + hidden_dim: 256 + num_blocks: 3 + time_dim: 32 + use_layer_norm: true + shared_goal_encoder: true + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: 4 + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 2 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/checkpoint b/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..a0d05a69bca5b8dc1614b0ba1886d86fd5521958 --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9fc615a60c7336045ed1db82bb466fcb5d20d7e33d85bea0ef44ab74bd40a3a +size 368607511 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/serialized_policy_ckpt b/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/serialized_policy_ckpt new file mode 100644 index 0000000000000000000000000000000000000000..69c744bff83381ae548b5cfe2db25e5c7d42c5ce --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/checkpoint_150000/serialized_policy_ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44eb9dee7f8d34445334ef227861943ac1ed9fae161f13a0ef997e10b6e98978 +size 92739495 diff --git a/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/config.yaml b/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ef72da2cfa2e36ffa5df5d0ac379b307b8476b5a --- /dev/null +++ b/susie_low_level/bridge/gcdiffusion/default/seed_3/20240602_010259/config.yaml @@ -0,0 +1,71 @@ +agent: gc_ddpm_bc +agent_kwargs: + action_samples: 1 + actor_decay_steps: 2000000 + beta_schedule: cosine + diffusion_steps: 20 + early_goal_concat: true + learning_rate: 0.0003 + repeat_last_step: 0 + score_network_kwargs: + dropout_rate: 0.1 + hidden_dim: 256 + num_blocks: 3 + time_dim: 32 + use_layer_norm: true + shared_goal_encoder: true + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: 4 + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 0 + - 24 + goal_relabeling_strategy: delta_goals + obs_horizon: 1 + relabel_actions: true + shuffle_buffer_size: 25000 +dataset_name: bridge +encoder: resnetv1-34-bridge +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: false +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 3 diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..6a60ee6a1ca3935b525f514090307b418bc9773d --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5dd6c2098751630481f5f18420fe01752f8d113872f5241211b5d0019815697 +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/config.yaml b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..244be959c510c3fd0e6444bf2a91cb10504b4256 --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_0/20240602_010253/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 0 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..954b1e68dd484bc3fecc7c8208a1ef93ee52bb6c --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3fdc1782cfceb78d61500b0291d67c49014db2322174215e0479d86940c17f8 +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/config.yaml b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83fa4bcb3848e40365b257ec97d31fffe2bb2b3f --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_1/20240602_010253/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 1 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..24dbc9b90c21a5731a3f41bfb31fdba53b12206f --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a92367feb29dc4c4f26c436582a0133637215e652001fb1279745803e5c36a21 +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/config.yaml b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..261a67e2b2984eb056bac9bae9c26332e25b1a5a --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_2/20240602_010253/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 2 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..7cc66e065649293dc479fc0e376044b8d00e0a7d --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adf8ded29658e108cdec44a99fd0253c83eb07ceedfd8ad4193d4fc080d9bc1d +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/config.yaml b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42ec9997a0d748ec8e4090aacd2b06f595faea40 --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/auggoaldiff/seed_3/20240602_010253/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: true + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 3 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..a8bb60b5a8e8eea54a072891c89c3488aa608bdb --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e110262e291764f4da59c73a14b1941f47abcaf905514f88b62ecac1a60af0 +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/config.yaml b/susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e896cf65d018ecf4b6cd92c442c977dc3accd2c --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_0/20240602_011054/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 0 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..88e24a520e987d30d9784c46500c961d1136f3fd --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb6310181cc72a48637b87768a294ac9c07be2101843f03348a3ddca325d9257 +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/config.yaml b/susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eabfb4109c2a9cada3e4f35a2352e6951fbd398e --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_1/20240602_011054/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 1 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..6579531582a9878c19eb4f7bc5c260043ba8d93c --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:366cf59cce2b04c92f38757844c50dbfefc40eb28c457c156a1ae81b94801993 +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/config.yaml b/susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be68579967bf9398212100f0c3a7ff20a258c3d2 --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_2/20240602_011054/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 2 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/checkpoint_100000/checkpoint b/susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/checkpoint_100000/checkpoint new file mode 100644 index 0000000000000000000000000000000000000000..6c5264d70bb45cdd5d2a987c8745afb86ceee1b9 --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/checkpoint_100000/checkpoint @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1c1169eb9db1706df988afb60f7c211892beb7a9e0139d5e3756b5a0272be99 +size 810601157 diff --git a/susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/config.yaml b/susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa431e163b4d8b806b03fc3ad6e36847fa1eda72 --- /dev/null +++ b/susie_low_level/bridge/lcgcprogressvf/default/seed_3/20240602_011054/config.yaml @@ -0,0 +1,75 @@ +agent: lcgc_progress_vf +agent_kwargs: + early_goal_concat: false + frac_neg_reverse_direction: 0.2 + frac_neg_wrong_goalimg: 0.1 + frac_neg_wrong_lang: 0.2 + frac_pos: 0.5 + learning_rate: 0.0003 + loss_fn: bce + network_kwargs: + dropout_rate: 0.1 + hidden_dims: + - 256 + - 256 + use_layer_norm: true + shared_goal_encoder: false + use_proprio: false + warmup_steps: 2000 +batch_size: 256 +data_path: /opt/ml/input/data/bridgev2_processed +dataset_kwargs: + act_pred_horizon: null + augment: true + augment_kwargs: + augment_order: + - random_resized_crop + - random_brightness + - random_contrast + - random_saturation + - random_hue + random_brightness: + - 0.2 + random_contrast: + - 0.8 + - 1.2 + random_hue: + - 0.1 + random_resized_crop: + ratio: + - 0.9 + - 1.1 + scale: + - 0.8 + - 1.0 + random_saturation: + - 0.8 + - 1.2 + augment_next_obs_goal_differently: false + goal_relabeling_kwargs: + goal_delta: + - 16 + - 24 + goal_relabeling_strategy: delta_goals2 + load_language: true + obs_horizon: null + relabel_actions: true + shuffle_buffer_size: 25000 + skip_unlabeled: true +dataset_name: bridge +encoder: resnetv1-34-bridge-film +encoder_kwargs: + act: swish + add_spatial_coordinates: true + pooling_method: avg +eval_interval: 50000 +language_conditioned: true +log_interval: 1000 +num_steps: 600000 +num_val_batches: 8 +resume_path: null +save_dir: /opt/ml/code/results +save_interval: 50000 +seed: 3 +text_processor: muse_embedding +text_processor_kwargs: {} diff --git 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