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3dlotusplus

Robotics
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Add real robot checkpoint

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  1. RealRobot/v1/ckpts/model_step_50000.pt +3 -0
  2. RealRobot/v1/logs/training_config.yaml +206 -0
RealRobot/v1/ckpts/model_step_50000.pt ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:54d9d3bbcf3a84932053acc84baa7a5f3a855dd32b2bafdd96963a59e1c589dd
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+ size 274913670
RealRobot/v1/logs/training_config.yaml ADDED
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+ CMD_TRAILING_OPTS: []
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+ DATASET: {}
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+ MODEL:
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+ action_config:
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+ best_disc_pos: max
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+ context_channels: 256
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+ dim_actions: 7
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+ dropout: 0.2
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+ max_steps: 30
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+ max_traj_len: 5
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+ max_txt_len: 77
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+ pc_label_channels: 64
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+ pos_bin_size: 0.01
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+ pos_bins: 15
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+ pos_heatmap_temp: 0.1
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+ pos_pred_type: heatmap_disc
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+ reduce: max
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+ rot_pred_type: euler_disc
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+ traj_embed_size: 64
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+ txt_ft_size: 512
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+ txt_reduce: attn
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+ use_ee_pose: false
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+ voxel_size: 0.01
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+ loss_config:
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+ pos_weight: 1
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+ rot_weight: 1
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+ model_class: MotionPlannerPTV3CA
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+ ptv3_config:
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+ add_coords_in_attn: none
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+ attn_drop: 0.1
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+ cls_mode: false
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+ dec_channels:
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+ - 128
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+ - 128
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+ - 256
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+ - 512
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+ dec_depths:
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+ - 1
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+ - 1
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+ - 1
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+ - 1
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+ dec_num_head:
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+ - 4
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+ - 4
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+ - 8
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+ - 16
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+ dec_patch_size:
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+ - 128
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+ - 128
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+ - 128
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+ - 128
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+ drop_path: 0.0
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+ enable_flash: true
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+ enable_rpe: false
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+ enc_channels:
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+ - 64
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+ - 128
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+ - 256
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+ - 512
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+ - 768
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+ enc_depths:
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+ - 1
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+ - 1
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+ - 1
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+ - 1
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+ - 1
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+ enc_num_head:
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+ - 2
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+ - 4
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+ - 8
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+ - 16
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+ - 32
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+ enc_patch_size:
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+ - 128
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+ - 128
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+ - 128
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+ - 128
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+ - 128
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+ in_channels: 4
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+ mlp_ratio: 4
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+ order:
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+ - z
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+ - z-trans
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+ - hilbert
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+ - hilbert-trans
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+ pdnorm_adaptive: false
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+ pdnorm_affine: true
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+ pdnorm_bn: false
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+ pdnorm_conditions: null
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+ pdnorm_decouple: false
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+ pdnorm_ln: false
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+ pdnorm_only_decoder: false
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+ pre_norm: true
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+ proj_drop: 0.1
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+ qk_norm: true
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+ qk_scale: null
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+ qkv_bias: true
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+ scaled_cosine_attn: false
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+ shuffle_orders: true
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+ stride:
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+ - 2
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+ - 2
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+ - 2
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+ - 2
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+ upcast_attention: false
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+ upcast_softmax: false
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+ SEED: 2024
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+ TRAIN:
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+ betas:
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+ - 0.9
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+ - 0.98
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+ freeze_params:
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+ decoder: false
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+ encoder: false
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+ grad_norm: 10
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+ gradient_accumulation_steps: 1
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+ learning_rate: 0.0001
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+ log_steps: 1000
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+ lr_sched: cosine
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+ n_workers: 4
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+ num_cosine_cycles: null
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+ num_epochs: 2778
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+ num_train_steps: 50000
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+ optim: adamw
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+ pin_mem: true
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+ resume_encoder_only: false
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+ resume_training: true
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+ save_steps: 5000
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+ train_batch_size: 8
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+ val_batch_size: 8
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+ val_steps: 5000
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+ warmup_steps: 5000
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+ weight_decay: 0.05
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+ TRAIN_DATASET:
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+ action_embed_file: data/gembench/train_dataset/motion_keysteps_bbox_pcd/action_embeds_clip.npy
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+ all_step_in_batch: true
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+ aug_max_rot: 45
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+ augment_pc: true
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+ data_dir: data/gembench/real_robot/motion_keysteps_bbox_pcd/voxel1cm
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+ gt_act_obj_label_file: assets/taskvars_target_label_zrange.json
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+ include_last_step: false
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+ instr_embed_type: all
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+ instr_include_objects: false
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+ max_traj_len: 5
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+ num_points: 4096
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+ pc_label_augment: 0.0
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+ pc_label_type: coarse
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+ pc_midstep_augment: true
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+ pos_bin_size: 0.01
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+ pos_bins: 15
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+ pos_heatmap_no_robot: true
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+ pos_heatmap_type: dist
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+ pos_type: disc
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+ real_robot: false
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+ rm_pc_outliers: false
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+ rm_pc_outliers_neighbors: 25
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+ rm_robot: box_keep_gripper
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+ rm_table: true
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+ rot_type: euler_disc
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+ same_npoints_per_example: false
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+ taskvar_file: assets/gembench/real_robot/taskvars_real_robot.json
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+ use_color: false
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+ use_height: true
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+ xyz_norm: false
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+ xyz_shift: center
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+ VAL_DATASET:
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+ action_embed_file: data/gembench/train_dataset/motion_keysteps_bbox_pcd/action_embeds_clip.npy
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+ all_step_in_batch: true
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+ aug_max_rot: 45
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+ augment_pc: false
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+ data_dir: data/gembench/real_robot/motion_keysteps_bbox_pcd/voxel1cm
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+ gt_act_obj_label_file: assets/taskvars_target_label_zrange.json
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+ include_last_step: false
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+ instr_embed_type: all
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+ instr_include_objects: false
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+ max_traj_len: 5
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+ num_points: 4096
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+ pc_label_augment: 0.0
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+ pc_label_type: coarse
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+ pc_midstep_augment: true
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+ pos_bin_size: 0.01
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+ pos_bins: 15
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+ pos_heatmap_no_robot: true
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+ pos_heatmap_type: dist
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+ pos_type: disc
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+ real_robot: false
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+ rm_pc_outliers: false
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+ rm_pc_outliers_neighbors: 25
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+ rm_robot: box_keep_gripper
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+ rm_table: true
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+ rot_type: euler_disc
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+ same_npoints_per_example: false
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+ taskvar_file: assets/gembench/real_robot/taskvars_real_robot.json
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+ use_color: false
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+ use_height: true
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+ use_val: true
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+ xyz_norm: false
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+ xyz_shift: center
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+ checkpoint: data/experiments/gembench/3dlotusplus/v1/ckpts/model_step_140000.pt
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+ checkpoint_strict_load: false
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+ local_rank: 0
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+ output_dir: data/experiments/real_robot/3dlotusplus/v1
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+ rank: 0
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+ tfboard_log_dir: null
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+ world_size: 1
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+