| stage_1: |
| backbone_type: vggt_omega |
| ckpt_path: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/3DA_unified/.local/deepspeed_ckpt_aliases/hf23000_8gxiadnc_ckpt34000_checkpoints/0034000.pt |
| encoder_input_size: 256 |
| normalization_stat_path: null |
| vggt_omega: |
| source_path: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/3DA_unified/.local/vendor/vggt-omega |
| freeze_patch_embedder: true |
| enable_depth: true |
| enable_camera: true |
| enable_alignment: true |
| freeze_dense_head: true |
| dense_head_compute_dtype: bfloat16 |
| strict_load: false |
| teacher_ckpt_path: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/checkpoints/vggt_omega/vggt_omega_1b_256_text.pt |
| da3_finetune: |
| enabled: true |
| freeze_blocks_before: 0 |
| n_action_steps: 5 |
| n_views: 2 |
| use_temporal_embed: false |
| action_head: |
| type: mlp_resnet |
| input_dim: auto |
| hidden_dim: 1024 |
| n_dims: 7 |
| chunk_size: 8 |
| num_blocks: 2 |
| pool_mode: mean |
| regularization: |
| lambda_feat: 0.0 |
| layer_weight_min: 0.5 |
| adaptive_lambda: false |
| lambda_depth: 3.0 |
| depth_loss_type: vggt_omega_no_conf |
| depth_grad_weight: 1.0 |
| depth_decode_chunk_size: 1 |
| vggt_omega_inverse_depth_eps: 0.001 |
| vggt_omega_inverse_depth_max: 100.0 |
| vggt_omega_weight_normalize: true |
| lambda_camera: 0.0 |
| teacher_depth_fallback: true |
| skip_depth_if_no_gt: true |
| lambda_path_b_deep_feat_reg: 0.0 |
| deep_feat_reg_layer_weight_min: 0.5 |
| proprioception: |
| enabled: true |
| proprio_dim: 7 |
| hidden_dim: 256 |
| predictor: |
| enabled: true |
| type: shallow12_ar |
| d_model: 1024 |
| depth: 12 |
| num_heads: 16 |
| ffn_ratio: 4.0 |
| dropout: 0.0 |
| num_patches_per_view: 256 |
| use_language: true |
| language_encoder_type: t5 |
| language_dim: 768 |
| language_len: 77 |
| clip_model: openai/clip-vit-large-patch14 |
| t5_model: google-t5/t5-base |
| condition_mode: concat |
| input_proj_norm: ln |
| cache_token_embeddings: true |
| language_cache_max_entries: 4096 |
| language_cache_device: cpu |
| lambda_feat_future: 1.0 |
| lambda_feat_current: 0.0 |
| lambda_proprio_future: 0.0 |
| lambda_sigreg: 0.0 |
| feature_loss_type: l1 |
| feature_target_mode: future |
| H_choices: |
| - 4 |
| H_weights: |
| - 1.0 |
| prev_action_mask_rate: 0.3 |
| prev_action_mask_include_t0: true |
| num_register_tokens: 16 |
| deep_gradient_checkpointing: false |
| deep_temporal_causal_mask: true |
| use_proprio_head: false |
| training: |
| global_batch_size: 224 |
| micro_batch_size: 28 |
| base_lr: 5.16e-05 |
| head_lr_mult: 10.0 |
| predictor_lr_mult: 10.0 |
| adam_eps: 1.0e-06 |
| adam_beta1: 0.9 |
| adam_beta2: 0.95 |
| weight_decay: 0.0 |
| lambda_action: 3.0 |
| lambda_action_direct: 0.0 |
| lambda_action_refine: 1.0 |
| grad_accum_steps: 1 |
| epochs: 500000 |
| clip_grad: 1.0 |
| warmup_steps: 0 |
| max_steps: 1000000 |
| min_lr_ratio: 1.0 |
| log_every: 10 |
| ckpt_every: 1000 |
| vis_every: 1000 |
| eval_every: 1000 |
| lazy_eval_dataset: true |
| eval_ae: false |
| eval_noact: false |
| global_seed: 42 |
| num_workers: 8 |
| prefetch_factor: 4 |
| persistent_workers: true |
| bf16: true |
| compile: false |
| distributed_timeout_minutes: 120 |
| preemption_check_every_steps: 0 |
| eval_micro_batch_size: 1 |
| dataset: |
| type: mixer |
| seed: 42 |
| epoch_size: null |
| stats_dir: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/data/oxe_mimicgen_robocasa365_base_delta_h1to4/_stats |
| eval_max_episodes: 16 |
| image_size: |
| - 256 |
| - 256 |
| future_steps: 4 |
| chunk_size: 8 |
| include_current_action: true |
| n_views: 2 |
| proprio_dim: 7 |
| norm_mode: q01_q99 |
| action_norm_mode: q01_q99 |
| proprio_norm_mode: q01_q99 |
| uniform_action_sampling: true |
| image_augmentation: |
| profile: cosmos_policy_strong |
| train: |
| random_resized_crop_area: 0.9 |
| base_only_rotation_degrees: 5.0 |
| color_jitter: |
| brightness: 0.3 |
| contrast: 0.4 |
| saturation: 0.5 |
| hue: 0.05 |
| jpeg: |
| enabled: true |
| quality: 95 |
| eval: |
| center_crop_area: 1.0 |
| jpeg: |
| enabled: false |
| quality: 95 |
| action_stats_samples: -1 |
| proprio_stats_samples: -1 |
| require_stats_timing_signature: true |
| sources: |
| - name: oxe_v3_full_rdt_adapted_base_delta |
| weight: 0.6 |
| config: |
| type: openx |
| openx_root: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/data/openx_lerobot |
| preset: v3_full_rdt_adapted |
| sampling_strategy: dataset_weighted |
| mix_epoch_size: 200000 |
| target_hz: null |
| aggregate_chunk_actions: false |
| normalize_proprio: true |
| download_videos: true |
| video_backend: pyav |
| train_crop_min_scale: 0.9 |
| eval_crop_scale: 0.9 |
| eval_ratio: 0.001 |
| force_cache_sync: false |
| lazy_download: true |
| require_language: true |
| action_frame: base_delta |
| - name: mimicgen_core_base_delta |
| weight: 0.15 |
| config: |
| type: mimicgen |
| mimicgen_root: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/data/mimicgen |
| task_descriptions_path: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/data/mimicgen/task_descriptions.json |
| splits: |
| - core |
| tasks: null |
| aggregate_chunk_actions: false |
| train_crop_min_scale: 0.9 |
| eval_crop_scale: 0.9 |
| eval_ratio: 0.001 |
| proprio_canonical_7d: true |
| action_output_scale: |
| - 0.05 |
| - 0.05 |
| - 0.05 |
| - 0.5 |
| - 0.5 |
| - 0.5 |
| action_frame: base_delta |
| gt_depth_root: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/gt_depth/mimicgen_aligned |
| gt_depth_key: depth_meters |
| gt_depth_scale_mode: pointmap |
| gt_depth_require_geometry: true |
| gt_depth_require_sidecar_file: false |
| gt_depth_rotate180: false |
| gt_depth_vflip: false |
| gt_depth_min_meters: 0.001 |
| - name: robocasa365_base_static_depth_base_delta |
| weight: 0.25 |
| config: |
| type: robocasa |
| robocasa_root: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/data/robocasa |
| split: pretrain |
| source: human |
| spec_name: robocasa_pretrain_human |
| action_frame: base_delta |
| enable_arrow_cache: true |
| defer_dataset_build: true |
| eval_ratio: 0.001 |
| gt_depth_index_path: /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/gt_depth/robocasa365_base_static_env_depth_256_2view_target100_exact_index/index.memmap.json |
| gt_depth_scale_mode: median_depth |
| gt_depth_require_sidecar_file: true |
| gt_depth_min_meters: 0.001 |
| gt_depth_rotate180: false |
| gt_depth_hflip: false |
| gt_depth_vflip: false |
| use_dit: false |
|
|
