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  1. 2025-01-17-23-32-06-654501_405/config.pkl +3 -0
  2. 2025-01-17-23-32-06-654501_405/config.yaml +11 -0
  3. 2025-01-17-23-32-06-654501_405/dataset_stats.pkl +3 -0
  4. 2025-01-17-23-32-06-654501_405/policy_step_34500_seed_5.ckpt +3 -0
  5. ckpt_dir/.DS_Store +0 -0
  6. ckpt_dir/2025-01-17-23-32-06-654501_405/config.pkl +3 -0
  7. ckpt_dir/2025-01-17-23-32-06-654501_405/config.yaml +11 -0
  8. ckpt_dir/2025-01-17-23-32-06-654501_405/dataset_stats.pkl +3 -0
  9. ckpt_dir/2025-01-17-23-32-06-654501_405/policy_step_34500_seed_5.ckpt +3 -0
  10. config.pkl +3 -0
  11. config.yaml +11 -0
  12. dataset_stats.pkl +3 -0
  13. imitate_episodes_cosine.log +8 -0
  14. policy_step_34500_seed_5.ckpt +3 -0
  15. run_multi_gpu_cosine.log +2 -0
2025-01-17-23-32-06-654501_405/config.pkl ADDED
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2025-01-17-23-32-06-654501_405/config.yaml ADDED
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+ "debug: false\nsave_all_episodes: false\nparams:\n eval: false\n onscreen_render:\
2
+ \ false\n ckpt_dir: ckpt_dir\n policy_class: ACT-isaac-franka\n task_name: sim_random_position_1_16_one_item_100\n\
3
+ \ batch_size: 8\n seed: 5\n num_epochs: 100\n lr: 1.0e-05\n qpos_noise_std:\
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+ \ 0.0\n backbone: dino_v2\n freeze_backbone: true\n load_pretrain: false\n eval_every:\
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+ \ 50000\n validate_every: 50000\n save_every: 1000\n resume_ckpt_path: null\n\
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+ \ skip_mirrored_data: false\n actuator_network_dir: null\n history_len: null\n\
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+ \ future_len: null\n prediction_len: null\n dataset_cls: EpisodicDatasetLmdb\n\
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+ \ relative_control: false\n action_dim: 9\n state_dim: 9\n kl_weight: 10\n \
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+ \ chunk_size: 100\n hidden_dim: 512\n dim_feedforward: 3200\n temporal_agg: false\n\
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+ \ use_vq: false\n vq_class: null\n vq_dim: null\n no_encoder: false\n augment_type:\
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+ \ 10\n augment_prob: 0.7\n lr_scheduler: cosine\n num_warmup_steps: 1000\n"
2025-01-17-23-32-06-654501_405/dataset_stats.pkl ADDED
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2025-01-17-23-32-06-654501_405/policy_step_34500_seed_5.ckpt ADDED
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ckpt_dir/.DS_Store ADDED
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ckpt_dir/2025-01-17-23-32-06-654501_405/config.pkl ADDED
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ckpt_dir/2025-01-17-23-32-06-654501_405/config.yaml ADDED
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+ "debug: false\nsave_all_episodes: false\nparams:\n eval: false\n onscreen_render:\
2
+ \ false\n ckpt_dir: ckpt_dir\n policy_class: ACT-isaac-franka\n task_name: sim_random_position_1_16_one_item_100\n\
3
+ \ batch_size: 8\n seed: 5\n num_epochs: 100\n lr: 1.0e-05\n qpos_noise_std:\
4
+ \ 0.0\n backbone: dino_v2\n freeze_backbone: true\n load_pretrain: false\n eval_every:\
5
+ \ 50000\n validate_every: 50000\n save_every: 1000\n resume_ckpt_path: null\n\
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+ \ skip_mirrored_data: false\n actuator_network_dir: null\n history_len: null\n\
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+ \ future_len: null\n prediction_len: null\n dataset_cls: EpisodicDatasetLmdb\n\
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+ \ relative_control: false\n action_dim: 9\n state_dim: 9\n kl_weight: 10\n \
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+ \ chunk_size: 100\n hidden_dim: 512\n dim_feedforward: 3200\n temporal_agg: false\n\
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+ \ use_vq: false\n vq_class: null\n vq_dim: null\n no_encoder: false\n augment_type:\
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+ \ 10\n augment_prob: 0.7\n lr_scheduler: cosine\n num_warmup_steps: 1000\n"
ckpt_dir/2025-01-17-23-32-06-654501_405/dataset_stats.pkl ADDED
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ckpt_dir/2025-01-17-23-32-06-654501_405/policy_step_34500_seed_5.ckpt ADDED
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config.pkl ADDED
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config.yaml ADDED
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+ "debug: false\nsave_all_episodes: false\nparams:\n eval: false\n onscreen_render:\
2
+ \ false\n ckpt_dir: ckpt_dir\n policy_class: ACT-isaac-franka\n task_name: sim_random_position_1_16_one_item_100\n\
3
+ \ batch_size: 8\n seed: 5\n num_epochs: 100\n lr: 1.0e-05\n qpos_noise_std:\
4
+ \ 0.0\n backbone: dino_v2\n freeze_backbone: true\n load_pretrain: false\n eval_every:\
5
+ \ 50000\n validate_every: 50000\n save_every: 1000\n resume_ckpt_path: null\n\
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+ \ skip_mirrored_data: false\n actuator_network_dir: null\n history_len: null\n\
7
+ \ future_len: null\n prediction_len: null\n dataset_cls: EpisodicDatasetLmdb\n\
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+ \ relative_control: false\n action_dim: 9\n state_dim: 9\n kl_weight: 10\n \
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+ \ chunk_size: 100\n hidden_dim: 512\n dim_feedforward: 3200\n temporal_agg: false\n\
10
+ \ use_vq: false\n vq_class: null\n vq_dim: null\n no_encoder: false\n augment_type:\
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+ \ 10\n augment_prob: 0.7\n lr_scheduler: cosine\n num_warmup_steps: 1000\n"
dataset_stats.pkl ADDED
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imitate_episodes_cosine.log ADDED
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1
+ [2025-01-17 23:32:12,468][dinov2][INFO] - using MLP layer as FFN
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+ [2025-01-17 23:32:12,468][dinov2][INFO] - using MLP layer as FFN
3
+ [2025-01-17 23:32:12,469][dinov2][INFO] - using MLP layer as FFN
4
+ [2025-01-17 23:32:12,469][dinov2][INFO] - using MLP layer as FFN
5
+ [2025-01-17 23:32:12,470][dinov2][INFO] - using MLP layer as FFN
6
+ [2025-01-17 23:32:12,471][dinov2][INFO] - using MLP layer as FFN
7
+ [2025-01-17 23:32:12,471][dinov2][INFO] - using MLP layer as FFN
8
+ [2025-01-17 23:32:12,472][dinov2][INFO] - using MLP layer as FFN
policy_step_34500_seed_5.ckpt ADDED
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run_multi_gpu_cosine.log ADDED
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+ [2025-01-18 02:27:59,729][submitit][INFO] - Job completed successfully
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+ [2025-01-18 02:27:59,736][submitit][INFO] - Exiting after successful completion