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weights/hand_over_item_10_demos_ours_vlm_v1_11_acting/PERACT_BC/seed11/config.yaml

@@ -0,0 +1,123 @@
+ddp:
+  master_addr: localhost
+  master_port: 23002
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_acting
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23002
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false

weights/hand_over_item_10_demos_ours_vlm_v1_11_acting/PERACT_BC/seed11/weights/700000/QAttentionAgent_layer0.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3fec41b7291dc2172c9732613527b824d1d783a2b51910322d7a91744b3478e7
+size 138726115

weights/hand_over_item_10_demos_ours_vlm_v1_11_acting/PERACT_BC/train.log

@@ -0,0 +1,508 @@
+[2024-08-06 15:51:23,510][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23002
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_acting
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23002
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-06 15:51:23,518][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_acting/PERACT_BC
+[2024-08-06 15:51:36,474][root][INFO] - Starting seed 11.
+[2024-08-07 15:51:34,825][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23002
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_acting
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23002
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-07 15:51:34,833][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_acting/PERACT_BC
+[2024-08-07 15:51:48,729][root][INFO] - Starting seed 11.
+[2024-08-08 15:51:43,109][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23002
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_acting
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23002
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-08 15:51:43,116][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_acting/PERACT_BC
+[2024-08-08 15:51:55,894][root][INFO] - Starting seed 11.
+[2024-08-09 16:21:51,439][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23002
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_acting
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23002
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-09 16:21:51,445][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_acting/PERACT_BC
+[2024-08-09 16:22:03,922][root][INFO] - Starting seed 11.

weights/hand_over_item_10_demos_ours_vlm_v1_11_stabilizing/PERACT_BC/seed11/config.yaml

@@ -0,0 +1,123 @@
+ddp:
+  master_addr: localhost
+  master_port: 23003
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_stabilizing
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23003
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
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+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
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+    aug_xyz:
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+    - 0.125
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+    - 45.0
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+  demo_augmentation: true
+  demo_augmentation_every_n: 10
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+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
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+  variant: two_policies
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+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false

weights/hand_over_item_10_demos_ours_vlm_v1_11_stabilizing/PERACT_BC/seed11/weights/250000/QAttentionAgent_layer0.pt

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weights/hand_over_item_10_demos_ours_vlm_v1_11_stabilizing/PERACT_BC/train.log

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+[2024-08-06 15:51:40,133][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23003
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_stabilizing
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
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+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23003
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-06 15:51:40,141][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_stabilizing/PERACT_BC
+[2024-08-06 15:51:52,275][root][INFO] - Starting seed 11.
+[2024-08-07 16:21:51,827][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23003
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_stabilizing
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23003
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
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+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
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+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-07 16:21:51,835][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_stabilizing/PERACT_BC
+[2024-08-07 16:22:04,977][root][INFO] - Starting seed 11.
+[2024-08-08 16:52:00,488][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23003
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_stabilizing
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
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+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23003
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
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+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
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+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
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+  lang_fusion_type: seq
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+  input_dropout: 0.1
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+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
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+  keypoint_method: heuristic
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+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-08 16:52:00,495][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_stabilizing/PERACT_BC
+[2024-08-08 16:52:13,188][root][INFO] - Starting seed 11.
+[2024-08-09 16:52:11,408][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 23003
+  num_devices: 1
+  cpu: false
+rlbench:
+  task_name: hand_over_item_10_demos_ours_vlm_v1_11_stabilizing
+  tasks:
+  - hand_over_item
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/hand_over_item_10_demos_corl_v1
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_23003
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
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+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
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+  transformer_depth: 6
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+  input_dropout: 0.1
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+  num_warmup_steps: 3000
+  optimizer: lamb
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+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
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+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+  stopped_buffer_timesteps_overwrite: 15
+  is_real_robot: false
+  keypoint_discovery_no_duplicate: false
+
+[2024-08-09 16:52:11,415][root][INFO] - CWD:/home/arthur/bimani/peract/logs/hand_over_item_10_demos_ours_vlm_v1_11_stabilizing/PERACT_BC
+[2024-08-09 16:52:24,015][root][INFO] - Starting seed 11.

weights/open_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC/seed11/config.yaml

@@ -0,0 +1,119 @@
+ddp:
+  master_addr: localhost
+  master_port: 29508
+  num_devices: 1
+rlbench:
+  task_name: open_drawer_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - open_drawer
+  demos: 10
+  demo_path: /home/arthurliu/Documents/work/bimani/peract/data/train/open_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
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+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_29508
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthurliu/Documents/work/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
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+  pos_encoding_with_lang: true
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+  attn_dropout: 0.1
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+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
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+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false

weights/open_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC/seed11/weights/90000/QAttentionAgent_layer0.pt

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+size 138729058

weights/open_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC/train.log

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+[2024-04-27 16:53:42,911][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 29508
+  num_devices: 1
+rlbench:
+  task_name: open_drawer_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - open_drawer
+  demos: 10
+  demo_path: /home/arthurliu/Documents/work/bimani/peract/data/train/open_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
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+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_29508
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthurliu/Documents/work/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-27 16:53:42,916][root][INFO] - CWD:/home/arthurliu/Documents/work/bimani/peract/logs/open_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-04-27 16:53:48,766][root][INFO] - Starting seed 11.

weights/open_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/seed11/config.yaml

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+ddp:
+  master_addr: localhost
+  master_port: 29508
+  num_devices: 1
+rlbench:
+  task_name: open_drawer_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - open_drawer
+  demos: 10
+  demo_path: /mnt/4TB-1/4TB-1/link_to_ssd/peract_repo/peract/data/train/open_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_29508
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /mnt/4TB-1/4TB-1/link_to_ssd/peract_repo/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
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+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
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+  arm_pred_input: false
+  arm_id_to_proprio: false
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+  use_default_stopped_buffer_timesteps: false

weights/open_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/seed11/weights/900000/QAttentionAgent_layer0.pt

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+size 138726115

weights/open_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/train.log

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+[2024-04-27 16:54:19,370][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 29508
+  num_devices: 1
+rlbench:
+  task_name: open_drawer_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - open_drawer
+  demos: 10
+  demo_path: /mnt/4TB-1/4TB-1/link_to_ssd/peract_repo/peract/data/train/open_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_29508
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /mnt/4TB-1/4TB-1/link_to_ssd/peract_repo/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
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+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
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+  input_dropout: 0.1
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+  optimizer: lamb
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+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
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+  randomizations_crop_point: false
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+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-27 16:54:19,375][root][INFO] - CWD:/mnt/4TB-1/4TB-1/link_to_ssd/peract_repo/peract/logs/open_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-04-27 16:54:27,077][root][INFO] - Starting seed 11.

weights/open_jar_10_demos_ours_vlm_v2_11_acting/PERACT_BC/seed11/config.yaml

@@ -0,0 +1,119 @@
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
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+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
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+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
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+  load_existing_weights: true
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+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
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+  optimizer: lamb
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+  collision_loss_weight: 1.0
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+  norm: None
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+    aug_xyz:
+    - 0.125
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+    - 0.125
+    aug_rpy:
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+    - 45.0
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+  demo_augmentation: true
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+  arm_id_to_proprio: false
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+  use_default_stopped_buffer_timesteps: false

weights/open_jar_10_demos_ours_vlm_v2_11_acting/PERACT_BC/seed11/weights/490000/QAttentionAgent_layer0.pt

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+size 138726115

weights/open_jar_10_demos_ours_vlm_v2_11_acting/PERACT_BC/train.log

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+[2024-04-27 19:15:01,903][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
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+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
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+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
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+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
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+  - 50
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+  collision_loss_weight: 1.0
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+  activation: lrelu
+  norm: None
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+  transform_augmentation:
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+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
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+[2024-04-27 19:15:01,909][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-04-27 19:15:16,112][root][INFO] - Starting seed 11.
+[2024-04-28 19:45:02,648][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
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+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
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+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
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+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
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+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
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+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
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+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
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+  no_perceiver: false
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+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-28 19:45:02,655][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-04-28 19:45:15,037][root][INFO] - Starting seed 11.
+[2024-04-29 20:15:10,803][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.3
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-29 20:15:10,811][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-04-29 20:15:23,155][root][INFO] - Starting seed 11.
+[2024-04-30 20:45:23,319][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.3
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-30 20:45:23,327][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-04-30 20:45:36,272][root][INFO] - Starting seed 11.

weights/open_jar_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/seed11/config.yaml

@@ -0,0 +1,119 @@
+ddp:
+  master_addr: localhost
+  master_port: 28503
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28503
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.3
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false

weights/open_jar_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/seed11/weights/560000/QAttentionAgent_layer0.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f1a8aa5b346855042bd3b0db734bd2767df71963ee032189b15f6611b741e606
+size 138726115

weights/open_jar_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/train.log

@@ -0,0 +1,492 @@
+[2024-04-27 19:15:48,904][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28503
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28503
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.3
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-27 19:15:48,911][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-04-27 19:16:01,381][root][INFO] - Starting seed 11.
+[2024-04-28 19:16:02,442][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28503
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28503
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.3
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-28 19:16:02,449][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-04-28 19:16:15,546][root][INFO] - Starting seed 11.
+[2024-04-29 19:46:10,241][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28503
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28503
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.3
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-29 19:46:10,249][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-04-29 19:46:23,145][root][INFO] - Starting seed 11.
+[2024-04-30 20:16:20,573][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28503
+  num_devices: 1
+rlbench:
+  task_name: open_jar_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - open_jar
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/open_jar_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.1
+  - 1.2
+  - 1.0
+  - 2.1
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28503
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.3
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-04-30 20:16:20,580][root][INFO] - CWD:/home/arthur/bimani/peract/logs/open_jar_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-04-30 20:16:33,614][root][INFO] - Starting seed 11.

weights/put_item_in_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC/seed11/config.yaml

@@ -0,0 +1,119 @@
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false

weights/put_item_in_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC/seed11/weights/240000/QAttentionAgent_layer0.pt

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+oid sha256:16953376f59be6320f62079578f93cac12adcf842b417062f673b980fd260be1
+size 138726115

weights/put_item_in_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC/train.log

@@ -0,0 +1,492 @@
+[2024-05-01 07:10:06,872][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-01 07:10:06,881][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-05-01 07:10:19,686][root][INFO] - Starting seed 11.
+[2024-05-02 10:47:08,733][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-02 10:47:08,741][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-05-02 10:47:21,685][root][INFO] - Starting seed 11.
+[2024-05-03 11:10:26,667][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-03 11:10:26,675][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-05-03 11:10:39,537][root][INFO] - Starting seed 11.
+[2024-05-04 11:40:36,687][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28502
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_acting
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28502
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: dominant
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-04 11:40:36,694][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_acting/PERACT_BC
+[2024-05-04 11:40:49,976][root][INFO] - Starting seed 11.

weights/put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/seed11/config.yaml

@@ -0,0 +1,119 @@
+ddp:
+  master_addr: localhost
+  master_port: 28501
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28501
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false

weights/put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/seed11/weights/430000/QAttentionAgent_layer0.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cf902d04c691ae5777114516b396dfc77be870098baf78e2d13f9576ef5fa3a5
+size 138726115

weights/put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC/train.log

@@ -0,0 +1,492 @@
+[2024-05-01 10:26:38,963][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28501
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28501
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-01 10:26:38,971][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-05-01 10:26:51,682][root][INFO] - Starting seed 11.
+[2024-05-02 11:46:45,661][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28501
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28501
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-02 11:46:45,668][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-05-02 11:47:03,126][root][INFO] - Starting seed 11.
+[2024-05-03 12:11:15,631][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28501
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28501
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-03 12:11:15,638][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-05-03 12:11:28,556][root][INFO] - Starting seed 11.
+[2024-05-04 12:11:24,729][root][INFO] - 
+ddp:
+  master_addr: localhost
+  master_port: 28501
+  num_devices: 1
+rlbench:
+  task_name: put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing
+  tasks:
+  - put_item_in_drawer
+  demos: 10
+  demo_path: /home/arthur/bimani/peract/data/train/put_item_in_drawer_10_demos_corl_v3
+  episode_length: 25
+  cameras:
+  - front
+  - wrist
+  - wrist2
+  camera_resolution:
+  - 128
+  - 128
+  scene_bounds:
+  - -0.8
+  - -1.0
+  - 0.8
+  - 1.2
+  - 1.0
+  - 2.8
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /tmp/replay_28501
+  max_parallel_processes: 16
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: false
+  csv_logging: true
+  training_iterations: 1000000
+  gpu: 0
+  env_gpu: 0
+  logdir: /home/arthur/bimani/peract/logs/
+  logging_level: 20
+  seeds: 1
+  start_seed: 11
+  load_existing_weights: true
+  num_weights_to_keep: 100
+  num_workers: 0
+  record_every_n: 5
+  wandb_logging: true
+method:
+  name: PERACT_BC
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 50
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+  which_arm: assistive
+  variant: two_policies
+  crop_target_obj_voxel: true
+  crop_radius: 0.4
+  randomizations_crop_point: false
+  arm_pred_loss: true
+  arm_pred_input: false
+  arm_id_to_proprio: false
+  saved_every_last_inserted: 0
+  use_default_stopped_buffer_timesteps: false
+
+[2024-05-04 12:11:24,737][root][INFO] - CWD:/home/arthur/bimani/peract/logs/put_item_in_drawer_10_demos_ours_vlm_v2_11_stabilizing/PERACT_BC
+[2024-05-04 12:11:37,296][root][INFO] - Starting seed 11.