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2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 | action_pipe:
_target_: cosmos_predict2.configs.config_world2action.World2ActionPipelineConfig
ema:
enabled: false
iteration_shift: 0
rate: 0.1
net:
_target_: <class 'cosmos_predict2.models.world2action_dit.World2ActionDIT'>
adaln_lora_dim: '128'
atten_backend: flash_attn_no_cp
crossattn_emb_channels: '2048'
in_channels: '10'
max_horizon: '16'
mlp_ratio: '4.0'
model_channels: '1024'
num_blocks: '24'
num_heads: '8'
out_channels: '10'
pair_timestep_feature_rank: '1024'
sac_config:
every_n_blocks: 1
mode: none
use_adaln_lora: 'True'
precision: bfloat16
scheduler:
alpha: 1.0
beta: 1.0
num_denoising_steps: 10
checkpoint:
broadcast_via_filesystem: 'False'
dcp_allow_mismatched_size: 'False'
dcp_async_mode_enabled: 'False'
jit:
device: cuda
dtype: bfloat16
enabled: 'False'
input_shape: null
strict: 'True'
keys_not_to_resume: []
load_ema_to_reg: 'False'
load_path: ''
load_training_state: 'False'
only_load_scheduler_state: 'False'
save_iter: '100'
strict_resume: 'False'
type:
_target_: <class 'mimicvideo_runtime.checkpointer.KeepLatestCheckpointer'>
callbacks: null
keep_latest_only: 'False'
verbose: 'True'
data_config:
dataset:
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
dataset:
_convert_: partial
_target_: mimicvideo_runtime.action_dataset.WidowXActionDataset
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_dir: /cluster/scratch/rwalia/vam_cross_mimicvideo/datasets/mimicvideo/so101_level4_widowx_texture_2cam_hstack_widowx_teleop_recording_frame_v1_action/action_dataset
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
num_val_episodes: '10'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
seed: '42'
should_include_padded_tails: 'True'
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
timestep_anchor: workspace_rgb
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
policy_io:
concat_groups:
action/lowdim_concat:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
obs/lowdim_concat:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
img_resize_sizes:
- '480'
- '640'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
dataloader_train:
_target_: <class 'torch.utils.data.dataloader.DataLoader'>
batch_sampler: null
batch_size: '2'
collate_fn: null
dataset:
_target_: <function _instantiate_dataset at 0x15020d553130>
data_config:
dataset:
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
dataset:
_convert_: partial
_target_: mimicvideo_runtime.action_dataset.WidowXActionDataset
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_dir: /cluster/scratch/rwalia/vam_cross_mimicvideo/datasets/mimicvideo/so101_level4_widowx_texture_2cam_hstack_widowx_teleop_recording_frame_v1_action/action_dataset
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
num_val_episodes: '10'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
seed: '42'
should_include_padded_tails: 'True'
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
timestep_anchor: workspace_rgb
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
policy_io:
concat_groups:
action/lowdim_concat:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
obs/lowdim_concat:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
img_resize_sizes:
- '480'
- '640'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
is_train: 'True'
drop_last: 'True'
generator: null
in_order: 'True'
multiprocessing_context: null
num_workers: '1'
persistent_workers: 'True'
pin_memory: 'True'
pin_memory_device: ''
prefetch_factor: '2'
sampler:
_target_: <class 'cosmos_predict2.data.resumable_sampler.ResumableDistributedSampler'>
dataset:
_target_: <function _instantiate_dataset at 0x15020d553130>
data_config:
dataset:
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
dataset:
_convert_: partial
_target_: mimicvideo_runtime.action_dataset.WidowXActionDataset
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_dir: /cluster/scratch/rwalia/vam_cross_mimicvideo/datasets/mimicvideo/so101_level4_widowx_texture_2cam_hstack_widowx_teleop_recording_frame_v1_action/action_dataset
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
num_val_episodes: '10'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
seed: '42'
should_include_padded_tails: 'True'
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
timestep_anchor: workspace_rgb
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
policy_io:
concat_groups:
action/lowdim_concat:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
obs/lowdim_concat:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
img_resize_sizes:
- '480'
- '640'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
is_train: 'True'
num_replicas:
_target_: <function get_data_parallel_world_size at 0x1502d5ffc820>
partial_data_parallel: 'False'
with_context_parallel: 'False'
rank:
_target_: <function get_data_parallel_rank at 0x1502d5ffc940>
partial_data_parallel: 'False'
with_context_parallel: 'False'
seed: '0'
shuffle: 'True'
shuffle: null
timeout: '0'
worker_init_fn: null
dataloader_val:
_target_: <class 'torch.utils.data.dataloader.DataLoader'>
batch_sampler: null
batch_size: '1'
collate_fn: null
dataset:
_target_: <function get_dataset at 0x1502771f32e0>
data_config:
dataset:
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
dataset:
_convert_: partial
_target_: mimicvideo_runtime.action_dataset.WidowXActionDataset
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_dir: /cluster/scratch/rwalia/vam_cross_mimicvideo/datasets/mimicvideo/so101_level4_widowx_texture_2cam_hstack_widowx_teleop_recording_frame_v1_action/action_dataset
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
num_val_episodes: '10'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
seed: '42'
should_include_padded_tails: 'True'
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
timestep_anchor: workspace_rgb
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
policy_io:
concat_groups:
action/lowdim_concat:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
obs/lowdim_concat:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
img_resize_sizes:
- '480'
- '640'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
is_train: 'False'
drop_last: 'False'
generator: null
in_order: 'True'
multiprocessing_context: null
num_workers: '0'
persistent_workers: 'False'
pin_memory: 'False'
pin_memory_device: ''
prefetch_factor: null
sampler:
_target_: <class 'cosmos_predict2.data.resumable_sampler.ResumableDistributedSampler'>
dataset:
_target_: <function get_dataset at 0x1502771f32e0>
data_config:
dataset:
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
dataset:
_convert_: partial
_target_: mimicvideo_runtime.action_dataset.WidowXActionDataset
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_dir: /cluster/scratch/rwalia/vam_cross_mimicvideo/datasets/mimicvideo/so101_level4_widowx_texture_2cam_hstack_widowx_teleop_recording_frame_v1_action/action_dataset
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
num_val_episodes: '10'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
seed: '42'
should_include_padded_tails: 'True'
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
timestep_anchor: workspace_rgb
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
policy_io:
concat_groups:
action/lowdim_concat:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
obs/lowdim_concat:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
img_resize_sizes:
- '480'
- '640'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
is_train: 'False'
num_replicas:
_target_: <function get_data_parallel_world_size at 0x1502d5ffc820>
partial_data_parallel: 'False'
with_context_parallel: 'False'
rank:
_target_: <function get_data_parallel_rank at 0x1502d5ffc940>
partial_data_parallel: 'False'
with_context_parallel: 'False'
seed: '0'
shuffle: 'False'
shuffle: null
timeout: '0'
worker_init_fn: null
defaults:
- _self_
- data_config: null
- video_dataset_train: null
- video_dataset_val: null
- dataloader_train: null
- dataloader_val: null
- action_pipe: null
- optimizer: fusedadamw
- scheduler: constant
- model: null
- callbacks:
- basic
- net: null
- ema: null
- checkpoint: null
- ckpt_type: null
- experiment: null
job:
group: world2action
name: w2a_so101_level4_widowx_texture_2cam_hstack_action_iter2374_videolora_iter400_widowx_teleop_recording_frame_v1_full
project: vam_cross
model:
_recursive_: 'False'
_target_: <class 'mimicvideo_runtime.action_model.WidowXWorld2ActionModel'>
config:
_target_: mimicvideo_runtime.action_model.WidowXWorld2ActionModelConfig
action_dit_path: /cluster/scratch/rwalia/vam_cross_mimicvideo/checkpoints/initial_action_decoders/dreamdifferent--vam-cross-target-widowx250-native-2cam-action-decoder-93750cc/checkpoints/model/iter_000002374.pt
data_config:
dataset:
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
dataset:
_convert_: partial
_target_: mimicvideo_runtime.action_dataset.WidowXActionDataset
data_components:
eef_pose_lowdim:
obs_type: ObsType.POSE_MATRIX
repr: LieRepr.ABSOLUTE
gripper_action_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
obs_type: ObsType.JOINT_POS
repr: LieRepr.ABSOLUTE
language_embedding:
obs_type: ObsType.LANGUAGE_EMBEDDING
repr: null
language_instruction:
obs_type: ObsType.LANGUAGE
repr: null
num_conditional_frames:
obs_type: ObsType.METADATA_LABEL
repr: null
workspace_rgb:
obs_type: ObsType.RGB
repr: null
workspace_rgb_embedding:
obs_type: ObsType.VIDEO_EMBEDDING
repr: null
data_dir: /cluster/scratch/rwalia/vam_cross_mimicvideo/datasets/mimicvideo/so101_level4_widowx_texture_2cam_hstack_widowx_teleop_recording_frame_v1_action/action_dataset
data_transforms:
- name: CosmosProcessImage
resize_sizes:
- '480'
- '640'
targets:
- workspace_rgb
- additional_data:
relative_base_value: obs/eef_pose_lowdim
name: ConvertLowdimRepr
relative_base_value_idx: '-1'
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: action/eef
targets:
- action/eef_pose_lowdim
- name: DeconstructPoseMat
out_key_prefix: obs/eef
targets:
- obs/eef_pose_lowdim
- name: RotationMatrixTo6D
targets:
- action/eef_rot_lowdim
- obs/eef_rot_lowdim
- name: Flatten
targets:
- lowdim
- name: Concat
out_key: action/lowdim_concat
targets:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
- name: Concat
out_key: obs/lowdim_concat
targets:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
num_val_episodes: '10'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
seed: '42'
should_include_padded_tails: 'True'
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
timestep_anchor: workspace_rgb
source_component_names:
action/eef_pos_lowdim: eef_pose_lowdim
action/eef_rot_lowdim: eef_pose_lowdim
obs/eef_pos_lowdim: eef_pose_lowdim
obs/eef_rot_lowdim: eef_pose_lowdim
policy_io:
concat_groups:
action/lowdim_concat:
- action/eef_pos_lowdim
- action/eef_rot_lowdim
- action/gripper_action_lowdim
obs/lowdim_concat:
- obs/eef_pos_lowdim
- obs/eef_rot_lowdim
- obs/gripper_state_lowdim
img_resize_sizes:
- '480'
- '640'
policy_io:
action:
eef_pos_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
eef_rot_lowdim:
horizon: '15'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.RELATIVE
gripper_action_lowdim:
horizon: '15'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
workspace_rgb:
horizon: '56'
normalization_type: NormalizationType.NONE
shift_right_by: '0.2'
target_frequency: '5'
target_repr: null
obs:
eef_pos_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
eef_rot_lowdim:
horizon: '1'
normalization_type: NormalizationType.IDENTITY
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
gripper_state_lowdim:
horizon: '1'
normalization_type: NormalizationType.VARIANCE
shift_right_by: '0'
target_frequency: '5'
target_repr: LieRepr.ABSOLUTE
language_embedding:
horizon: '1'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: null
target_repr: null
workspace_rgb:
horizon: '5'
normalization_type: NormalizationType.NONE
shift_right_by: '0'
target_frequency: '5'
target_repr: null
ema:
enabled: false
iteration_shift: 0
rate: 0.1
fsdp_shard_size: '0'
init_lora_weights: 'True'
lora_alpha: '16'
lora_rank: '16'
lora_target_modules: q_proj,k_proj,v_proj,output_proj,mlp.layer1,mlp.layer2
loss_reduce: mean
loss_scale: '10.0'
pipe_config:
_target_: cosmos_predict2.configs.config_world2action.World2ActionPipelineConfig
ema:
enabled: false
iteration_shift: 0
rate: 0.1
net:
_target_: <class 'cosmos_predict2.models.world2action_dit.World2ActionDIT'>
adaln_lora_dim: '128'
atten_backend: flash_attn_no_cp
crossattn_emb_channels: '2048'
in_channels: '10'
max_horizon: '16'
mlp_ratio: '4.0'
model_channels: '1024'
num_blocks: '24'
num_heads: '8'
out_channels: '10'
pair_timestep_feature_rank: '1024'
sac_config:
every_n_blocks: 1
mode: none
use_adaln_lora: 'True'
precision: bfloat16
scheduler:
alpha: 1.0
beta: 1.0
num_denoising_steps: 10
xattn_layer_idx: '20'
precision: bfloat16
train_architecture: base
video_dit_path: /cluster/scratch/rwalia/vam_cross_mimicvideo/initial_backbones/dreamdifferent--widowx250-video-fused-f0cea76/checkpoints/video_backbone/iter_000001060_fused.pt
video_lora_alpha: '32'
video_lora_dit_path: /cluster/scratch/rwalia/vam_cross_mimicvideo/checkpoints/selected_video_loras/dreamdifferent--vam-cross-level4-so101-widowx-texture-video-lora-iter-400-d660324/checkpoints/model/iter_000000400.pt
video_lora_rank: '256'
video_lora_target_modules: q_proj,k_proj,v_proj,output_proj,x_embedder.proj.1,linear_1,linear_2,mlp.layer1,mlp.layer2
video_pipe_config:
adjust_video_noise: true
conditioner:
_target_: <class 'cosmos_predict2.conditioner.VideoConditioner'>
fps:
_target_: <class 'cosmos_predict2.conditioner.ReMapkey'>
dropout_rate: '0.0'
dtype: null
input_key: fps
output_key: fps
padding_mask:
_target_: <class 'cosmos_predict2.conditioner.ReMapkey'>
dropout_rate: '0.0'
dtype: null
input_key: padding_mask
output_key: padding_mask
text:
_target_: <class 'cosmos_predict2.conditioner.TextAttr'>
dropout_rate: '0.0'
input_key:
- obs/language_embedding
use_video_condition:
_target_: <class 'cosmos_predict2.conditioner.BooleanFlag'>
dropout_rate: '0.0'
input_key: fps
output_key: use_video_condition
conditioning_strategy: frame_replace
ema:
_target_: cosmos_predict2.configs.defaults.ema.EMAConfig
enabled: 'False'
iteration_shift: '0'
rate: '0.1'
guardrail_config:
checkpoint_dir: /cluster/scratch/rwalia/vam_cross_mimicvideo/checkpoints
enabled: false
offload_model_to_cpu: true
input_image_key: images
input_video_key: video
max_num_conditional_frames: 2
min_num_conditional_frames: 1
net:
_target_: <class 'cosmos_predict2.models.video2world_dit.MinimalV1LVGDiT'>
adaln_lora_dim: '256'
atten_backend: minimal_a2a
concat_padding_mask: 'True'
extra_per_block_abs_pos_emb: 'False'
in_channels: '16'
max_frames: '128'
max_img_h: '240'
max_img_w: '240'
model_channels: '2048'
num_blocks: '28'
num_heads: '16'
out_channels: '16'
patch_spatial: '2'
patch_temporal: '1'
pos_emb_cls: rope3d
pos_emb_interpolation: crop
pos_emb_learnable: 'True'
rope_enable_fps_modulation: 'False'
rope_h_extrapolation_ratio: '3.0'
rope_t_extrapolation_ratio: '1.0'
rope_w_extrapolation_ratio: '3.0'
sac_config:
_target_: cosmos_predict2.models.text2image_dit.SACConfig
every_n_blocks: '1'
mode: predict2_2b_720
use_adaln_lora: 'True'
precision: bfloat16
rectified_flow_loss_weight_uniform: true
rectified_flow_t_scaling_factor: 1.0
resize_online: false
resolution: '480'
sigma_conditional: 0.0001
sigma_data: 1.0
state_ch: 16
state_t: 16
text_encoder:
cls: !!python/object/apply:imaginaire.constants.TextEncoderClass
- t5
t5:
ckpt_path: /cluster/scratch/rwalia/vam_cross_mimicvideo/checkpoints/text_encoder/t5-11b
embed_dim: 1024
num_tokens: 512
timestamps:
is_forward: false
nfe: 35
order: 7.0
t_max: 80.0
t_min: 0.002
tokenizer:
_target_: <class 'cosmos_predict2.tokenizers.tokenizer.TokenizerInterface'>
chunk_duration: '81'
load_mean_std: 'False'
name: tokenizer
temporal_window: '16'
vae_pth: /cluster/scratch/rwalia/vam_cross_mimicvideo/checkpoints/video_backbone//tokenizer/tokenizer.pth
model_parallel:
_cpu_offloading_context: null
async_tensor_model_parallel_allreduce: false
autocast_dtype: torch.float32
barrier_with_L1_time: true
batch_p2p_comm: true
batch_p2p_sync: true
bf16: false
context_parallel_size: 1
cpu_offloading: false
cpu_offloading_activations: false
cpu_offloading_num_layers: 0
cpu_offloading_weights: false
cross_entropy_fusion_impl: native
cross_entropy_loss_fusion: false
deallocate_pipeline_outputs: false
defer_embedding_wgrad_compute: false
deterministic_mode: false
enable_autocast: false
expert_model_parallel_size: 1
expert_tensor_parallel_size: 1
finalize_model_grads_func: null
fp16: false
grad_scale_func: null
grad_sync_func: null
gradient_accumulation_fusion: false
hierarchical_context_parallel_sizes: null
microbatch_group_size_per_vp_stage: 1
moe_extended_tp: false
no_sync_func: null
num_microbatches_with_partial_activation_checkpoints: null
overlap_p2p_comm: false
overlap_p2p_comm_warmup_flush: false
param_sync_func: null
params_dtype: torch.float32
perform_initialization: true
pipeline_dtype: null
pipeline_model_parallel_comm_backend: null
pipeline_model_parallel_size: 1
pipeline_model_parallel_split_rank: null
sequence_parallel: false
tensor_model_parallel_size: 1
timers: null
tp_comm_atomic_ag: false
tp_comm_atomic_rs: false
tp_comm_bootstrap_backend: nccl
tp_comm_bulk_dgrad: true
tp_comm_bulk_wgrad: true
tp_comm_overlap: false
tp_comm_overlap_ag: true
tp_comm_overlap_disable_fc1: false
tp_comm_overlap_disable_qkv: false
tp_comm_overlap_rs: true
tp_comm_overlap_rs_dgrad: false
tp_comm_split_ag: true
tp_comm_split_rs: true
use_cpu_initialization: false
use_ring_exchange_p2p: false
use_te_rng_tracker: false
variable_seq_lengths: false
virtual_pipeline_model_parallel_size: null
wgrad_deferral_limit: 0
optimizer:
_target_: <function get_base_optimizer at 0x1502198dab90>
betas:
- '0.9'
- '0.99'
capturable: 'True'
eps: 1e-08
lr: '0.0001'
master_weights: 'True'
model: null
optim_type: fusedadam
weight_decay: '0.1'
scheduler:
_target_: <class 'cosmos_predict2.functional.lr_scheduler.LambdaLinearScheduler'>
cycle_lengths:
- '10000000000000'
f_max:
- '1.0'
f_min:
- '1.0'
f_start:
- 1e-06
verbosity_interval: '0'
warm_up_steps:
- '1000'
trainer:
callbacks:
device_monitor:
_target_: <class 'cosmos_predict2.callbacks.device_monitor.DeviceMonitor'>
every_n: '10'
log_memory_detail: 'True'
step_size: '1'
ema:
_target_: <class 'imaginaire.utils.callback.EMAModelCallback'>
config: null
trainer: null
grad_clip:
_target_: <class 'cosmos_predict2.callbacks.grad_clip.GradClip'>
clip_norm: '10.0'
force_finite: 'True'
log_wandb: 'False'
iter_speed:
_target_: <class 'cosmos_predict2.callbacks.iter_speed.IterSpeed'>
every_n: '10'
hit_thres: '5'
low_prec:
_target_: <class 'imaginaire.utils.callback.LowPrecisionCallback'>
config: null
trainer: null
update_iter: '1'
manual_gc:
_target_: <class 'imaginaire.callbacks.manual_gc.ManualGarbageCollection'>
every_n: '5'
warm_up: '5'
progress_bar:
_target_: <class 'imaginaire.utils.callback.ProgressBarCallback'>
config: null
trainer: null
wandb:
_target_: <class 'cosmos_predict2.callbacks.wandb.WandBCallback'>
entity_name: ''
mode: offline
project_name: vam_cross_mimicvideo_action
run_name: w2a_so101_level4_widowx_texture_2cam_hstack_action_iter2374_videolora_iter400_widowx_teleop_recording_frame_v1_full
cudnn:
benchmark: 'True'
deterministic: 'False'
ddp:
broadcast_buffers: 'True'
find_unused_parameters: 'False'
static_graph: 'True'
distributed_parallelism: ddp
epoch_checkpoint_throttling_min_period_minutes: '30'
grad_accum_iter: '8'
grad_scaler_args:
enabled: 'False'
logging_iter: '10'
max_iter: '1800'
max_val_iter: null
memory_format: torch.preserve_format
profiling:
enable_memory_snapshot: 'False'
enable_profiling: 'False'
first_n_rank: '4'
profile_freq: '1'
profile_memory: 'True'
record_shape: 'True'
with_modules: 'True'
with_stack: 'True'
run_validation: 'False'
seed: '0'
timeout_period: '999999999'
type: <class 'imaginaire.trainer.ImaginaireTrainer'>
validation_iter: '1800'
video_dataset_train: null
video_dataset_val: null
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