| 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 |
|
|
