Upload sam2act_rlbench/exp_cfg.yaml with huggingface_hub
Browse files- sam2act_rlbench/exp_cfg.yaml +40 -0
sam2act_rlbench/exp_cfg.yaml
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agent: our
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bs: 8
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demo: 100
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epochs: 90
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exp_id: sam2act
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exp_name: rlbench
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num_workers: 5
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peract:
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add_rgc_loss: true
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amp: true
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bnb: true
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lambda_weight_l2: 0.0001
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lr: 1.25e-05
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lr_cos_dec: true
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num_rotation_classes: 72
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optimizer_type: lamb
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same_trans_aug_per_seq: false
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transform_augmentation: true
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transform_augmentation_rpy:
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- 0.0
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- 0.0
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- 45.0
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transform_augmentation_xyz:
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- 0.125
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- 0.125
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- 0.125
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warmup_steps: 2000
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peract_official:
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cfg_path: configs/peract_official_config.yaml
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resume: ''
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rvt:
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gt_hm_sigma: 1.5
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img_aug: 0.0
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move_pc_in_bound: true
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place_with_mean: false
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sample_distribution_mode: task_uniform
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tasks: all
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train_iter: 160000
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wandb: true
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