Upload 3 files

config.json

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+{
+    "accumuate_gradient_steps": 2,
+    "comment": "",
+    "count_flops": false,
+    "customized_dataset_mixture_file": "",
+    "dataloader": {
+        "batch_size": 64,
+        "drop_last": true,
+        "num_workers": 1,
+        "persistent_workers": false,
+        "pin_memory": false
+    },
+    "dataset": {
+        "_target_": "hpt_pretrain.dataset.traj_dataset.TrajDataset",
+        "action_horizon": 8,
+        "continue_generate": false,
+        "data_augmentation": false,
+        "data_ratio": 1,
+        "dataset_encoder_postfix": "_resnet",
+        "dataset_postfix": "_traj100000",
+        "episode_cnt": 100000,
+        "heldout_dataset": false,
+        "horizon": 5,
+        "image_encoder": "resnet",
+        "normalize_state": true,
+        "observation_horizon": 4,
+        "pad_after": 0,
+        "pad_before": 0,
+        "precompute_feat": true,
+        "regenerate": false,
+        "step_cnt": 10000000,
+        "use_disk": true,
+        "use_heldout_dataset": true,
+        "use_multiview": false,
+        "val_ratio": 0.1
+    },
+    "dataset_groups": "",
+    "dataset_shuffle": true,
+    "ddp_dataloader": {
+        "drop_last": false,
+        "num_workers": 8,
+        "persistent_workers": false,
+        "pin_memory": false,
+        "prefetch_factor": 6
+    },
+    "ddp_val_dataloader": {
+        "drop_last": false,
+        "num_workers": 8,
+        "persistent_workers": false,
+        "pin_memory": false,
+        "prefetch_factor": 2
+    },
+    "debug_distributed": false,
+    "debug_submitit": false,
+    "dist_backend": "nccl",
+    "dist_on_itp": false,
+    "dist_url": "file:///checkpoint/xinleic/experiments/855d1a9c880549309c4f301b0fe381be_init",
+    "distributed": true,
+    "domains": "austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_dataset_converted_externally_to_rlds, austin_buds_dataset_converted_externally_to_rlds, austin_sirius_dataset_converted_externally_to_rlds, berkeley_mvp_converted_externally_to_rlds, berkeley_rpt_converted_externally_to_rlds, iamlab_cmu_pickup_insert_converted_externally_to_rlds, utaustin_mutex, imperialcollege_sawyer_wrist_cam, stanford_mask_vit_converted_externally_to_rlds, language_table, kuka, bc_z, robo_net, dlr_sara_pour_converted_externally_to_rlds, stanford_robocook_converted_externally_to_rlds, cmu_play_fusion, bridge, furniture_bench_dataset_converted_externally_to_rlds, ucsd_pick_and_place_dataset_converted_externally_to_rlds, usc_cloth_sim_converted_externally_to_rlds, stanford_kuka_multimodal_dataset_converted_externally_to_rlds, roboturk, kaist_nonprehensile_converted_externally_to_rlds, asu_table_top_converted_externally_to_rlds, utokyo_xarm_pick_and_place_converted_externally_to_rlds, berkeley_cable_routing, droid, uiuc_d3field, robo_set, qut_dexterous_manpulation, nyu_door_opening_surprising_effectiveness, nyu_franka_play_dataset_converted_externally_to_rlds, mimic_play, maniskill_dataset_converted_externally_to_rlds, columbia_cairlab_pusht_real, conq_hose_manipulation, dlr_edan_shared_control_converted_externally_to_rlds, berkeley_gnm_sac_son, berkeley_autolab_ur5, aloha_mobile, agent_aware_affordances",
+    "dset_w_temperature": 2.0,
+    "effective_batch_size": 256,
+    "effective_total_epochs": 100,
+    "epoch_size": 10,
+    "fsdp": false,
+    "gpu": 0,
+    "head": {
+        "_target_": "hpt_pretrain.models.policy_head.MLP",
+        "dropout": true,
+        "input_dim": 512,
+        "output_dim": 48,
+        "tanh_end": true,
+        "widths": [
+            256,
+            128
+        ]
+    },
+    "job_dir": "logs/",
+    "local_rank": 1,
+    "log_dir": "output/05_05_2024_20_21_54_727275",
+    "log_interval": 10,
+    "lr_scheduler": {
+        "T_max": 800000,
+        "_target_": "torch.optim.lr_scheduler.CosineAnnealingLR",
+        "eta_min": 1e-06
+    },
+    "network": {
+        "_target_": "hpt_pretrain.models.policy.Policy",
+        "action_horizon": 8,
+        "drop_path": 0.1,
+        "embed_dim": 512,
+        "mae_loss_scale": 0.0,
+        "masked_autoencoding": false,
+        "num_blocks": 16,
+        "num_heads": 8,
+        "token_postprocessing": "mean",
+        "use_domain_embedding": false,
+        "use_modality_embedding": true,
+        "weight_init_style": "pytorch"
+    },
+    "ngpus": 8,
+    "nodelist": "learnlab,learnfair,scavenge",
+    "nodes": 4,
+    "optimizer": {
+        "_target_": "torch.optim.AdamW",
+        "eps": 1e-06,
+        "lr": 0.001,
+        "weight_decay": 0.05
+    },
+    "optimizer_misc": {
+        "nontrunk_lr_scale": 0.5
+    },
+    "output_dir": "output/05_05_2024_20_21_54_727275",
+    "partition": "learnlab",
+    "rank": 0,
+    "resume": "logs/",
+    "save_wb_checkpoint": true,
+    "script_name": "run_resnet_30dataset_traj100000_embed_512_batch2048_800k",
+    "seed": 0,
+    "slurm_job_id": "27155766",
+    "stem": {
+        "add_pos_embedding_to_state": false,
+        "crossattn_dim_head": 64,
+        "crossattn_heads": 8,
+        "crossattn_latent": {
+            "image": 16,
+            "state": 16
+        },
+        "crossattn_modality_dropout": 0.1,
+        "image": {
+            "_target_": "hpt_pretrain.models.policy_stem.MLP",
+            "input_dim": 512,
+            "num_of_copy": 1,
+            "output_dim": 512,
+            "widths": [
+                128
+            ]
+        },
+        "image_encoder": "resnet",
+        "modalities": [
+            "image",
+            "state"
+        ],
+        "modality_embed_dim": 512,
+        "normalize_state": true,
+        "num_blocks": 1,
+        "observation_horizon": 4,
+        "random_horizon_masking": true,
+        "state": {
+            "_target_": "hpt_pretrain.models.policy_stem.MLP",
+            "input_dim": 8,
+            "output_dim": 512,
+            "widths": [
+                128
+            ]
+        },
+        "state_embedding_dim": 1
+    },
+    "submitit_autoresume": true,
+    "task_per_gpu": 1,
+    "timeout": 4320,
+    "total_num_sample": 0,
+    "total_num_traj": 0,
+    "train": {
+        "epoch_iters": 1000,
+        "freeze_trunk": false,
+        "load_pretrain_trunk_only": false,
+        "max_validation_size": 10,
+        "pretrained_dir": "05_05_2024_20_21_54_727275",
+        "total_epochs": 30000,
+        "total_iters": 800000,
+        "use_accumulation": false,
+        "validation_iters": 100
+    },
+    "trunk_acc_gradient_step": 1,
+    "trunk_separate_opt": false,
+    "use_volta32": true,
+    "val_dataloader": {
+        "num_workers": 1,
+        "persistent_workers": false,
+        "pin_memory": false
+    },
+    "warmup_lr": {
+        "lr": 1e-10,
+        "step": 1000
+    },
+    "wb_cont_run": "3tv0j6ts",
+    "wb_tag": "default",
+    "world_size": 32
+}

model.pth

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trunk.pth

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