Create config.yaml

config.yaml

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+callbacks:
+  rollout_lh:
+    _target_: mode.rollout.libero_rollout.RolloutLibero
+    _recursive_: false
+    env_cfg:
+      _target_: mode.wrappers.hulc_wrapper.HulcWrapper
+    skip_epochs: ${rollout_lh_skip_epochs}
+    benchmark_name: ${libero_benchmark}
+    rollout_freq: 10
+    num_videos: 0
+    num_sequences: 50
+    max_steps: 600
+    empty_cache: false
+    debug: false
+    n_eval: 20
+    num_procs: 10
+    use_mp: false
+    task_embedding_format: clip
+    device: ${device}
+  checkpoint:
+    _target_: pytorch_lightning.callbacks.ModelCheckpoint
+    save_top_k: 1
+    verbose: true
+    monitor: eval_lh/avg_seq_len
+    mode: max
+    dirpath: saved_models
+    filename: '{epoch:02d}_{eval_lh/avg_seq_len:.2f}'
+    every_n_epochs: ${callbacks.rollout_lh.rollout_freq}
+  ema:
+    _target_: mode.callbacks.ema.EMA
+    decay: 0.999
+    start_step: 0
+    save_ema_weights_in_callback_state: true
+    evaluate_ema_weights_instead: true
+    power: 0.6666666666666666
+    inv_gamma: 1.0
+    min_value: 0.0
+    max_value: 0.9999
+datamodule:
+  datasets:
+    lang_dataset:
+      _target_: mode.datasets.libero_dataset.LiberoMultitaskDataset
+      key: lang
+      benchmark_name: ${libero_benchmark}
+      batch_size: ${batch_size}
+      proprio_state: ${datamodule.proprioception_dims}
+      obs_space: ${datamodule.observation_space}
+      num_workers: ${num_workers}
+      action_seq_len: ${act_seq_len}
+      obs_seq_len: ${obs_seq_len}
+      split_ratio: 0.0
+  transforms:
+    train:
+      rgb_static:
+      - _target_: torchvision.transforms.Resize
+        size: 224
+        antialias: true
+      - _target_: mode.utils.transforms.RandomShiftsAug
+        pad: 10
+      - _target_: mode.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.48145466
+        - 0.4578275
+        - 0.40821073
+        std:
+        - 0.26862954
+        - 0.26130258
+        - 0.27577711
+      rgb_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 112
+        antialias: true
+      - _target_: mode.utils.transforms.RandomShiftsAug
+        pad: 4
+      - _target_: mode.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.48145466
+        - 0.4578275
+        - 0.40821073
+        std:
+        - 0.26862954
+        - 0.26130258
+        - 0.27577711
+    val:
+      rgb_static:
+      - _target_: torchvision.transforms.Resize
+        size: 224
+        antialias: true
+      - _target_: mode.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.48145466
+        - 0.4578275
+        - 0.40821073
+        std:
+        - 0.26862954
+        - 0.26130258
+        - 0.27577711
+      rgb_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 112
+        antialias: true
+      - _target_: mode.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.48145466
+        - 0.4578275
+        - 0.40821073
+        std:
+        - 0.26862954
+        - 0.26130258
+        - 0.27577711
+  _target_: mode.datasets.libero_data_module.LiberoDataModule
+  _recursive_: false
+  root_data_dir: ${root_data_dir}
+  action_space: 7
+  shuffle_val: false
+  benchmark_name: ${libero_benchmark}
+  observation_space:
+    rgb_obs:
+    - agentview_rgb
+    - eye_in_hand_rgb
+    depth_obs: []
+    state_obs:
+    - gripper_states
+    - joint_states
+    actions:
+    - rel_actions
+    language:
+    - language
+  proprioception_dims: None
+model:
+  language_goal:
+    _target_: mode.models.networks.clip_lang_encoder.LangClip
+    _recursive_: false
+    model_name: ${clip_lang_model_name}
+  model:
+    _target_: mode.models.edm_diffusion.score_wrappers.GCDenoiser
+    _recursive_: false
+    sigma_data: ${model.sigma_data}
+    inner_model:
+      _target_: mode.models.networks.modedit.MoDeDiT
+      action_dim: ${datamodule.action_space}
+      goal_dim: ${model.cond_dim}
+      obs_dim: ${obs_dim}
+      goal_conditioned: true
+      causal: true
+      use_custom_attn_mask: false
+      use_proprio: ${model.use_proprio}
+      state_dim: ${proprio_dims}
+      embed_dim: ${model.latent_dim}
+      n_layers: 12
+      goal_seq_len: 1
+      obs_seq_len: ${obs_seq_len}
+      action_seq_len: ${act_seq_len}
+      embed_pdrob: 0
+      goal_drop: 0.1
+      attn_pdrop: 0.3
+      mlp_pdrop: 0.1
+      n_heads: 8
+      device: ${device}
+      linear_output: true
+      cond_router: true
+      num_experts: 4
+      top_k: 2
+      router_normalize: true
+      use_goal_in_routing: false
+      use_argmax: false
+      use_shared_expert: false
+      use_noise_token_as_input: true
+      init_style: olmoe
+  _target_: mode.models.mode_agent.MoDEAgent
+  _recursive_: false
+  multistep: ${multistep}
+  use_lr_scheduler: true
+  entropy_gamma: 0.01
+  router_z_delta: 0.0
+  use_proprio: false
+  seed: ${seed}
+  sampler_type: ddim
+  num_sampling_steps: 5
+  sigma_data: 0.5
+  sigma_min: 0.001
+  sigma_max: 80
+  noise_scheduler: exponential
+  sigma_sample_density_type: loglogistic
+  ckpt_path: /home/reuss/code/MeDiT_Policy/convert_weights/mode_first_run
+  start_from_pretrained: true
+  act_window_size: ${act_seq_len}
+  latent_dim: 1024
+  obs_enc_dim: ${obs_dim}
+  cond_dim: 512
+  resnet_type: '50'
+  optimizer:
+    _target_: torch.optim.AdamW
+    transformer_weight_decay: 0.05
+    obs_encoder_weight_decay: 0.05
+    learning_rate: 0.0001
+    betas:
+    - 0.9
+    - 0.95
+  lr_scheduler:
+    lr_scheduler:
+      init_lr: 0.0001
+      init_lr_scale: 0.1
+      final_lr_scale: 1.0e-06
+      total_steps: 45000
+      phase_ratio: (0.02, 0.08, 0.9)
+      lr: 0.0001
+root_data_dir: /home/yagmurlu/code/MoDE_Calvin/dataset/task_ABC_D
+lang_folder: lang_clip_resnet50
+vis_clip_model_name: ViT-B/16
+clip_lang_model_name: ViT-B/32
+log_dir: ./logs
+slurm: false
+future_range: 29
+seed: 242
+device: cuda
+batch_size: 128
+devices: 2
+goal_window_size: 1
+act_dim: 7
+proprio_dims: 9
+obs_dim: 512
+goal_dim: 512
+obs_seq_len: 1
+act_seq_len: 10
+multistep: ${act_seq_len}
+p_last_state: 0
+gen_img_res: 112
+max_epochs: 10
+rollout_lh_skip_epochs: 9
+num_workers: 1
+benchmark_name: ${libero_benchmark}
+libero_benchmark: libero_90
+trainer:
+  gpus: ${devices}
+  precision: 32
+  max_epochs: ${max_epochs}
+  sync_batchnorm: false
+  accelerator: auto
+  limit_train_batches: 1000
+  limit_val_batches: 4
+logger:
+  _target_: pytorch_lightning.loggers.WandbLogger
+  save_dir: .
+  name: logger
+  group: mode
+  log_model: false
+  project: ${libero_benchmark}
+  entity: bennoq
+  id: ???