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edYddZd[dKed\ddVd^Z2dd Z3dS )    N)ConfigStore)parallel_state)
DataLoaderDistributedSampler)LazyCall)LazyDict)log)get_checkpoint_path)ALOHADataset)LIBERODataset)RoboCasaDataset)CosmosPolicyVideo2WorldModel)HybridEDMSDEy   i  i   )Zvideo_lengthvideo_heightvideo_widthBASE_DATASETS_DIR.zLIBERO-Cosmos-PolicyZsuccess_onlyzt5_embeddings.pkl   T   Zall_episodesg      ?gGz?)data_dirt5_text_embeddings_path
chunk_sizeuse_image_auguse_wrist_imagesuse_proprionormalize_proprionormalize_actionsnum_duplicates_per_imageuse_stronger_image_augrollout_data_dirdemonstration_sampling_probsuccess_rollout_sampling_probreturn_value_function_returnsgammazL/experiment/Stage-c_pt_4-Index-102-Size-2B-Res-480-Fps-16-Note-HQ_V5_from_26zoverride /data_trainmockzoverride /modelpolicy_fsdpzoverride /tokenizerpolicy_wan2pt1_tokenizerzoverride /callbacks)basiclongcluster_speedwandbZwandb_callback_actions_self_i F	   )every_nsave_s3use_negative_promptguidancenum_sampling_step)every_n_sample_reg   i@B )enabled)	callbacksrun_validationlogging_itermax_iterstraggler_detectiong-C6?)lri0u  l    @ k i  gư>gQ?g      ?g333333?)cycle_lengthswarm_up_stepsf_startf_maxf_ming        )dropout_rate)textframe_replace!   )chunk_durationvideog9B.?g333333?   g{Gz?g     @U@)hybrid_sigma_distributionp_meanp_std	sigma_max	sigma_minuniform_loweruniform_upper224none)conditionerstate_tmin_num_conditional_framesmax_num_conditional_framessigma_conditionalconditioning_strategydenoise_replace_gt_frames	tokenizeremainput_data_keysdeadjust_video_noiseresize_online
resolutionhigh_sigma_strategy)config   )context_parallel_sizez>hf://nvidia/Cosmos-Predict2-2B-Video2World/model-480p-16fps.pt)	load_pathload_training_statestrict_resume	save_iterload_ema_to_regload_from_object_storesave_to_object_store   )datasetnum_replicasrankshuffleseed   )num_workerspersistent_workers
pin_memoryrk   sampler
batch_size	drop_lastZcosmos_v2_finetunecosmos_predict2_2b_480p_libero)groupname)
defaultstrainer	optimizer	schedulermodelmodel_parallel
checkpointdataloader_trainjobupload_reproducible_setupz*/experiment/cosmos_predict2_2b_480p_liberoP   )rK   rL   )r[   Zcosmos_v2_inference.cosmos_predict2_2b_480p_libero__inference_only)rz   r~   r   r   r   r   r   r   r   r   r   r   r   r    r!   r"   r#   r$   Zmulti_frame_futureZfuture_frame_offsets)               i'  )r6   r7   r8   r9   grad_accum_iterr:       z6q_proj,k_proj,v_proj,output_proj,mlp.layer1,mlp.layer2)use_lora	lora_rank
lora_alphalora_target_modulesi  g?z@/data/cameron/vidgen/cosmos-policy/checkpoints/policy_libero_dcpZcosmos_v2_finetune_multi_frame*cosmos_predict2_2b_480p_libero_multi_frame)	rz   r   r{   r|   r~   r}   r   r   r   zRoboCasa-Cosmos-PolicyZuse_third_person_images   )   )rR   rS   rT   rX      2cosmos_predict2_2b_480p_robocasa_50_demos_per_task)rz   r~   r   r   z>/experiment/cosmos_predict2_2b_480p_robocasa_50_demos_per_task=cosmos_predict2_2b_480p_robocasa_50_demos_per_task__inferencezALOHA-Cosmos-PolicyZpreprocessed2   gV-?)r   r   r   r   r   r   r   r   r   treat_demos_as_success_rolloutsr!   r"   r#   r$   i N  ycosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80)rz   r}   r~   r   r   z/experiment/cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80ډcosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__inference_onlyr   zPATH/TO/YOUR/ROLLOUTS/DATASETZuse_jpeg_for_rolloutszNhf://nvidia/Cosmos-Policy-ALOHA-Predict2-2B/Cosmos-Policy-ALOHA-Predict2-2B.pt)rc   i:  i  ).mask_current_state_action_for_value_predictionڨcosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func)rz   r   r}   r   r~   r   z/experiment/cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_funcڸcosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func__inference_onlyc               	   C   sV   t  } tttttttt	t
f	D ]}|d d }td|  | jdd||d qd S )Nr   ry   zRegistering experiment: 
experiment_global_)rx   packagery   node)r   instancerw   r   r   r   r   r   r   r   r   r   infostore)cs_itemexperiment_name r   f/data/cameron/vidgen/cosmos-policy/cosmos_policy/config/experiment/cosmos_policy_experiment_configs.pyregister_configs7  s(   r   r   )4oshydra.core.config_storer   megatron.corer   torch.utils.datar   r   )cosmos_policy._src.imaginaire.lazy_configr   Lr   #cosmos_policy._src.imaginaire.utilsr   1cosmos_policy._src.imaginaire.utils.checkpoint_dbr	   Z$cosmos_policy.datasets.aloha_datasetr
   Z%cosmos_policy.datasets.libero_datasetr   Z'cosmos_policy.datasets.robocasa_datasetr   -cosmos_policy.models.policy_video2world_modelr   $cosmos_policy.modules.hybrid_edm_sder   r   r   dictZval_sampling_size_overrideenvirongetr   pathjoinZlibero_all_4_suites_datasetget_data_parallel_world_sizeget_data_parallel_rankrw   r   Zlibero_multi_frame_datasetr   Z"robocasa_50_demos_per_task_datasetr   r   Z%aloha_cosmos_policy_dataset_185_demosr   r   Z`aloha_2025_09_18__648_rollouts__cosmos_policy__pi05__pi0__openvla_oft__diffusion_policy__datasetr   r   r   r   r   r   r   <module>   sN  			$
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