Add official reproduction checkpoints and eval JSON

README.md

@@ -1,3 +1,49 @@
 ---
 license: mit
+task_categories:
+  - robotics
+tags:
+  - patch-policy
+  - imitation-learning
+  - diffusion-policy
+  - vq-bet
 ---
+
+# Patch Policy 复现权重
+
+复现报告配套的官方 `patch_policy` checkpoint 与评测 JSON。  
+论文：[Patch Policy](https://arxiv.org/abs/2607.18236)。原始数据集请用官方卡 [`gaoyuezhou/patch-policy-datasets`](https://huggingface.co/datasets/gaoyuezhou/patch-policy-datasets)，此处**不重复上传**轨迹。
+
+作者：周振亮（Hugging Face：[`mysciz`](https://huggingface.co/mysciz)）
+
+## 上传内容（建议）
+
+只传终局，不要传 embedding 缓存、Cube zip、中止 run。
+
+```
+outputs/pusht/<date>/<time>/model_final.pt
+outputs/pusht/<date>/<time>/eval_final.json
+outputs/pusht/<date>/<time>/.hydra/
+outputs/cube/...  （同上）
+inference/latency.json
+logs/official/*.log   （可选）
+```
+
+每个 `model_final.pt` 约 70–80 MB，十个终局合计约 1–2 GB。
+
+## 目录对照
+
+| Hydra 目录 | 实验 |
+|---|---|
+| pusht/2026-08-13/12-27-54 | DP DINOv2 256 |
+| pusht/2026-08-13/20-12-04 | DP DINOv2 64 |
+| pusht/2026-08-13/08-18-08 | DP DINOv2 16 |
+| pusht/2026-08-13/22-42-29 | DP DINOv2 4 |
+| pusht/2026-08-13/15-24-12 | DP WebSSL 256 |
+| pusht/2026-08-14/01-04-42 | DP SigLIP2 |
+| pusht/2026-08-14/04-42-19 | DP V-JEPA2 |
+| cube/2026-08-14/09-35-53 | VQ-BeT WebSSL CLS |
+| cube/2026-08-15/05-48-51 | VQ-BeT WebSSL AvgPool |
+| cube/2026-08-15/10-29-41 | VQ-BeT WebSSL patch |
+
+Push-T 为 550 epoch（官方 yaml 为 1200）。Cube VQ-BeT 为 1gpu 配置（window=2）。

RESULTS.md

@@ -0,0 +1,72 @@
+# 官方代码复现
+
+代码：`../../patch_policy`（[gaoyuezhou/patch_policy](https://github.com/gaoyuezhou/patch_policy)）。
+权重：<https://huggingface.co/mysciz/patch-policy-repro>（本目录 git 不含 `*.pt`）。
+配置：`train_pusht_diffusion_1gpu`，550 epoch（约 5 万 step），训练中不做环境评估，结束时 100 ep。
+
+## §3.5 编码器（Push-T × DP）
+
+| 实验 | 编码器 | 本机 | 论文 Table 8 |
+|------|--------|-----:|-------------:|
+| webssl256 | WebSSL 256 × 1024 | **0.737±0.030** | 0.80±0.01 |
+| dino256 | DINOv2 256 × 384 | **0.725±0.032** | 0.81±0.01 |
+| vjepa2_patch | V-JEPA2 256 × 1024 | **0.696±0.031** | 0.72±0.04 |
+| siglip2_patch | SigLIP2 196 × 768 | **0.560±0.039** | 0.64±0.02 |
+
+排序与论文一致：**WebSSL ≈ DINOv2 > V-JEPA2 > SigLIP2**。DINOv3 未跑（gated）。
+
+## §3.7 压缩（DINOv2 + DP）
+
+| 实验 | tokens | final coverage |
+|------|-------:|---------------:|
+| dino256 | 256 | **0.725±0.032** |
+| dino64 | 64 | **0.636±0.037** |
+| dino16 | 16 | **0.490±0.041** |
+| dino4 | 4 | **0.471±0.040** |
+
+**256 > 64 > 16 ≈ 4**。dino16 不可与 patchpol 0.76 直接比。
+
+## §3.6 推理速度（已训 checkpoint）
+
+口径对齐官方 `resources_test.py`：`policy(obs, goal, None)`，每步 `cuda.synchronize`，不含 action chunking。GPU 是 **RTX 4080 SUPER**（论文 Table 3 是 H200）。原始数字：`inference/latency.json`。
+
+对照论文 Table 3（有对应权重的三行）：
+
+| Method | 本机 total / trainable | 本机 policy ms | 论文 |
+|--------|------------------------|---------------:|------|
+| **Ours - DP (DINOv2)** | **40.43M / 9.19M** | 562 | 40.43M / 9.19M / 445.85 ms |
+| **Ours - DP (WebSSL)** | 322.36M / **9.35M** | 578 | 303.66M / 9.35M / 451.68 ms |
+| **Ours - VQ-BeT (WebSSL)** | **334.10M / 30.44M** | 5.16 | 334.00M / 30.34M / 21.43 ms |
+
+参数量和论文几乎逐项对上。DP 延迟比 H200 高约 1.26×，但仍是去噪 100 步主导（DINOv2 562 vs WebSSL 578，编码器几乎不加时间）。VQ-BeT 本机 5.16 ms 快于论文 21.43 ms，因为 Cube `_1gpu` 的 obs window 是 **2** 不是 5。ResNet / OpenVLA / ACT / VQ-BeT DINOv2 没有本机权重，未测。
+
+全部 10 个终局：
+
+| 实验 | Hydra | policy ms | full ms |
+|------|-------|----------:|--------:|
+| pusht DP dino256 | `12-27-54` | 562 | 567 |
+| pusht DP dino64 | `20-12-04` | 576 | 582 |
+| pusht DP dino16 | `08-18-08` | 571 | 580 |
+| pusht DP dino4 | `22-42-29` | 561 | 569 |
+| pusht DP webssl256 | `15-24-12` | 578 | 584 |
+| pusht DP siglip2 | `01-04-42` | 553 | 582 |
+| pusht DP vjepa2 | `04-42-19` | 564 | 610 |
+| cube VQ-BeT webssl_cls | `09-35-53` | 4.91 | 17.25 |
+| cube VQ-BeT webssl_avgpool | `05-48-51` | 4.92 | 17.22 |
+| cube VQ-BeT webssl_patch | `10-29-41` | 5.16 | 17.43 |
+
+DP 压缩 256→4 **不降** 推理延迟。VQ-BeT 上 patch 相对 CLS 只多 0.25 ms；加上编码器后三者都是 ~17 ms。
+
+## §3.3 Cube × VQ-BeT × WebSSL
+
+`train_cube_1gpu`：obs window **2**（论文 5），batch 64。指标 `entered`（max 2）。± 为 100 episode SEM。
+
+| 实验 | Hydra | 本机 entered | 论文 Table 1 |
+|------|-------|-------------:|-------------:|
+| **webssl_patch** | `10-29-41` | **1.68±0.068**（12 / 8 / 80） | 1.68±0.03 |
+| webssl_cls | `09-35-53` | **0.14±0.035**（86 / 14 / 0） | 0.23±0.01 |
+| webssl_avgpool | `05-48-51` | **0.13±0.037**（88 / 11 / 1） | 0.25±0.02 |
+
+括号为 0 / 1 / 2 个方块放入目标的 episode 数。排序与论文一致：**patch ≫ CLS ≈ AvgPool**。patch 均值与 Table 1 相同；global 两条略低于论文，但仍接近 0。window=2 不能当 Table 1 同设定，但 §3.3 的拉开已经出现。
+
+权重在 `outputs/cube/<日期>/<时刻>/`。损失曲线：[plots/](plots/)。

ckpts/cube_vqbet_webssl_avgpool/.hydra/config.yaml

@@ -0,0 +1,92 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.webssl.WebSSLEncoder
+  name: webSSL
+  feature_key: x_norm_patchtokens
+  postprocess: avg_pool
+  output_dim: 1024
+  n_patches: 1
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 64
+epochs: 200
+eval_freq: 5
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_final_evals: 100
+num_envs: 10
+action_window_size: 5
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 5.5e-05
+  weight_decay: 0.0002
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.cube.cube_env.CubeWrapper
+    task_id: 5
+    id: cube
+    env:
+      _target_: gymnasium.make
+      id: cube-double-v1
+      reward_task_id: 5
+      max_episode_steps: 300
+      mode: task
+  act_dim: 5
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.cube.CubeDataset
+  data_directory: ${env_vars.datasets.cube}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.vq_behavior_transformer.bet.BehaviorTransformer
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  vqvae_latent_dim: 512
+  vqvae_n_embed: 16
+  vqvae_groups: 2
+  views: ${env.views}
+  n_patches: ${encoder.n_patches}
+  vqvae_fit_steps: null
+  vqvae_iters: 1000
+  n_layer: 8
+  n_head: 8
+  n_embd: 512
+  vqvae_batch_size: 1024
+  act_scale: 500
+  obs_window_size: ${window_size}
+  act_window_size: ${action_window_size}
+  offset_loss_multiplier: 10
+  vqvae_encoder_loss_multiplier: 1
+mixed_precision: bf16

ckpts/cube_vqbet_webssl_avgpool/.hydra/hydra.yaml

@@ -0,0 +1,160 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - num_final_evals=100
+    - num_envs=10
+    - encoder=webssl_patch_avg_pool
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: encoder=webssl_patch_avg_pool,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_cube_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/cube/2026-08-15/05-48-51
+    choices:
+      cluster: local
+      encoder: webssl_patch_avg_pool
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/cube_vqbet_webssl_avgpool/.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- num_final_evals=100
+- num_envs=10
+- encoder=webssl_patch_avg_pool

ckpts/cube_vqbet_webssl_avgpool/eval_final.json

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+{
+  "n": 100,
+  "metrics": {
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+    "entered max": 2,
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+    "moved mean": 0.72,
+    "moved max": 2,
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ckpts/cube_vqbet_webssl_avgpool/losses.csv

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+epoch,train_loss,test_loss
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ckpts/cube_vqbet_webssl_avgpool/model_final.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cee7f3c8969c954a4e9ecc8c6851e1e918ffc39a001c7f2516c95d5c852071cc
+size 119730427

ckpts/cube_vqbet_webssl_cls/.hydra/config.yaml

@@ -0,0 +1,91 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.webssl.WebSSLEncoder
+  name: webSSL
+  feature_key: x_norm_clstoken
+  output_dim: 1024
+  n_patches: 1
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 64
+epochs: 200
+eval_freq: 5
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_final_evals: 100
+num_envs: 10
+action_window_size: 5
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 5.5e-05
+  weight_decay: 0.0002
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.cube.cube_env.CubeWrapper
+    task_id: 5
+    id: cube
+    env:
+      _target_: gymnasium.make
+      id: cube-double-v1
+      reward_task_id: 5
+      max_episode_steps: 300
+      mode: task
+  act_dim: 5
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.cube.CubeDataset
+  data_directory: ${env_vars.datasets.cube}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.vq_behavior_transformer.bet.BehaviorTransformer
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  vqvae_latent_dim: 512
+  vqvae_n_embed: 16
+  vqvae_groups: 2
+  views: ${env.views}
+  n_patches: ${encoder.n_patches}
+  vqvae_fit_steps: null
+  vqvae_iters: 1000
+  n_layer: 8
+  n_head: 8
+  n_embd: 512
+  vqvae_batch_size: 1024
+  act_scale: 500
+  obs_window_size: ${window_size}
+  act_window_size: ${action_window_size}
+  offset_loss_multiplier: 10
+  vqvae_encoder_loss_multiplier: 1
+mixed_precision: bf16

ckpts/cube_vqbet_webssl_cls/.hydra/hydra.yaml

@@ -0,0 +1,163 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - eval_on_env_freq=99999
+    - num_final_evals=100
+    - num_envs=10
+    - dataset.prefetch=false
+    - mixed_precision=bf16
+    - encoder=webssl_cls
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: dataset.prefetch=false,encoder=webssl_cls,eval_on_env_freq=99999,mixed_precision=bf16,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_cube_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/cube/2026-08-14/09-35-53
+    choices:
+      cluster: local
+      encoder: webssl_cls
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/cube_vqbet_webssl_cls/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- eval_on_env_freq=99999
+- num_final_evals=100
+- num_envs=10
+- dataset.prefetch=false
+- mixed_precision=bf16
+- encoder=webssl_cls

ckpts/cube_vqbet_webssl_cls/eval_final.json

@@ -0,0 +1,215 @@
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ckpts/cube_vqbet_webssl_cls/model_final.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36601cfdc0b6ba51216df1e89f7dfcefa5be7c51d27cd15de9f869f4ff748990
+size 119730235

ckpts/cube_vqbet_webssl_patch/.hydra/config.yaml

@@ -0,0 +1,91 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.webssl.WebSSLEncoder
+  name: webSSL
+  feature_key: x_norm_patchtokens
+  output_dim: 1024
+  n_patches: 256
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 64
+epochs: 200
+eval_freq: 5
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_final_evals: 100
+num_envs: 10
+action_window_size: 5
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 5.5e-05
+  weight_decay: 0.0002
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.cube.cube_env.CubeWrapper
+    task_id: 5
+    id: cube
+    env:
+      _target_: gymnasium.make
+      id: cube-double-v1
+      reward_task_id: 5
+      max_episode_steps: 300
+      mode: task
+  act_dim: 5
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.cube.CubeDataset
+  data_directory: ${env_vars.datasets.cube}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.vq_behavior_transformer.bet.BehaviorTransformer
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  vqvae_latent_dim: 512
+  vqvae_n_embed: 16
+  vqvae_groups: 2
+  views: ${env.views}
+  n_patches: ${encoder.n_patches}
+  vqvae_fit_steps: null
+  vqvae_iters: 1000
+  n_layer: 8
+  n_head: 8
+  n_embd: 512
+  vqvae_batch_size: 1024
+  act_scale: 500
+  obs_window_size: ${window_size}
+  act_window_size: ${action_window_size}
+  offset_loss_multiplier: 10
+  vqvae_encoder_loss_multiplier: 1
+mixed_precision: bf16

ckpts/cube_vqbet_webssl_patch/.hydra/hydra.yaml

@@ -0,0 +1,160 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - num_final_evals=100
+    - num_envs=10
+    - encoder=webssl_patch
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: encoder=webssl_patch,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_cube_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/cube/2026-08-15/10-29-41
+    choices:
+      cluster: local
+      encoder: webssl_patch
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/cube_vqbet_webssl_patch/.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- num_final_evals=100
+- num_envs=10
+- encoder=webssl_patch

ckpts/cube_vqbet_webssl_patch/eval_final.json

@@ -0,0 +1,215 @@
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ckpts/cube_vqbet_webssl_patch/losses.csv

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ckpts/cube_vqbet_webssl_patch/model_final.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66ac120663c64b9367ce22c49acaafec19488c0b14739d7073a5004d56d2e726
+size 226144955

ckpts/pusht_dp_dino16/.hydra/config.yaml

@@ -0,0 +1,88 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.dino.DinoV2Encoder
+  name: dinov2_vits14
+  feature_key: x_norm_patchtokens
+  output_dim: 384
+  n_patches: 256
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 256
+epochs: 550
+eval_freq: 10
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_envs: 1
+num_final_evals: 100
+action_window_size: 5
+pred_horizon: ${eval:'${action_window_size} + ${window_size} - 1'}
+n_action_steps: ${action_window_size}
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 0.0001
+  weight_decay: 0.0
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.pusht.PushWrapper
+    id: pusht
+    env:
+      _target_: envs.pusht.PushTKeypointsEnv
+  obs_dim: 20
+  act_dim: 2
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.pusht.PushTDataset
+  data_directory: ${env_vars.datasets.pusht}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.diffusion_policy.diffusion_policy.DiffusionPolicy
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  views: ${env.views}
+  obs_horizon: ${window_size}
+  pred_horizon: ${pred_horizon}
+  action_horizon: ${n_action_steps}
+  n_layer: 8
+  n_head: 4
+  n_embd: 256
+  visual_input: true
+  data_act_scale: 1
+  lr: ${optim.lr}
+  weight_decay: ${optim.weight_decay}
+  use_transform: null
+  n_patches: ${encoder.n_patches}
+  compress_n_patches: 16
+save_eval_video: false
+mixed_precision: bf16

ckpts/pusht_dp_dino16/.hydra/hydra.yaml

@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - epochs=550
+    - eval_on_env_freq=99999
+    - num_final_evals=100
+    - num_envs=1
+    - dataset.prefetch=false
+    - encoder=dino_patch
+    - model.compress_n_patches=16
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: dataset.prefetch=false,encoder=dino_patch,epochs=550,eval_on_env_freq=99999,model.compress_n_patches=16,num_envs=1,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_pusht_diffusion_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/08-18-08
+    choices:
+      cluster: local
+      encoder: dino_patch
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/pusht_dp_dino16/.hydra/overrides.yaml

@@ -0,0 +1,7 @@
+- epochs=550
+- eval_on_env_freq=99999
+- num_final_evals=100
+- num_envs=1
+- dataset.prefetch=false
+- encoder=dino_patch
+- model.compress_n_patches=16

ckpts/pusht_dp_dino16/eval_final.json

@@ -0,0 +1,215 @@
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ckpts/pusht_dp_dino16/model_final.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5973e9d751de4d19456199cdb6f6548b7b7ebf4a954af33f24c1052db5323d4f
+size 82117821

ckpts/pusht_dp_dino256/.hydra/config.yaml

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+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.dino.DinoV2Encoder
+  name: dinov2_vits14
+  feature_key: x_norm_patchtokens
+  output_dim: 384
+  n_patches: 256
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 256
+epochs: 550
+eval_freq: 10
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_envs: 10
+num_final_evals: 100
+action_window_size: 5
+pred_horizon: ${eval:'${action_window_size} + ${window_size} - 1'}
+n_action_steps: ${action_window_size}
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 0.0001
+  weight_decay: 0.0
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.pusht.PushWrapper
+    id: pusht
+    env:
+      _target_: envs.pusht.PushTKeypointsEnv
+  obs_dim: 20
+  act_dim: 2
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.pusht.PushTDataset
+  data_directory: ${env_vars.datasets.pusht}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.diffusion_policy.diffusion_policy.DiffusionPolicy
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  views: ${env.views}
+  obs_horizon: ${window_size}
+  pred_horizon: ${pred_horizon}
+  action_horizon: ${n_action_steps}
+  n_layer: 8
+  n_head: 4
+  n_embd: 256
+  visual_input: true
+  data_act_scale: 1
+  lr: ${optim.lr}
+  weight_decay: ${optim.weight_decay}
+  use_transform: null
+  n_patches: ${encoder.n_patches}
+  compress_n_patches: null
+save_eval_video: false
+mixed_precision: bf16

ckpts/pusht_dp_dino256/.hydra/hydra.yaml

@@ -0,0 +1,163 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - epochs=550
+    - eval_on_env_freq=99999
+    - num_final_evals=100
+    - num_envs=10
+    - dataset.prefetch=false
+    - encoder=dino_patch
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: dataset.prefetch=false,encoder=dino_patch,epochs=550,eval_on_env_freq=99999,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_pusht_diffusion_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/12-27-54
+    choices:
+      cluster: local
+      encoder: dino_patch
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/pusht_dp_dino256/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- epochs=550
+- eval_on_env_freq=99999
+- num_final_evals=100
+- num_envs=10
+- dataset.prefetch=false
+- encoder=dino_patch

ckpts/pusht_dp_dino256/eval_final.json

@@ -0,0 +1,215 @@
+{
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+}

ckpts/pusht_dp_dino256/model_final.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71a7c58c03a39865341cb1bb65004426a2b3063588d387b1346b858ab9cef58
+size 73684025

ckpts/pusht_dp_dino4/.hydra/config.yaml

@@ -0,0 +1,88 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.dino.DinoV2Encoder
+  name: dinov2_vits14
+  feature_key: x_norm_patchtokens
+  output_dim: 384
+  n_patches: 256
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 256
+epochs: 550
+eval_freq: 10
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_envs: 10
+num_final_evals: 100
+action_window_size: 5
+pred_horizon: ${eval:'${action_window_size} + ${window_size} - 1'}
+n_action_steps: ${action_window_size}
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 0.0001
+  weight_decay: 0.0
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.pusht.PushWrapper
+    id: pusht
+    env:
+      _target_: envs.pusht.PushTKeypointsEnv
+  obs_dim: 20
+  act_dim: 2
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.pusht.PushTDataset
+  data_directory: ${env_vars.datasets.pusht}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.diffusion_policy.diffusion_policy.DiffusionPolicy
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  views: ${env.views}
+  obs_horizon: ${window_size}
+  pred_horizon: ${pred_horizon}
+  action_horizon: ${n_action_steps}
+  n_layer: 8
+  n_head: 4
+  n_embd: 256
+  visual_input: true
+  data_act_scale: 1
+  lr: ${optim.lr}
+  weight_decay: ${optim.weight_decay}
+  use_transform: null
+  n_patches: ${encoder.n_patches}
+  compress_n_patches: 4
+save_eval_video: false
+mixed_precision: bf16

ckpts/pusht_dp_dino4/.hydra/hydra.yaml

@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - epochs=550
+    - eval_on_env_freq=99999
+    - num_final_evals=100
+    - num_envs=10
+    - dataset.prefetch=false
+    - encoder=dino_patch
+    - model.compress_n_patches=4
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: dataset.prefetch=false,encoder=dino_patch,epochs=550,eval_on_env_freq=99999,model.compress_n_patches=4,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_pusht_diffusion_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/22-42-29
+    choices:
+      cluster: local
+      encoder: dino_patch
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/pusht_dp_dino4/.hydra/overrides.yaml

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+- epochs=550
+- eval_on_env_freq=99999
+- num_final_evals=100
+- num_envs=10
+- dataset.prefetch=false
+- encoder=dino_patch
+- model.compress_n_patches=4

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ckpts/pusht_dp_dino4/model_final.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4a5f11fe3f06b82a31676d5b37ab0c085fb3457539f346ad728e7f9fafad4f
+size 110379069

ckpts/pusht_dp_dino64/.hydra/config.yaml

@@ -0,0 +1,88 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.dino.DinoV2Encoder
+  name: dinov2_vits14
+  feature_key: x_norm_patchtokens
+  output_dim: 384
+  n_patches: 256
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 256
+epochs: 550
+eval_freq: 10
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_envs: 10
+num_final_evals: 100
+action_window_size: 5
+pred_horizon: ${eval:'${action_window_size} + ${window_size} - 1'}
+n_action_steps: ${action_window_size}
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 0.0001
+  weight_decay: 0.0
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.pusht.PushWrapper
+    id: pusht
+    env:
+      _target_: envs.pusht.PushTKeypointsEnv
+  obs_dim: 20
+  act_dim: 2
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.pusht.PushTDataset
+  data_directory: ${env_vars.datasets.pusht}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.diffusion_policy.diffusion_policy.DiffusionPolicy
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  views: ${env.views}
+  obs_horizon: ${window_size}
+  pred_horizon: ${pred_horizon}
+  action_horizon: ${n_action_steps}
+  n_layer: 8
+  n_head: 4
+  n_embd: 256
+  visual_input: true
+  data_act_scale: 1
+  lr: ${optim.lr}
+  weight_decay: ${optim.weight_decay}
+  use_transform: null
+  n_patches: ${encoder.n_patches}
+  compress_n_patches: 64
+save_eval_video: false
+mixed_precision: bf16

ckpts/pusht_dp_dino64/.hydra/hydra.yaml

@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - epochs=550
+    - eval_on_env_freq=99999
+    - num_final_evals=100
+    - num_envs=10
+    - dataset.prefetch=false
+    - encoder=dino_patch
+    - model.compress_n_patches=64
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: dataset.prefetch=false,encoder=dino_patch,epochs=550,eval_on_env_freq=99999,model.compress_n_patches=64,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_pusht_diffusion_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/20-12-04
+    choices:
+      cluster: local
+      encoder: dino_patch
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/pusht_dp_dino64/.hydra/overrides.yaml

@@ -0,0 +1,7 @@
+- epochs=550
+- eval_on_env_freq=99999
+- num_final_evals=100
+- num_envs=10
+- dataset.prefetch=false
+- encoder=dino_patch
+- model.compress_n_patches=64

ckpts/pusht_dp_dino64/eval_final.json

@@ -0,0 +1,215 @@
+{
+  "n": 100,
+  "metrics": {
+    "final coverage mean": 0.6364321088127634,
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+    "final coverage min": 0.0,
+    "max coverage mean": 0.7153500856533316,
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+  },
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ckpts/pusht_dp_dino64/model_final.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3808525a25f3d6da80515d6a8a2cb35ac6604ac4170b789c9a4a129a7a42c322
+size 75241149

ckpts/pusht_dp_siglip2/.hydra/config.yaml

@@ -0,0 +1,88 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.siglip2.SigLIP2Encoder
+  name: sigLIP2
+  feature_key: x_norm_patchtokens
+  output_dim: 768
+  n_patches: 196
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 256
+epochs: 550
+eval_freq: 10
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_envs: 10
+num_final_evals: 100
+action_window_size: 5
+pred_horizon: ${eval:'${action_window_size} + ${window_size} - 1'}
+n_action_steps: ${action_window_size}
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 0.0001
+  weight_decay: 0.0
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.pusht.PushWrapper
+    id: pusht
+    env:
+      _target_: envs.pusht.PushTKeypointsEnv
+  obs_dim: 20
+  act_dim: 2
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.pusht.PushTDataset
+  data_directory: ${env_vars.datasets.pusht}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.diffusion_policy.diffusion_policy.DiffusionPolicy
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  views: ${env.views}
+  obs_horizon: ${window_size}
+  pred_horizon: ${pred_horizon}
+  action_horizon: ${n_action_steps}
+  n_layer: 8
+  n_head: 4
+  n_embd: 256
+  visual_input: true
+  data_act_scale: 1
+  lr: ${optim.lr}
+  weight_decay: ${optim.weight_decay}
+  use_transform: null
+  n_patches: ${encoder.n_patches}
+  compress_n_patches: null
+save_eval_video: false
+mixed_precision: bf16

ckpts/pusht_dp_siglip2/.hydra/hydra.yaml

@@ -0,0 +1,163 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - epochs=550
+    - eval_on_env_freq=99999
+    - num_final_evals=100
+    - num_envs=10
+    - dataset.prefetch=false
+    - encoder=siglip2_patch
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: dataset.prefetch=false,encoder=siglip2_patch,epochs=550,eval_on_env_freq=99999,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_pusht_diffusion_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-14/01-04-42
+    choices:
+      cluster: local
+      encoder: siglip2_patch
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ckpts/pusht_dp_siglip2/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- epochs=550
+- eval_on_env_freq=99999
+- num_final_evals=100
+- num_envs=10
+- dataset.prefetch=false
+- encoder=siglip2_patch

ckpts/pusht_dp_siglip2/eval_final.json

@@ -0,0 +1,215 @@
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ckpts/pusht_dp_siglip2/losses.csv

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ckpts/pusht_dp_siglip2/model_final.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276d96824eb4f2e7f6e338f726227d43f2bca29aeb8c3f14bf69ed5073ac3395
+size 74218937

ckpts/pusht_dp_vjepa2/.hydra/config.yaml

@@ -0,0 +1,88 @@
+env_vars:
+  save_path: /root/PatchPolicy/repro/results/official
+  wandb_entity: null
+  dataset_root: /root/autodl-tmp/patch_policy_datasets
+  datasets:
+    pusht: ${env_vars.dataset_root}/pusht_dataset
+    libero: ${env_vars.dataset_root}/libero_dataset
+    block_push: ${env_vars.dataset_root}/block_push_dataset
+    cube: ${env_vars.dataset_root}/cube_dataset
+encoder:
+  _target_: models.encoder.vjepa2.VJEPA2Encoder
+  name: vjepa2
+  feature_key: x_norm_patchtokens
+  output_dim: 1024
+  n_patches: 256
+seed: 42
+window_size: 2
+goal_window_size: 2
+eval_window_size: 2
+num_workers: 0
+batch_size: 256
+epochs: 550
+eval_freq: 10
+eval_on_env_freq: 99999
+num_env_evals: 100
+num_envs: 10
+num_final_evals: 100
+action_window_size: 5
+pred_horizon: ${eval:'${action_window_size} + ${window_size} - 1'}
+n_action_steps: ${action_window_size}
+precompute_embeddings: true
+goal_dim: 0
+wandb:
+  project: patch_policy
+  entity: ${env_vars.wandb_entity}
+train_fraction: 0.9
+device: cuda
+optim:
+  lr: 0.0001
+  weight_decay: 0.0
+  betas:
+  - 0.9
+  - 0.999
+env:
+  gym:
+    _target_: envs.pusht.PushWrapper
+    id: pusht
+    env:
+      _target_: envs.pusht.PushTKeypointsEnv
+  obs_dim: 20
+  act_dim: 2
+  goal_dim: ${goal_dim}
+  views: 1
+dataset:
+  _target_: datasets.pusht.PushTDataset
+  data_directory: ${env_vars.datasets.pusht}
+  prefetch: false
+data:
+  window_size: ${window_size}
+  action_window_size: ${action_window_size}
+  vqbet_get_future_action_chunk: false
+  goal_conditional: future
+  future_seq_len: ${goal_window_size}
+  min_future_sep: ${action_window_size}
+save_ckpt: true
+save_path: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+load_path: null
+model:
+  _target_: models.diffusion_policy.diffusion_policy.DiffusionPolicy
+  obs_dim: ${encoder.output_dim}
+  act_dim: ${env.act_dim}
+  goal_dim: ${env.goal_dim}
+  views: ${env.views}
+  obs_horizon: ${window_size}
+  pred_horizon: ${pred_horizon}
+  action_horizon: ${n_action_steps}
+  n_layer: 8
+  n_head: 4
+  n_embd: 256
+  visual_input: true
+  data_act_scale: 1
+  lr: ${optim.lr}
+  weight_decay: ${optim.weight_decay}
+  use_transform: null
+  n_patches: ${encoder.n_patches}
+  compress_n_patches: null
+save_eval_video: false
+mixed_precision: bf16

ckpts/pusht_dp_vjepa2/.hydra/hydra.yaml

@@ -0,0 +1,163 @@
+hydra:
+  run:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - epochs=550
+    - eval_on_env_freq=99999
+    - num_final_evals=100
+    - num_envs=10
+    - dataset.prefetch=false
+    - encoder=vjepa2_patch
+  job:
+    name: train_policy
+    chdir: true
+    override_dirname: dataset.prefetch=false,encoder=vjepa2_patch,epochs=550,eval_on_env_freq=99999,num_envs=10,num_final_evals=100
+    id: ???
+    num: ???
+    config_name: train_pusht_diffusion_1gpu
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /root/PatchPolicy/patch_policy
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /root/PatchPolicy/patch_policy/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-14/04-42-19
+    choices:
+      cluster: local
+      encoder: vjepa2_patch
+      env_vars: env_vars
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false