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CALVIN_ABC-D_RUN.md

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Running

Notice

For convenience, some checkpoints, such as the MAE-pretrained ViT-B model, are provided for manual download. Users must update the following paths accordingly. Relevant checkpoints can be acquired from the website.

  • ❗ pretrain.sh, finetune.sh, scratch, eval.sh: Please update the following:

    • calvin_dataset_path to the directory where you have stored the CALVIN ABC-D data.
    • checkpoint_path to the parent directory where your experiment checkpoints are saved.
    • finetune_from_pretrained_ckpt to the location of your pre-trained checkpoint.
    • resume_from_checkpoint to the location of your fine-tuned checkpoint.
    • vit_ckpt_path to the location of your ViT checkpoint (downloaded from the website).

  • ❗ networkx: Due to compatibility issues between the networkx library in CALVIN and Python 3.10, we provide a compatible version of networkx.zip on the website. Download and unzip it, then replace the existing networkx library in the following path:

Seer

Pre-train

bash scripts/CALVIN_ABC_D/Seer/pretrain.sh

Fine-tune

bash scripts/CALVIN_ABC_D/Seer/finetune.sh

Eval

bash scripts/CALVIN_ABC_D/Seer/eval.sh

Scratch

bash scripts/CALVIN_ABC_D/Seer/scratch.sh