|
resume: false |
|
device: cuda |
|
use_amp: true |
|
seed: 100000 |
|
dataset_repo_id: lerobot/pusht_keypoints |
|
video_backend: pyav |
|
training: |
|
offline_steps: 1000000 |
|
num_workers: 24 |
|
batch_size: 24 |
|
eval_freq: 10000 |
|
log_freq: 1000 |
|
save_checkpoint: true |
|
save_freq: 50000 |
|
online_steps: 0 |
|
online_rollout_n_episodes: 1 |
|
online_rollout_batch_size: 1 |
|
online_steps_between_rollouts: 1 |
|
online_sampling_ratio: 0.5 |
|
online_env_seed: null |
|
online_buffer_capacity: null |
|
online_buffer_seed_size: 0 |
|
do_online_rollout_async: false |
|
image_transforms: |
|
enable: false |
|
max_num_transforms: 3 |
|
random_order: false |
|
brightness: |
|
weight: 1 |
|
min_max: |
|
- 0.8 |
|
- 1.2 |
|
contrast: |
|
weight: 1 |
|
min_max: |
|
- 0.8 |
|
- 1.2 |
|
saturation: |
|
weight: 1 |
|
min_max: |
|
- 0.5 |
|
- 1.5 |
|
hue: |
|
weight: 1 |
|
min_max: |
|
- -0.05 |
|
- 0.05 |
|
sharpness: |
|
weight: 1 |
|
min_max: |
|
- 0.8 |
|
- 1.2 |
|
save_model: true |
|
grad_clip_norm: 50 |
|
lr: 0.0001 |
|
min_lr: 0.0001 |
|
lr_cycle_steps: 300000 |
|
weight_decay: 1.0e-05 |
|
delta_timestamps: |
|
observation.environment_state: |
|
- -1.5 |
|
- -1.4 |
|
- -1.3 |
|
- -1.2 |
|
- -1.1 |
|
- -1.0 |
|
- -0.9 |
|
- -0.8 |
|
- -0.7 |
|
- -0.6 |
|
- -0.5 |
|
- -0.1 |
|
- 0.0 |
|
observation.state: |
|
- -1.5 |
|
- -1.4 |
|
- -1.3 |
|
- -1.2 |
|
- -1.1 |
|
- -1.0 |
|
- -0.9 |
|
- -0.8 |
|
- -0.7 |
|
- -0.6 |
|
- -0.5 |
|
- -0.1 |
|
- 0.0 |
|
action: |
|
- -1.5 |
|
- -1.4 |
|
- -1.3 |
|
- -1.2 |
|
- -1.1 |
|
- -1.0 |
|
- -0.9 |
|
- -0.8 |
|
- -0.7 |
|
- -0.6 |
|
- -0.5 |
|
- -0.1 |
|
- 0.0 |
|
- 0.1 |
|
- 0.2 |
|
- 0.3 |
|
- 0.4 |
|
- 0.5 |
|
- 0.6 |
|
- 0.7 |
|
- 0.8 |
|
- 0.9 |
|
- 1.0 |
|
- 1.1 |
|
- 1.2 |
|
- 1.3 |
|
- 1.4 |
|
- 1.5 |
|
- 1.6 |
|
- 1.7 |
|
- 1.8 |
|
- 1.9 |
|
- 2.0 |
|
- 2.1 |
|
- 2.2 |
|
- 2.3 |
|
- 2.4 |
|
- 2.5 |
|
- 2.6 |
|
- 2.7 |
|
- 2.8 |
|
- 2.9 |
|
eval: |
|
n_episodes: 100 |
|
batch_size: 100 |
|
use_async_envs: false |
|
wandb: |
|
enable: true |
|
disable_artifact: false |
|
project: pusht |
|
notes: '' |
|
fps: 10 |
|
env: |
|
name: pusht |
|
task: PushT-v0 |
|
image_size: 96 |
|
state_dim: 2 |
|
action_dim: 2 |
|
fps: ${fps} |
|
episode_length: 300 |
|
gym: |
|
obs_type: environment_state_agent_pos |
|
render_mode: rgb_array |
|
visualization_width: 384 |
|
visualization_height: 384 |
|
override_dataset_stats: |
|
observation.environment_state: |
|
min: |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
- 0.0 |
|
max: |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
- 512.0 |
|
observation.state: |
|
min: |
|
- 0.0 |
|
- 0.0 |
|
max: |
|
- 512.0 |
|
- 512.0 |
|
action: |
|
min: |
|
- 0.0 |
|
- 0.0 |
|
max: |
|
- 512.0 |
|
- 512.0 |
|
policy: |
|
name: dot |
|
n_obs_steps: 3 |
|
train_horizon: 30 |
|
inference_horizon: 30 |
|
lookback_obs_steps: 10 |
|
lookback_aug: 5 |
|
input_shapes: |
|
observation.environment_state: |
|
- 16 |
|
observation.state: |
|
- ${env.state_dim} |
|
output_shapes: |
|
action: |
|
- ${env.action_dim} |
|
input_normalization_modes: |
|
observation.environment_state: min_max |
|
observation.state: min_max |
|
output_normalization_modes: |
|
action: min_max |
|
state_noise: 0.01 |
|
noise_decay: 0.999995 |
|
pre_norm: true |
|
dim_model: 128 |
|
n_heads: 8 |
|
dim_feedforward: 512 |
|
n_decoder_layers: 8 |
|
dropout: 0.1 |
|
alpha: 0.75 |
|
train_alpha: 0.9 |
|
predict_every_n: 1 |
|
return_every_n: 2 |
|
|