| defaults: |
| - env_vars: env_vars |
| - encoder: dino_patch |
| - _self_ |
| - cluster: local |
|
|
| hydra: |
| run: |
| dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S} |
| job: |
| chdir: True |
| sweep: |
| dir: ${env_vars.save_path}/outputs/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S} |
| subdir: ${hydra.job.num} |
| seed: 42 |
| window_size: 5 |
| goal_window_size: 5 |
| eval_window_size: 5 |
|
|
| num_workers: 0 |
|
|
| batch_size: 128 |
| epochs: 200 |
| eval_freq: 10 |
| eval_on_env_freq: 10 |
| num_env_evals: 100 |
| num_final_evals: 100 |
| num_envs: 10 |
| action_window_size: 5 |
|
|
| precompute_embeddings: False |
|
|
| goal_dim: 0 |
| wandb: |
| project: patch_policy |
| entity: ${env_vars.wandb_entity} |
| train_fraction: 0.9 |
|
|
| device: cuda |
| optim: |
| lr: 5.5e-5 |
| weight_decay: 2e-4 |
| 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} |
|
|
| 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 |
|
|
