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defaults:
- _self_
- encoder: resnet18_random
- projector: inverse_dynamics_your_dataset
- ssl: dynamo_your_dataset
- env: your_dataset
- env_vars: env_vars
# Dataset details
subset_fraction: null
train_fraction: 0.95
batch_size: 64 # across all processes
num_workers: 15 # per process
window_size: 5
goal_conditional: null
goal_seq_len: 0
min_future_sep: 0
num_extra_predicted_actions: 0
# Training details
ssl_lr: 1e-4
ssl_weight_decay: 0.0
betas:
- 0.9
- 0.999
clip_grad_norm: 0.1
seed: 42
timeout_seconds: 18000
sync_bn: True
use_lr_scheduling: True
warmup_epochs: 5
num_epochs: 40
save_every_epochs: 10
# Eval config
eval_offline: True
# Wandb config
project: dynamo-repro
experiment: train_your_dataset_dynamo
# hydra config
hydra:
job:
override_dirname: ${experiment}
chdir: False
run:
dir: ./exp_local/${now:%Y.%m.%d}/${now:%H%M%S}_${experiment}
sweep:
dir: ./exp_local/${now:%Y.%m.%d}/sweep_${now:%H%M%S}_${experiment}
subdir: ${hydra.job.num} |