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defaults:
- env_vars: env_vars
- encoder: blockpush_dynamo
- _self_
seed: 42
window_size: 3
goal_window_size: 3
eval_window_size: 3
batch_size: 64
epochs: 300
eval_freq: 10
eval_on_env_freq: 100
num_env_evals: 100
num_final_evals: 100
num_final_eval_per_goal: 1
action_window_size: 1
goal_dim: 0
train_fraction: 0.9
wandb:
project: dynamo-repro
entity: ${env_vars.wandb_entity}
device: cuda
optim:
lr: 1e-4
weight_decay: 0.0
betas: [0.9, 0.999]
env:
gym:
_target_: envs.block_pushing.block_pushing_multimodal.BlockPushMultimodalMultiview
id: blockpush
goal_dim: ${goal_dim}
act_dim: 2
views: 2
dataset:
_target_: datasets.block_pushing.PushMultiviewTrajectoryDataset
data_directory: ${env_vars.datasets.block_push}
data:
window_size: ${window_size}
action_window_size: ${action_window_size}
vqbet_get_future_action_chunk: true
goal_conditional: future
future_seq_len: ${goal_window_size}
min_future_sep: ${action_window_size}
save_every: 100
save_path: "${env_vars.save_path}/checkpoints/${env.gym.id}/${now:%Y-%m-%d}/${now:%H-%M-%S}"
model:
_target_: models.vq_behavior_transformer.bet.BehaviorTransformer
obs_dim: ${encoder.output_dim}
act_dim: ${env.act_dim}
goal_dim: ${env.goal_dim}
views: ${env.views}
vqvae_latent_dim: 512
vqvae_n_embed: 16
vqvae_groups: 2
vqvae_fit_steps: 1614
vqvae_iters: 300
n_layer: 6
n_head: 6
n_embd: 120
vqvae_batch_size: 1024
act_scale: 1
obs_window_size: ${window_size}
act_window_size: ${action_window_size}
offset_loss_multiplier: 100
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