| defaults: | |
| - env_vars: env_vars | |
| - encoder: libero_dynamo | |
| - _self_ | |
| seed: 42 | |
| window_size: 10 | |
| goal_window_size: 10 | |
| eval_window_size: 10 | |
| batch_size: 64 | |
| epochs: 50 | |
| eval_freq: 10 | |
| eval_on_env_freq: 5 | |
| num_env_evals: 10 | |
| num_final_evals: 10 | |
| num_final_eval_per_goal: 10 | |
| action_window_size: 1 | |
| wandb: | |
| project: dynamo-repro | |
| 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.libero.libero_env.LiberoEnv | |
| id: libero_goal | |
| obs_dim: 60 | |
| act_dim: 7 | |
| views: 2 | |
| dataset: | |
| _target_: datasets.libero.LiberoGoalDataset | |
| data_directory: ${env_vars.datasets.libero} | |
| 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: ${action_window_size} | |
| use_libero_goal: true | |
| save_every: 100 | |
| save_path: "${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: ${encoder.output_dim} | |
| views: ${env.views} | |
| vqvae_latent_dim: 512 | |
| vqvae_n_embed: 16 | |
| vqvae_groups: 2 | |
| vqvae_fit_steps: 884 | |
| vqvae_iters: 300 | |
| n_layer: 6 | |
| n_head: 6 | |
| n_embd: 120 | |
| vqvae_batch_size: 2048 | |
| act_scale: 1 | |
| obs_window_size: ${window_size} | |
| act_window_size: ${action_window_size} | |
| offset_loss_multiplier: 100 | |