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