| defaults: |
| - env_vars: env_vars |
| - encoder: kitchen_dynamo |
| - _self_ |
|
|
| seed: 42 |
| window_size: 10 |
| goal_window_size: 10 |
| eval_window_size: 10 |
| batch_size: 2048 |
| epochs: 1000 |
| eval_freq: 10 |
| eval_on_env_freq: 200 |
| num_env_evals: 20 |
| num_final_evals: 100 |
| num_final_eval_per_goal: 1 |
| action_window_size: 1 |
| sequentially_select: false |
| goal_dim: 0 |
| train_fraction: 0.9 |
|
|
| wandb: |
| project: dynamo-repro |
| entity: ${env_vars.wandb_entity} |
|
|
| device: cuda |
| optim: |
| lr: 5.5e-5 |
| weight_decay: 2e-4 |
| betas: [0.9, 0.999] |
|
|
| env: |
| gym: |
| _target_: envs.sim_kitchen.KitchenWrapper |
| id: kitchen-v0 |
| env: |
| _target_: gym.make |
| id: kitchen-v0 |
| obs_dim: 60 |
| act_dim: 9 |
| goal_dim: ${goal_dim} |
| views: 1 |
|
|
| dataset: |
| _target_: datasets.sim_kitchen.SimKitchenTrajectoryDataset |
| data_directory: ${env_vars.datasets.sim_kitchen} |
| prefetch: True |
|
|
| 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: ${action_window_size} |
|
|
| save_every: 10 |
| save_path: "${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: 56 |
| vqvae_iters: 300 |
| n_layer: 6 |
| n_head: 6 |
| n_embd: 120 |
| vqvae_batch_size: 2048 |
| obs_window_size: ${window_size} |
| act_window_size: ${action_window_size} |
| offset_loss_multiplier: 100 |
|
|
