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fb_z_torch

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+ {
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+ "name": "TrainConfig",
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+ "agent": {
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+ "name": "FBFlowBCAgent",
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+ "model": {
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+ "name": "FBFlowBCModel",
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+ "device": "cuda",
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+ "archi": {
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+ "name": "FBFlowBCModelArchiConfig",
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+ "L_dim": 50,
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+ "z_dim": 50,
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+ "norm_z": true,
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+ "f": {
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+ "name": "ForwardArchi",
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+ "hidden_dim": 512,
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+ "model": "simple",
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+ "hidden_layers": 2,
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+ "embedding_layers": 2,
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+ "num_parallel": 2,
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+ "ensemble_mode": "batch"
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+ },
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+ "b": {
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+ "name": "BackwardArchi",
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+ "hidden_dim": 512,
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+ "hidden_layers": 4,
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+ "norm": true
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+ },
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+ "actor": {
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+ "name": "noise_conditioned_actor",
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+ "model": "simple",
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+ "hidden_dim": 512,
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+ "hidden_layers": 2,
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+ "embedding_layers": 2
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+ },
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+ "left_encoder": {
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+ "name": "BackwardArchi",
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+ "hidden_dim": 512,
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+ "hidden_layers": 4,
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+ "norm": true
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+ },
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+ "rgb_encoder": {
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+ "name": "Identity"
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+ },
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+ "augmentator": {
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+ "name": "Identity"
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+ },
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+ "actor_vf": {
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+ "name": "SimpleVectorFieldArchiConfig",
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+ "model": "simple",
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+ "hidden_dim": 512,
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+ "hidden_layers": 4
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+ }
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+ },
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+ "obs_normalizer": {
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+ "name": "IdentityNormalizerConfig"
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+ },
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+ "inference_batch_size": 500000,
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+ "seq_length": 1,
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+ "actor_std": 0.2,
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+ "amp": false,
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+ "actor_encode_obs": false
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+ },
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+ "train": {
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+ "name": "FBFlowBCAgentTrainConfig",
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+ "lr_f": 0.0001,
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+ "lr_b": 0.0001,
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+ "lr_actor": 0.0001,
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+ "weight_decay": 0.0,
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+ "clip_grad_norm": 0.0,
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+ "f_target_tau": 0.005,
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+ "b_target_tau": 0.005,
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+ "ortho_coef": 100.0,
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+ "train_goal_ratio": 0.5,
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+ "fb_pessimism_penalty": 0.0,
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+ "actor_pessimism_penalty": 0.0,
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+ "stddev_clip": 0.3,
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+ "q_loss_coef": 0.0,
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+ "batch_size": 256,
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+ "discount": 0.99,
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+ "use_mix_rollout": false,
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+ "update_z_every_step": 150,
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+ "z_buffer_size": 10000,
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+ "bc_coeff": 0.3,
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+ "flow_steps": 10,
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+ "lr_actor_vf": 0.0003
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+ },
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+ "cudagraphs": false,
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+ "compile": true
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+ },
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+ "env": {
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+ "name": "ogbench",
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+ "domain": "antmaze-medium-navigate-v0",
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+ "task": "antmaze-medium-navigate-singletask-task1-v0",
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+ "seed": 0,
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+ "obs_type": "state",
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+ "camera_id": null,
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+ "render_height": 64,
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+ "render_width": 64,
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+ "frame_stack": 1
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+ },
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+ "data": {
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+ "name": "ogbench",
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+ "domain": "antmaze-medium-navigate-v0",
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+ "dataset_root": "datasets",
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+ "load_n_episodes": 1000,
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+ "obs_type": "state",
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+ "buffer_type": "dict",
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+ "future": 0.99,
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+ "num_workers": 8,
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+ "horizon": 1
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+ },
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+ "relabel_dataset": false,
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+ "work_dir": "results/0",
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+ "seed": 3917,
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+ "log_every_updates": 10000,
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+ "num_train_steps": 1000000,
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+ "checkpoint_every_steps": 250000,
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+ "use_comet_ml": true,
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+ "comet_ml_ename": null,
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+ "comet_ml_gname": "fb_antmaze_proprio",
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+ "comet_ml_pname": "td_jepa",
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+ "hf_repo": "Ievan/fb_z_torch",
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+ "buffer_device": null,
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+ "evaluations": [
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+ {
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+ "name": "ogbench_reward_eval",
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+ "name_in_logs": "reward",
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+ "env": {
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+ "name": "ogbench",
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+ "domain": "antmaze-medium-navigate-v0",
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+ "task": "antmaze-medium-navigate-singletask-task1-v0",
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+ "seed": 0,
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+ "obs_type": "state",
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+ "camera_id": null,
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+ "render_height": 64,
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+ "render_width": 64,
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+ "frame_stack": 1
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+ },
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+ "tasks": [
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+ "antmaze-medium-navigate-singletask-task1-v0",
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+ "antmaze-medium-navigate-singletask-task2-v0",
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+ "antmaze-medium-navigate-singletask-task3-v0",
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+ "antmaze-medium-navigate-singletask-task4-v0",
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+ "antmaze-medium-navigate-singletask-task5-v0"
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+ ],
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+ "num_episodes": 10,
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+ "num_inference_samples": 10000,
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+ "shift_reward": 1.0,
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+ "disable_tqdm": true
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+ }
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+ ],
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+ "eval_every_steps": 250000,
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+ "tags": {}
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+ }