File size: 1,509 Bytes
f751b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | # @package _global_
defaults:
- train
- override /data: libero
- override /model: w0
- _self_
posttrain_required: true
posttrain_stats: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json}
init_checkpoint: ${oc.env:W0_LIBERO_CHECKPOINT,checkpoints/libero.pt}
resume: null
seed: 42
model:
proprio_dim: 37
action_horizon: 64
action_chunk_size: 16
max_action_offset: 15
num_history_frames: 0
video_plan_horizon: 96
video_action_stride: 8
action_dit_config:
action_dim: 37
num_soft_prompts: 8
soft_prompt_domains: [libero/franka]
domain_configs:
- name: libero/franka
dataset: libero
embodiment: franka
action_dim: 37
proprio_dim: 37
action_valid_indices: [7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
proprio_valid_indices: [7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
raw_eef_names: [eef_x, eef_y, eef_z, rot6d_col0_x, rot6d_col0_y, rot6d_col0_z, rot6d_col1_x, rot6d_col1_y, rot6d_col1_z, gripper_open_scale]
action_semantics: native_delta_eef10_row_aligned
batch_size: 48
gradient_accumulation_steps: 1
learning_rate: 5.0e-5
soft_prompt_lr_scale: 1.0
num_epochs: 10
num_workers: 4
history_aware_batching: false
optimizer_group_max_numel: 200000000
save_every: 100
eval_every: 50
log_every: 10
keep_training_states: 1
checkpoint_min_free_gib: 128
freeze_video_dit: false
output_dir: ${oc.env:W0_OUTPUT_DIR,outputs}/libero/${now:%Y-%m-%d}_${now:%H-%M-%S}
wandb:
name: internw0_libero_goal_long_random_frame
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