| resume: false | |
| device: cuda | |
| use_amp: true | |
| seed: 1 | |
| dataset_repo_id: lerobot/pusht_keypoints | |
| video_backend: pyav | |
| training: | |
| offline_steps: 0 | |
| num_workers: 12 | |
| batch_size: 256 | |
| eval_freq: 10000 | |
| log_freq: 250 | |
| save_checkpoint: true | |
| save_freq: 10000 | |
| online_steps: 1000000 | |
| online_steps_between_rollouts: 1000 | |
| online_rollout_n_episodes: 10 | |
| online_rollout_batch_size: 10 | |
| online_sampling_ratio: 1.0 | |
| online_env_seed: 10000 | |
| online_buffer_capacity: 40000 | |
| online_buffer_seed_size: 0 | |
| do_online_rollout_async: false | |
| image_transforms: | |
| enable: false | |
| max_num_transforms: 3 | |
| random_order: false | |
| brightness: | |
| weight: 1 | |
| min_max: | |
| - 0.8 | |
| - 1.2 | |
| contrast: | |
| weight: 1 | |
| min_max: | |
| - 0.8 | |
| - 1.2 | |
| saturation: | |
| weight: 1 | |
| min_max: | |
| - 0.5 | |
| - 1.5 | |
| hue: | |
| weight: 1 | |
| min_max: | |
| - -0.05 | |
| - 0.05 | |
| sharpness: | |
| weight: 1 | |
| min_max: | |
| - 0.8 | |
| - 1.2 | |
| grad_clip_norm: 10.0 | |
| lr: 0.0003 | |
| delta_timestamps: | |
| observation.environment_state: | |
| - 0.0 | |
| - 0.1 | |
| - 0.2 | |
| - 0.3 | |
| - 0.4 | |
| - 0.5 | |
| observation.state: | |
| - 0.0 | |
| - 0.1 | |
| - 0.2 | |
| - 0.3 | |
| - 0.4 | |
| - 0.5 | |
| action: | |
| - 0.0 | |
| - 0.1 | |
| - 0.2 | |
| - 0.3 | |
| - 0.4 | |
| next.reward: | |
| - 0.0 | |
| - 0.1 | |
| - 0.2 | |
| - 0.3 | |
| - 0.4 | |
| eval: | |
| n_episodes: 50 | |
| batch_size: 50 | |
| use_async_envs: true | |
| wandb: | |
| enable: true | |
| disable_artifact: true | |
| project: lerobot | |
| notes: '' | |
| fps: 10 | |
| env: | |
| name: pusht | |
| task: PushT-v0 | |
| image_size: 96 | |
| state_dim: 2 | |
| action_dim: 2 | |
| fps: ${fps} | |
| episode_length: 300 | |
| gym: | |
| obs_type: environment_state_agent_pos | |
| render_mode: rgb_array | |
| visualization_width: 384 | |
| visualization_height: 384 | |
| policy: | |
| name: tdmpc | |
| pretrained_model_path: null | |
| n_action_repeats: 1 | |
| horizon: 5 | |
| n_action_steps: 5 | |
| input_shapes: | |
| observation.environment_state: | |
| - 16 | |
| observation.state: | |
| - ${env.state_dim} | |
| output_shapes: | |
| action: | |
| - ${env.action_dim} | |
| input_normalization_modes: | |
| observation.environment_state: min_max | |
| observation.state: min_max | |
| output_normalization_modes: | |
| action: min_max | |
| image_encoder_hidden_dim: 32 | |
| state_encoder_hidden_dim: 256 | |
| latent_dim: 50 | |
| q_ensemble_size: 5 | |
| mlp_dim: 512 | |
| discount: 0.98 | |
| use_mpc: true | |
| cem_iterations: 6 | |
| max_std: 2.0 | |
| min_std: 0.05 | |
| n_gaussian_samples: 512 | |
| n_pi_samples: 51 | |
| uncertainty_regularizer_coeff: 1.0 | |
| n_elites: 50 | |
| elite_weighting_temperature: 0.5 | |
| gaussian_mean_momentum: 0.1 | |
| max_random_shift_ratio: 0.0476 | |
| reward_coeff: 0.5 | |
| expectile_weight: 0.9 | |
| value_coeff: 0.1 | |
| consistency_coeff: 20.0 | |
| advantage_scaling: 3.0 | |
| pi_coeff: 0.5 | |
| temporal_decay_coeff: 0.5 | |
| target_model_momentum: 0.995 | |