| output_model_name: lewm |
| subdir: ${hydra:job.id} |
| save_dir: xxx |
| num_workers: 8 |
| train_split: 0.9 |
| seed: 3072 |
| img_size: 224 |
| patch_size: 14 |
| encoder_scale: tiny |
| dump_object: true |
| trainer: |
| max_epochs: 10 |
| devices: 1 |
| accelerator: gpu |
| precision: bf16 |
| gradient_clip_val: 1.0 |
| loader: |
| batch_size: 128 |
| num_workers: ${num_workers} |
| persistent_workers: true |
| prefetch_factor: 3 |
| pin_memory: true |
| wm: |
| type: lewm |
| history_size: 3 |
| num_preds: 1 |
| embed_dim: 192 |
| sigreg_subspaces: 32 |
| sigreg_subspace_dim: 6 |
| sigreg_init_mode: 2 |
| action_dim: 5 |
| observation_dim: 28 |
| proprio_dim: 19 |
| predictor: |
| depth: 6 |
| heads: 16 |
| mlp_dim: 2048 |
| dim_head: 64 |
| dropout: 0.1 |
| emb_dropout: 0.0 |
| loss: |
| sigreg: |
| weight: 0.09 |
| theta: 0.0 |
| kwargs: |
| knots: 17 |
| num_proj: 1024 |
| optimizer: |
| type: AdamW |
| lr: 5.0e-05 |
| weight_decay: 0.001 |
| wandb: |
| enabled: true |
| config: |
| entity: xxx |
| project: lewm |
| name: ${output_model_name} |
| id: ${subdir} |
| resume: allow |
| log_model: false |
| data: |
| dataset: |
| name: cube_single_expert |
| num_steps: ${eval:'${wm.num_preds} + ${wm.history_size}'} |
| frameskip: 5 |
| keys_to_load: |
| - pixels |
| - action |
| - observation |
| - proprio |
| keys_to_cache: |
| - action |
| - observation |
| keys_to_merge: |
| proprio: proprio |
|
|
