| resume: false |
| device: cuda |
| use_amp: true |
| seed: 100000 |
| dataset_repo_id: lerobot/pusht_keypoints |
| video_backend: pyav |
| training: |
| offline_steps: 1000000 |
| num_workers: 24 |
| batch_size: 24 |
| eval_freq: 10000 |
| log_freq: 1000 |
| save_checkpoint: true |
| save_freq: 50000 |
| online_steps: 0 |
| online_rollout_n_episodes: 1 |
| online_rollout_batch_size: 1 |
| online_steps_between_rollouts: 1 |
| online_sampling_ratio: 0.5 |
| online_env_seed: null |
| online_buffer_capacity: null |
| 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 |
| save_model: true |
| grad_clip_norm: 50 |
| lr: 0.0001 |
| min_lr: 0.0001 |
| lr_cycle_steps: 300000 |
| weight_decay: 1.0e-05 |
| delta_timestamps: |
| observation.environment_state: |
| - -1.5 |
| - -1.4 |
| - -1.3 |
| - -1.2 |
| - -1.1 |
| - -1.0 |
| - -0.9 |
| - -0.8 |
| - -0.7 |
| - -0.6 |
| - -0.5 |
| - -0.1 |
| - 0.0 |
| observation.state: |
| - -1.5 |
| - -1.4 |
| - -1.3 |
| - -1.2 |
| - -1.1 |
| - -1.0 |
| - -0.9 |
| - -0.8 |
| - -0.7 |
| - -0.6 |
| - -0.5 |
| - -0.1 |
| - 0.0 |
| action: |
| - -1.5 |
| - -1.4 |
| - -1.3 |
| - -1.2 |
| - -1.1 |
| - -1.0 |
| - -0.9 |
| - -0.8 |
| - -0.7 |
| - -0.6 |
| - -0.5 |
| - -0.1 |
| - 0.0 |
| - 0.1 |
| - 0.2 |
| - 0.3 |
| - 0.4 |
| - 0.5 |
| - 0.6 |
| - 0.7 |
| - 0.8 |
| - 0.9 |
| - 1.0 |
| - 1.1 |
| - 1.2 |
| - 1.3 |
| - 1.4 |
| - 1.5 |
| - 1.6 |
| - 1.7 |
| - 1.8 |
| - 1.9 |
| - 2.0 |
| - 2.1 |
| - 2.2 |
| - 2.3 |
| - 2.4 |
| - 2.5 |
| - 2.6 |
| - 2.7 |
| - 2.8 |
| - 2.9 |
| eval: |
| n_episodes: 100 |
| batch_size: 100 |
| use_async_envs: false |
| wandb: |
| enable: true |
| disable_artifact: false |
| project: pusht |
| 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 |
| override_dataset_stats: |
| observation.environment_state: |
| min: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| max: |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| - 512.0 |
| observation.state: |
| min: |
| - 0.0 |
| - 0.0 |
| max: |
| - 512.0 |
| - 512.0 |
| action: |
| min: |
| - 0.0 |
| - 0.0 |
| max: |
| - 512.0 |
| - 512.0 |
| policy: |
| name: dot |
| n_obs_steps: 3 |
| train_horizon: 30 |
| inference_horizon: 30 |
| lookback_obs_steps: 10 |
| lookback_aug: 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 |
| state_noise: 0.01 |
| noise_decay: 0.999995 |
| pre_norm: true |
| dim_model: 128 |
| n_heads: 8 |
| dim_feedforward: 512 |
| n_decoder_layers: 8 |
| dropout: 0.1 |
| alpha: 0.75 |
| train_alpha: 0.9 |
| predict_every_n: 1 |
| return_every_n: 2 |
|
|
