| { |
| "task": { |
| "dataset": { |
| "_target_": "datasets.make_dataset", |
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| "pad_mode": "none", |
| "val_ratio": 0.01, |
| "obs_stack": 1, |
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| "to_memory": false, |
| "dataset_id": "libero-90", |
| "data_paths": "/opt/ml/input/data/training/libero_90/*.hdf5", |
| "buffer_dir": "/tmp/buffers/libero_90/", |
| "shape_meta": { |
| "obs": { |
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| 128, |
| 3 |
| ], |
| "type": "rgb" |
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| "eye_in_hand_rgb": { |
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| 128, |
| 3 |
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| } |
| }, |
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| }, |
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| }, |
| "env": { |
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| "obs_stack": 1, |
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| "env_id": "libero-test", |
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| 128, |
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| 128, |
| 128, |
| 3 |
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| "type": "rgb" |
| } |
| }, |
| "action": { |
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| 7 |
| ] |
| } |
| }, |
| "max_episode_steps": 1000 |
| } |
| }, |
| "optimizer": { |
| "_target_": "common.optimization.get_optimizer", |
| "name": "AdamW", |
| "model": "???", |
| "lr": 0.0001, |
| "weight_decay": 1e-06, |
| "betas": [ |
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| 0.999 |
| ], |
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| "obs_encoder_lr_scale": 0.1 |
| }, |
| "scheduler": { |
| "_target_": "common.optimization.get_scheduler", |
| "name": "constant", |
| "optimizer": "???", |
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| }, |
| "algo": "lmp-policy-ppo", |
| "exp_id": "clipexpdiff0.05_ll0.01_s16v16_sig0.1-0.01", |
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| "logdir": "/opt/ml/checkpoints/lmp-policy-ppo/libero_90/clipexpdiff0.05_ll0.01_s16v16_sig0.1-0.01/42", |
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| "compile": false, |
| "pretrain_checkpoint_path": null, |
| "num_steps": 5000000, |
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| "alpha": 0.1, |
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| "model": { |
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| "_target_": "models.obs_encoders.SequenceObservationEncoder", |
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| "dec_depth": 10, |
| "dec_num_heads": 12, |
| "dec_mlp_ratio": 4.0, |
| "sigma_max": 0.1, |
| "sigma_min": 0.01, |
| "sigma_type": "learned_grid", |
| "reg_type": "none", |
| "reg_coef": 0 |
| } |
| } |
