| { | |
| "task": { | |
| "dataset": { | |
| "_target_": "datasets.make_dataset", | |
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| "pad_mode": "none", | |
| "val_ratio": 0.05, | |
| "obs_stack": null, | |
| "action_chunk": 16, | |
| "to_memory": false, | |
| "dataset_id": "libero-90-all-actions", | |
| "data_paths": "/home/ubuntu/LIBERO/libero/datasets/libero_90/*.hdf5", | |
| "buffer_dir": "buffers/libero/libero_90/all_actions", | |
| "shape_meta": { | |
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| "action": { | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "optimizer": { | |
| "_target_": "common.optimization.get_optimizer", | |
| "name": "AdamW", | |
| "model": "???", | |
| "lr": 0.0001, | |
| "weight_decay": 1e-06, | |
| "betas": [ | |
| 0.9, | |
| 0.999 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "_target_": "common.optimization.get_scheduler", | |
| "name": "constant", | |
| "optimizer": "???" | |
| }, | |
| "algo": "lmp-vae", | |
| "exp_id": "benchmark", | |
| "seed": 42, | |
| "logdir": "/home/ubuntu/logdir/lmp-vae/libero_all_actions/benchmark/42", | |
| "resume": false, | |
| "use_amp": false, | |
| "compile": true, | |
| "num_steps": 25000000, | |
| "train_every": 25000, | |
| "num_train_epochs": 2, | |
| "eval_every": 1000000, | |
| "save_every": 1000000, | |
| "eval_rollout_every": 1000000, | |
| "num_eval_rollouts": 20, | |
| "rollout_batch_size": 500, | |
| "train_batch_size": 500, | |
| "clip_grad_norm": 1.0, | |
| "free_nats_ratio": 0.2, | |
| "clip_range": 0.01, | |
| "kl_coef": 0.1, | |
| "ll_coef": 1.0, | |
| "model": { | |
| "_target_": "algorithms.latent_memory_palace.LatentMemoryPalaceVAE", | |
| "action_dim": 7, | |
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| "seq_len": 8, | |
| "vocab_size": 64, | |
| "enc_embed_dim": 384, | |
| "enc_depth": 8, | |
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| "enc_mlp_ratio": 4.0, | |
| "enc_num_registers": 1, | |
| "dec_embed_dim": 384, | |
| "dec_depth": 6, | |
| "dec_num_heads": 8, | |
| "dec_mlp_ratio": 4.0, | |
| "sigma_max": 1.0, | |
| "sigma_min": 1.0, | |
| "sigma_type": "learned_scalar" | |
| } | |
| } |