{ "task": { "dataset": { "_target_": "datasets.make_dataset", "seq_len": 1, "pad_mode": "none", "val_ratio": 0.05, "obs_stack": null, "action_chunk": 16, "to_memory": true, "dataset_id": "robomimic-all_actions-ph", "data_paths": [ "/home/ubuntu/robomimic/datasets/lift/ph/image_v15.hdf5", "/home/ubuntu/robomimic/datasets/can/ph/image_v15.hdf5", "/home/ubuntu/robomimic/datasets/square/ph/image_v15.hdf5", "/home/ubuntu/robomimic/datasets/tool_hang/ph/image_v15.hdf5" ], "buffer_dir": "buffers/robomimic/all_actions/ph/", "shape_meta": { "obs": {}, "action": { "shape": [ 7 ] } }, "normalize_low_dim": true } }, "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/robomimic_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, "action_chunk": 16, "seq_len": 8, "vocab_size": 64, "enc_embed_dim": 384, "enc_depth": 8, "enc_num_heads": 8, "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" } }