| resume: false | |
| device: cuda | |
| use_amp: false | |
| seed: 100000 | |
| dataset_repo_id: lerobot/pusht | |
| video_backend: pyav | |
| training: | |
| offline_steps: 250000 | |
| online_steps: 0 | |
| online_steps_between_rollouts: 1 | |
| online_sampling_ratio: 0.5 | |
| online_env_seed: ??? | |
| eval_freq: 20000 | |
| log_freq: 250 | |
| save_checkpoint: true | |
| save_freq: 20000 | |
| num_workers: 4 | |
| batch_size: 64 | |
| 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 | |
| grad_clip_norm: 10 | |
| lr: 0.0001 | |
| lr_scheduler: cosine | |
| lr_warmup_steps: 500 | |
| adam_betas: | |
| - 0.95 | |
| - 0.999 | |
| adam_eps: 1.0e-08 | |
| adam_weight_decay: 1.0e-06 | |
| vqvae_lr: 0.001 | |
| n_vqvae_training_steps: 20000 | |
| bet_weight_decay: 0.0002 | |
| bet_learning_rate: 5.5e-05 | |
| bet_betas: | |
| - 0.9 | |
| - 0.999 | |
| delta_timestamps: | |
| observation.image: | |
| - -0.4 | |
| - -0.3 | |
| - -0.2 | |
| - -0.1 | |
| - 0.0 | |
| observation.state: | |
| - -0.4 | |
| - -0.3 | |
| - -0.2 | |
| - -0.1 | |
| - 0.0 | |
| action: | |
| - -0.4 | |
| - -0.3 | |
| - -0.2 | |
| - -0.1 | |
| - 0.0 | |
| - 0.1 | |
| - 0.2 | |
| - 0.3 | |
| - 0.4 | |
| - 0.5 | |
| - 0.6 | |
| - 0.7 | |
| - 0.8 | |
| - 0.9 | |
| - 1.0 | |
| eval: | |
| n_episodes: 50 | |
| batch_size: 50 | |
| use_async_envs: false | |
| wandb: | |
| enable: true | |
| disable_artifact: false | |
| project: lerobot | |
| 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: pixels_agent_pos | |
| render_mode: rgb_array | |
| visualization_width: 384 | |
| visualization_height: 384 | |
| override_dataset_stats: | |
| observation.image: | |
| mean: | |
| - - - 0.5 | |
| - - - 0.5 | |
| - - - 0.5 | |
| std: | |
| - - - 0.5 | |
| - - - 0.5 | |
| - - - 0.5 | |
| observation.state: | |
| min: | |
| - 13.456424 | |
| - 32.938293 | |
| max: | |
| - 496.14618 | |
| - 510.9579 | |
| action: | |
| min: | |
| - 12.0 | |
| - 25.0 | |
| max: | |
| - 511.0 | |
| - 511.0 | |
| policy: | |
| name: vqbet | |
| n_obs_steps: 5 | |
| n_action_pred_token: 7 | |
| action_chunk_size: 5 | |
| input_shapes: | |
| observation.image: | |
| - 3 | |
| - 96 | |
| - 96 | |
| observation.state: | |
| - ${env.state_dim} | |
| output_shapes: | |
| action: | |
| - ${env.action_dim} | |
| input_normalization_modes: | |
| observation.image: mean_std | |
| observation.state: min_max | |
| output_normalization_modes: | |
| action: min_max | |
| vision_backbone: resnet18 | |
| crop_shape: | |
| - 84 | |
| - 84 | |
| crop_is_random: true | |
| pretrained_backbone_weights: null | |
| use_group_norm: true | |
| spatial_softmax_num_keypoints: 32 | |
| n_vqvae_training_steps: ${training.n_vqvae_training_steps} | |
| vqvae_n_embed: 16 | |
| vqvae_embedding_dim: 256 | |
| vqvae_enc_hidden_dim: 128 | |
| gpt_block_size: 500 | |
| gpt_input_dim: 512 | |
| gpt_output_dim: 512 | |
| gpt_n_layer: 8 | |
| gpt_n_head: 8 | |
| gpt_hidden_dim: 512 | |
| dropout: 0.1 | |
| mlp_hidden_dim: 1024 | |
| offset_loss_weight: 10000.0 | |
| primary_code_loss_weight: 5.0 | |
| secondary_code_loss_weight: 0.5 | |
| bet_softmax_temperature: 0.01 | |
| sequentially_select: false | |