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Cleanup config defaults (#300)

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Simon Alibert 2024-07-04 11:53:29 +02:00 committed by GitHub
parent 7a5fc76b9f
commit 964f9e86d6
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7 changed files with 13 additions and 17 deletions
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2
lerobot/configs/default.yaml
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@ -39,7 +39,7 @@ training:
# `online_env_seed` is used for environments for online training data rollouts. # `online_env_seed` is used for environments for online training data rollouts.
online_env_seed: ??? online_env_seed: ???
eval_freq: ??? eval_freq: ???
log_freq: 250 log_freq: 200
save_checkpoint: true save_checkpoint: true
# Checkpoint is saved every `save_freq` training iterations and after the last training step. # Checkpoint is saved every `save_freq` training iterations and after the last training step.
save_freq: ??? save_freq: ???

7
lerobot/configs/policy/act.yaml
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@ -10,11 +10,10 @@ override_dataset_stats:
std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
training: training:
offline_steps: 80000 offline_steps: 100000
online_steps: 0 online_steps: 0
eval_freq: 10000 eval_freq: 20000
save_freq: 100000 save_freq: 20000
log_freq: 250
save_checkpoint: true save_checkpoint: true
batch_size: 8 batch_size: 8

5
lerobot/configs/policy/act_real.yaml
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@ -36,11 +36,10 @@ override_dataset_stats:
std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
training: training:
offline_steps: 80000 offline_steps: 100000
online_steps: 0 online_steps: 0
eval_freq: -1 eval_freq: -1
save_freq: 10000 save_freq: 20000
log_freq: 100
save_checkpoint: true save_checkpoint: true
batch_size: 8 batch_size: 8

5
lerobot/configs/policy/act_real_no_state.yaml
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@ -34,11 +34,10 @@ override_dataset_stats:
std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
training: training:
offline_steps: 80000 offline_steps: 100000
online_steps: 0 online_steps: 0
eval_freq: -1 eval_freq: -1
save_freq: 10000 save_freq: 20000
log_freq: 100
save_checkpoint: true save_checkpoint: true
batch_size: 8 batch_size: 8

5
lerobot/configs/policy/diffusion.yaml
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@ -24,9 +24,8 @@ override_dataset_stats:
training: training:
offline_steps: 200000 offline_steps: 200000
online_steps: 0 online_steps: 0
eval_freq: 5000 eval_freq: 25000
save_freq: 5000 save_freq: 25000
log_freq: 250
save_checkpoint: true save_checkpoint: true
batch_size: 64 batch_size: 64

1
lerobot/configs/policy/tdmpc.yaml
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@ -11,6 +11,7 @@ training:
online_steps_between_rollouts: 1 online_steps_between_rollouts: 1
online_sampling_ratio: 0.5 online_sampling_ratio: 0.5
online_env_seed: 10000 online_env_seed: 10000
log_freq: 100
batch_size: 256 batch_size: 256
grad_clip_norm: 10.0 grad_clip_norm: 10.0

5
lerobot/configs/policy/vqbet.yaml
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@ -22,9 +22,8 @@ override_dataset_stats:
training: training:
offline_steps: 250000 offline_steps: 250000
online_steps: 0 online_steps: 0
eval_freq: 20000 eval_freq: 25000
save_freq: 20000 save_freq: 25000
log_freq: 250
save_checkpoint: true save_checkpoint: true
batch_size: 64 batch_size: 64