68 lines
1.7 KiB
YAML
68 lines
1.7 KiB
YAML
# @package _global_
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offline_steps: 80000
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online_steps: 0
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eval_episodes: 1
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eval_freq: 10000
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save_freq: 100000
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log_freq: 250
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horizon: 100
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n_obs_steps: 1
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# when temporal_agg=False, n_action_steps=horizon
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n_action_steps: ${horizon}
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policy:
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name: act
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pretrained_model_path:
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lr: 1e-5
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lr_backbone: 1e-5
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pretrained_backbone: true
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weight_decay: 1e-4
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grad_clip_norm: 10
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backbone: resnet18
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horizon: ${horizon} # chunk_size
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kl_weight: 10
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d_model: 512
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dim_feedforward: 3200
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vae_enc_layers: 4
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enc_layers: 4
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dec_layers: 1
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num_heads: 8
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#camera_names: [top, front_close, left_pillar, right_pillar]
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camera_names: [top]
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dilation: false
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dropout: 0.1
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pre_norm: false
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activation: relu
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latent_dim: 32
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use_vae: true
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batch_size: 8
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per_alpha: 0.6
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per_beta: 0.4
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balanced_sampling: false
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utd: 1
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n_obs_steps: ${n_obs_steps}
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temporal_agg: false
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state_dim: 14
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action_dim: 14
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image_normalization:
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mean: [0.485, 0.456, 0.406]
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std: [0.229, 0.224, 0.225]
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delta_timestamps:
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observation.images.top: [0.0]
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observation.state: [0.0]
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action: [0.0, 0.02, 0.04, 0.06, 0.08, 0.1, 0.12, 0.14, 0.16, 0.18, 0.2, 0.22, 0.24, 0.26, 0.28, 0.3, 0.32, 0.34, 0.36, 0.38, 0.4, 0.42, 0.44, 0.46, 0.48, 0.5, 0.52, 0.54, 0.56, 0.58, 0.6, 0.62, 0.64, 0.66, 0.68, 0.70, 0.72, 0.74, 0.76, 0.78, 0.8, 0.82, 0.84, 0.86, 0.88, 0.9, 0.92, 0.94, 0.96, 0.98, 1.0, 1.02, 1.04, 1.06, 1.08, 1.1, 1.12, 1.14, 1.16, 1.18, 1.2, 1.22, 1.24, 1.26, 1.28, 1.3, 1.32, 1.34, 1.36, 1.38, 1.40, 1.42, 1.44, 1.46, 1.48, 1.5, 1.52, 1.54, 1.56, 1.58, 1.6, 1.62, 1.64, 1.66, 1.68, 1.7, 1.72, 1.74, 1.76, 1.78, 1.8, 1.82, 1.84, 1.86, 1.88, 1.90, 1.92, 1.94, 1.96, 1.98]
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