v0.5 to main (#10)

* v0.5 (#9)

* update idql configs

* update awr configs

* update dipo configs

* update qsm configs

* update dqm configs

* update project version to 0.5.0

cfg/robomimic/finetune/can/calql_mlp_online.yaml

@@ -0,0 +1,122 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_calql_agent.TrainCalQLAgent
+
+name: ${env_name}_calql_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path:
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: can
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 300
+  reset_at_iteration: False
+  save_video: False
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: calql-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 10000
+  n_steps: 1  # not used
+  n_episode_per_epoch: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 3e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 3e-4
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  log_freq: 1
+  # CalQL specific
+  train_online: True
+  batch_size: 256
+  n_random_actions: 4
+  target_ema_rate: 0.005
+  scale_reward_factor: 1.0
+  num_update: 1000
+  buffer_size: 1000000
+  online_utd_ratio: 1
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+  automatic_entropy_tuning: True
+
+model:
+  _target_: model.rl.gaussian_calql.CalQL_Gaussian
+  randn_clip_value: 3
+  cql_min_q_weight: 5.0
+  tanh_output: True
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  discount_factor: ${train.gamma}
+  get_mc_return: True

cfg/robomimic/finetune/can/ft_awr_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 cond_steps: 1
 horizon_steps: 4
@@ -73,7 +72,7 @@ train:
   max_adv_weight: 100
   beta: 10
   buffer_size: 3000
-  batch_size: 256
+  batch_size: 1000
   replay_ratio: 64
   critic_update_ratio: 4
 
@@ -91,7 +90,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_dipo_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 cond_steps: 1
 horizon_steps: 4
@@ -70,11 +69,12 @@ train:
     num: 0
   # DIPO specific
   scale_reward_factor: 1
-  eta: 0.0001
+  target_ema_rate: 0.005
+  buffer_size: 1000000
+  action_lr: 0.0001
   action_gradient_steps: 10
-  buffer_size: 400000
-  batch_size: 5000
-  replay_ratio: 64
+  replay_ratio: 16
+  batch_size: 1000
 
 model:
   _target_: model.diffusion.diffusion_dipo.DIPODiffusion
@@ -90,7 +90,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObsAct
     action_dim: ${action_dim}

cfg/robomimic/finetune/can/ft_dql_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 cond_steps: 1
 horizon_steps: 4
@@ -48,7 +47,7 @@ wandb:
 
 train:
   n_train_itr: 300
-  n_critic_warmup_itr: 2
+  n_critic_warmup_itr: 5
   n_steps: 300
   gamma: 0.999
   actor_lr: 1e-5
@@ -70,10 +69,11 @@ train:
     num: 0
   # DQL specific
   scale_reward_factor: 1
+  target_ema_rate: 0.005
+  buffer_size: 1000000
   eta: 1.0
-  buffer_size: 400000
-  batch_size: 5000
-  replay_ratio: 64
+  replay_ratio: 16
+  batch_size: 1000
 
 model:
   _target_: model.diffusion.diffusion_dql.DQLDiffusion
@@ -89,7 +89,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObsAct
     action_dim: ${action_dim}

cfg/robomimic/finetune/can/ft_idql_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 cond_steps: 1
 horizon_steps: 4
@@ -74,9 +73,9 @@ train:
   eval_sample_num: 10 # how many samples to score during eval
   critic_tau: 0.001  # rate of target q network update
   use_expectile_exploration: True
-  buffer_size: 3000
-  batch_size: 512
-  replay_ratio: 16
+  buffer_size: 5000 # * n_envs
+  replay_ratio: 128
+  batch_size: 1000
 
 model:
   _target_: model.diffusion.diffusion_idql.IDQLDiffusion
@@ -92,7 +91,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic_q:
     _target_: model.common.critic.CriticObsAct
     action_dim: ${action_dim}

cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 ft_denoising_steps: 10
 cond_steps: 1
@@ -97,7 +96,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp_img.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 9
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 100
 ft_denoising_steps: 5
 cond_steps: 1
@@ -140,7 +139,7 @@ model:
     img_cond_steps: ${img_cond_steps}
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.ViTCritic
     spatial_emb: 128

cfg/robomimic/finetune/can/ft_ppo_diffusion_unet.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 ft_denoising_steps: 10
 cond_steps: 1
@@ -100,7 +99,7 @@ model:
     smaller_encoder: False
     cond_predict_scale: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_ppo_exact_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 ft_denoising_steps: 10
 cond_steps: 1
@@ -92,7 +91,6 @@ model:
   sde_min_beta: 1e-10
   sde_probability_flow: True
   #
-  gamma_denoising: 0.99
   clip_ploss_coef: 0.01
   min_sampling_denoising_std: 0.1
   min_logprob_denoising_std: 0.1
@@ -105,7 +103,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_ppo_gaussian_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 cond_steps: 1
 horizon_steps: 4
 act_steps: 4
@@ -91,7 +90,7 @@ model:
     std_max: 0.2
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_ppo_gaussian_mlp_img.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 9
 action_dim: 7
-transition_dim: ${action_dim}
 cond_steps: 1
 img_cond_steps: 1
 horizon_steps: 4
@@ -122,7 +121,7 @@ model:
     img_cond_steps: ${img_cond_steps}
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.ViTCritic
     spatial_emb: 128

cfg/robomimic/finetune/can/ft_ppo_gaussian_transformer.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 cond_steps: 1
 horizon_steps: 4
 act_steps: 4
@@ -92,7 +91,7 @@ model:
     std_max: 0.2
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_ppo_gmm_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 cond_steps: 1
 horizon_steps: 4
 act_steps: 4
@@ -92,7 +91,7 @@ model:
     num_modes: ${num_modes}
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_ppo_gmm_transformer.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 cond_steps: 1
 horizon_steps: 4
 act_steps: 4
@@ -93,7 +92,7 @@ model:
     num_modes: ${num_modes}
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
     mlp_dims: [256, 256, 256]

cfg/robomimic/finetune/can/ft_qsm_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 cond_steps: 1
 horizon_steps: 4
@@ -70,11 +69,11 @@ train:
     num: 0
   # QSM specific
   scale_reward_factor: 1
-  q_grad_coeff: 50
+  q_grad_coeff: 10
   critic_tau: 0.005  # rate of target q network update
-  buffer_size: 3000
-  batch_size: 256
-  replay_ratio: 32
+  buffer_size: 5000 # * n_envs
+  replay_ratio: 16
+  batch_size: 1000
 
 model:
   _target_: model.diffusion.diffusion_qsm.QSMDiffusion
@@ -90,7 +89,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObsAct
     action_dim: ${action_dim}

cfg/robomimic/finetune/can/ft_rwr_diffusion_mlp.yaml

@@ -16,7 +16,6 @@ device: cuda:0
 env_name: can
 obs_dim: 23
 action_dim: 7
-transition_dim: ${action_dim}
 denoising_steps: 20
 cond_steps: 1
 horizon_steps: 4
@@ -82,7 +81,7 @@ model:
     residual_style: True
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    transition_dim: ${transition_dim}
+    action_dim: ${action_dim}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}
   action_dim: ${action_dim}

cfg/robomimic/finetune/can/ibrl_mlp.yaml

@@ -0,0 +1,115 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
+
+name: ${env_name}_ibrl_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path:
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: can
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  name: ${env_name}
+  max_episode_steps: 250  # IBRL uses 200
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 1
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: ibrl-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  save_model_freq: 100000
+  val_freq: 10000
+  render:
+    freq: 10000
+    num: 0
+  log_freq: 200
+  # IBRL specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 3
+  buffer_size: 400000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  update_freq: 2
+
+model:
+  _target_: model.rl.gaussian_ibrl.IBRL_Gaussian
+  randn_clip_value: 3
+  n_critics: 5
+  soft_action_sample: True
+  soft_action_sample_beta: 10
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [1024, 1024, 1024]
+    activation_type: ReLU
+    dropout: 0.5
+    fixed_std: 0.1
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [1024, 1024, 1024]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  max_n_episodes: 100

cfg/robomimic/finetune/can/rlpd_mlp.yaml

@@ -0,0 +1,114 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_rlpd_agent.TrainRLPDAgent
+
+name: ${env_name}_rlpd_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: can
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  name: ${env_name}
+  max_episode_steps: 300
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 1
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: rlpd-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  save_model_freq: 100000
+  val_freq: 10000
+  render:
+    freq: 10000
+    num: 0
+  log_freq: 200
+  # RLPD specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 3
+  buffer_size: 400000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+
+model:
+  _target_: model.rl.gaussian_rlpd.RLPD_Gaussian
+  randn_clip_value: 10
+  backup_entropy: True
+  n_critics: 5
+  tanh_output: True
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}