64 lines
1.5 KiB
YAML
64 lines
1.5 KiB
YAML
defaults:
|
|
- _self_
|
|
hydra:
|
|
run:
|
|
dir: ${logdir}
|
|
_target_: agent.pretrain.train_gaussian_agent.TrainGaussianAgent
|
|
|
|
name: avoid_m1_pre_gmm_mlp_ta${horizon_steps}
|
|
logdir: ${oc.env:DPPO_LOG_DIR}/d3il-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
|
|
train_dataset_path: ${oc.env:DPPO_DATA_DIR}/d3il/avoid_m1/train.pkl
|
|
|
|
seed: 42
|
|
device: cuda:0
|
|
env: avoid
|
|
mode: d56_r12 # M1, desired modes 5 and 6, required modes 1 and 2
|
|
obs_dim: 4
|
|
action_dim: 2
|
|
transition_dim: ${action_dim}
|
|
horizon_steps: 4
|
|
cond_steps: 1
|
|
num_modes: 5
|
|
|
|
wandb:
|
|
entity: ${oc.env:DPPO_WANDB_ENTITY}
|
|
project: d3il-${env}-pretrain
|
|
run: ${now:%H-%M-%S}_${name}
|
|
|
|
train:
|
|
n_epochs: 10000
|
|
batch_size: 32
|
|
learning_rate: 1e-4
|
|
weight_decay: 1e-6
|
|
lr_scheduler:
|
|
first_cycle_steps: 10000
|
|
warmup_steps: 100
|
|
min_lr: 1e-5
|
|
epoch_start_ema: 20
|
|
update_ema_freq: 10
|
|
save_model_freq: 1000
|
|
|
|
model:
|
|
_target_: model.common.gmm.GMMModel
|
|
network:
|
|
_target_: model.common.mlp_gmm.GMM_MLP
|
|
mlp_dims: [256, 256] # smaller MLP for less overfitting
|
|
activation_type: ReLU
|
|
residual_style: False
|
|
fixed_std: 0.1
|
|
num_modes: ${num_modes}
|
|
cond_dim: ${obs_dim}
|
|
horizon_steps: ${horizon_steps}
|
|
transition_dim: ${transition_dim}
|
|
horizon_steps: ${horizon_steps}
|
|
device: ${device}
|
|
|
|
ema:
|
|
decay: 0.995
|
|
|
|
train_dataset:
|
|
_target_: agent.dataset.sequence.StitchedActionSequenceDataset
|
|
dataset_path: ${train_dataset_path}
|
|
horizon_steps: ${horizon_steps}
|
|
cond_steps: ${cond_steps}
|
|
device: ${device} |