93 lines
2.0 KiB
YAML
93 lines
2.0 KiB
YAML
defaults:
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- _self_
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- task: lift_image
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name: train_robomimic_image
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_target_: diffusion_policy.workspace.train_robomimic_image_workspace.TrainRobomimicImageWorkspace
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task_name: ${task.name}
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shape_meta: ${task.shape_meta}
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exp_name: "default"
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horizon: &horizon 10
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n_obs_steps: 1
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n_action_steps: 1
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n_latency_steps: 0
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dataset_obs_steps: *horizon
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past_action_visible: False
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keypoint_visible_rate: 1.0
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policy:
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_target_: diffusion_policy.policy.robomimic_image_policy.RobomimicImagePolicy
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shape_meta: ${shape_meta}
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algo_name: bc_rnn
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obs_type: image
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# oc.select resolver: key, default
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task_name: ${oc.select:task.task_name,lift}
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dataset_type: ${oc.select:task.dataset_type,ph}
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crop_shape: [76,76]
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dataloader:
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batch_size: 64
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num_workers: 16
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shuffle: True
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pin_memory: True
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persistent_workers: False
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val_dataloader:
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batch_size: 64
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num_workers: 16
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shuffle: False
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pin_memory: True
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persistent_workers: False
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training:
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device: "cuda:0"
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seed: 42
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debug: False
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resume: True
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# optimization
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num_epochs: 3050
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# training loop control
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# in epochs
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rollout_every: 50
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checkpoint_every: 50
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val_every: 1
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sample_every: 5
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# steps per epoch
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max_train_steps: null
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max_val_steps: null
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# misc
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tqdm_interval_sec: 1.0
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logging:
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project: diffusion_policy_debug
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resume: True
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mode: online
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name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
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tags: ["${name}", "${task_name}", "${exp_name}"]
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id: null
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group: null
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checkpoint:
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topk:
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monitor_key: test_mean_score
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mode: max
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k: 5
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format_str: 'epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt'
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save_last_ckpt: True
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save_last_snapshot: False
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multi_run:
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run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
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wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
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hydra:
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job:
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override_dirname: ${name}
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run:
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dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
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sweep:
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dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
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subdir: ${hydra.job.num}
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