_target_: diffusion_policy.workspace.train_bet_lowdim_workspace.TrainBETLowdimWorkspace action_dim: 2 checkpoint: save_last_ckpt: true save_last_snapshot: false topk: format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt k: 5 mode: max monitor_key: test_mean_score dataloader: batch_size: 256 num_workers: 1 persistent_workers: false pin_memory: true shuffle: true exp_name: default horizon: 3 keypoint_dim: 2 keypoint_visible_rate: 1.0 logging: group: null id: null mode: online name: 2022.12.27-02.31.53_train_bet_lowdim_blockpush_lowdim_seed project: diffusion_policy_debug resume: true tags: - train_bet_lowdim - blockpush_lowdim_seed - default multi_run: run_dir: data/outputs/2022.12.27/02.31.53_train_bet_lowdim_blockpush_lowdim_seed wandb_name_base: 2022.12.27-02.31.53_train_bet_lowdim_blockpush_lowdim_seed n_action_steps: 1 n_obs_steps: 3 name: train_bet_lowdim obs_as_global_cond: false obs_as_local_cond: false obs_dim: 16 optimizer: betas: - 0.9 - 0.95 learning_rate: 0.0001 weight_decay: 0.1 past_action_visible: false policy: _target_: diffusion_policy.policy.bet_lowdim_policy.BETLowdimPolicy action_ae: _target_: diffusion_policy.model.bet.action_ae.discretizers.k_means.KMeansDiscretizer action_dim: 2 num_bins: 24 predict_offsets: true horizon: 3 n_action_steps: 1 n_obs_steps: 3 obs_encoding_net: _target_: torch.nn.Identity output_dim: 16 state_prior: _target_: diffusion_policy.model.bet.latent_generators.mingpt.MinGPT action_dim: 2 block_size: 3 discrete_input: false focal_loss_gamma: 2.0 input_dim: 16 n_embd: 72 n_head: 4 n_layer: 4 offset_loss_scale: 1000.0 predict_offsets: true vocab_size: 24 pred_action_steps_only: false task: action_dim: 2 dataset: _target_: diffusion_policy.dataset.blockpush_lowdim_dataset.BlockPushLowdimDataset horizon: 3 obs_eef_target: true pad_after: 0 pad_before: 2 seed: 42 use_manual_normalizer: false val_ratio: 0.02 zarr_path: data/block_pushing/multimodal_push_seed.zarr env_runner: _target_: diffusion_policy.env_runner.blockpush_lowdim_runner.BlockPushLowdimRunner abs_action: false fps: 5 max_steps: 350 n_action_steps: 1 n_envs: null n_obs_steps: 3 n_test: 50 n_test_vis: 4 n_train: 6 n_train_vis: 2 obs_eef_target: true past_action: false test_start_seed: 100000 train_start_seed: 0 keypoint_dim: 2 name: blockpush_lowdim_seed obs_dim: 16 obs_eef_target: true task_name: blockpush_lowdim_seed training: checkpoint_every: 50 debug: false device: cuda:0 enable_normalizer: true grad_norm_clip: 1.0 gradient_accumulate_every: 1 lr_scheduler: cosine lr_warmup_steps: 500 max_train_steps: null max_val_steps: null num_epochs: 8000 resume: true rollout_every: 50 sample_every: 5 seed: 42 tqdm_interval_sec: 1.0 val_every: 1 val_dataloader: batch_size: 256 num_workers: 1 persistent_workers: false pin_memory: true shuffle: false