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image_pusht_diffusion_policy_cnn.yaml
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image_pusht_diffusion_policy_cnn.yaml
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_target_: diffusion_policy.workspace.train_diffusion_unet_hybrid_workspace.TrainDiffusionUnetHybridWorkspace
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: 128
num_workers: 8
persistent_workers: false
pin_memory: true
shuffle: true
dataset_obs_steps: 2
ema:
_target_: diffusion_policy.model.diffusion.ema_model.EMAModel
inv_gamma: 1.0
max_value: 0.9999
min_value: 0.0
power: 0.75
update_after_step: 0
exp_name: default
horizon: 16
keypoint_visible_rate: 1.0
logging:
group: null
id: null
mode: online
name: 2023.01.16-20.20.06_train_diffusion_unet_hybrid_pusht_image
project: diffusion_policy_debug
resume: true
tags:
- train_diffusion_unet_hybrid
- pusht_image
- default
multi_run:
run_dir: data/outputs/2023.01.16/20.20.06_train_diffusion_unet_hybrid_pusht_image
wandb_name_base: 2023.01.16-20.20.06_train_diffusion_unet_hybrid_pusht_image
n_action_steps: 8
n_latency_steps: 0
n_obs_steps: 2
name: train_diffusion_unet_hybrid
obs_as_global_cond: true
optimizer:
_target_: torch.optim.AdamW
betas:
- 0.95
- 0.999
eps: 1.0e-08
lr: 0.0001
weight_decay: 1.0e-06
past_action_visible: false
policy:
_target_: diffusion_policy.policy.diffusion_unet_hybrid_image_policy.DiffusionUnetHybridImagePolicy
cond_predict_scale: true
crop_shape:
- 84
- 84
diffusion_step_embed_dim: 128
down_dims:
- 512
- 1024
- 2048
eval_fixed_crop: true
horizon: 16
kernel_size: 5
n_action_steps: 8
n_groups: 8
n_obs_steps: 2
noise_scheduler:
_target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
beta_end: 0.02
beta_schedule: squaredcos_cap_v2
beta_start: 0.0001
clip_sample: true
num_train_timesteps: 100
prediction_type: epsilon
variance_type: fixed_small
num_inference_steps: 100
obs_as_global_cond: true
obs_encoder_group_norm: true
shape_meta:
action:
shape:
- 2
obs:
agent_pos:
shape:
- 2
type: low_dim
image:
shape:
- 3
- 96
- 96
type: rgb
shape_meta:
action:
shape:
- 2
obs:
agent_pos:
shape:
- 2
type: low_dim
image:
shape:
- 3
- 96
- 96
type: rgb
task:
dataset:
_target_: diffusion_policy.dataset.pusht_image_dataset.PushTImageDataset
horizon: 16
max_train_episodes: 90
pad_after: 7
pad_before: 1
seed: 42
val_ratio: 0.02
zarr_path: data/pusht/pusht_cchi_v7_replay.zarr
env_runner:
_target_: diffusion_policy.env_runner.pusht_image_runner.PushTImageRunner
fps: 10
legacy_test: true
max_steps: 300
n_action_steps: 8
n_envs: null
n_obs_steps: 2
n_test: 50
n_test_vis: 4
n_train: 6
n_train_vis: 2
past_action: false
test_start_seed: 100000
train_start_seed: 0
image_shape:
- 3
- 96
- 96
name: pusht_image
shape_meta:
action:
shape:
- 2
obs:
agent_pos:
shape:
- 2
type: low_dim
image:
shape:
- 3
- 96
- 96
type: rgb
task_name: pusht_image
training:
checkpoint_every: 50
debug: false
device: cuda:0
gradient_accumulate_every: 1
lr_scheduler: cosine
lr_warmup_steps: 500
max_train_steps: null
max_val_steps: null
num_epochs: 3050
resume: true
rollout_every: 50
sample_every: 5
seed: 42
tqdm_interval_sec: 1.0
use_ema: true
val_every: 1
val_dataloader:
batch_size: 128
num_workers: 8
persistent_workers: false
pin_memory: true
shuffle: false