Upload config.yaml with huggingface_hub
Browse files- config.yaml +196 -0
config.yaml
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| 1 |
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dataset:
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| 2 |
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to_name: gberseth/libero-data-no-noops-64px
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| 3 |
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num_episodes: 0
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| 4 |
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chunk_size: 100
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| 5 |
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buffer_size: 50000
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| 6 |
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encode_with_t5: false
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| 7 |
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t5_version: t5-small
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| 8 |
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chars_list:
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- ' '
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| 10 |
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- ','
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| 11 |
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- .
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- '0'
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- '1'
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- '2'
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- '3'
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- '4'
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- '5'
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- '6'
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- '7'
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- '8'
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- '9'
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- '!'
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- '?'
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- '"'
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| 25 |
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- ''''
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- (
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- )
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- '-'
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- _
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- ':'
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- ;
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- '@'
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- '#'
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- $
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- '%'
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- '&'
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- '*'
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| 38 |
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- +
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- '='
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| 40 |
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- <
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- '>'
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- /
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- \\
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- '|'
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- '~'
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- '`'
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- A
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- B
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- C
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| 50 |
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- D
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- E
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- F
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- G
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- H
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- I
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- J
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- K
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- L
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| 59 |
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- M
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| 60 |
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- 'N'
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| 61 |
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- O
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- P
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| 63 |
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- Q
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| 64 |
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- R
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- S
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- T
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- U
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- V
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- W
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- X
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- 'Y'
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- Z
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| 73 |
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- a
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- b
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- c
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- d
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- e
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- f
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- g
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- h
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- i
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- j
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- k
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- l
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- m
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| 86 |
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- 'n'
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| 87 |
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- o
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- p
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- q
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| 90 |
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- r
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- s
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- t
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- u
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- v
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- w
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- x
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- 'y'
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- z
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load_dataset: true
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| 100 |
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download_all: false
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| 101 |
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save_initial_dataset: false
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| 102 |
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use_generator: false
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| 103 |
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dataset_indicies:
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| 104 |
+
/network/projects/real-g-grp/modified_libero_rlds/libero_90_no_noops/1.0.0:
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| 105 |
+
start: 0
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| 106 |
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size: 1000000
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| 107 |
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weight: 1.0
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| 108 |
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dataset_key: libero_dataset_transform
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| 109 |
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action_std:
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| 110 |
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- 0.3124798834323883
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| 111 |
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- 0.37134110927581787
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| 112 |
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- 0.4139348864555359
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| 113 |
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- 0.04684387892484665
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| 114 |
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- 0.06005333364009857
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| 115 |
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- 0.08120378851890564
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| 116 |
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- 0.4986436367034912
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| 117 |
+
action_mean:
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| 118 |
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- 0.044201772660017014
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| 119 |
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- 0.03035518154501915
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| 120 |
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- -0.10015746206045151
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| 121 |
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- 0.005030587315559387
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| 122 |
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- 0.002572480821982026
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| 123 |
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- -0.005025846417993307
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| 124 |
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- 0.536292552947998
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| 125 |
+
action_scaling: 0.5,
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| 126 |
+
state_mean:
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| 127 |
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- -0.0011230926513074045
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| 128 |
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- -0.0002634865379064686
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| 129 |
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- 0.0006436482461208708
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| 130 |
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- 0.00027720820152258874
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| 131 |
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- -0.0005974869737108643
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| 132 |
+
- 0.00018720179682490902
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| 133 |
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- 0.625765860080719
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| 134 |
+
state_std:
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| 135 |
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- 0.012801983393728733
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| 136 |
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- 0.019161013886332512
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| 137 |
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- 0.016479915007948875
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| 138 |
+
- 0.00027720820152258874
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| 139 |
+
- -0.0005974869737108643
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| 140 |
+
- 0.00018720179682490902
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| 141 |
+
- 0.625765860080719
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| 142 |
+
experiment:
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| 143 |
+
name: mini_grp
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| 144 |
+
project: mini-grp
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| 145 |
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description: simple env with 64pix images and pose data
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| 146 |
+
model:
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| 147 |
+
type: transformer
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| 148 |
+
batch_size: 256
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| 149 |
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max_block_size: 16
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| 150 |
+
vocab_size: 32
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| 151 |
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n_patches: 8
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| 152 |
+
patch_size: 8
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| 153 |
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max_iters: 250000
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| 154 |
+
eval_interval: 100
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| 155 |
+
learning_rate: 0.0003
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| 156 |
+
lr_schedule: linear
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| 157 |
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eval_iters: 5
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| 158 |
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policy:
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| 159 |
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action_stacking: 1
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| 160 |
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obs_stacking: 1
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| 161 |
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use_image_augmentations: false
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| 162 |
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dtype: float32
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| 163 |
+
use_pose_data: 1
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| 164 |
+
random_masking_enabled: false
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| 165 |
+
testing: false
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| 166 |
+
eval_vid_iters: 250000
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| 167 |
+
gradient_accumulation_steps: 1
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| 168 |
+
simEval:
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| 169 |
+
- libero
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| 170 |
+
sim:
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| 171 |
+
eval_episodes: 1
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| 172 |
+
eval_tasks:
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| 173 |
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- 0
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| 174 |
+
- 1
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| 175 |
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- 2
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| 176 |
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- 3
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| 177 |
+
episode length: 500
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| 178 |
+
r_seed: 1337
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| 179 |
+
device: cuda
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| 180 |
+
n_embd: 512
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| 181 |
+
n_head: 16
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| 182 |
+
n_blocks: 4
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| 183 |
+
dropout: 0.2
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| 184 |
+
action_dim: 7
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| 185 |
+
load_action_bounds: true
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| 186 |
+
image_shape:
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| 187 |
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- 64
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| 188 |
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- 64
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| 189 |
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- 3
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| 190 |
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data_shuffel_interval: 1000
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| 191 |
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profiler:
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| 192 |
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enable: false
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| 193 |
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params:
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| 194 |
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profile_memory: true
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| 195 |
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with_stack: true
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| 196 |
+
use_cuda: true
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