Spaces:
Runtime error
Runtime error
File size: 1,570 Bytes
8fc2b4e |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 |
# Training
defaults:
- config
hydra:
run:
dir: ${train.train_dir}
dataset:
type: 'single' # 'single' or 'multi'
images: True
cache: True # load episodes to memory instead of reading from disk
augment:
theta_sigma: 60 # rotation sigma in degrees; N(mu = 0, sigma = theta_sigma).
train:
# folders
model_task: ${train.task}
exp_folder: exps
train_dir: ${root_dir}/${train.exp_folder}/${train.model_task}-${train.agent}-n${train.n_demos}-train
data_dir: ${root_dir}/data
# task configs
task: packing-boxes-pairs-seen-colors
agent: two_stream_full_clip_lingunet_lat_transporter
n_demos: 100
n_steps: 61000 # original paper use 200000 for single task and use 601000 for multi-task models
# hyper params
n_rotations: 36
batch_size: 8
batchnorm: False # important: False because batch_size=1
lr: 1e-4
attn_stream_fusion_type: 'add'
trans_stream_fusion_type: 'conv'
lang_fusion_type: 'mult'
training_step_scale: 200 # How many epochs are needed. 100 data sample requires 20000 steps. -1 means ignored.
# script configs
gpu: -1 # -1 for all
log: False # log metrics and stats to wandb
n_val: 10
val_repeats: 1
save_steps: [1000, 2000, 3000, 4000, 5000, 7000, 10000, 20000, 40000, 80000, 120000, 160000, 200000, 300000, 400000, 500000, 600000, 800000, 1000000, 1200000]
load_from_last_ckpt: False # still change to True
wandb:
run_name: 'cliport0'
logger:
entity: cliport
project: cliport
tags: []
group: train
offline: False
saver:
upload: False
monitor: 'val_loss' |