| { | |
| "dataset": { | |
| "batch_size": 8, | |
| "num_workers": 2, | |
| "val_split": 0.2 | |
| }, | |
| "model": { | |
| "joint_dim": 39, | |
| "action_dim": 4, | |
| "hidden_dim": 256, | |
| "latent_dim": 32, | |
| "n_encoder_layers": 4, | |
| "n_decoder_layers": 4, | |
| "n_heads": 8, | |
| "feedforward_dim": 1024, | |
| "dropout": 0.1 | |
| }, | |
| "chunking": { | |
| "chunk_size": 50, | |
| "temporal_ensemble_weight": 0.01 | |
| }, | |
| "training": { | |
| "epochs": 50, | |
| "learning_rate": 0.0001, | |
| "weight_decay": 0.0001, | |
| "kl_weight": 10.0, | |
| "grad_clip": 1.0 | |
| }, | |
| "env": { | |
| "task": "shelf-place-v3", | |
| "image_size": [ | |
| 480, | |
| 480 | |
| ], | |
| "action_space": 4, | |
| "state_space": 39 | |
| }, | |
| "logging": { | |
| "use_wandb": false, | |
| "log_every": 10, | |
| "save_every": 10 | |
| } | |
| } |