backup wip

lerobot/configs/default.yaml

@@ -12,14 +12,14 @@ hydra:
 seed: 1337
 # batch size for TorchRL SerialEnv. Each underlying env will get the seed = seed + env_index
 # NOTE: only diffusion policy supports rollout_batch_size > 1
-rollout_batch_size: 1
+rollout_batch_size: 10
 device: cuda  # cpu
 prefetch: 4
 eval_freq: ???
 save_freq: ???
 eval_episodes: ???
 save_video: false
-save_model: false
+save_model: true
 save_buffer: false
 train_steps: ???
 fps: ???
@@ -34,6 +34,6 @@ policy: ???
 wandb:
   enable: true
   # Set to true to disable saving an artifact despite save_model == True
-  disable_artifact: false
+  disable_artifact: true
   project: lerobot
   notes: ""

lerobot/configs/policy/diffusion.yaml

@@ -21,12 +21,12 @@ past_action_visible: False
 keypoint_visible_rate: 1.0
 obs_as_global_cond: True
 
-eval_episodes: 1
-eval_freq: 10000
-save_freq: 100000
+eval_episodes: 50
+eval_freq: 5000
+save_freq: 5000
 log_freq: 250
 
-offline_steps: 1344000
+offline_steps: 50000
 online_steps: 0
 
 offline_prioritized_sampler: true
@@ -58,7 +58,9 @@ policy:
   balanced_sampling: false
   utd: 1
   offline_steps: ${offline_steps}
-  use_ema: true
+  ema:
+    enable: true
+    rate: 0.999
   lr_scheduler: cosine
   lr_warmup_steps: 500
   grad_clip_norm: 10
@@ -87,14 +89,7 @@ rgb_model:
   model_name: resnet18
   pretrained: false
   num_keypoints: 32
-
-ema:
-  _target_: lerobot.common.policies.diffusion.model.ema_model.EMAModel
-  update_after_step: 0
-  inv_gamma: 1.0
-  power: 0.75
-  min_value: 0.0
-  max_value: 0.9999
+  relu: true
 
 optimizer:
   _target_: torch.optim.AdamW