From 964f9e86d68fcfea3abd956820387fedd3f247a5 Mon Sep 17 00:00:00 2001
From: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Date: Thu, 4 Jul 2024 11:53:29 +0200
Subject: [PATCH] Cleanup config defaults (#300)

---
 lerobot/configs/default.yaml                  | 2 +-
 lerobot/configs/policy/act.yaml               | 7 +++----
 lerobot/configs/policy/act_real.yaml          | 5 ++---
 lerobot/configs/policy/act_real_no_state.yaml | 5 ++---
 lerobot/configs/policy/diffusion.yaml         | 5 ++---
 lerobot/configs/policy/tdmpc.yaml             | 1 +
 lerobot/configs/policy/vqbet.yaml             | 5 ++---
 7 files changed, 13 insertions(+), 17 deletions(-)

diff --git a/lerobot/configs/default.yaml b/lerobot/configs/default.yaml
index df0dae7d..4bb1508d 100644
--- a/lerobot/configs/default.yaml
+++ b/lerobot/configs/default.yaml
@@ -39,7 +39,7 @@ training:
   # `online_env_seed` is used for environments for online training data rollouts.
   online_env_seed: ???
   eval_freq: ???
-  log_freq: 250
+  log_freq: 200
   save_checkpoint: true
   # Checkpoint is saved every `save_freq` training iterations and after the last training step.
   save_freq: ???
diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml
index bba2e563..ea2c5b75 100644
--- a/lerobot/configs/policy/act.yaml
+++ b/lerobot/configs/policy/act.yaml
@@ -10,11 +10,10 @@ override_dataset_stats:
     std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
 
 training:
-  offline_steps: 80000
+  offline_steps: 100000
   online_steps: 0
-  eval_freq: 10000
-  save_freq: 100000
-  log_freq: 250
+  eval_freq: 20000
+  save_freq: 20000
   save_checkpoint: true
 
   batch_size: 8
diff --git a/lerobot/configs/policy/act_real.yaml b/lerobot/configs/policy/act_real.yaml
index b4942615..c2f7158f 100644
--- a/lerobot/configs/policy/act_real.yaml
+++ b/lerobot/configs/policy/act_real.yaml
@@ -36,11 +36,10 @@ override_dataset_stats:
     std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
 
 training:
-  offline_steps: 80000
+  offline_steps: 100000
   online_steps: 0
   eval_freq: -1
-  save_freq: 10000
-  log_freq: 100
+  save_freq: 20000
   save_checkpoint: true
 
   batch_size: 8
diff --git a/lerobot/configs/policy/act_real_no_state.yaml b/lerobot/configs/policy/act_real_no_state.yaml
index a8b1c9b6..5b8a13b4 100644
--- a/lerobot/configs/policy/act_real_no_state.yaml
+++ b/lerobot/configs/policy/act_real_no_state.yaml
@@ -34,11 +34,10 @@ override_dataset_stats:
     std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
 
 training:
-  offline_steps: 80000
+  offline_steps: 100000
   online_steps: 0
   eval_freq: -1
-  save_freq: 10000
-  log_freq: 100
+  save_freq: 20000
   save_checkpoint: true
 
   batch_size: 8
diff --git a/lerobot/configs/policy/diffusion.yaml b/lerobot/configs/policy/diffusion.yaml
index 95cc75b6..880819bb 100644
--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -24,9 +24,8 @@ override_dataset_stats:
 training:
   offline_steps: 200000
   online_steps: 0
-  eval_freq: 5000
-  save_freq: 5000
-  log_freq: 250
+  eval_freq: 25000
+  save_freq: 25000
   save_checkpoint: true
 
   batch_size: 64
diff --git a/lerobot/configs/policy/tdmpc.yaml b/lerobot/configs/policy/tdmpc.yaml
index 4e55ddf7..379e9320 100644
--- a/lerobot/configs/policy/tdmpc.yaml
+++ b/lerobot/configs/policy/tdmpc.yaml
@@ -11,6 +11,7 @@ training:
   online_steps_between_rollouts: 1
   online_sampling_ratio: 0.5
   online_env_seed: 10000
+  log_freq: 100
 
   batch_size: 256
   grad_clip_norm: 10.0
diff --git a/lerobot/configs/policy/vqbet.yaml b/lerobot/configs/policy/vqbet.yaml
index a8b530e2..cc70d61a 100644
--- a/lerobot/configs/policy/vqbet.yaml
+++ b/lerobot/configs/policy/vqbet.yaml
@@ -22,9 +22,8 @@ override_dataset_stats:
 training:
   offline_steps: 250000
   online_steps: 0
-  eval_freq: 20000
-  save_freq: 20000
-  log_freq: 250
+  eval_freq: 25000
+  save_freq: 25000
   save_checkpoint: true
 
   batch_size: 64