70 lines
1.3 KiB
YAML
70 lines
1.3 KiB
YAML
defaults:
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- launcher: local
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- solver: cem
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- _self_
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ??? # make sure it's >= eval_budget
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history_size: 1
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frame_skip: 1
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
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- action
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- proprio
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- state
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seed: 42
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policy: random # ckpt name or random
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inference_precision: fp16
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plan_config:
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horizon: 5
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receding_horizon: 5
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action_block: 5 # frameskip
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# evaluation from dataset (replay expert trajectories)
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
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img_size: 224
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save_video: false
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compile_warmup:
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enabled: true
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num_eval: 1
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dataset_name: pusht_expert_train
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callables:
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# -- set state
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- method: _set_state
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args:
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state:
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value: state
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# -- set goal state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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multi_node:
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enabled: false
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backend: gloo
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rank_env: RANK
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world_size_env: WORLD_SIZE
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local_rank_env: LOCAL_RANK
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aggregate_results: true
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sync_before_return: false
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destroy_process_group: true
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shard_strategy: round_robin
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preload_wait:
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enabled: false
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file: /tmp/lewm_preload_start
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poll_interval: 1.0
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output:
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filename: pusht_results.txt
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