seeker
99 lines
1.7 KiB
YAML
99 lines
1.7 KiB
YAML
seed: 7
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device: auto
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output_dir: outputs/overfit
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data:
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source_manifest: ../../alpamayo/alpamayo-qwen05b-validation/data/processed/overfit_manifest.jsonl
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max_samples: 1
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augmentation_factor: 1
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image_size: 64
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history_frames: 6
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action_horizon: 16
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policy_variants:
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- expert
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- fast
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- slow
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- understeer
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- stop
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model:
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patch_size: 16
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d_model: 96
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mem_d_model: 64
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goal_d_model: 64
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high_level_d_model: 64
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n_heads: 4
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n_layers: 3
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mlp_ratio: 3
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dropout: 0.0
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max_text_tokens: 96
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action_dim: 2
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action_horizon: 16
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goal_heatmap_size: 32
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memory:
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enabled: true
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history_frames: 6
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ambiguous_pair_weight: 0.25
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goal:
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enabled: true
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heatmap_size: 32
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heatmap_sigma: 1.5
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xy_extent: [-8.0, 64.0, -16.0, 16.0]
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endpoint_only_target: true
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high_level:
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enabled: true
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predict_goal: true
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predict_metadata: true
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metadata_fields:
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- speed
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- quality
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- mistake
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- control
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steering:
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metadata_dropout: 0.25
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preserve_task_prompt: true
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cfg_training_dropout: 0.25
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cfg_beta: 2.0
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rtc:
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enabled: true
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max_delay_steps: 12
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include_executed_prefix: true
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masked_loss: true
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flow:
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timestep_beta_alpha: 1.5
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timestep_beta_beta: 1.0
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integration_steps: 10
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train:
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goal_steps: 300
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high_level_steps: 200
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policy_steps: 900
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batch_size: 5
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learning_rate: 0.001
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weight_decay: 0.0
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grad_clip_norm: 1.0
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goal_loss_weight: 1.0
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high_level_loss_weight: 1.0
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flow_loss_weight: 2.0
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rtc_loss_weight: 1.0
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log_every: 20
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evaluation:
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fixed_noise_seed: 1
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cfg_betas: [0.0, 1.0, 2.0]
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ablations:
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- full
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- no_metadata
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- no_goal
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- no_history
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compare_rtc_delays: [0, 4, 8, 12]
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save_trajectory_plot: true
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save_goal_plot: true
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save_ablation_plot: true
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