base.yaml

# @package _global_

defaults:
  - rlbench_model:
  - override /trainer: ddp
  - override /callbacks: default
  - override /paths: default
  - override /hydra: default

# all parameters below will be merged with parameters from default configurations set above
# this allows you to overwrite only specified parameters

rlbench_task: null

hydra:
  run:
    dir: ${paths.log_dir}/${task_name}/runs/${now:%Y-%m-%d}_${now:%H-%M-%S}
  sweep:
    dir: ${paths.log_dir}/${task_name}/runs/${now:%Y-%m-%d}_${now:%H-%M-%S}
    subdir: ""

paths:
  log_dir: ${paths.root_dir}/logs/rlbench_act/${rlbench_task}

data:
  num_workers: 16
  pin_memory: false
  train:
    task_names:
      - ${rlbench_task}
    loop: 1
    cache_episode: true
    
trainer:
  devices: 1
  max_epochs: 2000
  check_val_every_n_epoch: 100
  accelerator: gpu
  strategy: auto

callbacks:
  model_checkpoint:
    monitor: val/loss
    mode: min
    filename: "epoch={epoch:03d}-val_loss={val/loss:.4f}"
    save_top_k: 3
  early_stopping:
    monitor: val/loss
    mode: "min"