train_config.yaml

name: "vision_predictor"
general:
  load_ckpt: False # if true, finetunes the model below
  ckpt_file: "/path/to/model.pth"
  tags: "Vision_Locomotion"
  use_imgs: True # RGB
  use_depth: False # Depth
  frame_skip: 4 # for creating the history
  lookhead: [0.8] # tuned for the speed of 0.5 m/s. Does not need to be precise, but you might want to change it for very different speeds.
optimization:
  lr: 0.005
  lr_decay_epochs: "10000,2000" 
  lr_decay_rate: 0.1
  weight_decay: 5e-4
  momentum: 0.9
train:
  train_dir: "/home/tony/PostDoc/Projects/Proprio-Walk/data/ablation_learning_speed/ours_st4/day_1/"
  val_dir: "/home/tony/PostDoc/Projects/Proprio-Walk/data/ablation_learning_speed/ours_st4/day_1/"
  test_dir: ""
  batch_size: 32
  save_path: "ckpts/" # folder it will save save
  num_workers: 8
  epochs: 80
encoder:
  history_len: 50 # proprioception history
predictor:
  pred_hid_sizes: [128,128,64,32]