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Feature/frequency setting update #282

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Feature/frequency setting update #282

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e761fa0
Update .gitignore to exclude experiment files and modify dataset note…
amber-ho Nov 24, 2025
0a36764
Update .gitignore to exclude experiment files while including templates
AaronWu-train Nov 24, 2025
c274ce6
Update .gitignore to exclude experiment files while including templates
AaronWu-train Nov 24, 2025
3471da3
change frequency from 50 to 200
ChangShengHsun Nov 24, 2025
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4 changes: 4 additions & 0 deletions .gitignore
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Expand Up @@ -121,3 +121,7 @@ venv.bak/

# private macros
macros_private.py

# exp files
robomimic/exps*/
!robomimic/exps/templates/
Binary file added datasets/square/ph/low_dim_v15.hdf5
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4 changes: 2 additions & 2 deletions docs/tutorials/hyperparam_scan.md
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Expand Up @@ -41,7 +41,7 @@ $ cat /tmp/gen_configs/base.json
"save": {
"enabled": true,
"every_n_seconds": null,
"every_n_epochs": 50,
"every_n_epochs": 200,
"epochs": [],
"on_best_validation": false,
"on_best_rollout_return": false,
Expand All @@ -53,7 +53,7 @@ $ cat /tmp/gen_configs/base.json
"enabled": true,
"n": 50,
"horizon": 400,
"rate": 50,
"rate": 200,
"warmstart": 0,
"terminate_on_success": true
}
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4 changes: 2 additions & 2 deletions docs/tutorials/viewing_results.md
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Expand Up @@ -28,7 +28,7 @@ Configured under `experiment.save`:

# controlling frequency of checkpoints
"every_n_seconds": null,
"every_n_epochs": 50,
"every_n_epochs": 200,
"epochs": [],

# saving the best checkpoints
Expand All @@ -46,7 +46,7 @@ Configured under `experiment.rollout`:
"enabled": true, # enable evaluation rollouts
"n": 50, # number of rollouts per evaluation
"horizon": 400, # number of timesteps per rollout
"rate": 50, # frequency of evaluation (in epochs)
"rate": 200, # frequency of evaluation (in epochs)
"terminate_on_success": true # terminating rollouts upon task success
}
```
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4 changes: 2 additions & 2 deletions examples/notebooks/datasets.ipynb
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Expand Up @@ -366,7 +366,7 @@
],
"metadata": {
"kernelspec": {
"display_name": "Python 3 (ipykernel)",
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
Expand All @@ -380,7 +380,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.9.12"
"version": "3.13.2"
}
},
"nbformat": 4,
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4 changes: 2 additions & 2 deletions examples/train_bc_rnn.py
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Expand Up @@ -39,7 +39,7 @@ def robosuite_hyperparameters(config):
## save config - if and when to save checkpoints ##
config.experiment.save.enabled = True # whether model saving should be enabled or disabled
config.experiment.save.every_n_seconds = None # save model every n seconds (set to None to disable)
config.experiment.save.every_n_epochs = 50 # save model every n epochs (set to None to disable)
config.experiment.save.every_n_epochs = 200 # save model every n epochs (set to None to disable)
config.experiment.save.epochs = [] # save model on these specific epochs
config.experiment.save.on_best_validation = False # save models that achieve best validation score
config.experiment.save.on_best_rollout_return = False # save models that achieve best rollout return
Expand All @@ -63,7 +63,7 @@ def robosuite_hyperparameters(config):
config.experiment.rollout.enabled = True # enable evaluation rollouts
config.experiment.rollout.n = 50 # number of rollouts per evaluation
config.experiment.rollout.horizon = 400 # set horizon based on length of demonstrations (can be obtained with scripts/get_dataset_info.py)
config.experiment.rollout.rate = 50 # do rollouts every @rate epochs
config.experiment.rollout.rate = 200 # do rollouts every @rate epochs
config.experiment.rollout.warmstart = 0 # number of epochs to wait before starting rollouts
config.experiment.rollout.terminate_on_success = True # end rollout early after task success

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4 changes: 2 additions & 2 deletions robomimic/config/base_config.py
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Expand Up @@ -91,7 +91,7 @@ def experiment_config(self):
## save config - if and when to save model checkpoints ##
self.experiment.save.enabled = True # whether model saving should be enabled or disabled
self.experiment.save.every_n_seconds = None # save model every n seconds (set to None to disable)
self.experiment.save.every_n_epochs = 50 # save model every n epochs (set to None to disable)
self.experiment.save.every_n_epochs = 200 # save model every n epochs (set to None to disable)
self.experiment.save.epochs = [] # save model on these specific epochs
self.experiment.save.on_best_validation = False # save models that achieve best validation score
self.experiment.save.on_best_rollout_return = False # save models that achieve best rollout return
Expand All @@ -117,7 +117,7 @@ def experiment_config(self):
self.experiment.rollout.enabled = True # enable evaluation rollouts
self.experiment.rollout.n = 50 # number of rollouts per evaluation
self.experiment.rollout.horizon = 400 # maximum number of env steps per rollout
self.experiment.rollout.rate = 50 # do rollouts every @rate epochs
self.experiment.rollout.rate = 200 # do rollouts every @rate epochs
self.experiment.rollout.warmstart = 0 # number of epochs to wait before starting rollouts
self.experiment.rollout.terminate_on_success = True # end rollout early after task success

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4 changes: 2 additions & 2 deletions robomimic/config/default_templates/bc_transformer.json
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Expand Up @@ -12,7 +12,7 @@
"save": {
"enabled": true,
"every_n_seconds": null,
"every_n_epochs": 50,
"every_n_epochs": 200,
"epochs": [],
"on_best_validation": false,
"on_best_rollout_return": false,
Expand All @@ -30,7 +30,7 @@
"enabled": true,
"n": 50,
"horizon": 400,
"rate": 50,
"rate": 200,
"warmstart": 0,
"terminate_on_success": true
}
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4 changes: 2 additions & 2 deletions robomimic/scripts/generate_paper_configs.py
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Expand Up @@ -37,7 +37,7 @@ def modify_config_for_default_low_dim_exp(config):
with config.experiment.values_unlocked():
# save model during every evaluation (every 50 epochs)
config.experiment.save.enabled = True
config.experiment.save.every_n_epochs = 50
config.experiment.save.every_n_epochs = 200

# every epoch is 100 gradient steps, and validation epoch is 10 gradient steps
config.experiment.epoch_every_n_steps = 100
Expand All @@ -48,7 +48,7 @@ def modify_config_for_default_low_dim_exp(config):
config.experiment.rollout.enabled = True
config.experiment.rollout.n = 50
config.experiment.rollout.horizon = 400
config.experiment.rollout.rate = 50
config.experiment.rollout.rate = 200
config.experiment.rollout.warmstart = 0
config.experiment.rollout.terminate_on_success = True

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