# @package _global_

# specify here default configuration
# order of defaults determines the order in which configs override each other
defaults:
  - _self_
  - data:
  - model:
  - tokenizer: null
  - task:

seed: 7

use_fused_optimizer: False # fused=True for AdamW: single fused CUDA kernel for optimizer step
resume_ckpt: null
exp_name: "${oc.env:EXP_NAME, ${now:%Y-%m-%d_%H-%M-%S}}"
output_dir: ${hydra:runtime.output_dir}

# checkpointing
checkpointing_steps: 2000

# eval
eval_steps: 100

# logger configuration - supports swanlab, wandb, or none
logger:
  type: "wandb" # Options: "swanlab", "wandb", null
  log_steps: 10
  task: ${hydra:runtime.choices.task}
  project: "${oc.env:WANDB_PROJECT,g05}" # Will be auto-set from task name
  experiment_name: ${split:${logger.task},-1}_${exp_name} # Will be auto-set from task name

  # Common fields (interpretation depends on type):
  # - For swanlab: mode can be "cloud", "local", "disabled"
  # - For wandb: mode can be "online", "offline", "disabled"
  mode: "online"

  # - For swanlab: workspace is the SwanLab workspace name
  # - For wandb: workspace is the WandB entity/team name (optional)
  workspace: "${oc.env:WANDB_ENTITY,Galaxea-AI}"

  # Output directory for logs (only used for wandb, auto-set to ${output_dir}/wandb or ${output_dir}/swanlab)
  dir: null

# eval
batch_size_val: 16
eval_episodes_num: 1
ckpt_path: null
env: R1ProBlocksStackEasy
target_controller_type: bimanual_relaxed_ik

hydra:
  verbose: false # Show full traceback for instantiate errors
  run:
    # Use exp_name when provided; otherwise use a timestamp.
    dir: "${oc.env:G05_OUTPUT_DIR}/${hydra:runtime.choices.task}/${exp_name}"
  job_logging:
    handlers:
      file:
        filename: ${hydra.runtime.output_dir}/train.log

tags: null

# Tokenizer bridge: task configs override root `tokenizer:` key;
# model code accesses via `cfg.model.tokenizer`.
model:
  tokenizer: ${tokenizer}