Documentation Index
Fetch the complete documentation index at: https://docs.onyx-robotics.com/llms.txt
Use this file to discover all available pages before exploring further.
Parameters
Total number of training iterations. Range: 1-100,000.
Number of samples per training batch. Minimum: 1.
Fraction of data for training (rest is validation). Range: 0.0-1.0.
Number of samples reserved for test visualization. Minimum: 1.
What to optimize for:
'single_step': Best one-step-ahead prediction'multi_step': Best trajectory simulation
Optimizer configuration.
lr_scheduler
Union[None, CosineDecayWithWarmupConfig, CosineAnnealingWarmRestartsConfig]
default:"None"
Learning rate scheduler configuration.
None for constant learning rate.Example
Basic Configuration
With Optimizer and Scheduler
For Production
Checkpoint Types
| Type | Optimizes For | Use Case |
|---|---|---|
'single_step' | Next-step prediction | Debugging, quick iteration |
'multi_step' | Trajectory simulation | Final models, deployment |
Data Splits
| Split | Purpose | Size |
|---|---|---|
| Training | Weight updates | train_val_split_ratio of data |
| Validation | Overfitting detection | 1 - train_val_split_ratio of data |
| Test | Visualization | test_dataset_size samples |