
# general settings
onscreen_render: false
eval: 1
ckpt_dir: "ckpt_models"  
num_epochs: 20000
temporal_agg: false     

# policy_class: "ACT"
# backbone: 'resnet18'
policy_class: "GR00T"
backbone: 'dino_v2'

seed: 0
real_robot: 0
# task_name: "sim_transfer_cube"
task_name: "sim_transfer"   


images_render_height: 480
images_render_width: 640


# DOF settings
left_arm_DOF_number: 6
right_arm_DOF_number: 6
left_qpos_raw: 8
right_qpos_raw: 8
left_qvel_raw: 8
right_qvel_raw: 8



# record settings
dataset_dir:      # leave empty here by default
num_episodes:     # leave empty here by default
episode_len:      # leave empty here by default
camera_names: []  # leave empty here by default
xml_dir:          # leave empty here by default

# action smoothing settings (for GR00T)
use_action_smoothing: true
smooth_method: "ema"     # Options: "ema", "moving_avg", "lowpass", "none"
smooth_alpha: 0.3        # Smoothing factor (0-1), smaller = smoother

# transformer settings
batch_size: 10                          
state_dim: 16            
action_dim: 16      
lr_backbone: 0.00001        

enc_layers: 4            
dec_layers: 7            
nheads: 8                 

qpos_noise_std: 0
DT: 0.02

gr00t:
  action_dim: 16
  state_dim: 16
  embed_dim: 1536
  hidden_dim: 1024
  num_queries: 8

  nheads: 32
  mlp_ratio: 4
  dropout: 0.2

  num_layers: 16



# DO NOT CHANGE IF UNNECESSARY
lr: 0.00001             
kl_weight: 100              
chunk_size: 10            
hidden_dim: 512           
dim_feedforward: 3200   

