gouhanke
81 lines
1.5 KiB
YAML
81 lines
1.5 KiB
YAML
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# general settings
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onscreen_render: false
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eval: 1
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ckpt_dir: "ckpt_models"
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num_epochs: 20000
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temporal_agg: false
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# policy_class: "ACT"
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# backbone: 'resnet18'
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policy_class: "GR00T"
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backbone: 'dino_v2'
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seed: 0
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real_robot: 0
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# task_name: "sim_transfer_cube"
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task_name: "sim_transfer"
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images_render_height: 480
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images_render_width: 640
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# DOF settings
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left_arm_DOF_number: 6
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right_arm_DOF_number: 6
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left_qpos_raw: 8
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right_qpos_raw: 8
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left_qvel_raw: 8
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right_qvel_raw: 8
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# record settings
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dataset_dir: # leave empty here by default
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num_episodes: # leave empty here by default
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episode_len: # leave empty here by default
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camera_names: [] # leave empty here by default
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xml_dir: # leave empty here by default
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# action smoothing settings (for GR00T)
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use_action_smoothing: true
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smooth_method: "ema" # Options: "ema", "moving_avg", "lowpass", "none"
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smooth_alpha: 0.3 # Smoothing factor (0-1), smaller = smoother
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# transformer settings
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batch_size: 10
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state_dim: 16
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action_dim: 16
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lr_backbone: 0.00001
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enc_layers: 4
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dec_layers: 7
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nheads: 8
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qpos_noise_std: 0
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DT: 0.02
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gr00t:
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action_dim: 16
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state_dim: 16
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embed_dim: 1536
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hidden_dim: 1024
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num_queries: 8
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nheads: 32
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mlp_ratio: 4
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dropout: 0.2
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num_layers: 16
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# DO NOT CHANGE IF UNNECESSARY
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lr: 0.00001
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kl_weight: 100
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chunk_size: 10
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hidden_dim: 512
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dim_feedforward: 3200
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