47 lines
1.3 KiB
YAML
47 lines
1.3 KiB
YAML
name: lift_lowdim
|
|
|
|
obs_dim: 19
|
|
action_dim: 7
|
|
keypoint_dim: 3
|
|
|
|
obs_keys: &obs_keys ['object', 'robot0_eef_pos', 'robot0_eef_quat', 'robot0_gripper_qpos']
|
|
task_name: &task_name lift
|
|
dataset_type: &dataset_type ph
|
|
dataset_path: &dataset_path data/robomimic/datasets/${task.task_name}/${task.dataset_type}/low_dim.hdf5
|
|
abs_action: &abs_action False
|
|
|
|
env_runner:
|
|
_target_: diffusion_policy.env_runner.robomimic_lowdim_runner.RobomimicLowdimRunner
|
|
dataset_path: *dataset_path
|
|
obs_keys: *obs_keys
|
|
n_train: 6
|
|
n_train_vis: 2
|
|
train_start_idx: 0
|
|
n_test: 50
|
|
n_test_vis: 4
|
|
test_start_seed: 100000
|
|
# use python's eval function as resolver, single-quoted string as argument
|
|
max_steps: ${eval:'500 if "${task.dataset_type}" == "mh" else 400'}
|
|
n_obs_steps: ${n_obs_steps}
|
|
n_action_steps: ${n_action_steps}
|
|
n_latency_steps: ${n_latency_steps}
|
|
render_hw: [128,128]
|
|
fps: 10
|
|
crf: 22
|
|
past_action: ${past_action_visible}
|
|
abs_action: *abs_action
|
|
tqdm_interval_sec: 1.0
|
|
n_envs: 28
|
|
|
|
dataset:
|
|
_target_: diffusion_policy.dataset.robomimic_replay_lowdim_dataset.RobomimicReplayLowdimDataset
|
|
dataset_path: *dataset_path
|
|
horizon: ${horizon}
|
|
pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'}
|
|
pad_after: ${eval:'${n_action_steps}-1'}
|
|
obs_keys: *obs_keys
|
|
abs_action: *abs_action
|
|
use_legacy_normalizer: False
|
|
seed: 42
|
|
val_ratio: 0.02
|