| # EXOKERN Skill v0.1 — Configuration | |
| # Diffusion Policy for Peg Insertion with Force/Torque (trained on v0.1.1 dataset) | |
| model: | |
| architecture: "TemporalUNet1D" | |
| parameters: 71315719 | |
| action_dim: 7 | |
| obs_horizon: 10 | |
| pred_horizon: 16 | |
| action_horizon: 8 | |
| base_channels: 256 | |
| channel_mults: [1, 2, 4] | |
| cond_dim: 256 | |
| diffusion: | |
| num_train_steps: 100 | |
| num_inference_steps: 16 | |
| noise_schedule: "cosine" | |
| training: | |
| epochs: 300 | |
| batch_size: 256 | |
| learning_rate: 0.0001 | |
| weight_decay: 0.0001 | |
| lr_schedule: "cosine_annealing" | |
| lr_min: 0.000001 | |
| ema_decay: 0.995 | |
| grad_clip: 1.0 | |
| seeds: [42, 123, 7] | |
| conditions: | |
| full_ft: | |
| obs_dim: 22 | |
| description: "Joint states (16) + Force/Torque wrench (6)" | |
| state_components: | |
| - joint_position: 7 | |
| - joint_velocity: 7 | |
| - joint_torque: 2 | |
| - force_xyz: 3 | |
| - torque_xyz: 3 | |
| no_ft: | |
| obs_dim: 16 | |
| description: "Joint states only (16)" | |
| state_components: | |
| - joint_position: 7 | |
| - joint_velocity: 7 | |
| - joint_torque: 2 | |
| normalization: | |
| method: "min_max" | |
| range: [-1, 1] | |
| # Stats are stored in checkpoint["stats"] | |
| dataset: | |
| repo_id: "EXOKERN/contactbench-forge-peginsert-v0.1.1" | |
| total_episodes: 5000 | |
| total_frames: 745000 | |
| train_ratio: 0.85 | |
| val_ratio: 0.15 | |
| environment: | |
| simulator: "NVIDIA Isaac Lab (Isaac Sim 4.5)" | |
| env_name: "Isaac-Forge-PegInsert-Direct-v0" | |
| robot: "Franka FR3" | |
| control_mode: "joint_position" | |
| physics_dt: 0.008333 # 120 Hz | |
| control_dt: 0.066667 # 15 Hz (decimation=8) | |
| domain_randomization: true | |