File size: 917 Bytes
f751b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 | # @package _global_
defaults:
- posttrain_libero
- _self_
ckpt: ${oc.env:W0_LIBERO_CHECKPOINT,null}
gpu_id: 0
model:
load_text_encoder: true
EVALUATION:
task_suite_name: libero_goal
task_id: 0
num_trials: 50
seed: 42
settle_steps: 30
settle_action: [0, 0, 0, 0, 0, 0, -1]
camera_height: 256
camera_width: 256
image_transform: rotate_180
max_steps_by_suite:
libero_spatial: 600
libero_object: 600
libero_goal: 600
libero_10: 700
output_dir: ${oc.env:W0_OUTPUT_DIR,outputs}/libero/evaluation/${now:%Y-%m-%d}_${now:%H-%M-%S}
action_horizon: 64
chunks_per_video_prefill: 1
num_inference_steps: ${eval_num_inference_steps}
dataset_stats_path: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json}
text_cache_dir: ${oc.env:W0_LIBERO_TEXT_CACHE,assets/libero/text_embeds_cache}
device: cuda
MULTIRUN:
task_suite_names: [libero_goal, libero_10]
num_gpus: 8
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