| # @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 | |