# @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