| name: mimicgen_pc_abs |
|
|
| shape_meta: &shape_meta |
| |
| obs: |
| robot0_eye_in_hand_image: |
| shape: [3, 84, 84] |
| type: rgb |
| point_cloud: |
| shape: [1024, 6] |
| type: point_cloud |
| robot0_eef_pos: |
| shape: [3] |
| |
| robot0_eef_quat: |
| shape: [4] |
| robot0_gripper_qpos: |
| shape: [2] |
| action: |
| shape: [10] |
|
|
| env_runner_shape_meta: &env_runner_shape_meta |
| |
| obs: |
| robot0_eye_in_hand_image: |
| shape: [3, 84, 84] |
| type: rgb |
| agentview_image: |
| shape: [3, 84, 84] |
| type: rgb |
| point_cloud: |
| shape: [1024, 6] |
| type: point_cloud |
| robot0_eef_pos: |
| shape: [3] |
| |
| robot0_eef_quat: |
| shape: [4] |
| robot0_gripper_qpos: |
| shape: [2] |
| action: |
| shape: [10] |
|
|
| abs_action: &abs_action True |
|
|
| env_runner: |
| _target_: equi_diffpo.env_runner.robomimic_image_runner.RobomimicImageRunner |
| dataset_path: ${dataset_path} |
| shape_meta: *env_runner_shape_meta |
| n_train: 6 |
| n_train_vis: 2 |
| train_start_idx: 0 |
| n_test: 50 |
| n_test_vis: 4 |
| test_start_seed: 100000 |
| max_steps: ${get_max_steps:${task_name}} |
| n_obs_steps: ${n_obs_steps} |
| n_action_steps: ${n_action_steps} |
| render_obs_key: 'agentview_image' |
| fps: 10 |
| crf: 22 |
| past_action: False |
| abs_action: *abs_action |
| tqdm_interval_sec: 1.0 |
| n_envs: 28 |
|
|
| dataset: |
| _target_: ${dataset_target} |
| n_demo: ${n_demo} |
| shape_meta: *shape_meta |
| dataset_path: ${dataset_path} |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| n_obs_steps: ${dataset_obs_steps} |
| abs_action: *abs_action |
| rotation_rep: 'rotation_6d' |
| use_legacy_normalizer: False |
| use_cache: False |
| seed: 42 |
| val_ratio: 0.02 |
|
|
