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7052b5c | 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 38 39 40 41 42 43 44 | {
"demonstration_config": "perceptual-keyframe-context.yaml",
"use_demonstration": true,
"prompt": "complete the task",
"batch_size": 64,
"num_train_steps": 50000,
"peak_lr": 5e-05,
"warmup_steps": 1000,
"ema_decay": 0.999,
"grad_clip": 1.0,
"seed": 42,
"fsdp_devices": 1,
"log_interval": 50,
"save_interval": 10000,
"wandb": false,
"lfo_max_demo_index": 79,
"include_video_types": [
"without_distraction"
],
"paired_sampling": null,
"keyframe_annotation_dir": "${ROBOREEL_DATA}/bpp_keyframe_annotations",
"demo_cameras": [
"front"
],
"robot_cameras": [
"base_camera",
"hand_camera"
],
"output_dir": "${ROBOREEL_CKPT}/nd/pi05_video_perceptual_context_bpp",
"checkpoint_dir": "${OPENPI_DATA_HOME}/openpi-assets/checkpoints/pi05_base",
"data_dir": "${ROBOREEL_DATA}",
"tasks": [
"bowl_in_plate",
"close_drawer",
"empty_basket",
"open_lid",
"pick_cube",
"press_toaster",
"push_cube",
"stack_cups",
"toys_in_basket",
"toys_in_drawer"
]
} |