File size: 908 Bytes
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 | {
"data_root": "${ROBOREEL_DATA}",
"samples_subdir": "postprocessed_robot_trajectories",
"tasks": [
"bowl_in_plate",
"close_drawer",
"empty_basket",
"open_lid",
"pick_cube",
"press_toaster",
"push_cube",
"stack_cups",
"toys_in_basket",
"toys_in_drawer"
],
"include_video_types": [
"with_distraction"
],
"max_demo_index": 79,
"robot_camera": "base_camera",
"image_size": 224,
"num_prompt_frames": 16,
"num_state_frames": 8,
"chunk_size": 4,
"num_bins": 256,
"action_dim": 8,
"batch_size": 32,
"gradient_checkpointing": true,
"grad_accum": 1,
"learning_rate": 0.0003,
"final_learning_rate": 1e-06,
"warmup_steps": 2000,
"weight_decay": 0.05,
"num_train_steps": 50000,
"save_interval": 10000,
"log_interval": 100,
"num_workers": 4,
"fake_text": false,
"output_dir": "${ROBOREEL_CKPT}/wd/vid2robot",
"seed": 42
} |