| { | |
| "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 | |
| } |