| { | |
| "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": 43, | |
| "fsdp_devices": 1, | |
| "log_interval": 50, | |
| "save_interval": 5000, | |
| "wandb": false, | |
| "lfo_max_demo_index": 79, | |
| "include_video_types": [ | |
| "with_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}/wd/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" | |
| ] | |
| } |