| # 数据集配置（核心：指定hdf5类型和文件路径） | |
| dataset: | |
| type: "hdf5" | |
| root: "/home/dobot/dobot/x-trainer/task_1_sorting/dataset_merged.hdf5" | |
| use_imagenet_stats: true | |
| video_backend: "torchcodec" | |
| # 策略配置（ACT模型） | |
| policy: | |
| type: "act" | |
| device: "cuda" | |
| push_to_hub: false | |
| empty_cameras: true # 跳过图片编码器（无图片数据时必需） | |
| dropout: 0.2 # 小数据集防过拟合 | |
| optimizer_lr: 5e-6 # 降低学习率 | |
| # 训练配置 | |
| output_dir: "/home/dobot/dobot/x-trainer/ckpts/act_sorting_new" | |
| job_name: "act_sorting_task1" | |
| batch_size: 4 | |
| steps: 20000 | |
| log_freq: 500 | |
| save_freq: 10000 | |
| eval_freq: 20000 | |
| seed: 1000 | |
| num_workers: 2 # 减少线程数，避免加载数据报错 | |