| # Basic experiment configuration | |
| task_name: null | |
| policy_name: ACT | |
| task_config: null | |
| ckpt_setting: null | |
| seed: 0 | |
| instruction_type: unseen | |
| # ACT-specific arguments | |
| action_dim: 14 | |
| kl_weight: 10.0 | |
| chunk_size: 50 | |
| hidden_dim: 512 | |
| dim_feedforward: 3200 | |
| temporal_agg: false | |
| device: cuda:0 | |
| # DETR parser args | |
| ckpt_dir: null | |
| policy_class: ACT | |
| num_epochs: 2000 | |
| # Model training params | |
| position_embedding: sine | |
| lr_backbone: 0.00001 | |
| weight_decay: 0.0001 | |
| lr: 0.00001 | |
| masks: false | |
| dilation: false | |
| backbone: resnet18 | |
| nheads: 8 | |
| enc_layers: 4 | |
| dec_layers: 7 | |
| pre_norm: false | |
| dropout: 0.1 | |
| camera_names: | |
| - cam_high | |
| - cam_right_wrist | |
| - cam_left_wrist | |