File size: 1,374 Bytes
987ed1b | 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 42 43 44 45 46 47 | name: can_lowdim
obs_dim: 23
action_dim: 10
keypoint_dim: 3
obs_keys: &obs_keys ['object', 'robot0_eef_pos', 'robot0_eef_quat', 'robot0_gripper_qpos']
task_name: &task_name can
dataset_type: &dataset_type mh
dataset_path: &dataset_path data/robomimic/datasets/${task.task_name}/${task.dataset_type}/low_dim_abs.hdf5
abs_action: &abs_action True
env_runner:
_target_: diffusion_policy.env_runner.robomimic_lowdim_runner.RobomimicLowdimRunner
dataset_path: *dataset_path
obs_keys: *obs_keys
n_train: 0
n_train_vis: 0
train_start_idx: 0
n_test: 50
n_test_vis: 0
test_start_seed: 100000
# use python's eval function as resolver, single-quoted string as argument
max_steps: ${eval:'500 if "${task.dataset_type}" == "mh" else 400'}
n_obs_steps: ${n_obs_steps}
n_action_steps: ${n_action_steps}
n_latency_steps: ${n_latency_steps}
render_hw: [128,128]
fps: 10
crf: 22
past_action: ${past_action_visible}
abs_action: *abs_action
n_envs: 50
dataset:
_target_: diffusion_policy.dataset.robomimic_replay_lowdim_dataset.RobomimicReplayLowdimDataset
dataset_path: *dataset_path
horizon: ${horizon}
pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'}
pad_after: ${eval:'${n_action_steps}-1'}
obs_keys: *obs_keys
abs_action: *abs_action
use_legacy_normalizer: False
rotation_rep: rotation_6d
seed: 42
val_ratio: 0.02
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