File size: 952 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 | name: kitchen_lowdim
obs_dim: 60
action_dim: 9
keypoint_dim: 3
abs_action: True
robot_noise_ratio: 0.1
env_runner:
_target_: diffusion_policy.env_runner.kitchen_lowdim_runner.KitchenLowdimRunner
dataset_dir: data/kitchen
n_train: 6
n_train_vis: 0
train_start_seed: 0
n_test: 50
n_test_vis: 0
test_start_seed: 100000
max_steps: 280
n_obs_steps: ${n_obs_steps}
n_action_steps: ${n_action_steps}
render_hw: [240, 360]
fps: 12.5
past_action: ${past_action_visible}
abs_action: ${task.abs_action}
robot_noise_ratio: ${task.robot_noise_ratio}
n_envs: null
dataset:
_target_: diffusion_policy.dataset.kitchen_mjl_lowdim_dataset.KitchenMjlLowdimDataset
dataset_dir: data/kitchen/kitchen_demos_multitask
horizon: ${horizon}
pad_before: ${eval:'${n_obs_steps}-1'}
pad_after: ${eval:'${n_action_steps}-1'}
abs_action: ${task.abs_action}
robot_noise_ratio: ${task.robot_noise_ratio}
seed: 42
val_ratio: 0.02
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