File size: 880 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 | name: pusht_lowdim
obs_dim: 20 # 9*2 keypoints + 2 state
action_dim: 2
keypoint_dim: 2
env_runner:
_target_: diffusion_policy.env_runner.pusht_keypoints_runner.PushTKeypointsRunner
keypoint_visible_rate: ${keypoint_visible_rate}
n_train: 6
n_train_vis: 0
train_start_seed: 0
n_test: 50
n_test_vis: 0
legacy_test: True
test_start_seed: 100000
max_steps: 300
n_obs_steps: ${n_obs_steps}
n_action_steps: ${n_action_steps}
n_latency_steps: ${n_latency_steps}
fps: 10
agent_keypoints: False
past_action: ${past_action_visible}
n_envs: null
dataset:
_target_: diffusion_policy.dataset.pusht_dataset.PushTLowdimDataset
zarr_path: data/pusht/pusht_cchi_v7_replay.zarr
horizon: ${horizon}
pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'}
pad_after: ${eval:'${n_action_steps}-1'}
seed: 42
val_ratio: 0.02
max_train_episodes: 90
|