File size: 1,129 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 48 | name: real_image
image_shape: [3, 240, 320]
dataset_path: data/pusht_real/real_pusht_20230105
shape_meta: &shape_meta
# acceptable types: rgb, low_dim
obs:
# camera_0:
# shape: ${task.image_shape}
# type: rgb
camera_1:
shape: ${task.image_shape}
type: rgb
# camera_2:
# shape: ${task.image_shape}
# type: rgb
camera_3:
shape: ${task.image_shape}
type: rgb
# camera_4:
# shape: ${task.image_shape}
# type: rgb
robot_eef_pose:
shape: [2]
type: low_dim
action:
shape: [2]
env_runner:
_target_: diffusion_policy.env_runner.real_pusht_image_runner.RealPushTImageRunner
dataset:
_target_: diffusion_policy.dataset.real_pusht_image_dataset.RealPushTImageDataset
shape_meta: *shape_meta
dataset_path: ${task.dataset_path}
horizon: ${horizon}
pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'}
pad_after: ${eval:'${n_action_steps}-1'}
n_obs_steps: ${dataset_obs_steps}
n_latency_steps: ${n_latency_steps}
use_cache: True
seed: 42
val_ratio: 0.00
max_train_episodes: null
delta_action: False
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