| name: blockpush_lowdim_seed |
|
|
| obs_dim: 16 |
| action_dim: 2 |
| keypoint_dim: 2 |
| obs_eef_target: True |
|
|
| env_runner: |
| _target_: diffusion_policy.env_runner.blockpush_lowdim_runner.BlockPushLowdimRunner |
| n_train: 6 |
| n_train_vis: 0 |
| train_start_seed: 0 |
| n_test: 50 |
| n_test_vis: 0 |
| test_start_seed: 100000 |
| max_steps: 350 |
| n_obs_steps: ${n_obs_steps} |
| n_action_steps: ${n_action_steps} |
| fps: 5 |
| past_action: ${past_action_visible} |
| abs_action: False |
| obs_eef_target: ${task.obs_eef_target} |
| n_envs: null |
|
|
| dataset: |
| _target_: diffusion_policy.dataset.blockpush_lowdim_dataset.BlockPushLowdimDataset |
| zarr_path: data/block_pushing/multimodal_push_seed.zarr |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| obs_eef_target: ${task.obs_eef_target} |
| use_manual_normalizer: False |
| seed: 42 |
| val_ratio: 0.02 |
|
|
