| 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 |
|
|
