| name: real_image |
|
|
| image_shape: [3, 240, 320] |
| dataset_path: data/pusht_real/real_pusht_20230105 |
|
|
| shape_meta: &shape_meta |
| |
| obs: |
| |
| |
| |
| camera_1: |
| shape: ${task.image_shape} |
| type: rgb |
| |
| |
| |
| camera_3: |
| 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 |
|
|
|
|
