| name: square_lowdim |
|
|
| obs_dim: 23 |
| action_dim: 10 |
| keypoint_dim: 3 |
|
|
| obs_keys: &obs_keys ['object', 'robot0_eef_pos', 'robot0_eef_quat', 'robot0_gripper_qpos'] |
| task_name: &task_name square |
| dataset_type: &dataset_type mh |
| dataset_path: data/robomimic/datasets/${task.task_name}/${task.dataset_type}/low_dim_abs.hdf5 |
| abs_action: &abs_action True |
| dense_reward: False |
|
|
| env_runner: |
| _target_: diffusion_policy.env_runner.robomimic_lowdim_runner.RobomimicLowdimRunner |
| dataset_path: ${task.dataset_path} |
| obs_keys: *obs_keys |
| n_train: 0 |
| n_train_vis: 0 |
| train_start_idx: 0 |
| n_test: 50 |
| n_test_vis: 0 |
| test_start_seed: 100000 |
| |
| max_steps: ${eval:'500 if "${task.dataset_type}" == "mh" else 400'} |
| n_obs_steps: ${n_obs_steps} |
| n_action_steps: ${n_action_steps} |
| n_latency_steps: ${n_latency_steps} |
| render_hw: [128,128] |
| fps: 10 |
| crf: 22 |
| past_action: ${past_action_visible} |
| abs_action: *abs_action |
| n_envs: 50 |
| |
| dataset: |
| _target_: diffusion_policy.dataset.robomimic_replay_lowdim_dataset.RobomimicReplayLowdimDataset |
| dataset_path: ${task.dataset_path} |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| obs_keys: *obs_keys |
| abs_action: *abs_action |
| use_legacy_normalizer: False |
| seed: 42 |
| val_ratio: 0.02 |
| dense_reward: ${task.dense_reward} |
|
|
| dataset_1: |
| _target_: diffusion_policy.dataset.hdf5_lowdim_dataset.Hdf5LowdimDataset |
| dataset_dir: ${training.dataset_1_dir} |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| seed: 42 |
| val_ratio: 0 |
| dense_reward: ${task.dense_reward} |
|
|
| dataset_2: |
| _target_: diffusion_policy.dataset.hdf5_lowdim_dataset.Hdf5LowdimDataset |
| dataset_dir: ${training.dataset_2_dir} |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| seed: 42 |
| val_ratio: 0 |
| dense_reward: ${task.dense_reward} |
|
|
| pref_dataset: |
| _target_: diffusion_policy.dataset.pbrl_lowdim_dataset.PbrlLowdimDataset |
| sequence_length: 100 |
| val_ratio_data1: 0 |
| val_ratio_data2: 0 |
| num_queries: 1000 |
| gamma: ${gamma} |
| gpu_device: ${training.device} |
| dense_reward: ${task.dense_reward} |
| task_name: ${task.name} |
| pseudo_preference: False |
| feature_extractor: r3m_resnet18 |
| context_num: 3 |
| seg_margin: 0.6 |
| min_progress: 0.0 |
| n_demos_for_preference: 10 |
|
|
|
|
