| name: train_diffusion_unet_teleop_stack_blocks |
| _target_: memory_diffusion_policy.workspace.train_diffusion_unet_teleop_block_workspace.TrainDiffusionUnetTeleopBlockWorkspace |
| task_name: ${task.name} |
| shape_meta: ${task.shape_meta} |
| exp_name: default |
| horizon: 16 |
| n_obs_steps: 2 |
| n_action_steps: 8 |
| n_latency_steps: 0 |
| dataset_obs_steps: ${n_obs_steps} |
| past_action_visible: false |
| keypoint_visible_rate: 1.0 |
| obs_as_global_cond: true |
| policy: |
| _target_: diffusion_policy.policy.diffusion_unet_image_policy.DiffusionUnetImagePolicy |
| shape_meta: ${shape_meta} |
| noise_scheduler: |
| _target_: diffusers.schedulers.scheduling_ddim.DDIMScheduler |
| num_train_timesteps: 100 |
| beta_start: 0.0001 |
| beta_end: 0.02 |
| beta_schedule: squaredcos_cap_v2 |
| clip_sample: true |
| set_alpha_to_one: true |
| steps_offset: 0 |
| prediction_type: epsilon |
| obs_encoder: |
| _target_: diffusion_policy.model.vision.multi_image_obs_encoder.MultiImageObsEncoder |
| shape_meta: ${shape_meta} |
| rgb_model: |
| _target_: diffusion_policy.model.vision.model_getter.get_resnet |
| name: resnet18 |
| weights: null |
| resize_shape: null |
| crop_shape: |
| - 108 |
| - 144 |
| random_crop: true |
| use_group_norm: true |
| share_rgb_model: false |
| imagenet_norm: true |
| horizon: ${horizon} |
| n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} |
| n_obs_steps: ${n_obs_steps} |
| num_inference_steps: 16 |
| obs_as_global_cond: ${obs_as_global_cond} |
| diffusion_step_embed_dim: 128 |
| down_dims: |
| - 512 |
| - 1024 |
| - 2048 |
| kernel_size: 5 |
| n_groups: 8 |
| cond_predict_scale: true |
| ema: |
| _target_: diffusion_policy.model.diffusion.ema_model.EMAModel |
| update_after_step: 0 |
| inv_gamma: 1.0 |
| power: 0.75 |
| min_value: 0.0 |
| max_value: 0.9999 |
| dataloader: |
| batch_size: 64 |
| num_workers: 2 |
| shuffle: true |
| pin_memory: true |
| persistent_workers: false |
| val_dataloader: |
| batch_size: 64 |
| num_workers: 2 |
| shuffle: false |
| pin_memory: true |
| persistent_workers: false |
| optimizer: |
| _target_: torch.optim.AdamW |
| lr: 0.0001 |
| betas: |
| - 0.95 |
| - 0.999 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-06 |
| training: |
| device: cuda:0 |
| seed: 42 |
| debug: false |
| resume: true |
| lr_scheduler: cosine |
| lr_warmup_steps: 500 |
| num_epochs: 1502 |
| gradient_accumulate_every: 1 |
| use_ema: true |
| freeze_encoder: false |
| rollout_every: 1000000 |
| checkpoint_every: 1 |
| snapshot_every: 100 |
| val_every: 1 |
| sample_every: 100 |
| max_train_steps: null |
| max_val_steps: null |
| tqdm_interval_sec: 1.0 |
| logging: |
| project: teleop_block_dp |
| resume: true |
| mode: offline |
| name: ${name}_${task_name}_${exp_name} |
| tags: |
| - ${name} |
| - ${task_name} |
| - ${exp_name} |
| id: null |
| group: null |
| checkpoint: |
| topk: |
| monitor_key: train_loss |
| mode: min |
| k: 0 |
| format_str: epoch={epoch:04d}-train_loss={train_loss:.4f}.ckpt |
| save_last_ckpt: true |
| save_last_snapshot: false |
| multi_run: |
| run_dir: data/outputs/teleop_block_dp/${name}_${task_name}_${exp_name} |
| wandb_name_base: ${name}_${task_name}_${exp_name} |
| task: |
| name: teleop_stack_blocks_image |
| image_shape: |
| - 3 |
| - 120 |
| - 160 |
| dataset_path: data/teleop_stack_blocks/teleop_dataset_20260925_161227/replay_buffer.zarr |
| action_shift: 1 |
| gripper_range: |
| - 0.0 |
| - 0.08 |
| quat_order: wxyz |
| shape_meta: |
| obs: |
| img_third: |
| shape: ${task.image_shape} |
| type: rgb |
| img_wrist: |
| shape: ${task.image_shape} |
| type: rgb |
| robot_eef_pose: |
| shape: |
| - 9 |
| type: low_dim |
| gripper_state: |
| shape: |
| - 1 |
| type: low_dim |
| action: |
| shape: |
| - 10 |
| env_runner: |
| _target_: diffusion_policy.env_runner.real_pusht_image_runner.RealPushTImageRunner |
| dataset: |
| _target_: memory_diffusion_policy.dataset.teleop_block_image_dataset.TeleopBlockImageDataset |
| shape_meta: |
| obs: |
| img_third: |
| shape: ${task.image_shape} |
| type: rgb |
| img_wrist: |
| shape: ${task.image_shape} |
| type: rgb |
| robot_eef_pose: |
| shape: |
| - 9 |
| type: low_dim |
| gripper_state: |
| shape: |
| - 1 |
| type: low_dim |
| action: |
| shape: |
| - 10 |
| 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} |
| seed: 42 |
| val_ratio: 0.0 |
| max_train_episodes: null |
| bgr_to_rgb: true |
| action_shift: ${task.action_shift} |
| gripper_range: ${task.gripper_range} |
| image_cache: true |
| image_cache_path: null |
| quat_order: ${task.quat_order} |
| repair_dropouts: true |
|
|
