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