| abs_action_key: action | |
| action_dropout_prob: 0.05 | |
| action_noise_scale: 0.1 | |
| action_noise_warmup: 50 | |
| action_step_subsample: 4 | |
| batch_size: 8 | |
| chunk_H: 16 | |
| config: null | |
| crop_shape: | |
| - 84 | |
| - 84 | |
| dataset_class: memory_diffusion_policy.dataset.custom_real_3d_lstm_image_dataset.CustomReal3DLSTMImageDataset | |
| dataset_kwargs: {} | |
| device: cuda | |
| dropout: 0.1 | |
| eval_fixed_crop: true | |
| freeze_encoder: false | |
| future_abstraction: raw | |
| future_dct_freq_decay: 0.0 | |
| future_entropy_weight: 0.01 | |
| future_loss_weight: 1.0 | |
| future_mode_cls_weight: 0.1 | |
| future_n_bases: 32 | |
| gripper_dim: 0 | |
| gripper_past_abstraction: raw | |
| gripper_past_consistency_n_steps: | |
| - 1 | |
| - 2 | |
| - 4 | |
| - 8 | |
| - 16 | |
| - 32 | |
| - 64 | |
| - 128 | |
| - 256 | |
| - 512 | |
| gripper_past_consistency_weight: 1.0 | |
| gripper_past_dct_freq_decay: 0.0 | |
| gripper_past_loss_type: bce | |
| gripper_past_loss_weight: 1.0 | |
| gripper_past_n_bases: 32 | |
| gripper_past_temporal_alpha: 1.0 | |
| gripper_past_temporal_weight: uniform | |
| hdf5_path: RealPushMultiT_96/RealPushMultiT_96.zarr | |
| hidden_size: 128 | |
| l1_on_hidden_state: true | |
| l1_weight: 0.01 | |
| log_mode: wandb | |
| log_per_step: true | |
| lr: 0.0001 | |
| max_train_episodes: null | |
| num_epochs: 1000 | |
| num_future_modes: 1 | |
| num_kp: 32 | |
| num_layers: 2 | |
| num_workers: 4 | |
| obs_encoder_group_norm: true | |
| output_dir: outputs/realpushmultit_proprio7_debug_2 | |
| past_abstraction: dct | |
| past_chunk_H: 700 | |
| past_consistency_n_steps: | |
| - 1 | |
| - 2 | |
| - 4 | |
| - 8 | |
| - 16 | |
| - 32 | |
| - 64 | |
| - 128 | |
| past_consistency_weight: 1.0 | |
| past_dct_freq_decay: 0.0 | |
| past_loss_weight: 1.0 | |
| past_n_bases: 32 | |
| past_temporal_alpha: 1.0 | |
| past_temporal_weight: uniform | |
| pos_dim: 2 | |
| resume: true | |
| resume_path: null | |
| rot_repr: none | |
| save_every_epochs: 50 | |
| seed: 42 | |
| shape_meta: | |
| action: | |
| shape: | |
| - 7 | |
| obs: | |
| img_third: | |
| shape: | |
| - 3 | |
| - 96 | |
| - 96 | |
| type: rgb | |
| robot_eef_pose: | |
| shape: | |
| - 2 | |
| type: low_dim | |
| use_future_head: false | |
| use_gripper_past_head: false | |
| use_vq: false | |
| use_wandb: true | |
| val_ratio: 0.1 | |
| viz_cameras: [] | |
| viz_every_n_epochs: 0 | |
| viz_image_size: 256 | |
| viz_num_episodes: 2 | |
| viz_use_robosuite: false | |
| vq_commitment_weight: 0.25 | |
| vq_n_codes: 512 | |
| wandb_entity: null | |
| wandb_project: obs_action_chunk_lstm_image_3d_realpushmultit_320 | |
| wandb_run_name: null | |
| weight_decay: 0.0001 | |