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