| { | |
| "dataset": { | |
| "repo_id": "local/mujoco_pickplace_minimal", | |
| "root": "outputs/dataset", | |
| "episodes": 20, | |
| "fps": 30, | |
| "width": 256, | |
| "height": 256, | |
| "image_key": "top", | |
| "task": "Pick up the cube and place it on the goal marker.", | |
| "robot_type": "mujoco_pickplace_minimal", | |
| "base_height": 0.35, | |
| "seed": 7, | |
| "overwrite": true, | |
| "show_viewer": true | |
| }, | |
| "viz": { | |
| "episode_index": 0 | |
| }, | |
| "train": { | |
| "output_dir": "outputs/train/act_mujoco_pickplace_minimal", | |
| "job_name": "act_mujoco_pickplace_minimal", | |
| "device": "mps", | |
| "batch_size": 4, | |
| "num_workers": 2, | |
| "steps": 5000, | |
| "save_freq": 1000, | |
| "log_freq": 10, | |
| "eval_freq": 0, | |
| "seed": 1000, | |
| "wandb_enable": false, | |
| "resume": false | |
| }, | |
| "eval": { | |
| "policy_root": "", | |
| "episodes": 10, | |
| "max_steps": 120, | |
| "device": "cpu", | |
| "base_height": 0.35, | |
| "seed": 7, | |
| "show_viewer": true, | |
| "step_sleep": 0.15, | |
| "task": "Pick up the cube and place it on the goal marker.", | |
| "robot_type": "mujoco_pickplace_minimal" | |
| } | |
| } | |