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0b5ed64 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 | # @package _global_
defaults:
- override /model: ddim
- override /backbone: resnet_dp
obs_mode: rgb # pcd | rgb
n_pred_steps: 16 # Must be divisible by 4
obs_features_dim: 512
x_dim: "${eval: '${obs_features_dim} * 5 + ${y_dim}'}"
dataset:
n_obs_steps: ${n_obs_steps}
n_pred_steps: ${n_pred_steps}
subs_factor: 1
use_pcd_color: null
n_points: null
dataloader:
batch_size: 64
model:
_target_: pfp.policy.ddim_policy.DDIMPolicyImage
augment_data: False # done in backbone
optimizer:
_target_: torch.optim.AdamW
lr: 1.0e-4
betas: [0.95, 0.999]
eps: 1.0e-8
weight_decay: 1.0e-6
lr_scheduler:
name: cosine # constant | cosine | linear | ...
num_warmup_steps: 500 |