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epochs: 1500
log_wandb: False
task_name: unplug_charger
obs_features_dim: 256
y_dim: 10 # (xyz, rot6d, g)
x_dim: "${eval: '${obs_features_dim} + ${y_dim}'}"
n_obs_steps: 2
n_pred_steps: 32 # Must be divisible by 4
use_ema: True
save_each_n_epochs: 500
obs_mode: pcd # pcd | rgb
run_name: null # set this to continue training from previous ckpt
# env_runner:
# num_episodes: 20
# max_episode_length: 200
# task_name: ${task_name}
# env_config:
# seed: 1996
# lowdim_obs: False
dataset:
n_obs_steps: ${n_obs_steps}
n_pred_steps: ${n_pred_steps}
subs_factor: 3
use_pc_color: False
n_points: 4096
dataloader:
batch_size: 128
num_workers: 0
# pin_memory: True
optimizer:
_target_: torch.optim.AdamW
lr: 3.0e-5
betas: [0.95, 0.999]
eps: 1.0e-8
weight_decay: 1.0e-6
lr_scheduler:
name: cosine # constant | cosine | linear | ...
num_warmup_steps: 5000
defaults:
- model: flow
- backbone: pointnet |