| # @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 |