| _target_: pfp.policy.fm_policy.FMPolicy | |
| x_dim: ${x_dim} | |
| y_dim: ${y_dim} | |
| n_obs_steps: ${n_obs_steps} | |
| n_pred_steps: ${n_pred_steps} | |
| num_k_infer: 10 | |
| time_conditioning: True | |
| norm_pcd_center: [0.4, 0.0, 1.4] | |
| augment_data: False | |
| noise_type: gaussian # gaussian | trajectory | igso3 | |
| noise_scale: 1.0 | |
| loss_type: l2 # l2 | l1 | |
| flow_schedule: exp # linear | cosine | exp | |
| exp_scale: 4.0 | |
| snr_sampler: uniform # uniform | logit_normal | |
| obs_encoder: ${backbone} | |
| diffusion_net: | |
| _target_: diffusion_policy.model.diffusion.conditional_unet1d.ConditionalUnet1D | |
| input_dim: ${y_dim} | |
| global_cond_dim: "${eval: '${x_dim} * ${n_obs_steps}'}" | |
| diffusion_step_embed_dim: "${eval: '256 if ${model.time_conditioning} else 0'}" | |
| down_dims: [256, 512, 1024] | |
| kernel_size: 5 | |
| n_groups: 8 | |
| cond_predict_scale: True | |
| use_dropout: False | |
| loss_weights: | |
| xyz: 10.0 | |
| rot6d: 10.0 | |
| grip: 1.0 | |