| seed: 1234 | |
| 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 |