# @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