| # @package _global_ | |
| defaults: | |
| - posttrain_robotwin | |
| - _self_ | |
| ckpt: ${oc.env:W0_ROBOTWIN_CHECKPOINT,null} | |
| gpu_id: 0 | |
| model: | |
| load_text_encoder: true | |
| EVALUATION: | |
| robotwin_root: ${oc.env:ROBOTWIN_ROOT,external/RoboTwin} | |
| policy_name: w0_policy | |
| task_name: null | |
| task_config: demo_randomized | |
| instruction_type: unseen | |
| eval_num_episodes: 15 | |
| output_dir: ${oc.env:W0_OUTPUT_DIR,outputs}/robotwin/evaluation/${now:%Y%m%d_%H%M%S} | |
| action_horizon: 64 | |
| chunks_per_video_prefill: 4 | |
| num_inference_steps: 10 | |
| sigma_shift: null | |
| text_cfg_scale: 1.0 | |
| negative_prompt: "" | |
| rand_device: cpu | |
| tiled: false | |
| timing_enabled: false | |
| training_config: ${oc.env:W0_ROBOTWIN_TRAINING_CONFIG,null} | |
| control_mode: fixed_period | |
| target_fps: 25.0 | |
| step_limit_reference_fps: 12.5 | |
| dataset_stats_path: null | |
| device: cuda | |
| MULTIRUN: | |
| enabled: false | |
| num_gpus: 8 | |
| max_tasks_per_gpu: 1 | |