| |
| defaults: |
| - train |
| - override /data: robotwin |
| - override /model: w0 |
| - _self_ |
|
|
| posttrain_required: true |
| posttrain_stats: ${oc.env:W0_ROBOTWIN_STATS,assets/robotwin/normalization.json} |
| init_checkpoint: ${oc.env:W0_ROBOTWIN_CHECKPOINT,checkpoints/robotwin-clean.pt} |
| resume: null |
| seed: 42 |
| model: |
| proprio_dim: 37 |
| action_horizon: 64 |
| action_chunk_size: 16 |
| max_action_offset: 0 |
| num_history_frames: 0 |
| video_plan_horizon: 96 |
| video_action_stride: 8 |
| action_dit_config: |
| action_dim: 37 |
| num_soft_prompts: 8 |
| soft_prompt_domains: [robotwin_wam/aloha] |
| domain_configs: |
| - name: robotwin_wam/aloha |
| dataset: robotwin_wam |
| embodiment: aloha |
| action_dim: 37 |
| proprio_dim: 37 |
| action_valid_indices: [0, 1, 2, 3, 4, 5, 16, 17, 18, 19, 20, 21, 22, 33] |
| proprio_valid_indices: [0, 1, 2, 3, 4, 5, 16, 17, 18, 19, 20, 21, 22, 33] |
| raw_joint_names: [left_waist, left_shoulder, left_elbow, left_forearm_roll, left_wrist_angle, left_wrist_rotate, left_gripper, right_waist, right_shoulder, right_elbow, right_forearm_roll, right_wrist_angle, right_wrist_rotate, right_gripper] |
| action_semantics: native_absolute_joint_command_interval_end |
|
|
| batch_size: 12 |
| gradient_accumulation_steps: 1 |
| learning_rate: 3.0e-5 |
| soft_prompt_lr_scale: 1.0 |
| num_epochs: 15 |
| num_workers: 4 |
| history_aware_batching: false |
| optimizer_group_max_numel: 200000000 |
| save_every: 2500 |
| eval_every: 500 |
| log_every: 10 |
| keep_training_states: 1 |
| checkpoint_min_free_gib: 128 |
| freeze_video_dit: false |
| output_dir: ${oc.env:W0_OUTPUT_DIR,outputs}/robotwin/${now:%Y%m%d_%H%M%S} |
| wandb: |
| name: internw0_robotwin_clean_c2r |
|
|
