# @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