| name: aloha |
|
|
| shape_meta: &shape_meta |
| |
| obs: |
| high_images: |
| shape: [3, 480, 640] |
| type: rgb |
| wrist_images: |
| shape: [3, 480, 640] |
| type: rgb |
| states: |
| shape: [13] |
| action: |
| shape: [13] |
|
|
| task_name: &task_name aloha |
| dataset_type: &dataset_type mh |
| dataset_path: &dataset_path data/aloha/placing_drawer_demo/placing_drawer_demo.hdf5 |
| |
|
|
| env_runner: |
| _target_: diffusion_policy.env_runner.robomimic_image_runner.RobomimicImageRunner |
| dataset_path: *dataset_path |
| shape_meta: *shape_meta |
| n_train: 6 |
| n_train_vis: 0 |
| train_start_idx: 0 |
| n_test: 50 |
| n_test_vis: 0 |
| test_start_seed: 100000 |
| |
| max_steps: ${eval:'500 if "${task.dataset_type}" == "mh" else 400'} |
| n_obs_steps: ${n_obs_steps} |
| n_action_steps: ${n_action_steps} |
| render_obs_key: 'agentview_image' |
| fps: 10 |
| crf: 22 |
| past_action: ${past_action_visible} |
| |
| tqdm_interval_sec: 1.0 |
| n_envs: 25 |
| |
|
|
| dataset: |
| _target_: diffusion_policy.dataset.aloha_replay_image_dataset.AlohaReplayImageDataset |
| shape_meta: *shape_meta |
| dataset_path: *dataset_path |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| n_obs_steps: ${dataset_obs_steps} |
| |
| |
| |
| use_cache: True |
| seed: 42 |
| val_ratio: 0.02 |
|
|
