| name: pusht_image |
|
|
| image_shape: &image_shape [3, 96, 96] |
| shape_meta: &shape_meta |
| |
| obs: |
| image: |
| shape: *image_shape |
| type: rgb |
| agent_pos: |
| shape: [2] |
| type: low_dim |
| action: |
| shape: [2] |
|
|
| env_runner: |
| _target_: diffusion_policy.env_runner.pusht_image_runner.PushTImageRunner |
| n_train: 6 |
| n_train_vis: 0 |
| train_start_seed: 0 |
| n_test: 50 |
| n_test_vis: 0 |
| legacy_test: True |
| test_start_seed: 100000 |
| max_steps: 300 |
| n_obs_steps: ${n_obs_steps} |
| n_action_steps: ${n_action_steps} |
| fps: 10 |
| past_action: ${past_action_visible} |
| n_envs: null |
|
|
| dataset: |
| _target_: diffusion_policy.dataset.pusht_image_dataset.PushTImageDataset |
| zarr_path: data/pusht/pusht_cchi_v7_replay.zarr |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| seed: 42 |
| val_ratio: 0.02 |
| max_train_episodes: 90 |
|
|
