48 lines
1.1 KiB
YAML
48 lines
1.1 KiB
YAML
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name: real_image
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image_shape: [3, 240, 320]
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dataset_path: data/pusht_real/real_pusht_20230105
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shape_meta: &shape_meta
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# acceptable types: rgb, low_dim
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obs:
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# camera_0:
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# shape: ${task.image_shape}
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# type: rgb
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camera_1:
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shape: ${task.image_shape}
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type: rgb
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# camera_2:
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# shape: ${task.image_shape}
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# type: rgb
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camera_3:
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shape: ${task.image_shape}
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type: rgb
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# camera_4:
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# shape: ${task.image_shape}
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# type: rgb
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robot_eef_pose:
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shape: [2]
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type: low_dim
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action:
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shape: [2]
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env_runner:
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_target_: diffusion_policy.env_runner.real_pusht_image_runner.RealPushTImageRunner
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dataset:
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_target_: diffusion_policy.dataset.real_pusht_image_dataset.RealPushTImageDataset
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shape_meta: *shape_meta
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dataset_path: ${task.dataset_path}
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horizon: ${horizon}
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pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'}
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pad_after: ${eval:'${n_action_steps}-1'}
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n_obs_steps: ${dataset_obs_steps}
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n_latency_steps: ${n_latency_steps}
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use_cache: True
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seed: 42
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val_ratio: 0.00
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max_train_episodes: null
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delta_action: False
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