|
|
name: mimicgen_rel |
|
|
|
|
|
shape_meta: &shape_meta |
|
|
|
|
|
obs: |
|
|
robot0_eye_in_hand_image: |
|
|
shape: [3, 84, 84] |
|
|
type: rgb |
|
|
voxels: |
|
|
shape: [4, 64, 64, 64] |
|
|
type: voxel |
|
|
robot0_eef_pos: |
|
|
shape: [3] |
|
|
|
|
|
robot0_eef_quat: |
|
|
shape: [4] |
|
|
robot0_gripper_qpos: |
|
|
shape: [2] |
|
|
action: |
|
|
shape: [7] |
|
|
|
|
|
env_runner_shape_meta: &env_runner_shape_meta |
|
|
|
|
|
obs: |
|
|
robot0_eye_in_hand_image: |
|
|
shape: [3, 84, 84] |
|
|
type: rgb |
|
|
agentview_image: |
|
|
shape: [3, 84, 84] |
|
|
type: rgb |
|
|
voxels: |
|
|
shape: [4, 64, 64, 64] |
|
|
type: voxel |
|
|
robot0_eef_pos: |
|
|
shape: [3] |
|
|
|
|
|
robot0_eef_quat: |
|
|
shape: [4] |
|
|
robot0_gripper_qpos: |
|
|
shape: [2] |
|
|
action: |
|
|
shape: [7] |
|
|
|
|
|
|
|
|
abs_action: &abs_action False |
|
|
|
|
|
env_runner: |
|
|
_target_: equi_diffpo.env_runner.robomimic_image_runner.RobomimicImageRunner |
|
|
dataset_path: ${dataset_path} |
|
|
shape_meta: *env_runner_shape_meta |
|
|
n_train: 6 |
|
|
n_train_vis: 2 |
|
|
train_start_idx: 0 |
|
|
n_test: 50 |
|
|
n_test_vis: 4 |
|
|
test_start_seed: 100000 |
|
|
max_steps: ${get_max_steps:${task_name}} |
|
|
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} |
|
|
abs_action: *abs_action |
|
|
tqdm_interval_sec: 1.0 |
|
|
n_envs: 28 |
|
|
|
|
|
dataset: |
|
|
_target_: equi_diffpo.dataset.robomimic_replay_voxel_sym_dataset.RobomimicReplayVoxelSymDataset |
|
|
n_demo: ${n_demo} |
|
|
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} |
|
|
abs_action: *abs_action |
|
|
rotation_rep: 'rotation_6d' |
|
|
use_legacy_normalizer: False |
|
|
use_cache: True |
|
|
seed: 42 |
|
|
val_ratio: 0.02 |
|
|
ws_x_center: ${get_ws_x_center:${task_name}} |
|
|
ws_y_center: ${get_ws_y_center:${task_name}} |
|
|
|
