| { |
| "num_steps": 40000, |
| "eval_every": 800000, |
| "validate_every": 1000000, |
| "save_every": 5000, |
| "ckpt_dir": "/home/jovyan/tzb/liyx/minidp/ckpt/3_cameras_no_folding__320_240_32_1e-4_numsteps_40000_sub_0_first", |
| "resume": 0, |
| "episode_len": 1000, |
| "state_dim": 14, |
| "lr": 0.0001, |
| "policy_class": "DroidDiffusion", |
| "onscreen_render": false, |
| "policy_config": { |
| "lr": 0.0001, |
| "camera_names": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ], |
| "state_dim": 14, |
| "action_dim": 14, |
| "observation_horizon": 1, |
| "prediction_horizon": 48, |
| "num_queries": 48, |
| "num_inference_timesteps": 10, |
| "ema_power": 0.75, |
| "vq": false, |
| "use_lang": true, |
| "backbone": "resnet50", |
| "weight_decay": 0.0, |
| "pool_class": "SpatialSoftmax", |
| "stsm_num_kp": 512, |
| "img_fea_dim": 512, |
| "cond_obs_dim": 512, |
| "num_noise_samples": 8, |
| "use_color_rand": false, |
| "double_arm": 1, |
| "image_size_w": 320, |
| "image_size_h": 240, |
| "use_filmfusion": 1, |
| "lr_backbone": 0.0001, |
| "use_resnet_film": 0, |
| "use_moe": 0, |
| "ema_update_frequency": 1, |
| "ema_update_after_step": 0 |
| }, |
| "task_name": "3_cameras_no_folding", |
| "seed": 0, |
| "camera_names": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ], |
| "action_dim": 14, |
| "load_pretrain": false, |
| "actuator_config": { |
| "actuator_network_dir": null, |
| "history_len": null, |
| "future_len": null, |
| "prediction_len": null |
| }, |
| "use_lang": true, |
| "use_resnet_film": 0, |
| "ema_update_frequency": 1 |
| } |
