| seed: 0 | |
| eval_env: | |
| env_id: PickSubtaskTrain-v0 | |
| num_envs: 63 | |
| max_episode_steps: 200 | |
| make_env: true | |
| continuous_task: true | |
| cat_state: true | |
| cat_pixels: false | |
| frame_stack: null | |
| stack: 2 | |
| stationary_base: false | |
| stationary_torso: false | |
| stationary_head: true | |
| task_plan_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/tidy_house/pick/train/all.json | |
| spawn_data_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/tidy_house/pick/train/spawn_data.pt | |
| record_video: false | |
| debug_video: false | |
| debug_video_gen: false | |
| save_video_freq: 1 | |
| info_on_video: false | |
| extra_stat_keys: | |
| - is_grasped | |
| - ee_rest | |
| - robot_rest | |
| - is_static | |
| - cumulative_force_within_limit | |
| env_kwargs: | |
| robot_force_mult: 0.001 | |
| robot_force_penalty_min: 0.2 | |
| target_randomization: false | |
| algo: | |
| name: diffusion_policy | |
| lr: 0.0001 | |
| batch_size: 256 | |
| obs_horizon: 2 | |
| act_horizon: 1 | |
| pred_horizon: 16 | |
| diffusion_step_embed_dim: 256 | |
| unet_dims: | |
| - 256 | |
| - 512 | |
| - 1024 | |
| n_groups: 8 | |
| data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/tidy_house/pick | |
| trajs_per_obj: all | |
| truncate_trajectories_at_success: true | |
| max_image_cache_size: all | |
| num_dataload_workers: 2 | |
| num_iterations: 500000 | |
| eval_episodes: 63 | |
| log_freq: 1000 | |
| eval_freq: 5000 | |
| save_freq: 5000 | |
| torch_deterministic: true | |
| save_backup_ckpts: false | |
| logger: | |
| workspace: mshab_exps | |
| exp_name: rcad-tidy_house-pick-all | |
| clear_out: true | |
| tensorboard: true | |
| wandb: false | |
| model_ckpt: "mshab_checkpoints/dp/tidy_house/pick/all/policy.pt" | |