109 lines
2.8 KiB
YAML
109 lines
2.8 KiB
YAML
defaults:
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- _self_
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hydra:
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run:
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dir: ${logdir}
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_target_: agent.eval.eval_diffusion_img_agent.EvalImgDiffusionAgent
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name: ${env_name}_eval_diffusion_unet_img_ta${horizon_steps}_td${denoising_steps}
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logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-eval/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
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base_policy_path:
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robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}-img.json
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normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-img/normalization.npz
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seed: 42
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device: cuda:0
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env_name: transport
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obs_dim: 18
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action_dim: 14
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denoising_steps: 100
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cond_steps: 1
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img_cond_steps: 1
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horizon_steps: 16
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act_steps: 8
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use_ddim: True
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ddim_steps: 5
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ft_denoising_steps: 0
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n_steps: 400 # each episode takes max_episode_steps / act_steps steps
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render_num: 0
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env:
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n_envs: 30 # reduce gpu usage
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name: ${env_name}
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best_reward_threshold_for_success: 1
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max_episode_steps: 800
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save_video: False
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use_image_obs: True
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wrappers:
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robomimic_image:
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normalization_path: ${normalization_path}
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low_dim_keys: ['robot0_eef_pos',
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'robot0_eef_quat',
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'robot0_gripper_qpos',
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"robot1_eef_pos",
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"robot1_eef_quat",
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"robot1_gripper_qpos"]
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image_keys: ['shouldercamera0_image',
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'shouldercamera1_image']
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shape_meta: ${shape_meta}
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multi_step:
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n_obs_steps: ${cond_steps}
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n_action_steps: ${act_steps}
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max_episode_steps: ${env.max_episode_steps}
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reset_within_step: True
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shape_meta:
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obs:
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rgb:
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shape: [6, 96, 96]
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state:
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shape: [18]
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action:
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shape: [14]
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model:
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_target_: model.diffusion.diffusion_eval_ft.DiffusionEval
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ft_denoising_steps: ${ft_denoising_steps}
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predict_epsilon: True
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denoised_clip_value: 1.0
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randn_clip_value: 3
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#
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use_ddim: ${use_ddim}
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ddim_steps: ${ddim_steps}
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network_path: ${base_policy_path}
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network:
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_target_: model.diffusion.unet.VisionUnet1D
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backbone:
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_target_: model.common.vit.VitEncoder
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obs_shape: ${shape_meta.obs.rgb.shape}
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num_channel: ${eval:'3 * ${img_cond_steps}'} # each image patch is history concatenated
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img_h: ${shape_meta.obs.rgb.shape[1]}
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img_w: ${shape_meta.obs.rgb.shape[2]}
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cfg:
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patch_size: 8
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depth: 1
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embed_dim: 128
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num_heads: 4
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embed_style: embed2
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embed_norm: 0
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img_cond_steps: ${img_cond_steps}
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augment: False
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num_img: 2
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spatial_emb: 128
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diffusion_step_embed_dim: 32
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dim: 64
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dim_mults:
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- 1
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- 2
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kernel_size: 5
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n_groups: 8
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smaller_encoder: false
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cond_predict_scale: true
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action_dim: ${action_dim}
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cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
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horizon_steps: ${horizon_steps}
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obs_dim: ${obs_dim}
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action_dim: ${action_dim}
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denoising_steps: ${denoising_steps}
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device: ${device} |