| env_name: square |
| action_dim: 7 |
| horizon_steps: 4 |
| act_steps: 4 |
| obs_dim: 9 |
| cond_steps: 1 |
| img_cond_steps: 1 |
| shape_meta: |
| obs: |
| rgb: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| state: |
| shape: |
| - 9 |
| action: |
| shape: |
| - 7 |
| _target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent |
| name: square_eval_shortcut_mlp_img_ta4_td20 |
| logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_18-58-06_42 |
| base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/16/last.pt |
| robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json |
| normalization_path: data/robomimic/square-img/normalization.npz |
| seed: 42 |
| device: cuda:5 |
| egl_device: null |
| denoising_steps: 20 |
| denoising_step_list: |
| - 1 |
| - 2 |
| - 4 |
| - 8 |
| - 16 |
| - 32 |
| - 64 |
| - 128 |
| n_steps: 300 |
| render_num: 0 |
| batch_size: 128 |
| env: |
| n_envs: 50 |
| name: square |
| best_reward_threshold_for_success: 1 |
| max_episode_steps: 300 |
| save_video: false |
| use_image_obs: true |
| wrappers: |
| robomimic_image: |
| normalization_path: data/robomimic/square-img/normalization.npz |
| low_dim_keys: |
| - robot0_eef_pos |
| - robot0_eef_quat |
| - robot0_gripper_qpos |
| image_keys: |
| - agentview_image |
| shape_meta: |
| obs: |
| rgb: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| state: |
| shape: |
| - 9 |
| action: |
| shape: |
| - 7 |
| multi_step: |
| n_obs_steps: 1 |
| n_action_steps: 4 |
| max_episode_steps: 300 |
| reset_within_step: true |
| render: true |
| model: |
| _target_: model.flow.shortcutflow.ShortCutFlow |
| network: |
| _target_: model.flow.mlp_shortcut.ShortCutFlowViT |
| backbone: |
| _target_: model.common.vit.VitEncoder |
| obs_shape: |
| - 3 |
| - 96 |
| - 96 |
| num_channel: 3 |
| cfg: |
| patch_size: 8 |
| depth: 1 |
| embed_dim: 128 |
| num_heads: 4 |
| embed_style: embed2 |
| embed_norm: 0 |
| action_dim: 7 |
| horizon_steps: 4 |
| prop_dim: 9 |
| img_cond_steps: 1 |
| td_emb_dim: 32 |
| mlp_dims: |
| - 768 |
| - 768 |
| - 768 |
| cond_mlp_dims: |
| - 64 |
| - 32 |
| residual_style: true |
| num_img: 1 |
| augment: true |
| spatial_emb: 128 |
| embed_combination_type: add |
| device: cuda:5 |
| horizon_steps: 4 |
| action_dim: 7 |
| act_min: -1 |
| act_max: 1 |
| obs_dim: 9 |
| max_denoising_steps: 20 |
| seed: 42 |
| self_consistency_k: 0.25 |
| delta: 1.0e-05 |
| sample_t_type: uniform |
|
|
