| "debug: false\nsave_all_episodes: false\nparams:\n eval: false\n onscreen_render:\ | |
| \ false\n ckpt_dir: ckpt_dir\n policy_class: ACT-isaac-franka\n task_name: sim_random_position_1_16_one_item_100\n\ | |
| \ batch_size: 8\n seed: 5\n num_epochs: 100\n lr: 1.0e-05\n qpos_noise_std:\ | |
| \ 0.0\n backbone: dino_v2\n freeze_backbone: true\n load_pretrain: false\n eval_every:\ | |
| \ 50000\n validate_every: 50000\n save_every: 1000\n resume_ckpt_path: null\n\ | |
| \ skip_mirrored_data: false\n actuator_network_dir: null\n history_len: null\n\ | |
| \ future_len: null\n prediction_len: null\n dataset_cls: EpisodicDatasetLmdb\n\ | |
| \ relative_control: false\n action_dim: 9\n state_dim: 9\n kl_weight: 10\n \ | |
| \ chunk_size: 100\n hidden_dim: 512\n dim_feedforward: 3200\n temporal_agg: false\n\ | |
| \ use_vq: false\n vq_class: null\n vq_dim: null\n no_encoder: false\n augment_type:\ | |
| \ 10\n augment_prob: 0.7\n lr_scheduler: cosine\n num_warmup_steps: 1000\n" | |