task

task

Configurations for the experiment task. The task defines what data the experiment will use at runtime, but not what data is in the dataset (see DatasetSchema for that). This design is motivated by the fact that a single dataset can be used for multiple tasks, each requiring different data.

ActionSpaceConfig dataclass

ActionSpaceConfig(_target_='versatil.data.task.ActionSpace', actions_metadata=dict(), use_gripper_class_weights=False, denoise_actions=True, denoising_percentile=15.0)

Configuration for action space.

Attributes:

Name	Type	Description
_target_	str	Import path instantiated by Hydra.
actions_metadata	dict[str, Any]	Dict of all action metadata, indexed by zarr store key. Values are OnTheFlyActionMetadataConfig or PrecomputedActionMetadataConfig subclasses.
use_gripper_class_weights	bool	Whether to use class weights for binary gripper.
denoise_actions	bool	Whether to apply denoising to actions.
denoising_percentile	float	Percentile for denoising threshold.

ObservationSpaceConfig dataclass

ObservationSpaceConfig(_target_='versatil.data.task.ObservationSpace', observations_metadata=dict())

Configuration for observation space.

Attributes:

Name	Type	Description
_target_	str	Import path instantiated by Hydra.
observations_metadata	dict[str, Any]	Dict of all observation metadata, indexed by zarr store key. Values are ObservationMetadataConfig subclasses, RGBCameraMetadataConfig, or DepthCameraMetadataConfig.

TaskSpaceConfig dataclass

TaskSpaceConfig(_target_='versatil.data.task.TaskSpace', dataset_schema=MISSING, dataloader=MISSING, action_space=MISSING, observation_space=MISSING, observation_horizon=1, prediction_horizon=16)

Task space specific configuration for the experiment run.

Attributes:

Name	Type	Description
_target_	str	Import path instantiated by Hydra.
dataset_schema	Any	Dataset schema configuration, defining what dataset and zarr store the task uses.
dataloader	DataLoaderConfig	Data loading and preprocessing configuration.
action_space	ActionSpaceConfig	Action space configuration used by the task at runtime.
observation_space	ObservationSpaceConfig	Observation space configuration used by the task at runtime.
observation_horizon	int	Number of history timesteps to include.
prediction_horizon	int	Number of timesteps to predict (action chunk size).