CoolFace
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Dimios45/cupstack_bspline_act_v2

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face
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train_config.json230 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "aryankakad/CUPSTACKING_trim_bspline",4        "root": null,5        "episodes": null,6        "image_transforms": {7            "enable": false,8            "max_num_transforms": 3,9            "random_order": false,10            "tfs": {11                "brightness": {12                    "weight": 1.0,13                    "type": "ColorJitter",14                    "kwargs": {15                        "brightness": [16                            0.8,17                            1.218                        ]19                    }20                },21                "contrast": {22                    "weight": 1.0,23                    "type": "ColorJitter",24                    "kwargs": {25                        "contrast": [26                            0.8,27                            1.228                        ]29                    }30                },31                "saturation": {32                    "weight": 1.0,33                    "type": "ColorJitter",34                    "kwargs": {35                        "saturation": [36                            0.5,37                            1.538                        ]39                    }40                },41                "hue": {42                    "weight": 1.0,43                    "type": "ColorJitter",44                    "kwargs": {45                        "hue": [46                            -0.05,47                            0.0548                        ]49                    }50                },51                "sharpness": {52                    "weight": 1.0,53                    "type": "SharpnessJitter",54                    "kwargs": {55                        "sharpness": [56                            0.5,57                            1.558                        ]59                    }60                },61                "affine": {62                    "weight": 1.0,63                    "type": "RandomAffine",64                    "kwargs": {65                        "degrees": [66                            -5.0,67                            5.068                        ],69                        "translate": [70                            0.05,71                            0.0572                        ]73                    }74                }75            }76        },77        "revision": null,78        "use_imagenet_stats": true,79        "video_backend": "torchcodec",80        "return_uint8": false,81        "depth_output_unit": "mm",82        "streaming": false,83        "eval_split": 0.184    },85    "env": null,86    "policy": {87        "type": "bspline_act",88        "n_obs_steps": 1,89        "input_features": {90            "observation.state": {91                "type": "STATE",92                "shape": [93                    694                ]95            },96            "observation.images.front": {97                "type": "VISUAL",98                "shape": [99                    3,100                    480,101                    640102                ]103            },104            "observation.images.gripper": {105                "type": "VISUAL",106                "shape": [107                    3,108                    480,109                    640110                ]111            }112        },113        "output_features": {114            "action": {115                "type": "ACTION",116                "shape": [117                    112118                ]119            }120        },121        "device": "cuda",122        "use_amp": false,123        "use_peft": false,124        "push_to_hub": false,125        "repo_id": null,126        "private": null,127        "tags": null,128        "license": null,129        "pretrained_path": null,130        "pretrained_revision": null,131        "chunk_size": 16,132        "n_action_steps": 16,133        "normalization_mapping": {134            "VISUAL": "MEAN_STD",135            "STATE": "MEAN_STD",136            "ACTION": "MEAN_STD"137        },138        "vision_backbone": "resnet18",139        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",140        "replace_final_stride_with_dilation": false,141        "pre_norm": false,142        "dim_model": 512,143        "n_heads": 8,144        "dim_feedforward": 3200,145        "feedforward_activation": "relu",146        "n_encoder_layers": 4,147        "n_decoder_layers": 1,148        "use_vae": true,149        "latent_dim": 32,150        "n_vae_encoder_layers": 4,151        "temporal_ensemble_coeff": null,152        "dropout": 0.1,153        "kl_weight": 10.0,154        "optimizer_lr": 2e-05,155        "optimizer_weight_decay": 0.0001,156        "optimizer_lr_backbone": 1e-05,157        "bspline_degree": 3,158        "bspline_chunk_size": 10,159        "relative_knots": false,160        "speed_up": 1.0,161        "n_decoded_steps": 32,162        "align_segments": true,163        "align_error_threshold": 0.5,164        "align_max_fraction": 0.2,165        "align_exclude_last_dims": 1,166        "replan_margin": 1.0,167        "channels_last": true168    },169    "reward_model": null,170    "output_dir": "outputs/cupstack_trim_bspline_act",171    "job_name": "bspline_act",172    "resume": false,173    "seed": 1000,174    "cudnn_deterministic": false,175    "num_workers": 8,176    "batch_size": 32,177    "prefetch_factor": 4,178    "persistent_workers": true,179    "steps": 60000,180    "env_eval_freq": 20000,181    "log_freq": 250,182    "eval_steps": 1000,183    "max_eval_samples": 512,184    "tolerance_s": 0.0001,185    "save_checkpoint": true,186    "save_freq": 5000,187    "use_policy_training_preset": true,188    "optimizer": {189        "type": "adamw",190        "lr": 2e-05,191        "weight_decay": 0.0001,192        "grad_clip_norm": 10.0,193        "betas": [194            0.9,195            0.999196        ],197        "eps": 1e-08198    },199    "scheduler": null,200    "eval": {201        "n_episodes": 50,202        "batch_size": 22,203        "use_async_envs": true,204        "recording": false,205        "recording_repo_id": null,206        "recording_private": false207    },208    "wandb": {209        "enable": false,210        "disable_artifact": false,211        "project": "lerobot",212        "entity": null,213        "notes": null,214        "run_id": null,215        "mode": null,216        "add_tags": true217    },218    "peft": null,219    "job": {220        "target": null,221        "image": "huggingface/lerobot-gpu:latest",222        "timeout": "2d",223        "detach": false,224        "tags": []225    },226    "save_checkpoint_to_hub": false,227    "sample_weighting": null,228    "rename_map": {},229    "checkpoint_path": null230}