Kouch/SO101_IsaacSim_Test_V3

1{2    "dataset": {3        "repo_id": "Kouch/SO101_IsaacSim_Block_Pick_and_Place_V2",4        "repo_type": "dataset",5        "root": null,6        "episodes": null,7        "exclude_episodes": null,8        "image_transforms": {9            "enable": false,10            "max_num_transforms": 3,11            "random_order": false,12            "tfs": {13                "brightness": {14                    "weight": 1.0,15                    "type": "ColorJitter",16                    "kwargs": {17                        "brightness": [18                            0.8,19                            1.220                        ]21                    }22                },23                "contrast": {24                    "weight": 1.0,25                    "type": "ColorJitter",26                    "kwargs": {27                        "contrast": [28                            0.8,29                            1.230                        ]31                    }32                },33                "saturation": {34                    "weight": 1.0,35                    "type": "ColorJitter",36                    "kwargs": {37                        "saturation": [38                            0.5,39                            1.540                        ]41                    }42                },43                "hue": {44                    "weight": 1.0,45                    "type": "ColorJitter",46                    "kwargs": {47                        "hue": [48                            -0.05,49                            0.0550                        ]51                    }52                },53                "sharpness": {54                    "weight": 1.0,55                    "type": "SharpnessJitter",56                    "kwargs": {57                        "sharpness": [58                            0.5,59                            1.560                        ]61                    }62                },63                "affine": {64                    "weight": 1.0,65                    "type": "RandomAffine",66                    "kwargs": {67                        "degrees": [68                            -5.0,69                            5.070                        ],71                        "translate": [72                            0.05,73                            0.0574                        ]75                    }76                }77            }78        },79        "revision": null,80        "use_imagenet_stats": true,81        "video_backend": "torchcodec",82        "return_uint8": false,83        "depth_output_unit": "mm",84        "streaming": false,85        "eval_split": 0.086    },87    "env": null,88    "policy": {89        "type": "act",90        "n_obs_steps": 1,91        "input_features": {92            "observation.state": {93                "type": "STATE",94                "shape": [95                    696                ]97            },98            "observation.images.top": {99                "type": "VISUAL",100                "shape": [101                    3,102                    480,103                    640104                ]105            }106        },107        "output_features": {108            "action": {109                "type": "ACTION",110                "shape": [111                    6112                ]113            }114        },115        "device": "cuda",116        "use_amp": false,117        "use_peft": false,118        "push_to_hub": true,119        "repo_id": "Kouch/SO101_IsaacSim_Test_V3",120        "private": null,121        "tags": null,122        "license": null,123        "pretrained_path": null,124        "pretrained_revision": null,125        "chunk_size": 100,126        "n_action_steps": 100,127        "normalization_mapping": {128            "VISUAL": "MEAN_STD",129            "STATE": "MEAN_STD",130            "ACTION": "MEAN_STD"131        },132        "vision_backbone": "resnet18",133        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",134        "replace_final_stride_with_dilation": false,135        "pre_norm": false,136        "dim_model": 512,137        "n_heads": 8,138        "dim_feedforward": 3200,139        "feedforward_activation": "relu",140        "n_encoder_layers": 4,141        "n_decoder_layers": 1,142        "use_vae": true,143        "latent_dim": 32,144        "n_vae_encoder_layers": 4,145        "temporal_ensemble_coeff": null,146        "dropout": 0.1,147        "kl_weight": 10.0,148        "optimizer_lr": 1e-05,149        "optimizer_weight_decay": 0.0001,150        "optimizer_lr_backbone": 1e-05151    },152    "reward_model": null,153    "output_dir": "outputs/train/SO101_IsaacSim_Test_V3",154    "job_name": "SO101_IsaacSim_Test_V3",155    "resume": false,156    "seed": 1000,157    "cudnn_deterministic": false,158    "num_workers": 4,159    "batch_size": 8,160    "prefetch_factor": 4,161    "persistent_workers": true,162    "dataloader_multiprocessing_context": "spawn",163    "steps": 100000,164    "env_eval_freq": 20000,165    "log_freq": 200,166    "eval_steps": 0,167    "max_eval_samples": 0,168    "tolerance_s": 0.0001,169    "save_checkpoint": true,170    "save_freq": 20000,171    "checkpoint_format": "safetensors",172    "use_policy_training_preset": true,173    "optimizer": {174        "type": "adamw",175        "lr": 1e-05,176        "weight_decay": 0.0001,177        "grad_clip_norm": 10.0,178        "betas": [179            0.9,180            0.999181        ],182        "eps": 1e-08183    },184    "scheduler": null,185    "parallelism": {186        "dp_replicate": 1,187        "dp_shard": 1,188        "context_parallel": {189            "ring_degree": 1,190            "ulysses_degree": 1191        },192        "cfg_parallel": 1193    },194    "accelerator": {195        "mixed_precision": "no",196        "gradient_accumulation": {197            "steps": 1198        },199        "fsdp": {200            "reshard_after_forward": true,201            "wrap_modules": null,202            "min_num_params": null,203            "cpu_offload": false,204            "ignored_modules": null205        },206        "ddp": {207            "find_unused_parameters": true,208            "gradient_as_bucket_view": false,209            "static_graph": false210        },211        "compile": {212            "enabled": false,213            "backend": "inductor",214            "mode": null,215            "regional": true216        },217        "activation_checkpointing": {218            "mode": "none"219        }220    },221    "eval": {222        "n_episodes": 50,223        "batch_size": 33,224        "use_async_envs": true,225        "recording": false,226        "recording_repo_id": null,227        "recording_private": false228    },229    "ema": {230        "enable": false,231        "decay": null,232        "update_after_step": 0,233        "inv_gamma": 1.0,234        "power": 0.75,235        "min_decay": 0.0,236        "max_decay": 0.9999,237        "use_for_eval": true238    },239    "wandb": {240        "enable": false,241        "disable_artifact": false,242        "project": "lerobot",243        "entity": null,244        "notes": null,245        "run_id": null,246        "mode": null,247        "add_tags": true248    },249    "peft": null,250    "job": {251        "target": null,252        "image": "huggingface/lerobot-gpu:latest",253        "timeout": "2d",254        "detach": false,255        "tags": []256    },257    "save_checkpoint_to_hub": false,258    "sample_weighting": null,259    "rename_map": {},260    "checkpoint_path": null261}