Seiners/omx_act_policy
043
1{2 "dataset": {3 "repo_id": "Seiners/pick_and_place",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 "streaming": false81 },82 "env": null,83 "policy": {84 "type": "act",85 "n_obs_steps": 1,86 "input_features": {87 "observation.state": {88 "type": "STATE",89 "shape": [90 691 ]92 },93 "observation.images.front": {94 "type": "VISUAL",95 "shape": [96 3,97 480,98 64099 ]100 },101 "observation.images.wrist": {102 "type": "VISUAL",103 "shape": [104 3,105 480,106 640107 ]108 }109 },110 "output_features": {111 "action": {112 "type": "ACTION",113 "shape": [114 6115 ]116 }117 },118 "device": "cuda",119 "use_amp": false,120 "use_peft": false,121 "push_to_hub": true,122 "repo_id": "Seiners/omx_act_policy",123 "private": null,124 "tags": null,125 "license": null,126 "pretrained_path": null,127 "chunk_size": 100,128 "n_action_steps": 100,129 "normalization_mapping": {130 "VISUAL": "MEAN_STD",131 "STATE": "MEAN_STD",132 "ACTION": "MEAN_STD"133 },134 "vision_backbone": "resnet18",135 "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",136 "replace_final_stride_with_dilation": false,137 "pre_norm": false,138 "dim_model": 512,139 "n_heads": 8,140 "dim_feedforward": 3200,141 "feedforward_activation": "relu",142 "n_encoder_layers": 4,143 "n_decoder_layers": 1,144 "use_vae": true,145 "latent_dim": 32,146 "n_vae_encoder_layers": 4,147 "temporal_ensemble_coeff": null,148 "dropout": 0.1,149 "kl_weight": 10.0,150 "optimizer_lr": 1e-05,151 "optimizer_weight_decay": 0.0001,152 "optimizer_lr_backbone": 1e-05153 },154 "output_dir": "outputs/train/omx_act_policy",155 "job_name": "act_record-test",156 "resume": false,157 "seed": 1000,158 "num_workers": 4,159 "batch_size": 16,160 "steps": 10000,161 "eval_freq": 20000,162 "log_freq": 200,163 "tolerance_s": 0.0001,164 "save_checkpoint": true,165 "save_freq": 10000,166 "use_policy_training_preset": true,167 "optimizer": {168 "type": "adamw",169 "lr": 1e-05,170 "weight_decay": 0.0001,171 "grad_clip_norm": 10.0,172 "betas": [173 0.9,174 0.999175 ],176 "eps": 1e-08177 },178 "scheduler": null,179 "eval": {180 "n_episodes": 50,181 "batch_size": 50,182 "use_async_envs": false183 },184 "wandb": {185 "enable": false,186 "disable_artifact": false,187 "project": "lerobot",188 "entity": null,189 "notes": null,190 "run_id": null,191 "mode": null192 },193 "peft": null,194 "use_rabc": false,195 "rabc_progress_path": null,196 "rabc_kappa": 0.01,197 "rabc_epsilon": 1e-06,198 "rabc_head_mode": "sparse",199 "rename_map": {},200 "checkpoint_path": null201}