CoolFace
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arpitg1304/act_s101_stack_lego

sourceHugging Faceapache-2.0updated 1y agoView on Hugging Face
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train_config.json167 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "arpitg1304/stack_lego",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            }62        },63        "revision": null,64        "use_imagenet_stats": true,65        "video_backend": "torchcodec"66    },67    "env": null,68    "policy": {69        "type": "act",70        "n_obs_steps": 1,71        "normalization_mapping": {72            "VISUAL": "MEAN_STD",73            "STATE": "MEAN_STD",74            "ACTION": "MEAN_STD"75        },76        "input_features": {77            "observation.state": {78                "type": "STATE",79                "shape": [80                    681                ]82            },83            "observation.images.front": {84                "type": "VISUAL",85                "shape": [86                    3,87                    480,88                    64089                ]90            }91        },92        "output_features": {93            "action": {94                "type": "ACTION",95                "shape": [96                    697                ]98            }99        },100        "device": "cuda",101        "use_amp": false,102        "push_to_hub": true,103        "repo_id": "arpitg1304/act_s101_stack_lego",104        "private": null,105        "tags": null,106        "license": null,107        "chunk_size": 100,108        "n_action_steps": 100,109        "vision_backbone": "resnet18",110        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",111        "replace_final_stride_with_dilation": false,112        "pre_norm": false,113        "dim_model": 512,114        "n_heads": 8,115        "dim_feedforward": 3200,116        "feedforward_activation": "relu",117        "n_encoder_layers": 4,118        "n_decoder_layers": 1,119        "use_vae": true,120        "latent_dim": 32,121        "n_vae_encoder_layers": 4,122        "temporal_ensemble_coeff": null,123        "dropout": 0.1,124        "kl_weight": 10.0,125        "optimizer_lr": 1e-05,126        "optimizer_weight_decay": 0.0001,127        "optimizer_lr_backbone": 1e-05128    },129    "output_dir": "outputs/train/act_s101_stack_lego",130    "job_name": "act_stack_lego",131    "resume": false,132    "seed": 1000,133    "num_workers": 4,134    "batch_size": 32,135    "steps": 20000,136    "eval_freq": 20000,137    "log_freq": 200,138    "save_checkpoint": true,139    "save_freq": 20000,140    "use_policy_training_preset": true,141    "optimizer": {142        "type": "adamw",143        "lr": 1e-05,144        "weight_decay": 0.0001,145        "grad_clip_norm": 10.0,146        "betas": [147            0.9,148            0.999149        ],150        "eps": 1e-08151    },152    "scheduler": null,153    "eval": {154        "n_episodes": 50,155        "batch_size": 50,156        "use_async_envs": false157    },158    "wandb": {159        "enable": true,160        "disable_artifact": false,161        "project": "lerobot",162        "entity": null,163        "notes": null,164        "run_id": "5uotswch",165        "mode": null166    }167}