CoolFace
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danielsanjosepro/dit_meanflow_stack_multi_v1

sourceHugging Faceapache-2.0updated 11mo agoView on Hugging Face
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train_config.json236 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "danielsanjosepro/stack_multi_v1",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": "dit_meanflow",70        "n_obs_steps": 2,71        "normalization_mapping": {72            "VISUAL": "MEAN_STD",73            "STATE": "MIN_MAX",74            "ACTION": "MEAN_STD"75        },76        "input_features": {77            "observation.images.primary": {78                "type": "VISUAL",79                "shape": [80                    3,81                    256,82                    25683                ]84            },85            "observation.images.wrist": {86                "type": "VISUAL",87                "shape": [88                    3,89                    256,90                    25691                ]92            },93            "observation.state.cartesian": {94                "type": "STATE",95                "shape": [96                    697                ]98            },99            "observation.state.gripper": {100                "type": "STATE",101                "shape": [102                    1103                ]104            },105            "observation.state.joints": {106                "type": "STATE",107                "shape": [108                    7109                ]110            },111            "observation.state.sensors_ft_sensor": {112                "type": "STATE",113                "shape": [114                    6115                ]116            },117            "observation.state.target": {118                "type": "STATE",119                "shape": [120                    6121                ]122            },123            "observation.state": {124                "type": "STATE",125                "shape": [126                    26127                ]128            }129        },130        "output_features": {131            "action": {132                "type": "ACTION",133                "shape": [134                    7135                ]136            }137        },138        "device": "cuda",139        "use_amp": false,140        "push_to_hub": true,141        "repo_id": "danielsanjosepro/dit_meanflow_stack_multi_v1",142        "private": null,143        "tags": null,144        "license": null,145        "horizon": 16,146        "n_action_steps": 8,147        "use_proprioceptive": true,148        "drop_n_last_frames": 7,149        "vision_backbone": "resnet18",150        "crop_shape": null,151        "crop_is_random": false,152        "pretrained_backbone_weights": null,153        "use_group_norm": true,154        "spatial_softmax_num_keypoints": 32,155        "use_separate_rgb_encoder_per_camera": true,156        "frequency_embedding_dim": 256,157        "hidden_dim": 512,158        "num_blocks": 6,159        "num_heads": 16,160        "dropout": 0.1,161        "dim_feedforward": 4096,162        "activation": "gelu",163        "training_noise_sampling": "uniform",164        "clip_sample": true,165        "clip_sample_range": 1.0,166        "num_inference_steps": 100,167        "do_mask_loss_for_padding": false,168        "optimizer_lr": 0.0001,169        "optimizer_betas": [170            0.95,171            0.999172        ],173        "optimizer_eps": 1e-08,174        "optimizer_weight_decay": 1e-06,175        "scheduler_name": "cosine",176        "scheduler_warmup_steps": 500,177        "use_meanflow": true,178        "do_multi_step_sampling": true,179        "inference_timesteps": 100,180        "time_distribution": "uniform",181        "log_norm_mu": -0.4,182        "log_norm_sigma": 1.0,183        "use_autograd_functional_jvp": false,184        "use_adaptative_loss": true,185        "flow_ratio": 0.5,186        "cfg_prob": 0.1,187        "cfg_omega": 2.0,188        "cfg_w": 2.0,189        "cfg_kappa": 0.0,190        "optimizer_grad_clip_norm": 0.5191    },192    "output_dir": "outputs/train/2025-10-29/02-28-22_dit_meanflow_stack_multi_v1",193    "job_name": "dit_meanflow_stack_multi_v1",194    "resume": false,195    "seed": 1000,196    "num_workers": 4,197    "batch_size": 64,198    "steps": 50000,199    "eval_freq": 5000,200    "log_freq": 100,201    "save_checkpoint": true,202    "save_freq": 5000,203    "use_policy_training_preset": true,204    "optimizer": {205        "type": "adam",206        "lr": 0.0001,207        "weight_decay": 1e-06,208        "grad_clip_norm": 10.0,209        "betas": [210            0.95,211            0.999212        ],213        "eps": 1e-08214    },215    "scheduler": {216        "type": "diffuser",217        "num_warmup_steps": 500,218        "name": "cosine"219    },220    "eval": {221        "n_episodes": 50,222        "batch_size": 50,223        "use_async_envs": false,224        "max_episodes_rendered": 4225    },226    "wandb": {227        "enable": true,228        "disable_artifact": false,229        "project": "lerobot",230        "entity": null,231        "notes": null,232        "run_id": "huar3wdq",233        "mode": null234    },235    "eval_with_dataset": "danielsanjosepro/stack_multi_v1"236}