CoolFace
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fruityapplebottom/ACT_PickNPlace_YellowDuck

sourceHugging Faceapache-2.0updated 10mo agoView on Hugging Face
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train_config.json205 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "fruityapplebottom/LeKiwi_PickNPlace_YellowDuck",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                    991                ]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                    640,106                    480107                ]108            },109            "observation.images.top": {110                "type": "VISUAL",111                "shape": [112                    3,113                    480,114                    640115                ]116            }117        },118        "output_features": {119            "action": {120                "type": "ACTION",121                "shape": [122                    9123                ]124            }125        },126        "device": "mps",127        "use_amp": false,128        "push_to_hub": true,129        "repo_id": "fruityapplebottom/ACT_PickNPlace_YellowDuck",130        "private": null,131        "tags": null,132        "license": null,133        "pretrained_path": null,134        "chunk_size": 100,135        "n_action_steps": 100,136        "normalization_mapping": {137            "VISUAL": "MEAN_STD",138            "STATE": "MEAN_STD",139            "ACTION": "MEAN_STD"140        },141        "vision_backbone": "resnet18",142        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",143        "replace_final_stride_with_dilation": false,144        "pre_norm": false,145        "dim_model": 512,146        "n_heads": 8,147        "dim_feedforward": 3200,148        "feedforward_activation": "relu",149        "n_encoder_layers": 4,150        "n_decoder_layers": 1,151        "use_vae": true,152        "latent_dim": 32,153        "n_vae_encoder_layers": 4,154        "temporal_ensemble_coeff": null,155        "dropout": 0.1,156        "kl_weight": 10.0,157        "optimizer_lr": 1e-05,158        "optimizer_weight_decay": 0.0001,159        "optimizer_lr_backbone": 1e-05160    },161    "output_dir": "outputs/train/3cam_ACT_lekiwi_PickNPlace_YellowDuck",162    "job_name": "3cam_lekiwi_mobile_ACCT_9d_training",163    "resume": false,164    "seed": 1000,165    "num_workers": 4,166    "batch_size": 8,167    "steps": 100000,168    "eval_freq": 20000,169    "log_freq": 200,170    "save_checkpoint": true,171    "save_freq": 20000,172    "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    "eval": {186        "n_episodes": 50,187        "batch_size": 50,188        "use_async_envs": false189    },190    "wandb": {191        "enable": true,192        "disable_artifact": false,193        "project": "lerobot",194        "entity": null,195        "notes": null,196        "run_id": "y2pxq2gt",197        "mode": null198    },199    "checkpoint_path": null,200    "rename_map": {201        "observation.images.camera1": "observation.images.front",202        "observation.images.camera2": "observation.images.wrist",203        "observation.images.camera3": "observation.images.top"204    }205}