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giacomoran/so101_cube_dm_act_smooth_p4f2

sourceHugging Faceapache-2.0updated 6mo agoView on Hugging Face
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train_config.json190 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "giacomoran/so101_cube_direct_manipulation",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_smooth",85        "n_obs_steps": 1,86        "input_features": {87            "observation.images.wrist": {88                "type": "VISUAL",89                "shape": [90                    3,91                    640,92                    48093                ]94            }95        },96        "output_features": {97            "action": {98                "type": "ACTION",99                "shape": [100                    6101                ]102            }103        },104        "device": "cuda",105        "use_amp": false,106        "use_peft": false,107        "push_to_hub": true,108        "repo_id": "giacomoran/so101_cube_dm_act_smooth_p4f2",109        "private": null,110        "tags": null,111        "license": null,112        "pretrained_path": "/workspace/so101_cube_dm_act_smooth_p4f2/checkpoints/030000/pretrained_model",113        "chunk_size": 30,114        "n_action_steps": 30,115        "length_prefix_past": 4,116        "length_prefix_future": 2,117        "use_action_relative": true,118        "normalization_mapping": {119            "VISUAL": "MEAN_STD",120            "STATE": "MEAN_STD",121            "ACTION": "MEAN_STD"122        },123        "vision_backbone": "resnet34",124        "pretrained_backbone_weights": "ResNet34_Weights.IMAGENET1K_V1",125        "replace_final_stride_with_dilation": 0,126        "pre_norm": true,127        "dim_model": 512,128        "n_heads": 8,129        "dim_feedforward": 3200,130        "feedforward_activation": "relu",131        "n_encoder_layers": 4,132        "n_decoder_layers": 4,133        "use_vae": false,134        "latent_dim": 32,135        "n_vae_encoder_layers": 4,136        "dropout": 0.1,137        "kl_weight": 10.0,138        "optimizer_lr": 3e-05,139        "optimizer_weight_decay": 0.0001,140        "optimizer_lr_backbone": 3e-05141    },142    "output_dir": "/workspace/so101_cube_dm_act_smooth_p4f2",143    "job_name": "act_smooth",144    "resume": true,145    "seed": 1000,146    "cudnn_deterministic": false,147    "num_workers": 8,148    "batch_size": 32,149    "steps": 30003,150    "eval_freq": 20000,151    "log_freq": 200,152    "tolerance_s": 0.0001,153    "save_checkpoint": true,154    "save_freq": 1,155    "use_policy_training_preset": true,156    "optimizer": {157        "type": "adamw",158        "lr": 3e-05,159        "weight_decay": 0.0001,160        "grad_clip_norm": 10.0,161        "betas": [162            0.9,163            0.999164        ],165        "eps": 1e-08166    },167    "scheduler": null,168    "eval": {169        "n_episodes": 50,170        "batch_size": 50,171        "use_async_envs": false172    },173    "wandb": {174        "enable": true,175        "disable_artifact": true,176        "project": "lerobot",177        "entity": null,178        "notes": null,179        "run_id": "ey6uasc1",180        "mode": null181    },182    "peft": null,183    "use_rabc": false,184    "rabc_progress_path": null,185    "rabc_kappa": 0.01,186    "rabc_epsilon": 1e-06,187    "rabc_head_mode": "sparse",188    "rename_map": {},189    "checkpoint_path": "/workspace/so101_cube_dm_act_smooth_p4f2/checkpoints/030000"190}