CoolFace
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kovalserhii/act_sponge_v2

sourceHugging Faceapache-2.0updated 16d agoView on Hugging Face
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train_config.json273 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "kovalserhii/sponge_plate_v1",4        "repo_type": "dataset",5        "root": null,6        "episodes": null,7        "exclude_episodes": null,8        "image_transforms": {9            "enable": false,10            "max_num_transforms": 3,11            "random_order": false,12            "tfs": {13                "brightness": {14                    "weight": 1.0,15                    "type": "ColorJitter",16                    "kwargs": {17                        "brightness": [18                            0.8,19                            1.220                        ]21                    }22                },23                "contrast": {24                    "weight": 1.0,25                    "type": "ColorJitter",26                    "kwargs": {27                        "contrast": [28                            0.8,29                            1.230                        ]31                    }32                },33                "saturation": {34                    "weight": 1.0,35                    "type": "ColorJitter",36                    "kwargs": {37                        "saturation": [38                            0.5,39                            1.540                        ]41                    }42                },43                "hue": {44                    "weight": 1.0,45                    "type": "ColorJitter",46                    "kwargs": {47                        "hue": [48                            -0.05,49                            0.0550                        ]51                    }52                },53                "sharpness": {54                    "weight": 1.0,55                    "type": "SharpnessJitter",56                    "kwargs": {57                        "sharpness": [58                            0.5,59                            1.560                        ]61                    }62                },63                "affine": {64                    "weight": 1.0,65                    "type": "RandomAffine",66                    "kwargs": {67                        "degrees": [68                            -5.0,69                            5.070                        ],71                        "translate": [72                            0.05,73                            0.0574                        ]75                    }76                }77            }78        },79        "revision": null,80        "use_imagenet_stats": true,81        "video_backend": "pyav",82        "return_uint8": false,83        "depth_output_unit": "mm",84        "streaming": false,85        "eval_split": 0.186    },87    "env": null,88    "policy": {89        "type": "act",90        "n_obs_steps": 1,91        "input_features": {92            "observation.state": {93                "type": "STATE",94                "shape": [95                    696                ]97            },98            "observation.images.overhead": {99                "type": "VISUAL",100                "shape": [101                    3,102                    360,103                    640104                ]105            },106            "observation.images.wrist": {107                "type": "VISUAL",108                "shape": [109                    3,110                    480,111                    640112                ]113            }114        },115        "output_features": {116            "action": {117                "type": "ACTION",118                "shape": [119                    6120                ]121            }122        },123        "device": "cuda",124        "use_amp": false,125        "use_peft": false,126        "push_to_hub": true,127        "repo_id": "kovalserhii/act_sponge_v2",128        "private": null,129        "tags": null,130        "license": null,131        "pretrained_path": null,132        "pretrained_revision": null,133        "chunk_size": 100,134        "n_action_steps": 100,135        "normalization_mapping": {136            "VISUAL": "MEAN_STD",137            "STATE": "MEAN_STD",138            "ACTION": "MEAN_STD"139        },140        "vision_backbone": "resnet18",141        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",142        "replace_final_stride_with_dilation": false,143        "pre_norm": false,144        "dim_model": 512,145        "n_heads": 8,146        "dim_feedforward": 3200,147        "feedforward_activation": "relu",148        "n_encoder_layers": 4,149        "n_decoder_layers": 1,150        "use_vae": true,151        "latent_dim": 32,152        "n_vae_encoder_layers": 4,153        "temporal_ensemble_coeff": null,154        "dropout": 0.1,155        "kl_weight": 10.0,156        "optimizer_lr": 1e-05,157        "optimizer_weight_decay": 0.0001,158        "optimizer_lr_backbone": 1e-05159    },160    "reward_model": null,161    "output_dir": "/data/koval/outputs/act_sponge_v2",162    "job_name": "act_sponge_v2",163    "resume": false,164    "seed": 1000,165    "cudnn_deterministic": false,166    "num_workers": 4,167    "batch_size": 8,168    "prefetch_factor": 4,169    "persistent_workers": true,170    "dataloader_multiprocessing_context": "spawn",171    "steps": 100000,172    "env_eval_freq": 20000,173    "log_freq": 200,174    "eval_steps": 0,175    "max_eval_samples": 0,176    "tolerance_s": 0.0001,177    "save_checkpoint": true,178    "save_freq": 10000,179    "checkpoint_format": "safetensors",180    "use_policy_training_preset": true,181    "optimizer": {182        "type": "adamw",183        "lr": 1e-05,184        "weight_decay": 0.0001,185        "grad_clip_norm": 10.0,186        "betas": [187            0.9,188            0.999189        ],190        "eps": 1e-08191    },192    "scheduler": null,193    "parallelism": {194        "dp_replicate": 1,195        "dp_shard": 1,196        "context_parallel": {197            "ring_degree": 1,198            "ulysses_degree": 1199        },200        "cfg_parallel": 1201    },202    "accelerator": {203        "mixed_precision": "no",204        "gradient_accumulation": {205            "steps": 1206        },207        "fsdp": {208            "reshard_after_forward": true,209            "wrap_modules": null,210            "min_num_params": null,211            "cpu_offload": false,212            "ignored_modules": null213        },214        "ddp": {215            "find_unused_parameters": true,216            "gradient_as_bucket_view": false,217            "static_graph": false218        },219        "compile": {220            "enabled": false,221            "backend": "inductor",222            "mode": null,223            "regional": true224        },225        "activation_checkpointing": {226            "mode": "none"227        }228    },229    "eval": {230        "n_episodes": 50,231        "batch_size": 5,232        "use_async_envs": true,233        "recording": false,234        "recording_repo_id": null,235        "recording_private": false236    },237    "ema": {238        "enable": false,239        "decay": null,240        "update_after_step": 0,241        "inv_gamma": 1.0,242        "power": 0.75,243        "min_decay": 0.0,244        "max_decay": 0.9999,245        "use_for_eval": true246    },247    "wandb": {248        "enable": false,249        "disable_artifact": false,250        "project": "lerobot",251        "entity": null,252        "notes": null,253        "run_id": null,254        "resume": null,255        "mode": null,256        "console": "wrap",257        "console_multipart": false,258        "console_chunk_max_seconds": 0,259        "add_tags": true260    },261    "peft": null,262    "job": {263        "target": null,264        "image": "huggingface/lerobot-gpu:latest",265        "timeout": "2d",266        "detach": false,267        "tags": []268    },269    "save_checkpoint_to_hub": true,270    "sample_weighting": null,271    "rename_map": {},272    "checkpoint_path": null273}