CoolFace
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lerobot-data-collection/level2_final_quality2

sourceHugging Faceapache-2.0updated 8mo agoView on Hugging Face
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train_config.json231 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "lerobot-data-collection/level2_final_quality2",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": "pi0",85        "n_obs_steps": 1,86        "input_features": {87            "observation.state": {88                "type": "STATE",89                "shape": [90                    1691                ]92            },93            "observation.images.left_wrist": {94                "type": "VISUAL",95                "shape": [96                    3,97                    720,98                    128099                ]100            },101            "observation.images.right_wrist": {102                "type": "VISUAL",103                "shape": [104                    3,105                    720,106                    1280107                ]108            },109            "observation.images.base": {110                "type": "VISUAL",111                "shape": [112                    3,113                    480,114                    640115                ]116            }117        },118        "output_features": {119            "action": {120                "type": "ACTION",121                "shape": [122                    16123                ]124            }125        },126        "device": "cuda",127        "use_amp": false,128        "use_peft": false,129        "push_to_hub": true,130        "repo_id": "lerobot-data-collection/level2_final_quality2",131        "private": null,132        "tags": null,133        "license": null,134        "pretrained_path": 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"freeze_vision_encoder": false,164        "train_expert_only": false,165        "optimizer_lr": 2.5e-05,166        "optimizer_betas": [167            0.9,168            0.95169        ],170        "optimizer_eps": 1e-08,171        "optimizer_weight_decay": 0.01,172        "optimizer_grad_clip_norm": 1.0,173        "scheduler_warmup_steps": 1000,174        "scheduler_decay_steps": 40000,175        "scheduler_decay_lr": 2.5e-06,176        "tokenizer_max_length": 48177    },178    "output_dir": "/fsx/pepijn/outputs/shirt-folding/lerobot-data-collection/level2_final_quality2",179    "job_name": "level2_final_quality2",180    "resume": false,181    "seed": 1000,182    "num_workers": 1,183    "batch_size": 32,184    "steps": 40000,185    "eval_freq": 20000,186    "log_freq": 100,187    "tolerance_s": 0.01,188    "save_checkpoint": true,189    "save_freq": 20000,190    "use_policy_training_preset": true,191    "optimizer": {192        "type": "adamw",193        "lr": 2.5e-05,194        "weight_decay": 0.01,195        "grad_clip_norm": 1.0,196        "betas": [197            0.9,198            0.95199        ],200        "eps": 1e-08201    },202    "scheduler": {203        "type": "cosine_decay_with_warmup",204        "num_warmup_steps": 1000,205        "num_decay_steps": 40000,206        "peak_lr": 2.5e-05,207        "decay_lr": 2.5e-06208    },209    "eval": {210        "n_episodes": 50,211        "batch_size": 50,212        "use_async_envs": false213    },214    "wandb": {215        "enable": true,216        "disable_artifact": true,217        "project": "shirt-folding",218        "entity": null,219        "notes": null,220        "run_id": "7rx9z35k",221        "mode": null222    },223    "peft": null,224    "use_rabc": false,225    "rabc_progress_path": null,226    "rabc_kappa": 0.01,227    "rabc_epsilon": 1e-06,228    "rabc_head_mode": "sparse",229    "rename_map": {},230    "checkpoint_path": null231}