louis126584/my_policy_diffusion2
08
1{2 "dataset": {3 "repo_id": "louis126584/so101-test6",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": "diffusion",85 "n_obs_steps": 2,86 "input_features": {87 "observation.state": {88 "type": "STATE",89 "shape": [90 691 ]92 },93 "observation.images.front": {94 "type": "VISUAL",95 "shape": [96 3,97 480,98 64099 ]100 }101 },102 "output_features": {103 "action": {104 "type": "ACTION",105 "shape": [106 6107 ]108 }109 },110 "device": "cuda",111 "use_amp": false,112 "use_peft": false,113 "push_to_hub": true,114 "repo_id": "louis126584/my_policy_diffusion2",115 "private": null,116 "tags": null,117 "license": null,118 "pretrained_path": "outputs/train/diffusion_so101_test6/checkpoints/last/pretrained_model",119 "horizon": 16,120 "n_action_steps": 8,121 "normalization_mapping": {122 "VISUAL": "MEAN_STD",123 "STATE": "MIN_MAX",124 "ACTION": "MIN_MAX"125 },126 "drop_n_last_frames": 7,127 "vision_backbone": "resnet18",128 "crop_shape": [129 84,130 84131 ],132 "crop_is_random": true,133 "pretrained_backbone_weights": null,134 "use_group_norm": true,135 "spatial_softmax_num_keypoints": 32,136 "use_separate_rgb_encoder_per_camera": false,137 "down_dims": [138 512,139 1024,140 2048141 ],142 "kernel_size": 5,143 "n_groups": 8,144 "diffusion_step_embed_dim": 128,145 "use_film_scale_modulation": true,146 "noise_scheduler_type": "DDPM",147 "num_train_timesteps": 100,148 "beta_schedule": "squaredcos_cap_v2",149 "beta_start": 0.0001,150 "beta_end": 0.02,151 "prediction_type": "epsilon",152 "clip_sample": true,153 "clip_sample_range": 1.0,154 "num_inference_steps": null,155 "do_mask_loss_for_padding": false,156 "optimizer_lr": 0.0001,157 "optimizer_betas": [158 0.95,159 0.999160 ],161 "optimizer_eps": 1e-08,162 "optimizer_weight_decay": 1e-06,163 "scheduler_name": "cosine",164 "scheduler_warmup_steps": 500165 },166 "output_dir": "outputs/train/diffusion_so101_test6",167 "job_name": "diffusion_so101_test6",168 "resume": true,169 "seed": 1000,170 "num_workers": 4,171 "batch_size": 8,172 "steps": 100000,173 "eval_freq": 20000,174 "log_freq": 200,175 "tolerance_s": 0.0001,176 "save_checkpoint": true,177 "save_freq": 20000,178 "use_policy_training_preset": true,179 "optimizer": {180 "type": "adam",181 "lr": 0.0001,182 "weight_decay": 1e-06,183 "grad_clip_norm": 10.0,184 "betas": [185 0.95,186 0.999187 ],188 "eps": 1e-08189 },190 "scheduler": {191 "type": "diffuser",192 "num_warmup_steps": 500,193 "name": "cosine"194 },195 "eval": {196 "n_episodes": 50,197 "batch_size": 50,198 "use_async_envs": false199 },200 "wandb": {201 "enable": true,202 "disable_artifact": false,203 "project": "lerobot",204 "entity": null,205 "notes": null,206 "run_id": "ud5xsvgx",207 "mode": null208 },209 "peft": null,210 "use_rabc": false,211 "rabc_progress_path": null,212 "rabc_kappa": 0.01,213 "rabc_epsilon": 1e-06,214 "rabc_head_mode": "sparse",215 "rename_map": {},216 "checkpoint_path": "outputs/train/diffusion_so101_test6/checkpoints/last"217}