robintomar/diffusion_push_purple_block
0
1{2 "dataset": {3 "repo_id": "sandhyavs/push_purple_block",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 }62 },63 "revision": null,64 "use_imagenet_stats": true,65 "video_backend": "torchcodec"66 },67 "env": null,68 "policy": {69 "type": "diffusion",70 "n_obs_steps": 2,71 "normalization_mapping": {72 "VISUAL": "MEAN_STD",73 "STATE": "MIN_MAX",74 "ACTION": "MIN_MAX"75 },76 "input_features": {77 "observation.state": {78 "type": "STATE",79 "shape": [80 681 ]82 },83 "observation.images.phone": {84 "type": "VISUAL",85 "shape": [86 3,87 480,88 64089 ]90 }91 },92 "output_features": {93 "action": {94 "type": "ACTION",95 "shape": [96 697 ]98 }99 },100 "device": "cuda",101 "use_amp": false,102 "horizon": 16,103 "n_action_steps": 8,104 "drop_n_last_frames": 7,105 "vision_backbone": "resnet18",106 "crop_shape": [107 84,108 84109 ],110 "crop_is_random": true,111 "pretrained_backbone_weights": null,112 "use_group_norm": true,113 "spatial_softmax_num_keypoints": 32,114 "use_separate_rgb_encoder_per_camera": false,115 "down_dims": [116 512,117 1024,118 2048119 ],120 "kernel_size": 5,121 "n_groups": 8,122 "diffusion_step_embed_dim": 128,123 "use_film_scale_modulation": true,124 "noise_scheduler_type": "DDPM",125 "num_train_timesteps": 100,126 "beta_schedule": "squaredcos_cap_v2",127 "beta_start": 0.0001,128 "beta_end": 0.02,129 "prediction_type": "epsilon",130 "clip_sample": true,131 "clip_sample_range": 1.0,132 "num_inference_steps": null,133 "do_mask_loss_for_padding": false,134 "optimizer_lr": 0.0001,135 "optimizer_betas": [136 0.95,137 0.999138 ],139 "optimizer_eps": 1e-08,140 "optimizer_weight_decay": 1e-06,141 "scheduler_name": "cosine",142 "scheduler_warmup_steps": 500143 },144 "output_dir": "outputs/train/diffusion_purple_block",145 "job_name": "diffusion_purple_block_latest",146 "resume": false,147 "seed": 1000,148 "num_workers": 4,149 "batch_size": 8,150 "steps": 100000,151 "eval_freq": 20000,152 "log_freq": 200,153 "save_checkpoint": true,154 "save_freq": 20000,155 "use_policy_training_preset": true,156 "optimizer": {157 "type": "adam",158 "lr": 0.0001,159 "weight_decay": 1e-06,160 "grad_clip_norm": 10.0,161 "betas": [162 0.95,163 0.999164 ],165 "eps": 1e-08166 },167 "scheduler": {168 "type": "diffuser",169 "num_warmup_steps": 500,170 "name": "cosine"171 },172 "eval": {173 "n_episodes": 50,174 "batch_size": 50,175 "use_async_envs": false176 },177 "wandb": {178 "enable": true,179 "disable_artifact": false,180 "project": "lerobot",181 "entity": null,182 "notes": null,183 "run_id": null,184 "mode": null185 }186}