Add normalization processors and train_config

policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
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+            "shape": [
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+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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+oid sha256:7b152212518a6ca624b1f505884756c35f972f40e39313a945499d7b447c232e
+size 6632

policy_preprocessor.json

@@ -0,0 +1,56 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
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+              256,
+              256
+            ]
+          },
+          "observation.state": {
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+            "shape": [
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+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
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+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0b7d654295acf22755ef8e8b16f729faf4aa8759532de220577849798e9470dc
+size 6640

train_config.json

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+{
+    "dataset": {
+        "repo_id": "arthur/fan_grasp",
+        "repo_type": "dataset",
+        "root": "/home/arthur/Documents/Arthur/Robotic/Robot_Friday/lerobot/data",
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+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
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+                            1.2
+                        ]
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+                    "kwargs": {
+                        "contrast": [
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+                            1.2
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+                    "type": "ColorJitter",
+                    "kwargs": {
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+                            1.5
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+                    "type": "ColorJitter",
+                    "kwargs": {
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+                            0.05
+                        ]
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+                "sharpness": {
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+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
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+                            1.5
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+                    "type": "RandomAffine",
+                    "kwargs": {
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+                            5.0
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+                        "translate": [
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+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "diffusion",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
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+                    256,
+                    256
+                ]
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+                "shape": [
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+                "shape": [
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+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "horizon": 16,
+        "n_action_steps": 8,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "QUANTILES"
+        },
+        "drop_n_last_frames": 7,
+        "vision_backbone": "resnet18",
+        "resize_shape": null,
+        "crop_ratio": 1.0,
+        "crop_shape": [
+            240,
+            240
+        ],
+        "crop_is_random": true,
+        "pretrained_backbone_weights": null,
+        "use_group_norm": true,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "down_dims": [
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+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "gradient_checkpointing": false,
+        "noise_scheduler_type": "DDIM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.0,
+        "num_inference_steps": 10,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500
+    },
+    "reward_model": null,
+    "output_dir": "/home/arthur/Documents/Arthur/Robotic/Robot_Friday/outputs/train/diffusion_fan_grasp",
+    "job_name": "diffusion_fan_grasp",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 8,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 375000,
+    "env_eval_freq": 0,
+    "log_freq": 200,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
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+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "parallelism": {
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+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
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+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
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+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
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+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 19,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
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+    "ema": {
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+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
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+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
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+        "resume": null,
+        "mode": null,
+        "console": "wrap",
+        "console_multipart": false,
+        "console_chunk_max_seconds": 0,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}