Upload checkpoint from 020000
Browse files- train_config.json +223 -0
train_config.json
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| 1 |
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "DrainpipeAI/RedSpiceV19",
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| 4 |
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"root": null,
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| 5 |
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| 6 |
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| 9 |
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"random_order": false,
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| 10 |
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"tfs": {
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| 11 |
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"brightness": {
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"type": "ColorJitter",
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"kwargs": {
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| 15 |
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"brightness": [
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| 18 |
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]
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}
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| 20 |
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},
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| 21 |
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"contrast": {
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| 22 |
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"weight": 1.0,
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| 23 |
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"type": "ColorJitter",
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| 24 |
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"kwargs": {
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| 25 |
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"contrast": [
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| 28 |
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]
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| 29 |
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}
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},
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| 31 |
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"saturation": {
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| 32 |
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"weight": 1.0,
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| 33 |
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"type": "ColorJitter",
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| 34 |
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"kwargs": {
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| 35 |
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"saturation": [
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0.5,
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| 37 |
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| 38 |
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]
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| 39 |
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}
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| 40 |
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},
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| 41 |
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"hue": {
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| 42 |
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"weight": 1.0,
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| 43 |
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"type": "ColorJitter",
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| 44 |
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"kwargs": {
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| 45 |
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"hue": [
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-0.05,
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| 48 |
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]
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| 49 |
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}
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| 50 |
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},
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| 51 |
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"sharpness": {
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| 52 |
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"weight": 1.0,
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| 53 |
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"type": "SharpnessJitter",
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| 54 |
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"kwargs": {
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| 55 |
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"sharpness": [
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| 56 |
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|
| 58 |
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]
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| 59 |
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}
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| 60 |
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},
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| 61 |
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"affine": {
|
| 62 |
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"weight": 1.0,
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| 63 |
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"type": "RandomAffine",
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| 64 |
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"kwargs": {
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| 65 |
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"degrees": [
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| 66 |
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-5.0,
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| 67 |
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| 68 |
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],
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| 69 |
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"translate": [
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| 70 |
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| 71 |
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0.05
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| 72 |
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| 73 |
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}
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| 74 |
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| 75 |
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}
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| 76 |
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},
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| 77 |
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"revision": null,
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| 78 |
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"use_imagenet_stats": true,
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| 79 |
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"video_backend": "torchcodec",
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| 80 |
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"streaming": false
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| 81 |
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},
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| 82 |
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"env": null,
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| 83 |
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"policy": {
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| 84 |
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"type": "pi05",
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| 85 |
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"n_obs_steps": 1,
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| 86 |
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"input_features": {
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| 87 |
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"observation.state": {
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| 88 |
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"type": "STATE",
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| 89 |
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"shape": [
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| 90 |
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|
| 91 |
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]
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| 92 |
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},
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| 93 |
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"observation.images.right": {
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| 94 |
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"type": "VISUAL",
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| 95 |
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"shape": [
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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},
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| 101 |
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"observation.images.wrist.top": {
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| 102 |
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"type": "VISUAL",
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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}
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| 109 |
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},
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| 110 |
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"output_features": {
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| 111 |
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"action": {
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| 112 |
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"type": "ACTION",
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| 113 |
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"shape": [
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| 114 |
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| 115 |
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]
|
| 116 |
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}
|
| 117 |
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},
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| 118 |
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"device": "cuda",
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| 119 |
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"use_amp": false,
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| 120 |
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"use_peft": false,
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| 121 |
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"push_to_hub": true,
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| 122 |
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"repo_id": "DrainpipeAI/RedSpicePI05V2",
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| 123 |
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"private": null,
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| 124 |
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"tags": null,
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| 125 |
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"license": null,
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| 126 |
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"pretrained_path": "DrainpipeAI/RedSpiceSmolVLAPI05",
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| 127 |
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"paligemma_variant": "gemma_2b",
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| 128 |
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"action_expert_variant": "gemma_300m",
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| 129 |
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"dtype": "bfloat16",
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| 130 |
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"chunk_size": 50,
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| 131 |
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"n_action_steps": 50,
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| 132 |
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"max_state_dim": 32,
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| 133 |
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| 134 |
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"num_inference_steps": 10,
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| 135 |
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"time_sampling_beta_alpha": 1.5,
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| 136 |
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"time_sampling_beta_beta": 1.0,
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| 137 |
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"time_sampling_scale": 0.999,
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| 138 |
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"time_sampling_offset": 0.001,
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| 139 |
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"min_period": 0.004,
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| 140 |
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"max_period": 4.0,
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| 141 |
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"rtc_config": null,
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| 142 |
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"image_resolution": [
|
| 143 |
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224,
|
| 144 |
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224
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| 145 |
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],
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| 146 |
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"empty_cameras": 0,
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| 147 |
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"tokenizer_max_length": 200,
|
| 148 |
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"normalization_mapping": {
|
| 149 |
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"VISUAL": "IDENTITY",
|
| 150 |
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"STATE": "QUANTILES",
|
| 151 |
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"ACTION": "QUANTILES"
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| 152 |
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},
|
| 153 |
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"gradient_checkpointing": true,
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| 154 |
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"compile_model": false,
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| 155 |
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"compile_mode": "max-autotune",
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| 156 |
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"freeze_vision_encoder": false,
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| 157 |
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"train_expert_only": true,
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| 158 |
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"optimizer_lr": 2.5e-05,
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| 159 |
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"optimizer_betas": [
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| 160 |
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0.9,
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| 161 |
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0.95
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| 162 |
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],
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| 163 |
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"optimizer_eps": 1e-08,
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| 164 |
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"optimizer_weight_decay": 0.01,
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| 165 |
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"optimizer_grad_clip_norm": 1.0,
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| 166 |
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"scheduler_warmup_steps": 1000,
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| 167 |
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"scheduler_decay_steps": 30000,
|
| 168 |
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"scheduler_decay_lr": 2.5e-06
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| 169 |
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},
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| 170 |
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"output_dir": "outputs/train/RedSpicePI05V2",
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| 171 |
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"job_name": "RedSpiceSmolVLAPI05FAST",
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| 172 |
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"resume": false,
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| 173 |
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"seed": 1000,
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| 174 |
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"num_workers": 4,
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| 175 |
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"batch_size": 2,
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| 176 |
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"steps": 50000,
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| 177 |
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"eval_freq": 20000,
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| 178 |
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"log_freq": 200,
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| 179 |
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"tolerance_s": 0.0001,
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| 180 |
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"save_checkpoint": true,
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| 181 |
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"save_freq": 20000,
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| 182 |
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"use_policy_training_preset": true,
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| 183 |
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"optimizer": {
|
| 184 |
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"type": "adamw",
|
| 185 |
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"lr": 2.5e-05,
|
| 186 |
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"weight_decay": 0.01,
|
| 187 |
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"grad_clip_norm": 1.0,
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| 188 |
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"betas": [
|
| 189 |
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0.9,
|
| 190 |
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0.95
|
| 191 |
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],
|
| 192 |
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"eps": 1e-08
|
| 193 |
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},
|
| 194 |
+
"scheduler": {
|
| 195 |
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"type": "cosine_decay_with_warmup",
|
| 196 |
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"num_warmup_steps": 1000,
|
| 197 |
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"num_decay_steps": 30000,
|
| 198 |
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"peak_lr": 2.5e-05,
|
| 199 |
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"decay_lr": 2.5e-06
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| 200 |
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},
|
| 201 |
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"eval": {
|
| 202 |
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"n_episodes": 50,
|
| 203 |
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"batch_size": 50,
|
| 204 |
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"use_async_envs": false
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| 205 |
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},
|
| 206 |
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"wandb": {
|
| 207 |
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"enable": false,
|
| 208 |
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"disable_artifact": false,
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| 209 |
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"project": "lerobot",
|
| 210 |
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"entity": null,
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| 211 |
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"notes": null,
|
| 212 |
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"run_id": null,
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| 213 |
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"mode": null
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| 214 |
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},
|
| 215 |
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"peft": null,
|
| 216 |
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"use_rabc": false,
|
| 217 |
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"rabc_progress_path": null,
|
| 218 |
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"rabc_kappa": 0.01,
|
| 219 |
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"rabc_epsilon": 1e-06,
|
| 220 |
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"rabc_head_mode": "sparse",
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| 221 |
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"rename_map": {},
|
| 222 |
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"checkpoint_path": null
|
| 223 |
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}
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