| config: {'dataset': {'repo_id': 'ELLLLLLLY/Grasp_blocks', 'root': '/home/vipuser/lerobot/datas/Grasp_blocks', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [6]}, 'observation.images.front': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 480, 640]}, 'observation.images.side': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 480, 640]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [6]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': '/home/vipuser/lerobot/outputs/train/grasp_blocks_act_50/checkpoints/010000/pretrained_model', 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': 0, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': '/home/vipuser/lerobot/outputs/train/grasp_blocks_act_50', 'job_name': 'grasp_blocks_act_50', 'resume': True, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 16, 'steps': 50000, 'eval_freq': 20000, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 10000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': 'eleanorluo99-no', 'notes': None, 'run_id': '0a6dk0nw', 'mode': 'online', 'add_tags': True}, 'peft': None, 'use_rabc': False, 'rabc_progress_path': None, 'rabc_kappa': 0.01, 'rabc_epsilon': 1e-06, 'rabc_head_mode': 'sparse', 'rename_map': {}, 'checkpoint_path': '/home/vipuser/lerobot/outputs/train/grasp_blocks_act_50/checkpoints/010000', '_wandb': {}} |
