act_misc_red_x_50a_80k / train_config.json
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{
"dataset": {
"repo_id": [
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v2",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v3",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v4",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v5",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v6",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v8",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v9",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v11",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v12",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v13",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v14",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v15",
"Mimic-Robotics/mimic_tictactoe_pick_red_x_handover_place_mm_v16",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_topleft_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_topleft_v2",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_toprght_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_toprght_v2",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_toprght_v3",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_toprght_v4",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_bottomleft_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_bottomleft_v2",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_bottomright_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_bottomright_v2",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_topmiddle_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_topMiddle_v3",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_topMiddle_v4",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_middleLeft_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_middleLeft_v2",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_middleLeft_v3",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_middleLeft_v4",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_middleRight_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_middleRight_v2",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_bottom_middle_v1",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_bottom_middle_v2",
"Mimic-Robotics/mimic_tictactoe_red_x_handover_center_slow_v1"
],
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},
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"video_backend": "pyav",
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"policy": {
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"input_features": {
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},
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"push_to_hub": true,
"repo_id": "Mimic-Robotics/act_MISC_red_x_handover_and_place_tictactoe_v6",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"chunk_size": 50,
"n_action_steps": 50,
"normalization_mapping": {
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"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"vision_backbone": "resnet18",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"replace_final_stride_with_dilation": false,
"pre_norm": false,
"dim_model": 512,
"n_heads": 8,
"dim_feedforward": 3200,
"feedforward_activation": "relu",
"n_encoder_layers": 4,
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"dropout": 0.1,
"kl_weight": 10.0,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
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},
"output_dir": "/home/jupiter/mimic-lerobot/outputs/train/act_MISC_red_x_handover_and_place_tictactoe_v6",
"job_name": "act_MISC_red_x_handover_and_place_tictactoe_v6",
"resume": false,
"seed": 1000,
"num_workers": 8,
"batch_size": 5,
"steps": 100000,
"eval_freq": 20000,
"log_freq": 200,
"tolerance_s": 0.0001,
"save_checkpoint": true,
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"use_policy_training_preset": true,
"optimizer": {
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"lr": 1e-05,
"weight_decay": 0.0001,
"grad_clip_norm": 10.0,
"betas": [
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"eps": 1e-08
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"scheduler": null,
"eval": {
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"batch_size": 50,
"use_async_envs": false
},
"wandb": {
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"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": "Multi-dataset ACT training on red_x_handover_and_place_tictactoe_v6 with Computer MISC and Batch 5",
"run_id": "ajfg9xry",
"mode": null
},
"peft": null,
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": null
}