sarm-handkercheif-a-model / train_config.json
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{
"dataset": {
"repo_id": "PID0930/sarm-handkercheif-a",
"root": null,
"episodes": null,
"image_transforms": {
"enable": false,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
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"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"contrast": {
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"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"saturation": {
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"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
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"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
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"type": "SharpnessJitter",
"kwargs": {
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1.5
]
}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
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5.0
],
"translate": [
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0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "pyav",
"streaming": false
},
"env": null,
"policy": {
"type": "sarm",
"n_obs_steps": 8,
"input_features": {
"observation.images.left_bird": {
"type": "VISUAL",
"shape": [
480,
640,
3
]
},
"observation.state": {
"type": "STATE",
"shape": [
32
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
12
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "PID0930/sarm-handkercheif-a-model",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"annotation_mode": "dual",
"frame_gap": 30,
"max_rewind_steps": 4,
"image_dim": 512,
"text_dim": 512,
"hidden_dim": 768,
"num_heads": 12,
"num_layers": 8,
"max_state_dim": 32,
"drop_n_last_frames": 1,
"batch_size": 64,
"clip_batch_size": 64,
"dropout": 0.1,
"stage_loss_weight": 1.0,
"rewind_probability": 0.8,
"language_perturbation_probability": 0.2,
"num_sparse_stages": 5,
"sparse_subtask_names": [
"Grab the handkerchief from the tray",
"Flatten the handkerchief out",
"Move the handkerchief to the center",
"Fold the handkerchief into quarters",
"Move the folded handkerchief to the edge"
],
"sparse_temporal_proportions": [
0.17695817343302497,
0.255538416325329,
0.044294285820253056,
0.3703184324238974,
0.1528906919974956
],
"num_dense_stages": 7,
"dense_subtask_names": [
"Grab the handkerchief from the tray",
"Flatten out the handkerchief",
"Move the handkerchief to the center",
"Grab near side and fold in half",
"Rotate the handkerchief 90 degrees clockwise",
"Grab near side again and fold in half",
"Move the folded handkerchief to the edge"
],
"dense_temporal_proportions": [
0.17695817343302497,
0.2506198796839168,
0.04844673447592792,
0.1398005254111136,
0.10010487169702219,
0.12964694733002424,
0.15442286796897034
],
"pretrained_model_path": null,
"image_key": "observation.images.left_bird",
"state_key": "observation.state",
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"LANGUAGE": "IDENTITY",
"REWARD": "IDENTITY"
}
},
"output_dir": "outputs/train/sarm_dual-2",
"job_name": "sarm",
"resume": false,
"seed": 1000,
"num_workers": 1,
"batch_size": 32,
"steps": 5000,
"eval_freq": 20000,
"log_freq": 10,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 500,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 5e-05,
"weight_decay": 0.001,
"grad_clip_norm": 10.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 500,
"num_decay_steps": 50000,
"peak_lr": 5e-05,
"decay_lr": 5e-06
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "sarm-train",
"entity": null,
"notes": null,
"run_id": "k1sjpohs",
"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
}