Robotics
LeRobot
Safetensors
act_romoya
act_sjaj_gripper-box / train_config.json
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{
"dataset": {
"repo_id": "PL2011/lebai-gripper-black-taped-box-2_romoya_prepared",
"root": null,
"episodes": null,
"image_transforms": {
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"random_order": false,
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"kwargs": {
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360,
640
]
}
}
},
"tfs": {
"brightness": {
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"type": "ColorJitter",
"kwargs": {
"brightness": [
0.9,
1.1
]
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},
"contrast": {
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"type": "ColorJitter",
"kwargs": {
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0.9,
1.1
]
}
},
"saturation": {
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"type": "ColorJitter",
"kwargs": {
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1.1
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}
},
"hue": {
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"type": "ColorJitter",
"kwargs": {
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0.02
]
}
},
"sharpness": {
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"type": "SharpnessJitter",
"kwargs": {
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0.9,
1.1
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}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
},
"env": null,
"policy": {
"type": "act_romoya",
"n_obs_steps": 1,
"input_features": {
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"shape": [
7
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
1080,
1920
]
},
"observation.images.top": {
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"shape": [
3,
1080,
1920
]
},
"observation.images.side": {
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3,
1080,
1920
]
}
},
"output_features": {
"action": {
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"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "PL2011/act_sjaj_gripper-box",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"chunk_size": 60,
"n_action_steps": 5,
"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,
"n_decoder_layers": 1,
"use_vae": true,
"latent_dim": 32,
"n_vae_encoder_layers": 4,
"temporal_ensemble_coeff": null,
"dropout": 0.1,
"kl_weight": 10.0,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 1e-05,
"action_mode": null,
"state_feature_names_to_keep": [
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"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"DO_1"
],
"joint_action_names": [
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"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos"
],
"gripper_action_name": "gripper.pos",
"do_action_names": [
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],
"raw_observation_state_feature_names": [
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"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"gripper.force",
"DO_0",
"DO_1",
"joint1.effort",
"joint2.effort",
"joint3.effort",
"joint4.effort",
"joint5.effort",
"joint6.effort",
"joint1.vel",
"joint2.vel",
"joint3.vel",
"joint4.vel",
"joint5.vel",
"joint6.vel",
"joint1.acc",
"joint2.acc",
"joint3.acc",
"joint4.acc",
"joint5.acc",
"joint6.acc",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.rx",
"tcp.ry",
"tcp.rz",
"joint1.temp",
"joint2.temp",
"joint3.temp",
"joint4.temp",
"joint5.temp",
"joint6.temp",
"joint1.voltage",
"joint2.voltage",
"joint3.voltage",
"joint4.voltage",
"joint5.voltage",
"joint6.voltage",
"flange_voltage",
"flange.x",
"flange.y",
"flange.z",
"flange.rx",
"flange.ry",
"flange.rz",
"target_joint1.pos",
"target_joint2.pos",
"target_joint3.pos",
"target_joint4.pos",
"target_joint5.pos",
"target_joint6.pos",
"target_joint1.vel",
"target_joint2.vel",
"target_joint3.vel",
"target_joint4.vel",
"target_joint5.vel",
"target_joint6.vel",
"target_joint1.acc",
"target_joint2.acc",
"target_joint3.acc",
"target_joint4.acc",
"target_joint5.acc",
"target_joint6.acc",
"target_joint1.effort",
"target_joint2.effort",
"target_joint3.effort",
"target_joint4.effort",
"target_joint5.effort",
"target_joint6.effort",
"target_tcp.x",
"target_tcp.y",
"target_tcp.z",
"target_tcp.rx",
"target_tcp.ry",
"target_tcp.rz"
],
"raw_action_feature_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"gripper.force",
"DO_0",
"DO_1",
"joint1.effort",
"joint2.effort",
"joint3.effort",
"joint4.effort",
"joint5.effort",
"joint6.effort",
"joint1.vel",
"joint2.vel",
"joint3.vel",
"joint4.vel",
"joint5.vel",
"joint6.vel",
"joint1.acc",
"joint2.acc",
"joint3.acc",
"joint4.acc",
"joint5.acc",
"joint6.acc",
"joint1.temp",
"joint1.voltage",
"joint2.temp",
"joint2.voltage",
"joint3.temp",
"joint3.voltage",
"joint4.temp",
"joint4.voltage",
"joint5.temp",
"joint5.voltage",
"joint6.temp",
"joint6.voltage",
"flange_voltage",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.rx",
"tcp.ry",
"tcp.rz"
],
"state_feature_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos"
],
"action_feature_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos"
],
"binary_state": [
null,
null,
null,
null,
null,
null,
null
],
"binary_action": [
null,
null,
null,
null,
null,
null,
[
50.0,
0.0,
99.0
]
],
"delta_action": [
false,
false,
false,
false,
false,
false,
false
],
"do_threshold": 0.5,
"sigmoid_do_outputs": false,
"observation_image_resize_shape": [
360,
640
]
},
"output_dir": "outputs/train/act_sjaj_gripper",
"job_name": "act_sjaj_gripper",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 8,
"batch_size": 48,
"steps": 20000,
"eval_freq": 20000,
"log_freq": 200,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 20000,
"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": null,
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "fwhlk7cv",
"mode": null,
"add_tags": true
},
"peft": null,
"event_sampler": {
"enable": true,
"state_names": [
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],
"low": 1.0,
"high": 97.0,
"horizon": 60,
"probability": 0.3
},
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": null
}