Instructions to use PL2011/act_sjaj_gripper-box with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use PL2011/act_sjaj_gripper-box with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "PL2011/lebai-gripper-black-taped-box-2_romoya_prepared", | |
| "root": null, | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": true, | |
| "max_num_transforms": 2, | |
| "random_order": false, | |
| "pre_tfs": { | |
| "resize": { | |
| "weight": 1.0, | |
| "type": "Resize", | |
| "kwargs": { | |
| "size": [ | |
| 360, | |
| 640 | |
| ] | |
| } | |
| } | |
| }, | |
| "tfs": { | |
| "brightness": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "brightness": [ | |
| 0.9, | |
| 1.1 | |
| ] | |
| } | |
| }, | |
| "contrast": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "contrast": [ | |
| 0.9, | |
| 1.1 | |
| ] | |
| } | |
| }, | |
| "saturation": { | |
| "weight": 0.5, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "saturation": [ | |
| 0.9, | |
| 1.1 | |
| ] | |
| } | |
| }, | |
| "hue": { | |
| "weight": 0.25, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "hue": [ | |
| -0.02, | |
| 0.02 | |
| ] | |
| } | |
| }, | |
| "sharpness": { | |
| "weight": 0.5, | |
| "type": "SharpnessJitter", | |
| "kwargs": { | |
| "sharpness": [ | |
| 0.9, | |
| 1.1 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "streaming": false | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "act_romoya", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ] | |
| }, | |
| "observation.images.side": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "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": { | |
| "VISUAL": "MEAN_STD", | |
| "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": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos", | |
| "gripper.pos", | |
| "DO_1" | |
| ], | |
| "joint_action_names": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos" | |
| ], | |
| "gripper_action_name": "gripper.pos", | |
| "do_action_names": [ | |
| "DO_1" | |
| ], | |
| "raw_observation_state_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", | |
| "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": [ | |
| "gripper.pos" | |
| ], | |
| "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 | |
| } |