barbecue_put / train_config.json
Pi-robot's picture
Upload folder using huggingface_hub
1c466c3 verified
{
"dataset": {
"repo_id": "Pi-robot/barbecue_put",
"root": null,
"episodes": null,
"revision": null,
"use_imagenet_stats": true,
"video_backend": "pyav"
},
"env": null,
"policy": {
"type": "act",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.top": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"chunk_size": 90,
"n_action_steps": 90,
"vision_backbone": "dinov2",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"replace_final_stride_with_dilation": false,
"pre_norm": false,
"dim_model": 384,
"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": 60.0,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 1e-05
},
"output_dir": "outputs/train/barbecue_put",
"job_name": "act",
"resume": false,
"seed": 1000,
"num_workers": 16,
"batch_size": 240,
"steps": 100000,
"eval_freq": 0,
"log_freq": 200,
"save_checkpoint": true,
"save_freq": 1000,
"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": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null
}
}