Upload train_config.json with huggingface_hub
Browse files- train_config.json +222 -0
train_config.json
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| 1 |
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "Spring14th/pusht_rotate",
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| 4 |
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"root": null,
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| 5 |
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"episodes": null,
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| 6 |
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"image_transforms": {
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| 7 |
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"enable": false,
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| 8 |
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"max_num_transforms": 3,
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| 9 |
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"random_order": false,
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| 10 |
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"tfs": {
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| 11 |
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"brightness": {
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| 12 |
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"weight": 1.0,
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| 13 |
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"type": "ColorJitter",
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| 14 |
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"kwargs": {
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| 15 |
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"brightness": [
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| 16 |
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0.8,
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| 17 |
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1.2
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| 18 |
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]
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| 19 |
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}
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| 20 |
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},
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| 21 |
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"contrast": {
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| 22 |
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"weight": 1.0,
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| 23 |
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"type": "ColorJitter",
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| 24 |
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"kwargs": {
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| 25 |
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"contrast": [
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| 26 |
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0.8,
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| 27 |
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1.2
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| 28 |
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]
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| 29 |
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}
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| 30 |
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},
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| 31 |
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"saturation": {
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| 32 |
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"weight": 1.0,
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| 33 |
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"type": "ColorJitter",
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| 34 |
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"kwargs": {
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| 35 |
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"saturation": [
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| 36 |
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0.5,
|
| 37 |
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1.5
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| 38 |
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]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"hue": {
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| 42 |
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"weight": 1.0,
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| 43 |
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"type": "ColorJitter",
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| 44 |
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"kwargs": {
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| 45 |
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"hue": [
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| 46 |
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-0.05,
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| 47 |
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0.05
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| 48 |
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]
|
| 49 |
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}
|
| 50 |
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},
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| 51 |
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"sharpness": {
|
| 52 |
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"weight": 1.0,
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| 53 |
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"type": "SharpnessJitter",
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| 54 |
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"kwargs": {
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| 55 |
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"sharpness": [
|
| 56 |
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0.5,
|
| 57 |
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1.5
|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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}
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
+
"revision": null,
|
| 64 |
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"use_imagenet_stats": true,
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| 65 |
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"video_backend": "pyav"
|
| 66 |
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},
|
| 67 |
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"env": {
|
| 68 |
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"type": "pusht",
|
| 69 |
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"task": "PushT-v0",
|
| 70 |
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"fps": 10,
|
| 71 |
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"features": {
|
| 72 |
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"action": {
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| 73 |
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"type": "ACTION",
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| 74 |
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"shape": [
|
| 75 |
+
2
|
| 76 |
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]
|
| 77 |
+
},
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| 78 |
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"agent_pos": {
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| 79 |
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"type": "STATE",
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| 80 |
+
"shape": [
|
| 81 |
+
2
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
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"pixels": {
|
| 85 |
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"type": "VISUAL",
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| 86 |
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"shape": [
|
| 87 |
+
384,
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| 88 |
+
384,
|
| 89 |
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3
|
| 90 |
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]
|
| 91 |
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}
|
| 92 |
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},
|
| 93 |
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"features_map": {
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| 94 |
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"action": "action",
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| 95 |
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"agent_pos": "observation.state",
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| 96 |
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"environment_state": "observation.environment_state",
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| 97 |
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"pixels": "observation.image"
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| 98 |
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},
|
| 99 |
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"episode_length": 300,
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| 100 |
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"obs_type": "pixels_agent_pos",
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| 101 |
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"render_mode": "rgb_array",
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| 102 |
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"visualization_width": 384,
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| 103 |
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"visualization_height": 384
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| 104 |
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},
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| 105 |
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"policy": {
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| 106 |
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"type": "diffusion",
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| 107 |
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"n_obs_steps": 2,
|
| 108 |
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"normalization_mapping": {
|
| 109 |
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"VISUAL": "MEAN_STD",
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| 110 |
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"STATE": "MIN_MAX",
|
| 111 |
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"ACTION": "MIN_MAX"
|
| 112 |
+
},
|
| 113 |
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"input_features": {
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| 114 |
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"observation.image": {
|
| 115 |
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"type": "VISUAL",
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| 116 |
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"shape": [
|
| 117 |
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3,
|
| 118 |
+
96,
|
| 119 |
+
96
|
| 120 |
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]
|
| 121 |
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},
|
| 122 |
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"observation.state": {
|
| 123 |
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"type": "STATE",
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| 124 |
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"shape": [
|
| 125 |
+
2
|
| 126 |
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]
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| 127 |
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}
|
| 128 |
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},
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| 129 |
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"output_features": {
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| 130 |
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"action": {
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| 131 |
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"type": "ACTION",
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| 132 |
+
"shape": [
|
| 133 |
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2
|
| 134 |
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]
|
| 135 |
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}
|
| 136 |
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},
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| 137 |
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"device": "cuda",
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| 138 |
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"use_amp": false,
|
| 139 |
+
"horizon": 16,
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| 140 |
+
"n_action_steps": 8,
|
| 141 |
+
"drop_n_last_frames": 7,
|
| 142 |
+
"vision_backbone": "resnet18",
|
| 143 |
+
"crop_shape": [
|
| 144 |
+
84,
|
| 145 |
+
84
|
| 146 |
+
],
|
| 147 |
+
"crop_is_random": true,
|
| 148 |
+
"pretrained_backbone_weights": null,
|
| 149 |
+
"use_group_norm": true,
|
| 150 |
+
"spatial_softmax_num_keypoints": 32,
|
| 151 |
+
"use_separate_rgb_encoder_per_camera": false,
|
| 152 |
+
"down_dims": [
|
| 153 |
+
512,
|
| 154 |
+
1024,
|
| 155 |
+
2048
|
| 156 |
+
],
|
| 157 |
+
"kernel_size": 5,
|
| 158 |
+
"n_groups": 8,
|
| 159 |
+
"diffusion_step_embed_dim": 128,
|
| 160 |
+
"use_film_scale_modulation": true,
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| 161 |
+
"noise_scheduler_type": "DDPM",
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| 162 |
+
"num_train_timesteps": 100,
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| 163 |
+
"beta_schedule": "squaredcos_cap_v2",
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| 164 |
+
"beta_start": 0.0001,
|
| 165 |
+
"beta_end": 0.02,
|
| 166 |
+
"prediction_type": "epsilon",
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| 167 |
+
"clip_sample": true,
|
| 168 |
+
"clip_sample_range": 1.0,
|
| 169 |
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"num_inference_steps": null,
|
| 170 |
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"do_mask_loss_for_padding": false,
|
| 171 |
+
"optimizer_lr": 0.0001,
|
| 172 |
+
"optimizer_betas": [
|
| 173 |
+
0.95,
|
| 174 |
+
0.999
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| 175 |
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],
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| 176 |
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"optimizer_eps": 1e-08,
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| 177 |
+
"optimizer_weight_decay": 1e-06,
|
| 178 |
+
"scheduler_name": "cosine",
|
| 179 |
+
"scheduler_warmup_steps": 500
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| 180 |
+
},
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| 181 |
+
"output_dir": "outputs/train/diffusion_pusht_rotation",
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| 182 |
+
"job_name": "pusht_diffusion",
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| 183 |
+
"resume": true,
|
| 184 |
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"seed": 100000,
|
| 185 |
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"num_workers": 16,
|
| 186 |
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"batch_size": 64,
|
| 187 |
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"steps": 200000,
|
| 188 |
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"eval_freq": 25000,
|
| 189 |
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"log_freq": 400,
|
| 190 |
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"save_checkpoint": true,
|
| 191 |
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"save_freq": 50000,
|
| 192 |
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"use_policy_training_preset": true,
|
| 193 |
+
"optimizer": {
|
| 194 |
+
"type": "adam",
|
| 195 |
+
"lr": 0.0001,
|
| 196 |
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"weight_decay": 1e-06,
|
| 197 |
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"grad_clip_norm": 10.0,
|
| 198 |
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"betas": [
|
| 199 |
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0.95,
|
| 200 |
+
0.999
|
| 201 |
+
],
|
| 202 |
+
"eps": 1e-08
|
| 203 |
+
},
|
| 204 |
+
"scheduler": {
|
| 205 |
+
"type": "diffuser",
|
| 206 |
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"num_warmup_steps": 500,
|
| 207 |
+
"name": "cosine"
|
| 208 |
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},
|
| 209 |
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"eval": {
|
| 210 |
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"n_episodes": 50,
|
| 211 |
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"batch_size": 50,
|
| 212 |
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"use_async_envs": false
|
| 213 |
+
},
|
| 214 |
+
"wandb": {
|
| 215 |
+
"enable": false,
|
| 216 |
+
"disable_artifact": false,
|
| 217 |
+
"project": "lerobot",
|
| 218 |
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"entity": null,
|
| 219 |
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"notes": null,
|
| 220 |
+
"run_id": null
|
| 221 |
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}
|
| 222 |
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}
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