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train_config.json

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+{
+    "dataset": {
+        "repo_id": "lerobot/aloha_sim_insertion_human",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav"
+    },
+    "env": null,
+    "policy": {
+        "type": "hybrid_act_diffusion",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    14
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    14
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "temporal_ensemble_coeff": null,
+        "vision_backbone": "resnet18",
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "replace_final_stride_with_dilation": false,
+        "use_group_norm": true,
+        "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,
+        "noise_scheduler_type": "DDPM",
+        "num_train_timesteps": 50,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.0,
+        "diffusion_refine_steps": 3,
+        "spatial_softmax_num_keypoints": 32,
+        "diffusion_down_dims": [
+            256,
+            512
+        ],
+        "diffusion_kernel_size": 3,
+        "diffusion_n_groups": 8,
+        "diffusion_step_embed_dim": 64,
+        "diffusion_use_film_scale_modulation": true,
+        "hybrid_mode": "sequential",
+        "hybrid_weight": 0.5,
+        "keyframe_indices": [
+            0,
+            49,
+            99
+        ],
+        "diffusion_loss_weight": 1.0,
+        "dropout": 0.1,
+        "kl_weight": 1.0,
+        "smoothness_weight": 0.0,
+        "smoothness_type": "velocity",
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05,
+        "optimizer_lr_diffusion": 0.0001,
+        "scheduler_name": "cosine",
+        "scheduler_num_warmup_steps": 500,
+        "scheduler_num_training_steps": 30000
+    },
+    "output_dir": "/root/lerobot/lerobot/common/policies/hybrid/outputs/run1",
+    "job_name": "hybrid_act_diffusion_train",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 16,
+    "batch_size": 32,
+    "steps": 40000,
+    "eval_freq": 10000,
+    "log_freq": 400,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "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": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "hybrid_policy_training",
+        "entity": null,
+        "notes": "Hybrid ACT-Diffusion training run",
+        "run_id": null
+    }
+}