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gear_sortV3_dot / train_config.json
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{
"dataset": {
"repo_id": "VEXAutoSort/gear_v3",
"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": {
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"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"saturation": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
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"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
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"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
"degrees": [
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5.0
],
"translate": [
0.05,
0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "pyav",
"return_uint8": false,
"depth_output_unit": "mm",
"streaming": false,
"eval_split": 0.0
},
"env": null,
"policy": {
"type": "dot",
"n_obs_steps": 3,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.top_view": {
"type": "VISUAL",
"shape": [
3,
600,
960
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "VEXAutoSort/gear_sortV3_dot",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_revision": null,
"train_horizon": 100,
"inference_horizon": 100,
"lookback_obs_steps": 30,
"lookback_aug": 2,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ENV": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"vision_backbone": "resnet18",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"pre_norm": true,
"lora_rank": 20,
"merge_lora": false,
"dim_model": 128,
"n_heads": 8,
"dim_feedforward": 512,
"n_decoder_layers": 8,
"rescale_shape": [
150,
240
],
"crop_scale": 0.8,
"state_noise": 0.01,
"noise_decay": 0.999995,
"dropout": 0.1,
"alpha": 0.75,
"train_alpha": 0.9,
"predict_every_n": 1,
"return_every_n": 1,
"optimizer_lr": 0.0001,
"optimizer_min_lr": 1e-05,
"optimizer_lr_cycle_steps": 80000,
"optimizer_warmup_steps": 1000,
"optimizer_weight_decay": 1e-05
},
"reward_model": null,
"output_dir": "/workspace/vexsort/gear_v3_dot",
"job_name": "gear_v3_dot",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 6,
"batch_size": 8,
"prefetch_factor": 4,
"persistent_workers": true,
"steps": 80000,
"env_eval_freq": 20000,
"log_freq": 200,
"eval_steps": 0,
"max_eval_samples": 0,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 20000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 0.0001,
"weight_decay": 1e-05,
"grad_clip_norm": 10.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 1000,
"num_decay_steps": 80000,
"peak_lr": 0.0001,
"decay_lr": 1e-05
},
"eval": {
"n_episodes": 50,
"batch_size": 8,
"use_async_envs": true,
"recording": false,
"recording_repo_id": null,
"recording_private": false
},
"wandb": {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": null,
"mode": null,
"add_tags": true
},
"peft": null,
"job": {
"target": null,
"image": "huggingface/lerobot-gpu:latest",
"timeout": "2d",
"detach": false,
"tags": []
},
"save_checkpoint_to_hub": true,
"sample_weighting": null,
"rename_map": {},
"checkpoint_path": null
}