File size: 7,011 Bytes
14a3199
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
{
    "dataset": {
        "repo_id": "lerobot/pusht",
        "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
                        ]
                    }
                },
                "affine": {
                    "weight": 1.0,
                    "type": "RandomAffine",
                    "kwargs": {
                        "degrees": [
                            -5.0,
                            5.0
                        ],
                        "translate": [
                            0.05,
                            0.05
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "streaming": false
    },
    "env": {
        "type": "pusht",
        "task": "PushT-v0",
        "fps": 10,
        "features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    2
                ]
            },
            "agent_pos": {
                "type": "STATE",
                "shape": [
                    2
                ]
            },
            "pixels": {
                "type": "VISUAL",
                "shape": [
                    384,
                    384,
                    3
                ]
            }
        },
        "features_map": {
            "action": "action",
            "agent_pos": "observation.state",
            "environment_state": "observation.environment_state",
            "pixels": "observation.image"
        },
        "max_parallel_tasks": 1,
        "disable_env_checker": true,
        "episode_length": 300,
        "obs_type": "pixels_agent_pos",
        "render_mode": "rgb_array",
        "visualization_width": 384,
        "visualization_height": 384,
        "observation_height": 384,
        "observation_width": 384
    },
    "policy": {
        "type": "awm",
        "n_obs_steps": 1,
        "input_features": {
            "observation.image": {
                "type": "VISUAL",
                "shape": [
                    3,
                    96,
                    96
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    2
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    2
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": false,
        "push_to_hub": true,
        "repo_id": "anantk2006/awm_diffusion_policy",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "chunk_size": 10,
        "n_action_steps": 5,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MEAN_STD",
            "ACTION": "MIN_MAX"
        },
        "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": 4,
        "cross_attn_dim": 512,
        "action_token_vocab_size": 128,
        "action_ranges": null,
        "dropout": 0.1,
        "wm_loss_weight": 0.1,
        "detach_encoder_from_wm": false,
        "use_normalized_mse_wm_loss": false,
        "wm_variance_loss_weight": 0.1,
        "use_ema_target": false,
        "ema_momentum": 0.996,
        "ema_momentum_end": 0.999,
        "ema_anneal_steps": 50000,
        "n_wm_decoder_layers": 4,
        "decoder_loss_weight": 0.1,
        "n_image_viz_pairs": 12,
        "optimizer_lr": 0.0002,
        "optimizer_weight_decay": 0.0,
        "optimizer_lr_backbone": 1e-05,
        "optimizer_grad_clip_norm": 1.0,
        "use_lr_schedule": false,
        "scheduler_warmup_steps": 5000,
        "scheduler_decay_steps": 100000,
        "scheduler_decay_lr": 0.0
    },
    "output_dir": "outputs/train/2026-03-10/23-50-04_awm_diffusion_pusht",
    "job_name": "awm_diffusion_pusht",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 32,
    "steps": 200000,
    "eval_freq": 10000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 10000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 0.0002,
        "weight_decay": 0.0,
        "grad_clip_norm": 1.0,
        "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": "awm_diffusion_pusht",
        "entity": null,
        "notes": null,
        "run_id": "2gvxhf09",
        "mode": null
    },
    "peft": null,
    "use_rabc": false,
    "rabc_progress_path": null,
    "rabc_kappa": 0.01,
    "rabc_epsilon": 1e-06,
    "rabc_head_mode": "sparse",
    "rename_map": {},
    "checkpoint_path": null
}