| { |
| "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 |
| } |