awm_diffusion_policy / train_config.json
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{
"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
}