Robotics
LeRobot
Safetensors
sac
File size: 6,852 Bytes
2c061ce
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
249
250
251
252
{
    "dataset": {
        "repo_id": [
            "bearlover365/red_cube_always_in_same_place",
            "bearlover365/pick_place_one_white_sock_black_out_blinds"
        ],
        "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": "sac",
        "n_obs_steps": 1,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ENV": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    6
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    6
                ]
            }
        },
        "device": "cpu",
        "use_amp": false,
        "push_to_hub": true,
        "repo_id": "bearlover365/multi_sac_smoke",
        "private": null,
        "tags": null,
        "license": null,
        "dataset_stats": {
            "observation.image": {
                "mean": [
                    0.485,
                    0.456,
                    0.406
                ],
                "std": [
                    0.229,
                    0.224,
                    0.225
                ]
            },
            "observation.state": {
                "min": [
                    0.0,
                    0.0
                ],
                "max": [
                    1.0,
                    1.0
                ]
            },
            "action": {
                "min": [
                    0.0,
                    0.0,
                    0.0
                ],
                "max": [
                    1.0,
                    1.0,
                    1.0
                ]
            }
        },
        "storage_device": "cpu",
        "vision_encoder_name": null,
        "freeze_vision_encoder": true,
        "image_encoder_hidden_dim": 32,
        "shared_encoder": true,
        "num_discrete_actions": null,
        "image_embedding_pooling_dim": 8,
        "online_steps": 1000000,
        "online_env_seed": 10000,
        "online_buffer_capacity": 100000,
        "offline_buffer_capacity": 100000,
        "async_prefetch": false,
        "online_step_before_learning": 100,
        "policy_update_freq": 1,
        "discount": 0.99,
        "temperature_init": 1.0,
        "num_critics": 2,
        "num_subsample_critics": null,
        "critic_lr": 0.0003,
        "actor_lr": 0.0003,
        "temperature_lr": 0.0003,
        "critic_target_update_weight": 0.005,
        "utd_ratio": 1,
        "state_encoder_hidden_dim": 256,
        "latent_dim": 256,
        "target_entropy": null,
        "use_backup_entropy": true,
        "grad_clip_norm": 40.0,
        "critic_network_kwargs": {
            "hidden_dims": [
                256,
                256
            ],
            "activate_final": true,
            "final_activation": null
        },
        "actor_network_kwargs": {
            "hidden_dims": [
                256,
                256
            ],
            "activate_final": true
        },
        "policy_kwargs": {
            "use_tanh_squash": true,
            "std_min": 1e-05,
            "std_max": 10.0,
            "init_final": 0.05
        },
        "discrete_critic_network_kwargs": {
            "hidden_dims": [
                256,
                256
            ],
            "activate_final": true,
            "final_activation": null
        },
        "actor_learner_config": {
            "learner_host": "127.0.0.1",
            "learner_port": 50051,
            "policy_parameters_push_frequency": 4,
            "queue_get_timeout": 2
        },
        "concurrency": {
            "actor": "threads",
            "learner": "threads"
        },
        "use_torch_compile": true
    },
    "output_dir": "outputs/train/multi_smoke_sac_1755438250",
    "job_name": "multi_smoke_sac",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 8,
    "steps": 0,
    "eval_freq": 10000,
    "log_freq": 200,
    "save_checkpoint": true,
    "save_freq": 5000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "multi_adam",
        "lr": 0.001,
        "weight_decay": 0.0,
        "grad_clip_norm": 10.0,
        "optimizer_groups": {
            "actor": {
                "lr": 0.0003
            },
            "critic": {
                "lr": 0.0003
            },
            "temperature": {
                "lr": 0.0003
            }
        }
    },
    "scheduler": null,
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": null,
        "mode": null
    }
}