dataset
dict | env
null | policy
dict | output_dir
string | job_name
string | resume
bool | seed
int64 | num_workers
int64 | batch_size
int64 | steps
int64 | eval_freq
int64 | log_freq
int64 | save_checkpoint
bool | save_freq
int64 | use_policy_training_preset
bool | optimizer
dict | scheduler
dict | eval
dict | wandb
dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
"repo_id": "Benxiaogu/greencube",
"root": null,
"episodes": null,
"image_transforms": {
"enable": false,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"contrast": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"saturation": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
"weight": 1,
"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec"
}
| null |
{
"type": "diffusion",
"n_obs_steps": 2,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.top": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": false,
"repo_id": "dp_greencube",
"private": null,
"tags": null,
"license": null,
"horizon": 16,
"n_action_steps": 8,
"drop_n_last_frames": 7,
"vision_backbone": "resnet18",
"crop_shape": null,
"crop_is_random": true,
"resize_shape": [
224,
224
],
"pretrained_backbone_weights": null,
"use_group_norm": true,
"spatial_softmax_num_keypoints": 32,
"use_separate_rgb_encoder_per_camera": false,
"mask_bbox": false,
"mask_vision_backbone": "resnet18",
"down_dims": [
512,
1024,
2048
],
"kernel_size": 5,
"n_groups": 8,
"diffusion_step_embed_dim": 128,
"use_film_scale_modulation": true,
"noise_scheduler_type": "DDPM",
"num_train_timesteps": 100,
"beta_schedule": "squaredcos_cap_v2",
"beta_start": 0.0001,
"beta_end": 0.02,
"prediction_type": "epsilon",
"clip_sample": true,
"clip_sample_range": 1,
"num_inference_steps": null,
"do_mask_loss_for_padding": false,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.95,
0.999
],
"optimizer_eps": 1e-8,
"optimizer_weight_decay": 0.000001,
"scheduler_name": "cosine",
"scheduler_warmup_steps": 500
}
|
outputs/train/dp_greencube
|
my_dp_training
| false
| 1,000
| 4
| 32
| 240,000
| 20,000
| 200
| true
| 80,000
| true
|
{
"type": "adam",
"lr": 0.0001,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
}
|
{
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
}
|
{
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
}
|
{
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
}
|
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