| { | |
| "dataset": { | |
| "repo_id": "mh2_step_3_tcp", | |
| "root": "data/lerobot/mh2_step_3_tcp", | |
| "episodes": [ | |
| 0, | |
| 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 | |
| ], | |
| "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": "torchcodec" | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "integrated_so3_diffusion", | |
| "n_obs_steps": 2, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 46 | |
| ] | |
| }, | |
| "observation.images.rgb_static": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 512, | |
| 512 | |
| ] | |
| }, | |
| "observation.images.rgb_left": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 512, | |
| 512 | |
| ] | |
| }, | |
| "observation.images.rgb_right": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 512, | |
| 512 | |
| ] | |
| }, | |
| "observation.images.depth_left": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 512, | |
| 512 | |
| ] | |
| }, | |
| "observation.images.depth_right": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 512, | |
| 512 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 16 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "horizon": 32, | |
| "n_action_steps": 16, | |
| "drop_n_last_frames": 15, | |
| "vision_backbone": "resnet34", | |
| "crop_shape": [ | |
| 224, | |
| 224 | |
| ], | |
| "crop_is_random": true, | |
| "pretrained_backbone_weights": null, | |
| "use_group_norm": true, | |
| "spatial_softmax_num_keypoints": 32, | |
| "use_separate_rgb_encoder_per_camera": true, | |
| "down_dims": [ | |
| 128, | |
| 256, | |
| 512, | |
| 512 | |
| ], | |
| "kernel_size": 3, | |
| "n_groups": 8, | |
| "diffusion_step_embed_dim": 512, | |
| "use_film_scale_modulation": true, | |
| "noise_scheduler_type": "DDPM", | |
| "num_train_timesteps": 1000, | |
| "beta_schedule": "squaredcos_cap_v2", | |
| "beta_start": 0.0001, | |
| "beta_end": 0.02, | |
| "prediction_type": "sample", | |
| "clip_sample": true, | |
| "clip_sample_range": 1.0, | |
| "num_inference_steps": null, | |
| "do_mask_loss_for_padding": false, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "scheduler_name": "cosine", | |
| "scheduler_warmup_steps": 500 | |
| }, | |
| "output_dir": "outputs/train/2025-09-20/23-29-45_integrated_so3_diffusion", | |
| "job_name": "integrated_so3_diffusion", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 4, | |
| "batch_size": 16, | |
| "steps": 400000, | |
| "eval_freq": 20000, | |
| "log_freq": 200, | |
| "save_checkpoint": true, | |
| "save_freq": 8000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adam", | |
| "lr": 0.0001, | |
| "weight_decay": 1e-06, | |
| "grad_clip_norm": 10.0, | |
| "betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "diffuser", | |
| "num_warmup_steps": 500, | |
| "name": "cosine" | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "xlex5ae7", | |
| "mode": null | |
| } | |
| } |