Hugging Face's logo

Datasets:
lerobot
/
config_examples

Dataset card Files
xet
 Community
3

add_configs

#1
by aractingi - opened
base: refs/heads/main
←
from: refs/pr/1
Discussion Files changed
+5
-942
Files changed (8) hide show
  1. README.md +5 -12
  2. reward_classifier/config.json +0 -46
  3. rl/env_config.json +0 -86
  4. rl/gym_hil/env_config.json +0 -80
  5. rl/gym_hil/train_config.json +0 -229
  6. rl/train_config.json +0 -233
  7. sim_il/env_config.json +0 -69
  8. sim_il/eval_config.json +0 -187
README.md CHANGED
@@ -4,15 +4,8 @@ A repository that contains example json files that can be used for different app
4
 
5
  Current available configs:
6
 
7
- - RL :
8
- - env_config.json: Environment config for a real robot setup using a gamepad for teleoperation and an SO10* arm as the main agent. Using `gym_manipulator.py`, one can use this config to teleoperate the robot and record a dataset for reinforcement learning.
9
- - train_config.json: Training config for the HIL-SERL implementation in LeRobot on the real robot using the similar environment configuration to the `env_config.json` in the same directory.
10
- - gym_hil:
11
- - env_config.json: Environment config for simulation using the `gym_hil` environment.
12
- - train_config.json: Training config for the HIL-SERL implementation in LeRobot for simulated environments.
13
- - Sim IL:
14
- - env_config.json: Environment config for simulation using the `gym_hil` environment. You can use this configuration to collect a dataset in simulation that can be used for imitation learning or reinforcement learning.
15
- - eval_config.json: Evaluation config for models trained on datasets collected from `gym_hil` environment.
16
- - Reward Classifier:
17
- - config.json: Main configuration for training a reward classifier.
18
-
 
4
 
5
  Current available configs:
6
 
7
+ env_config_so100.json: real robot environment configuration to be used to teleoperate, record dataset and replay a dataset on the real robot with the lerobot/scripts/rl/gym_manipulator.py script.
8
+ train_config_hilserl_so100.json: training config on the real robot with the HILSerl RL framework in LeRobot.
9
+ gym_hil_env.json: simulated environment configuration for the gym_hil mujoco based env.
10
+ train_gym_hil_env.json: training configuration for gym_hil with the HILSerl RL framework in LeRobot.
11
+ reward_classifier_train_config.json: configuration to train a reward classifier with LeRobot.
 
 
 
 
 
 
 
reward_classifier/config.json DELETED
@@ -1,46 +0,0 @@
1
- {
2
- "dataset": {
3
- "repo_id": "lilkm/pick_cube_franka_panda_30",
4
- "root": null
5
- },
6
- "policy": {
7
- "type": "reward_classifier",
8
- "model_name": "lerobot/resnet10",
9
- "model_type": "cnn",
10
- "num_cameras": 2,
11
- "num_classes": 2,
12
- "hidden_dim": 256,
13
- "dropout_rate": 0.1,
14
- "learning_rate": 1e-4,
15
- "device": "cuda",
16
- "input_features": {
17
- "observation.images.front": {
18
- "type": "VISUAL",
19
- "shape": [3, 128, 128]
20
- },
21
- "observation.images.wrist": {
22
- "type": "VISUAL",
23
- "shape": [3, 128, 128]
24
- }
25
- },
26
- "push_to_hub": false,
27
- "repo_id": "lilkm/pick_cube_reward_classifier"
28
- },
29
- "batch_size": 16,
30
- "num_workers": 4,
31
- "steps": 5000,
32
- "log_freq": 10,
33
- "eval_freq": 1000,
34
- "save_freq": 1000,
35
- "save_checkpoint": true,
36
- "seed": 2,
37
- "resume": false,
38
- "optimizer": {
39
- "grad_clip_norm": 10.0
40
- },
41
- "wandb": {
42
- "enable": false,
43
- "project": "reward-classifier"
44
- },
45
- "job_name": "reward-classifier"
46
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/env_config.json DELETED
@@ -1,86 +0,0 @@
1
- {
2
- "env": {
3
- "name": "real_robot",
4
- "fps": 10,
5
- "robot": {
6
- "type": "so100_follower",
7
- "port": "/dev/ttyACM0",
8
- "use_degrees": true,
9
- "id": "blue_follower",
10
- "cameras": {
11
- "top": {
12
- "type": "opencv",
13
- "index_or_path": "/dev/video2",
14
- "height": 480,
15
- "width": 640,
16
- "fps": 30,
17
- "fourcc": "MJPG"
18
- },
19
- "wrist": {
20
- "type": "opencv",
21
- "index_or_path": "/dev/video4",
22
- "height": 480,
23
- "width": 640,
24
- "fps": 30,
25
- "fourcc": "MJPG"
26
- }
27
- }
28
- },
29
- "teleop": {
30
- "type": "gamepad",
31
- "use_gripper": true
32
- },
33
- "processor": {
34
- "control_mode": "gamepad",
35
- "max_gripper_pos": 30,
36
- "observation": {
37
- "display_cameras": true,
38
- "add_joint_velocity_to_observation": true,
39
- "add_current_to_observation": true,
40
- "add_ee_pose_to_observation": false
41
- },
42
- "image_preprocessing": {
43
- "crop_params_dict": null,
44
- "resize_size": [128, 128]
45
- },
46
- "gripper": {
47
- "use_gripper": true,
48
- "gripper_penalty": -0.02
49
- },
50
- "reset": {
51
- "fixed_reset_joint_positions": [0.0, -20.0, 25.0, 90.0, 90.0, 30.0],
52
- "reset_time_s": 2.5,
53
- "control_time_s": 30.0,
54
- "terminate_on_success": true
55
- },
56
- "inverse_kinematics": {
57
- "urdf_path": "./SO101/so101_new_calib.urdf",
58
- "target_frame_name": "gripper_frame_link",
59
- "end_effector_bounds": {
60
- "min": [0.115, -0.145, -0.0075],
61
- "max": [0.26, 0.145, 0.1]
62
- },
63
- "end_effector_step_sizes": {
64
- "x": 0.009,
65
- "y": 0.009,
66
- "z": 0.01
67
- }
68
- },
69
- "reward_classifier": {
70
- "pretrained_path": null,
71
- "success_threshold": 0.5,
72
- "success_reward": 1.0
73
- }
74
- }
75
- },
76
- "dataset": {
77
- "repo_id": "lilkm/so100_gamepad_insert_high_quality",
78
- "root": null,
79
- "task": "insert usb",
80
- "num_episodes_to_record": 30,
81
- "replay_episode": null,
82
- "push_to_hub": true
83
- },
84
- "mode": "record",
85
- "device": "cuda"
86
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/gym_hil/env_config.json DELETED
@@ -1,80 +0,0 @@
1
- {
2
- "env": {
3
- "name": "gym_hil",
4
- "task": "PandaPickCubeGamepad-v0",
5
- "fps": 10,
6
- "robot": null,
7
- "teleop": null,
8
- "processor": {
9
- "control_mode": "gamepad",
10
- "observation": {
11
- "add_joint_velocity_to_observation": true,
12
- "display_cameras": false
13
- },
14
- "image_preprocessing": null,
15
- "gripper": {
16
- "use_gripper": true,
17
- "gripper_penalty": -0.02
18
- },
19
- "reset": {
20
- "fixed_reset_joint_positions": [
21
- 0.0,
22
- 0.195,
23
- 0.0,
24
- -2.43,
25
- 0.0,
26
- 2.62,
27
- 0.785
28
- ],
29
- "reset_time_s": 1.0,
30
- "control_time_s": 15.0
31
- }
32
- },
33
- "features": {
34
- "observation.images.front": {
35
- "type": "VISUAL",
36
- "shape": [
37
- 3,
38
- 128,
39
- 128
40
- ]
41
- },
42
- "observation.images.wrist": {
43
- "type": "VISUAL",
44
- "shape": [
45
- 3,
46
- 128,
47
- 128
48
- ]
49
- },
50
- "observation.state": {
51
- "type": "STATE",
52
- "shape": [
53
- 18
54
- ]
55
- },
56
- "action": {
57
- "type": "ACTION",
58
- "shape": [
59
- 3
60
- ]
61
- }
62
- },
63
- "features_map": {
64
- "observation.images.front": "observation.images.front",
65
- "observation.images.wrist": "observation.images.wrist",
66
- "observation.state": "observation.state",
67
- "action": "action"
68
- }
69
- },
70
- "dataset": {
71
- "repo_id": "lilkm/pick_cube_franka_panda_30",
72
- "root": null,
73
- "task": "PandaPickCubeGamepad-v0",
74
- "num_episodes_to_record": 30,
75
- "replay_episode": 0,
76
- "push_to_hub": true
77
- },
78
- "mode": "record",
79
- "device": "cuda"
80
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/gym_hil/train_config.json DELETED
@@ -1,229 +0,0 @@
1
- {
2
- "output_dir": null,
3
- "job_name": "default",
4
- "resume": false,
5
- "seed": 1000,
6
- "num_workers": 4,
7
- "batch_size": 256,
8
- "steps": 100000,
9
- "log_freq": 1,
10
- "save_checkpoint": true,
11
- "save_freq": 2000000,
12
- "wandb": {
13
- "enable": true,
14
- "project": "franka_sim",
15
- "disable_artifact": true
16
- },
17
- "dataset": {
18
- "repo_id": "lilkm/pick_cube_franka_panda_30",
19
- "use_imagenet_stats": false
20
- },
21
- "algorithm": {
22
- "type": "sac",
23
- "actor_lr": 3e-4,
24
- "critic_lr": 3e-4,
25
- "temperature_lr": 3e-4,
26
- "discount": 0.97,
27
- "use_backup_entropy": true,
28
- "critic_target_update_weight": 0.005,
29
- "num_critics": 2,
30
- "num_subsample_critics": null,
31
- "critic_network_kwargs": {
32
- "hidden_dims": [256, 256],
33
- "activate_final": true,
34
- "final_activation": null
35
- },
36
- "discrete_critic_network_kwargs": {
37
- "hidden_dims": [256, 256],
38
- "activate_final": true,
39
- "final_activation": null
40
- },
41
- "temperature_init": 0.01,
42
- "target_entropy": null,
43
- "utd_ratio": 2,
44
- "policy_update_freq": 1,
45
- "grad_clip_norm": 10.0,
46
- "use_torch_compile": true
47
- },
48
- "mixer": "online_offline",
49
- "online_ratio": 0.5,
50
- "policy": {
51
- "type": "gaussian_actor",
52
- "push_to_hub": false,
53
- "n_obs_steps": 1,
54
- "normalization_mapping": {
55
- "VISUAL": "MEAN_STD",
56
- "STATE": "MIN_MAX",
57
- "ENV": "MIN_MAX",
58
- "ACTION": "MIN_MAX"
59
- },
60
- "input_features": {
61
- "observation.images.front": {
62
- "type": "VISUAL",
63
- "shape": [3, 128, 128]
64
- },
65
- "observation.images.wrist": {
66
- "type": "VISUAL",
67
- "shape": [3, 128, 128]
68
- },
69
- "observation.state": {
70
- "type": "STATE",
71
- "shape": [18]
72
- }
73
- },
74
- "output_features": {
75
- "action": {
76
- "type": "ACTION",
77
- "shape": [3]
78
- }
79
- },
80
- "dataset_stats": {
81
- "observation.images.front": {
82
- "mean": [0.485, 0.456, 0.406],
83
- "std": [0.229, 0.224, 0.225]
84
- },
85
- "observation.images.wrist": {
86
- "mean": [0.485, 0.456, 0.406],
87
- "std": [0.229, 0.224, 0.225]
88
- },
89
- "observation.state": {
90
- "min": [
91
- -0.18890867,
92
- -0.13319267,
93
- -0.15566483,
94
- -3.04198435,
95
- -0.05300621,
96
- 2.52864378,
97
- 0.426834,
98
- -100.0,
99
- -100.0,
100
- -100.0,
101
- -100.0,
102
- -100.0,
103
- -100.0,
104
- -100.0,
105
- 0.0,
106
- 0.2,
107
- -0.3,
108
- 0.0
109
- ],
110
- "max": [
111
- 0.1956124,
112
- 0.5096723,
113
- 0.05482981,
114
- -2.01792539,
115
- 0.04425749,
116
- 2.90565838,
117
- 1.07170398,
118
- 100.0,
119
- 100.0,
120
- 100.0,
121
- 100.0,
122
- 100.0,
123
- 100.0,
124
- 100.0,
125
- 255.0,
126
- 0.6,
127
- 0.3,
128
- 0.5
129
- ]
130
- },
131
- "action": {
132
- "min": [-1.0, -1.0, -1.0],
133
- "max": [1.0, 1.0, 1.0]
134
- }
135
- },
136
- "num_discrete_actions": 3,
137
- "storage_device": "cpu",
138
- "vision_encoder_name": "lerobot/resnet10",
139
- "freeze_vision_encoder": true,
140
- "image_encoder_hidden_dim": 32,
141
- "shared_encoder": true,
142
- "online_steps": 1000000,
143
- "online_buffer_capacity": 100000,
144
- "offline_buffer_capacity": 100000,
145
- "online_step_before_learning": 100,
146
- "state_encoder_hidden_dim": 256,
147
- "latent_dim": 64,
148
- "device": "cuda",
149
- "use_amp": false,
150
- "actor_network_kwargs": {
151
- "hidden_dims": [256, 256],
152
- "activate_final": true
153
- },
154
- "policy_kwargs": {
155
- "use_tanh_squash": true,
156
- "std_min": 1e-5,
157
- "std_max": 5,
158
- "init_final": 0.05
159
- },
160
- "discrete_critic_network_kwargs": {
161
- "hidden_dims": [256, 256],
162
- "activate_final": true,
163
- "final_activation": null
164
- },
165
- "actor_learner_config": {
166
- "learner_host": "127.0.0.1",
167
- "learner_port": 50051,
168
- "policy_parameters_push_frequency": 50
169
- },
170
- "concurrency": {
171
- "actor": "threads",
172
- "learner": "threads"
173
- },
174
- "repo_id": null
175
- },
176
- "env": {
177
- "type": "gym_manipulator",
178
- "name": "gym_hil",
179
- "task": "PandaPickCubeGamepad-v0",
180
- "fps": 10,
181
- "robot": null,
182
- "teleop": null,
183
- "processor": {
184
- "control_mode": "gamepad",
185
- "gripper": {
186
- "use_gripper": true,
187
- "gripper_penalty": -0.02
188
- },
189
- "reset": {
190
- "fixed_reset_joint_positions": [
191
- 0.0,
192
- 0.195,
193
- 0.0,
194
- -2.43,
195
- 0.0,
196
- 2.62,
197
- 0.785
198
- ],
199
- "reset_time_s": 1.0,
200
- "control_time_s": 15.0
201
- },
202
- "image_preprocessing": null
203
- },
204
- "features": {
205
- "observation.images.front": {
206
- "type": "VISUAL",
207
- "shape": [3, 128, 128]
208
- },
209
- "observation.images.wrist": {
210
- "type": "VISUAL",
211
- "shape": [3, 128, 128]
212
- },
213
- "observation.state": {
214
- "type": "STATE",
215
- "shape": [18]
216
- },
217
- "action": {
218
- "type": "ACTION",
219
- "shape": [3]
220
- }
221
- },
222
- "features_map": {
223
- "observation.images.front": "observation.images.front",
224
- "observation.images.wrist": "observation.images.wrist",
225
- "observation.state": "observation.state",
226
- "action": "action"
227
- }
228
- }
229
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/train_config.json DELETED
@@ -1,233 +0,0 @@
1
- {
2
- "output_dir": null,
3
- "job_name": "so100_hilserl",
4
- "resume": false,
5
- "seed": 1000,
6
- "num_workers": 4,
7
- "batch_size": 256,
8
- "steps": 100000,
9
- "log_freq": 500,
10
- "save_checkpoint": true,
11
- "save_freq": 5000,
12
- "wandb": {
13
- "enable": true,
14
- "project": "so100_real",
15
- "disable_artifact": true
16
- },
17
- "dataset": {
18
- "repo_id": "lilkm/so100_gamepad_insert_high_quality",
19
- "use_imagenet_stats": false
20
- },
21
- "algorithm": {
22
- "type": "sac",
23
- "actor_lr": 3e-4,
24
- "critic_lr": 3e-4,
25
- "temperature_lr": 3e-4,
26
- "discount": 0.97,
27
- "use_backup_entropy": true,
28
- "critic_target_update_weight": 0.005,
29
- "num_critics": 2,
30
- "num_subsample_critics": null,
31
- "critic_network_kwargs": {
32
- "hidden_dims": [256, 256],
33
- "activate_final": true,
34
- "final_activation": null
35
- },
36
- "discrete_critic_network_kwargs": {
37
- "hidden_dims": [256, 256],
38
- "activate_final": true,
39
- "final_activation": null
40
- },
41
- "temperature_init": 0.01,
42
- "target_entropy": null,
43
- "utd_ratio": 2,
44
- "policy_update_freq": 1,
45
- "grad_clip_norm": 10.0,
46
- "use_torch_compile": false
47
- },
48
- "mixer": "online_offline",
49
- "online_ratio": 0.5,
50
- "policy": {
51
- "type": "gaussian_actor",
52
- "push_to_hub": false,
53
- "n_obs_steps": 1,
54
- "normalization_mapping": {
55
- "VISUAL": "MEAN_STD",
56
- "STATE": "MIN_MAX",
57
- "ENV": "MIN_MAX",
58
- "ACTION": "MIN_MAX"
59
- },
60
- "input_features": {
61
- "observation.images.top": {
62
- "type": "VISUAL",
63
- "shape": [3, 128, 128]
64
- },
65
- "observation.images.wrist": {
66
- "type": "VISUAL",
67
- "shape": [3, 128, 128]
68
- },
69
- "observation.state": {
70
- "type": "STATE",
71
- "shape": [18]
72
- }
73
- },
74
- "output_features": {
75
- "action": {
76
- "type": "ACTION",
77
- "shape": [3]
78
- }
79
- },
80
- "dataset_stats": {
81
- "observation.images.top": {
82
- "mean": [0.485, 0.456, 0.406],
83
- "std": [0.229, 0.224, 0.225]
84
- },
85
- "observation.images.wrist": {
86
- "mean": [0.485, 0.456, 0.406],
87
- "std": [0.229, 0.224, 0.225]
88
- },
89
- "observation.state": {
90
- "min": [-180, -180, -180, -180, -180, -180, -100, -100, -100, -100, -100, -100, -100, -100, -100, -100, -100, -100],
91
- "max": [180, 180, 180, 180, 180, 180, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100]
92
- },
93
- "action": {
94
- "min": [-1.0, -1.0, -1.0],
95
- "max": [1.0, 1.0, 1.0]
96
- }
97
- },
98
- "num_discrete_actions": 3,
99
- "device": "cuda",
100
- "storage_device": "cuda",
101
- "use_amp": false,
102
- "vision_encoder_name": "lerobot/resnet10",
103
- "freeze_vision_encoder": true,
104
- "image_encoder_hidden_dim": 32,
105
- "shared_encoder": true,
106
- "online_steps": 1000000,
107
- "online_buffer_capacity": 30000,
108
- "offline_buffer_capacity": 20000,
109
- "online_step_before_learning": 100,
110
- "state_encoder_hidden_dim": 256,
111
- "latent_dim": 64,
112
- "actor_network_kwargs": {
113
- "hidden_dims": [256, 256],
114
- "activate_final": true
115
- },
116
- "policy_kwargs": {
117
- "use_tanh_squash": true,
118
- "std_min": -5,
119
- "std_max": 2,
120
- "init_final": 0.05
121
- },
122
- "actor_learner_config": {
123
- "learner_host": "127.0.0.1",
124
- "learner_port": 50051,
125
- "policy_parameters_push_frequency": 50
126
- },
127
- "concurrency": {
128
- "actor": "threads",
129
- "learner": "threads"
130
- },
131
- "repo_id": null
132
- },
133
- "env": {
134
- "type": "gym_manipulator",
135
- "name": "real_robot",
136
- "fps": 10,
137
- "task": "usb insert",
138
- "robot": {
139
- "type": "so100_follower",
140
- "port": "/dev/ttyACM0",
141
- "use_degrees": true,
142
- "id": "blue_follower",
143
- "cameras": {
144
- "top": {
145
- "type": "opencv",
146
- "index_or_path": "/dev/video2",
147
- "height": 480,
148
- "width": 640,
149
- "fps": 30,
150
- "fourcc": "MJPG"
151
- },
152
- "wrist": {
153
- "type": "opencv",
154
- "index_or_path": "/dev/video4",
155
- "height": 480,
156
- "width": 640,
157
- "fps": 30,
158
- "fourcc": "MJPG"
159
- }
160
- }
161
- },
162
- "teleop": {
163
- "type": "gamepad",
164
- "use_gripper": true
165
- },
166
- "processor": {
167
- "control_mode": "gamepad",
168
- "max_gripper_pos": 30,
169
- "observation": {
170
- "display_cameras": false,
171
- "add_joint_velocity_to_observation": true,
172
- "add_current_to_observation": true,
173
- "add_ee_pose_to_observation": false
174
- },
175
- "image_preprocessing": {
176
- "crop_params_dict": null,
177
- "resize_size": [128, 128]
178
- },
179
- "gripper": {
180
- "use_gripper": true,
181
- "gripper_penalty": -0.02
182
- },
183
- "reset": {
184
- "fixed_reset_joint_positions": [0.0, -20.0, 25.0, 90.0, 90.0, 30.0],
185
- "reset_time_s": 2.5,
186
- "control_time_s": 30.0,
187
- "terminate_on_success": true
188
- },
189
- "inverse_kinematics": {
190
- "urdf_path": "./SO101/so101_new_calib.urdf",
191
- "target_frame_name": "gripper_frame_link",
192
- "end_effector_bounds": {
193
- "min": [0.115, -0.145, -0.0075],
194
- "max": [0.26, 0.145, 0.1]
195
- },
196
- "end_effector_step_sizes": {
197
- "x": 0.009,
198
- "y": 0.009,
199
- "z": 0.01
200
- }
201
- },
202
- "reward_classifier": {
203
- "pretrained_path": null,
204
- "success_threshold": 0.5,
205
- "success_reward": 1.0
206
- }
207
- },
208
- "features": {
209
- "observation.images.top": {
210
- "type": "VISUAL",
211
- "shape": [3, 128, 128]
212
- },
213
- "observation.images.wrist": {
214
- "type": "VISUAL",
215
- "shape": [3, 128, 128]
216
- },
217
- "observation.state": {
218
- "type": "STATE",
219
- "shape": [18]
220
- },
221
- "action": {
222
- "type": "ACTION",
223
- "shape": [3]
224
- }
225
- },
226
- "features_map": {
227
- "observation.images.top": "observation.images.top",
228
- "observation.images.wrist": "observation.images.wrist",
229
- "observation.state": "observation.state",
230
- "action": "action"
231
- }
232
- }
233
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
sim_il/env_config.json DELETED
@@ -1,69 +0,0 @@
1
- {
2
- "env": {
3
- "name": "gym_hil",
4
- "task": "PandaPickCubeKeyboard-v0",
5
- "fps": 10,
6
- "robot": null,
7
- "teleop": null,
8
- "processor": {
9
- "control_mode": "gamepad",
10
- "observation": {
11
- "add_joint_velocity_to_observation": true,
12
- "add_ee_pose_to_observation": true,
13
- "display_cameras": false
14
- },
15
- "image_preprocessing": {
16
- "crop_params_dict": {
17
- "observation.images.front": [
18
- 0,
19
- 0,
20
- 128,
21
- 128
22
- ],
23
- "observation.images.wrist": [
24
- 0,
25
- 0,
26
- 128,
27
- 128
28
- ]
29
- },
30
- "resize_size": [
31
- 128,
32
- 128
33
- ]
34
- },
35
- "gripper": {
36
- "use_gripper": true,
37
- "gripper_penalty": -0.02,
38
- "gripper_penalty_in_reward": false
39
- },
40
- "reset": {
41
- "fixed_reset_joint_positions": [
42
- 0.0,
43
- 0.195,
44
- 0.0,
45
- -2.43,
46
- 0.0,
47
- 2.62,
48
- 0.785
49
- ],
50
- "reset_time_s": 2.0,
51
- "control_time_s": 15.0,
52
- "terminate_on_success": true
53
- },
54
- "reward_classifier": {
55
- "pretrained_path": null
56
- }
57
- }
58
- },
59
- "dataset": {
60
- "repo_id": "pepijn223/il_gym0",
61
- "root": null,
62
- "task": "PandaPickCubeKeyboard-v0",
63
- "num_episodes_to_record": 30,
64
- "replay_episode": 0,
65
- "push_to_hub": true
66
- },
67
- "mode": null,
68
- "device": "cuda"
69
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
sim_il/eval_config.json DELETED
@@ -1,187 +0,0 @@
1
- {
2
- "output_dir": null,
3
- "job_name": "default",
4
- "resume": false,
5
- "seed": 1000,
6
- "num_workers": 4,
7
- "batch_size": 256,
8
- "steps": 100000,
9
- "log_freq": 500,
10
- "save_checkpoint": true,
11
- "save_freq": 2000000,
12
- "wandb": {
13
- "enable": true,
14
- "project": "so100_real",
15
- "disable_artifact": true
16
- },
17
- "dataset": {
18
- "repo_id": "pepijn223/il_gym0",
19
- "use_imagenet_stats": false
20
- },
21
- "policy": {
22
- "type": "act",
23
- "n_obs_steps": 1,
24
- "normalization_mapping": {
25
- "VISUAL": "MEAN_STD",
26
- "STATE": "MEAN_STD",
27
- "ACTION": "MEAN_STD"
28
- },
29
- "input_features": {
30
- "observation.state": {
31
- "type": "STATE",
32
- "shape": [
33
- 18
34
- ]
35
- },
36
- "observation.images.front": {
37
- "type": "VISUAL",
38
- "shape": [
39
- 3,
40
- 128,
41
- 128
42
- ]
43
- },
44
- "observation.images.wrist": {
45
- "type": "VISUAL",
46
- "shape": [
47
- 3,
48
- 128,
49
- 128
50
- ]
51
- }
52
- },
53
- "output_features": {
54
- "action": {
55
- "type": "ACTION",
56
- "shape": [
57
- 4
58
- ]
59
- }
60
- },
61
- "device": "cpu",
62
- "use_amp": false,
63
- "chunk_size": 100,
64
- "n_action_steps": 100,
65
- "vision_backbone": "resnet18",
66
- "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
67
- "replace_final_stride_with_dilation": false,
68
- "pre_norm": false,
69
- "dim_model": 512,
70
- "n_heads": 8,
71
- "dim_feedforward": 3200,
72
- "feedforward_activation": "relu",
73
- "n_encoder_layers": 4,
74
- "n_decoder_layers": 1,
75
- "use_vae": true,
76
- "latent_dim": 32,
77
- "n_vae_encoder_layers": 4,
78
- "temporal_ensemble_coeff": null,
79
- "dropout": 0.1,
80
- "kl_weight": 10.0,
81
- "optimizer_lr": 1e-05,
82
- "optimizer_weight_decay": 0.0001,
83
- "optimizer_lr_backbone": 1e-05
84
- },
85
- "env": {
86
- "name": "gym_hil",
87
- "task": "PandaPickCubeGamepad-v0",
88
- "fps": 10,
89
- "robot": null,
90
- "teleop": null,
91
- "processor": {
92
- "control_mode": "gamepad",
93
- "observation": {
94
- "add_joint_velocity_to_observation": true,
95
- "add_ee_pose_to_observation": true,
96
- "display_cameras": false
97
- },
98
- "image_preprocessing": {
99
- "crop_params_dict": {
100
- "observation.images.front": [
101
- 0,
102
- 0,
103
- 128,
104
- 128
105
- ],
106
- "observation.images.wrist": [
107
- 0,
108
- 0,
109
- 128,
110
- 128
111
- ]
112
- },
113
- "resize_size": [
114
- 128,
115
- 128
116
- ]
117
- },
118
- "gripper": {
119
- "use_gripper": true,
120
- "gripper_penalty": 0,
121
- "gripper_penalty_in_reward": false
122
- },
123
- "reset": {
124
- "fixed_reset_joint_positions": [
125
- 0.0,
126
- 0.195,
127
- 0.0,
128
- -2.43,
129
- 0.0,
130
- 2.62,
131
- 0.785
132
- ],
133
- "reset_time_s": 2.0,
134
- "control_time_s": 15.0,
135
- "terminate_on_success": true
136
- },
137
- "reward_classifier": {
138
- "pretrained_path": null
139
- }
140
- },
141
- "mode": "eval",
142
- "repo_id": null,
143
- "dataset_root": null,
144
- "num_episodes": 30,
145
- "episode": 0,
146
- "pretrained_policy_name_or_path": "pepijn223/il_sim_test0",
147
- "device": "cpu",
148
- "push_to_hub": true,
149
- "features": {
150
- "observation.images.front": {
151
- "type": "VISUAL",
152
- "shape": [
153
- 3,
154
- 128,
155
- 128
156
- ]
157
- },
158
- "observation.images.wrist": {
159
- "type": "VISUAL",
160
- "shape": [
161
- 3,
162
- 128,
163
- 128
164
- ]
165
- },
166
- "observation.state": {
167
- "type": "STATE",
168
- "shape": [
169
- 18
170
- ]
171
- },
172
- "action": {
173
- "type": "ACTION",
174
- "shape": [
175
- 4
176
- ]
177
- }
178
- },
179
- "features_map": {
180
- "observation.images.front": "observation.images.front",
181
- "observation.images.wrist": "observation.images.wrist",
182
- "observation.state": "observation.state",
183
- "action": "action"
184
- },
185
- "reward_classifier_pretrained_path": null
186
- }
187
- }