Datasets:
lyhhan
/
dp_so100_test_train

Dataset card Data Studio Files
xet
Community
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{ "repo_id": "lyhhan/so100_test", "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 ] } } } }, "local_files_only": false, "use_imagenet_stats": true, "video_backend": "pyav" }
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.laptop": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.phone": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "horizon": 16, "n_action_steps": 8, "drop_n_last_frames": 7, "vision_backbone": "resnet18", "crop_shape": [ 84, 84 ], "crop_is_random": true, "pretrained_backbone_weights": null, "use_group_norm": true, "spatial_softmax_num_keypoints": 32, "use_separate_rgb_encoder_per_camera": false, "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_so100_test
dp_so100_test
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{ "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 }
{ "repo_id": "lyhhan/so100_test", "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 ] } } } }, "local_files_only": false, "use_imagenet_stats": true, "video_backend": "pyav" }
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.laptop": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.phone": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "horizon": 16, "n_action_steps": 8, "drop_n_last_frames": 7, "vision_backbone": "resnet18", "crop_shape": [ 84, 84 ], "crop_is_random": true, "pretrained_backbone_weights": null, "use_group_norm": true, "spatial_softmax_num_keypoints": 32, "use_separate_rgb_encoder_per_camera": false, "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_so100_test
dp_so100_test
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{ "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 }