train_resume_config.json

{
  "dataset": {
    "repo_id": "mahmud8248/record-Robot422-v3",
    "root": null,
    "episodes": null,
    "image_transforms": {
      "enable": false,
      "max_num_transforms": 3,
      "random_order": false,
      "tfs": {
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          "type": "ColorJitter",
          "kwargs": {
            "brightness": [0.8, 1.2]
          }
        },
        "contrast": {
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          "type": "ColorJitter",
          "kwargs": {
            "contrast": [0.8, 1.2]
          }
        },
        "saturation": {
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            "saturation": [0.5, 1.5]
          }
        },
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          "kwargs": {
            "hue": [-0.05, 0.05]
          }
        },
        "sharpness": {
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          "type": "SharpnessJitter",
          "kwargs": {
            "sharpness": [0.5, 1.5]
          }
        }
      }
    },
    "revision": null,
    "use_imagenet_stats": true,
    "video_backend": "torchcodec"
  },
  "env": null,
  "policy": {
    "type": "act",
    "n_obs_steps": 1,
    "normalization_mapping": {
      "VISUAL": "MEAN_STD",
      "STATE": "MEAN_STD",
      "ACTION": "MEAN_STD"
    },
    "input_features": {
      "observation.state": {
        "type": "STATE",
        "shape": [6]
      },
      "observation.images.claw": {
        "type": "VISUAL",
        "shape": [3, 480, 640]
      },
      "observation.images.top": {
        "type": "VISUAL",
        "shape": [3, 480, 640]
      }
    },
    "output_features": {
      "action": {
        "type": "ACTION",
        "shape": [6]
      }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": "hasnineiftekar9/SO101_test107",
    "private": null,
    "tags": null,
    "license": null,
    "chunk_size": 100,
    "n_action_steps": 100,
    "vision_backbone": "resnet18",
    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
    "replace_final_stride_with_dilation": false,
    "pre_norm": false,
    "dim_model": 512,
    "n_heads": 8,
    "dim_feedforward": 3200,
    "feedforward_activation": "relu",
    "n_encoder_layers": 4,
    "n_decoder_layers": 1,
    "use_vae": true,
    "latent_dim": 32,
    "n_vae_encoder_layers": 4,
    "temporal_ensemble_coeff": null,
    "dropout": 0.1,
    "kl_weight": 10.0,
    "optimizer_lr": 1e-05,
    "optimizer_weight_decay": 0.0001,
    "optimizer_lr_backbone": 1e-05
  },
  "output_dir": "/content/drive/MyDrive/Lerobot_Training_Aug9/outputs/train/SO101_test107",
  "job_name": "SO101_test",
  "resume": true,
  "checkpoint_path": "/content/drive/MyDrive/Lerobot_Training_Aug9/outputs/train/SO101_test107/checkpoints/017500",
  "seed": 1000,
  "num_workers": 2,
  "batch_size": 8,
  "steps": 50000,
  "eval_freq": 20000,
  "log_freq": 200,
  "save_checkpoint": true,
  "save_freq": 500,
  "use_policy_training_preset": true,
  "optimizer": {
    "type": "adamw",
    "lr": 1e-05,
    "weight_decay": 0.0001,
    "grad_clip_norm": 10.0,
    "betas": [0.9, 0.999],
    "eps": 1e-08
  },
  "scheduler": null,
  "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": "xmjrqbcw",
    "mode": null
  }
}