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gact-cubes-26ap1 / train_config.json
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{
"dataset": {
"repo_id": "fecasado/Ncubes-to-Nbaskets-320x240",
"root": null,
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 1,
"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": {
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"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
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"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
},
"affine": {
"weight": 1.0,
"type": "RandomAffine",
"kwargs": {
"degrees": [
-5.0,
5.0
],
"translate": [
0.05,
0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"return_uint8": false,
"streaming": false
},
"env": null,
"policy": {
"type": "gaze_act",
"n_obs_steps": 1,
"input_features": {
"observation.images.right": {
"type": "VISUAL",
"shape": [
240,
320,
3
]
},
"observation.images.left": {
"type": "VISUAL",
"shape": [
240,
320,
3
]
},
"observation.images.user": {
"type": "VISUAL",
"shape": [
240,
320,
3
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
26
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "fecasado/gact-cubes-27a",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"chunk_size": 30,
"n_action_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"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": 0.01,
"dropout": 0.1,
"kl_weight": 10.0,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 1e-05,
"vit_token_size": 16,
"vit_foveation_strides": [
1,
2,
6
],
"vit_foveation_grid_sizes": [
2,
3,
3
],
"vit_model_size": "base",
"vit_pretrained_repo_id": "iantc104/mae_vitb_foveated_vit",
"vit_freeze": true,
"gaze_feature_dim": 3,
"gaze_state_indices": [
-3,
-2,
-1
],
"gaze_temporal_window": 1,
"gaze_cross_camera": false,
"gaze_cross_camera_method_train": "roma",
"gaze_cross_camera_method_inference": "roma",
"gaze_cross_camera_match_every": 5,
"gaze_cross_camera_timeout": 0.05,
"gaze_cross_camera_cache": null,
"gaze_token": false,
"gaze_heatmap": false,
"gaze_heatmap_sigma": 60.0,
"gaze_heatmap_decay": 1.0,
"gaze_film": false,
"gaze_film_multilayer": false,
"gaze_overlay": false,
"gaze_overlay_radius": 12,
"gaze_overlay_alpha": 0.5,
"gaze_camera": "user",
"gaze_attention_guidance": false,
"gaze_attention_weight": 1.0,
"gaze_contrastive": false,
"gaze_contrastive_weight": 0.1,
"gaze_contrastive_negatives": 16,
"gaze_contrastive_tau": 0.07,
"gaze_prediction": false,
"gaze_prediction_weight": 0.1
},
"reward_model": null,
"output_dir": "outputs/train/gact-cubes-27a",
"job_name": "gact-cubes-27a",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 15,
"batch_size": 64,
"prefetch_factor": 4,
"persistent_workers": true,
"steps": 100000,
"eval_freq": 20000,
"log_freq": 200,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 10000,
"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": 11,
"use_async_envs": true
},
"wandb": {
"enable": true,
"disable_artifact": true,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "5zaeyejt",
"mode": null,
"add_tags": true
},
"peft": null,
"sample_weighting": null,
"rename_map": {},
"checkpoint_path": null
}