| { |
| "dataset": { |
| "repo_id": "funXedu/so101_lego_brick", |
| "root": null, |
| "episodes": [ |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 65, |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77, |
| 78, |
| 79, |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85 |
| ], |
| "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", |
| "streaming": false |
| }, |
| "env": null, |
| "policy": { |
| "type": "act", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.gripperR": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "funXedu/so101_act_lego_brick_v2", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "chunk_size": 100, |
| "n_action_steps": 100, |
| "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": 0, |
| "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/so101_act_v2", |
| "job_name": "act_2nd_train", |
| "resume": true, |
| "seed": 1000, |
| "num_workers": 4, |
| "batch_size": 8, |
| "steps": 100000, |
| "eval_freq": 20000, |
| "log_freq": 200, |
| "save_checkpoint": true, |
| "save_freq": 1000, |
| "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": "cn9d4j6u", |
| "mode": null |
| } |
| } |
