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diffusion-A3-cls / train_config.json
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{
"dataset": {
"repo_id": "gaspardthrl/walleed_hg_double_fold_clean",
"root": null,
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 4,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"brightness": [
0.7,
1.3
]
}
},
"contrast": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"contrast": [
0.7,
1.3
]
}
},
"warmth": {
"weight": 1.0,
"type": "WarmthJitter",
"kwargs": {
"warmth": [
-0.15,
0.15
]
}
},
"affine": {
"weight": 1.0,
"type": "RandomAffine",
"kwargs": {
"degrees": [
-8,
8
],
"translate": [
0.12,
0.12
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"stats_override_path": "./data/meta/relative_stats.json",
"video_backend": "pyav",
"return_uint8": false,
"streaming": false
},
"env": null,
"policy": {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "gaspardthrl/diffusion-A3-cls",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"horizon": 32,
"n_action_steps": 16,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ACTION": "MEAN_STD"
},
"drop_n_last_frames": 16,
"use_relative_actions": true,
"relative_exclude_joints": [
"gripper"
],
"action_feature_names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"proprio_dropout": 0.3,
"state_indices": null,
"action_normalization_mode": "MEAN_STD",
"use_subtask_classifier": true,
"subtask_classifier_repo": "gaspardthrl/walleed-subtask-cls",
"subtask_classifier_filename": "dinov2_s/best.pt",
"subtask_classifier_path": null,
"subtask_classifier_n_classes": 8,
"subtask_classifier_image_key": null,
"subtask_prev_array_path": "./data/meta/prev_subtask.npy",
"subtask_dataset_state_stats_path": "./data/meta/subtask_state_stats.json",
"use_eef_actions": false,
"eef_poses_path": null,
"eef_stats_path": null,
"eef_action_dim": 10,
"vision_backbone": "resnet18",
"resize_shape": [
96,
96
],
"crop_ratio": 1.0,
"crop_shape": null,
"crop_is_random": true,
"pretrained_backbone_weights": null,
"use_group_norm": true,
"spatial_softmax_num_keypoints": 32,
"use_separate_rgb_encoder_per_camera": false,
"image_grayworld": true,
"image_grayscale": true,
"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": 3.0,
"num_inference_steps": null,
"compile_model": false,
"compile_mode": "reduce-overhead",
"do_mask_loss_for_padding": false,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.95,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-06,
"scheduler_name": "cosine",
"scheduler_warmup_steps": 500
},
"reward_model": null,
"output_dir": "outputs/diffusion_A3_20260519_065341",
"job_name": "diffusion-A3-proprio-dropout",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 8,
"batch_size": 128,
"prefetch_factor": 4,
"persistent_workers": true,
"steps": 100000,
"eval_freq": 20000,
"log_freq": 200,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 20000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adam",
"lr": 0.0001,
"weight_decay": 1e-06,
"grad_clip_norm": 10.0,
"betas": [
0.95,
0.999
],
"eps": 1e-08
},
"scheduler": {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
},
"eval": {
"n_episodes": 50,
"batch_size": 8,
"use_async_envs": true
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "diffusing",
"entity": null,
"notes": "A3 proprio dropout p=0.3, relative actions, MEAN_STD action norm, ResNet-18, 100000 steps",
"run_id": "q9tfbb3o",
"mode": null,
"add_tags": true
},
"peft": null,
"sample_weighting": null,
"rename_map": {},
"checkpoint_path": null
}