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act-turtlebot3_demo

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Delete train_config.json

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  1. train_config.json +0 -169
train_config.json DELETED
@@ -1,169 +0,0 @@
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- {
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- "dataset": {
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- "repo_id": "iblnk/turtlebot3_demo",
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- "root": "iblnk/turtlebot3_demo",
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- "episodes": null,
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- "image_transforms": {
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- "weight": 1.0,
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- "type": "ColorJitter",
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- "kwargs": {
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- "brightness": [
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- 0.8,
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- 1.2
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- ]
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- }
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- },
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- "contrast": {
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- "weight": 1.0,
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- "type": "ColorJitter",
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- "kwargs": {
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- "contrast": [
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- 0.8,
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- 1.2
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- ]
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- }
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- },
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- ]
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- },
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- ]
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- "use_imagenet_stats": true,
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- "video_backend": "pyav",
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- "streaming": false
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- },
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- "env": null,
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- "policy": {
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- "type": "act",
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- "n_obs_steps": 1,
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- "input_features": {
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- "type": "VISUAL",
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- },
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- },
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- "shape": [
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- ]
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- }
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- },
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- "device": "cuda",
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- "use_amp": true,
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- "push_to_hub": true,
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- "repo_id": "demo/ctl_policy",
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- "private": null,
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- "tags": null,
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- "license": null,
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- "pretrained_path": "/workspaces/reo_ws/models/act/training_run_20251022_004839/checkpoints/046000/pretrained_model",
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- "n_action_steps": 100,
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- "VISUAL": "MEAN_STD",
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- "STATE": "MEAN_STD",
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- "ACTION": "MEAN_STD"
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- },
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- "vision_backbone": "resnet18",
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- "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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- "replace_final_stride_with_dilation": 0,
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- "n_heads": 8,
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- "dim_feedforward": 3200,
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- "feedforward_activation": "relu",
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- "use_vae": true,
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- "dropout": 0.1,
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- "kl_weight": 10.0,
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- "optimizer_lr": 1e-05,
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- "optimizer_weight_decay": 0.0001,
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- "optimizer_lr_backbone": 1e-05
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- },
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- "output_dir": "models/act/training_run_20251022_134842",
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- "job_name": "act",
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- "save_checkpoint": true,
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- "use_policy_training_preset": true,
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- "optimizer": {
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- "type": "adamw",
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- "lr": 1e-05,
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- "weight_decay": 0.0001,
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- "betas": [
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- 0.9,
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- 0.999
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- ],
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- "eps": 1e-08
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- },
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- "scheduler": null,
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- "eval": {
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- "n_episodes": 50,
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- "use_async_envs": false
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- },
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- "wandb": {
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- "enable": false,
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- "disable_artifact": false,
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- "project": "lerobot",
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- "entity": null,
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- "notes": null,
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- "run_id": null,
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- "mode": null
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- }
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- }