| seed: 42 | |
| device: cuda:0 | |
| n_epochs: 50 | |
| batch_size: 16 | |
| gradient_accumulation_steps: 1 | |
| mixed_precision: 'no' | |
| learning_rate: 8.0e-05 | |
| lr_scheduler: constant | |
| ent_coef: 0.01 | |
| l2_coef: 0.01 | |
| weight_decay: 0 | |
| max_grad_norm: 1.0 | |
| agent_class: sl_agent.SL | |
| policy: LSTMPolicy | |
| policy_kwargs: | |
| dim_model: 512 | |
| final_ffn: true | |
| action_horizon: 16 | |
| optimizer_kwargs: | |
| eps: 1.0e-08 | |
| noise: false | |
| preprocessor_class: Lerobot_2_Army | |
| preprocessor_kwargs: | |
| resize_images: !!python/tuple | |
| - 94 | |
| - 94 | |
| normalize_images: true | |
| tokenizer_kwargs: | |
| model_template: qwen2-chat | |
| num_image_token: 9 | |
| padding_max_length: 60 | |
| padding_side: right | |
| prompt_generator: FixedPromptGenerator("Insert the peg into the hole.") | |
| observation_modes: | |
| observation.state: min_max | |
| action_modes: | |
| action: min_max | |
| overwrite_stats: false | |
| stats: null | |
| data_key_map: | |
| observation.images.base_camera: cam1 | |
| observation.images.hand_camera: cam2 | |
| observation.images.head_camera: cam2 | |
| observation.images.image_side_1: cam1 | |
| observation.images.image_side_2: cam2 | |
| observation.images.image_wrist_1: cam3 | |
| observation.images.image_wrist_2: cam4 | |
| observation.top: cam1 | |
| image: cam1 | |
| wrist_image: cam2 | |
| observation.state: state | |
| state: state | |
| action: action | |
| actions: action | |
| task: PegInsertionSide-v1 | |
| env_cfg: | |
| name: maniskill | |
| task: PegInsertionSide-v1 | |
| dataset_repo_id: johnMinelli/ManiSkill_PegInsertionSide-v1_recovery | |
| episodes: null | |
| dataset_revision: v2.0 | |
| dataset_root: null | |
| video_backend: pyav | |
| input_shapes: | |
| observation.images.base_camera: !!python/tuple | |
| - 480 | |
| - 640 | |
| - 3 | |
| observation.images.hand_camera: !!python/tuple | |
| - 480 | |
| - 640 | |
| - 3 | |
| observation.state: !!python/tuple | |
| - 9 | |
| observation.privileged: !!python/tuple | |
| - 27 | |
| output_shapes: | |
| action: !!python/tuple | |
| - 16 | |
| - 8 | |
| normalization: | |
| observation_modes: | |
| observation.state: min_max | |
| action_modes: | |
| action: min_max | |
| fps: 20 | |
| delta_timestamps: | |
| expert_mask: '[i / 20 for i in range(16)]' | |
| observation.images.base_camera: '[i / 20 for i in range(16)]' | |
| observation.images.hand_camera: '[i / 20 for i in range(16)]' | |
| observation.state: '[i / 20 for i in range(16)]' | |
| action: '[i / 20 for i in range(16)]' | |
| image_transforms: | |
| enable: false | |