| { |
| "dataset": { |
| "repo_id": "lambdavi/StackCube_lerobot_50_no_vel", |
| "root": null, |
| "episodes": null, |
| "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 |
| ] |
| } |
| }, |
| "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": { |
| "type": "maniskill", |
| "task": "StackCube-ve", |
| "fps": 30, |
| "features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "agent_pos": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "pixels/base_camera": { |
| "type": "VISUAL", |
| "shape": [ |
| 128, |
| 128, |
| 3 |
| ] |
| }, |
| "pixels/hand_camera": { |
| "type": "VISUAL", |
| "shape": [ |
| 128, |
| 128, |
| 3 |
| ] |
| } |
| }, |
| "features_map": { |
| "action": "action", |
| "agent_pos": "observation.state", |
| "pixels/base_camera": "observation.images.base_camera", |
| "pixels/hand_camera": "observation.images.hand_camera" |
| }, |
| "max_parallel_tasks": 1, |
| "disable_env_checker": true, |
| "obs_mode": "rgb", |
| "control_mode": "pd_ee_delta_pos", |
| "sim_backend": "physx_cpu", |
| "render_mode": "rgb_array", |
| "reward_mode": "sparse", |
| "max_episode_steps": 250, |
| "camera_keys": "base_camera,hand_camera", |
| "image_size": [ |
| 128, |
| 128 |
| ], |
| "action_dim": 6, |
| "state_dim": 6, |
| "include_velocity": false |
| }, |
| "policy": { |
| "type": "act", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 16 |
| ] |
| }, |
| "observation.images.base_camera": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.images.hand_camera": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 4 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "act_baseline", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": 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": 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": null, |
| "dropout": 0.1, |
| "kl_weight": 10.0, |
| "optimizer_lr": 1e-05, |
| "optimizer_weight_decay": 0.0001, |
| "optimizer_lr_backbone": 1e-05 |
| }, |
| "reward_model": null, |
| "output_dir": "outputs/train/act_baseline_1782639628", |
| "job_name": "act_baseline_1782639628", |
| "resume": false, |
| "seed": 1000, |
| "cudnn_deterministic": false, |
| "num_workers": 4, |
| "batch_size": 8, |
| "prefetch_factor": 4, |
| "persistent_workers": true, |
| "steps": 50000, |
| "eval_freq": 2500, |
| "log_freq": 200, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 5000, |
| "save_best_checkpoint": true, |
| "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": 1, |
| "use_async_envs": true |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": false, |
| "project": "lerobot_mani_clean", |
| "entity": null, |
| "notes": null, |
| "run_id": "z71zs0x7", |
| "mode": null, |
| "add_tags": true |
| }, |
| "peft": null, |
| "sample_weighting": null, |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |
