| { |
| "dataset": { |
| "repo_id": "leledeyuan/pusht-real-revise", |
| "root": null, |
| "episodes": [ |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 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, |
| 86, |
| 87, |
| 88, |
| 89, |
| 90, |
| 91, |
| 92, |
| 93, |
| 94, |
| 95, |
| 96, |
| 97, |
| 98, |
| 99 |
| ], |
| "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": "diffusion", |
| "n_obs_steps": 2, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 480 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 480 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 480 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "leledeyuan/pusht_real_fullstate", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "horizon": 16, |
| "n_action_steps": 8, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "drop_n_last_frames": 7, |
| "vision_backbone": "resnet18", |
| "crop_shape": [ |
| 432, |
| 432 |
| ], |
| "crop_is_random": true, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "use_separate_rgb_encoder_per_camera": false, |
| "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": 1.0, |
| "num_inference_steps": null, |
| "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 |
| }, |
| "output_dir": "/home/dayuan/nas/models/diffusion_1002", |
| "job_name": "pusht_diffusion", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 4, |
| "batch_size": 16, |
| "steps": 400000, |
| "eval_freq": 0, |
| "log_freq": 200, |
| "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": 50, |
| "use_async_envs": false |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": "wzoefo95", |
| "mode": null |
| } |
| } |
