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{
"dataset": {
"repo_id": "lukasheuer/scaling_law_2000",
"root": "/srv/shared_data/datasets/scaling_law_2000/",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
"brightness": {
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"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"contrast": {
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"type": "ColorJitter",
"kwargs": {
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1.2
]
}
},
"saturation": {
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"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
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"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
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"type": "SharpnessJitter",
"kwargs": {
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1.5
]
}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
"degrees": [
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5.0
],
"translate": [
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0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
},
"env": null,
"policy": {
"type": "act",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
20
]
},
"observation.images.right_arm.cam_1.image_color": {
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3,
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480
]
},
"observation.images.left_arm.cam_1.image_color": {
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]
},
"observation.images.head.cam_1.color.image_raw": {
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3,
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480
]
}
},
"output_features": {
"action": {
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"shape": [
20
]
}
},
"device": "cuda",
"use_amp": true,
"use_peft": false,
"push_to_hub": true,
"repo_id": "sim_act",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"chunk_size": 19,
"n_action_steps": 19,
"normalization_mapping": {
"ACTION": "MEAN_STD",
"STATE": "MEAN_STD",
"VISUAL": "IDENTITY"
},
"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
},
"output_dir": "/ros2_ws/src/robco_autonomy_ros2/act_scaling_law_2000",
"job_name": "act_scaling_law_2000",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 4,
"batch_size": 16,
"steps": 50000,
"eval_freq": 20000,
"log_freq": 50,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 5000,
"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": 50,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "0xxpoqek",
"mode": null,
"add_tags": true,
"tags": null
},
"peft": null,
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": null,
"robco_training": {
"observation": {
"images": {
"head": null,
"left_arm": null,
"right_arm": null
},
"state": {
"left_arm.pose": {
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},
"right_arm.pose": {
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},
"left_arm.gripper": null,
"right_arm.gripper": null
}
},
"action": {
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"rotation": null
},
"right_arm.gripper": {
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"rotation": null
},
"left_arm.pose": {
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"rotation": "6d"
},
"right_arm.pose": {
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"rotation": "6d"
}
}
},
"num_ray_workers": 1,
"resources_per_ray_worker": null,
"accelerator": null,
"tune": null,
"commit_hash": null
}