| { |
| "dataset": { |
| "repo_id": "l5vel-peng/multitask-eefrel-h32", |
| "repo_type": "dataset", |
| "root": "/home/data/pej3435/.cache/l5vel_eef_merge/outputs/multitask-eefrel-h32", |
| "episodes": null, |
| "exclude_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, |
| "depth_output_unit": "mm", |
| "streaming": false, |
| "eval_split": 0.05 |
| }, |
| "env": null, |
| "policy": { |
| "type": "mtdit_spatial", |
| "n_obs_steps": 2, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 13 |
| ] |
| }, |
| "observation.images.left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.base_pose": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.eef_state": { |
| "type": "STATE", |
| "shape": [ |
| 13 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 13 |
| ] |
| }, |
| "action.eef": { |
| "type": "ACTION", |
| "shape": [ |
| 13 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "pretrained_revision": null, |
| "horizon": 32, |
| "n_action_steps": 24, |
| "objective": "diffusion", |
| "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, |
| "sigma_min": 0.0, |
| "num_integration_steps": 100, |
| "integration_method": "euler", |
| "timestep_sampling_strategy": "beta", |
| "timestep_sampling_s": 0.999, |
| "timestep_sampling_alpha": 1.5, |
| "timestep_sampling_beta": 1.0, |
| "hidden_dim": 512, |
| "num_layers": 4, |
| "num_heads": 8, |
| "dropout": 0.1, |
| "use_positional_encoding": false, |
| "timestep_embed_dim": 256, |
| "use_rope": true, |
| "rope_base": 10000.0, |
| "vision_encoder_name": "openai/clip-vit-base-patch16", |
| "use_separate_rgb_encoder_per_camera": false, |
| "vision_encoder_lr_multiplier": 0.1, |
| "image_resize_shape": [ |
| 240, |
| 320 |
| ], |
| "image_crop_shape": [ |
| 224, |
| 224 |
| ], |
| "image_crop_is_random": true, |
| "vision_feature_mode": "cls", |
| "num_spatial_keypoints": 32, |
| "spatial_softmax_keep_cls": true, |
| "spatial_softmax_learnable_temperature": true, |
| "cross_attention_heads": null, |
| "action_stride": 1, |
| "state_dropout_prob": 0.0, |
| "action_loss_weighting": "none", |
| "loss_weight_max": 4.0, |
| "loss_gripper_dim": 9, |
| "state_conditioning": "full", |
| "state_feature_names": null, |
| "masked_state_names": null, |
| "use_relative_actions": true, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "eef_x", |
| "eef_y", |
| "eef_z", |
| "eef_xx", |
| "eef_xy", |
| "eef_xz", |
| "eef_yx", |
| "eef_yy", |
| "eef_yz", |
| "gripper", |
| "base_x", |
| "base_y", |
| "base_yaw" |
| ], |
| "text_encoder_name": "openai/clip-vit-base-patch16", |
| "tokenizer_max_length": 77, |
| "tokenizer_padding": "max_length", |
| "tokenizer_padding_side": "right", |
| "tokenizer_truncation": true, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "QUANTILES" |
| }, |
| "optimizer_lr": 0.0003, |
| "optimizer_betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.0, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 0, |
| "do_mask_loss_for_padding": false, |
| "drop_n_last_frames": 7 |
| }, |
| "reward_model": null, |
| "output_dir": "/home/data/pej3435/Code/dev/lerobot_policy_mtdit_spatial/outputs/relrep100k/mtdit_eef", |
| "job_name": "relrep100k_mtdit_eef", |
| "resume": false, |
| "seed": 1000, |
| "cudnn_deterministic": false, |
| "num_workers": 12, |
| "batch_size": 64, |
| "prefetch_factor": 4, |
| "persistent_workers": true, |
| "dataloader_multiprocessing_context": "spawn", |
| "steps": 100000, |
| "env_eval_freq": 0, |
| "log_freq": 200, |
| "eval_steps": 5000, |
| "max_eval_samples": 0, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 10000, |
| "checkpoint_format": "safetensors", |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adam", |
| "lr": 0.0003, |
| "weight_decay": 0.0, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "diffuser", |
| "num_warmup_steps": 0, |
| "name": "cosine" |
| }, |
| "parallelism": { |
| "dp_replicate": 1, |
| "dp_shard": 1, |
| "context_parallel": { |
| "ring_degree": 1, |
| "ulysses_degree": 1 |
| }, |
| "cfg_parallel": 1 |
| }, |
| "accelerator": { |
| "mixed_precision": "bf16", |
| "gradient_accumulation": { |
| "steps": 1 |
| }, |
| "fsdp": { |
| "reshard_after_forward": true, |
| "wrap_modules": null, |
| "min_num_params": null, |
| "cpu_offload": false, |
| "ignored_modules": null |
| }, |
| "ddp": { |
| "find_unused_parameters": true, |
| "gradient_as_bucket_view": false, |
| "static_graph": false |
| }, |
| "compile": { |
| "enabled": false, |
| "backend": "inductor", |
| "mode": null, |
| "regional": true |
| }, |
| "activation_checkpointing": { |
| "mode": "none" |
| } |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": true, |
| "recording": false, |
| "recording_repo_id": null, |
| "recording_private": false |
| }, |
| "ema": { |
| "enable": false, |
| "decay": null, |
| "update_after_step": 0, |
| "inv_gamma": 1.0, |
| "power": 0.75, |
| "min_decay": 0.0, |
| "max_decay": 0.9999, |
| "use_for_eval": true |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": true, |
| "project": "relative-representation-100k", |
| "entity": null, |
| "notes": null, |
| "run_id": "1iqc885k", |
| "mode": null, |
| "add_tags": true |
| }, |
| "peft": null, |
| "job": { |
| "target": null, |
| "image": "huggingface/lerobot-gpu:latest", |
| "timeout": "2d", |
| "detach": false, |
| "tags": [] |
| }, |
| "save_checkpoint_to_hub": false, |
| "sample_weighting": null, |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |
