cf-droid100 / finetune_config.json
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{"update_config": {"model": {"observation_tokenizers": {"single": {"module": "crossformer.model.components.tokenizers", "name": "LowdimObsTokenizer", "args": [], "kwargs": {"obs_keys": ["proprio_single"], "dropout_rate": 0.2}}}}}, "pretrained_path": "hf://rail-berkeley/crossformer", "pretrained_step": null, "batch_size": 256, "shuffle_buffer_size": 10000, "num_steps": 50000, "log_interval": 100, "eval_interval": 1000, "save_interval": 1000, "save_dir": "/network/scratch/o/ozgur.aslan/cross_ft", "seed": 42, "wandb": {"project": "crossformer_finetune", "group": null, "entity": null}, "dataset_kwargs": {"name": "droid_100", "data_dir": "/network/projects/real-g-grp/droid", "image_obs_keys": {"primary": "exterior_image_1_left", "left_wrist": "wrist_image_left"}, "proprio_obs_keys": {"single": "proprio"}, "proprio_obs_dims": {"single": 7}, "language_key": "language_instruction", "action_proprio_normalization_type": "normal", "action_normalization_mask": [true, true, true, true, true, true, false], "standardize_fn": {"module": "crossformer.data.oxe.oxe_standardization_transforms", "name": "droid_dataset_transform", "args": [], "kwargs": {}}}, "modality": "language_conditioned", "finetuning_mode": "full", "head_name": "single_arm", "window_size": 1, "optimizer": {"learning_rate": {"name": "cosine", "init_value": 0.0, "peak_value": 0.0003, "warmup_steps": 2000, "decay_steps": 50000, "end_value": 0.0}, "weight_decay": 0.01, "clip_gradient": 1.0, "frozen_keys": [], "grad_accumulation_steps": null}, "val_kwargs": {"val_shuffle_buffer_size": 1000, "num_val_batches": 16}, "frame_transform_threads": 16, "traj_transform_kwargs": {"window_size": 1, "action_horizon": 4, "goal_relabeling_strategy": null, "task_augment_strategy": "delete_task_conditioning", "task_augment_kwargs": {"keep_image_prob": 0.0}}, "frame_transform_kwargs": {"resize_size": {"primary": [224, 224], "left_wrist": [128, 128]}, "image_augment_kwargs": {"primary": {"random_resized_crop": {"scale": [0.8, 1.0], "ratio": [0.9, 1.1]}, "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_saturation": [0.9, 1.1], "random_hue": [0.05], "augment_order": ["random_resized_crop", "random_brightness", "random_contrast", "random_saturation", "random_hue"]}}}}