| { | |
| "dataset": { | |
| "repo_id": "Kamna0321/so101_persepsi_robot", | |
| "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": null, | |
| "policy": { | |
| "type": "dot", | |
| "n_obs_steps": 3, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "sebry4n/my_policy_dot_2", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "pretrained_revision": null, | |
| "train_horizon": 75, | |
| "inference_horizon": 50, | |
| "lookback_obs_steps": 30, | |
| "lookback_aug": 5, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ENV": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "override_dataset_stats": false, | |
| "new_dataset_stats": { | |
| "action": { | |
| "max": [ | |
| 512.0, | |
| 512.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "observation.environment_state": { | |
| "max": [ | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0, | |
| 512.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "observation.state": { | |
| "max": [ | |
| 512.0, | |
| 512.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "vision_backbone": "resnet18", | |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", | |
| "pre_norm": true, | |
| "lora_rank": 20, | |
| "merge_lora": false, | |
| "dim_model": 128, | |
| "n_heads": 8, | |
| "dim_feedforward": 512, | |
| "n_decoder_layers": 8, | |
| "rescale_shape": [ | |
| 240, | |
| 320 | |
| ], | |
| "crop_scale": 0.8, | |
| "state_noise": 0.01, | |
| "noise_decay": 0.999995, | |
| "dropout": 0.1, | |
| "alpha": 0.98, | |
| "train_alpha": 0.99, | |
| "predict_every_n": 1, | |
| "return_every_n": 1, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 1e-05 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "outputs\\train\\dot_so101_3", | |
| "job_name": "act_so101_3", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 4, | |
| "batch_size": 8, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "steps": 30000, | |
| "eval_freq": 20000, | |
| "log_freq": 200, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 20000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 0.0001, | |
| "weight_decay": 1e-05, | |
| "grad_clip_norm": 10.0, | |
| "betas": [ | |
| 0.9, | |
| 0.999 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": null, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 11, | |
| "use_async_envs": true, | |
| "recording": false, | |
| "recording_repo_id": null, | |
| "recording_private": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "2gjsw8vf", | |
| "mode": null, | |
| "add_tags": true | |
| }, | |
| "peft": null, | |
| "sample_weighting": null, | |
| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |