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config: {'dataset': {'repo_id': 'shylee/so100_pengripG', 'root': '/SSD/LSY/lerobot_dataset/pengripG', 'episodes': None, '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': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'horizon': 16, 'n_action_steps': 8, 'drop_n_last_frames': 7, 'vision_backbone': 'resnet50', 'crop_shape': [224, 224], 'crop_is_random': False, 'pretrained_backbone_weights': 'ResNet50_Weights.IMAGENET1K_V1', 'use_group_norm': False, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDIM', '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': 10, '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, 'pre_resize_shape': [224, 224], 'freeze_vision_backbone': False, 'use_ac': False, 'ac_threshold': 0.99, 'use_pcg': False, 'pcg_weight': 0.1, 'use_bid': False, 'bid_batch_size': 15, 'bid_mode_size': 3, 'bid_temporal_coherence': 0.5, 'weak_model_path': None, 'weak_model_config': None}, 'output_dir': '/SSD/LSY/lerobot_model/DP_pengripG_input224_freeze0_horizon16_transform0_1e-4_longtrain', 'job_name': 'DP_pengripG_input224_freeze0_horizon16_transform0_1e-4_longtrain', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 16, 'steps': 900000, 'eval_freq': 20000, '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': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}} |
