| { |
| "dataset": { |
| "repo_id": "spirosperos/grid-position-prediction", |
| "root": "/home/nikola/lerobot_spes/recording_grid_position_lerobot", |
| "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 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": false, |
| "video_backend": "torchcodec" |
| }, |
| "env": { |
| "type": "gym_manipulator", |
| "task": "GridPositionPrediction-v0", |
| "fps": 10, |
| "features": { |
| "observation.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 2 |
| ] |
| } |
| }, |
| "features_map": { |
| "observation.image": "observation.image", |
| "action": "action" |
| }, |
| "robot": null, |
| "teleop": null, |
| "wrapper": { |
| "control_mode": "gamepad", |
| "display_cameras": false, |
| "add_joint_velocity_to_observation": false, |
| "add_current_to_observation": false, |
| "add_ee_pose_to_observation": false, |
| "crop_params_dict": null, |
| "resize_size": [ |
| 128, |
| 128 |
| ], |
| "control_time_s": 20.0, |
| "fixed_reset_joint_positions": null, |
| "reset_time_s": 5.0, |
| "use_gripper": true, |
| "gripper_quantization_threshold": 0.8, |
| "gripper_penalty": 0.0, |
| "gripper_penalty_in_reward": false |
| }, |
| "name": "real_robot", |
| "mode": "auto_supervision", |
| "repo_id": null, |
| "dataset_root": null, |
| "num_episodes": 10, |
| "episode": 0, |
| "device": "cuda", |
| "push_to_hub": true, |
| "pretrained_policy_name_or_path": null, |
| "reward_classifier_pretrained_path": null, |
| "number_of_steps_after_success": 0 |
| }, |
| "policy": { |
| "type": "sac", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "ACTION": "IDENTITY" |
| }, |
| "input_features": { |
| "observation.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 2 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "spirosperos/grid-position-policy", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "dataset_stats": { |
| "observation.image": { |
| "mean": [ |
| 0.485, |
| 0.456, |
| 0.406 |
| ], |
| "std": [ |
| 0.229, |
| 0.224, |
| 0.225 |
| ] |
| }, |
| "action": { |
| "min": [ |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 7.0, |
| 7.0 |
| ] |
| } |
| }, |
| "storage_device": "cpu", |
| "vision_encoder_name": "helper2424/resnet10", |
| "freeze_vision_encoder": false, |
| "image_encoder_hidden_dim": 32, |
| "shared_encoder": true, |
| "num_discrete_actions": null, |
| "image_embedding_pooling_dim": 8, |
| "online_steps": 1000000, |
| "online_env_seed": 10000, |
| "online_buffer_capacity": 10000, |
| "offline_buffer_capacity": 1000, |
| "async_prefetch": false, |
| "online_step_before_learning": 100, |
| "policy_update_freq": 1, |
| "discount": 0.97, |
| "temperature_init": 0.01, |
| "num_critics": 2, |
| "num_subsample_critics": null, |
| "critic_lr": 0.0003, |
| "actor_lr": 0.0003, |
| "temperature_lr": 0.0003, |
| "critic_target_update_weight": 0.005, |
| "utd_ratio": 2, |
| "state_encoder_hidden_dim": 256, |
| "latent_dim": 64, |
| "target_entropy": null, |
| "use_backup_entropy": true, |
| "grad_clip_norm": 10.0, |
| "critic_network_kwargs": { |
| "hidden_dims": [ |
| 256, |
| 256 |
| ], |
| "activate_final": true, |
| "final_activation": null |
| }, |
| "actor_network_kwargs": { |
| "hidden_dims": [ |
| 256, |
| 256 |
| ], |
| "activate_final": true |
| }, |
| "policy_kwargs": { |
| "use_tanh_squash": false, |
| "std_min": 1e-05, |
| "std_max": 5.0, |
| "init_final": 0.05 |
| }, |
| "discrete_critic_network_kwargs": { |
| "hidden_dims": [ |
| 256, |
| 256 |
| ], |
| "activate_final": true, |
| "final_activation": null |
| }, |
| "actor_learner_config": { |
| "learner_host": "127.0.0.1", |
| "learner_port": 50053, |
| "policy_parameters_push_frequency": 0, |
| "queue_get_timeout": 2.0 |
| }, |
| "concurrency": { |
| "actor": "threads", |
| "learner": "threads" |
| }, |
| "use_torch_compile": false |
| }, |
| "output_dir": "outputs/train/2025-10-30/13-19-54_grid_position", |
| "job_name": "grid_position", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 4, |
| "batch_size": 256, |
| "steps": 100000, |
| "eval_freq": 20000, |
| "log_freq": 50, |
| "save_checkpoint": true, |
| "save_freq": 10, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "multi_adam", |
| "lr": 0.001, |
| "weight_decay": 0.0, |
| "grad_clip_norm": 10.0, |
| "optimizer_groups": { |
| "actor": { |
| "lr": 0.0003 |
| }, |
| "critic": { |
| "lr": 0.0003 |
| }, |
| "temperature": { |
| "lr": 0.0003 |
| } |
| } |
| }, |
| "scheduler": null, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": false |
| }, |
| "wandb": { |
| "enable": false, |
| "disable_artifact": true, |
| "project": "grid_hil_serl", |
| "entity": null, |
| "notes": null, |
| "run_id": null, |
| "mode": null |
| } |
| } |