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grid-position-policy / train_config.json
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{
"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
}
}