{ "dataset": { "repo_id": "tmeynier/test_hepha_record_22", "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 ] } } } }, "revision": null, "use_imagenet_stats": true, "video_backend": "pyav" }, "env": null, "policy": { "type": "dot", "n_obs_steps": 3, "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MIN_MAX", "ENV": "MIN_MAX", "ACTION": "MIN_MAX" }, "input_features": { "observation.state": { "type": "STATE", "shape": [ 5 ] }, "observation.images.top_view": { "type": "VISUAL", "shape": [ 3, 264, 264 ] }, "observation.images.gripper_cam": { "type": "VISUAL", "shape": [ 3, 264, 264 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 5 ] } }, "device": "cuda", "use_amp": false, "push_to_hub": true, "repo_id": "tmeynier/test_hepha_model_2", "private": null, "tags": null, "license": null, "pretrained_path": null, "train_horizon": 20, "inference_horizon": 20, "lookback_obs_steps": 10, "lookback_aug": 5, "override_dataset_stats": false, "new_dataset_stats": { "action": { "max": [ 0.225, 0.271, 0.175, 0.7854, 0.0333 ], "min": [ -0.225, -0.271, -0.175, -1.5708, -0.0333 ] }, "observation.state": { "max": [ 0.225, 0.271, 0.175, 0.7854, 0.0333 ], "min": [ -0.225, -0.271, -0.175, -1.5708, -0.0333 ] } }, "vision_backbone": "resnet18", "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", "pre_norm": true, "lora_rank": 20, "merge_lora": false, "dim_model": 384, "n_heads": 8, "dim_feedforward": 1536, "n_decoder_layers": 8, "rescale_shape": [ 264, 264 ], "crop_scale": 0.8, "state_noise": 0.01, "noise_decay": 0.999995, "dropout": 0.1, "alpha": 0.75, "train_alpha": 0.9, "predict_every_n": 1, "return_every_n": 1, "optimizer_lr": 0.0001, "optimizer_min_lr": 0.0001, "optimizer_lr_cycle_steps": 300000, "optimizer_weight_decay": 1e-05 }, "output_dir": "outputs/train/hepha_test_train_2", "job_name": "hepha_test_train_2", "resume": false, "seed": 1000, "num_workers": 4, "batch_size": 8, "steps": 100000, "eval_freq": 20000, "log_freq": 200, "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": { "type": "cosine_annealing", "num_warmup_steps": 0, "min_lr": 0.0001, "T_max": 300000 }, "eval": { "n_episodes": 50, "batch_size": 50, "use_async_envs": false }, "wandb": { "enable": true, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null, "run_id": "xa3k1v5c", "mode": null } }