train_uwm_pick_one_object / train_config.json
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{
"dataset": {
"repo_id": "wszhaorobot/pick_one_object",
"root": "/tmp/lerobot_data/pick_one_object",
"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": {
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"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": "pyav",
"streaming": false
},
"env": null,
"policy": {
"type": "uwm",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.exterior": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "wszhaorobot/train_uwm_pick_one_object",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"action_len": 100,
"n_action_steps": 100,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"drop_n_last_frames": 0,
"embed_dim": 768,
"depth": 12,
"num_heads": 12,
"mlp_ratio": 4.0,
"qkv_bias": true,
"num_registers": 8,
"timestep_embed_dim": 512,
"latent_patch_shape": [
1,
4,
4
],
"vision_backbone": "resnet",
"resize_shape": [
256,
256
],
"crop_shape": [
224,
224
],
"random_crop": true,
"imagenet_norm": false,
"use_low_dim": true,
"use_language": false,
"num_train_timesteps": 100,
"num_inference_steps": 10,
"beta_schedule": "squaredcos_cap_v2",
"clip_sample": true,
"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
},
"output_dir": "outputs/train_uwm_pick_one_object",
"job_name": "uwm_1_pick_one_object",
"resume": false,
"seed": 1000,
"num_workers": 8,
"batch_size": 32,
"steps": 150000,
"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-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": null,
"notes": null,
"run_id": "jklpy0yk",
"mode": null
},
"checkpoint_path": null,
"rename_map": {}
}