| { | |
| "dataset": { | |
| "repo_id": "xhaka3456/record_test", | |
| "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", | |
| "streaming": false | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "flowmatching", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.laptop": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.phone": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "xhaka3456/record_test_flowmatching", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "image_size": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "vision_backbone": "vit_b_16", | |
| "vision_backbone_weights": "ViT_B_16_Weights", | |
| "pretrained_backbone_weights": "IMAGENET1K_V1", | |
| "vit_embed_dim": 768, | |
| "vit_patch_size": 16, | |
| "hidden_dim": 1024, | |
| "num_steps": 10, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 1e-05 | |
| }, | |
| "output_dir": "outputs/train/flowmatching8", | |
| "job_name": "flowmatching_experiment", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 4, | |
| "batch_size": 8, | |
| "steps": 10000, | |
| "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": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 1000, | |
| "num_decay_steps": 30000, | |
| "peak_lr": 0.0001, | |
| "decay_lr": 1e-05 | |
| }, | |
| "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": "e1l6296c", | |
| "mode": null | |
| } | |
| } |