| { |
| "type": "sac", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ENV": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "input_features": { |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 24 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 3 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "yfynb1111/realman_sac_128", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "dataset_stats": { |
| "observation.images.front": { |
| "mean": [ |
| 0.485, |
| 0.456, |
| 0.406 |
| ], |
| "std": [ |
| 0.229, |
| 0.224, |
| 0.225 |
| ] |
| }, |
| "observation.images.wrist": { |
| "mean": [ |
| 0.485, |
| 0.456, |
| 0.406 |
| ], |
| "std": [ |
| 0.229, |
| 0.224, |
| 0.225 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -0.035849060863256454, |
| 0.04310963302850723, |
| 0.6227858066558838, |
| -0.02125811204314232, |
| 0.6768037676811218, |
| 0.342765212059021, |
| 0.0, |
| -0.8475320339202881, |
| -1.0819298028945923, |
| -1.484926700592041, |
| -0.054105207324028015, |
| -1.5301299095153809, |
| -0.8826128840446472, |
| -8.770000457763672, |
| -0.45399999618530273, |
| -2.3350000381469727, |
| -2.7160000801086426, |
| -0.5820000171661377, |
| -0.4390000104904175, |
| -0.25, |
| -0.04600000008940697, |
| -0.36915087699890137, |
| -0.22841456532478333, |
| 0.1529453843832016 |
| ], |
| "max": [ |
| 0.7775092720985413, |
| 0.8861385583877563, |
| 2.0688085556030273, |
| 0.040194932371377945, |
| 1.7271778583526611, |
| 1.1789525747299194, |
| 1.0, |
| 0.871617317199707, |
| 1.1335911750793457, |
| 2.1392500400543213, |
| 0.06265731900930405, |
| 1.19380521774292, |
| 0.8983208537101746, |
| 9.970000267028809, |
| 0.3959999978542328, |
| -0.33799999952316284, |
| -0.4230000078678131, |
| 0.578000009059906, |
| 0.2759999930858612, |
| 0.31299999356269836, |
| 2.0199999809265137, |
| -0.19447146356105804, |
| 0.004888987634330988, |
| 0.3131347596645355 |
| ] |
| } |
| }, |
| "storage_device": "cpu", |
| "vision_encoder_name": "helper2424/resnet10", |
| "freeze_vision_encoder": true, |
| "image_encoder_hidden_dim": 32, |
| "shared_encoder": true, |
| "num_discrete_actions": 3, |
| "image_embedding_pooling_dim": 8, |
| "online_steps": 1000000, |
| "online_env_seed": 10000, |
| "online_buffer_capacity": 40000, |
| "offline_buffer_capacity": 20000, |
| "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": 256, |
| "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": true, |
| "std_min": -5.0, |
| "std_max": 2.0, |
| "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": 50051, |
| "policy_parameters_push_frequency": 4, |
| "queue_get_timeout": 2.0 |
| }, |
| "concurrency": { |
| "actor": "threads", |
| "learner": "threads" |
| }, |
| "use_torch_compile": true |
| } |