| { | |
| "dataset": { | |
| "repo_id": "lego_datasets", | |
| "root": "./data/datasets/lego_datasets", | |
| "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": { | |
| "type": "libero", | |
| "task": "Libero_10_Task_0", | |
| "fps": 20, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "agent_pos": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "joint_state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "pixels/image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ] | |
| }, | |
| "pixels/wrist_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ] | |
| } | |
| }, | |
| "features_map": { | |
| "action": "action", | |
| "agent_pos": "observation.state", | |
| "joint_state": "observation.state.joint", | |
| "pixels/image": "observation.images.image", | |
| "pixels/wrist_image": "observation.images.wrist_image" | |
| }, | |
| "benchmark": "libero_10", | |
| "task_id": "task_0", | |
| "episode_length": 500 | |
| }, | |
| "policy": { | |
| "type": "pi0", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.images.third_person_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.wrist_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 128, | |
| 128 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "resize_imgs_with_padding": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "adapt_to_pi_aloha": false, | |
| "use_delta_joint_actions_aloha": false, | |
| "tokenizer_max_length": 48, | |
| "proj_width": 1024, | |
| "num_steps": 10, | |
| "use_cache": true, | |
| "attention_implementation": "eager", | |
| "freeze_vision_encoder": true, | |
| "train_expert_only": false, | |
| "train_state_proj": true, | |
| "optimizer_lr": 2.5e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-10, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 60000, | |
| "scheduler_decay_lr": 2.5e-06 | |
| }, | |
| "output_dir": "outputs/pi0_fully_finetune_reproduce_openpi_lego", | |
| "job_name": "pi0_fully_finetune_reproduce_openpi_lego", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 16, | |
| "batch_size": 16, | |
| "steps": 60000, | |
| "eval_freq": 0, | |
| "log_freq": 200, | |
| "save_checkpoint": true, | |
| "save_freq": 30000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 2.5e-05, | |
| "weight_decay": 1e-10, | |
| "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": 60000, | |
| "peak_lr": 2.5e-05, | |
| "decay_lr": 2.5e-06 | |
| }, | |
| "eval": { | |
| "n_episodes": 100, | |
| "batch_size": 25, | |
| "use_async_envs": false, | |
| "max_episodes_rendered": 4 | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "lifelong_learning", | |
| "entity": "470620104-technical-university-of-munich", | |
| "notes": null | |
| } | |
| } |