Upload train_config.json with huggingface_hub
Browse files- train_config.json +244 -0
train_config.json
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| 1 |
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "lerobot/aloha_sim_transfer_cube_human",
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| 4 |
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"repo_type": "dataset",
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| 5 |
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"root": null,
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| 6 |
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"episodes": null,
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| 7 |
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"exclude_episodes": null,
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| 8 |
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"image_transforms": {
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| 9 |
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"enable": false,
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| 10 |
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"max_num_transforms": 3,
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| 11 |
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"random_order": false,
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| 12 |
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"tfs": {
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| 13 |
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"brightness": {
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| 14 |
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"weight": 1.0,
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| 15 |
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"type": "ColorJitter",
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| 16 |
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"kwargs": {
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| 17 |
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"brightness": [
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| 18 |
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0.8,
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| 19 |
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1.2
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| 20 |
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]
|
| 21 |
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}
|
| 22 |
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},
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| 23 |
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"contrast": {
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| 24 |
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"weight": 1.0,
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| 25 |
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"type": "ColorJitter",
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| 26 |
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"kwargs": {
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| 27 |
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"contrast": [
|
| 28 |
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0.8,
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| 29 |
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1.2
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| 30 |
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]
|
| 31 |
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}
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| 32 |
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},
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| 33 |
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"saturation": {
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| 34 |
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"weight": 1.0,
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| 35 |
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"type": "ColorJitter",
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| 36 |
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"kwargs": {
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| 37 |
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"saturation": [
|
| 38 |
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0.5,
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| 39 |
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1.5
|
| 40 |
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]
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"hue": {
|
| 44 |
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"weight": 1.0,
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| 45 |
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"type": "ColorJitter",
|
| 46 |
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"kwargs": {
|
| 47 |
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"hue": [
|
| 48 |
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-0.05,
|
| 49 |
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0.05
|
| 50 |
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]
|
| 51 |
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}
|
| 52 |
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},
|
| 53 |
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"sharpness": {
|
| 54 |
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"weight": 1.0,
|
| 55 |
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"type": "SharpnessJitter",
|
| 56 |
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"kwargs": {
|
| 57 |
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"sharpness": [
|
| 58 |
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0.5,
|
| 59 |
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1.5
|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"affine": {
|
| 64 |
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"weight": 1.0,
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| 65 |
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"type": "RandomAffine",
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| 66 |
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"kwargs": {
|
| 67 |
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"degrees": [
|
| 68 |
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-5.0,
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| 69 |
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5.0
|
| 70 |
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],
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| 71 |
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"translate": [
|
| 72 |
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0.05,
|
| 73 |
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0.05
|
| 74 |
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]
|
| 75 |
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}
|
| 76 |
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}
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"revision": null,
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| 80 |
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"use_imagenet_stats": true,
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| 81 |
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"video_backend": "pyav",
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| 82 |
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"return_uint8": false,
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| 83 |
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"depth_output_unit": "mm",
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| 84 |
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"streaming": false,
|
| 85 |
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"eval_split": 0.0
|
| 86 |
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},
|
| 87 |
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"env": null,
|
| 88 |
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"policy": {
|
| 89 |
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"type": "act",
|
| 90 |
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"n_obs_steps": 1,
|
| 91 |
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"input_features": {},
|
| 92 |
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"output_features": {},
|
| 93 |
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"device": null,
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| 94 |
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"use_amp": false,
|
| 95 |
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"use_peft": false,
|
| 96 |
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"push_to_hub": true,
|
| 97 |
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"repo_id": "FTG64/act_aloha_transfer_cube",
|
| 98 |
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"private": null,
|
| 99 |
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"tags": [
|
| 100 |
+
"lerobot"
|
| 101 |
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],
|
| 102 |
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"license": null,
|
| 103 |
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"pretrained_path": null,
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| 104 |
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"pretrained_revision": null,
|
| 105 |
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"chunk_size": 100,
|
| 106 |
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"n_action_steps": 100,
|
| 107 |
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"normalization_mapping": {
|
| 108 |
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"VISUAL": "MEAN_STD",
|
| 109 |
+
"STATE": "MEAN_STD",
|
| 110 |
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"ACTION": "MEAN_STD"
|
| 111 |
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},
|
| 112 |
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"vision_backbone": "resnet18",
|
| 113 |
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 114 |
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"replace_final_stride_with_dilation": false,
|
| 115 |
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"pre_norm": false,
|
| 116 |
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"dim_model": 512,
|
| 117 |
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"n_heads": 8,
|
| 118 |
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"dim_feedforward": 3200,
|
| 119 |
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"feedforward_activation": "relu",
|
| 120 |
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"n_encoder_layers": 4,
|
| 121 |
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"n_decoder_layers": 1,
|
| 122 |
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"use_vae": true,
|
| 123 |
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"latent_dim": 32,
|
| 124 |
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"n_vae_encoder_layers": 4,
|
| 125 |
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"temporal_ensemble_coeff": null,
|
| 126 |
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"dropout": 0.1,
|
| 127 |
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"kl_weight": 10.0,
|
| 128 |
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"optimizer_lr": 1e-05,
|
| 129 |
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"optimizer_weight_decay": 0.0001,
|
| 130 |
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"optimizer_lr_backbone": 1e-05
|
| 131 |
+
},
|
| 132 |
+
"reward_model": null,
|
| 133 |
+
"output_dir": "outputs/train/act_aloha_transfer_cube",
|
| 134 |
+
"job_name": "act_aloha_transfer_cube",
|
| 135 |
+
"resume": false,
|
| 136 |
+
"seed": 1000,
|
| 137 |
+
"cudnn_deterministic": false,
|
| 138 |
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"num_workers": 4,
|
| 139 |
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"batch_size": 8,
|
| 140 |
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"prefetch_factor": 4,
|
| 141 |
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"persistent_workers": true,
|
| 142 |
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"dataloader_multiprocessing_context": "spawn",
|
| 143 |
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"steps": 100000,
|
| 144 |
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"env_eval_freq": 20000,
|
| 145 |
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"log_freq": 200,
|
| 146 |
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"eval_steps": 0,
|
| 147 |
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"max_eval_samples": 0,
|
| 148 |
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"tolerance_s": 0.0001,
|
| 149 |
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"save_checkpoint": true,
|
| 150 |
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"save_freq": 25000,
|
| 151 |
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"checkpoint_format": "safetensors",
|
| 152 |
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"use_policy_training_preset": true,
|
| 153 |
+
"optimizer": {
|
| 154 |
+
"type": "adamw",
|
| 155 |
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"lr": 1e-05,
|
| 156 |
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"weight_decay": 0.0001,
|
| 157 |
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"grad_clip_norm": 10.0,
|
| 158 |
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"betas": [
|
| 159 |
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0.9,
|
| 160 |
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0.999
|
| 161 |
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],
|
| 162 |
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"eps": 1e-08
|
| 163 |
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},
|
| 164 |
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"scheduler": null,
|
| 165 |
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"parallelism": {
|
| 166 |
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"dp_replicate": 1,
|
| 167 |
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"dp_shard": 1,
|
| 168 |
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"context_parallel": {
|
| 169 |
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"ring_degree": 1,
|
| 170 |
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"ulysses_degree": 1
|
| 171 |
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},
|
| 172 |
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"cfg_parallel": 1
|
| 173 |
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},
|
| 174 |
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"accelerator": {
|
| 175 |
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"mixed_precision": "no",
|
| 176 |
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"gradient_accumulation": {
|
| 177 |
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"steps": 1
|
| 178 |
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},
|
| 179 |
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"grad_scaler": {
|
| 180 |
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"init_scale": 65536.0,
|
| 181 |
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"growth_factor": 2.0,
|
| 182 |
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"backoff_factor": 0.5,
|
| 183 |
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"growth_interval": 2000
|
| 184 |
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},
|
| 185 |
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"fsdp": {
|
| 186 |
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"reshard_after_forward": true,
|
| 187 |
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"wrap_modules": null,
|
| 188 |
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"min_num_params": null,
|
| 189 |
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"cpu_offload": false,
|
| 190 |
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"ignored_modules": null
|
| 191 |
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},
|
| 192 |
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"ddp": {
|
| 193 |
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"find_unused_parameters": true,
|
| 194 |
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"gradient_as_bucket_view": false,
|
| 195 |
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"static_graph": false
|
| 196 |
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},
|
| 197 |
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"compile": {
|
| 198 |
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"enabled": false,
|
| 199 |
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"backend": "inductor",
|
| 200 |
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"mode": null,
|
| 201 |
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"regional": true
|
| 202 |
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},
|
| 203 |
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"activation_checkpointing": {
|
| 204 |
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"mode": "none"
|
| 205 |
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}
|
| 206 |
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},
|
| 207 |
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"eval": {
|
| 208 |
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"n_episodes": 50,
|
| 209 |
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"batch_size": 10,
|
| 210 |
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"use_async_envs": true,
|
| 211 |
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"recording": false,
|
| 212 |
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"recording_repo_id": null,
|
| 213 |
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"recording_private": false
|
| 214 |
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},
|
| 215 |
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"ema": {
|
| 216 |
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"enable": false,
|
| 217 |
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"decay": null,
|
| 218 |
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"update_after_step": 0,
|
| 219 |
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"inv_gamma": 1.0,
|
| 220 |
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"power": 0.75,
|
| 221 |
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"min_decay": 0.0,
|
| 222 |
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"max_decay": 0.9999,
|
| 223 |
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"use_for_eval": true
|
| 224 |
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},
|
| 225 |
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"wandb": {
|
| 226 |
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"enable": false,
|
| 227 |
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"disable_artifact": false,
|
| 228 |
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"project": "lerobot",
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| 229 |
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"entity": null,
|
| 230 |
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"notes": null,
|
| 231 |
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"run_id": null,
|
| 232 |
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"resume": null,
|
| 233 |
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"mode": null,
|
| 234 |
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"console": "wrap",
|
| 235 |
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"console_multipart": false,
|
| 236 |
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"console_chunk_max_seconds": 0,
|
| 237 |
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"add_tags": true
|
| 238 |
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},
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| 239 |
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"peft": null,
|
| 240 |
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"save_checkpoint_to_hub": true,
|
| 241 |
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"sample_weighting": null,
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| 242 |
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"rename_map": {},
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| 243 |
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"checkpoint_path": null
|
| 244 |
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}
|