| { |
| "dataset": { |
| "repo_id": "roboeval_ee_delta_20hz_v3_merged", |
| "root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged", |
| "episodes": [ |
| 1521, |
| 1522, |
| 1523, |
| 1524, |
| 1525, |
| 1526, |
| 1527, |
| 1528, |
| 1529, |
| 1530, |
| 1531, |
| 1532, |
| 1533, |
| 1534, |
| 1535, |
| 1536, |
| 1537, |
| 1538, |
| 1539, |
| 1540, |
| 1541, |
| 1542, |
| 1543, |
| 1544, |
| 1545, |
| 1546, |
| 1547, |
| 1548, |
| 1549, |
| 1550, |
| 1551, |
| 1552, |
| 1553, |
| 1554, |
| 1555, |
| 1556, |
| 1557, |
| 1558, |
| 1559, |
| 1560, |
| 1561, |
| 1562, |
| 1563, |
| 1564, |
| 1565, |
| 1566, |
| 1567, |
| 1568, |
| 1569, |
| 1570, |
| 1571, |
| 1572, |
| 1573, |
| 1574, |
| 1575, |
| 1576, |
| 1577, |
| 1578, |
| 1579, |
| 1580, |
| 1581, |
| 1582, |
| 1583, |
| 1584, |
| 1585, |
| 1586, |
| 1587, |
| 1588, |
| 1589, |
| 1590, |
| 1591, |
| 1592, |
| 1593, |
| 1594, |
| 1595, |
| 1596, |
| 1597, |
| 1598, |
| 1599, |
| 1600, |
| 1601, |
| 1602, |
| 1603, |
| 1604, |
| 1605, |
| 1606, |
| 1607, |
| 1608, |
| 1609, |
| 1610, |
| 1611, |
| 1612, |
| 1613, |
| 1614, |
| 1615, |
| 1616, |
| 1617, |
| 1618, |
| 1619, |
| 1620, |
| 1621, |
| 1622, |
| 1623, |
| 1624, |
| 1625, |
| 1626, |
| 1627, |
| 1628, |
| 1629, |
| 1630, |
| 1631, |
| 1632, |
| 1633, |
| 1634, |
| 1635, |
| 1636, |
| 1637, |
| 1638, |
| 1639, |
| 1640, |
| 1641, |
| 1642, |
| 1643, |
| 1644, |
| 1645, |
| 1646, |
| 1647, |
| 1648, |
| 1649, |
| 1650, |
| 1651, |
| 1652, |
| 1653, |
| 1654, |
| 1655, |
| 1656, |
| 1657, |
| 1658, |
| 1659, |
| 1660, |
| 1661, |
| 1662, |
| 1663, |
| 1664, |
| 1665, |
| 1666, |
| 1667, |
| 1668, |
| 1669, |
| 1670, |
| 1671, |
| 1672, |
| 1673, |
| 1674, |
| 1675, |
| 1676, |
| 1677, |
| 1678, |
| 1679, |
| 1680, |
| 1681, |
| 1682, |
| 1683, |
| 1684, |
| 1685, |
| 1686, |
| 1687, |
| 1688, |
| 1689, |
| 1690, |
| 1691, |
| 1692, |
| 1693, |
| 1694, |
| 1695, |
| 1696, |
| 1697, |
| 1698, |
| 1699, |
| 1700, |
| 1701, |
| 1702, |
| 1703, |
| 1704, |
| 1705, |
| 1706, |
| 1707, |
| 1708, |
| 1709, |
| 1710, |
| 1711, |
| 1712, |
| 1713, |
| 1714, |
| 1715, |
| 1716, |
| 1717, |
| 1718, |
| 1719, |
| 1720, |
| 1721, |
| 1722, |
| 1723, |
| 1724, |
| 1725, |
| 1726, |
| 1727, |
| 1728, |
| 1729, |
| 1730, |
| 1731, |
| 1732, |
| 1733, |
| 1734, |
| 1735, |
| 1736, |
| 1737, |
| 1738, |
| 1739, |
| 1740, |
| 1741, |
| 1742, |
| 1743, |
| 1744, |
| 1745, |
| 1746, |
| 1747, |
| 1748, |
| 1749, |
| 1750, |
| 1751, |
| 1752, |
| 1753, |
| 1754, |
| 1755, |
| 1756, |
| 1757, |
| 1758, |
| 1759, |
| 1760, |
| 1761, |
| 1762, |
| 1763, |
| 1764, |
| 1765, |
| 1766, |
| 1767, |
| 1768, |
| 1769, |
| 1770, |
| 1771, |
| 1772, |
| 1773, |
| 1774, |
| 1775, |
| 1776, |
| 1777, |
| 1778, |
| 1779, |
| 1780, |
| 1781, |
| 1782, |
| 1783, |
| 1784, |
| 1785, |
| 1786, |
| 1787, |
| 1788, |
| 1789, |
| 1790, |
| 1791, |
| 1792, |
| 1793, |
| 1794, |
| 1795, |
| 1796, |
| 1797, |
| 1798, |
| 1799, |
| 1800, |
| 1801, |
| 1802, |
| 1803, |
| 1804, |
| 1805, |
| 1806, |
| 1807, |
| 1808, |
| 1809, |
| 1810, |
| 1811, |
| 1812, |
| 1813, |
| 1814, |
| 1815, |
| 1816, |
| 1817, |
| 1818, |
| 1819, |
| 1820, |
| 1821, |
| 1822, |
| 1823, |
| 1824, |
| 1825, |
| 1826, |
| 1827, |
| 1828, |
| 1829, |
| 1830, |
| 1831, |
| 1832, |
| 1833, |
| 1834, |
| 1835, |
| 1836, |
| 1837, |
| 1838, |
| 1839, |
| 1840, |
| 1841, |
| 1842, |
| 1843, |
| 1844, |
| 1845, |
| 1846, |
| 1847, |
| 1848, |
| 1849, |
| 1850, |
| 1851, |
| 1852, |
| 1853, |
| 1854, |
| 1855, |
| 1856, |
| 1857, |
| 1858, |
| 1859, |
| 1860, |
| 1861, |
| 1862, |
| 1863, |
| 1864, |
| 1865, |
| 1866, |
| 1867, |
| 1868, |
| 1869, |
| 1870, |
| 1871, |
| 1872, |
| 1873, |
| 1874, |
| 1875, |
| 1876, |
| 1877, |
| 1878, |
| 1879, |
| 1880, |
| 1881, |
| 1882, |
| 1883, |
| 1884, |
| 1885, |
| 1886 |
| ], |
| "image_transforms": { |
| "enable": true, |
| "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 |
| ] |
| } |
| }, |
| "affine": { |
| "weight": 1.0, |
| "type": "RandomAffine", |
| "kwargs": { |
| "degrees": [ |
| -5.0, |
| 5.0 |
| ], |
| "translate": [ |
| 0.05, |
| 0.05 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": "local", |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "streaming": false |
| }, |
| "env": null, |
| "policy": { |
| "type": "act", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.cam_head": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.cam_left_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.cam_right_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 16 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 14 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "chunk_size": 16, |
| "n_action_steps": 8, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "vision_backbone": "resnet18", |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "replace_final_stride_with_dilation": false, |
| "pre_norm": false, |
| "dim_model": 512, |
| "n_heads": 8, |
| "dim_feedforward": 3200, |
| "feedforward_activation": "relu", |
| "n_encoder_layers": 4, |
| "n_decoder_layers": 1, |
| "use_vae": true, |
| "latent_dim": 32, |
| "n_vae_encoder_layers": 4, |
| "temporal_ensemble_coeff": null, |
| "dropout": 0.1, |
| "kl_weight": 0.01, |
| "optimizer_lr": 0.0001, |
| "optimizer_weight_decay": 0.0001, |
| "optimizer_lr_backbone": 1e-05 |
| }, |
| "output_dir": "/weka/helenw/outputs/act_PickSingleBookFromTable", |
| "job_name": "act_chunk16_roboeval_v3_merged", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 2, |
| "batch_size": 512, |
| "steps": 5000, |
| "eval_freq": 20000, |
| "log_freq": 10, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 1000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 0.0001, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.9, |
| 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": true, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": "azi9qffr", |
| "mode": null |
| }, |
| "peft": null, |
| "use_rabc": false, |
| "rabc_progress_path": null, |
| "rabc_kappa": 0.01, |
| "rabc_epsilon": 1e-06, |
| "rabc_head_mode": "sparse", |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |
