| { |
| "dataset": { |
| "repo_id": "roboeval_ee_delta_20hz_v3_merged", |
| "root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged", |
| "episodes": [ |
| 2236, |
| 2237, |
| 2238, |
| 2239, |
| 2240, |
| 2241, |
| 2242, |
| 2243, |
| 2244, |
| 2245, |
| 2246, |
| 2247, |
| 2248, |
| 2249, |
| 2250, |
| 2251, |
| 2252, |
| 2253, |
| 2254, |
| 2255, |
| 2256, |
| 2257, |
| 2258, |
| 2259, |
| 2260, |
| 2261, |
| 2262, |
| 2263, |
| 2264, |
| 2265, |
| 2266, |
| 2267, |
| 2268, |
| 2269, |
| 2270, |
| 2271, |
| 2272, |
| 2273, |
| 2274, |
| 2275, |
| 2276, |
| 2277, |
| 2278, |
| 2279, |
| 2280, |
| 2281, |
| 2282, |
| 2283, |
| 2284, |
| 2285, |
| 2286, |
| 2287, |
| 2288, |
| 2289, |
| 2290, |
| 2291, |
| 2292, |
| 2293, |
| 2294, |
| 2295, |
| 2296, |
| 2297, |
| 2298, |
| 2299, |
| 2300, |
| 2301, |
| 2302, |
| 2303, |
| 2304, |
| 2305, |
| 2306, |
| 2307, |
| 2308, |
| 2309, |
| 2310, |
| 2311, |
| 2312, |
| 2313, |
| 2314, |
| 2315, |
| 2316, |
| 2317, |
| 2318, |
| 2319, |
| 2320, |
| 2321, |
| 2322, |
| 2323, |
| 2324, |
| 2325, |
| 2326, |
| 2327, |
| 2328, |
| 2329, |
| 2330, |
| 2331, |
| 2332, |
| 2333, |
| 2334, |
| 2335, |
| 2336, |
| 2337, |
| 2338, |
| 2339, |
| 2340, |
| 2341, |
| 2342, |
| 2343, |
| 2344, |
| 2345, |
| 2346, |
| 2347, |
| 2348, |
| 2349, |
| 2350, |
| 2351, |
| 2352, |
| 2353, |
| 2354, |
| 2355, |
| 2356, |
| 2357, |
| 2358, |
| 2359, |
| 2360, |
| 2361, |
| 2362, |
| 2363, |
| 2364, |
| 2365, |
| 2366, |
| 2367, |
| 2368, |
| 2369, |
| 2370, |
| 2371, |
| 2372, |
| 2373, |
| 2374, |
| 2375, |
| 2376, |
| 2377, |
| 2378, |
| 2379, |
| 2380, |
| 2381, |
| 2382, |
| 2383, |
| 2384, |
| 2385, |
| 2386, |
| 2387, |
| 2388, |
| 2389, |
| 2390, |
| 2391, |
| 2392, |
| 2393, |
| 2394, |
| 2395, |
| 2396, |
| 2397, |
| 2398, |
| 2399, |
| 2400, |
| 2401, |
| 2402, |
| 2403, |
| 2404, |
| 2405, |
| 2406, |
| 2407, |
| 2408, |
| 2409, |
| 2410, |
| 2411, |
| 2412, |
| 2413, |
| 2414, |
| 2415, |
| 2416, |
| 2417, |
| 2418, |
| 2419, |
| 2420, |
| 2421, |
| 2422, |
| 2423, |
| 2424, |
| 2425, |
| 2426, |
| 2427, |
| 2428, |
| 2429, |
| 2430, |
| 2431, |
| 2432, |
| 2433, |
| 2434, |
| 2435, |
| 2436, |
| 2437 |
| ], |
| "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_StackSingleBookShelf", |
| "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": "k7mlipor", |
| "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 |
| } |
