Download StackTwoBlocks/train_config.json from RoboEval/roboeval-act: direct link, hf CLI and curl.
- Browser
- Download file 14.8 kB
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https://huggingface.co/RoboEval/roboeval-act/resolve/main/StackTwoBlocks/train_config.json
- Command line
-
hf download hf://RoboEval/roboeval-act/StackTwoBlocks/train_config.json
-
curl -L -o train_config.json https://huggingface.co/RoboEval/roboeval-act/resolve/main/StackTwoBlocks/train_config.json
14.8 kB
| { | |
| "dataset": { | |
| "repo_id": "roboeval_ee_delta_20hz_v3_merged", | |
| "root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged", | |
| "episodes": [ | |
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| ], | |
| "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_StackTwoBlocks", | |
| "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": "qn1oxenc", | |
| "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 | |
| } |