| { |
| "dataset": { |
| "repo_id": "roboeval_ee_delta_20hz_v3_merged", |
| "root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged", |
| "episodes": [ |
| 584, |
| 585, |
| 586, |
| 587, |
| 588, |
| 589, |
| 590, |
| 591, |
| 592, |
| 593, |
| 594, |
| 595, |
| 596, |
| 597, |
| 598, |
| 599, |
| 600, |
| 601, |
| 602, |
| 603, |
| 604, |
| 605, |
| 606, |
| 607, |
| 608, |
| 609, |
| 610, |
| 611, |
| 612, |
| 613, |
| 614, |
| 615, |
| 616, |
| 617, |
| 618, |
| 619, |
| 620, |
| 621, |
| 622, |
| 623, |
| 624, |
| 625, |
| 626, |
| 627, |
| 628, |
| 629, |
| 630, |
| 631, |
| 632, |
| 633, |
| 634, |
| 635, |
| 636, |
| 637, |
| 638, |
| 639, |
| 640, |
| 641, |
| 642, |
| 643, |
| 644, |
| 645, |
| 646, |
| 647, |
| 648, |
| 649, |
| 650, |
| 651, |
| 652, |
| 653, |
| 654, |
| 655, |
| 656, |
| 657, |
| 658, |
| 659, |
| 660, |
| 661, |
| 662, |
| 663, |
| 664, |
| 665, |
| 666, |
| 667, |
| 668, |
| 669, |
| 670, |
| 671, |
| 672, |
| 673, |
| 674, |
| 675, |
| 676, |
| 677, |
| 678, |
| 679, |
| 680, |
| 681, |
| 682, |
| 683, |
| 684, |
| 685, |
| 686, |
| 687, |
| 688, |
| 689, |
| 690, |
| 691, |
| 692, |
| 693, |
| 694, |
| 695, |
| 696, |
| 697, |
| 698, |
| 699, |
| 700, |
| 701, |
| 702, |
| 703, |
| 704, |
| 705, |
| 706, |
| 707, |
| 708, |
| 709, |
| 710, |
| 711, |
| 712, |
| 713, |
| 714, |
| 715, |
| 716, |
| 717, |
| 718, |
| 719, |
| 720, |
| 721, |
| 722, |
| 723, |
| 724, |
| 725, |
| 726, |
| 727, |
| 728, |
| 729, |
| 730, |
| 731, |
| 732, |
| 733, |
| 734, |
| 735, |
| 736, |
| 737, |
| 738, |
| 739, |
| 740, |
| 741, |
| 742, |
| 743, |
| 744, |
| 745, |
| 746, |
| 747, |
| 748, |
| 749, |
| 750, |
| 751, |
| 752, |
| 753, |
| 754, |
| 755, |
| 756, |
| 757, |
| 758, |
| 759, |
| 760, |
| 761, |
| 762, |
| 763, |
| 764, |
| 765, |
| 766, |
| 767, |
| 768, |
| 769, |
| 770, |
| 771, |
| 772, |
| 773, |
| 774, |
| 775, |
| 776, |
| 777, |
| 778, |
| 779, |
| 780, |
| 781, |
| 782, |
| 783, |
| 784, |
| 785, |
| 786, |
| 787, |
| 788, |
| 789, |
| 790, |
| 791, |
| 792, |
| 793, |
| 794, |
| 795, |
| 796, |
| 797, |
| 798, |
| 799, |
| 800, |
| 801, |
| 802, |
| 803, |
| 804, |
| 805, |
| 806, |
| 807, |
| 808, |
| 809, |
| 810, |
| 811, |
| 812, |
| 813, |
| 814, |
| 815, |
| 816, |
| 817, |
| 818, |
| 819, |
| 820, |
| 821, |
| 822, |
| 823, |
| 824, |
| 825, |
| 826, |
| 827, |
| 828, |
| 829, |
| 830, |
| 831, |
| 832, |
| 833, |
| 834, |
| 835, |
| 836, |
| 837, |
| 838, |
| 839, |
| 840, |
| 841, |
| 842, |
| 843, |
| 844, |
| 845, |
| 846, |
| 847, |
| 848, |
| 849, |
| 850, |
| 851, |
| 852, |
| 853, |
| 854, |
| 855, |
| 856, |
| 857, |
| 858, |
| 859, |
| 860, |
| 861, |
| 862, |
| 863, |
| 864, |
| 865, |
| 866, |
| 867, |
| 868, |
| 869, |
| 870, |
| 871, |
| 872, |
| 873, |
| 874, |
| 875, |
| 876, |
| 877, |
| 878, |
| 879, |
| 880, |
| 881, |
| 882, |
| 883, |
| 884, |
| 885, |
| 886, |
| 887, |
| 888, |
| 889, |
| 890, |
| 891, |
| 892, |
| 893, |
| 894, |
| 895, |
| 896, |
| 897, |
| 898, |
| 899, |
| 900, |
| 901, |
| 902, |
| 903, |
| 904, |
| 905, |
| 906, |
| 907, |
| 908, |
| 909, |
| 910, |
| 911, |
| 912, |
| 913, |
| 914, |
| 915, |
| 916, |
| 917, |
| 918, |
| 919, |
| 920, |
| 921, |
| 922, |
| 923, |
| 924, |
| 925, |
| 926, |
| 927, |
| 928, |
| 929, |
| 930, |
| 931, |
| 932, |
| 933, |
| 934, |
| 935, |
| 936, |
| 937, |
| 938, |
| 939, |
| 940, |
| 941, |
| 942, |
| 943, |
| 944, |
| 945, |
| 946, |
| 947, |
| 948, |
| 949, |
| 950, |
| 951, |
| 952, |
| 953, |
| 954, |
| 955, |
| 956, |
| 957, |
| 958, |
| 959, |
| 960, |
| 961, |
| 962, |
| 963, |
| 964, |
| 965, |
| 966, |
| 967, |
| 968, |
| 969, |
| 970, |
| 971, |
| 972, |
| 973, |
| 974, |
| 975, |
| 976, |
| 977, |
| 978, |
| 979, |
| 980, |
| 981, |
| 982, |
| 983, |
| 984, |
| 985, |
| 986, |
| 987, |
| 988, |
| 989, |
| 990, |
| 991, |
| 992, |
| 993, |
| 994, |
| 995, |
| 996, |
| 997, |
| 998, |
| 999, |
| 1000, |
| 1001, |
| 1002, |
| 1003, |
| 1004, |
| 1005, |
| 1006, |
| 1007, |
| 1008, |
| 1009, |
| 1010, |
| 1011, |
| 1012, |
| 1013, |
| 1014, |
| 1015, |
| 1016, |
| 1017, |
| 1018, |
| 1019, |
| 1020, |
| 1021, |
| 1022, |
| 1023, |
| 1024, |
| 1025, |
| 1026, |
| 1027, |
| 1028, |
| 1029, |
| 1030, |
| 1031, |
| 1032, |
| 1033, |
| 1034, |
| 1035, |
| 1036, |
| 1037, |
| 1038, |
| 1039, |
| 1040, |
| 1041, |
| 1042, |
| 1043, |
| 1044, |
| 1045, |
| 1046, |
| 1047, |
| 1048, |
| 1049, |
| 1050, |
| 1051, |
| 1052, |
| 1053, |
| 1054, |
| 1055, |
| 1056, |
| 1057, |
| 1058, |
| 1059, |
| 1060, |
| 1061, |
| 1062, |
| 1063, |
| 1064, |
| 1065, |
| 1066, |
| 1067, |
| 1068, |
| 1069, |
| 1070, |
| 1071, |
| 1072, |
| 1073, |
| 1074, |
| 1075, |
| 1076, |
| 1077, |
| 1078, |
| 1079, |
| 1080, |
| 1081, |
| 1082, |
| 1083, |
| 1084, |
| 1085, |
| 1086, |
| 1087, |
| 1088, |
| 1089, |
| 1090, |
| 1091, |
| 1092, |
| 1093, |
| 1094, |
| 1095, |
| 1096, |
| 1097, |
| 1098, |
| 1099, |
| 1100, |
| 1101, |
| 1102, |
| 1103, |
| 1104, |
| 1105, |
| 1106, |
| 1107, |
| 1108, |
| 1109, |
| 1110, |
| 1111, |
| 1112, |
| 1113, |
| 1114, |
| 1115, |
| 1116, |
| 1117, |
| 1118, |
| 1119, |
| 1120, |
| 1121, |
| 1122, |
| 1123, |
| 1124, |
| 1125, |
| 1126 |
| ], |
| "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": "diffusion", |
| "n_obs_steps": 2, |
| "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, |
| "horizon": 16, |
| "n_action_steps": 8, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "drop_n_last_frames": 7, |
| "vision_backbone": "resnet18", |
| "crop_shape": [ |
| 84, |
| 84 |
| ], |
| "crop_is_random": true, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "use_separate_rgb_encoder_per_camera": false, |
| "down_dims": [ |
| 512, |
| 1024, |
| 2048 |
| ], |
| "kernel_size": 5, |
| "n_groups": 8, |
| "diffusion_step_embed_dim": 128, |
| "use_film_scale_modulation": true, |
| "noise_scheduler_type": "DDPM", |
| "num_train_timesteps": 100, |
| "beta_schedule": "squaredcos_cap_v2", |
| "beta_start": 0.0001, |
| "beta_end": 0.02, |
| "prediction_type": "epsilon", |
| "clip_sample": true, |
| "clip_sample_range": 1.0, |
| "num_inference_steps": null, |
| "do_mask_loss_for_padding": false, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-06, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 500 |
| }, |
| "output_dir": "/weka/helenw/outputs/diffusion_LiftTray", |
| "job_name": "diffusion_roboeval_v3_merged", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 2, |
| "batch_size": 256, |
| "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": "adam", |
| "lr": 0.0001, |
| "weight_decay": 1e-06, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.95, |
| 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": "i0ye434r", |
| "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 |
| } |
