| { |
| "stage": 1, |
| "stage1_checkpoint": null, |
| "tactile_encoder_checkpoint": null, |
| "tactile_encoder_cache": "checkpoints/deco/tactile_encoder_cache", |
| "tactile_adapter_rank": 32, |
| "dataset_dir": null, |
| "dataset_manifest": "/home/ljl/FRS_Tact/train_deco/data_manifests/bread_01_03.json", |
| "dataset_format": "lerobot-v21", |
| "action_chunk_size": 32, |
| "output_dir": "/DATA/ljl/substage/deco_runs", |
| "run_id": "bread-deco-stage1-balanced-light-v2", |
| "resume_from": "", |
| "resume_mode": "exact", |
| "lr_scheduler": "warmup_cosine", |
| "seed": 42, |
| "epochs": 100, |
| "batch_size": 512, |
| "lr": 0.0001, |
| "lr_final": 5e-06, |
| "backbone_lr": 1e-05, |
| "backbone_lr_final": 5e-07, |
| "weight_decay": 1e-06, |
| "warmup_epochs": 0, |
| "cosine_t_max_epochs": 100, |
| "backbone_freeze_epochs": 0, |
| "backbone_bn_eval": false, |
| "mask_training_padding": true, |
| "hidden_dim": 512, |
| "layers": 6, |
| "heads": 8, |
| "image_size": 256, |
| "inference_steps": 5, |
| "backbone_weights": "/home/ljl/FRS_Tact/train_deco/pretrained/resnet34-b627a593", |
| "rope_height": 256, |
| "rope_width": 256, |
| "use_task_condition": false, |
| "augmentation_preset": "balanced-light-v2", |
| "augmentation_enabled": true, |
| "augmentation_identity_probability": 0.25, |
| "augmentation_low_light_probability": 0.55, |
| "augmentation_mild_probability": 0.2, |
| "augmentation_exposure_probability": 0.5, |
| "augmentation_exposure_range": [ |
| 0.58, |
| 0.9 |
| ], |
| "augmentation_gamma_range": [ |
| 1.1, |
| 1.5 |
| ], |
| "augmentation_mild_brightness_range": [ |
| 0.9, |
| 1.1 |
| ], |
| "augmentation_contrast_range": [ |
| 0.85, |
| 1.1 |
| ], |
| "augmentation_saturation_range": [ |
| 0.9, |
| 1.1 |
| ], |
| "augmentation_blur_probability": 0.2, |
| "augmentation_blur_kernel_sizes": [ |
| 3, |
| 5 |
| ], |
| "augmentation_blur_sigma_range": [ |
| 0.1, |
| 1.0 |
| ], |
| "workers": 32, |
| "limit_samples": null, |
| "validation_ratio": 0.1, |
| "episode_split_seed": 42, |
| "save_every": 10, |
| "keep_last_checkpoints": 5, |
| "log_every_steps": 100, |
| "validation_seed": 12345, |
| "validation_noise_seeds": 1, |
| "train_subset_validation_samples": 0, |
| "train_subset_validation_seed": 12345, |
| "early_stopping_patience": 5, |
| "early_stopping_min_delta": 0.0, |
| "torchscript_image_height": 224, |
| "torchscript_image_width": 224, |
| "model_type": "upstream-deco-stage1", |
| "source_obs_dim": 20, |
| "obs_dim": 20, |
| "action_dim": 20, |
| "chunk_size": 32, |
| "source_chunk_size": 32, |
| "observation_indices": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19 |
| ], |
| "state_columns": [ |
| "robot0.relative_start.x", |
| "robot0.relative_start.y", |
| "robot0.relative_start.z", |
| "robot0.relative_start.rx", |
| "robot0.relative_start.ry", |
| "robot0.relative_start.rz", |
| "robot0.gripper_width", |
| "robot1.relative_start.x", |
| "robot1.relative_start.y", |
| "robot1.relative_start.z", |
| "robot1.relative_start.rx", |
| "robot1.relative_start.ry", |
| "robot1.relative_start.rz", |
| "robot1.gripper_width", |
| "left_relative_to_right.x", |
| "left_relative_to_right.y", |
| "left_relative_to_right.z", |
| "left_relative_to_right.rx", |
| "left_relative_to_right.ry", |
| "left_relative_to_right.rz" |
| ], |
| "action_columns": [ |
| "robot0.delta.x", |
| "robot0.delta.y", |
| "robot0.delta.z", |
| "robot0.rotation_column_0.x", |
| "robot0.rotation_column_0.y", |
| "robot0.rotation_column_0.z", |
| "robot0.rotation_column_1.x", |
| "robot0.rotation_column_1.y", |
| "robot0.rotation_column_1.z", |
| "robot0.gripper_width", |
| "robot1.delta.x", |
| "robot1.delta.y", |
| "robot1.delta.z", |
| "robot1.rotation_column_0.x", |
| "robot1.rotation_column_0.y", |
| "robot1.rotation_column_0.z", |
| "robot1.rotation_column_1.x", |
| "robot1.rotation_column_1.y", |
| "robot1.rotation_column_1.z", |
| "robot1.gripper_width" |
| ], |
| "state_action_profile": "dual-arm-20x20", |
| "controlled_arms": [ |
| "left", |
| "right" |
| ], |
| "action_mode": "tcp_delta_absolute_gripper", |
| "expected_sample_hz": 30.0, |
| "source_format": "lerobot-v2.1-parquet-vision-deco-v1", |
| "state_layout": "relative_start_pose6d_gripper_plus_left_relative_right", |
| "rotation_representation": "rotation_6d_matrix_columns", |
| "gripper_mode": "absolute", |
| "terminal_action_policy": "excluded", |
| "statistics_source": "train_episodes_nonterminal_rows_once", |
| "world_size": 1, |
| "camera_names": [ |
| "observation.images.camera0", |
| "observation.images.camera1" |
| ], |
| "tactile_field_order": null, |
| "task_ids": [ |
| "0" |
| ], |
| "num_tasks": 1, |
| "dataset_id": "bread_01_02_03@vision2-v1-val0.1-seed42", |
| "train_samples": 644454, |
| "val_samples": 71548, |
| "val_unseen_samples": 71548, |
| "val_train_subset_samples": 71548, |
| "val_train_subset_seed": 12345, |
| "steps_per_epoch": 1259, |
| "warmup_steps": 0, |
| "cosine_t_max_steps": 125900, |
| "backbone_freeze_steps": 0, |
| "training_state_version": 2, |
| "objective_version": "masked-flow-mse-v1", |
| "validation_metric_version": "no-repeat-masked-element-mean-v1", |
| "dual_validation_version": "train-subset-and-unseen-v1", |
| "validation_sampler": "contiguous-no-padding-v1", |
| "scheduler_type": "per-step-warmup-cosine-v1", |
| "rank_seed_scheme": "base-plus-rank-v1", |
| "augmentation": { |
| "version": "balanced-light-v2", |
| "enabled": true, |
| "identity_probability": 0.25, |
| "low_light_probability": 0.0, |
| "mild_probability": 0.75, |
| "exposure_probability": 0.5, |
| "exposure_range": [ |
| 0.58, |
| 0.9 |
| ], |
| "gamma_range": [ |
| 1.1, |
| 1.5 |
| ], |
| "mild_brightness_range": [ |
| 0.9, |
| 1.2 |
| ], |
| "contrast_range": [ |
| 0.85, |
| 1.1 |
| ], |
| "saturation_range": [ |
| 0.9, |
| 1.1 |
| ], |
| "blur_probability": 0.2, |
| "blur_kernel_sizes": [ |
| 3, |
| 5 |
| ], |
| "blur_sigma_range": [ |
| 0.1, |
| 1.0 |
| ], |
| "shared_across_cameras": true |
| }, |
| "optimizer_group_names": [ |
| "policy_decay", |
| "policy_no_decay", |
| "backbone_decay", |
| "backbone_no_decay" |
| ] |
| } |
