act_test / train_config.json
aliberts's picture
aliberts HF staff
Upload folder using huggingface_hub
5cc3bae verified
raw
history blame
4.59 kB
{
"dataset": {
"repo_id": "lerobot/aloha_sim_transfer_cube_human",
"episodes": null,
"image_transforms": {
"enable": false,
"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
]
}
}
}
},
"local_files_only": false,
"use_imagenet_stats": true,
"video_backend": "pyav"
},
"env": {
"type": "aloha",
"n_envs": null,
"task": "AlohaTransferCube-v0",
"fps": 50,
"feature_types": {
"agent_pos": "STATE",
"pixels": {
"top": "VISUAL"
},
"action": "ACTION"
},
"episode_length": 400,
"obs_type": "pixels_agent_pos",
"render_mode": "rgb_array"
},
"policy": {
"type": "act",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"chunk_size": 100,
"n_action_steps": 100,
"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": 10.0,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 1e-05
},
"output_dir": "outputs/train/act_aloha_sim_transfer_cube_human",
"job_name": "aloha_act",
"resume": false,
"device": "mps",
"use_amp": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 8,
"eval_freq": 10,
"log_freq": 1,
"save_checkpoint": true,
"save_freq": 5,
"offline": {
"steps": 10
},
"online": {
"steps": 0,
"rollout_n_episodes": 1,
"rollout_batch_size": 1,
"steps_between_rollouts": null,
"sampling_ratio": 0.5,
"env_seed": null,
"buffer_capacity": null,
"buffer_seed_size": 0,
"do_rollout_async": false
},
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 1e-05,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"weight_decay": 0.0001,
"grad_clip_norm": 10.0
},
"scheduler": {
"type": "none",
"num_warmup_steps": 0
},
"eval": {
"n_episodes": 1,
"episode_length": null,
"batch_size": 1,
"use_async_envs": false
},
"wandb": {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null
}
}