Delete train_config.json
Browse files- train_config.json +0 -168
train_config.json
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{
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"dataset": {
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"repo_id": "Spring14th/so100_life",
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"root": null,
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"episodes": null,
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"image_transforms": {
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"enable": false,
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"max_num_transforms": 3,
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"random_order": false,
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"tfs": {
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"brightness": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"brightness": [
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0.8,
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1.2
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]
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}
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},
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"contrast": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"contrast": [
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0.8,
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1.2
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]
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}
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},
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"saturation": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"saturation": [
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0.5,
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1.5
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]
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}
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},
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"hue": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"hue": [
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-0.05,
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0.05
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]
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}
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},
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"sharpness": {
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"weight": 1.0,
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"type": "SharpnessJitter",
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"kwargs": {
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"sharpness": [
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0.5,
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1.5
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]
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}
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}
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}
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},
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"revision": null,
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"use_imagenet_stats": true,
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"video_backend": "pyav"
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},
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"env": null,
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"policy": {
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"type": "act",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.usb_cam1": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.usb_cam2": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"chunk_size": 100,
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"n_action_steps": 100,
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"vision_backbone": "resnet34",
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"pretrained_backbone_weights": "ResNet34_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": 0,
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"pre_norm": true,
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"dim_model": 512,
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"n_heads": 8,
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"dim_feedforward": 3200,
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"feedforward_activation": "gelu",
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"n_encoder_layers": 6,
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"n_decoder_layers": 2,
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"use_vae": true,
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"latent_dim": 64,
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"n_vae_encoder_layers": 4,
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"temporal_ensemble_coeff": null,
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"dropout": 0.2,
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"kl_weight": 5.0,
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"optimizer_lr": 1e-05,
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"optimizer_weight_decay": 0.0001,
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"optimizer_lr_backbone": 1e-05
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},
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"output_dir": "outputs/train/act_so100_test",
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"job_name": "act_so100_test",
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"resume": true,
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"seed": 1000,
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"num_workers": 8,
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"batch_size": 16,
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"steps": 100000,
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"eval_freq": 20000,
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"log_freq": 200,
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"save_checkpoint": true,
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"save_freq": 20000,
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"use_policy_training_preset": true,
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"optimizer": {
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"type": "adamw",
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"lr": 1e-05,
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"weight_decay": 0.0001,
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"grad_clip_norm": 10.0,
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"betas": [
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0.9,
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0.999
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],
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"eps": 1e-08
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},
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"scheduler": null,
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"eval": {
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"n_episodes": 50,
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"batch_size": 50,
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"use_async_envs": false
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},
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"wandb": {
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"enable": false,
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"disable_artifact": false,
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"project": "lerobot",
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"entity": null,
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"notes": null
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}
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}
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