sarm_three_500 / train_config.json
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{
"dataset": {
"repo_id": "lerobot-data-collection/three-folds-dataset-full-11-07",
"root": null,
"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
]
}
},
"affine": {
"weight": 1.0,
"type": "RandomAffine",
"kwargs": {
"degrees": [
-5.0,
5.0
],
"translate": [
0.05,
0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
},
"env": null,
"policy": {
"type": "sarm",
"n_obs_steps": 8,
"input_features": {
"observation.images.base": {
"type": "VISUAL",
"shape": [
480,
640,
3
]
},
"observation.state": {
"type": "STATE",
"shape": [
32
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
16
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "pepijn223/sarm_three",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"annotation_mode": "dual",
"frame_gap": 30,
"max_rewind_steps": 4,
"image_dim": 512,
"text_dim": 512,
"hidden_dim": 768,
"num_heads": 12,
"num_layers": 8,
"max_state_dim": 32,
"drop_n_last_frames": 1,
"batch_size": 64,
"clip_batch_size": 64,
"dropout": 0.1,
"stage_loss_weight": 1.0,
"rewind_probability": 0.8,
"language_perturbation_probability": 0.2,
"num_sparse_stages": 1,
"sparse_subtask_names": [
"Fold the towel (3 folds in total)"
],
"sparse_temporal_proportions": [
1.0
],
"num_dense_stages": 3,
"dense_subtask_names": [
"Grab near side and do 1st fold",
"Grab side and do 2nd fold",
"Grab side and do 3rd fold to finish folding"
],
"dense_temporal_proportions": [
0.24737188507619182,
0.29889362942246117,
0.45373448550134693
],
"pretrained_model_path": null,
"image_key": "observation.images.base",
"state_key": "observation.state",
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"LANGUAGE": "IDENTITY",
"REWARD": "IDENTITY"
}
},
"output_dir": "outputs/train/sarm_three",
"job_name": "sarm_bimanual",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 32,
"steps": 1000,
"eval_freq": 20000,
"log_freq": 200,
"save_checkpoint": true,
"save_freq": 500,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 5e-05,
"weight_decay": 0.001,
"grad_clip_norm": 10.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 500,
"num_decay_steps": 50000,
"peak_lr": 5e-05,
"decay_lr": 5e-06
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "sarm",
"entity": null,
"notes": null,
"run_id": "n88a9p7a",
"mode": 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
}