Create train_config.json
Browse files- train_config.json +280 -0
train_config.json
ADDED
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| 1 |
+
{
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| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "lerobot/pusht_keypoints",
|
| 4 |
+
"episodes": null,
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| 5 |
+
"image_transforms": {
|
| 6 |
+
"enable": false,
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| 7 |
+
"max_num_transforms": 3,
|
| 8 |
+
"random_order": false,
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| 9 |
+
"tfs": {
|
| 10 |
+
"brightness": {
|
| 11 |
+
"weight": 1.0,
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| 12 |
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"type": "ColorJitter",
|
| 13 |
+
"kwargs": {
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| 14 |
+
"brightness": [
|
| 15 |
+
0.8,
|
| 16 |
+
1.2
|
| 17 |
+
]
|
| 18 |
+
}
|
| 19 |
+
},
|
| 20 |
+
"contrast": {
|
| 21 |
+
"weight": 1.0,
|
| 22 |
+
"type": "ColorJitter",
|
| 23 |
+
"kwargs": {
|
| 24 |
+
"contrast": [
|
| 25 |
+
0.8,
|
| 26 |
+
1.2
|
| 27 |
+
]
|
| 28 |
+
}
|
| 29 |
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},
|
| 30 |
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"saturation": {
|
| 31 |
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"weight": 1.0,
|
| 32 |
+
"type": "ColorJitter",
|
| 33 |
+
"kwargs": {
|
| 34 |
+
"saturation": [
|
| 35 |
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0.5,
|
| 36 |
+
1.5
|
| 37 |
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]
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"hue": {
|
| 41 |
+
"weight": 1.0,
|
| 42 |
+
"type": "ColorJitter",
|
| 43 |
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"kwargs": {
|
| 44 |
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"hue": [
|
| 45 |
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-0.05,
|
| 46 |
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0.05
|
| 47 |
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]
|
| 48 |
+
}
|
| 49 |
+
},
|
| 50 |
+
"sharpness": {
|
| 51 |
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"weight": 1.0,
|
| 52 |
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"type": "SharpnessJitter",
|
| 53 |
+
"kwargs": {
|
| 54 |
+
"sharpness": [
|
| 55 |
+
0.5,
|
| 56 |
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1.5
|
| 57 |
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]
|
| 58 |
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}
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"local_files_only": false,
|
| 63 |
+
"use_imagenet_stats": true,
|
| 64 |
+
"video_backend": "pyav"
|
| 65 |
+
},
|
| 66 |
+
"env": {
|
| 67 |
+
"type": "pusht",
|
| 68 |
+
"task": "PushT-v0",
|
| 69 |
+
"fps": 10,
|
| 70 |
+
"features": {
|
| 71 |
+
"action": {
|
| 72 |
+
"type": "ACTION",
|
| 73 |
+
"shape": [
|
| 74 |
+
2
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
"agent_pos": {
|
| 78 |
+
"type": "STATE",
|
| 79 |
+
"shape": [
|
| 80 |
+
2
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"environment_state": {
|
| 84 |
+
"type": "ENV",
|
| 85 |
+
"shape": [
|
| 86 |
+
16
|
| 87 |
+
]
|
| 88 |
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}
|
| 89 |
+
},
|
| 90 |
+
"features_map": {
|
| 91 |
+
"action": "action",
|
| 92 |
+
"agent_pos": "observation.state",
|
| 93 |
+
"environment_state": "observation.environment_state",
|
| 94 |
+
"pixels": "observation.image"
|
| 95 |
+
},
|
| 96 |
+
"episode_length": 300,
|
| 97 |
+
"obs_type": "environment_state_agent_pos",
|
| 98 |
+
"render_mode": "rgb_array",
|
| 99 |
+
"visualization_width": 384,
|
| 100 |
+
"visualization_height": 384
|
| 101 |
+
},
|
| 102 |
+
"policy": {
|
| 103 |
+
"type": "dot",
|
| 104 |
+
"n_obs_steps": 3,
|
| 105 |
+
"normalization_mapping": {
|
| 106 |
+
"VISUAL": "MEAN_STD",
|
| 107 |
+
"STATE": "MIN_MAX",
|
| 108 |
+
"ENV": "MIN_MAX",
|
| 109 |
+
"ACTION": "MIN_MAX"
|
| 110 |
+
},
|
| 111 |
+
"input_features": {
|
| 112 |
+
"observation.state": {
|
| 113 |
+
"type": "STATE",
|
| 114 |
+
"shape": [
|
| 115 |
+
2
|
| 116 |
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]
|
| 117 |
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},
|
| 118 |
+
"observation.environment_state": {
|
| 119 |
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"type": "ENV",
|
| 120 |
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"shape": [
|
| 121 |
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16
|
| 122 |
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]
|
| 123 |
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}
|
| 124 |
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},
|
| 125 |
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"output_features": {
|
| 126 |
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"action": {
|
| 127 |
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"type": "ACTION",
|
| 128 |
+
"shape": [
|
| 129 |
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2
|
| 130 |
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]
|
| 131 |
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}
|
| 132 |
+
},
|
| 133 |
+
"train_horizon": 30,
|
| 134 |
+
"inference_horizon": 30,
|
| 135 |
+
"lookback_obs_steps": 10,
|
| 136 |
+
"lookback_aug": 5,
|
| 137 |
+
"override_dataset_stats": false,
|
| 138 |
+
"new_dataset_stats": {
|
| 139 |
+
"action": {
|
| 140 |
+
"max": [
|
| 141 |
+
512.0,
|
| 142 |
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|
| 143 |
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],
|
| 144 |
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"min": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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]
|
| 148 |
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},
|
| 149 |
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"observation.environment_state": {
|
| 150 |
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"max": [
|
| 151 |
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512.0,
|
| 152 |
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| 153 |
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| 154 |
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512.0,
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| 155 |
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512.0,
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| 156 |
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512.0,
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| 157 |
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512.0,
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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],
|
| 168 |
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"min": [
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 185 |
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]
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| 186 |
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},
|
| 187 |
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"observation.state": {
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| 188 |
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"max": [
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| 189 |
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|
| 190 |
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| 191 |
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],
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| 192 |
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"min": [
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| 193 |
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| 194 |
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|
| 195 |
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]
|
| 196 |
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}
|
| 197 |
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},
|
| 198 |
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"vision_backbone": "resnet18",
|
| 199 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 200 |
+
"pre_norm": true,
|
| 201 |
+
"lora_rank": 20,
|
| 202 |
+
"merge_lora": false,
|
| 203 |
+
"dim_model": 128,
|
| 204 |
+
"n_heads": 8,
|
| 205 |
+
"dim_feedforward": 512,
|
| 206 |
+
"n_decoder_layers": 8,
|
| 207 |
+
"rescale_shape": [
|
| 208 |
+
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|
| 209 |
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|
| 210 |
+
],
|
| 211 |
+
"crop_scale": 1.0,
|
| 212 |
+
"state_noise": 0.01,
|
| 213 |
+
"noise_decay": 0.999995,
|
| 214 |
+
"dropout": 0.1,
|
| 215 |
+
"alpha": 0.75,
|
| 216 |
+
"train_alpha": 0.9,
|
| 217 |
+
"predict_every_n": 1,
|
| 218 |
+
"return_every_n": 2,
|
| 219 |
+
"optimizer_lr": 0.0001,
|
| 220 |
+
"optimizer_min_lr": 0.0001,
|
| 221 |
+
"optimizer_lr_cycle_steps": 300000,
|
| 222 |
+
"optimizer_weight_decay": 1e-05
|
| 223 |
+
},
|
| 224 |
+
"output_dir": "outputs/train/pusht_keypoints",
|
| 225 |
+
"job_name": "pusht_dot",
|
| 226 |
+
"resume": false,
|
| 227 |
+
"device": "cuda",
|
| 228 |
+
"use_amp": true,
|
| 229 |
+
"seed": 100000,
|
| 230 |
+
"num_workers": 24,
|
| 231 |
+
"batch_size": 24,
|
| 232 |
+
"eval_freq": 10000,
|
| 233 |
+
"log_freq": 1000,
|
| 234 |
+
"save_checkpoint": true,
|
| 235 |
+
"save_freq": 50000,
|
| 236 |
+
"offline": {
|
| 237 |
+
"steps": 1000000
|
| 238 |
+
},
|
| 239 |
+
"online": {
|
| 240 |
+
"steps": 0,
|
| 241 |
+
"rollout_n_episodes": 1,
|
| 242 |
+
"rollout_batch_size": 1,
|
| 243 |
+
"steps_between_rollouts": null,
|
| 244 |
+
"sampling_ratio": 0.5,
|
| 245 |
+
"env_seed": null,
|
| 246 |
+
"buffer_capacity": null,
|
| 247 |
+
"buffer_seed_size": 0,
|
| 248 |
+
"do_rollout_async": false
|
| 249 |
+
},
|
| 250 |
+
"use_policy_training_preset": true,
|
| 251 |
+
"optimizer": {
|
| 252 |
+
"type": "adamw",
|
| 253 |
+
"lr": 0.0001,
|
| 254 |
+
"weight_decay": 1e-05,
|
| 255 |
+
"grad_clip_norm": 10.0,
|
| 256 |
+
"betas": [
|
| 257 |
+
0.9,
|
| 258 |
+
0.999
|
| 259 |
+
],
|
| 260 |
+
"eps": 1e-08
|
| 261 |
+
},
|
| 262 |
+
"scheduler": {
|
| 263 |
+
"type": "cosine_annealing",
|
| 264 |
+
"num_warmup_steps": 0,
|
| 265 |
+
"min_lr": 0.0001,
|
| 266 |
+
"T_max": 300000
|
| 267 |
+
},
|
| 268 |
+
"eval": {
|
| 269 |
+
"n_episodes": 50,
|
| 270 |
+
"batch_size": 50,
|
| 271 |
+
"use_async_envs": false
|
| 272 |
+
},
|
| 273 |
+
"wandb": {
|
| 274 |
+
"enable": true,
|
| 275 |
+
"disable_artifact": false,
|
| 276 |
+
"project": "pusht",
|
| 277 |
+
"entity": null,
|
| 278 |
+
"notes": null
|
| 279 |
+
}
|
| 280 |
+
}
|