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config.json

@@ -13,7 +13,7 @@
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             "type": "VISUAL",
             "shape": [
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@@ -21,7 +21,7 @@
                 640
             ]
         },
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@@ -38,11 +38,8 @@
             ]
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-    "exclude_image_keys": "",
-    "normalize_per_robot_type": false,
-    "checkpoint_keys_mapping": "",
-    "checkpoint_path": null,
+    "device": "cuda",
+    "use_amp": false,
     "chunk_size": 100,
     "n_action_steps": 100,
     "vision_backbone": "resnet18",

model.safetensors

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+size 206701064

train_config.json

@@ -1,39 +1,68 @@
 {
     "dataset": {
         "repo_id": "danaaubakirova/svla_so100_task1_v3",
+        "root": null,
         "episodes": null,
         "image_transforms": {
             "enable": false,
             "max_num_transforms": 3,
             "random_order": false,
-            "transform_version": 0,
-            "image_size": 256,
             "tfs": {
-                "resize_with_pad": {
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                     "weight": 1.0,
-                    "type": "ResizeWithPad",
+                    "type": "ColorJitter",
                     "kwargs": {
-                        "size": [
-                            256,
-                            256
+                        "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": true,
+        "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "sampling_weights": null,
-        "max_action_dim": null,
-        "max_state_dim": null,
-        "max_num_images": null,
-        "max_image_dim": null,
-        "train_on_all_features": false,
-        "features_version": 0,
-        "discard_first_n_frames": 0,
-        "min_fps": 1,
-        "max_fps": 100
+        "video_backend": "torchcodec"
     },
     "env": null,
     "policy": {
@@ -51,7 +80,7 @@
                     6
                 ]
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-            "observation.image": {
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                 "type": "VISUAL",
                 "shape": [
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@@ -59,7 +88,7 @@
                     640
                 ]
             },
-            "observation.image2": {
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@@ -76,11 +105,8 @@
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-        "exclude_image_keys": "",
-        "normalize_per_robot_type": false,
-        "checkpoint_keys_mapping": "",
-        "checkpoint_path": null,
+        "device": "cuda",
+        "use_amp": false,
         "chunk_size": 100,
         "n_action_steps": 100,
         "vision_backbone": "resnet18",
@@ -103,33 +129,17 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/lustre/fswork/projects/rech/dyf/ugz83ue/logs/lerobot/lerobot_so100_v3_task_1_act_main_default",
+    "output_dir": "/lustre/fswork/projects/rech/dyf/ugz83ue/logs/lerobot/lerobot_so100_v3_task_1_act_mainfix_default",
     "job_name": "act",
     "resume": false,
-    "overwrite": false,
-    "device": "cuda",
-    "use_amp": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
     "save_freq": 20000,
-    "offline": {
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-        "do_rollout_async": false
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     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -153,13 +163,8 @@
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
-        "notes": null
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-    "save_on_eval": false,
-    "dataloader_drop_last": false,
-    "eval_mse": false,
-    "eval_mse_steps": -1
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
 }