Upload train_config.json with huggingface_hub
Browse files- train_config.json +198 -0
train_config.json
ADDED
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"dataset": {
|
3 |
+
"repo_id": null,
|
4 |
+
"root": null,
|
5 |
+
"episodes": null,
|
6 |
+
"image_transforms": {
|
7 |
+
"enable": false,
|
8 |
+
"max_num_transforms": 3,
|
9 |
+
"random_order": false,
|
10 |
+
"tfs": {
|
11 |
+
"brightness": {
|
12 |
+
"weight": 1.0,
|
13 |
+
"type": "ColorJitter",
|
14 |
+
"kwargs": {
|
15 |
+
"brightness": [
|
16 |
+
0.8,
|
17 |
+
1.2
|
18 |
+
]
|
19 |
+
}
|
20 |
+
},
|
21 |
+
"contrast": {
|
22 |
+
"weight": 1.0,
|
23 |
+
"type": "ColorJitter",
|
24 |
+
"kwargs": {
|
25 |
+
"contrast": [
|
26 |
+
0.8,
|
27 |
+
1.2
|
28 |
+
]
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"saturation": {
|
32 |
+
"weight": 1.0,
|
33 |
+
"type": "ColorJitter",
|
34 |
+
"kwargs": {
|
35 |
+
"saturation": [
|
36 |
+
0.5,
|
37 |
+
1.5
|
38 |
+
]
|
39 |
+
}
|
40 |
+
},
|
41 |
+
"hue": {
|
42 |
+
"weight": 1.0,
|
43 |
+
"type": "ColorJitter",
|
44 |
+
"kwargs": {
|
45 |
+
"hue": [
|
46 |
+
-0.05,
|
47 |
+
0.05
|
48 |
+
]
|
49 |
+
}
|
50 |
+
},
|
51 |
+
"sharpness": {
|
52 |
+
"weight": 1.0,
|
53 |
+
"type": "SharpnessJitter",
|
54 |
+
"kwargs": {
|
55 |
+
"sharpness": [
|
56 |
+
0.5,
|
57 |
+
1.5
|
58 |
+
]
|
59 |
+
}
|
60 |
+
}
|
61 |
+
}
|
62 |
+
},
|
63 |
+
"revision": null,
|
64 |
+
"use_imagenet_stats": true,
|
65 |
+
"video_backend": "torchcodec"
|
66 |
+
},
|
67 |
+
"env": null,
|
68 |
+
"policy": {
|
69 |
+
"type": "pi0fast",
|
70 |
+
"n_obs_steps": 1,
|
71 |
+
"normalization_mapping": {
|
72 |
+
"VISUAL": "IDENTITY",
|
73 |
+
"STATE": "MEAN_STD",
|
74 |
+
"ACTION": "MEAN_STD"
|
75 |
+
},
|
76 |
+
"input_features": {
|
77 |
+
"observation.state": {
|
78 |
+
"type": "STATE",
|
79 |
+
"shape": [
|
80 |
+
6
|
81 |
+
]
|
82 |
+
},
|
83 |
+
"observation.images.0": {
|
84 |
+
"type": "VISUAL",
|
85 |
+
"shape": [
|
86 |
+
3,
|
87 |
+
480,
|
88 |
+
640
|
89 |
+
]
|
90 |
+
},
|
91 |
+
"observation.images.1": {
|
92 |
+
"type": "VISUAL",
|
93 |
+
"shape": [
|
94 |
+
3,
|
95 |
+
480,
|
96 |
+
640
|
97 |
+
]
|
98 |
+
},
|
99 |
+
"observation.images.2": {
|
100 |
+
"type": "VISUAL",
|
101 |
+
"shape": [
|
102 |
+
3,
|
103 |
+
480,
|
104 |
+
640
|
105 |
+
]
|
106 |
+
}
|
107 |
+
},
|
108 |
+
"output_features": {
|
109 |
+
"action": {
|
110 |
+
"type": "ACTION",
|
111 |
+
"shape": [
|
112 |
+
6
|
113 |
+
]
|
114 |
+
}
|
115 |
+
},
|
116 |
+
"device": "cuda",
|
117 |
+
"use_amp": false,
|
118 |
+
"chunk_size": 10,
|
119 |
+
"n_action_steps": 5,
|
120 |
+
"max_state_dim": 32,
|
121 |
+
"max_action_dim": 32,
|
122 |
+
"resize_imgs_with_padding": [
|
123 |
+
224,
|
124 |
+
224
|
125 |
+
],
|
126 |
+
"interpolate_like_pi": false,
|
127 |
+
"empty_cameras": 0,
|
128 |
+
"adapt_to_pi_aloha": false,
|
129 |
+
"use_delta_joint_actions_aloha": false,
|
130 |
+
"tokenizer_max_length": 48,
|
131 |
+
"proj_width": 1024,
|
132 |
+
"max_decoding_steps": 256,
|
133 |
+
"fast_skip_tokens": 128,
|
134 |
+
"max_input_seq_len": 256,
|
135 |
+
"use_cache": true,
|
136 |
+
"freeze_vision_encoder": true,
|
137 |
+
"freeze_lm_head": true,
|
138 |
+
"optimizer_lr": 0.0001,
|
139 |
+
"optimizer_betas": [
|
140 |
+
0.9,
|
141 |
+
0.95
|
142 |
+
],
|
143 |
+
"optimizer_eps": 1e-08,
|
144 |
+
"optimizer_weight_decay": 1e-05,
|
145 |
+
"scheduler_warmup_steps": 1000,
|
146 |
+
"scheduler_decay_steps": 30000,
|
147 |
+
"scheduler_decay_lr": 2.5e-06,
|
148 |
+
"checkpoint_path": null,
|
149 |
+
"padding_side": "right",
|
150 |
+
"precision": "bfloat16",
|
151 |
+
"grad_clip_norm": 1,
|
152 |
+
"relaxed_action_decoding": true
|
153 |
+
},
|
154 |
+
"output_dir": "outputs/train/2025-05-21/12-32-54_pi0fast",
|
155 |
+
"job_name": "pi0fast",
|
156 |
+
"resume": false,
|
157 |
+
"seed": 1000,
|
158 |
+
"num_workers": 4,
|
159 |
+
"batch_size": 6,
|
160 |
+
"steps": 100000,
|
161 |
+
"eval_freq": 20000,
|
162 |
+
"log_freq": 200,
|
163 |
+
"save_checkpoint": true,
|
164 |
+
"save_freq": 10000,
|
165 |
+
"use_policy_training_preset": true,
|
166 |
+
"optimizer": {
|
167 |
+
"type": "adamw",
|
168 |
+
"lr": 0.0001,
|
169 |
+
"weight_decay": 1e-05,
|
170 |
+
"grad_clip_norm": 1,
|
171 |
+
"betas": [
|
172 |
+
0.9,
|
173 |
+
0.95
|
174 |
+
],
|
175 |
+
"eps": 1e-08
|
176 |
+
},
|
177 |
+
"scheduler": {
|
178 |
+
"type": "cosine_decay_with_warmup",
|
179 |
+
"num_warmup_steps": 1000,
|
180 |
+
"num_decay_steps": 30000,
|
181 |
+
"peak_lr": 0.0001,
|
182 |
+
"decay_lr": 2.5e-06
|
183 |
+
},
|
184 |
+
"eval": {
|
185 |
+
"n_episodes": 50,
|
186 |
+
"batch_size": 50,
|
187 |
+
"use_async_envs": false
|
188 |
+
},
|
189 |
+
"wandb": {
|
190 |
+
"enable": true,
|
191 |
+
"disable_artifact": true,
|
192 |
+
"project": "lerobot",
|
193 |
+
"entity": "carl_uw",
|
194 |
+
"notes": null,
|
195 |
+
"run_id": "pi0fast_so100_pretrain",
|
196 |
+
"mode": null
|
197 |
+
}
|
198 |
+
}
|