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iantc104
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sim_insert_peg_2arms_static_wrist_act

Robotics
Safetensors
lerobot
act
model_hub_mixin
pytorch_model_hub_mixin
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iantc104 commited on
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  1. config.yaml +213 -0
config.yaml ADDED
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+ resume: false
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+ device: cuda
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+ use_amp: false
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+ seed: 1000
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+ dataset_repo_id: iantc104/gv_sim_insert_peg_2arms
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+ video_backend: pyav
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+ training:
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+ offline_steps: 15625
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+ num_workers: 4
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+ batch_size: 16
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+ eval_freq: 1000
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+ log_freq: 100
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+ save_checkpoint: true
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+ save_freq: 1000
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+ online_steps: 0
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+ online_rollout_n_episodes: 1
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+ online_rollout_batch_size: 1
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+ online_steps_between_rollouts: 1
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+ online_sampling_ratio: 0.5
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+ online_env_seed: null
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+ online_buffer_capacity: null
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+ online_buffer_seed_size: 0
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+ do_online_rollout_async: false
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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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+ brightness:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ contrast:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ saturation:
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+ weight: 1
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+ min_max:
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+ - 0.5
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+ - 1.5
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+ hue:
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+ weight: 1
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+ min_max:
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+ - -0.05
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+ - 0.05
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+ sharpness:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ lr: 2.5e-05
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+ lr_backbone: 1.0e-05
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+ weight_decay: 0.0001
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+ grad_clip_norm: 10
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+ delta_timestamps:
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+ action:
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+ - 0.0
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+ - 0.04
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+ - 0.08
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+ - 0.12
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+ - 0.16
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+ - 0.32
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+ - 0.72
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+ - 0.76
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+ - 0.8
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+ - 0.84
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+ - 0.88
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+ - 0.92
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+ - 0.96
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+ - 1.0
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+ - 1.04
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+ - 1.08
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+ - 1.12
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+ - 1.16
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+ - 1.2
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+ - 1.24
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+ - 1.28
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+ - 1.32
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+ - 1.36
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+ - 1.48
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+ - 1.52
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+ - 1.56
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+ - 1.6
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+ - 1.64
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+ - 1.68
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+ - 1.72
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+ - 1.76
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+ - 1.8
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+ - 1.84
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+ - 1.88
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+ - 1.92
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+ - 1.96
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+ eval:
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+ n_episodes: 1
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+ batch_size: 1
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+ use_async_envs: false
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+ wandb:
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+ enable: true
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+ disable_artifact: false
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+ project: lerobot
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+ notes: ''
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+ fps: 25
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+ env:
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+ name: guided_vision
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+ task: InsertPeg-2Arms-v0
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+ state_dim: 14
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+ action_dim: 14
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+ fps: ${fps}
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+ episode_length: 400
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+ override_dataset_stats:
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+ observation.images.overhead_cam:
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+ mean:
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+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ observation.images.worms_eye_cam:
137
+ mean:
138
+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ observation.images.wrist_cam_left:
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+ mean:
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+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ observation.images.wrist_cam_right:
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+ mean:
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+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ policy:
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+ name: act
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+ n_obs_steps: 1
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+ chunk_size: 50
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+ n_action_steps: 50
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+ input_shapes:
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+ observation.images.overhead_cam:
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+ - 3
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+ - 480
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+ - 640
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+ observation.images.worms_eye_cam:
174
+ - 3
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+ - 480
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+ - 640
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+ observation.images.wrist_cam_left:
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+ - 3
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+ - 480
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+ - 640
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+ observation.images.wrist_cam_right:
182
+ - 3
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+ - 480
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+ - 640
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+ observation.state:
186
+ - ${env.state_dim}
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+ output_shapes:
188
+ action:
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+ - ${env.action_dim}
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+ input_normalization_modes:
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+ observation.images.overhead_cam: mean_std
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+ observation.images.worms_eye_cam: mean_std
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+ observation.images.wrist_cam_left: mean_std
194
+ observation.images.wrist_cam_right: mean_std
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+ observation.state: mean_std
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+ output_normalization_modes:
197
+ action: mean_std
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+ vision_backbone: resnet18
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+ pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
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+ replace_final_stride_with_dilation: false
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+ pre_norm: false
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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: relu
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+ n_encoder_layers: 4
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+ n_decoder_layers: 1
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+ use_vae: true
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+ latent_dim: 32
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+ n_vae_encoder_layers: 4
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+ temporal_ensemble_coeff: null
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+ dropout: 0.1
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+ kl_weight: 10.0