| resume: false | |
| device: cuda | |
| use_amp: false | |
| seed: 1000 | |
| dataset_repo_id: kywch/mimicgen_stack_d1 | |
| video_backend: pyav | |
| training: | |
| offline_steps: 100000 | |
| num_workers: 4 | |
| batch_size: 8 | |
| eval_freq: 10000 | |
| log_freq: 200 | |
| save_checkpoint: true | |
| save_freq: 20000 | |
| online_steps: 0 | |
| online_rollout_n_episodes: 1 | |
| online_rollout_batch_size: 1 | |
| online_steps_between_rollouts: 1 | |
| online_sampling_ratio: 0.5 | |
| online_env_seed: null | |
| online_buffer_capacity: null | |
| online_buffer_seed_size: 0 | |
| do_online_rollout_async: false | |
| image_transforms: | |
| enable: false | |
| max_num_transforms: 3 | |
| random_order: false | |
| brightness: | |
| weight: 1 | |
| min_max: | |
| - 0.8 | |
| - 1.2 | |
| contrast: | |
| weight: 1 | |
| min_max: | |
| - 0.8 | |
| - 1.2 | |
| saturation: | |
| weight: 1 | |
| min_max: | |
| - 0.5 | |
| - 1.5 | |
| hue: | |
| weight: 1 | |
| min_max: | |
| - -0.05 | |
| - 0.05 | |
| sharpness: | |
| weight: 1 | |
| min_max: | |
| - 0.8 | |
| - 1.2 | |
| lr: 1.0e-05 | |
| lr_backbone: 1.0e-05 | |
| weight_decay: 0.0001 | |
| grad_clip_norm: 10 | |
| delta_timestamps: | |
| action: | |
| - 0.0 | |
| - 0.05 | |
| - 0.1 | |
| - 0.15 | |
| - 0.2 | |
| - 0.25 | |
| - 0.3 | |
| - 0.35 | |
| - 0.4 | |
| - 0.45 | |
| - 0.5 | |
| - 0.55 | |
| - 0.6 | |
| - 0.65 | |
| - 0.7 | |
| - 0.75 | |
| - 0.8 | |
| - 0.85 | |
| - 0.9 | |
| - 0.95 | |
| eval: | |
| n_episodes: 20 | |
| batch_size: 20 | |
| use_async_envs: true | |
| wandb: | |
| enable: true | |
| disable_artifact: true | |
| project: lerobot | |
| notes: '' | |
| fps: 20 | |
| env: | |
| name: mimicgen | |
| task: Stack_D1 | |
| state_dim: 9 | |
| action_dim: 7 | |
| episode_length: 250 | |
| meta: stack_d1_env.json | |
| image_keys: | |
| - agentview | |
| - robot0_eye_in_hand | |
| state_keys: | |
| - robot0_eef_pos | |
| - robot0_eef_quat | |
| - robot0_gripper_qpos | |
| use_delta_action: false | |
| use_highres_image_obs: true | |
| override_dataset_stats: | |
| observation.images.agentview: | |
| mean: | |
| - - - 0.485 | |
| - - - 0.456 | |
| - - - 0.406 | |
| std: | |
| - - - 0.229 | |
| - - - 0.224 | |
| - - - 0.225 | |
| observation.images.robot0_eye_in_hand: | |
| mean: | |
| - - - 0.485 | |
| - - - 0.456 | |
| - - - 0.406 | |
| std: | |
| - - - 0.229 | |
| - - - 0.224 | |
| - - - 0.225 | |
| policy: | |
| name: act | |
| n_obs_steps: 1 | |
| chunk_size: 20 | |
| n_action_steps: 20 | |
| input_shapes: | |
| observation.images.agentview: | |
| - 3 | |
| - 256 | |
| - 256 | |
| observation.images.robot0_eye_in_hand: | |
| - 3 | |
| - 256 | |
| - 256 | |
| observation.state: | |
| - ${env.state_dim} | |
| output_shapes: | |
| action: | |
| - ${env.action_dim} | |
| input_normalization_modes: | |
| observation.images.agentview: mean_std | |
| observation.images.robot0_eye_in_hand: mean_std | |
| observation.state: mean_std | |
| output_normalization_modes: | |
| action: mean_std | |
| vision_backbone: resnet18 | |
| pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 | |
| replace_final_stride_with_dilation: false | |
| pre_norm: false | |
| dim_model: 512 | |
| n_heads: 8 | |
| dim_feedforward: 3200 | |
| feedforward_activation: relu | |
| n_encoder_layers: 4 | |
| n_decoder_layers: 1 | |
| use_vae: true | |
| latent_dim: 32 | |
| n_vae_encoder_layers: 4 | |
| temporal_ensemble_momentum: null | |
| dropout: 0.1 | |
| kl_weight: 10.0 | |