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Files changed (2) hide show
  1. config.json +49 -33
  2. train_config.json +194 -0
config.json CHANGED
@@ -1,40 +1,56 @@
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  {
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- "type": "pi0",
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  "n_obs_steps": 1,
 
 
4
  "normalization_mapping": {
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- "VISUAL": "IDENTITY",
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  "STATE": "MEAN_STD",
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  "ACTION": "MEAN_STD"
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  },
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- "input_features": {},
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- "output_features": {},
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- "chunk_size": 50,
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- "n_action_steps": 50,
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- "max_state_dim": 32,
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- "max_action_dim": 32,
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- "resize_imgs_with_padding": [
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- 224,
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- 224
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- ],
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- "empty_cameras": 0,
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- "adapt_to_pi_aloha": false,
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- "use_delta_joint_actions_aloha": false,
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- "tokenizer_max_length": 48,
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- "proj_width": 1024,
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- "num_steps": 10,
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- "use_cache": true,
26
- "attention_implementation": "eager",
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- "freeze_vision_encoder": true,
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- "train_expert_only": false,
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- "train_state_proj": true,
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- "optimizer_lr": 2.5e-05,
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- "optimizer_betas": [
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- 0.9,
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- 0.95
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- ],
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- "optimizer_eps": 1e-08,
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- "optimizer_weight_decay": 1e-10,
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- "scheduler_warmup_steps": 1000,
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- "scheduler_decay_steps": 30000,
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- "scheduler_decay_lr": 2.5e-06
 
 
 
 
 
 
 
 
 
 
 
 
 
 
40
  }
 
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  {
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+ "type": "act",
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  "n_obs_steps": 1,
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+ "device": "cuda",
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+ "use_amp": false,
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  "normalization_mapping": {
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+ "VISUAL": "MEAN_STD",
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  "STATE": "MEAN_STD",
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  "ACTION": "MEAN_STD"
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  },
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+ "input_features": {
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+ "observation.images.top": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ 14
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+ ]
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+ }
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+ },
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+ "output_features": {
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ 14
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+ ]
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+ }
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+ },
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+ "chunk_size": 100,
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+ "n_action_steps": 100,
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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,
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+ "optimizer_lr": 1e-05,
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+ "optimizer_weight_decay": 0.0001,
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+ "optimizer_lr_backbone": 1e-05
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  }
train_config.json ADDED
@@ -0,0 +1,194 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "dataset": {
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+ "repo_id": "lerobot/aloha_sim_insertion_human",
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+ "episodes": null,
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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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+ "tfs": {
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+ "brightness": {
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+ "weight": 1.0,
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+ "type": "ColorJitter",
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+ "kwargs": {
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+ "brightness": [
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+ 0.8,
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+ 1.2
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+ ]
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+ }
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+ },
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+ "contrast": {
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+ "weight": 1.0,
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+ "type": "ColorJitter",
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+ "kwargs": {
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+ "contrast": [
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+ 0.8,
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+ 1.2
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+ ]
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+ }
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+ },
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+ "saturation": {
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+ "weight": 1.0,
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+ "type": "ColorJitter",
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+ "kwargs": {
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+ "saturation": [
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+ 0.5,
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+ 1.5
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+ ]
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+ }
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+ },
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+ "hue": {
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+ "weight": 1.0,
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+ "type": "ColorJitter",
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+ "kwargs": {
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+ "hue": [
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+ -0.05,
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+ 0.05
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+ ]
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+ }
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+ },
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+ "sharpness": {
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+ "weight": 1.0,
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+ "type": "SharpnessJitter",
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+ "kwargs": {
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+ "sharpness": [
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+ 0.5,
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+ 1.5
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+ ]
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+ }
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+ }
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+ }
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+ },
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+ "local_files_only": false,
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+ "use_imagenet_stats": true,
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+ "video_backend": "pyav"
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+ },
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+ "env": {
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+ "type": "aloha",
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+ "task": "AlohaInsertion-v0",
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+ "fps": 50,
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+ "features": {
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ ]
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+ },
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+ "agent_pos": {
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+ "type": "STATE",
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+ "shape": [
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+ ]
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+ },
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+ "pixels/top": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ]
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+ }
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+ },
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+ "features_map": {
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+ "action": "action",
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+ "agent_pos": "observation.state",
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+ "top": "observation.image.top",
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+ "pixels/top": "observation.images.top"
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+ },
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+ "episode_length": 400,
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+ "obs_type": "pixels_agent_pos",
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+ "render_mode": "rgb_array"
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+ },
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+ "policy": {
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+ "type": "act",
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+ "n_obs_steps": 1,
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+ "device": "cuda",
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+ "use_amp": false,
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+ "normalization_mapping": {
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+ "VISUAL": "MEAN_STD",
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ },
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+ "input_features": {
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+ "observation.images.top": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ ]
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+ }
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+ },
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+ "output_features": {
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ 14
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+ ]
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+ }
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+ },
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+ "chunk_size": 100,
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+ "n_action_steps": 100,
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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,
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+ "optimizer_lr": 1e-05,
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+ "optimizer_weight_decay": 0.0001,
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+ "optimizer_lr_backbone": 1e-05
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+ },
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+ "output_dir": "outputs/train/2025-01-25/17-37-25_aloha_act",
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+ "job_name": "aloha_act",
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+ "resume": false,
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+ "seed": 1000,
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+ "num_workers": 4,
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+ "batch_size": 8,
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+ "steps": 100000,
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+ "eval_freq": 20000,
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+ "log_freq": 200,
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+ "save_checkpoint": true,
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+ "save_freq": 20000,
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+ "use_policy_training_preset": true,
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+ "optimizer": {
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+ "type": "adamw",
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+ "lr": 1e-05,
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+ "betas": [
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+ 0.9,
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+ 0.999
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+ ],
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+ "eps": 1e-08,
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+ "weight_decay": 0.0001,
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+ "grad_clip_norm": 10.0
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+ },
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+ "scheduler": null,
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+ "eval": {
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+ "n_episodes": 50,
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+ "batch_size": 50,
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+ "use_async_envs": false
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+ },
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+ "wandb": {
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+ "enable": true,
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+ "disable_artifact": false,
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+ "project": "lerobot",
191
+ "entity": null,
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+ "notes": null
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+ }
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+ }