| { |
| "dataset": { |
| "repo_id": "chomeed/peg_insertion_success_1000_for_rewind_train", |
| "root": null, |
| "episodes": null, |
| "image_transforms": { |
| "enable": false, |
| "max_num_transforms": 3, |
| "random_order": false, |
| "tfs": { |
| "brightness": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "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 |
| ] |
| } |
| }, |
| "affine": { |
| "weight": 1.0, |
| "type": "RandomAffine", |
| "kwargs": { |
| "degrees": [ |
| -5.0, |
| 5.0 |
| ], |
| "translate": [ |
| 0.05, |
| 0.05 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "streaming": false, |
| "cf_aug": false |
| }, |
| "env": null, |
| "policy": { |
| "type": "rewind", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.front_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.dinov2.front_rgb": { |
| "type": "STATE", |
| "shape": [ |
| 768 |
| ] |
| }, |
| "observation.dinov2.wrist_rgb": { |
| "type": "STATE", |
| "shape": [ |
| 768 |
| ] |
| } |
| }, |
| "output_features": {}, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "chomeed/rewind_peg_insertion", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "d_model": 512, |
| "vis_emb_dim": 768, |
| "text_emb_dim": 384, |
| "n_layers": 4, |
| "n_heads": 8, |
| "dropout": 0.1, |
| "num_cameras": 2, |
| "finetune_encoder": true, |
| "finetune_encoder_blocks": 2, |
| "encoder_ckpt": "facebook/dinov2-base", |
| "encoder_lr": 1e-05, |
| "encoder_camera_keys": [ |
| "observation.images.front_rgb", |
| "observation.images.wrist_rgb" |
| ], |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-10, |
| "optimizer_grad_clip_norm": 10.0, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 5000, |
| "scheduler_decay_lr": 2.5e-06, |
| "scheduler_peak_lr": 5e-05, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "LANGUAGE": "IDENTITY", |
| "REWARD": "IDENTITY" |
| } |
| }, |
| "output_dir": "outputs/train/2026-04-20/13-43-45_rewind_peg_insertion", |
| "job_name": "rewind_peg_insertion", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 16, |
| "batch_size": 16, |
| "steps": 5000, |
| "eval_freq": 500, |
| "log_freq": 50, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 500, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 1e-10, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "cosine_decay_with_warmup", |
| "num_warmup_steps": 1000, |
| "num_decay_steps": 5000, |
| "peak_lr": 5e-05, |
| "decay_lr": 2.5e-06 |
| }, |
| "val": { |
| "repo_id": "chomeed/peg_insertion_success_1000_for_rewind_train", |
| "root": null, |
| "episodes": null, |
| "image_transforms": { |
| "enable": false, |
| "max_num_transforms": 3, |
| "random_order": false, |
| "tfs": { |
| "brightness": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "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 |
| ] |
| } |
| }, |
| "affine": { |
| "weight": 1.0, |
| "type": "RandomAffine", |
| "kwargs": { |
| "degrees": [ |
| -5.0, |
| 5.0 |
| ], |
| "translate": [ |
| 0.05, |
| 0.05 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "streaming": false |
| }, |
| "test": { |
| "repo_id": [ |
| "chomeed/aloha_static_coffee_single", |
| "jellyho/aloha_handover_box_single" |
| ], |
| "root": null, |
| "episodes": null, |
| "image_transforms": { |
| "enable": false, |
| "max_num_transforms": 3, |
| "random_order": false, |
| "tfs": { |
| "brightness": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "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 |
| ] |
| } |
| }, |
| "affine": { |
| "weight": 1.0, |
| "type": "RandomAffine", |
| "kwargs": { |
| "degrees": [ |
| -5.0, |
| 5.0 |
| ], |
| "translate": [ |
| 0.05, |
| 0.05 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "streaming": false |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": true, |
| "project": "long_horizon_reward_modeling", |
| "entity": null, |
| "notes": null, |
| "run_id": "e9a8ajvu", |
| "mode": null |
| }, |
| "peft": null, |
| "use_rabc": false, |
| "rabc_progress_path": null, |
| "rabc_kappa": 0.01, |
| "rabc_epsilon": 1e-06, |
| "rabc_head_mode": "sparse", |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |
