| { | |
| "dataset": { | |
| "repo_id": "lerobot/aloha_sim_transfer_cube_human", | |
| "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 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "local_files_only": false, | |
| "use_imagenet_stats": true, | |
| "video_backend": "pyav" | |
| }, | |
| "env": { | |
| "type": "aloha", | |
| "task": "AlohaTransferCube-v0", | |
| "fps": 50, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| }, | |
| "agent_pos": { | |
| "type": "STATE", | |
| "shape": [ | |
| 14 | |
| ] | |
| }, | |
| "pixels/top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ] | |
| } | |
| }, | |
| "features_map": { | |
| "action": "action", | |
| "agent_pos": "observation.state", | |
| "top": "observation.image.top", | |
| "pixels/top": "observation.images.top" | |
| }, | |
| "episode_length": 400, | |
| "obs_type": "pixels_agent_pos", | |
| "render_mode": "rgb_array" | |
| }, | |
| "policy": { | |
| "type": "act", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "chunk_size": 100, | |
| "n_action_steps": 100, | |
| "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_coeff": null, | |
| "dropout": 0.1, | |
| "kl_weight": 10.0, | |
| "optimizer_lr": 1e-05, | |
| "optimizer_weight_decay": 0.0001, | |
| "optimizer_lr_backbone": 1e-05 | |
| }, | |
| "output_dir": "outputs/train/2025-01-25/14-25-32_aloha_act", | |
| "job_name": "aloha_act", | |
| "resume": false, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "seed": 1000, | |
| "num_workers": 4, | |
| "batch_size": 8, | |
| "eval_freq": 20000, | |
| "log_freq": 200, | |
| "save_checkpoint": true, | |
| "save_freq": 20000, | |
| "offline": { | |
| "steps": 100000 | |
| }, | |
| "online": { | |
| "steps": 0, | |
| "rollout_n_episodes": 1, | |
| "rollout_batch_size": 1, | |
| "steps_between_rollouts": null, | |
| "sampling_ratio": 0.5, | |
| "env_seed": null, | |
| "buffer_capacity": null, | |
| "buffer_seed_size": 0, | |
| "do_rollout_async": false | |
| }, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 1e-05, | |
| "betas": [ | |
| 0.9, | |
| 0.999 | |
| ], | |
| "eps": 1e-08, | |
| "weight_decay": 0.0001, | |
| "grad_clip_norm": 10.0 | |
| }, | |
| "scheduler": null, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null | |
| } | |
| } |