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act_so100_testing_pi0_one_francesco_full

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act_so100_testing_pi0_one_francesco_full
File size: 4,962 Bytes 
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{
    "dataset": {
        "repo_id": "arulloomba/so100_testing_15sec",
        "root": null,
        "episodes": null,
        "image_transforms": {
            "enable": false,
            "max_num_transforms": 3,
            "random_order": false,
            "tfs": {
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                    "kwargs": {
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                            1.2
                        ]
                    }
                },
                "saturation": {
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                    "type": "ColorJitter",
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                "hue": {
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                    "kwargs": {
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                            0.05
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                },
                "sharpness": {
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                    "type": "SharpnessJitter",
                    "kwargs": {
                        "sharpness": [
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                            1.5
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec"
    },
    "env": null,
    "policy": {
        "type": "pi0",
        "n_obs_steps": 1,
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
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                ]
            },
            "observation.images.laptop": {
                "type": "VISUAL",
                "shape": [
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                    480,
                    640
                ]
            },
            "observation.images.phone": {
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                    480,
                    640
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
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                ]
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        },
        "device": "cuda",
        "use_amp": false,
        "chunk_size": 50,
        "n_action_steps": 50,
        "max_state_dim": 32,
        "max_action_dim": 32,
        "resize_imgs_with_padding": [
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            224
        ],
        "empty_cameras": 0,
        "adapt_to_pi_aloha": false,
        "use_delta_joint_actions_aloha": false,
        "tokenizer_max_length": 48,
        "proj_width": 1024,
        "num_steps": 10,
        "use_cache": true,
        "attention_implementation": "eager",
        "freeze_vision_encoder": true,
        "train_expert_only": false,
        "train_state_proj": true,
        "optimizer_lr": 2.5e-05,
        "optimizer_betas": [
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            0.95
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 1e-10,
        "scheduler_warmup_steps": 1000,
        "scheduler_decay_steps": 30000,
        "scheduler_decay_lr": 2.5e-06
    },
    "output_dir": "outputs/train/pi0_test_trained_by_francesco",
    "job_name": "pi0",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 8,
    "steps": 100000,
    "eval_freq": 20000,
    "log_freq": 200,
    "save_checkpoint": true,
    "save_freq": 20000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 2.5e-05,
        "weight_decay": 1e-10,
        "grad_clip_norm": 10.0,
        "betas": [
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            0.95
        ],
        "eps": 1e-08
    },
    "scheduler": {
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        "num_warmup_steps": 1000,
        "num_decay_steps": 30000,
        "peak_lr": 2.5e-05,
        "decay_lr": 2.5e-06
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": null,
        "mode": null
    }
}