File size: 6,262 Bytes
			
			| 59675ce | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 | {
    "dataset": {
        "repo_id": "lerobot/pusht",
        "episodes": [
            0
        ],
        "image_transforms": {
            "enable": true,
            "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": "pusht",
        "n_envs": null,
        "task": "PushT-v0",
        "fps": 10,
        "features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    2
                ]
            },
            "agent_pos": {
                "type": "STATE",
                "shape": [
                    2
                ]
            },
            "pixels": {
                "type": "VISUAL",
                "shape": [
                    384,
                    384,
                    3
                ]
            }
        },
        "features_map": {
            "action": "action",
            "agent_pos": "observation.state",
            "environment_state": "observation.environment_state",
            "pixels": "observation.image"
        },
        "episode_length": 5,
        "obs_type": "pixels_agent_pos",
        "render_mode": "rgb_array",
        "visualization_width": 384,
        "visualization_height": 384
    },
    "policy": {
        "type": "diffusion",
        "n_obs_steps": 2,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "input_features": {
            "observation.image": {
                "type": "VISUAL",
                "shape": [
                    3,
                    96,
                    96
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    2
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    2
                ]
            }
        },
        "horizon": 16,
        "n_action_steps": 8,
        "drop_n_last_frames": 7,
        "vision_backbone": "resnet18",
        "crop_shape": [
            84,
            84
        ],
        "crop_is_random": true,
        "pretrained_backbone_weights": null,
        "use_group_norm": true,
        "spatial_softmax_num_keypoints": 32,
        "use_separate_rgb_encoder_per_camera": false,
        "down_dims": [
            64,
            128,
            256
        ],
        "kernel_size": 5,
        "n_groups": 8,
        "diffusion_step_embed_dim": 32,
        "use_film_scale_modulation": true,
        "noise_scheduler_type": "DDPM",
        "num_train_timesteps": 100,
        "beta_schedule": "squaredcos_cap_v2",
        "beta_start": 0.0001,
        "beta_end": 0.02,
        "prediction_type": "epsilon",
        "clip_sample": true,
        "clip_sample_range": 1.0,
        "num_inference_steps": 10,
        "do_mask_loss_for_padding": false,
        "optimizer_lr": 0.0001,
        "optimizer_betas": [
            0.95,
            0.999
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 1e-06,
        "scheduler_name": "cosine",
        "scheduler_warmup_steps": 500
    },
    "output_dir": "outputs/train/pusht_diffusion",
    "job_name": "pusht_diffusion",
    "resume": false,
    "device": "cpu",
    "use_amp": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 2,
    "eval_freq": 20000,
    "log_freq": 1,
    "save_checkpoint": true,
    "save_freq": 2,
    "offline": {
        "steps": 2
    },
    "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": "adam",
        "lr": 0.0001,
        "betas": [
            0.95,
            0.999
        ],
        "eps": 1e-08,
        "weight_decay": 1e-06,
        "grad_clip_norm": 10.0
    },
    "scheduler": {
        "type": "diffuser",
        "num_warmup_steps": 500,
        "name": "cosine"
    },
    "eval": {
        "n_episodes": 1,
        "batch_size": 1,
        "use_async_envs": false
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null
    }
} | 
