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config: {'dataset': {'repo_id': 'kabilanKB/groot_n1', 'root': None, 'episodes': None, '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': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'streaming': False}, 'env': {'type': 'pusht', 'task': 'PushT-v0', 'fps': 10, 'features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [2]}, 'agent_pos': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [2]}, 'pixels': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [384, 384, 3]}}, 'features_map': {'action': 'action', 'agent_pos': 'observation.state', 'environment_state': 'observation.environment_state', 'pixels': 'observation.image'}, 'max_parallel_tasks': 1, 'disable_env_checker': True, 'episode_length': 300, 'obs_type': 'pixels_agent_pos', 'render_mode': 'rgb_array', 'visualization_width': 384, 'visualization_height': 384, 'observation_height': 384, 'observation_width': 384}, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'kabilanKB/diffusion_pusht', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'horizon': 16, 'n_action_steps': 8, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'drop_n_last_frames': 7, 'vision_backbone': 'resnet18', 'crop_shape': [84, 84], 'crop_is_random': True, 'pretrained_backbone_weights': None, 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, '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': None, '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/diffusion_pusht', 'job_name': 'pusht_diffusion', 'resume': False, 'seed': 100000, 'num_workers': 4, 'batch_size': 64, 'steps': 5000, 'eval_freq': 25000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 25000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 500, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}} |
