Hugging Face's logo

iantc104
/
real_occluded_key_insertion_3arms_zed_static_wrist_act

Robotics
Safetensors
lerobot
act
model_hub_mixin
pytorch_model_hub_mixin
Model card Files Community
iantc104 commited on
Commit
0436dd3
•
1 Parent(s): 839aedf

Upload YAML configuration

Browse files
Files changed (1) hide show
  1. config.yaml +240 -0
config.yaml ADDED
@@ -0,0 +1,240 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ resume: false
2
+ device: cuda
3
+ use_amp: false
4
+ seed: 1000
5
+ dataset_repo_id: iantc104/gv_real_occluded_key_insertion
6
+ video_backend: pyav
7
+ training:
8
+ offline_steps: 15625
9
+ num_workers: 4
10
+ batch_size: 16
11
+ eval_freq: -1
12
+ log_freq: 100
13
+ save_checkpoint: true
14
+ save_freq: 1000
15
+ online_steps: 0
16
+ online_rollout_n_episodes: 1
17
+ online_rollout_batch_size: 1
18
+ online_steps_between_rollouts: 1
19
+ online_sampling_ratio: 0.5
20
+ online_env_seed: null
21
+ online_buffer_capacity: null
22
+ online_buffer_seed_size: 0
23
+ do_online_rollout_async: false
24
+ image_transforms:
25
+ enable: false
26
+ max_num_transforms: 3
27
+ random_order: false
28
+ brightness:
29
+ weight: 1
30
+ min_max:
31
+ - 0.8
32
+ - 1.2
33
+ contrast:
34
+ weight: 1
35
+ min_max:
36
+ - 0.8
37
+ - 1.2
38
+ saturation:
39
+ weight: 1
40
+ min_max:
41
+ - 0.5
42
+ - 1.5
43
+ hue:
44
+ weight: 1
45
+ min_max:
46
+ - -0.05
47
+ - 0.05
48
+ sharpness:
49
+ weight: 1
50
+ min_max:
51
+ - 0.8
52
+ - 1.2
53
+ lr: 2.5e-05
54
+ lr_backbone: 1.0e-05
55
+ weight_decay: 0.0001
56
+ grad_clip_norm: 10
57
+ delta_timestamps:
58
+ action:
59
+ - 0.0
60
+ - 0.02
61
+ - 0.04
62
+ - 0.06
63
+ - 0.08
64
+ - 0.1
65
+ - 0.12
66
+ - 0.14
67
+ - 0.16
68
+ - 0.18
69
+ - 0.2
70
+ - 0.22
71
+ - 0.24
72
+ - 0.26
73
+ - 0.28
74
+ - 0.3
75
+ - 0.32
76
+ - 0.34
77
+ - 0.36
78
+ - 0.38
79
+ - 0.4
80
+ - 0.42
81
+ - 0.44
82
+ - 0.46
83
+ - 0.48
84
+ - 0.5
85
+ - 0.52
86
+ - 0.54
87
+ - 0.56
88
+ - 0.58
89
+ - 0.6
90
+ - 0.62
91
+ - 0.64
92
+ - 0.66
93
+ - 0.68
94
+ - 0.7
95
+ - 0.72
96
+ - 0.74
97
+ - 0.76
98
+ - 0.78
99
+ - 0.8
100
+ - 0.82
101
+ - 0.84
102
+ - 0.86
103
+ - 0.88
104
+ - 0.9
105
+ - 0.92
106
+ - 0.94
107
+ - 0.96
108
+ - 0.98
109
+ eval:
110
+ n_episodes: 1
111
+ batch_size: 1
112
+ use_async_envs: true
113
+ wandb:
114
+ enable: true
115
+ disable_artifact: false
116
+ project: lerobot
117
+ notes: ''
118
+ fps: 50
119
+ env:
120
+ name: real_world
121
+ task: null
122
+ state_dim: 21
123
+ action_dim: 21
124
+ fps: ${fps}
125
+ override_dataset_stats:
126
+ observation.images.zed_cam_left:
127
+ mean:
128
+ - - - 0.485
129
+ - - - 0.456
130
+ - - - 0.406
131
+ std:
132
+ - - - 0.229
133
+ - - - 0.224
134
+ - - - 0.225
135
+ observation.images.zed_cam_right:
136
+ mean:
137
+ - - - 0.485
138
+ - - - 0.456
139
+ - - - 0.406
140
+ std:
141
+ - - - 0.229
142
+ - - - 0.224
143
+ - - - 0.225
144
+ observation.images.overhead_cam:
145
+ mean:
146
+ - - - 0.485
147
+ - - - 0.456
148
+ - - - 0.406
149
+ std:
150
+ - - - 0.229
151
+ - - - 0.224
152
+ - - - 0.225
153
+ observation.images.worms_eye_cam:
154
+ mean:
155
+ - - - 0.485
156
+ - - - 0.456
157
+ - - - 0.406
158
+ std:
159
+ - - - 0.229
160
+ - - - 0.224
161
+ - - - 0.225
162
+ observation.images.wrist_cam_left:
163
+ mean:
164
+ - - - 0.485
165
+ - - - 0.456
166
+ - - - 0.406
167
+ std:
168
+ - - - 0.229
169
+ - - - 0.224
170
+ - - - 0.225
171
+ observation.images.wrist_cam_right:
172
+ mean:
173
+ - - - 0.485
174
+ - - - 0.456
175
+ - - - 0.406
176
+ std:
177
+ - - - 0.229
178
+ - - - 0.224
179
+ - - - 0.225
180
+ policy:
181
+ name: act
182
+ n_obs_steps: 1
183
+ chunk_size: 50
184
+ n_action_steps: 50
185
+ input_shapes:
186
+ observation.images.zed_cam_left:
187
+ - 3
188
+ - 480
189
+ - 640
190
+ observation.images.zed_cam_right:
191
+ - 3
192
+ - 480
193
+ - 640
194
+ observation.images.overhead_cam:
195
+ - 3
196
+ - 480
197
+ - 640
198
+ observation.images.worms_eye_cam:
199
+ - 3
200
+ - 480
201
+ - 640
202
+ observation.images.wrist_cam_left:
203
+ - 3
204
+ - 480
205
+ - 640
206
+ observation.images.wrist_cam_right:
207
+ - 3
208
+ - 480
209
+ - 640
210
+ observation.state:
211
+ - ${env.state_dim}
212
+ output_shapes:
213
+ action:
214
+ - ${env.action_dim}
215
+ input_normalization_modes:
216
+ observation.images.zed_cam_left: mean_std
217
+ observation.images.zed_cam_right: mean_std
218
+ observation.images.overhead_cam: mean_std
219
+ observation.images.worms_eye_cam: mean_std
220
+ observation.images.wrist_cam_left: mean_std
221
+ observation.images.wrist_cam_right: mean_std
222
+ observation.state: mean_std
223
+ output_normalization_modes:
224
+ action: mean_std
225
+ vision_backbone: resnet18
226
+ pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
227
+ replace_final_stride_with_dilation: false
228
+ pre_norm: false
229
+ dim_model: 512
230
+ n_heads: 8
231
+ dim_feedforward: 3200
232
+ feedforward_activation: relu
233
+ n_encoder_layers: 4
234
+ n_decoder_layers: 1
235
+ use_vae: true
236
+ latent_dim: 32
237
+ n_vae_encoder_layers: 4
238
+ temporal_ensemble_coeff: null
239
+ dropout: 0.1
240
+ kl_weight: 10.0