|
resume: false |
|
device: cuda |
|
use_amp: true |
|
seed: 100000 |
|
dataset_repo_id: lerobot/aloha_sim_insertion_human |
|
video_backend: pyav |
|
training: |
|
offline_steps: 100000 |
|
num_workers: 12 |
|
batch_size: 12 |
|
eval_freq: 10000 |
|
log_freq: 1000 |
|
save_checkpoint: true |
|
save_freq: 10000 |
|
online_steps: 0 |
|
online_rollout_n_episodes: 1 |
|
online_rollout_batch_size: 1 |
|
online_steps_between_rollouts: 1 |
|
online_sampling_ratio: 0.5 |
|
online_env_seed: null |
|
online_buffer_capacity: null |
|
online_buffer_seed_size: 0 |
|
do_online_rollout_async: false |
|
image_transforms: |
|
enable: false |
|
max_num_transforms: 3 |
|
random_order: false |
|
brightness: |
|
weight: 1 |
|
min_max: |
|
- 0.8 |
|
- 1.2 |
|
contrast: |
|
weight: 1 |
|
min_max: |
|
- 0.8 |
|
- 1.2 |
|
saturation: |
|
weight: 1 |
|
min_max: |
|
- 0.5 |
|
- 1.5 |
|
hue: |
|
weight: 1 |
|
min_max: |
|
- -0.05 |
|
- 0.05 |
|
sharpness: |
|
weight: 1 |
|
min_max: |
|
- 0.8 |
|
- 1.2 |
|
save_model: true |
|
grad_clip_norm: 50 |
|
lr: 3.0e-05 |
|
min_lr: 1.0e-05 |
|
lr_cycle_steps: 100000 |
|
weight_decay: 1.0e-05 |
|
delta_timestamps: |
|
observation.images.top: |
|
- -0.7 |
|
- -0.68 |
|
- -0.66 |
|
- -0.64 |
|
- -0.62 |
|
- -0.6 |
|
- -0.58 |
|
- -0.56 |
|
- -0.54 |
|
- -0.52 |
|
- -0.5 |
|
- -0.02 |
|
- 0.0 |
|
observation.state: |
|
- -0.7 |
|
- -0.68 |
|
- -0.66 |
|
- -0.64 |
|
- -0.62 |
|
- -0.6 |
|
- -0.58 |
|
- -0.56 |
|
- -0.54 |
|
- -0.52 |
|
- -0.5 |
|
- -0.02 |
|
- 0.0 |
|
action: |
|
- -0.7 |
|
- -0.68 |
|
- -0.66 |
|
- -0.64 |
|
- -0.62 |
|
- -0.6 |
|
- -0.58 |
|
- -0.56 |
|
- -0.54 |
|
- -0.52 |
|
- -0.5 |
|
- -0.02 |
|
- 0.0 |
|
- 0.02 |
|
- 0.04 |
|
- 0.06 |
|
- 0.08 |
|
- 0.1 |
|
- 0.12 |
|
- 0.14 |
|
- 0.16 |
|
- 0.18 |
|
- 0.2 |
|
- 0.22 |
|
- 0.24 |
|
- 0.26 |
|
- 0.28 |
|
- 0.3 |
|
- 0.32 |
|
- 0.34 |
|
- 0.36 |
|
- 0.38 |
|
- 0.4 |
|
- 0.42 |
|
- 0.44 |
|
- 0.46 |
|
- 0.48 |
|
- 0.5 |
|
- 0.52 |
|
- 0.54 |
|
- 0.56 |
|
- 0.58 |
|
- 0.6 |
|
- 0.62 |
|
- 0.64 |
|
- 0.66 |
|
- 0.68 |
|
- 0.7 |
|
- 0.72 |
|
- 0.74 |
|
- 0.76 |
|
- 0.78 |
|
- 0.8 |
|
- 0.82 |
|
- 0.84 |
|
- 0.86 |
|
- 0.88 |
|
- 0.9 |
|
- 0.92 |
|
- 0.94 |
|
- 0.96 |
|
- 0.98 |
|
- 1.0 |
|
- 1.02 |
|
- 1.04 |
|
- 1.06 |
|
- 1.08 |
|
- 1.1 |
|
- 1.12 |
|
- 1.14 |
|
- 1.16 |
|
- 1.18 |
|
- 1.2 |
|
- 1.22 |
|
- 1.24 |
|
- 1.26 |
|
- 1.28 |
|
- 1.3 |
|
- 1.32 |
|
- 1.34 |
|
- 1.36 |
|
- 1.38 |
|
- 1.4 |
|
- 1.42 |
|
- 1.44 |
|
- 1.46 |
|
- 1.48 |
|
- 1.5 |
|
- 1.52 |
|
- 1.54 |
|
- 1.56 |
|
- 1.58 |
|
- 1.6 |
|
- 1.62 |
|
- 1.64 |
|
- 1.66 |
|
- 1.68 |
|
- 1.7 |
|
- 1.72 |
|
- 1.74 |
|
- 1.76 |
|
- 1.78 |
|
- 1.8 |
|
- 1.82 |
|
- 1.84 |
|
- 1.86 |
|
- 1.88 |
|
- 1.9 |
|
- 1.92 |
|
- 1.94 |
|
- 1.96 |
|
- 1.98 |
|
- 2.0 |
|
- 2.02 |
|
- 2.04 |
|
- 2.06 |
|
- 2.08 |
|
- 2.1 |
|
- 2.12 |
|
- 2.14 |
|
- 2.16 |
|
- 2.18 |
|
- 2.2 |
|
- 2.22 |
|
- 2.24 |
|
- 2.26 |
|
- 2.28 |
|
- 2.3 |
|
- 2.32 |
|
- 2.34 |
|
- 2.36 |
|
- 2.38 |
|
- 2.4 |
|
- 2.42 |
|
- 2.44 |
|
- 2.46 |
|
- 2.48 |
|
- 2.5 |
|
- 2.52 |
|
- 2.54 |
|
- 2.56 |
|
- 2.58 |
|
- 2.6 |
|
- 2.62 |
|
- 2.64 |
|
- 2.66 |
|
- 2.68 |
|
- 2.7 |
|
- 2.72 |
|
- 2.74 |
|
- 2.76 |
|
- 2.78 |
|
- 2.8 |
|
- 2.82 |
|
- 2.84 |
|
- 2.86 |
|
- 2.88 |
|
- 2.9 |
|
- 2.92 |
|
- 2.94 |
|
- 2.96 |
|
- 2.98 |
|
eval: |
|
n_episodes: 50 |
|
batch_size: 10 |
|
use_async_envs: false |
|
wandb: |
|
enable: true |
|
disable_artifact: false |
|
project: insert |
|
notes: '' |
|
fps: 50 |
|
env: |
|
name: aloha |
|
task: AlohaInsertion-v0 |
|
state_dim: 14 |
|
action_dim: 14 |
|
fps: ${fps} |
|
episode_length: 500 |
|
gym: |
|
obs_type: pixels_agent_pos |
|
render_mode: rgb_array |
|
override_dataset_stats: |
|
observation.images.top: |
|
mean: |
|
- - - 0.485 |
|
- - - 0.456 |
|
- - - 0.406 |
|
std: |
|
- - - 0.229 |
|
- - - 0.224 |
|
- - - 0.225 |
|
policy: |
|
name: dot |
|
n_obs_steps: 3 |
|
train_horizon: 150 |
|
inference_horizon: 100 |
|
lookback_obs_steps: 30 |
|
lookback_aug: 5 |
|
input_shapes: |
|
observation.images.top: |
|
- 3 |
|
- 480 |
|
- 640 |
|
observation.state: |
|
- ${env.state_dim} |
|
output_shapes: |
|
action: |
|
- ${env.action_dim} |
|
input_normalization_modes: |
|
observation.images.top: mean_std |
|
observation.state: min_max |
|
output_normalization_modes: |
|
action: min_max |
|
vision_backbone: resnet18 |
|
pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 |
|
rescale_shape: |
|
- 480 |
|
- 640 |
|
lora_rank: 20 |
|
merge_lora: true |
|
crop_scale: 0.8 |
|
state_noise: 0.01 |
|
noise_decay: 0.999995 |
|
pre_norm: true |
|
dim_model: 128 |
|
n_heads: 8 |
|
dim_feedforward: 512 |
|
n_decoder_layers: 8 |
|
dropout: 0.1 |
|
alpha: 0.98 |
|
train_alpha: 0.99 |
|
predict_every_n: 1 |
|
return_every_n: 1 |
|
|