diffusion_pusht / train_config.json
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{
"dataset": {
"repo_id": "lerobot/pusht",
"episodes": null,
"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
]
}
}
}
},
"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": 300,
"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": [
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": null,
"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/2025-01-17/11-51-15_pusht_diffusion",
"job_name": "pusht_diffusion",
"resume": false,
"device": "cuda",
"use_amp": false,
"seed": 100000,
"num_workers": 4,
"batch_size": 64,
"eval_freq": 25000,
"log_freq": 200,
"save_checkpoint": true,
"save_freq": 25000,
"offline": {
"steps": 200000
},
"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": 50,
"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null
}
}