| resume: false |
| device: cuda |
| use_amp: false |
| seed: 1000 |
| dataset_repo_id: kywch/mimicgen_stack_d0 |
| video_backend: pyav |
| training: |
| offline_steps: 100000 |
| num_workers: 4 |
| batch_size: 64 |
| eval_freq: 10000 |
| log_freq: 200 |
| save_checkpoint: true |
| save_freq: 20000 |
| 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 |
| lr: 5.0e-05 |
| lr_backbone: 1.0e-05 |
| weight_decay: 0.0001 |
| grad_clip_norm: 10 |
| delta_timestamps: |
| action: |
| - 0.0 |
| - 0.05 |
| - 0.1 |
| - 0.15 |
| - 0.2 |
| - 0.25 |
| - 0.3 |
| - 0.35 |
| - 0.4 |
| - 0.45 |
| - 0.5 |
| - 0.55 |
| - 0.6 |
| - 0.65 |
| - 0.7 |
| - 0.75 |
| - 0.8 |
| - 0.85 |
| - 0.9 |
| - 0.95 |
| eval: |
| n_episodes: 20 |
| batch_size: 20 |
| use_async_envs: true |
| wandb: |
| enable: true |
| disable_artifact: true |
| project: lerobot |
| notes: '' |
| fps: 20 |
| env: |
| name: mimicgen |
| task: Stack_D0 |
| state_dim: 9 |
| action_dim: 7 |
| episode_length: 200 |
| meta: stack_d0_env.json |
| image_keys: |
| - agentview |
| - robot0_eye_in_hand |
| state_keys: |
| - robot0_eef_pos |
| - robot0_eef_quat |
| - robot0_gripper_qpos |
| use_delta_action: false |
| use_highres_image_obs: true |
| override_dataset_stats: |
| observation.images.agentview: |
| mean: |
| - - - 0.485 |
| - - - 0.456 |
| - - - 0.406 |
| std: |
| - - - 0.229 |
| - - - 0.224 |
| - - - 0.225 |
| observation.images.robot0_eye_in_hand: |
| mean: |
| - - - 0.485 |
| - - - 0.456 |
| - - - 0.406 |
| std: |
| - - - 0.229 |
| - - - 0.224 |
| - - - 0.225 |
| policy: |
| name: act |
| n_obs_steps: 1 |
| chunk_size: 20 |
| n_action_steps: 20 |
| input_shapes: |
| observation.images.agentview: |
| - 3 |
| - 256 |
| - 256 |
| observation.images.robot0_eye_in_hand: |
| - 3 |
| - 256 |
| - 256 |
| observation.state: |
| - ${env.state_dim} |
| output_shapes: |
| action: |
| - ${env.action_dim} |
| input_normalization_modes: |
| observation.images.agentview: mean_std |
| observation.images.robot0_eye_in_hand: mean_std |
| observation.state: mean_std |
| output_normalization_modes: |
| action: mean_std |
| vision_backbone: resnet18 |
| pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 |
| replace_final_stride_with_dilation: false |
| pre_norm: false |
| dim_model: 512 |
| n_heads: 8 |
| dim_feedforward: 3200 |
| feedforward_activation: relu |
| n_encoder_layers: 4 |
| n_decoder_layers: 1 |
| use_vae: true |
| latent_dim: 32 |
| n_vae_encoder_layers: 4 |
| temporal_ensemble_momentum: null |
| dropout: 0.1 |
| kl_weight: 10.0 |
|
|
