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resume: false
device: cuda
use_amp: false
seed: 1000
dataset_repo_id: keith2/lego1
video_backend: pyav
training:
offline_steps: 80000
num_workers: 4
batch_size: 8
eval_freq: -1
log_freq: 100
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
lr: 1.0e-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
- 1.0
- 1.05
- 1.1
- 1.15
- 1.2
- 1.25
- 1.3
- 1.35
- 1.4
- 1.45
- 1.5
- 1.55
- 1.6
- 1.65
- 1.7
- 1.75
- 1.8
- 1.85
- 1.9
- 1.95
- 2.0
- 2.05
- 2.1
- 2.15
- 2.2
- 2.25
- 2.3
- 2.35
- 2.4
- 2.45
- 2.5
- 2.55
- 2.6
- 2.65
- 2.7
- 2.75
- 2.8
- 2.85
- 2.9
- 2.95
- 3.0
- 3.05
- 3.1
- 3.15
- 3.2
- 3.25
- 3.3
- 3.35
- 3.4
- 3.45
- 3.5
- 3.55
- 3.6
- 3.65
- 3.7
- 3.75
- 3.8
- 3.85
- 3.9
- 3.95
- 4.0
- 4.05
- 4.1
- 4.15
- 4.2
- 4.25
- 4.3
- 4.35
- 4.4
- 4.45
- 4.5
- 4.55
- 4.6
- 4.65
- 4.7
- 4.75
- 4.8
- 4.85
- 4.9
- 4.95
eval:
n_episodes: 50
batch_size: 50
use_async_envs: false
wandb:
enable: true
disable_artifact: false
project: lerobot
notes: ''
fps: 20
env:
name: real_world
task: null
state_dim: 7
action_dim: 7
fps: ${fps}
override_dataset_stats:
observation.images.head:
mean:
- - - 0.485
- - - 0.456
- - - 0.406
std:
- - - 0.229
- - - 0.224
- - - 0.225
observation.images.wrist:
mean:
- - - 0.485
- - - 0.456
- - - 0.406
std:
- - - 0.229
- - - 0.224
- - - 0.225
policy:
name: act
n_obs_steps: 1
chunk_size: 100
n_action_steps: 100
input_shapes:
observation.images.head:
- 3
- 480
- 640
observation.images.wrist:
- 3
- 480
- 640
observation.state:
- ${env.state_dim}
output_shapes:
action:
- ${env.action_dim}
input_normalization_modes:
observation.images.head: mean_std
observation.images.wrist: 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
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