| device: cuda | |
| use_amp: false | |
| seed: 100000 | |
| dataset_repo_id: lerobot/pusht | |
| training: | |
| offline_steps: 200000 | |
| online_steps: 0 | |
| online_steps_between_rollouts: 1 | |
| online_sampling_ratio: 0.5 | |
| online_env_seed: ??? | |
| eval_freq: 10000 | |
| save_freq: 20000 | |
| log_freq: 250 | |
| save_model: true | |
| batch_size: 64 | |
| grad_clip_norm: 10 | |
| lr: 0.0001 | |
| lr_scheduler: cosine | |
| lr_warmup_steps: 500 | |
| adam_betas: | |
| - 0.95 | |
| - 0.999 | |
| adam_eps: 1.0e-08 | |
| adam_weight_decay: 1.0e-06 | |
| delta_timestamps: | |
| observation.image: | |
| - -0.1 | |
| - 0.0 | |
| observation.state: | |
| - -0.1 | |
| - 0.0 | |
| action: | |
| - -0.1 | |
| - 0.0 | |
| - 0.1 | |
| - 0.2 | |
| - 0.3 | |
| - 0.4 | |
| - 0.5 | |
| - 0.6 | |
| - 0.7 | |
| - 0.8 | |
| - 0.9 | |
| - 1.0 | |
| - 1.1 | |
| - 1.2 | |
| - 1.3 | |
| - 1.4 | |
| n_end_keyframes_dropped: ${policy.horizon} - ${policy.n_action_steps} - ${policy.n_obs_steps} | |
| + 1 | |
| eval: | |
| n_episodes: 50 | |
| batch_size: 50 | |
| use_async_envs: false | |
| wandb: | |
| enable: true | |
| disable_artifact: true | |
| project: lerobot | |
| notes: '' | |
| fps: 10 | |
| env: | |
| name: pusht | |
| task: PushT-v0 | |
| from_pixels: true | |
| pixels_only: false | |
| image_size: 96 | |
| episode_length: 300 | |
| fps: ${fps} | |
| state_dim: 2 | |
| action_dim: 2 | |
| override_dataset_stats: | |
| observation.image: | |
| mean: | |
| - - - 0.5 | |
| - - - 0.5 | |
| - - - 0.5 | |
| std: | |
| - - - 0.5 | |
| - - - 0.5 | |
| - - - 0.5 | |
| observation.state: | |
| min: | |
| - 13.456424 | |
| - 32.938293 | |
| max: | |
| - 496.14618 | |
| - 510.9579 | |
| action: | |
| min: | |
| - 12.0 | |
| - 25.0 | |
| max: | |
| - 511.0 | |
| - 511.0 | |
| policy: | |
| name: diffusion | |
| n_obs_steps: 2 | |
| horizon: 16 | |
| n_action_steps: 8 | |
| input_shapes: | |
| observation.image: | |
| - 3 | |
| - 96 | |
| - 96 | |
| observation.state: | |
| - ${env.state_dim} | |
| output_shapes: | |
| action: | |
| - ${env.action_dim} | |
| input_normalization_modes: | |
| observation.image: mean_std | |
| observation.state: min_max | |
| output_normalization_modes: | |
| action: min_max | |
| vision_backbone: resnet18 | |
| crop_shape: | |
| - 84 | |
| - 84 | |
| crop_is_random: true | |
| pretrained_backbone_weights: null | |
| use_group_norm: true | |
| spatial_softmax_num_keypoints: 32 | |
| down_dims: | |
| - 512 | |
| - 1024 | |
| - 2048 | |
| kernel_size: 5 | |
| n_groups: 8 | |
| diffusion_step_embed_dim: 128 | |
| use_film_scale_modulation: true | |
| 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: 100 | |