| { | |
| "dataset": { | |
| "repo_id": "stack_red_blocks_85", | |
| "root": "/home/yizhang/Projects/hackathon-ki-fabrik/data/stack_red_blocks_85", | |
| "episodes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35, | |
| 36, | |
| 37, | |
| 38, | |
| 39, | |
| 40, | |
| 41, | |
| 42, | |
| 43, | |
| 44, | |
| 45, | |
| 46, | |
| 47, | |
| 48, | |
| 49, | |
| 50, | |
| 51, | |
| 52, | |
| 53, | |
| 54, | |
| 55, | |
| 56, | |
| 57, | |
| 58, | |
| 59, | |
| 60, | |
| 61, | |
| 62, | |
| 63, | |
| 64, | |
| 65, | |
| 66, | |
| 67, | |
| 68, | |
| 69, | |
| 70, | |
| 71, | |
| 72, | |
| 73, | |
| 74, | |
| 75, | |
| 76, | |
| 77, | |
| 78, | |
| 79, | |
| 80, | |
| 81, | |
| 82, | |
| 83, | |
| 84, | |
| 85, | |
| 86 | |
| ], | |
| "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 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "pyav" | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "ditflow_image", | |
| "n_obs_steps": 2, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 18 | |
| ] | |
| }, | |
| "observation.images.rgb_static": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.rgb_left": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.rgb_right": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 17 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "horizon": 16, | |
| "n_action_steps": 8, | |
| "drop_n_last_frames": 7, | |
| "vision_backbone": "resnet18", | |
| "crop_shape": [ | |
| 224, | |
| 224 | |
| ], | |
| "crop_is_random": true, | |
| "pretrained_backbone_weights": null, | |
| "use_group_norm": true, | |
| "spatial_softmax_num_keypoints": 32, | |
| "use_separate_rgb_encoder_per_camera": true, | |
| "frequency_embedding_dim": 256, | |
| "hidden_dim": 512, | |
| "num_blocks": 6, | |
| "num_heads": 16, | |
| "dropout": 0.1, | |
| "dim_feedforward": 4096, | |
| "activation": "gelu", | |
| "training_noise_sampling": "uniform", | |
| "clip_sample": true, | |
| "clip_sample_range": 1.0, | |
| "num_inference_steps": 100, | |
| "do_mask_loss_for_padding": false, | |
| "optimizer_lr": 0.0002, | |
| "optimizer_betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "scheduler_name": "cosine", | |
| "scheduler_warmup_steps": 500 | |
| }, | |
| "output_dir": "/home/yizhang/Projects/hackathon-ki-fabrik/outputs/ditflow_image_stack_red_blocks_85_40000", | |
| "job_name": "ditflow_image_stack_red_blocks_85_40000", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 0, | |
| "batch_size": 64, | |
| "steps": 40000, | |
| "eval_freq": 20000, | |
| "log_freq": 200, | |
| "save_checkpoint": true, | |
| "save_freq": 5000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adam", | |
| "lr": 0.0002, | |
| "weight_decay": 1e-06, | |
| "grad_clip_norm": 10.0, | |
| "betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "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": true, | |
| "project": "paper", | |
| "entity": "470620104-technical-university-of-munich", | |
| "notes": null, | |
| "run_id": "glmozns7", | |
| "mode": null | |
| } | |
| } |