| { |
| "dataset": { |
| "repo_id": "yzembodied/libero_10_image_task_3", |
| "root": null, |
| "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 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "pyav" |
| }, |
| "env": { |
| "type": "libero", |
| "task": "Libero_10_Task_3", |
| "fps": 20, |
| "features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "agent_pos": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "joint_state": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "pixels/image": { |
| "type": "VISUAL", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ] |
| }, |
| "pixels/wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ] |
| } |
| }, |
| "features_map": { |
| "action": "action", |
| "agent_pos": "observation.state", |
| "joint_state": "observation.state.joint", |
| "pixels/image": "observation.images.image", |
| "pixels/wrist_image": "observation.images.wrist_image" |
| }, |
| "benchmark": "libero_10", |
| "task_id": "task_0", |
| "episode_length": 500 |
| }, |
| "policy": { |
| "type": "diffusion", |
| "n_obs_steps": 5, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "input_features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "observation.state.joint": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "horizon": 16, |
| "n_action_steps": 8, |
| "drop_n_last_frames": 7, |
| "vision_backbone": "resnet18", |
| "crop_shape": null, |
| "crop_is_random": false, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "use_separate_rgb_encoder_per_camera": true, |
| "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/2025-03-24/01-35-39_libeo10_task3_diffusion", |
| "job_name": "libeo10_task3_diffusion", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 16, |
| "batch_size": 32, |
| "steps": 80000, |
| "eval_freq": 20000, |
| "log_freq": 500, |
| "save_checkpoint": true, |
| "save_freq": 20000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adam", |
| "lr": 0.0001, |
| "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": 1, |
| "use_async_envs": false, |
| "max_episodes_rendered": 4 |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": true, |
| "project": "lifelong_learning", |
| "entity": "470620104-technical-university-of-munich", |
| "notes": null |
| } |
| } |
