Upload train_config.json
Browse files- train_config.json +206 -0
train_config.json
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| 1 |
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "imstevenpmwork/thanos_picking_power_gem_1749731584242992",
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| 4 |
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"root": null,
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| 5 |
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"episodes": null,
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| 6 |
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"image_transforms": {
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| 7 |
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"enable": false,
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| 8 |
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"max_num_transforms": 3,
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| 9 |
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"random_order": false,
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| 10 |
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"tfs": {
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| 11 |
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"brightness": {
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| 12 |
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"weight": 1.0,
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| 13 |
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"type": "ColorJitter",
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| 14 |
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"kwargs": {
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| 15 |
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"brightness": [
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| 16 |
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0.8,
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| 17 |
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1.2
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| 18 |
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]
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| 19 |
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}
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| 20 |
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},
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| 21 |
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"contrast": {
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| 22 |
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"weight": 1.0,
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| 23 |
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"type": "ColorJitter",
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| 24 |
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"kwargs": {
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| 25 |
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"contrast": [
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| 26 |
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0.8,
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| 27 |
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1.2
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| 28 |
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]
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| 29 |
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}
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| 30 |
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},
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| 31 |
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"saturation": {
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| 32 |
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"weight": 1.0,
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| 33 |
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"type": "ColorJitter",
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| 34 |
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"kwargs": {
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| 35 |
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"saturation": [
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| 36 |
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0.5,
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| 37 |
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1.5
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| 38 |
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]
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| 39 |
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}
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| 40 |
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},
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| 41 |
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"hue": {
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| 42 |
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"weight": 1.0,
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| 43 |
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"type": "ColorJitter",
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| 44 |
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"kwargs": {
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| 45 |
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"hue": [
|
| 46 |
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-0.05,
|
| 47 |
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0.05
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| 48 |
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]
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| 49 |
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}
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| 50 |
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},
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| 51 |
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"sharpness": {
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| 52 |
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"weight": 1.0,
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| 53 |
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"type": "SharpnessJitter",
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| 54 |
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"kwargs": {
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| 55 |
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"sharpness": [
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| 56 |
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0.5,
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| 57 |
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1.5
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| 58 |
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]
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| 59 |
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}
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| 60 |
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}
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| 61 |
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}
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| 62 |
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},
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| 63 |
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"revision": null,
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| 64 |
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"use_imagenet_stats": true,
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| 65 |
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"video_backend": "torchcodec"
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| 66 |
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},
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| 67 |
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"env": null,
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| 68 |
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"policy": {
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| 69 |
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"type": "smolvla",
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| 70 |
+
"n_obs_steps": 1,
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| 71 |
+
"normalization_mapping": {
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| 72 |
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"VISUAL": "IDENTITY",
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| 73 |
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"STATE": "MEAN_STD",
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| 74 |
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"ACTION": "MEAN_STD"
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| 75 |
+
},
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| 76 |
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"input_features": {
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| 77 |
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"observation.state": {
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| 78 |
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"type": "STATE",
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| 79 |
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"shape": [
|
| 80 |
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6
|
| 81 |
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]
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| 82 |
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},
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| 83 |
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"observation.images.front": {
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| 84 |
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"type": "VISUAL",
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| 85 |
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"shape": [
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| 86 |
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3,
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| 87 |
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480,
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| 88 |
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640
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| 89 |
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]
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| 90 |
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},
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| 91 |
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"observation.images.eagle": {
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| 92 |
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"type": "VISUAL",
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| 93 |
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"shape": [
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| 94 |
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3,
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| 95 |
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480,
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| 96 |
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640
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| 97 |
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]
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| 98 |
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},
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| 99 |
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"observation.images.glove": {
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| 100 |
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"type": "VISUAL",
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| 101 |
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"shape": [
|
| 102 |
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3,
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| 103 |
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480,
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| 104 |
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640
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| 105 |
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]
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| 106 |
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}
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| 107 |
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},
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| 108 |
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"output_features": {
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| 109 |
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"action": {
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| 110 |
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"type": "ACTION",
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| 111 |
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"shape": [
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| 112 |
+
6
|
| 113 |
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]
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| 114 |
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}
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| 115 |
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},
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| 116 |
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"device": "mps",
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| 117 |
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"use_amp": false,
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| 118 |
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"push_to_hub": true,
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| 119 |
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"repo_id": "pepijn223/my_policy17",
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| 120 |
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"dataset_repo_id": "imstevenpmwork/thanos_picking_power_gem_1749731584242992",
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| 121 |
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"chunk_size": 50,
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| 122 |
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"n_action_steps": 50,
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| 123 |
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"max_state_dim": 32,
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| 124 |
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"max_action_dim": 32,
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| 125 |
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"resize_imgs_with_padding": [
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| 126 |
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512,
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| 127 |
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512
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| 128 |
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],
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| 129 |
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"empty_cameras": 0,
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| 130 |
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"adapt_to_pi_aloha": false,
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| 131 |
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"use_delta_joint_actions_aloha": false,
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| 132 |
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"tokenizer_max_length": 48,
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| 133 |
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"num_steps": 10,
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| 134 |
+
"use_cache": true,
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| 135 |
+
"freeze_vision_encoder": true,
|
| 136 |
+
"train_expert_only": true,
|
| 137 |
+
"train_state_proj": true,
|
| 138 |
+
"optimizer_lr": 0.0001,
|
| 139 |
+
"optimizer_betas": [
|
| 140 |
+
0.9,
|
| 141 |
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0.95
|
| 142 |
+
],
|
| 143 |
+
"optimizer_eps": 1e-08,
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| 144 |
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"optimizer_weight_decay": 1e-10,
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| 145 |
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"optimizer_grad_clip_norm": 10,
|
| 146 |
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"scheduler_warmup_steps": 1000,
|
| 147 |
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"scheduler_decay_steps": 30000,
|
| 148 |
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"scheduler_decay_lr": 2.5e-06,
|
| 149 |
+
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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| 150 |
+
"load_vlm_weights": false,
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| 151 |
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"add_image_special_tokens": false,
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| 152 |
+
"attention_mode": "cross_attn",
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| 153 |
+
"prefix_length": -1,
|
| 154 |
+
"pad_language_to": "longest",
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| 155 |
+
"num_expert_layers": -1,
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| 156 |
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"num_vlm_layers": 16,
|
| 157 |
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"self_attn_every_n_layers": 2,
|
| 158 |
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"expert_width_multiplier": 0.75,
|
| 159 |
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"min_period": 0.004,
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| 160 |
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"max_period": 4.0
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| 161 |
+
},
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| 162 |
+
"output_dir": "outputs/train/2025-06-24/18-31-32_smolvla",
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| 163 |
+
"job_name": "smolvla",
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| 164 |
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"resume": false,
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| 165 |
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"seed": 1000,
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| 166 |
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"num_workers": 4,
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| 167 |
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"batch_size": 8,
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| 168 |
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"steps": 1,
|
| 169 |
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"eval_freq": 20000,
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| 170 |
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"log_freq": 200,
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| 171 |
+
"save_checkpoint": true,
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| 172 |
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"save_freq": 20000,
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| 173 |
+
"use_policy_training_preset": true,
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| 174 |
+
"optimizer": {
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| 175 |
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"type": "adamw",
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| 176 |
+
"lr": 0.0001,
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| 177 |
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"weight_decay": 1e-10,
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| 178 |
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"grad_clip_norm": 10,
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| 179 |
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"betas": [
|
| 180 |
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0.9,
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| 181 |
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0.95
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| 182 |
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],
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| 183 |
+
"eps": 1e-08
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| 184 |
+
},
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| 185 |
+
"scheduler": {
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| 186 |
+
"type": "cosine_decay_with_warmup",
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| 187 |
+
"num_warmup_steps": 1000,
|
| 188 |
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"num_decay_steps": 30000,
|
| 189 |
+
"peak_lr": 0.0001,
|
| 190 |
+
"decay_lr": 2.5e-06
|
| 191 |
+
},
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| 192 |
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"eval": {
|
| 193 |
+
"n_episodes": 50,
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| 194 |
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"batch_size": 50,
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| 195 |
+
"use_async_envs": false
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| 196 |
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},
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| 197 |
+
"wandb": {
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| 198 |
+
"enable": true,
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| 199 |
+
"disable_artifact": false,
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| 200 |
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"project": "lerobot",
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| 201 |
+
"entity": null,
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| 202 |
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"notes": null,
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| 203 |
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"run_id": "xg3v512n",
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| 204 |
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"mode": null
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| 205 |
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}
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| 206 |
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}
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