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Datasets:
lyhhan
/
so100_train_12_episodes

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dataset
dict
env
null
policy
dict
output_dir
stringclasses
1 value
job_name
stringclasses
1 value
resume
bool
1 class
device
stringclasses
1 value
use_amp
bool
1 class
seed
int64
1k
1k
num_workers
int64
4
4
batch_size
int64
8
8
eval_freq
int64
20k
20k
log_freq
int64
200
200
save_checkpoint
bool
1 class
save_freq
int64
20k
20k
offline
dict
online
dict
use_policy_training_preset
bool
1 class
optimizer
dict
scheduler
null
eval
dict
wandb
dict
{ "repo_id": "lyhhan/so100_test", "episodes": null, "image_transforms": { "enable": false, "max_num_transforms": 3, "random_order": false, "tfs": { "brightness": { "weight": 1, "type": "ColorJitter", "kwargs": { "brightness": [ 0.8, 1.2 ] } }, "contrast": { "weight": 1, "type": "ColorJitter", "kwargs": { "contrast": [ 0.8, 1.2 ] } }, "saturation": { "weight": 1, "type": "ColorJitter", "kwargs": { "saturation": [ 0.5, 1.5 ] } }, "hue": { "weight": 1, "type": "ColorJitter", "kwargs": { "hue": [ -0.05, 0.05 ] } }, "sharpness": { "weight": 1, "type": "SharpnessJitter", "kwargs": { "sharpness": [ 0.5, 1.5 ] } } } }, "local_files_only": false, "use_imagenet_stats": true, "video_backend": "pyav" }
null
{ "type": "act", "n_obs_steps": 1, "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "input_features": { "observation.state": { "type": "STATE", "shape": [ 6 ] }, "observation.images.laptop": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.phone": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "chunk_size": 100, "n_action_steps": 100, "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_coeff": null, "dropout": 0.1, "kl_weight": 10, "optimizer_lr": 0.00001, "optimizer_weight_decay": 0.0001, "optimizer_lr_backbone": 0.00001 }
outputs/train/act_so100_test
act_so100_test
false
cuda
false
1,000
4
8
20,000
200
true
20,000
{ "steps": 100000 }
{ "steps": 0, "rollout_n_episodes": 1, "rollout_batch_size": 1, "steps_between_rollouts": null, "sampling_ratio": 0.5, "env_seed": null, "buffer_capacity": null, "buffer_seed_size": 0, "do_rollout_async": false }
true
{ "type": "adamw", "lr": 0.00001, "weight_decay": 0.0001, "grad_clip_norm": 10, "betas": [ 0.9, 0.999 ], "eps": 1e-8 }
null
{ "n_episodes": 50, "batch_size": 50, "use_async_envs": false }
{ "enable": false, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null }
{ "repo_id": "lyhhan/so100_test", "episodes": null, "image_transforms": { "enable": false, "max_num_transforms": 3, "random_order": false, "tfs": { "brightness": { "weight": 1, "type": "ColorJitter", "kwargs": { "brightness": [ 0.8, 1.2 ] } }, "contrast": { "weight": 1, "type": "ColorJitter", "kwargs": { "contrast": [ 0.8, 1.2 ] } }, "saturation": { "weight": 1, "type": "ColorJitter", "kwargs": { "saturation": [ 0.5, 1.5 ] } }, "hue": { "weight": 1, "type": "ColorJitter", "kwargs": { "hue": [ -0.05, 0.05 ] } }, "sharpness": { "weight": 1, "type": "SharpnessJitter", "kwargs": { "sharpness": [ 0.5, 1.5 ] } } } }, "local_files_only": false, "use_imagenet_stats": true, "video_backend": "pyav" }
null
{ "type": "act", "n_obs_steps": 1, "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "input_features": { "observation.state": { "type": "STATE", "shape": [ 6 ] }, "observation.images.laptop": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.phone": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "chunk_size": 100, "n_action_steps": 100, "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_coeff": null, "dropout": 0.1, "kl_weight": 10, "optimizer_lr": 0.00001, "optimizer_weight_decay": 0.0001, "optimizer_lr_backbone": 0.00001 }
outputs/train/act_so100_test
act_so100_test
false
cuda
false
1,000
4
8
20,000
200
true
20,000
{ "steps": 100000 }
{ "steps": 0, "rollout_n_episodes": 1, "rollout_batch_size": 1, "steps_between_rollouts": null, "sampling_ratio": 0.5, "env_seed": null, "buffer_capacity": null, "buffer_seed_size": 0, "do_rollout_async": false }
true
{ "type": "adamw", "lr": 0.00001, "weight_decay": 0.0001, "grad_clip_norm": 10, "betas": [ 0.9, 0.999 ], "eps": 1e-8 }
null
{ "n_episodes": 50, "batch_size": 50, "use_async_envs": false }
{ "enable": false, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null }
{ "repo_id": "lyhhan/so100_test", "episodes": null, "image_transforms": { "enable": false, "max_num_transforms": 3, "random_order": false, "tfs": { "brightness": { "weight": 1, "type": "ColorJitter", "kwargs": { "brightness": [ 0.8, 1.2 ] } }, "contrast": { "weight": 1, "type": "ColorJitter", "kwargs": { "contrast": [ 0.8, 1.2 ] } }, "saturation": { "weight": 1, "type": "ColorJitter", "kwargs": { "saturation": [ 0.5, 1.5 ] } }, "hue": { "weight": 1, "type": "ColorJitter", "kwargs": { "hue": [ -0.05, 0.05 ] } }, "sharpness": { "weight": 1, "type": "SharpnessJitter", "kwargs": { "sharpness": [ 0.5, 1.5 ] } } } }, "local_files_only": false, "use_imagenet_stats": true, "video_backend": "pyav" }
null
{ "type": "act", "n_obs_steps": 1, "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "input_features": { "observation.state": { "type": "STATE", "shape": [ 6 ] }, "observation.images.laptop": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.phone": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "chunk_size": 100, "n_action_steps": 100, "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_coeff": null, "dropout": 0.1, "kl_weight": 10, "optimizer_lr": 0.00001, "optimizer_weight_decay": 0.0001, "optimizer_lr_backbone": 0.00001 }
outputs/train/act_so100_test
act_so100_test
false
cuda
false
1,000
4
8
20,000
200
true
20,000
{ "steps": 100000 }
{ "steps": 0, "rollout_n_episodes": 1, "rollout_batch_size": 1, "steps_between_rollouts": null, "sampling_ratio": 0.5, "env_seed": null, "buffer_capacity": null, "buffer_seed_size": 0, "do_rollout_async": false }
true
{ "type": "adamw", "lr": 0.00001, "weight_decay": 0.0001, "grad_clip_norm": 10, "betas": [ 0.9, 0.999 ], "eps": 1e-8 }
null
{ "n_episodes": 50, "batch_size": 50, "use_async_envs": false }
{ "enable": false, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null }

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