| resume: false |
| device: cpu |
| use_amp: true |
| seed: 1000 |
| dataset_repo_id: JHeisler/aloha_solo_left_4_6_26 |
| video_backend: pyav |
| training: |
| offline_steps: 10 |
| num_workers: 0 |
| batch_size: 1 |
| eval_freq: -1 |
| log_freq: 50 |
| save_checkpoint: true |
| save_freq: 5 |
| online_steps: 0 |
| online_rollout_n_episodes: 1 |
| online_rollout_batch_size: 1 |
| online_steps_between_rollouts: 1 |
| online_sampling_ratio: 0.5 |
| online_env_seed: null |
| online_buffer_capacity: null |
| online_buffer_seed_size: 0 |
| do_online_rollout_async: false |
| image_transforms: |
| enable: false |
| max_num_transforms: 3 |
| random_order: false |
| brightness: |
| weight: 1 |
| min_max: |
| - 0.8 |
| - 1.2 |
| contrast: |
| weight: 1 |
| min_max: |
| - 0.8 |
| - 1.2 |
| saturation: |
| weight: 1 |
| min_max: |
| - 0.5 |
| - 1.5 |
| hue: |
| weight: 1 |
| min_max: |
| - -0.05 |
| - 0.05 |
| sharpness: |
| weight: 1 |
| min_max: |
| - 0.8 |
| - 1.2 |
| lr: 1.0e-05 |
| lr_backbone: 1.0e-05 |
| weight_decay: 0.0001 |
| grad_clip_norm: 10 |
| delta_timestamps: |
| action: |
| - 0.0 |
| - 0.02 |
| - 0.04 |
| - 0.06 |
| - 0.08 |
| - 0.1 |
| - 0.12 |
| - 0.14 |
| - 0.16 |
| - 0.18 |
| - 0.2 |
| - 0.22 |
| - 0.24 |
| - 0.26 |
| - 0.28 |
| - 0.3 |
| - 0.32 |
| - 0.34 |
| - 0.36 |
| - 0.38 |
| - 0.4 |
| - 0.42 |
| - 0.44 |
| - 0.46 |
| - 0.48 |
| - 0.5 |
| - 0.52 |
| - 0.54 |
| - 0.56 |
| - 0.58 |
| - 0.6 |
| - 0.62 |
| - 0.64 |
| - 0.66 |
| - 0.68 |
| - 0.7 |
| - 0.72 |
| - 0.74 |
| - 0.76 |
| - 0.78 |
| - 0.8 |
| - 0.82 |
| - 0.84 |
| - 0.86 |
| - 0.88 |
| - 0.9 |
| - 0.92 |
| - 0.94 |
| - 0.96 |
| - 0.98 |
| eval: |
| n_episodes: 10 |
| batch_size: 10 |
| use_async_envs: false |
| wandb: |
| enable: false |
| disable_artifact: false |
| project: lerobot |
| notes: '' |
| fps: 50 |
| env: |
| name: aloha |
| task: null |
| state_dim: 9 |
| action_dim: 9 |
| fps: ${fps} |
| override_dataset_stats: |
| observation.images.cam_high: |
| mean: |
| - - - 0.485 |
| - - - 0.456 |
| - - - 0.406 |
| std: |
| - - - 0.229 |
| - - - 0.224 |
| - - - 0.225 |
| observation.images.cam_left_wrist: |
| mean: |
| - - - 0.485 |
| - - - 0.456 |
| - - - 0.406 |
| std: |
| - - - 0.229 |
| - - - 0.224 |
| - - - 0.225 |
| output_dir: outputs/act_aloha_solo |
| policy: |
| name: act |
| n_obs_steps: 1 |
| chunk_size: 50 |
| n_action_steps: 50 |
| input_shapes: |
| observation.images.cam_high: |
| - 3 |
| - 480 |
| - 640 |
| observation.images.cam_left_wrist: |
| - 3 |
| - 480 |
| - 640 |
| observation.state: |
| - ${env.state_dim} |
| output_shapes: |
| action: |
| - ${env.action_dim} |
| input_normalization_modes: |
| observation.images.cam_high: mean_std |
| observation.images.cam_left_wrist: mean_std |
| observation.state: mean_std |
| output_normalization_modes: |
| action: mean_std |
| 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: 10.0 |
|
|
