| config: {'dataset': {'repo_id': '/opt/lerobot/workspace/Datasets/merged_speakers_clean', 'root': None, 'episodes': None, '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]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'pyav', 'return_uint8': False, 'streaming': False}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'horizon': 64, 'n_action_steps': 32, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'drop_n_last_frames': 7, 'vision_backbone': 'resnet18', 'resize_shape': None, 'crop_ratio': 1.0, 'crop_shape': None, 'crop_is_random': True, 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'use_group_norm': False, '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': 20, 'compile_model': False, 'compile_mode': 'reduce-overhead', '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': '/opt/lerobot/workspace/outputs/diffusion_test_cleaned', 'job_name': 'diffusion', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 10, 'batch_size': 64, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 10000, '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': 9, 'use_async_envs': True}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'use_rabc': False, 'rabc_progress_path': None, 'rabc_kappa': 0.01, 'rabc_epsilon': 1e-06, 'rabc_head_mode': 'sparse', 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}} |
