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iantc104
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rpl_real_peg_in_hole_rnd_keypoints

Robotics
Safetensors
rpl
model_hub_mixin
pytorch_model_hub_mixin
rnd
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iantc104 commited on
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Upload YAML configuration

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  1. config.yaml +140 -0
config.yaml ADDED
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+ env:
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+ name: none
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+ resume: false
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+ device: cuda:1
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+ use_amp: false
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+ seed: 1000
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+ dataset_repo_id: iantc104/rpl_real_peg_in_hole
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+ video_backend: pyav
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+ training:
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+ offline_steps: 50000
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+ num_workers: 4
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+ batch_size: 8
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+ eval_freq: ???
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+ log_freq: 100
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+ save_checkpoint: true
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+ save_freq: 10000
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+ online_steps: ???
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+ online_rollout_n_episodes: 1
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+ online_rollout_batch_size: 1
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+ online_steps_between_rollouts: 1
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+ online_sampling_ratio: 0.5
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+ online_env_seed: null
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+ online_buffer_capacity: null
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+ online_buffer_seed_size: 0
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+ do_online_rollout_async: false
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+ image_transforms:
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+ enable: false
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+ max_num_transforms: 3
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+ random_order: false
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+ brightness:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ contrast:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ saturation:
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+ weight: 1
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+ min_max:
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+ - 0.5
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+ - 1.5
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+ hue:
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+ weight: 1
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+ min_max:
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+ - -0.05
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+ - 0.05
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+ sharpness:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ num_episodes: 40
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+ lr: 1.0e-05
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+ weight_decay: 0.0001
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+ grad_clip_norm: 10
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+ delta_timestamps:
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+ observation.images.wrist:
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+ - -2.0
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+ - -1.0
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+ - 0.0
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+ observation.state:
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+ - -2.0
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+ - -1.0
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+ - 0.0
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+ eval:
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+ n_episodes: 1
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+ batch_size: 1
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+ use_async_envs: false
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+ wandb:
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+ enable: true
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+ disable_artifact: false
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+ project: rpl_sim
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+ notes: ''
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+ fps: 1
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+ policy:
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+ name: rnd
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+ n_obs_steps: 3
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+ fps: ${fps}
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+ input_shapes:
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+ observation.images.wrist:
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+ - 3
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+ - 120
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+ - 160
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+ observation.state:
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+ - 22
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+ input_normalization_modes:
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+ observation.images.wrist: mean_std
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+ observation.state: mean_std
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+ predictor_cnn_out_channels:
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+ - 16
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+ - 32
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+ - 64
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+ predictor_cnn_kernel_size:
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+ - 10
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+ - 6
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+ - 4
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+ predictor_cnn_stride:
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+ - 5
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+ - 3
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+ - 2
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+ predictor_cnn_padding:
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+ - 0
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+ - 0
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+ - 0
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+ predictor_cnn_use_batchnorm: false
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+ predictor_cnn_use_maxpool: false
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+ predictor_cnn_use_spatial_softmax: true
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+ predictor_cnn_spatial_softmax_num_keypoints: 32
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+ predictor_mlp_hidden_sizes:
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+ - 512
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+ - 512
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+ predictor_activation: ReLU
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+ target_cnn_out_channels:
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+ - 16
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+ - 32
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+ - 64
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+ target_cnn_kernel_size:
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+ - 10
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+ - 6
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+ - 4
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+ target_cnn_stride:
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+ - 5
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+ - 3
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+ - 2
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+ target_cnn_padding:
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+ - 0
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+ - 0
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+ - 0
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+ target_cnn_use_batchnorm: false
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+ target_cnn_use_maxpool: false
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+ target_cnn_use_spatial_softmax: true
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+ target_cnn_spatial_softmax_num_keypoints: 32
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+ target_mlp_hidden_sizes:
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+ - 512
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+ - 512
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+ target_activation: ReLU
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+ dim_output: 512