| resume: false | |
| device: cuda | |
| use_amp: false | |
| seed: 0 | |
| dataset_repo_id: iantc104/gaze_real_occluded_insertion | |
| video_backend: pyav | |
| training: | |
| offline_steps: 100000 | |
| num_workers: 4 | |
| batch_size: 8 | |
| eval_freq: -1 | |
| log_freq: 100 | |
| save_checkpoint: true | |
| save_freq: 10000 | |
| 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 | |
| - 0.030303030303030304 | |
| - 0.06060606060606061 | |
| - 0.09090909090909091 | |
| - 0.12121212121212122 | |
| - 0.15151515151515152 | |
| - 0.18181818181818182 | |
| - 0.21212121212121213 | |
| - 0.24242424242424243 | |
| - 0.2727272727272727 | |
| - 0.30303030303030304 | |
| - 0.3333333333333333 | |
| - 0.36363636363636365 | |
| - 0.3939393939393939 | |
| - 0.42424242424242425 | |
| - 0.45454545454545453 | |
| - 0.48484848484848486 | |
| - 0.5151515151515151 | |
| - 0.5454545454545454 | |
| - 0.5757575757575758 | |
| - 0.6060606060606061 | |
| - 0.6363636363636364 | |
| - 0.6666666666666666 | |
| - 0.696969696969697 | |
| - 0.7272727272727273 | |
| - 0.7575757575757576 | |
| - 0.7878787878787878 | |
| - 0.8181818181818182 | |
| - 0.8484848484848485 | |
| - 0.8787878787878788 | |
| - 0.9090909090909091 | |
| - 0.9393939393939394 | |
| - 0.9696969696969697 | |
| - 1.0 | |
| - 1.0303030303030303 | |
| - 1.0606060606060606 | |
| - 1.0909090909090908 | |
| - 1.121212121212121 | |
| - 1.1515151515151516 | |
| - 1.1818181818181819 | |
| - 1.2121212121212122 | |
| - 1.2424242424242424 | |
| - 1.2727272727272727 | |
| - 1.303030303030303 | |
| - 1.3333333333333333 | |
| - 1.3636363636363635 | |
| - 1.393939393939394 | |
| - 1.4242424242424243 | |
| - 1.4545454545454546 | |
| - 1.4848484848484849 | |
| eval: | |
| n_episodes: 50 | |
| batch_size: 10 | |
| use_async_envs: false | |
| wandb: | |
| enable: true | |
| disable_artifact: true | |
| project: real_occluded_insertion | |
| notes: '' | |
| fps: 33 | |
| env: | |
| name: real_world | |
| task: null | |
| state_dim: 21 | |
| action_dim: 21 | |
| fps: ${fps} | |
| override_dataset_stats: | |
| observation.images.left_eye_cam: | |
| mean: | |
| - - - 0.485 | |
| - - - 0.456 | |
| - - - 0.406 | |
| std: | |
| - - - 0.229 | |
| - - - 0.224 | |
| - - - 0.225 | |
| observation.images.right_eye_cam: | |
| mean: | |
| - - - 0.485 | |
| - - - 0.456 | |
| - - - 0.406 | |
| std: | |
| - - - 0.229 | |
| - - - 0.224 | |
| - - - 0.225 | |
| policy: | |
| name: act | |
| n_obs_steps: 1 | |
| chunk_size: 50 | |
| n_action_steps: 50 | |
| input_shapes: | |
| observation.images.left_eye_cam: | |
| - 3 | |
| - 480 | |
| - 640 | |
| observation.images.right_eye_cam: | |
| - 3 | |
| - 480 | |
| - 640 | |
| observation.state: | |
| - ${env.state_dim} | |
| output_shapes: | |
| action: | |
| - ${env.action_dim} | |
| input_normalization_modes: | |
| observation.images.left_eye_cam: mean_std | |
| observation.images.right_eye_cam: mean_std | |
| observation.state: mean_std | |
| output_normalization_modes: | |
| action: mean_std | |
| image_size: | |
| - 336 | |
| - 448 | |
| vision_backbone: dinov2 | |
| pretrained_backbone_weights: dinov2_vits14_reg | |
| freeze_backbone: true | |
| use_attn: true | |
| attn_sigma: 25 | |
| attn_layers: | |
| - -1 | |
| attn_loss_weights: | |
| - 10.0 | |
| eyes: | |
| observation.left_eye: observation.images.left_eye_cam | |
| 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 | |