| seed: 42 |
| device: cuda:0 |
| n_epochs: 50 |
| batch_size: 16 |
| gradient_accumulation_steps: 1 |
| mixed_precision: 'no' |
| learning_rate: 8.0e-05 |
| lr_scheduler: constant |
| ent_coef: 0.01 |
| l2_coef: 0.01 |
| weight_decay: 0 |
| max_grad_norm: 1.0 |
| agent_class: sl_agent.SL |
| policy: ARMYPolicy |
| policy_kwargs: |
| dim_decoder: 512 |
| n_decoder_layers: 4 |
| n_decoder_heads: 8 |
| use_rmsnorm: true |
| pre_norm: true |
| sa_att: true |
| ca_att: true |
| army_att: true |
| army_residual: false |
| army_norm: math |
| dropout: 0.0 |
| dropout_residual: 0.0 |
| action_horizon: 16 |
| optimizer_kwargs: |
| eps: 1.0e-08 |
| noise: false |
| preprocessor_class: Lerobot_2_Army |
| preprocessor_kwargs: |
| resize_images: !!python/tuple |
| - 94 |
| - 94 |
| normalize_images: true |
| tokenizer_kwargs: |
| model_template: qwen2-chat |
| num_image_token: 9 |
| padding_max_length: 60 |
| padding_side: right |
| prompt_generator: FixedPromptGenerator("Insert the peg into the hole.") |
| observation_modes: |
| observation.state: min_max |
| action_modes: |
| action: min_max |
| overwrite_stats: false |
| stats: null |
| data_key_map: |
| observation.images.base_camera: cam1 |
| observation.images.hand_camera: cam2 |
| observation.images.head_camera: cam2 |
| observation.images.image_side_1: cam1 |
| observation.images.image_side_2: cam2 |
| observation.images.image_wrist_1: cam3 |
| observation.images.image_wrist_2: cam4 |
| observation.top: cam1 |
| image: cam1 |
| wrist_image: cam2 |
| observation.state: state |
| state: state |
| action: action |
| actions: action |
| task: StackCube-v1 |
| env_cfg: |
| name: maniskill |
| task: StackCube-v1 |
| dataset_repo_id: johnMinelli/ManiSkill_StackCube-v1_recovery |
| episodes: null |
| dataset_revision: v2.0 |
| dataset_root: null |
| video_backend: pyav |
| input_shapes: |
| observation.images.base_camera: !!python/tuple |
| - 480 |
| - 640 |
| - 3 |
| observation.images.hand_camera: !!python/tuple |
| - 480 |
| - 640 |
| - 3 |
| observation.state: !!python/tuple |
| - 9 |
| observation.privileged: !!python/tuple |
| - 30 |
| output_shapes: |
| action: !!python/tuple |
| - 16 |
| - 8 |
| normalization: |
| observation_modes: |
| observation.state: min_max |
| action_modes: |
| action: min_max |
| fps: 20 |
| delta_timestamps: |
| expert_mask: '[i / 20 for i in range(16)]' |
| observation.images.base_camera: '[i / 20 for i in range(16)]' |
| observation.images.hand_camera: '[i / 20 for i in range(16)]' |
| observation.state: '[i / 20 for i in range(16)]' |
| action: '[i / 20 for i in range(16)]' |
| image_transforms: |
| enable: false |
|
|
