lerobot-example-config-files / eval_config_gym_hil.json
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add_IL_configs (#1)
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{
"output_dir": null,
"job_name": "default",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 256,
"steps": 100000,
"log_freq": 500,
"save_checkpoint": true,
"save_freq": 2000000,
"wandb": {
"enable": true,
"project": "so100_real",
"disable_artifact": true
},
"dataset": {
"repo_id": "pepijn223/il_gym0",
"use_imagenet_stats": false
},
"policy": {
"type": "act",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
18
]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
128,
128
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
128,
128
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
4
]
}
},
"device": "cpu",
"use_amp": false,
"chunk_size": 100,
"n_action_steps": 100,
"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,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 1e-05
},
"env": {
"type": "hil",
"wrapper": {
"gripper_penalty": 0,
"display_cameras": false,
"add_joint_velocity_to_observation": true,
"add_ee_pose_to_observation": true,
"crop_params_dict": {
"observation.images.front": [
0,
0,
128,
128
],
"observation.images.wrist": [
0,
0,
128,
128
]
},
"resize_size": [
128,
128
],
"control_time_s": 15.0,
"use_gripper": true,
"fixed_reset_joint_positions": [
0.0,
0.195,
0.0,
-2.43,
0.0,
2.62,
0.785
],
"reset_time_s": 2.0,
"control_mode": "gamepad"
},
"name": "franka_sim",
"mode": "eval",
"repo_id": null,
"dataset_root": null,
"task": "PandaPickCubeGamepad-v0",
"num_episodes": 30,
"episode": 0,
"pretrained_policy_name_or_path": "pepijn223/il_sim_test0",
"device": "cpu",
"push_to_hub": true,
"fps": 10,
"features": {
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
128,
128
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
128,
128
]
},
"observation.state": {
"type": "STATE",
"shape": [
18
]
},
"action": {
"type": "ACTION",
"shape": [
3
]
}
},
"features_map": {
"observation.images.front": "observation.images.front",
"observation.images.wrist": "observation.images.wrist",
"observation.state": "observation.state",
"action": "action"
},
"reward_classifier_pretrained_path": null
}
}