lerobot-example-config-files / train_gym_hil_env.json
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Update train_gym_hil_env.json
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{
"output_dir": null,
"job_name": "default",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 256,
"steps": 100000,
"log_freq": 1,
"save_checkpoint": true,
"save_freq": 2000,
"wandb": {
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"project": "franka_sim",
"disable_artifact": true
},
"dataset": {
"repo_id": "aractingi/franka_sim_pick_lift_6",
"use_imagenet_stats": false
},
"policy": {
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"n_obs_steps": 1,
"normalization_mapping": {
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"STATE": "MIN_MAX",
"ENV": "MIN_MAX",
"ACTION": "MIN_MAX"
},
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},
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},
"device": "cuda",
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"storage_device": "cpu",
"vision_encoder_name": "helper2424/resnet10",
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"image_encoder_hidden_dim": 32,
"shared_encoder": true,
"online_steps": 1000000,
"online_env_seed": 10000,
"online_buffer_capacity": 100000,
"offline_buffer_capacity": 100000,
"online_step_before_learning": 100,
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"discount": 0.97,
"temperature_init": 0.01,
"num_critics": 2,
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"critic_lr": 0.0003,
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"use_backup_entropy": true,
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"critic_network_kwargs": {
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},
"actor_network_kwargs": {
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},
"policy_kwargs": {
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"std_min": 1e-5,
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},
"actor_learner_config": {
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"policy_parameters_push_frequency": 4
},
"concurrency": {
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}
},
"env": {
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"wrapper": {
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"display_cameras": false,
"add_joint_velocity_to_observation": true,
"add_ee_pose_to_observation": true,
"crop_params_dict": {
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],
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128
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},
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"control_mode": "gamepad"
},
"name": "franka_sim",
"mode": null,
"repo_id": "aractingi/franka_sim_pick_lift_6",
"dataset_root": null,
"task": "PandaPickCubeGamepad-v0",
"num_episodes": 30,
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"pretrained_policy_name_or_path": null,
"device": "cuda",
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"features": {
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},
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},
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},
"features_map": {
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"observation.images.wrist": "observation.images.wrist",
"observation.state": "observation.state",
"action": "action"
},
"reward_classifier_pretrained_path": null
}
}