train_config_hilserl_so100.json

{
    "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": "hf_username/dataset_name",
        "use_imagenet_stats": false
    },
    "policy": {
        "type": "sac",
        "n_obs_steps": 1,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ENV": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "input_features": {
            "observation.images.side": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.images.front": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    15
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "dataset_stats": {
            "observation.images.side": {
                "mean": [
                    0.485,
                    0.456,
                    0.406
                ],
                "std": [
                    0.229,
                    0.224,
                    0.225
                ]
            },
            "observation.images.front": {
                "mean": [
                    0.485,
                    0.456,
                    0.406
                ],
                "std": [
                    0.229,
                    0.224,
                    0.225
                ]
            },
            "observation.state": {
                "min": [
                    -15.0,
                    -20.0,
                    10.0,
                    65.0,
                    0.0,
                    0.0,
                    -40.0,
                    -60.0,
                    -50.0,
                    -80.0,
                    -10.0,
                    -110.0,
                    -15.0,
                    -20.0,
                    15.0,
                    70.0,
                    -5.0,
                    0.0,
                    0.26,
                    -0.06,
                    0.25
                ],
                "max": [
                    15.0,
                    15.0,
                    40.0,
                    110.0,
                    0.5,
                    31.0,
                    53.0,
                    61.0,
                    67.0,
                    90.0,
                    6.0,
                    100.0,
                    15.0,
                    12.0,
                    40.0,
                    110.0,
                    0.5,
                    31.0,
                    0.32,
                    0.06,
                    0.35
                ]
            },
            "action": {
                "min": [
                    -0.03,
                    -0.03,
                    -0.03
                ],
                "max": [
                    0.03,
                    0.03,
                    0.03
                ]
            }
        },
        "num_discrete_actions": 3,
        "storage_device": "cuda",
        "vision_encoder_name": "helper2424/resnet10",
        "freeze_vision_encoder": true,
        "image_encoder_hidden_dim": 32,
        "shared_encoder": true,
        "online_steps": 1000000,
        "online_env_seed": 10000,
        "online_buffer_capacity": 30000,
        "offline_buffer_capacity": 10000,
        "online_step_before_learning": 100,
        "policy_update_freq": 1,
        "discount": 0.97,
        "async_prefetch": false,
        "temperature_init": 0.01,
        "num_critics": 2,
        "num_subsample_critics": null,
        "critic_lr": 0.0003,
        "actor_lr": 0.0003,
        "temperature_lr": 0.0003,
        "critic_target_update_weight": 0.005,
        "utd_ratio": 2,
        "state_encoder_hidden_dim": 256,
        "latent_dim": 256,
        "target_entropy": null,
        "use_backup_entropy": true,
        "grad_clip_norm": 40.0,
        "critic_network_kwargs": {
            "hidden_dims": [
                256,
                256
            ],
            "activate_final": true,
            "final_activation": null
        },
        "actor_network_kwargs": {
            "hidden_dims": [
                256,
                256
            ],
            "activate_final": true
        },
        "policy_kwargs": {
            "use_tanh_squash": true,
            "std_min": -5,
            "std_max": 2,
            "init_final": 0.05
        },
        "actor_learner_config": {
            "learner_host": "127.0.0.1",
            "learner_port": 50051,
            "policy_parameters_push_frequency": 4
        },
        "concurrency": {
            "actor": "threads",
            "learner": "threads"
        }
    },
    "env": {
        "type": "gym_manipulator",
        "robot": {
            "type": "so100_follower_end_effector",
            "port": "/dev/ttyACM0",
            "cameras": {
                "front": {
                    "type": "opencv",
                    "index_or_path": 2,
                    "height": 480,
                    "width": 640,
                    "fps": 30
                },
                "wrist": {
                    "type": "opencv",
                    "index_or_path": 8,
                    "height": 480,
                    "width": 640,
                    "fps": 30
                }
            },
            "end_effector_bounds": {
                "min": [
                    0.26,
                    -0.06,
                    0.25
                ],
                "max": [
                    0.32,
                    0.06,
                    0.35
                ]
            },
            "max_gripper_pos": 30
        },
        "teleop": {
            "type": "gamepad",
            "use_gripper": true
        },
        "wrapper": {
            "display_cameras": false,
            "add_joint_velocity_to_observation": true,
            "add_current_to_observation": true,
            "add_ee_pose_to_observation": true,
            "crop_params_dict": {
                "observation.images.front": [
                    270,
                    170,
                    90,
                    190
                ],
                "observation.images.wrist": [
                    0,
                    0,
                    480,
                    640
                ]
            },
            "resize_size": [
                128,
                128
            ],
            "control_time_s": 20.0,
            "use_gripper": true,
            "gripper_quantization_threshold": null,
            "gripper_penalty": -0.02,
            "gripper_penalty_in_reward": false,
            "fixed_reset_joint_positions": [
                0.0,
                -20.0,
                20.0,
                90.0,
                0.0,
                30.0
            ],
            "reset_time_s": 2.5,
            "control_mode": "gamepad"
        },
        "name": "real_robot",
        "mode": null,
        "repo_id": null,
        "dataset_root": null,
        "task": "",
        "num_episodes": 0,
        "episode": 0,
        "pretrained_policy_name_or_path": null,
        "device": "cuda",
        "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": [
                    15
                ]
            },
            "action": {
                "type": "ACTION",
                "shape": [
                    3
                ]
            }
        },
        "features_map": {
            "observation.images.front": "observation.images.side",
            "observation.images.wrist": "observation.images.wrist",
            "observation.state": "observation.state",
            "action": "action"
        }
    }
}