config.json

{
  "dataset_repo_id": "binhpham/spc-pick-stuff",
  "dataset_root": "../data_collection/data",
  "ds_cfg": {
    "terminal_window_frames": 15,
    "smoothing_window": 5,
    "image_size": 224,
    "color_jitter": [
      0.3,
      0.3,
      0.3,
      0.05
    ],
    "random_erasing_p": 0.25,
    "affine_degrees": 4.0,
    "affine_translate": [
      0.03,
      0.03
    ],
    "gaussian_blur_kernel": 5,
    "state_noise_std": 0.5,
    "state_noise_slider_std": 0.05,
    "crop_scale": [
      0.85,
      1.0
    ],
    "crop_ratio": [
      0.95,
      1.05
    ],
    "image_key": "observation.images.arm_camera",
    "state_key": "observation.state"
  },
  "model_cfg": {
    "state_dim": 7,
    "image_size": 224,
    "hidden_dim": 256,
    "state_hidden": 64,
    "dropout": 0.1,
    "pretrained_backbone": true,
    "freeze_backbone_stem": true,
    "image_mean": [
      0.485,
      0.456,
      0.406
    ],
    "image_std": [
      0.229,
      0.224,
      0.225
    ]
  },
  "train": {
    "num_epochs": 20,
    "batch_size": 64,
    "lr": 0.0003,
    "weight_decay": 0.0001,
    "terminal_window": 15,
    "val_fraction": 0.15,
    "positive_oversample": 1.0,
    "image_size": 224,
    "seed": 0
  },
  "train_episodes": [
    0,
    1,
    2,
    3,
    4,
    6,
    8,
    9,
    10,
    11,
    13,
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    16,
    17,
    18,
    19,
    20,
    21,
    22,
    23,
    24,
    25,
    26,
    28,
    29,
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    31,
    32,
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    34,
    36,
    37,
    38,
    39,
    43,
    44,
    45,
    46,
    47,
    48,
    49,
    50
  ],
  "val_episodes": [
    5,
    7,
    12,
    27,
    35,
    40,
    41,
    42
  ]
}