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Create eval_config.json

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  1. sim_il/eval_config.json +187 -0
sim_il/eval_config.json ADDED
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+ {
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+ "output_dir": null,
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+ "seed": 1000,
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+ "steps": 100000,
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+ "save_checkpoint": true,
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+ "enable": true,
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+ "project": "so100_real",
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+ "disable_artifact": true
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+ },
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+ "dataset": {
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+ "repo_id": "pepijn223/il_gym0",
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+ "use_imagenet_stats": false
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+ },
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+ "policy": {
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+ "type": "act",
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+ "n_obs_steps": 1,
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+ "normalization_mapping": {
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+ "VISUAL": "MEAN_STD",
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ },
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+ "input_features": {
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+ "type": "STATE",
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+ "device": "cpu",
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+ "vision_backbone": "resnet18",
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+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+ "replace_final_stride_with_dilation": false,
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+ "pre_norm": false,
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+ "temporal_ensemble_coeff": null,
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+ "dropout": 0.1,
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+ "kl_weight": 10.0,
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+ "optimizer_lr": 1e-05,
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+ "optimizer_weight_decay": 0.0001,
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+ "optimizer_lr_backbone": 1e-05
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+ },
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+ "env": {
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+ "name": "gym_hil",
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+ "task": "PandaPickCubeGamepad-v0",
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+ "fps": 10,
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+ "robot": null,
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+ "processor": {
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+ "control_mode": "gamepad",
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+ "observation": {
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+ "add_joint_velocity_to_observation": true,
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+ "add_ee_pose_to_observation": true,
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+ "display_cameras": false
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+ },
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+ "mode": "eval",
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+ "dataset_root": null,
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+ "num_episodes": 30,
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+ "episode": 0,
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+ "pretrained_policy_name_or_path": "pepijn223/il_sim_test0",
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+ "device": "cpu",
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+ "features_map": {
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+ "observation.state": "observation.state",
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+ }