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add_configs

#1
by aractingi HF Staff - opened
base: refs/heads/main
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from: refs/pr/1
Discussion Files changed
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Files changed (8) hide show
  1. README.md +5 -12
  2. reward_classifier/config.json +0 -54
  3. rl/env_config.json +0 -94
  4. rl/gym_hil/env_config.json +0 -33
  5. rl/gym_hil/train_config.json +0 -172
  6. rl/train_config.json +0 -285
  7. sim_il/env_config.json +0 -69
  8. sim_il/eval_config.json +0 -187
README.md CHANGED
@@ -4,15 +4,8 @@ A repository that contains example json files that can be used for different app
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  Current available configs:
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- - RL :
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- - env_config.json: Environment config for a real robot setup using a gamepad for teleoperation and an SO10* arm as the main agent. Using `gym_manipulator.py`, one can use this config to teleoperate the robot and record a dataset for reinforcement learning.
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- - train_config.json: Training config for the HIL-SERL implementation in LeRobot on the real robot using the similar environment configuration to the `env_config.json` in the same directory.
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- - gym_hil:
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- - env_config.json: Environment config for simulation using the `gym_hil` environment.
12
- - train_config.json: Training config for the HIL-SERL implementation in LeRobot for simulated environments.
13
- - Sim IL:
14
- - env_config.json: Environment config for simulation using the `gym_hil` environment. You can use this configuration to collect a dataset in simulation that can be used for imitation learning or reinforcement learning.
15
- - eval_config.json: Evaluation config for models trained on datasets collected from `gym_hil` environment.
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- - Reward Classifier:
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- - config.json: Main configuration for training a reward classifier.
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-
 
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5
  Current available configs:
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+ env_config_so100.json: real robot environment configuration to be used to teleoperate, record dataset and replay a dataset on the real robot with the lerobot/scripts/rl/gym_manipulator.py script.
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+ train_config_hilserl_so100.json: training config on the real robot with the HILSerl RL framework in LeRobot.
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+ gym_hil_env.json: simulated environment configuration for the gym_hil mujoco based env.
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+ train_gym_hil_env.json: training configuration for gym_hil with the HILSerl RL framework in LeRobot.
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+ reward_classifier_train_config.json: configuration to train a reward classifier with LeRobot.
 
 
 
 
 
 
 
reward_classifier/config.json DELETED
@@ -1,54 +0,0 @@
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- {
2
- "dataset": {
3
- "repo_id": "hf_username/dataset_name",
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- "root": null
5
- },
6
- "policy": {
7
- "type": "reward_classifier",
8
- "model_name": "helper2424/resnet10",
9
- "model_type": "cnn",
10
- "num_cameras": 2,
11
- "num_classes": 2,
12
- "hidden_dim": 256,
13
- "dropout_rate": 0.1,
14
- "learning_rate": 1e-4,
15
- "device": "cuda",
16
- "use_amp": true,
17
- "input_features": {
18
- "observation.images.side": {
19
- "type": "VISUAL",
20
- "shape": [
21
- 3,
22
- 128,
23
- 128
24
- ]
25
- },
26
- "observation.images.front": {
27
- "type": "VISUAL",
28
- "shape": [
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- 3,
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- 128,
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- 128
32
- ]
33
- }
34
- }
35
- },
36
- "batch_size": 16,
37
- "num_workers": 4,
38
- "steps": 5000,
39
- "log_freq": 10,
40
- "eval_freq": 1000,
41
- "save_freq": 1000,
42
- "save_checkpoint": true,
43
- "seed": 2,
44
- "resume": false,
45
- "optimizer": {
46
- "grad_clip_norm": 10.0
47
- },
48
- "wandb": {
49
- "enable": true,
50
- "project": "reward-classifier",
51
- "disable_artifact": false
52
- },
53
- "job_name": "reward-classifier"
54
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/env_config.json DELETED
@@ -1,94 +0,0 @@
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- {
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- "env": {
3
- "robot": {
4
- "type": "so100_follower",
5
- "port": "/dev/tty.usbmodem5A460822851",
6
- "id": "turqoise",
7
- "cameras": {
8
- "top": {
9
- "type": "opencv",
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- "index_or_path": 0,
11
- "height": 480,
12
- "width": 640,
13
- "fps": 30
14
- }
15
- }
16
- },
17
- "teleop": {
18
- "type": "gamepad",
19
- "use_gripper": true
20
- },
21
- "processor": {
22
- "control_mode": "gamepad",
23
- "observation": {
24
- "display_cameras": false,
25
- "add_joint_velocity_to_observation": true,
26
- "add_current_to_observation": true,
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- "add_ee_pose_to_observation": true
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- },
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- "image_preprocessing": {
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- "crop_params_dict": {
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- "observation.images.top": [49, 189, 262, 305]
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- },
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- "resize_size": [128, 128]
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- },
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- "gripper": {
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- "use_gripper": true,
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- "gripper_penalty": -0.02,
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- "gripper_penalty_in_reward": false
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- },
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- "reset": {
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- "fixed_reset_joint_positions": [
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- 0.0,
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- 0.0,
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- 0.0,
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- 90.0,
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- 0.0,
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- 30.0
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- ],
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- "reset_time_s": 2.5,
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- "control_time_s": 20.0,
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- "terminate_on_success": true
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- },
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- "inverse_kinematics": {
54
- "urdf_path": "/Users/michel_aractingi/code/SO-ARM100/Simulation/SO101/so101_new_calib.urdf",
55
- "target_frame_name": "gripper_frame_link",
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- "end_effector_bounds": {
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- "min": [
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- 0.195,
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- -0.065,
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- 0.005
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- ],
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- "max": [
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- 0.25,
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- 0.065,
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- 0.1
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- ]
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- },
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- "end_effector_step_sizes": {
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- "x": 0.02,
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- "y": 0.02,
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- "z": 0.02
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- }
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- },
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- "reward_classifier": {
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- "pretrained_path": null,
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- "success_threshold": 0.5,
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- "success_reward": 1.0
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- },
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- "max_gripper_pos": 30
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- },
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- "name": "real_robot",
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- "fps": 10
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- },
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- "dataset": {
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- "repo_id": "aractingi/pick_lift_cube_pipeline_test",
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- "root": null,
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- "task": "",
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- "num_episodes_to_record": 15,
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- "replay_episode": null,
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- "push_to_hub": true
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- },
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- "mode": null,
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- "device": "cpu"
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/gym_hil/env_config.json DELETED
@@ -1,33 +0,0 @@
1
- {
2
- "env": {
3
- "name": "gym_hil",
4
- "task": "PandaPickCubeGamepad-v0",
5
- "fps": 10,
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- "robot": null,
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- "teleop": null,
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- "processor": {
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- "control_mode": "gamepad",
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- "gripper": {
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- "use_gripper": true,
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- "gripper_penalty": -0.02,
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- "gripper_penalty_in_reward": false
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- },
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- "reset": {
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- "fixed_reset_joint_positions": [0.0, 0.195, 0.0, -2.43, 0.0, 2.62, 0.785],
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- "reset_time_s": 2.0,
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- "control_time_s": 15.0,
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- "terminate_on_success": true
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- }
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- }
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- },
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- "dataset": {
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- "repo_id": "aractingi/franka_sim_pick_lift_6",
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- "root": null,
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- "task": "PandaPickCubeGamepad-v0",
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- "num_episodes_to_record": 30,
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- "replay_episode": 0,
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- "push_to_hub": true
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- },
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- "mode": null,
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- "device": "cpu"
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/gym_hil/train_config.json DELETED
@@ -1,172 +0,0 @@
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- {
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- "output_dir": null,
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- "job_name": "franka_sim_sac",
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- "resume": false,
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- "seed": 1000,
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- "num_workers": 4,
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- "batch_size": 256,
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- "steps": 100000,
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- "eval_freq": 20000,
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- "log_freq": 1,
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- "save_checkpoint": true,
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- "save_freq": 20000,
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- "use_policy_training_preset": true,
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- "optimizer": null,
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- "scheduler": null,
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- "wandb": {
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- "enable": true,
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- "project": "franka_sim",
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- "disable_artifact": true
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- },
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- "dataset": {
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- "repo_id": "aractingi/franka_sim_pick_lift_5",
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- "use_imagenet_stats": false
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- },
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- "env": {
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- "type": "gym_manipulator",
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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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- "teleop": null,
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- "processor": {
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- "control_mode": "gamepad",
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- "gripper": {
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- "use_gripper": true,
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- "gripper_penalty": -0.02,
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- "gripper_penalty_in_reward": false
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- },
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- "reset": {
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- "fixed_reset_joint_positions": [0.0, 0.195, 0.0, -2.43, 0.0, 2.62, 0.785],
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- "reset_time_s": 2.0,
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- "control_time_s": 15.0,
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- "terminate_on_success": true
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- }
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- },
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- "features": {
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- "observation.images.front": {
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- "type": "VISUAL",
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- "shape": [3, 128, 128]
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- },
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- "observation.images.wrist": {
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- "type": "VISUAL",
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- "shape": [3, 128, 128]
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- },
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- "observation.state": {
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- "type": "STATE",
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- "shape": [18]
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- },
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- "action": {
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- "type": "ACTION",
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- "shape": [3]
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- }
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- },
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- "features_map": {
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- "observation.images.front": "observation.images.front",
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- "observation.images.wrist": "observation.images.wrist",
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- "observation.state": "observation.state",
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- "action": "action"
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- }
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- },
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- "policy": {
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- "type": "sac",
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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": "MIN_MAX",
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- "ENV": "MIN_MAX",
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- "ACTION": "MIN_MAX"
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- },
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- "input_features": {
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- "observation.images.front": {
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- "type": "VISUAL",
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- "shape": [3, 128, 128]
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- },
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- "observation.images.wrist": {
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- "type": "VISUAL",
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- "shape": [3, 128, 128]
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- },
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- "observation.state": {
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- "type": "STATE",
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- "shape": [18]
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- }
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- },
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- "output_features": {
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- "action": {
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- "type": "ACTION",
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- "shape": [3]
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- }
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- },
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- "device": "cuda",
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- "use_amp": false,
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- "dataset_stats": {
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- "observation.images.front": {
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- "mean": [0.485, 0.456, 0.406],
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- "std": [0.229, 0.224, 0.225]
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- },
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- "observation.images.wrist": {
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- "std": [0.229, 0.224, 0.225]
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- },
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- "min": [-0.6897139549255371, -1.1421763896942139, -0.5745007991790771, -2.97829008102417, -0.2710767090320587, 1.3246592283248901, -0.04057434946298599, -0.21261805295944214, -0.4548068344593048, -0.6540042757987976, -0.3644964098930359, -1.1057522296905518, -0.40768879652023315, -0.2220114767551422, 0.0, 0.19176171720027924, -0.3013063669204712, 0.00362197193317115],
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- "max": [0.5107022523880005, 0.5516204237937927, 0.5620884299278259, -1.3330878019332886, 0.32758936285972595, 3.119610548019409, 1.8364211320877075, 0.25358933210372925, 0.36316126585006714, 0.14765967428684235, 0.49947625398635864, 0.144814133644104, 0.2820609211921692, 0.7382049560546875, 255.0, 0.6012658476829529, 0.3005995750427246, 0.5004003643989563]
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- },
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- "max": [0.025, 0.025, 0.025]
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- }
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- },
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- "repo_id": "aractingi/franka_sim_pick_lift",
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- "storage_device": "cpu",
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- "vision_encoder_name": "helper2424/resnet10",
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- "freeze_vision_encoder": true,
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- "image_encoder_hidden_dim": 32,
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- "shared_encoder": true,
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- "online_steps": 1000000,
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- "online_env_seed": 10000,
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- "online_buffer_capacity": 100000,
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- "offline_buffer_capacity": 100000,
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- "policy_update_freq": 1,
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- "discount": 0.97,
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- "activate_final": true
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- },
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- "concurrency": {
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- "actor": "threads",
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- "learner": "threads"
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- }
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- }
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
rl/train_config.json DELETED
@@ -1,285 +0,0 @@
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- {
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- "output_dir": null,
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- "policy": {
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