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https://github.com/huggingface/lerobot.git
synced 2026-05-27 14:39:43 +00:00
Michel Aractingi
12c13e320e
- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training. - Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml. Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
50 lines
1.2 KiB
YAML
50 lines
1.2 KiB
YAML
# @package _global_
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defaults:
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- _self_
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seed: 13
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dataset_repo_id: aractingi/push_green_cube_hf_cropped_resized
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train_split_proportion: 0.8
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# Required by logger
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env:
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name: "classifier"
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task: "binary_classification"
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training:
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num_epochs: 5
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batch_size: 16
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learning_rate: 1e-4
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num_workers: 4
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grad_clip_norm: 10
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use_amp: true
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log_freq: 1
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eval_freq: 1 # How often to run validation (in epochs)
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save_freq: 1 # How often to save checkpoints (in epochs)
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save_checkpoint: true
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# image_keys: ["observation.images.top", "observation.images.wrist"]
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image_keys: ["observation.images.laptop", "observation.images.phone"]
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label_key: "next.reward"
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eval:
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batch_size: 16
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num_samples_to_log: 30 # Number of validation samples to log in the table
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policy:
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name: "hilserl/classifier/push_green_cube_hf_cropped_resized" #"hilserl/classifier/pick_place_lego_cube_1"
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model_name: "facebook/convnext-base-224"
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model_type: "cnn"
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num_cameras: 2 # Has to be len(training.image_keys)
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wandb:
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enable: false
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project: "classifier-training"
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job_name: "classifier_training_0"
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disable_artifact: false
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device: "mps"
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resume: false
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output_dir: "outputs/classifier"
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