Dataset Viewer
dataset
dict | env
null | policy
dict | output_dir
string | job_name
string | resume
bool | seed
int64 | num_workers
int64 | batch_size
int64 | steps
int64 | eval_freq
int64 | log_freq
int64 | save_checkpoint
bool | save_freq
int64 | use_policy_training_preset
bool | optimizer
dict | scheduler
dict | eval
dict | wandb
dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
"repo_id": ".",
"root": "/mnt/lustre-grete/usr/u12045/vla/hf_cache/lerobot/binhng/merged_libero_mask_noops_lerobot_10_v4",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": false,
"image_tfs": {
"hue": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"contrast": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"sharpness": {
"weight": 1,
"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
},
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"saturation": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"crop_resize": {
"weight": 1,
"type": "RandomResizedCrop",
"kwargs": {
"size": [
256,
256
],
"ratio": [
1,
1
],
"scale": [
0.9,
0.95
]
}
},
"rotate": {
"weight": 1,
"type": "RandomRotate",
"kwargs": {
"degrees": [
-5,
5
]
}
}
},
"wrist_tfs": {
"hue": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"contrast": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"sharpness": {
"weight": 1,
"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
},
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"saturation": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"vqa_data_path": null
}
| null |
{
"type": "pi0",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.images.wrist_image": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.images.image_mask": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.images.wrist_mask": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.images.object_of_interest_mask": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.images.object_of_interest_wrist_mask": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
},
"observation.states.ee_state": {
"type": "STATE",
"shape": [
6
]
},
"observation.states.joint_state": {
"type": "STATE",
"shape": [
7
]
},
"observation.states.gripper_state": {
"type": "STATE",
"shape": [
2
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"gradient_accumulation_steps": 2,
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
"max_action_dim": 32,
"resize_imgs_with_padding": [
224,
224
],
"empty_cameras": 0,
"adapt_to_pi_aloha": false,
"use_delta_joint_actions_aloha": false,
"tokenizer_max_length": 48,
"proj_width": 1024,
"num_steps": 10,
"use_cache": true,
"attention_implementation": "eager",
"freeze_vision_encoder": true,
"train_expert_only": false,
"train_state_proj": true,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-8,
"optimizer_weight_decay": 1e-10,
"scheduler_warmup_steps": 1000,
"scheduler_decay_steps": 240000,
"scheduler_decay_lr": 0.0000025
}
|
outputs/train/2025-07-18/09-08-46_libero_merged_10%_defaultconfig_newcp
|
libero_merged_10%_defaultconfig_newcp
| false
| 42
| 8
| 16
| 100,000
| 20,000
| 200
| true
| 20,000
| true
|
{
"type": "adamw",
"lr": 0.0001,
"weight_decay": 1e-10,
"grad_clip_norm": 10,
"betas": [
0.9,
0.95
],
"eps": 1e-8
}
|
{
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 1000,
"num_decay_steps": 240000,
"peak_lr": 0.0001,
"decay_lr": 0.0000025
}
|
{
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
}
|
{
"enable": true,
"disable_artifact": true,
"project": "pi0_lerobot",
"entity": "Robotics_VLA",
"notes": null,
"run_id": null,
"mode": "online"
}
|
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