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{
"dataset": {
"repo_id": "y1y2y3/so101_test8",
"root": null,
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 100,
"random_order": false,
"tfs": {
"brightness": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"contrast": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"saturation": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
"weight": 1.0,
"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
},
"env": null,
"policy": {
"type": "pi05",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.handeye": {
"type": "VISUAL",
"shape": [
3,
360,
640
]
},
"observation.images.fixed": {
"type": "VISUAL",
"shape": [
3,
360,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "y1y2y3/so101_test8_pi05_200k_augmented100",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "outputs/so101_test8_pi05_200k_augmented100/checkpoints/last/pretrained_model",
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
"max_action_dim": 32,
"num_inference_steps": 10,
"time_sampling_beta_alpha": 1.5,
"time_sampling_beta_beta": 1.0,
"time_sampling_scale": 0.999,
"time_sampling_offset": 0.001,
"min_period": 0.004,
"max_period": 4.0,
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"tokenizer_max_length": 200,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"gradient_checkpointing": true,
"compile_model": true,
"compile_mode": "max-autotune",
"optimizer_lr": 2.5e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1000,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 2.5e-06
},
"output_dir": "outputs/so101_test8_pi05_200k_augmented100",
"job_name": "jib_so101_test8_pi05_200k_augmented100",
"resume": true,
"seed": 1000,
"num_workers": 4,
"batch_size": 1,
"steps": 200000,
"eval_freq": 20000,
"log_freq": 200,
"save_checkpoint": true,
"save_freq": 20000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 2.5e-05,
"weight_decay": 0.01,
"grad_clip_norm": 1.0,
"betas": [
0.9,
0.95
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 1000,
"num_decay_steps": 30000,
"peak_lr": 2.5e-05,
"decay_lr": 2.5e-06
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
}
}