{ "dataset": { "repo_id": "AIR-AUDI/redBoxDataset", "root": "/home/plab/ros/src/abb_ros2/data/datasets/redBoxDataset", "episodes": null, "image_transforms": { "enable": false, "max_num_transforms": 3, "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 ] } }, "affine": { "weight": 1.0, "type": "RandomAffine", "kwargs": { "degrees": [ -5.0, 5.0 ], "translate": [ 0.05, 0.05 ] } } } }, "revision": null, "use_imagenet_stats": true, "video_backend": "torchcodec", "return_uint8": false, "streaming": false }, "env": null, "policy": { "type": "pi05", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 7 ] }, "observation.images.cam_right": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.cam_top": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.cam_front": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.cam_arm": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 7 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": true, "repo_id": "AIR-AUDI/pi05_redBoxDataset_run3", "private": null, "tags": null, "license": null, "pretrained_path": "lerobot/pi05_base", "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, "use_relative_actions": false, "relative_exclude_joints": [ "gripper" ], "action_feature_names": [ "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper" ], "rtc_config": null, "image_resolution": [ 224, 224 ], "empty_cameras": 0, "tokenizer_max_length": 200, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "QUANTILES", "ACTION": "QUANTILES" }, "gradient_checkpointing": true, "compile_model": false, "compile_mode": "max-autotune", "freeze_vision_encoder": false, "train_expert_only": true, "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 }, "reward_model": null, "output_dir": "models/pi05_redBoxDataset_run3", "job_name": "pi05_redBoxDataset_run3", "resume": false, "seed": 1000, "cudnn_deterministic": false, "num_workers": 20, "batch_size": 16, "prefetch_factor": 4, "persistent_workers": true, "steps": 20000, "eval_freq": 20000, "log_freq": 100, "tolerance_s": 0.0001, "save_checkpoint": true, "save_freq": 1000, "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": 22, "use_async_envs": true }, "wandb": { "enable": true, "disable_artifact": true, "project": "AIR-LAB", "entity": "holldaniel13", "notes": null, "run_id": "pi05_redBoxDataset_run3", "mode": "online", "add_tags": true }, "peft": null, "sample_weighting": null, "rename_map": {}, "checkpoint_path": null }