Robotics
LeRobot
Safetensors
lavla
LAVLA_S1_IX / train_config.json
Alkatt's picture
Upload policy weights, train config and readme
2cf193a verified
{
"dataset": {
"repo_id": "Alkatt/so_101_CubeToBowl_simple_v2",
"root": null,
"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",
"streaming": false
},
"env": null,
"policy": {
"type": "lavla",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.camera1": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.camera2": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.camera3": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "Alkatt/LAVLA_S1_IX",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "Alkatt/LAVLA_S1_IX",
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"n_action_steps": 50,
"chunk_size": 50,
"max_action_dim": 6,
"s1_image_resolution": [
256,
256
],
"s1_mlp_dim": 512,
"s1_embedding_dim": 512,
"s1_num_attention_heads": 4,
"s1_num_layers": 6,
"s1_flow_integration_steps": 10,
"s1_efficient_net": "google/efficientnet-b0",
"s1_add_action_pos_embeddings": true,
"s2_embedding_dim": 1024,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 1e-06
},
"output_dir": "outputs/train/2026-04-08/15-53-02_lavla",
"job_name": "lavla",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 4,
"batch_size": 8,
"steps": 100,
"eval_freq": 20000,
"log_freq": 200,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 20000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adam",
"lr": 1e-05,
"weight_decay": 1e-06,
"grad_clip_norm": 10.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08
},
"scheduler": null,
"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
},
"peft": null,
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": null
}