blockpick_gray_pi05_96 / train_config.json
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{
"dataset": {
"repo_id": "AriRyo/blockpick_gray_03",
"root": null,
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"policy": {
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"input_features": {
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},
"device": "cuda",
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"push_to_hub": true,
"repo_id": "AriRyo/blockpick_gray_pi05_96",
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"tags": null,
"license": null,
"pretrained_path": "lerobot/pi05_base",
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"image_resolution": [
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"normalization_mapping": {
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"STATE": "QUANTILES",
"ACTION": "QUANTILES"
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"gradient_checkpointing": true,
"compile_model": false,
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"freeze_vision_encoder": false,
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"optimizer_lr": 2.5e-05,
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"optimizer_eps": 1e-08,
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"scheduler_decay_lr": 2.5e-06
},
"output_dir": "outputs/train/blockpick_gray_pi05_96",
"job_name": "blockpick_gray_pi05_96",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 4,
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"steps": 5000,
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"optimizer": {
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"betas": [
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"eps": 1e-08
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"scheduler": {
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"peak_lr": 2.5e-05,
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},
"eval": {
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"batch_size": 50,
"use_async_envs": false
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"wandb": {
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"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "b5usxs5t",
"mode": null,
"add_tags": true
},
"peft": null,
"use_rabc": false,
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"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": null
}