Safetensors
GSR / GSR-PI05-LIBERO /train_config.json
QiuGuangwww's picture
Upload folder using huggingface_hub
a224ba1 verified
Raw
History Blame Contribute Delete
15.1 kB
{
"dataset": {
"repo_id": "HuggingFaceVLA/libero",
"root": null,
"episodes": [
379,
380,
381,
382,
383,
384,
385,
386,
387,
388,
389,
390,
391,
392,
393,
394,
395,
396,
397,
398,
399,
400,
401,
402,
403,
404,
405,
406,
407,
408,
409,
410,
411,
412,
413,
414,
415,
416,
417,
418,
419,
420,
421,
422,
423,
424,
425,
426,
427,
428,
429,
430,
431,
432,
433,
434,
435,
436,
437,
438,
439,
440,
441,
442,
443,
444,
445,
446,
447,
448,
449,
450,
451,
452,
453,
454,
455,
456,
457,
458,
459,
460,
461,
462,
463,
464,
465,
466,
467,
468,
469,
470,
471,
472,
473,
474,
475,
476,
477,
478,
479,
480,
481,
482,
483,
484,
485,
486,
487,
488,
489,
490,
491,
492,
493,
494,
495,
496,
497,
498,
499,
500,
501,
502,
503,
504,
505,
506,
507,
508,
509,
510,
511,
512,
513,
514,
515,
516,
517,
518,
519,
520,
521,
522,
523,
524,
525,
526,
527,
528,
529,
530,
531,
532,
533,
534,
535,
536,
537,
538,
539,
540,
541,
542,
543,
544,
545,
546,
547,
548,
549,
550,
551,
552,
553,
554,
555,
556,
557,
558,
559,
560,
561,
562,
563,
564,
565,
566,
567,
568,
569,
570,
571,
572,
573,
574,
575,
576,
577,
578,
579,
580,
581,
582,
583,
584,
585,
586,
587,
588,
589,
590,
591,
592,
593,
594,
595,
596,
597,
598,
599,
600,
601,
602,
603,
604,
605,
606,
607,
608,
609,
610,
611,
612,
613,
614,
615,
616,
617,
618,
619,
620,
621,
622,
623,
624,
625,
626,
627,
628,
629,
630,
631,
632,
633,
634,
635,
636,
637,
638,
639,
640,
641,
642,
643,
644,
645,
646,
647,
648,
649,
650,
651,
652,
653,
654,
655,
656,
657,
658,
659,
660,
661,
662,
663,
664,
665,
666,
667,
668,
669,
670,
671,
672,
673,
674,
675,
676,
677,
678,
679,
680,
681,
682,
683,
684,
685,
686,
687,
688,
689,
690,
691,
692,
693,
694,
695,
696,
697,
698,
699,
700,
701,
702,
703,
704,
705,
706,
707,
708,
709,
710,
711,
712,
713,
714,
715,
716,
717,
718,
719,
720,
721,
722,
723,
724,
725,
726,
727,
728,
729,
730,
731,
732,
733,
734,
735,
736,
737,
738,
739,
740,
741,
742,
743,
744,
745,
746,
747,
748,
749,
750,
751,
752,
753,
754,
755,
756,
757,
758,
759,
760,
761,
762,
763,
764,
765,
766,
767,
768,
769,
770,
771,
772,
773,
774,
775,
776,
777,
778,
779,
780,
781,
782,
783,
784,
785,
786,
787,
788,
789,
790,
791,
792,
793,
794,
795,
796,
797,
798,
799,
800,
801,
802,
803,
804,
805,
806
],
"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": "pyav",
"return_uint8": false,
"streaming": false
},
"env": {
"type": "libero",
"task": "libero_goal",
"fps": 30,
"features": {
"action": {
"type": "ACTION",
"shape": [
7
]
},
"pixels/agentview_image": {
"type": "VISUAL",
"shape": [
360,
360,
3
]
},
"pixels/robot0_eye_in_hand_image": {
"type": "VISUAL",
"shape": [
360,
360,
3
]
},
"robot_state/eef/pos": {
"type": "STATE",
"shape": [
3
]
},
"robot_state/eef/quat": {
"type": "STATE",
"shape": [
4
]
},
"robot_state/eef/mat": {
"type": "STATE",
"shape": [
3,
3
]
},
"robot_state/gripper/qpos": {
"type": "STATE",
"shape": [
2
]
},
"robot_state/gripper/qvel": {
"type": "STATE",
"shape": [
2
]
},
"robot_state/joints/pos": {
"type": "STATE",
"shape": [
7
]
},
"robot_state/joints/vel": {
"type": "STATE",
"shape": [
7
]
}
},
"features_map": {
"action": "action",
"robot_state/eef/pos": "observation.state.eef_pos",
"robot_state/eef/quat": "observation.state.eef_quat",
"robot_state/eef/mat": "observation.state.eef_mat",
"robot_state/gripper/qpos": "observation.state.gripper_qpos",
"robot_state/gripper/qvel": "observation.state.gripper_qvel",
"robot_state/joints/pos": "observation.state.joint_pos",
"robot_state/joints/vel": "observation.state.joint_vel",
"pixels/agentview_image": "observation.images.image",
"pixels/robot0_eye_in_hand_image": "observation.images.image2"
},
"max_parallel_tasks": 1,
"disable_env_checker": true,
"task_ids": null,
"episode_length": null,
"obs_type": "pixels_agent_pos",
"render_mode": "rgb_array",
"camera_name": "agentview_image,robot0_eye_in_hand_image",
"init_states": true,
"camera_name_mapping": null,
"observation_height": 360,
"observation_width": 360,
"is_libero_plus": false,
"control_mode": "relative"
},
"policy": {
"type": "pi05",
"n_obs_steps": 1,
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
},
"observation.images.empty_camera_0": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": false,
"repo_id": "GSR/PI05-LIBERO",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "lerobot/pi05_libero_finetuned_v044",
"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": [
"actions"
],
"rtc_config": null,
"image_resolution": [
224,
224
],
"empty_cameras": 1,
"tokenizer_max_length": 64,
"normalization_mapping": {
"ACTION": "MEAN_STD",
"STATE": "MEAN_STD",
"VISUAL": "IDENTITY"
},
"gradient_checkpointing": true,
"compile_model": false,
"compile_mode": "max-autotune",
"freeze_vision_encoder": true,
"train_expert_only": true,
"pi05_t5_bottleneck": true,
"pi05_neutral_prompt": "perform the task",
"pi05_t5_model": "google-t5/t5-large",
"pi05_t5_max_length": 16,
"pi05_paligemma_tokenizer": "google/paligemma-3b-pt-224",
"pi05_reinit_binding_after_load": true,
"pi05_t5_cross_attention": false,
"pi05_t5_cross_attention_gate_init": 0.05,
"pi05_t5_cross_attention_strict_vla_adapter": false,
"pi05_ground_t5_in_native_slots": true,
"pi05_ground_t5_preserve_native_prompt": true,
"pi05_native_grounder_num_heads": 8,
"pi05_native_grounder_gate_init": 1.0,
"pi05_t5_eval_mode": "normal",
"pi05_wrong_t5_text": "turn on the stove",
"pi05_t5_preserve_native_prompt": false,
"pi05_motor_preserving_distillation": false,
"pi05_motor_distillation_weight": 1.0,
"pi05_motor_preserving_curriculum": false,
"pi05_motor_curriculum_start_step": 0,
"pi05_motor_curriculum_end_step": 3500,
"pi05_motor_curriculum_flow_weight": 1.0,
"pi05_motor_rollout_distillation_weight": 1.0,
"pi05_motor_rollout_distillation_every": 1,
"pi05_motor_rollout_distillation_batch_size": 1,
"pi05_interface_matching": false,
"pi05_interface_loss_weight": 1.0,
"pi05_interface_velocity_weight": 0.0,
"pi05_native_soft_prefix": false,
"pi05_native_soft_prefix_tokens": 32,
"pi05_native_soft_prefix_layers": 2,
"pi05_native_soft_prefix_heads": 16,
"pi05_native_soft_prefix_mode": "append",
"pi05_native_soft_prefix_start_index": 3,
"pi05_native_soft_prefix_matching": false,
"pi05_native_soft_prefix_interface_weight": 1.0,
"pi05_native_soft_prefix_velocity_weight": 0.1,
"pi05_native_soft_prefix_flow_weight": 0.0,
"pi05_native_soft_prefix_embedding_weight": 0.0,
"pi05_train_paraphrase_distillation": false,
"pi05_train_paraphrases": "",
"pi05_eval_paraphrases": "",
"pi05_train_canonical_probability": 0.25,
"pi05_translator_consistency_weight": 0.0,
"pi05_native_soft_prefix_inference_blend": 1.0,
"pi05_native_soft_prefix_embedding_blend": 1.0,
"pi05_native_soft_prefix_training_blend_min": 1.0,
"pi05_native_soft_prefix_training_blend_max": 1.0,
"pi05_native_soft_prefix_geometry_preserving": false,
"pi05_native_soft_prefix_sentence_bottleneck": false,
"pi05_native_soft_prefix_zero_init": false,
"pi05_native_kv_transplant": false,
"pi05_native_kv_matching": false,
"pi05_native_kv_neutral_conditioning": false,
"pi05_native_kv_visual_conditioning": false,
"pi05_native_kv_visual_summary_tokens": 8,
"pi05_native_kv_resampler_dim": 512,
"pi05_native_kv_resampler_layers": 2,
"pi05_native_kv_resampler_heads": 8,
"pi05_native_kv_weight": 1.0,
"pi05_native_kv_interface_weight": 0.1,
"pi05_native_kv_velocity_weight": 0.1,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 125,
"scheduler_decay_steps": 6250,
"scheduler_decay_lr": 5e-06
},
"reward_model": null,
"output_dir": null,
"job_name": "pi05_gsr",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 6,
"batch_size": 32,
"gradient_accumulation_steps": 2,
"prefetch_factor": 4,
"persistent_workers": true,
"steps": 12500,
"eval_freq": -1,
"log_freq": 10,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 1250,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 0.0001,
"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": 125,
"num_decay_steps": 6250,
"peak_lr": 0.0001,
"decay_lr": 5e-06,
"scale_to_training_steps": true
},
"eval": {
"n_episodes": 50,
"max_episodes_rendered": 10,
"batch_size": 50,
"language_mode": "correct",
"language_text": "",
"use_async_envs": true
},
"wandb": {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": null,
"mode": null,
"add_tags": true
},
"peft": null,
"sample_weighting": null,
"rename_map": {},
"checkpoint_path": null
}