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GSR / ParaVLA-LIBERO /train_config.json
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{
"dataset": {
"repo_id": "HuggingFaceVLA/libero",
"root": null,
"episodes": null,
"image_transforms": {
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"use_imagenet_stats": true,
"video_backend": "torchcodec",
"return_uint8": false,
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},
"env": {
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"fps": 30,
"features": {
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},
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},
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"robot_state/eef/pos": {
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"robot_state/eef/quat": {
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},
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},
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},
"robot_state/joints/vel": {
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}
},
"features_map": {
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"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"
},
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"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,
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"observation_height": 360,
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"is_libero_plus": false,
"control_mode": "relative"
},
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"input_features": {
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},
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},
"device": "cuda",
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"use_peft": false,
"push_to_hub": false,
"repo_id": "GSR/ParaVLA-LIBERO",
"private": null,
"tags": null,
"license": null,
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"chunk_size": 16,
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"normalization_mapping": {
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"lora_dropout": 0.05,
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},
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"output_dir": null,
"job_name": "paravla_dino_large_wrist",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 16,
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"steps": 50000,
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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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"num_decay_steps": 45000,
"peak_lr": 0.0001,
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},
"eval": {
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"batch_size": 50,
"language_mode": "correct",
"language_text": "",
"use_async_envs": true
},
"wandb": {
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"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
}