| { |
| "dataset": { |
| "repo_id": "HuggingFaceVLA/libero", |
| "root": null, |
| "episodes": null, |
| "image_transforms": { |
| "enable": true, |
| "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": { |
| "type": "libero", |
| "task": "libero_spatial,libero_object,libero_goal,libero_10", |
| "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": "paravla", |
| "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 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": true, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": "GSR/ParaVLA-LIBERO", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "chunk_size": 16, |
| "n_action_steps": 8, |
| "use_temporal_ensembling": true, |
| "temporal_ensemble_coeff": 0.9, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "vision_model": "facebook/dinov2-large", |
| "text_model": "google-t5/t5-large", |
| "image_size": 224, |
| "hidden_size": 1024, |
| "fusion_heads": 16, |
| "fusion_layers": 4, |
| "dropout": 0.1, |
| "num_denoise_steps": 20, |
| "num_expert_layers": 8, |
| "num_expert_heads": 16, |
| "expert_head_dim": 64, |
| "expert_injection_stride": 1, |
| "expert_injection_min_scale": 1.0, |
| "use_coord_injection": false, |
| "freeze_vision_encoder": false, |
| "freeze_text_encoder": true, |
| "freeze_patch_embed": false, |
| "unfreeze_blocks": 4, |
| "use_lora": false, |
| "lora_r": 64, |
| "lora_alpha": 128, |
| "lora_dropout": 0.05, |
| "lora_target_modules": [ |
| "qkv", |
| "proj", |
| "fc1", |
| "fc2", |
| "patch_embed.proj" |
| ], |
| "tokenizer_max_length": 64, |
| "text_dropout_prob": 0.0, |
| "vision_dim": 1536, |
| "use_goal_predictor": false, |
| "use_wrist_camera": true, |
| "guidance_scale": 1.0, |
| "film_scale_init": 1.0, |
| "optimizer_lr": 0.0001, |
| "backbone_lr_fraction": 0.1, |
| "patch_embed_lr_fraction": 0.5, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.0005, |
| "optimizer_grad_clip_norm": 2.0, |
| "scheduler_warmup_steps": 2000, |
| "scheduler_decay_steps": 45000, |
| "scheduler_decay_lr": 1e-06 |
| }, |
| "reward_model": null, |
| "output_dir": null, |
| "job_name": "paravla_dino_large_wrist", |
| "resume": false, |
| "seed": 1000, |
| "cudnn_deterministic": false, |
| "num_workers": 16, |
| "batch_size": 64, |
| "gradient_accumulation_steps": 1, |
| "prefetch_factor": 8, |
| "persistent_workers": true, |
| "steps": 50000, |
| "eval_freq": -1, |
| "log_freq": 10, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 5000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 0.0005, |
| "grad_clip_norm": 2.0, |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "cosine_decay_with_warmup", |
| "num_warmup_steps": 2000, |
| "num_decay_steps": 45000, |
| "peak_lr": 0.0001, |
| "decay_lr": 1e-06 |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "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 |
| } |
|
|