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LeRobot
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pistar06
value_human_inloop_grasp / value_train_config.json
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{
"dataset": {
"repo_id": "Dicomsky/human_inloop_grasp",
"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
},
"value": {
"type": "pistar06",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.top": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.wrist": {
"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": "Dicomsky/value_human_inloop_grasp",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"vision_repo_id": "google/siglip-so400m-patch14-384",
"language_repo_id": "google/gemma-3-270m",
"vision_revision": null,
"language_revision": null,
"task_field": "task",
"camera_features": [],
"state_feature": "observation.state",
"include_state_in_prompt": true,
"max_state_dim": 32,
"state_discretization_bins": 256,
"target_key": "observation.value_target",
"loss_weight_key": "observation.value_loss_weight",
"task_index_feature": "task_index",
"tokenizer_max_length": 200,
"state_proj_dim": 512,
"fusion_hidden_dim": 512,
"fusion_num_layers": 2,
"fusion_num_heads": 8,
"num_bins": 201,
"bin_min": -1.0,
"bin_max": 0.0,
"dropout": 0.1,
"dtype": "bfloat16",
"freeze_vision_encoder": true,
"freeze_language_model": true,
"use_gradient_checkpointing": false,
"optimizer_lr": 5e-05,
"optimizer_weight_decay": 1e-05,
"optimizer_grad_clip_norm": 10.0,
"scheduler_warmup_steps": 500,
"scheduler_decay_steps": 8000,
"scheduler_decay_lr": 1e-06,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "IDENTITY"
}
},
"env": null,
"output_dir": "outputs/value_train/human_inloop_grasp",
"job_name": "human_inloop_grasp",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 16,
"steps": 8000,
"log_freq": 200,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 4000,
"use_value_training_preset": true,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 5e-05,
"weight_decay": 1e-05,
"grad_clip_norm": 10.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 500,
"num_decay_steps": 8000,
"peak_lr": 5e-05,
"decay_lr": 1e-06
},
"targets": {
"success_field": "episode_success",
"default_success": "failure",
"c_fail_coef": 1.0,
"target_field": "observation.value_target"
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "yf2b7ime",
"mode": null
},
"peft": null,
"rename_map": {},
"checkpoint_path": null
}