| { | |
| "dataset": { | |
| "repo_id": "HuggingFaceVLA/libero", | |
| "root": null, | |
| "episodes": [ | |
| 30, | |
| 70, | |
| 110, | |
| 150, | |
| 190, | |
| 230, | |
| 270, | |
| 310, | |
| 350, | |
| 390, | |
| 430, | |
| 470, | |
| 510, | |
| 550, | |
| 590, | |
| 630, | |
| 670, | |
| 710, | |
| 750, | |
| 790, | |
| 830, | |
| 870, | |
| 910, | |
| 950, | |
| 990, | |
| 1030, | |
| 1070, | |
| 1110, | |
| 1150, | |
| 1190, | |
| 1230, | |
| 1270, | |
| 1310, | |
| 1350, | |
| 1390, | |
| 1430, | |
| 1470, | |
| 1510, | |
| 1550, | |
| 1590, | |
| 1630, | |
| 1670 | |
| ], | |
| "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 | |
| }, | |
| "env": null, | |
| "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 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": true, | |
| "push_to_hub": true, | |
| "repo_id": "Gavin1411/task30_train", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "lerobot/pi05_libero_finetuned", | |
| "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, | |
| "rtc_config": null, | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "tokenizer_max_length": 200, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
| }, | |
| "gradient_checkpointing": true, | |
| "compile_model": false, | |
| "compile_mode": "max-autotune", | |
| "freeze_vision_encoder": false, | |
| "train_expert_only": false, | |
| "optimizer_lr": 2.5e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.01, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 2.5e-06 | |
| }, | |
| "output_dir": "/data/taojiachen/Continuous_VLA/exp/er/spatial/seed42/task30/train", | |
| "job_name": "pi05", | |
| "resume": false, | |
| "seed": 42, | |
| "cudnn_deterministic": false, | |
| "num_workers": 4, | |
| "batch_size": 8, | |
| "steps": 10000, | |
| "eval_freq": 20000, | |
| "log_freq": 100, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 5000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 2.5e-05, | |
| "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": 1000, | |
| "num_decay_steps": 30000, | |
| "peak_lr": 2.5e-05, | |
| "decay_lr": 2.5e-06 | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": false, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": null, | |
| "mode": null | |
| }, | |
| "peft": { | |
| "target_modules": ".*\\.paligemma\\.model\\.language_model\\..*\\.self_attn\\.(q|v)_proj|.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out)", | |
| "full_training_modules": [ | |
| ".*\\.vision_tower\\..*" | |
| ], | |
| "method_type": "LORA", | |
| "init_type": null, | |
| "r": 16 | |
| }, | |
| "use_rabc": false, | |
| "rabc_progress_path": null, | |
| "rabc_kappa": 0.01, | |
| "rabc_epsilon": 1e-06, | |
| "rabc_head_mode": "sparse", | |
| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |