| { |
| "dataset": { |
| "repo_id": "H2Ozone/split_data", |
| "root": null, |
| "episodes": [ |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 65, |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77, |
| 78, |
| 79, |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88, |
| 89, |
| 90, |
| 91, |
| 92, |
| 93, |
| 94, |
| 95, |
| 96, |
| 97, |
| 98, |
| 99, |
| 100, |
| 101, |
| 102, |
| 103, |
| 104, |
| 105, |
| 106, |
| 107, |
| 108, |
| 109, |
| 110, |
| 111, |
| 112, |
| 113, |
| 114 |
| ], |
| "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": "main", |
| "use_imagenet_stats": true, |
| "video_backend": "pyav", |
| "return_uint8": false, |
| "depth_output_unit": "mm", |
| "streaming": false, |
| "eval_split": 0.0 |
| }, |
| "env": null, |
| "policy": { |
| "type": "groot", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.cam_zed_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.cam_zed_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 48 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 46 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "H2Ozone/split_data-groot", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "pretrained_revision": null, |
| "chunk_size": 16, |
| "n_action_steps": 16, |
| "max_state_dim": 132, |
| "max_action_dim": 132, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "IDENTITY", |
| "ACTION": "IDENTITY" |
| }, |
| "base_model_path": "nvidia/GR00T-N1.7-3B", |
| "action_decode_transform": null, |
| "embodiment_tag": "new_embodiment", |
| "tune_llm": false, |
| "tune_visual": false, |
| "tune_projector": true, |
| "tune_diffusion_model": true, |
| "tune_vlln": true, |
| "tune_top_llm_layers": 0, |
| "num_inference_timesteps": null, |
| "rtc_ramp_rate": null, |
| "use_flash_attention": false, |
| "use_relative_actions": false, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-05, |
| "warmup_ratio": 0.05, |
| "use_bf16": true, |
| "model_params_fp32": true, |
| "image_size": [ |
| 256, |
| 256 |
| ], |
| "tokenizer_assets_repo": null, |
| "lora_rank": 0, |
| "lora_alpha": 16, |
| "lora_dropout": 0.1, |
| "lora_full_model": false, |
| "video_backend": "decord", |
| "balance_dataset_weights": true, |
| "balance_trajectory_weights": true, |
| "dataset_paths": null, |
| "output_dir": "./tmp/gr00t", |
| "save_steps": 1000, |
| "max_steps": 10000, |
| "batch_size": 32, |
| "dataloader_num_workers": 8, |
| "report_to": "wandb", |
| "resume": false |
| }, |
| "reward_model": null, |
| "output_dir": "/outputs/run", |
| "job_name": "groot", |
| "resume": false, |
| "seed": 1000, |
| "cudnn_deterministic": false, |
| "num_workers": 16, |
| "batch_size": 32, |
| "prefetch_factor": 4, |
| "persistent_workers": true, |
| "steps": 20000, |
| "env_eval_freq": 0, |
| "log_freq": 250, |
| "eval_steps": 0, |
| "max_eval_samples": 0, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 1000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 1e-05, |
| "grad_clip_norm": 1.0, |
| "betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "diffuser", |
| "num_warmup_steps": 500, |
| "name": "cosine" |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": true, |
| "recording": false, |
| "recording_repo_id": null, |
| "recording_private": false |
| }, |
| "wandb": { |
| "enable": false, |
| "disable_artifact": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": null, |
| "mode": null, |
| "add_tags": true |
| }, |
| "peft": null, |
| "job": { |
| "target": null, |
| "image": "huggingface/lerobot-gpu:latest", |
| "timeout": "2d", |
| "detach": false, |
| "tags": [] |
| }, |
| "save_checkpoint_to_hub": true, |
| "sample_weighting": null, |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |
