| |
| defaults: |
| - train |
| - override /data: libero |
| - override /model: w0 |
| - _self_ |
|
|
| posttrain_required: true |
| posttrain_stats: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json} |
| init_checkpoint: ${oc.env:W0_LIBERO_CHECKPOINT,checkpoints/libero.pt} |
| resume: null |
| seed: 42 |
| model: |
| proprio_dim: 37 |
| action_horizon: 64 |
| action_chunk_size: 16 |
| max_action_offset: 15 |
| num_history_frames: 0 |
| video_plan_horizon: 96 |
| video_action_stride: 8 |
| action_dit_config: |
| action_dim: 37 |
| num_soft_prompts: 8 |
| soft_prompt_domains: [libero/franka] |
| domain_configs: |
| - name: libero/franka |
| dataset: libero |
| embodiment: franka |
| action_dim: 37 |
| proprio_dim: 37 |
| action_valid_indices: [7, 8, 9, 10, 11, 12, 13, 14, 15, 16] |
| proprio_valid_indices: [7, 8, 9, 10, 11, 12, 13, 14, 15, 16] |
| raw_eef_names: [eef_x, eef_y, eef_z, rot6d_col0_x, rot6d_col0_y, rot6d_col0_z, rot6d_col1_x, rot6d_col1_y, rot6d_col1_z, gripper_open_scale] |
| action_semantics: native_delta_eef10_row_aligned |
|
|
| batch_size: 48 |
| gradient_accumulation_steps: 1 |
| learning_rate: 5.0e-5 |
| soft_prompt_lr_scale: 1.0 |
| num_epochs: 10 |
| num_workers: 4 |
| history_aware_batching: false |
| optimizer_group_max_numel: 200000000 |
| save_every: 100 |
| eval_every: 50 |
| log_every: 10 |
| keep_training_states: 1 |
| checkpoint_min_free_gib: 128 |
| freeze_video_dit: false |
| output_dir: ${oc.env:W0_OUTPUT_DIR,outputs}/libero/${now:%Y-%m-%d}_${now:%H-%M-%S} |
| wandb: |
| name: internw0_libero_goal_long_random_frame |
|
|
