Taskone-raw-pi05 / train_config.json
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{
"batch_size": 16,
"checkpoint_path": null,
"cudnn_deterministic": false,
"dataset": {
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"image_transforms": {
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"tfs": {
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],
"translate": [
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},
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"brightness": {
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"contrast": {
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"hue": {
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1.5
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},
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}
},
"repo_id": "KHandsome/Task-one-combine",
"return_uint8": false,
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"root": null,
"streaming": false,
"use_imagenet_stats": true,
"video_backend": "pyav"
},
"env": null,
"eval": {
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"n_episodes": 50,
"use_async_envs": true
},
"eval_freq": 20000,
"job_name": "Taskone-raw-pi05-5",
"log_freq": 200,
"num_workers": 4,
"optimizer": {
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0.95
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"eps": "1e-08",
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"lr": 2.5e-05,
"type": "adamw",
"weight_decay": 0.01
},
"output_dir": "outputs/Taskone-raw-pi05-5",
"peft": null,
"persistent_workers": true,
"policy": {
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"action_feature_names": null,
"chunk_size": 50,
"compile_mode": "max-autotune",
"compile_model": true,
"device": "cuda",
"dtype": "bfloat16",
"empty_cameras": 0,
"freeze_vision_encoder": false,
"gradient_checkpointing": true,
"image_resolution": [
224,
224
],
"input_features": {
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3,
480,
640
],
"type": "VISUAL"
},
"observation.images.wrist": {
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3,
480,
640
],
"type": "VISUAL"
},
"observation.state": {
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"license": null,
"max_action_dim": 32,
"max_period": 4,
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"min_period": 0.004,
"n_action_steps": 50,
"n_obs_steps": 1,
"normalization_mapping": {
"ACTION": "QUANTILES",
"STATE": "QUANTILES",
"VISUAL": "IDENTITY"
},
"num_inference_steps": 10,
"optimizer_betas": [
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0.95
],
"optimizer_eps": "1e-08",
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"optimizer_lr": 2.5e-05,
"optimizer_weight_decay": 0.01,
"paligemma_variant": "gemma_2b",
"pretrained_path": "lerobot/pi05_base",
"private": null,
"push_to_hub": true,
"relative_exclude_joints": [
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],
"repo_id": "KHandsome/Taskone-raw-pi06",
"rtc_config": null,
"scheduler_decay_lr": 2.5e-06,
"scheduler_decay_steps": 30000,
"scheduler_warmup_steps": 1000,
"tags": null,
"time_sampling_beta_alpha": 1.5,
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"time_sampling_scale": 0.999,
"tokenizer_max_length": 200,
"train_expert_only": false,
"type": "pi05",
"use_amp": false,
"use_peft": false,
"use_relative_actions": false
},
"prefetch_factor": 4,
"resume": false,
"reward_model": null,
"sample_weighting": null,
"save_checkpoint": true,
"save_freq": 20000,
"scheduler": {
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"num_decay_steps": 30000,
"num_warmup_steps": 1000,
"peak_lr": 2.5e-05,
"type": "cosine_decay_with_warmup"
},
"seed": 1000,
"steps": 30000,
"tolerance_s": 0.0001,
"use_policy_training_preset": true,
"wandb": {
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"disable_artifact": false,
"enable": true,
"entity": null,
"mode": null,
"notes": null,
"project": "lerobot",
"run_id": null
}
}