{ "batch_size": 16, "checkpoint_path": null, "cudnn_deterministic": false, "dataset": { "episodes": null, "image_transforms": { "enable": false, "max_num_transforms": 3, "random_order": false, "tfs": { "affine": { "kwargs": { "degrees": [ -5, 5 ], "translate": [ 0.05, 0.05 ] }, "type": "RandomAffine", "weight": 1 }, "brightness": { "kwargs": { "brightness": [ 0.8, 1.2 ] }, "type": "ColorJitter", "weight": 1 }, "contrast": { "kwargs": { "contrast": [ 0.8, 1.2 ] }, "type": "ColorJitter", "weight": 1 }, "hue": { "kwargs": { "hue": [ -0.05, 0.05 ] }, "type": "ColorJitter", "weight": 1 }, "saturation": { "kwargs": { "saturation": [ 0.5, 1.5 ] }, "type": "ColorJitter", "weight": 1 }, "sharpness": { "kwargs": { "sharpness": [ 0.5, 1.5 ] }, "type": "SharpnessJitter", "weight": 1 } } }, "repo_id": "KHandsome/Task-one-combine", "return_uint8": false, "revision": null, "root": null, "streaming": false, "use_imagenet_stats": true, "video_backend": "pyav" }, "env": null, "eval": { "batch_size": 50, "n_episodes": 50, "use_async_envs": true }, "eval_freq": 20000, "job_name": "Taskone-raw-pi05-5", "log_freq": 200, "num_workers": 4, "optimizer": { "betas": [ 0.9, 0.95 ], "eps": "1e-08", "grad_clip_norm": 1, "lr": 2.5e-05, "type": "adamw", "weight_decay": 0.01 }, "output_dir": "outputs/Taskone-raw-pi05-5", "peft": null, "persistent_workers": true, "policy": { "action_expert_variant": "gemma_300m", "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": { "observation.images.base": { "shape": [ 3, 480, 640 ], "type": "VISUAL" }, "observation.images.wrist": { "shape": [ 3, 480, 640 ], "type": "VISUAL" }, "observation.state": { "shape": [ 6 ], "type": "STATE" } }, "license": null, "max_action_dim": 32, "max_period": 4, "max_state_dim": 32, "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": [ 0.9, 0.95 ], "optimizer_eps": "1e-08", "optimizer_grad_clip_norm": 1, "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": [ "gripper" ], "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, "time_sampling_beta_beta": 1, "time_sampling_offset": 0.001, "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": { "decay_lr": 2.5e-06, "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": { "add_tags": true, "disable_artifact": false, "enable": true, "entity": null, "mode": null, "notes": null, "project": "lerobot", "run_id": null } }