{ "dataset": { "repo_id": "HuggingFaceVLA/libero", "root": null, "episodes": null, "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": "vla0", "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": true, "amp_dtype": "bf16", "push_to_hub": true, "repo_id": "olegbalakhnov/libero_vla0_final", "private": null, "tags": null, "license": null, "pretrained_path": null, "chunk_size": 8, "n_action_steps": 8, "ensemble_size": 0, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MIN_MAX", "ACTION": "MIN_MAX" }, "n_action_bins": 512, "n_state_bins": 512, "max_decoding_steps": 512, "use_cache": true, "optimizer_lr": 5e-05, "optimizer_betas": [ 0.9, 0.95 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 0.01, "scheduler_warmup_steps": 1000, "scheduler_decay_steps": 100000, "scheduler_decay_lr": 5e-06, "checkpoint_path": null, "vlm_checkpoint": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", "precision": "float32", "freeze_vision_encoder": false, "do_image_splitting": false, "drop_n_last_frames": 1, "relative_actions": false, "use_state": true, "start_actions_token": 49279, "grad_clip_norm": 1.0, "action_mask_aug_per": 0.15, "action_mask_skip_per": 0.1, "crop_shape": [ 230, 230 ] }, "output_dir": "outputs/train/2025-12-09/23-23-58_vla0", "job_name": "vla0", "resume": false, "seed": 1000, "num_workers": 8, "batch_size": 24, "steps": 100000, "eval_freq": 25000, "log_freq": 200, "save_checkpoint": true, "save_freq": 25000, "profile_step_num": -1, "use_policy_training_preset": true, "optimizer": { "type": "adamw", "lr": 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": 100000, "peak_lr": 5e-05, "decay_lr": 5e-06 }, "eval": { "n_episodes": 4, "batch_size": 4, "use_async_envs": false }, "wandb": { "enable": true, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null, "run_id": "wix4h6e7", "mode": null }, "checkpoint_path": null, "rename_map": {} }