| { | |
| "dataset": { | |
| "repo_id": "local/robot_sim.PickNPlace", | |
| "root": "/scratch/cbjp404/Isaac-GR00T/demo_data/robot_sim.PickNPlace", | |
| "episodes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4 | |
| ], | |
| "image_transforms": { | |
| "enable": false, | |
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| "random_order": false, | |
| "tfs": { | |
| "brightness": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "brightness": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "contrast": { | |
| "weight": 1.0, | |
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| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "saturation": { | |
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| 0.5, | |
| 1.5 | |
| ] | |
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| }, | |
| "hue": { | |
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| -0.05, | |
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| ] | |
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| }, | |
| "sharpness": { | |
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| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": false, | |
| "video_backend": "pyav" | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "gemma_le", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "input_features": { | |
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| "shape": [ | |
| 3, | |
| 800, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.ego_view": { | |
| "type": "VISUAL", | |
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| 256, | |
| 256 | |
| ] | |
| }, | |
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| "action": { | |
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| 44 | |
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| "device": "cuda", | |
| "use_amp": true, | |
| "chunk_size": 16, | |
| "n_action_steps": 8, | |
| "vision_model_id": "/scratch/cbjp404/.cache/hf/models/siglip-so400m-patch14-384", | |
| "text_model_id": "/scratch/cbjp404/.cache/hf/models/gemma-3-4b-it", | |
| "use_2d_rope": false, | |
| "lora_rank": 16, | |
| "lora_alpha": 16, | |
| "lora_dropout": 0.1, | |
| "lora_target_modules": [ | |
| "q_proj", | |
| "k_proj", | |
| "v_proj", | |
| "o_proj" | |
| ], | |
| "scaledp_num_layers": 4, | |
| "scaledp_num_heads": 8, | |
| "scaledp_dim_model": 512, | |
| "scaledp_dim_feedforward": 2048, | |
| "num_diffusion_steps": 100, | |
| "conditioning_dim": 768, | |
| "plan_update_interval": 10, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 1e-06 | |
| }, | |
| "output_dir": "outputs/train/2025-08-12/13-06-07_gemma_le", | |
| "job_name": "gemma_le", | |
| "resume": false, | |
| "seed": 1000, | |
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| "steps": 20000, | |
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| "use_policy_training_preset": true, | |
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| "lr": 0.0001, | |
| "weight_decay": 1e-06, | |
| "grad_clip_norm": 10.0, | |
| "betas": [ | |
| 0.9, | |
| 0.999 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": null, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": false, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": null | |
| }, | |
| "progress_bar": true, | |
| "push_to_hub": false, | |
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| "push_private": false, | |
| "push_exist_ok": false | |
| } |