{ "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, "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 ] } } } }, "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": { "observation.images.egoview": { "type": "VISUAL", "shape": [ 3, 800, 1280 ] }, "observation.images.ego_view": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.state": { "type": "STATE", "shape": [ 44 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 44 ] } }, "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, "num_workers": 0, "batch_size": 1, "steps": 20000, "eval_freq": 20000, "log_freq": 10, "save_checkpoint": true, "save_freq": 5000, "use_policy_training_preset": true, "optimizer": { "type": "adamw", "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, "push_repo_id": null, "push_branch": null, "push_private": false, "push_exist_ok": false }