ebim-task2-final / train_config.json
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{
"dataset": {
"repo_id": "sev/pi_final_data",
"repo_type": "dataset",
"root": "/workspace/yangtong/gq/WorkSpace/EBiM/data/pi_final_data",
"episodes": null,
"exclude_episodes": null,
"image_transforms": {
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"random_order": false,
"tfs": {
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"kwargs": {
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]
}
},
"contrast": {
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"kwargs": {
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1.2
]
}
},
"saturation": {
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"kwargs": {
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1.5
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}
},
"hue": {
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"kwargs": {
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0.05
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}
},
"sharpness": {
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}
},
"affine": {
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5.0
],
"translate": [
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]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "pyav",
"return_uint8": false,
"depth_output_unit": "mm",
"streaming": false,
"eval_split": 0.0
},
"env": null,
"policy": {
"type": "pi05",
"n_obs_steps": 1,
"input_features": {
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"shape": [
3,
224,
224
]
},
"observation.images.left_wrist_0_rgb": {
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"shape": [
3,
224,
224
]
},
"observation.images.right_wrist_0_rgb": {
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"shape": [
3,
224,
224
]
},
"observation.state": {
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32
]
}
},
"output_features": {
"action": {
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"shape": [
8
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/workspace/yangtong/gq/WorkSpace/EBiM/outputs/pi05_continue_0814/checkpoints/020000/pretrained_model",
"pretrained_revision": null,
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
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"num_inference_steps": 10,
"time_sampling_beta_alpha": 1.5,
"time_sampling_beta_beta": 1.0,
"time_sampling_scale": 0.999,
"time_sampling_offset": 0.001,
"min_period": 0.004,
"max_period": 4.0,
"use_relative_actions": false,
"relative_exclude_joints": [
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],
"action_feature_names": [
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"right_fr3v2_joint2.target",
"right_fr3v2_joint3.target",
"right_fr3v2_joint4.target",
"right_fr3v2_joint5.target",
"right_fr3v2_joint6.target",
"right_fr3v2_joint7.target",
"right_gripper.open_fraction.target"
],
"rtc_config": null,
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"tokenizer_max_length": 200,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"gradient_checkpointing": true,
"compile_model": false,
"compile_mode": "max-autotune",
"freeze_vision_encoder": false,
"train_expert_only": false,
"optimizer_lr": 2.5e-05,
"optimizer_betas": [
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0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1000,
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"scheduler_decay_lr": 2.5e-06
},
"reward_model": null,
"output_dir": "/workspace/yangtong/gq/WorkSpace/EBiM/outputs/pi05_final_0815",
"job_name": "pi05_final_0815",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 8,
"batch_size": 32,
"prefetch_factor": 4,
"persistent_workers": true,
"dataloader_multiprocessing_context": "spawn",
"steps": 15000,
"env_eval_freq": 0,
"log_freq": 100,
"eval_steps": 0,
"max_eval_samples": 0,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 3000,
"checkpoint_format": "safetensors",
"use_policy_training_preset": true,
"optimizer": {
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"weight_decay": 0.01,
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"betas": [
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"eps": 1e-08
},
"scheduler": {
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"num_decay_steps": 30000,
"peak_lr": 2.5e-05,
"decay_lr": 2.5e-06
},
"parallelism": {
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"dp_shard": 1,
"context_parallel": {
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"ulysses_degree": 1
},
"cfg_parallel": 1
},
"accelerator": {
"mixed_precision": "no",
"gradient_accumulation": {
"steps": 1
},
"fsdp": {
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"wrap_modules": null,
"min_num_params": null,
"cpu_offload": false,
"ignored_modules": null
},
"ddp": {
"find_unused_parameters": true,
"gradient_as_bucket_view": false,
"static_graph": false
},
"compile": {
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"backend": "inductor",
"mode": null,
"regional": true
},
"activation_checkpointing": {
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}
},
"eval": {
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"batch_size": 50,
"use_async_envs": true,
"recording": false,
"recording_repo_id": null,
"recording_private": false
},
"ema": {
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"decay": 0.99,
"update_after_step": 0,
"inv_gamma": 1.0,
"power": 0.75,
"min_decay": 0.0,
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"use_for_eval": true
},
"wandb": {
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"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": null,
"mode": null,
"add_tags": true
},
"peft": null,
"job": {
"target": null,
"image": "huggingface/lerobot-gpu:latest",
"timeout": "2d",
"detach": false,
"tags": []
},
"save_checkpoint_to_hub": false,
"sample_weighting": null,
"rename_map": {
"observation.images.head": "observation.images.base_0_rgb",
"observation.images.wrist_right": "observation.images.right_wrist_0_rgb"
},
"checkpoint_path": null
}