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{
"dataset": {
"repo_id": null,
"root": "/data/ysy/data/lerobot_pretrain_used",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
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"type": "ColorJitter",
"kwargs": {
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1.2
]
}
},
"contrast": {
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1.2
]
}
},
"saturation": {
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"kwargs": {
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1.5
]
}
},
"hue": {
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0.05
]
}
},
"sharpness": {
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1.5
]
}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
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5.0
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"translate": [
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}
}
}
},
"wrist_transforms": {
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}
},
"contrast": {
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}
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"hue": {
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0.05
]
}
},
"sharpness": {
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0.5,
1.5
]
}
}
}
},
"revision": "v2.0",
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
},
"env": null,
"policy": {
"type": "vista",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
16
]
},
"observation.images.left_wrist": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.images.right_wrist": {
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3,
224,
224
]
}
},
"output_features": {
"action": {
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"shape": [
16
]
}
},
"device": "cuda",
"use_amp": false,
"use_delta_action": true,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/data/ysy/data/models/umi_0312_40w",
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
"max_action_dim": 32,
"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,
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"tokenizer_max_length": 200,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"gradient_checkpointing": false,
"compile_model": false,
"compile_mode": "max-autotune",
"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,
"scheduler_decay_steps": 300000,
"scheduler_decay_lr": 2.5e-06
},
"output_dir": "/data/ysy/data/train_output/pre_s2/lerobot_pretrain_used/26-04-23_04-23-37_pi05_gpu8_ck50_lr2_5e-5_bs24_s300K_seed42",
"job_name": "vista",
"resume": false,
"seed": 42,
"num_workers": 8,
"batch_size": 24,
"steps": 300000,
"eval_freq": 5000,
"log_freq": 50,
"save_checkpoint": true,
"save_freq": 20000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 2.5e-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": 300000,
"peak_lr": 2.5e-05,
"decay_lr": 2.5e-06
},
"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,
"mode": null
},
"checkpoint_path": null,
"rename_map": {},
"accelerator_logging_dir": "accelerate_logs",
"mixed_precision": "bf16",
"enforce_input_output_replace": true,
"gradient_checkpointing": false,
"save_as_safetensors": true,
"load_from_safetensors": true
}