autox-lerobot-ci commited on
Commit
a686328
·
1 Parent(s): 9e129dd

Uploading checkpoints

Browse files
Files changed (3) hide show
  1. config.json +83 -0
  2. model.safetensors +3 -0
  3. train_config.json +1454 -0
config.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi0",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "IDENTITY",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 32
14
+ ]
15
+ },
16
+ "camera0": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 224,
21
+ 224
22
+ ]
23
+ },
24
+ "camera1": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 224,
29
+ 224
30
+ ]
31
+ }
32
+ },
33
+ "output_features": {
34
+ "actions": {
35
+ "type": "ACTION",
36
+ "shape": [
37
+ 32
38
+ ]
39
+ }
40
+ },
41
+ "device": null,
42
+ "use_amp": false,
43
+ "cloud_vlm_latency_mean": 0.0,
44
+ "cloud_vlm_latency_std": 0.0,
45
+ "cloud_vlm_latency_lower": 0.0,
46
+ "cloud_vlm_latency_upper": 0.0,
47
+ "action_decoder_latency_mean": 0.0,
48
+ "action_decoder_latency_std": 0.0,
49
+ "action_decoder_latency_lower": 0.0,
50
+ "action_decoder_latency_upper": 0.0,
51
+ "chunk_size": 10,
52
+ "n_action_steps": 10,
53
+ "safety_buffer": 0,
54
+ "max_state_dim": 32,
55
+ "max_action_dim": 32,
56
+ "resize_imgs_with_padding": [
57
+ 224,
58
+ 224
59
+ ],
60
+ "empty_cameras": 0,
61
+ "tokenizer_max_length": 100,
62
+ "proj_width": 1024,
63
+ "dropout": 0.1,
64
+ "num_steps": 10,
65
+ "advantage_threshold": 0.12861,
66
+ "advantage": "use",
67
+ "init_strategy": "no_init",
68
+ "use_cache": true,
69
+ "attention_implementation": "eager",
70
+ "freeze_vision_encoder": false,
71
+ "train_expert_only": false,
72
+ "train_state_proj": true,
73
+ "optimizer_lr": 2.5e-05,
74
+ "optimizer_betas": [
75
+ 0.9,
76
+ 0.95
77
+ ],
78
+ "optimizer_eps": 1e-08,
79
+ "optimizer_weight_decay": 1e-10,
80
+ "scheduler_warmup_steps": 1000,
81
+ "scheduler_decay_steps": 30000,
82
+ "scheduler_decay_lr": 2.5e-06
83
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eafa0f87ac4b3f0b3333cd755e6a94d448c2daed693e537be9b7e59251dfd079
3
+ size 16112213576
train_config.json ADDED
@@ -0,0 +1,1454 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_mixture": {
3
+ "datasets": [
4
+ {
5
+ "repo_id": "physical-intelligence/libero",
6
+ "grounding": null,
7
+ "root": "/fss/bot/libero",
8
+ "episodes": [
9
+ 10,
10
+ 20,
11
+ 23,
12
+ 46,
13
+ 51,
14
+ 54,
15
+ 57,
16
+ 67,
17
+ 70,
18
+ 73,
19
+ 86,
20
+ 100,
21
+ 106,
22
+ 115,
23
+ 143,
24
+ 149,
25
+ 179,
26
+ 187,
27
+ 194,
28
+ 204,
29
+ 214,
30
+ 270,
31
+ 283,
32
+ 288,
33
+ 306,
34
+ 314,
35
+ 316,
36
+ 341,
37
+ 376
38
+ ],
39
+ "image_transforms": {
40
+ "enable": false,
41
+ "max_num_transforms": 3,
42
+ "random_order": false,
43
+ "tfs": {
44
+ "brightness": {
45
+ "weight": 1.0,
46
+ "type": "ColorJitter",
47
+ "kwargs": {
48
+ "brightness": [
49
+ 0.8,
50
+ 1.2
51
+ ]
52
+ }
53
+ },
54
+ "contrast": {
55
+ "weight": 1.0,
56
+ "type": "ColorJitter",
57
+ "kwargs": {
58
+ "contrast": [
59
+ 0.8,
60
+ 1.2
61
+ ]
62
+ }
63
+ },
64
+ "saturation": {
65
+ "weight": 1.0,
66
+ "type": "ColorJitter",
67
+ "kwargs": {
68
+ "saturation": [
69
+ 0.5,
70
+ 1.5
71
+ ]
72
+ }
73
+ },
74
+ "hue": {
75
+ "weight": 1.0,
76
+ "type": "ColorJitter",
77
+ "kwargs": {
78
+ "hue": [
79
+ -0.05,
80
+ 0.05
81
+ ]
82
+ }
83
+ },
84
+ "sharpness": {
85
+ "weight": 1.0,
86
+ "type": "SharpnessJitter",
87
+ "kwargs": {
88
+ "sharpness": [
89
+ 0.5,
90
+ 1.5
91
+ ]
92
+ }
93
+ }
94
+ }
95
+ },
96
+ "revision": null,
97
+ "use_imagenet_stats": true,
98
+ "video_backend": "pyav",
99
+ "stats": null,
100
+ "data_features_name_mapping": null,
101
+ "val_split_ratio": 0.05
102
+ },
103
+ {
104
+ "repo_id": "physical-intelligence/libero",
105
+ "grounding": null,
106
+ "root": "/fss/bot/libero_rollout_0_rank0/rank0",
107
+ "episodes": null,
108
+ "image_transforms": {
109
+ "enable": false,
110
+ "max_num_transforms": 3,
111
+ "random_order": false,
112
+ "tfs": {
113
+ "brightness": {
114
+ "weight": 1.0,
115
+ "type": "ColorJitter",
116
+ "kwargs": {
117
+ "brightness": [
118
+ 0.8,
119
+ 1.2
120
+ ]
121
+ }
122
+ },
123
+ "contrast": {
124
+ "weight": 1.0,
125
+ "type": "ColorJitter",
126
+ "kwargs": {
127
+ "contrast": [
128
+ 0.8,
129
+ 1.2
130
+ ]
131
+ }
132
+ },
133
+ "saturation": {
134
+ "weight": 1.0,
135
+ "type": "ColorJitter",
136
+ "kwargs": {
137
+ "saturation": [
138
+ 0.5,
139
+ 1.5
140
+ ]
141
+ }
142
+ },
143
+ "hue": {
144
+ "weight": 1.0,
145
+ "type": "ColorJitter",
146
+ "kwargs": {
147
+ "hue": [
148
+ -0.05,
149
+ 0.05
150
+ ]
151
+ }
152
+ },
153
+ "sharpness": {
154
+ "weight": 1.0,
155
+ "type": "SharpnessJitter",
156
+ "kwargs": {
157
+ "sharpness": [
158
+ 0.5,
159
+ 1.5
160
+ ]
161
+ }
162
+ }
163
+ }
164
+ },
165
+ "revision": null,
166
+ "use_imagenet_stats": true,
167
+ "video_backend": "pyav",
168
+ "stats": null,
169
+ "data_features_name_mapping": null,
170
+ "val_split_ratio": 0.05
171
+ },
172
+ {
173
+ "repo_id": "physical-intelligence/libero",
174
+ "grounding": null,
175
+ "root": "/fss/bot/libero_rollout_0_rank1/rank0",
176
+ "episodes": null,
177
+ "image_transforms": {
178
+ "enable": false,
179
+ "max_num_transforms": 3,
180
+ "random_order": false,
181
+ "tfs": {
182
+ "brightness": {
183
+ "weight": 1.0,
184
+ "type": "ColorJitter",
185
+ "kwargs": {
186
+ "brightness": [
187
+ 0.8,
188
+ 1.2
189
+ ]
190
+ }
191
+ },
192
+ "contrast": {
193
+ "weight": 1.0,
194
+ "type": "ColorJitter",
195
+ "kwargs": {
196
+ "contrast": [
197
+ 0.8,
198
+ 1.2
199
+ ]
200
+ }
201
+ },
202
+ "saturation": {
203
+ "weight": 1.0,
204
+ "type": "ColorJitter",
205
+ "kwargs": {
206
+ "saturation": [
207
+ 0.5,
208
+ 1.5
209
+ ]
210
+ }
211
+ },
212
+ "hue": {
213
+ "weight": 1.0,
214
+ "type": "ColorJitter",
215
+ "kwargs": {
216
+ "hue": [
217
+ -0.05,
218
+ 0.05
219
+ ]
220
+ }
221
+ },
222
+ "sharpness": {
223
+ "weight": 1.0,
224
+ "type": "SharpnessJitter",
225
+ "kwargs": {
226
+ "sharpness": [
227
+ 0.5,
228
+ 1.5
229
+ ]
230
+ }
231
+ }
232
+ }
233
+ },
234
+ "revision": null,
235
+ "use_imagenet_stats": true,
236
+ "video_backend": "pyav",
237
+ "stats": null,
238
+ "data_features_name_mapping": null,
239
+ "val_split_ratio": 0.05
240
+ },
241
+ {
242
+ "repo_id": "physical-intelligence/libero",
243
+ "grounding": null,
244
+ "root": "/fss/bot/libero_rollout_0_rank2/rank0",
245
+ "episodes": null,
246
+ "image_transforms": {
247
+ "enable": false,
248
+ "max_num_transforms": 3,
249
+ "random_order": false,
250
+ "tfs": {
251
+ "brightness": {
252
+ "weight": 1.0,
253
+ "type": "ColorJitter",
254
+ "kwargs": {
255
+ "brightness": [
256
+ 0.8,
257
+ 1.2
258
+ ]
259
+ }
260
+ },
261
+ "contrast": {
262
+ "weight": 1.0,
263
+ "type": "ColorJitter",
264
+ "kwargs": {
265
+ "contrast": [
266
+ 0.8,
267
+ 1.2
268
+ ]
269
+ }
270
+ },
271
+ "saturation": {
272
+ "weight": 1.0,
273
+ "type": "ColorJitter",
274
+ "kwargs": {
275
+ "saturation": [
276
+ 0.5,
277
+ 1.5
278
+ ]
279
+ }
280
+ },
281
+ "hue": {
282
+ "weight": 1.0,
283
+ "type": "ColorJitter",
284
+ "kwargs": {
285
+ "hue": [
286
+ -0.05,
287
+ 0.05
288
+ ]
289
+ }
290
+ },
291
+ "sharpness": {
292
+ "weight": 1.0,
293
+ "type": "SharpnessJitter",
294
+ "kwargs": {
295
+ "sharpness": [
296
+ 0.5,
297
+ 1.5
298
+ ]
299
+ }
300
+ }
301
+ }
302
+ },
303
+ "revision": null,
304
+ "use_imagenet_stats": true,
305
+ "video_backend": "pyav",
306
+ "stats": null,
307
+ "data_features_name_mapping": null,
308
+ "val_split_ratio": 0.05
309
+ },
310
+ {
311
+ "repo_id": "physical-intelligence/libero",
312
+ "grounding": null,
313
+ "root": "/fss/bot/libero_rollout_0_rank3/rank0",
314
+ "episodes": null,
315
+ "image_transforms": {
316
+ "enable": false,
317
+ "max_num_transforms": 3,
318
+ "random_order": false,
319
+ "tfs": {
320
+ "brightness": {
321
+ "weight": 1.0,
322
+ "type": "ColorJitter",
323
+ "kwargs": {
324
+ "brightness": [
325
+ 0.8,
326
+ 1.2
327
+ ]
328
+ }
329
+ },
330
+ "contrast": {
331
+ "weight": 1.0,
332
+ "type": "ColorJitter",
333
+ "kwargs": {
334
+ "contrast": [
335
+ 0.8,
336
+ 1.2
337
+ ]
338
+ }
339
+ },
340
+ "saturation": {
341
+ "weight": 1.0,
342
+ "type": "ColorJitter",
343
+ "kwargs": {
344
+ "saturation": [
345
+ 0.5,
346
+ 1.5
347
+ ]
348
+ }
349
+ },
350
+ "hue": {
351
+ "weight": 1.0,
352
+ "type": "ColorJitter",
353
+ "kwargs": {
354
+ "hue": [
355
+ -0.05,
356
+ 0.05
357
+ ]
358
+ }
359
+ },
360
+ "sharpness": {
361
+ "weight": 1.0,
362
+ "type": "SharpnessJitter",
363
+ "kwargs": {
364
+ "sharpness": [
365
+ 0.5,
366
+ 1.5
367
+ ]
368
+ }
369
+ }
370
+ }
371
+ },
372
+ "revision": null,
373
+ "use_imagenet_stats": true,
374
+ "video_backend": "pyav",
375
+ "stats": null,
376
+ "data_features_name_mapping": null,
377
+ "val_split_ratio": 0.05
378
+ },
379
+ {
380
+ "repo_id": "physical-intelligence/libero",
381
+ "grounding": null,
382
+ "root": "/fss/bot/libero_rollout_0_rank4/rank0",
383
+ "episodes": null,
384
+ "image_transforms": {
385
+ "enable": false,
386
+ "max_num_transforms": 3,
387
+ "random_order": false,
388
+ "tfs": {
389
+ "brightness": {
390
+ "weight": 1.0,
391
+ "type": "ColorJitter",
392
+ "kwargs": {
393
+ "brightness": [
394
+ 0.8,
395
+ 1.2
396
+ ]
397
+ }
398
+ },
399
+ "contrast": {
400
+ "weight": 1.0,
401
+ "type": "ColorJitter",
402
+ "kwargs": {
403
+ "contrast": [
404
+ 0.8,
405
+ 1.2
406
+ ]
407
+ }
408
+ },
409
+ "saturation": {
410
+ "weight": 1.0,
411
+ "type": "ColorJitter",
412
+ "kwargs": {
413
+ "saturation": [
414
+ 0.5,
415
+ 1.5
416
+ ]
417
+ }
418
+ },
419
+ "hue": {
420
+ "weight": 1.0,
421
+ "type": "ColorJitter",
422
+ "kwargs": {
423
+ "hue": [
424
+ -0.05,
425
+ 0.05
426
+ ]
427
+ }
428
+ },
429
+ "sharpness": {
430
+ "weight": 1.0,
431
+ "type": "SharpnessJitter",
432
+ "kwargs": {
433
+ "sharpness": [
434
+ 0.5,
435
+ 1.5
436
+ ]
437
+ }
438
+ }
439
+ }
440
+ },
441
+ "revision": null,
442
+ "use_imagenet_stats": true,
443
+ "video_backend": "pyav",
444
+ "stats": null,
445
+ "data_features_name_mapping": null,
446
+ "val_split_ratio": 0.05
447
+ },
448
+ {
449
+ "repo_id": "physical-intelligence/libero",
450
+ "grounding": null,
451
+ "root": "/fss/bot/libero_rollout_0_rank5/rank0",
452
+ "episodes": null,
453
+ "image_transforms": {
454
+ "enable": false,
455
+ "max_num_transforms": 3,
456
+ "random_order": false,
457
+ "tfs": {
458
+ "brightness": {
459
+ "weight": 1.0,
460
+ "type": "ColorJitter",
461
+ "kwargs": {
462
+ "brightness": [
463
+ 0.8,
464
+ 1.2
465
+ ]
466
+ }
467
+ },
468
+ "contrast": {
469
+ "weight": 1.0,
470
+ "type": "ColorJitter",
471
+ "kwargs": {
472
+ "contrast": [
473
+ 0.8,
474
+ 1.2
475
+ ]
476
+ }
477
+ },
478
+ "saturation": {
479
+ "weight": 1.0,
480
+ "type": "ColorJitter",
481
+ "kwargs": {
482
+ "saturation": [
483
+ 0.5,
484
+ 1.5
485
+ ]
486
+ }
487
+ },
488
+ "hue": {
489
+ "weight": 1.0,
490
+ "type": "ColorJitter",
491
+ "kwargs": {
492
+ "hue": [
493
+ -0.05,
494
+ 0.05
495
+ ]
496
+ }
497
+ },
498
+ "sharpness": {
499
+ "weight": 1.0,
500
+ "type": "SharpnessJitter",
501
+ "kwargs": {
502
+ "sharpness": [
503
+ 0.5,
504
+ 1.5
505
+ ]
506
+ }
507
+ }
508
+ }
509
+ },
510
+ "revision": null,
511
+ "use_imagenet_stats": true,
512
+ "video_backend": "pyav",
513
+ "stats": null,
514
+ "data_features_name_mapping": null,
515
+ "val_split_ratio": 0.05
516
+ },
517
+ {
518
+ "repo_id": "physical-intelligence/libero",
519
+ "grounding": null,
520
+ "root": "/fss/bot/libero_rollout_0_rank6/rank0",
521
+ "episodes": null,
522
+ "image_transforms": {
523
+ "enable": false,
524
+ "max_num_transforms": 3,
525
+ "random_order": false,
526
+ "tfs": {
527
+ "brightness": {
528
+ "weight": 1.0,
529
+ "type": "ColorJitter",
530
+ "kwargs": {
531
+ "brightness": [
532
+ 0.8,
533
+ 1.2
534
+ ]
535
+ }
536
+ },
537
+ "contrast": {
538
+ "weight": 1.0,
539
+ "type": "ColorJitter",
540
+ "kwargs": {
541
+ "contrast": [
542
+ 0.8,
543
+ 1.2
544
+ ]
545
+ }
546
+ },
547
+ "saturation": {
548
+ "weight": 1.0,
549
+ "type": "ColorJitter",
550
+ "kwargs": {
551
+ "saturation": [
552
+ 0.5,
553
+ 1.5
554
+ ]
555
+ }
556
+ },
557
+ "hue": {
558
+ "weight": 1.0,
559
+ "type": "ColorJitter",
560
+ "kwargs": {
561
+ "hue": [
562
+ -0.05,
563
+ 0.05
564
+ ]
565
+ }
566
+ },
567
+ "sharpness": {
568
+ "weight": 1.0,
569
+ "type": "SharpnessJitter",
570
+ "kwargs": {
571
+ "sharpness": [
572
+ 0.5,
573
+ 1.5
574
+ ]
575
+ }
576
+ }
577
+ }
578
+ },
579
+ "revision": null,
580
+ "use_imagenet_stats": true,
581
+ "video_backend": "pyav",
582
+ "stats": null,
583
+ "data_features_name_mapping": null,
584
+ "val_split_ratio": 0.05
585
+ },
586
+ {
587
+ "repo_id": "physical-intelligence/libero",
588
+ "grounding": null,
589
+ "root": "/fss/bot/libero_rollout_0_rank7/rank0",
590
+ "episodes": null,
591
+ "image_transforms": {
592
+ "enable": false,
593
+ "max_num_transforms": 3,
594
+ "random_order": false,
595
+ "tfs": {
596
+ "brightness": {
597
+ "weight": 1.0,
598
+ "type": "ColorJitter",
599
+ "kwargs": {
600
+ "brightness": [
601
+ 0.8,
602
+ 1.2
603
+ ]
604
+ }
605
+ },
606
+ "contrast": {
607
+ "weight": 1.0,
608
+ "type": "ColorJitter",
609
+ "kwargs": {
610
+ "contrast": [
611
+ 0.8,
612
+ 1.2
613
+ ]
614
+ }
615
+ },
616
+ "saturation": {
617
+ "weight": 1.0,
618
+ "type": "ColorJitter",
619
+ "kwargs": {
620
+ "saturation": [
621
+ 0.5,
622
+ 1.5
623
+ ]
624
+ }
625
+ },
626
+ "hue": {
627
+ "weight": 1.0,
628
+ "type": "ColorJitter",
629
+ "kwargs": {
630
+ "hue": [
631
+ -0.05,
632
+ 0.05
633
+ ]
634
+ }
635
+ },
636
+ "sharpness": {
637
+ "weight": 1.0,
638
+ "type": "SharpnessJitter",
639
+ "kwargs": {
640
+ "sharpness": [
641
+ 0.5,
642
+ 1.5
643
+ ]
644
+ }
645
+ }
646
+ }
647
+ },
648
+ "revision": null,
649
+ "use_imagenet_stats": true,
650
+ "video_backend": "pyav",
651
+ "stats": null,
652
+ "data_features_name_mapping": null,
653
+ "val_split_ratio": 0.05
654
+ },
655
+ {
656
+ "repo_id": "physical-intelligence/libero",
657
+ "grounding": null,
658
+ "root": "/fss/bot/libero_rollout_1_rank0/rank0",
659
+ "episodes": null,
660
+ "image_transforms": {
661
+ "enable": false,
662
+ "max_num_transforms": 3,
663
+ "random_order": false,
664
+ "tfs": {
665
+ "brightness": {
666
+ "weight": 1.0,
667
+ "type": "ColorJitter",
668
+ "kwargs": {
669
+ "brightness": [
670
+ 0.8,
671
+ 1.2
672
+ ]
673
+ }
674
+ },
675
+ "contrast": {
676
+ "weight": 1.0,
677
+ "type": "ColorJitter",
678
+ "kwargs": {
679
+ "contrast": [
680
+ 0.8,
681
+ 1.2
682
+ ]
683
+ }
684
+ },
685
+ "saturation": {
686
+ "weight": 1.0,
687
+ "type": "ColorJitter",
688
+ "kwargs": {
689
+ "saturation": [
690
+ 0.5,
691
+ 1.5
692
+ ]
693
+ }
694
+ },
695
+ "hue": {
696
+ "weight": 1.0,
697
+ "type": "ColorJitter",
698
+ "kwargs": {
699
+ "hue": [
700
+ -0.05,
701
+ 0.05
702
+ ]
703
+ }
704
+ },
705
+ "sharpness": {
706
+ "weight": 1.0,
707
+ "type": "SharpnessJitter",
708
+ "kwargs": {
709
+ "sharpness": [
710
+ 0.5,
711
+ 1.5
712
+ ]
713
+ }
714
+ }
715
+ }
716
+ },
717
+ "revision": null,
718
+ "use_imagenet_stats": true,
719
+ "video_backend": "pyav",
720
+ "stats": null,
721
+ "data_features_name_mapping": null,
722
+ "val_split_ratio": 0.05
723
+ },
724
+ {
725
+ "repo_id": "physical-intelligence/libero",
726
+ "grounding": null,
727
+ "root": "/fss/bot/libero_rollout_1_rank1/rank0",
728
+ "episodes": null,
729
+ "image_transforms": {
730
+ "enable": false,
731
+ "max_num_transforms": 3,
732
+ "random_order": false,
733
+ "tfs": {
734
+ "brightness": {
735
+ "weight": 1.0,
736
+ "type": "ColorJitter",
737
+ "kwargs": {
738
+ "brightness": [
739
+ 0.8,
740
+ 1.2
741
+ ]
742
+ }
743
+ },
744
+ "contrast": {
745
+ "weight": 1.0,
746
+ "type": "ColorJitter",
747
+ "kwargs": {
748
+ "contrast": [
749
+ 0.8,
750
+ 1.2
751
+ ]
752
+ }
753
+ },
754
+ "saturation": {
755
+ "weight": 1.0,
756
+ "type": "ColorJitter",
757
+ "kwargs": {
758
+ "saturation": [
759
+ 0.5,
760
+ 1.5
761
+ ]
762
+ }
763
+ },
764
+ "hue": {
765
+ "weight": 1.0,
766
+ "type": "ColorJitter",
767
+ "kwargs": {
768
+ "hue": [
769
+ -0.05,
770
+ 0.05
771
+ ]
772
+ }
773
+ },
774
+ "sharpness": {
775
+ "weight": 1.0,
776
+ "type": "SharpnessJitter",
777
+ "kwargs": {
778
+ "sharpness": [
779
+ 0.5,
780
+ 1.5
781
+ ]
782
+ }
783
+ }
784
+ }
785
+ },
786
+ "revision": null,
787
+ "use_imagenet_stats": true,
788
+ "video_backend": "pyav",
789
+ "stats": null,
790
+ "data_features_name_mapping": null,
791
+ "val_split_ratio": 0.05
792
+ },
793
+ {
794
+ "repo_id": "physical-intelligence/libero",
795
+ "grounding": null,
796
+ "root": "/fss/bot/libero_rollout_1_rank2/rank0",
797
+ "episodes": null,
798
+ "image_transforms": {
799
+ "enable": false,
800
+ "max_num_transforms": 3,
801
+ "random_order": false,
802
+ "tfs": {
803
+ "brightness": {
804
+ "weight": 1.0,
805
+ "type": "ColorJitter",
806
+ "kwargs": {
807
+ "brightness": [
808
+ 0.8,
809
+ 1.2
810
+ ]
811
+ }
812
+ },
813
+ "contrast": {
814
+ "weight": 1.0,
815
+ "type": "ColorJitter",
816
+ "kwargs": {
817
+ "contrast": [
818
+ 0.8,
819
+ 1.2
820
+ ]
821
+ }
822
+ },
823
+ "saturation": {
824
+ "weight": 1.0,
825
+ "type": "ColorJitter",
826
+ "kwargs": {
827
+ "saturation": [
828
+ 0.5,
829
+ 1.5
830
+ ]
831
+ }
832
+ },
833
+ "hue": {
834
+ "weight": 1.0,
835
+ "type": "ColorJitter",
836
+ "kwargs": {
837
+ "hue": [
838
+ -0.05,
839
+ 0.05
840
+ ]
841
+ }
842
+ },
843
+ "sharpness": {
844
+ "weight": 1.0,
845
+ "type": "SharpnessJitter",
846
+ "kwargs": {
847
+ "sharpness": [
848
+ 0.5,
849
+ 1.5
850
+ ]
851
+ }
852
+ }
853
+ }
854
+ },
855
+ "revision": null,
856
+ "use_imagenet_stats": true,
857
+ "video_backend": "pyav",
858
+ "stats": null,
859
+ "data_features_name_mapping": null,
860
+ "val_split_ratio": 0.05
861
+ },
862
+ {
863
+ "repo_id": "physical-intelligence/libero",
864
+ "grounding": null,
865
+ "root": "/fss/bot/libero_rollout_1_rank3/rank0",
866
+ "episodes": null,
867
+ "image_transforms": {
868
+ "enable": false,
869
+ "max_num_transforms": 3,
870
+ "random_order": false,
871
+ "tfs": {
872
+ "brightness": {
873
+ "weight": 1.0,
874
+ "type": "ColorJitter",
875
+ "kwargs": {
876
+ "brightness": [
877
+ 0.8,
878
+ 1.2
879
+ ]
880
+ }
881
+ },
882
+ "contrast": {
883
+ "weight": 1.0,
884
+ "type": "ColorJitter",
885
+ "kwargs": {
886
+ "contrast": [
887
+ 0.8,
888
+ 1.2
889
+ ]
890
+ }
891
+ },
892
+ "saturation": {
893
+ "weight": 1.0,
894
+ "type": "ColorJitter",
895
+ "kwargs": {
896
+ "saturation": [
897
+ 0.5,
898
+ 1.5
899
+ ]
900
+ }
901
+ },
902
+ "hue": {
903
+ "weight": 1.0,
904
+ "type": "ColorJitter",
905
+ "kwargs": {
906
+ "hue": [
907
+ -0.05,
908
+ 0.05
909
+ ]
910
+ }
911
+ },
912
+ "sharpness": {
913
+ "weight": 1.0,
914
+ "type": "SharpnessJitter",
915
+ "kwargs": {
916
+ "sharpness": [
917
+ 0.5,
918
+ 1.5
919
+ ]
920
+ }
921
+ }
922
+ }
923
+ },
924
+ "revision": null,
925
+ "use_imagenet_stats": true,
926
+ "video_backend": "pyav",
927
+ "stats": null,
928
+ "data_features_name_mapping": null,
929
+ "val_split_ratio": 0.05
930
+ },
931
+ {
932
+ "repo_id": "physical-intelligence/libero",
933
+ "grounding": null,
934
+ "root": "/fss/bot/libero_rollout_1_rank4/rank0",
935
+ "episodes": null,
936
+ "image_transforms": {
937
+ "enable": false,
938
+ "max_num_transforms": 3,
939
+ "random_order": false,
940
+ "tfs": {
941
+ "brightness": {
942
+ "weight": 1.0,
943
+ "type": "ColorJitter",
944
+ "kwargs": {
945
+ "brightness": [
946
+ 0.8,
947
+ 1.2
948
+ ]
949
+ }
950
+ },
951
+ "contrast": {
952
+ "weight": 1.0,
953
+ "type": "ColorJitter",
954
+ "kwargs": {
955
+ "contrast": [
956
+ 0.8,
957
+ 1.2
958
+ ]
959
+ }
960
+ },
961
+ "saturation": {
962
+ "weight": 1.0,
963
+ "type": "ColorJitter",
964
+ "kwargs": {
965
+ "saturation": [
966
+ 0.5,
967
+ 1.5
968
+ ]
969
+ }
970
+ },
971
+ "hue": {
972
+ "weight": 1.0,
973
+ "type": "ColorJitter",
974
+ "kwargs": {
975
+ "hue": [
976
+ -0.05,
977
+ 0.05
978
+ ]
979
+ }
980
+ },
981
+ "sharpness": {
982
+ "weight": 1.0,
983
+ "type": "SharpnessJitter",
984
+ "kwargs": {
985
+ "sharpness": [
986
+ 0.5,
987
+ 1.5
988
+ ]
989
+ }
990
+ }
991
+ }
992
+ },
993
+ "revision": null,
994
+ "use_imagenet_stats": true,
995
+ "video_backend": "pyav",
996
+ "stats": null,
997
+ "data_features_name_mapping": null,
998
+ "val_split_ratio": 0.05
999
+ },
1000
+ {
1001
+ "repo_id": "physical-intelligence/libero",
1002
+ "grounding": null,
1003
+ "root": "/fss/bot/libero_rollout_1_rank5/rank0",
1004
+ "episodes": null,
1005
+ "image_transforms": {
1006
+ "enable": false,
1007
+ "max_num_transforms": 3,
1008
+ "random_order": false,
1009
+ "tfs": {
1010
+ "brightness": {
1011
+ "weight": 1.0,
1012
+ "type": "ColorJitter",
1013
+ "kwargs": {
1014
+ "brightness": [
1015
+ 0.8,
1016
+ 1.2
1017
+ ]
1018
+ }
1019
+ },
1020
+ "contrast": {
1021
+ "weight": 1.0,
1022
+ "type": "ColorJitter",
1023
+ "kwargs": {
1024
+ "contrast": [
1025
+ 0.8,
1026
+ 1.2
1027
+ ]
1028
+ }
1029
+ },
1030
+ "saturation": {
1031
+ "weight": 1.0,
1032
+ "type": "ColorJitter",
1033
+ "kwargs": {
1034
+ "saturation": [
1035
+ 0.5,
1036
+ 1.5
1037
+ ]
1038
+ }
1039
+ },
1040
+ "hue": {
1041
+ "weight": 1.0,
1042
+ "type": "ColorJitter",
1043
+ "kwargs": {
1044
+ "hue": [
1045
+ -0.05,
1046
+ 0.05
1047
+ ]
1048
+ }
1049
+ },
1050
+ "sharpness": {
1051
+ "weight": 1.0,
1052
+ "type": "SharpnessJitter",
1053
+ "kwargs": {
1054
+ "sharpness": [
1055
+ 0.5,
1056
+ 1.5
1057
+ ]
1058
+ }
1059
+ }
1060
+ }
1061
+ },
1062
+ "revision": null,
1063
+ "use_imagenet_stats": true,
1064
+ "video_backend": "pyav",
1065
+ "stats": null,
1066
+ "data_features_name_mapping": null,
1067
+ "val_split_ratio": 0.05
1068
+ },
1069
+ {
1070
+ "repo_id": "physical-intelligence/libero",
1071
+ "grounding": null,
1072
+ "root": "/fss/bot/libero_rollout_1_rank6/rank0",
1073
+ "episodes": null,
1074
+ "image_transforms": {
1075
+ "enable": false,
1076
+ "max_num_transforms": 3,
1077
+ "random_order": false,
1078
+ "tfs": {
1079
+ "brightness": {
1080
+ "weight": 1.0,
1081
+ "type": "ColorJitter",
1082
+ "kwargs": {
1083
+ "brightness": [
1084
+ 0.8,
1085
+ 1.2
1086
+ ]
1087
+ }
1088
+ },
1089
+ "contrast": {
1090
+ "weight": 1.0,
1091
+ "type": "ColorJitter",
1092
+ "kwargs": {
1093
+ "contrast": [
1094
+ 0.8,
1095
+ 1.2
1096
+ ]
1097
+ }
1098
+ },
1099
+ "saturation": {
1100
+ "weight": 1.0,
1101
+ "type": "ColorJitter",
1102
+ "kwargs": {
1103
+ "saturation": [
1104
+ 0.5,
1105
+ 1.5
1106
+ ]
1107
+ }
1108
+ },
1109
+ "hue": {
1110
+ "weight": 1.0,
1111
+ "type": "ColorJitter",
1112
+ "kwargs": {
1113
+ "hue": [
1114
+ -0.05,
1115
+ 0.05
1116
+ ]
1117
+ }
1118
+ },
1119
+ "sharpness": {
1120
+ "weight": 1.0,
1121
+ "type": "SharpnessJitter",
1122
+ "kwargs": {
1123
+ "sharpness": [
1124
+ 0.5,
1125
+ 1.5
1126
+ ]
1127
+ }
1128
+ }
1129
+ }
1130
+ },
1131
+ "revision": null,
1132
+ "use_imagenet_stats": true,
1133
+ "video_backend": "pyav",
1134
+ "stats": null,
1135
+ "data_features_name_mapping": null,
1136
+ "val_split_ratio": 0.05
1137
+ },
1138
+ {
1139
+ "repo_id": "physical-intelligence/libero",
1140
+ "grounding": null,
1141
+ "root": "/fss/bot/libero_rollout_1_rank7/rank0",
1142
+ "episodes": null,
1143
+ "image_transforms": {
1144
+ "enable": false,
1145
+ "max_num_transforms": 3,
1146
+ "random_order": false,
1147
+ "tfs": {
1148
+ "brightness": {
1149
+ "weight": 1.0,
1150
+ "type": "ColorJitter",
1151
+ "kwargs": {
1152
+ "brightness": [
1153
+ 0.8,
1154
+ 1.2
1155
+ ]
1156
+ }
1157
+ },
1158
+ "contrast": {
1159
+ "weight": 1.0,
1160
+ "type": "ColorJitter",
1161
+ "kwargs": {
1162
+ "contrast": [
1163
+ 0.8,
1164
+ 1.2
1165
+ ]
1166
+ }
1167
+ },
1168
+ "saturation": {
1169
+ "weight": 1.0,
1170
+ "type": "ColorJitter",
1171
+ "kwargs": {
1172
+ "saturation": [
1173
+ 0.5,
1174
+ 1.5
1175
+ ]
1176
+ }
1177
+ },
1178
+ "hue": {
1179
+ "weight": 1.0,
1180
+ "type": "ColorJitter",
1181
+ "kwargs": {
1182
+ "hue": [
1183
+ -0.05,
1184
+ 0.05
1185
+ ]
1186
+ }
1187
+ },
1188
+ "sharpness": {
1189
+ "weight": 1.0,
1190
+ "type": "SharpnessJitter",
1191
+ "kwargs": {
1192
+ "sharpness": [
1193
+ 0.5,
1194
+ 1.5
1195
+ ]
1196
+ }
1197
+ }
1198
+ }
1199
+ },
1200
+ "revision": null,
1201
+ "use_imagenet_stats": true,
1202
+ "video_backend": "pyav",
1203
+ "stats": null,
1204
+ "data_features_name_mapping": null,
1205
+ "val_split_ratio": 0.05
1206
+ }
1207
+ ],
1208
+ "weights": [
1209
+ 1.0,
1210
+ 1.0,
1211
+ 1.0,
1212
+ 1.0,
1213
+ 1.0,
1214
+ 1.0,
1215
+ 1.0,
1216
+ 1.0,
1217
+ 1.0,
1218
+ 1.0,
1219
+ 1.0,
1220
+ 1.0,
1221
+ 1.0,
1222
+ 1.0,
1223
+ 1.0,
1224
+ 1.0,
1225
+ 1.0
1226
+ ],
1227
+ "action_freq": 10.0,
1228
+ "image_resample_strategy": "nearest",
1229
+ "vector_resample_strategy": "nearest",
1230
+ "val_split_ratio": 0.05
1231
+ },
1232
+ "policy": {
1233
+ "type": "pi0",
1234
+ "n_obs_steps": 1,
1235
+ "normalization_mapping": {
1236
+ "VISUAL": "IDENTITY",
1237
+ "STATE": "MEAN_STD",
1238
+ "ACTION": "MEAN_STD"
1239
+ },
1240
+ "input_features": {
1241
+ "state": {
1242
+ "type": "STATE",
1243
+ "shape": [
1244
+ 32
1245
+ ]
1246
+ },
1247
+ "camera0": {
1248
+ "type": "VISUAL",
1249
+ "shape": [
1250
+ 3,
1251
+ 224,
1252
+ 224
1253
+ ]
1254
+ },
1255
+ "camera1": {
1256
+ "type": "VISUAL",
1257
+ "shape": [
1258
+ 3,
1259
+ 224,
1260
+ 224
1261
+ ]
1262
+ }
1263
+ },
1264
+ "output_features": {
1265
+ "actions": {
1266
+ "type": "ACTION",
1267
+ "shape": [
1268
+ 32
1269
+ ]
1270
+ }
1271
+ },
1272
+ "device": null,
1273
+ "use_amp": false,
1274
+ "pretrained_path": "outputs/train/2026-03-16/17-36-53_pi0/checkpoints/015000",
1275
+ "cloud_vlm_latency_mean": 0.0,
1276
+ "cloud_vlm_latency_std": 0.0,
1277
+ "cloud_vlm_latency_lower": 0.0,
1278
+ "cloud_vlm_latency_upper": 0.0,
1279
+ "action_decoder_latency_mean": 0.0,
1280
+ "action_decoder_latency_std": 0.0,
1281
+ "action_decoder_latency_lower": 0.0,
1282
+ "action_decoder_latency_upper": 0.0,
1283
+ "chunk_size": 10,
1284
+ "n_action_steps": 10,
1285
+ "safety_buffer": 0,
1286
+ "max_state_dim": 32,
1287
+ "max_action_dim": 32,
1288
+ "resize_imgs_with_padding": [
1289
+ 224,
1290
+ 224
1291
+ ],
1292
+ "empty_cameras": 0,
1293
+ "tokenizer_max_length": 100,
1294
+ "proj_width": 1024,
1295
+ "dropout": 0.1,
1296
+ "num_steps": 10,
1297
+ "advantage_threshold": 0.12861,
1298
+ "advantage": "use",
1299
+ "init_strategy": "no_init",
1300
+ "use_cache": true,
1301
+ "attention_implementation": "eager",
1302
+ "freeze_vision_encoder": false,
1303
+ "train_expert_only": false,
1304
+ "train_state_proj": true,
1305
+ "optimizer_lr": 2.5e-05,
1306
+ "optimizer_betas": [
1307
+ 0.9,
1308
+ 0.95
1309
+ ],
1310
+ "optimizer_eps": 1e-08,
1311
+ "optimizer_weight_decay": 1e-10,
1312
+ "scheduler_warmup_steps": 1000,
1313
+ "scheduler_decay_steps": 30000,
1314
+ "scheduler_decay_lr": 2.5e-06
1315
+ },
1316
+ "output_dir": "outputs/train/2026-03-16/17-36-53_pi0",
1317
+ "job_name": "pi0",
1318
+ "resume": false,
1319
+ "seed": 7000,
1320
+ "resolution": [
1321
+ 224,
1322
+ 224
1323
+ ],
1324
+ "num_cams": 2,
1325
+ "max_state_dim": 32,
1326
+ "max_action_dim": 32,
1327
+ "action_chunk": 10,
1328
+ "loss_weighting": {
1329
+ "MSE": 1.0,
1330
+ "CE": 1.0
1331
+ },
1332
+ "num_workers": 16,
1333
+ "batch_size": 20,
1334
+ "gradient_accumulation_steps": 1,
1335
+ "dataloader_batch_size": 20,
1336
+ "prefetch_factor": 8,
1337
+ "steps": 100000,
1338
+ "log_freq": 10,
1339
+ "save_checkpoint": true,
1340
+ "save_freq": 1000,
1341
+ "use_policy_training_preset": true,
1342
+ "optimizer": {
1343
+ "type": "adamw",
1344
+ "lr": 2.5e-05,
1345
+ "weight_decay": 1e-10,
1346
+ "grad_clip_norm": 10.0,
1347
+ "betas": [
1348
+ 0.9,
1349
+ 0.95
1350
+ ],
1351
+ "eps": 1e-08
1352
+ },
1353
+ "scheduler": {
1354
+ "type": "cosine_decay_with_warmup",
1355
+ "num_warmup_steps": 1000,
1356
+ "num_decay_steps": 30000,
1357
+ "peak_lr": 2.5e-05,
1358
+ "decay_lr": 2.5e-06
1359
+ },
1360
+ "wandb": {
1361
+ "enable": true,
1362
+ "entity": "wyautox-autox",
1363
+ "project": "pi0_star",
1364
+ "run_id": "w2nl53mv",
1365
+ "name": null,
1366
+ "notes": "PI0* training run",
1367
+ "tags": [],
1368
+ "group": null,
1369
+ "job_type": null,
1370
+ "mode": null,
1371
+ "allow_resume": true,
1372
+ "disable_artifact": false
1373
+ },
1374
+ "debug": false,
1375
+ "trace_nans": false,
1376
+ "env": {
1377
+ "type": "libero",
1378
+ "import_name": null,
1379
+ "make_id": null,
1380
+ "task": "libero_10",
1381
+ "fps": 10,
1382
+ "features": {
1383
+ "action": {
1384
+ "type": "ACTION",
1385
+ "shape": [
1386
+ 7
1387
+ ]
1388
+ },
1389
+ "agent_pos": {
1390
+ "type": "STATE",
1391
+ "shape": [
1392
+ 8
1393
+ ]
1394
+ },
1395
+ "pixels/agentview_image": {
1396
+ "type": "VISUAL",
1397
+ "shape": [
1398
+ 360,
1399
+ 360,
1400
+ 3
1401
+ ]
1402
+ },
1403
+ "pixels/robot0_eye_in_hand_image": {
1404
+ "type": "VISUAL",
1405
+ "shape": [
1406
+ 360,
1407
+ 360,
1408
+ 3
1409
+ ]
1410
+ }
1411
+ },
1412
+ "features_map": {
1413
+ "action": "actions",
1414
+ "agent_pos": "observation.state",
1415
+ "pixels/agentview_image": "observation.images.image",
1416
+ "pixels/robot0_eye_in_hand_image": "observation.images.image2"
1417
+ },
1418
+ "max_parallel_tasks": 1,
1419
+ "disable_env_checker": true,
1420
+ "task_ids": [
1421
+ 8,
1422
+ 8,
1423
+ 8,
1424
+ 8,
1425
+ 8,
1426
+ 8,
1427
+ 8,
1428
+ 8
1429
+ ],
1430
+ "episode_length": 520,
1431
+ "obs_type": "pixels_agent_pos",
1432
+ "render_mode": "rgb_array",
1433
+ "camera_name": "agentview_image,robot0_eye_in_hand_image",
1434
+ "init_states": true,
1435
+ "camera_name_mapping": null
1436
+ },
1437
+ "eval": {
1438
+ "n_episodes": 16,
1439
+ "batch_size": 16,
1440
+ "use_async_envs": true,
1441
+ "max_episodes_rendered": 16,
1442
+ "grid_size": null,
1443
+ "recording_root": null
1444
+ },
1445
+ "eval_freq": 1000,
1446
+ "val_freq": 0,
1447
+ "last_checkpoint_only": false,
1448
+ "server": {
1449
+ "port": 50051,
1450
+ "max_workers": 4,
1451
+ "max_send_message_length_mb": 100,
1452
+ "max_receive_message_length_mb": 100
1453
+ }
1454
+ }