|
|
config: {'dataset': {'repo_id': 'Zasha01/lego_cube_final', 'root': None, 'episodes': None, '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]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'streaming': False}, 'env': None, 'policy': {'type': 'pi05', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'Zasha01/pi_lego_cube_final_final', 'private': None, 'tags': None, 'license': None, 'pretrained_path': 'lerobot/pi05_base', '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, 'rtc_config': None, 'image_resolution': [224, 224], 'empty_cameras': 0, 'tokenizer_max_length': 200, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.QUANTILES: 'QUANTILES'>, 'ACTION': <NormalizationMode.QUANTILES: 'QUANTILES'>}, 'gradient_checkpointing': True, 'compile_model': True, 'compile_mode': 'max-autotune', 'optimizer_lr': 2.5e-05, 'optimizer_betas': [0.9, 0.95], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 0.01, 'optimizer_grad_clip_norm': 1.0, 'scheduler_warmup_steps': 1000, 'scheduler_decay_steps': 30000, 'scheduler_decay_lr': 2.5e-06}, 'output_dir': '/checkpoints/pi05/pi_lego_cube_final_final_20251218_082454', 'job_name': 'pi_lego_cube_final_final', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 16, 'steps': 20000, 'eval_freq': 20000, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 3000, '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': 30000, 'peak_lr': 2.5e-05, 'decay_lr': 2.5e-06}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}} |
