dataset
dict | env
null | policy
dict | output_dir
string | job_name
string | resume
bool | seed
int64 | num_workers
int64 | batch_size
int64 | steps
int64 | eval_freq
int64 | log_freq
int64 | save_checkpoint
bool | save_freq
int64 | use_policy_training_preset
bool | optimizer
dict | scheduler
dict | eval
dict | wandb
dict | checkpoint_path
null | rename_map
dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
"repo_id": "smolvla/smolvla_pi06_act_new",
"root": null,
"episodes": null,
"image_transforms": {
"enable": false,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"contrast": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"saturation": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
"weight": 1,
"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
},
"affine": {
"weight": 1,
"type": "RandomAffine",
"kwargs": {
"degrees": [
-5,
5
],
"translate": [
0.05,
0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
}
| null |
{
"type": "smolvla",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.camera1": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.camera2": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.camera3": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "smolvla",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "lerobot/smolvla_base",
"chunk_size": 50,
"n_action_steps": 50,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"max_state_dim": 32,
"max_action_dim": 32,
"resize_imgs_with_padding": [
512,
512
],
"empty_cameras": 0,
"adapt_to_pi_aloha": false,
"use_delta_joint_actions_aloha": false,
"tokenizer_max_length": 48,
"num_steps": 10,
"use_cache": true,
"freeze_vision_encoder": true,
"train_expert_only": true,
"train_state_proj": true,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-8,
"optimizer_weight_decay": 1e-10,
"optimizer_grad_clip_norm": 10,
"scheduler_warmup_steps": 1000,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 0.0000025,
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
"load_vlm_weights": true,
"add_image_special_tokens": false,
"attention_mode": "cross_attn",
"prefix_length": 0,
"pad_language_to": "max_length",
"num_expert_layers": 0,
"num_vlm_layers": 16,
"self_attn_every_n_layers": 2,
"expert_width_multiplier": 0.75,
"min_period": 0.004,
"max_period": 4
}
|
outputs/train/smolvla
|
my_smolvla_training
| false
| 1,000
| 4
| 64
| 20,000
| 20,000
| 200
| true
| 20,000
| true
|
{
"type": "adamw",
"lr": 0.0001,
"weight_decay": 1e-10,
"grad_clip_norm": 10,
"betas": [
0.9,
0.95
],
"eps": 1e-8
}
|
{
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 1000,
"num_decay_steps": 30000,
"peak_lr": 0.0001,
"decay_lr": 0.0000025
}
|
{
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
}
|
{
"enable": true,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "85ixkp3h",
"mode": null
}
| null |
{
"observation.images.front": "observation.images.camera1",
"observation.images.right": "observation.images.camera2"
}
|
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