| { |
| "dataset": { |
| "repo_id": "ducido/calvin_task_D_D_scale_100_lerobo_format", |
| "root": "/pfss/mlde/workspaces/mlde_wsp_PI_Hauschild/VLA/LIBERO/merged_libero_scale_10_mask_depth_noops_lerobot_original_s10_synthetic_all_eps_all_task", |
| "episodes": null, |
| "image_transforms": { |
| "enable": true, |
| "max_num_transforms": 3, |
| "random_order": false, |
| "image_tfs": { |
| "hue": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "hue": [ |
| -0.05, |
| 0.05 |
| ] |
| } |
| }, |
| "contrast": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "contrast": [ |
| 0.8, |
| 1.2 |
| ] |
| } |
| }, |
| "sharpness": { |
| "weight": 1.0, |
| "type": "SharpnessJitter", |
| "kwargs": { |
| "sharpness": [ |
| 0.5, |
| 1.5 |
| ] |
| } |
| }, |
| "brightness": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "brightness": [ |
| 0.8, |
| 1.2 |
| ] |
| } |
| }, |
| "saturation": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "saturation": [ |
| 0.5, |
| 1.5 |
| ] |
| } |
| }, |
| "crop_resize": { |
| "weight": 1.0, |
| "type": "RandomResizedCrop", |
| "kwargs": { |
| "size": [ |
| 256, |
| 256 |
| ], |
| "ratio": [ |
| 1, |
| 1 |
| ], |
| "scale": [ |
| 0.9, |
| 0.95 |
| ] |
| } |
| }, |
| "rotate": { |
| "weight": 1.0, |
| "type": "RandomRotate", |
| "kwargs": { |
| "degrees": [ |
| -5, |
| 5 |
| ] |
| } |
| } |
| }, |
| "wrist_tfs": { |
| "hue": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "hue": [ |
| -0.05, |
| 0.05 |
| ] |
| } |
| }, |
| "contrast": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "contrast": [ |
| 0.8, |
| 1.2 |
| ] |
| } |
| }, |
| "sharpness": { |
| "weight": 1.0, |
| "type": "SharpnessJitter", |
| "kwargs": { |
| "sharpness": [ |
| 0.5, |
| 1.5 |
| ] |
| } |
| }, |
| "brightness": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "brightness": [ |
| 0.8, |
| 1.2 |
| ] |
| } |
| }, |
| "saturation": { |
| "weight": 1.0, |
| "type": "ColorJitter", |
| "kwargs": { |
| "saturation": [ |
| 0.5, |
| 1.5 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "vqa_data_path": null |
| }, |
| "env": null, |
| "policy": { |
| "type": "pi0", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.image_depth": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist_depth": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.image_mask": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist_mask": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.object_of_interest_mask": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.object_of_interest_wrist_mask": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "observation.states.ee_state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.states.joint_state": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.states.gripper_state": { |
| "type": "STATE", |
| "shape": [ |
| 2 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "gradient_accumulation_steps": 1, |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "visual_prompt": false, |
| "use_both_origin": false, |
| "zero_init": false, |
| "coordinate_text_prod": false, |
| "coordinate_posEmbed_prod": false, |
| "posEmbed_to_preTrained": false, |
| "num_obs_layers": 30, |
| "last_obs_layers": false, |
| "add_posEmbed": false, |
| "not_used_coord": false, |
| "use_depth": false, |
| "depth_model_type": "frozen_siglip", |
| "use_track": true, |
| "use_detect_object": false, |
| "track_mask": false, |
| "use_slot_att": "none", |
| "future_obj": "all", |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "resize_imgs_with_padding": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "adapt_to_pi_aloha": false, |
| "use_delta_joint_actions_aloha": false, |
| "tokenizer_max_length": 48, |
| "proj_width": 1024, |
| "num_steps": 10, |
| "use_cache": true, |
| "attention_implementation": "eager", |
| "freeze_vision_encoder": true, |
| "train_expert_only": false, |
| "train_state_proj": true, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-10, |
| "scheduler_warmup_steps": 800, |
| "scheduler_decay_steps": 150000, |
| "scheduler_decay_lr": 2.5e-06 |
| }, |
| "output_dir": "/pfss/mlde/workspaces/mlde_wsp_PI_Hauschild/VLA/duc/VLA_custom/train/2026-03-30/01-39-31_libero_10%_implicit_only_PRETRAIN_codeFOCA", |
| "job_name": "libero_10%_implicit_only_PRETRAIN_codeFOCA", |
| "visual_prompt": false, |
| "use_both_origin": false, |
| "zero_init": false, |
| "coordinate_text_prod": false, |
| "coordinate_posEmbed_prod": false, |
| "posEmbed_to_preTrained": false, |
| "num_obs_layers": 30, |
| "last_obs_layers": false, |
| "add_posEmbed": false, |
| "not_used_coord": false, |
| "train_expert_only": false, |
| "use_depth": false, |
| "use_track": true, |
| "use_detect_object": false, |
| "track_mask": false, |
| "use_slot_att": "none", |
| "future_obj": "all", |
| "depth_model_type": "frozen_siglip", |
| "resume": false, |
| "seed": 42, |
| "num_workers": 8, |
| "batch_size": 18, |
| "steps": 100000, |
| "eval_freq": 20000, |
| "log_freq": 200, |
| "save_checkpoint": true, |
| "save_freq": 10000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 1e-10, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "cosine_decay_with_warmup", |
| "num_warmup_steps": 800, |
| "num_decay_steps": 150000, |
| "peak_lr": 0.0001, |
| "decay_lr": 2.5e-06 |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": false |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": true, |
| "project": "pi0_lerobot", |
| "entity": "Robotics_VLA", |
| "notes": null, |
| "run_id": null, |
| "mode": "online" |
| } |
| } |
