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evo1
super_chatton_evo2 / train_config.json
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{
"dataset": {
"repo_id": "imstevenpmwork/super_chatton",
"root": null,
"episodes": null,
"image_transforms": {
"enable": false,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
"brightness": {
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"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"contrast": {
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"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"saturation": {
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"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
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"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
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"type": "SharpnessJitter",
"kwargs": {
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0.5,
1.5
]
}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
"degrees": [
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5.0
],
"translate": [
0.05,
0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": false,
"video_backend": "torchcodec",
"return_uint8": false,
"streaming": false
},
"env": null,
"policy": {
"type": "evo1",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.wrist": {
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"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
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"shape": [
6
]
}
},
"device": "cuda",
"use_amp": true,
"use_peft": false,
"push_to_hub": true,
"repo_id": "imstevenpmwork/super_chatton_evo2",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"training_stage": "stage2",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 6,
"max_action_dim": 6,
"max_views": 3,
"image_resolution": [
448,
448
],
"empty_cameras": 0,
"postprocess_action_dim": null,
"binarize_gripper": false,
"gripper_index": 6,
"gripper_threshold": 0.5,
"gripper_below_threshold_value": 1.0,
"gripper_above_threshold_value": -1.0,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"vlm_model_name": "OpenGVLab/InternVL3-1B-hf",
"vlm_num_layers": 14,
"vlm_dtype": "bfloat16",
"use_flash_attn": true,
"action_head": "flowmatching",
"embed_dim": 896,
"hidden_dim": 1024,
"state_hidden_dim": 1024,
"num_heads": 8,
"num_layers": 8,
"dropout": 0.0,
"num_inference_timesteps": 32,
"num_categories": 1,
"return_cls_only": false,
"enable_gradient_checkpointing": true,
"gradient_checkpointing_use_reentrant": false,
"finetune_vlm": true,
"finetune_language_model": true,
"finetune_vision_model": true,
"finetune_action_head": true,
"apply_training_stage_defaults": true,
"task_field": "task",
"embodiment_id_field": null,
"default_embodiment_id": 0,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-05,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1000,
"drop_last": true
},
"reward_model": null,
"output_dir": "outputs/train/2026-07-01/22-47-07_evo1",
"job_name": "evo1",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 4,
"batch_size": 32,
"prefetch_factor": 4,
"persistent_workers": true,
"steps": 8000,
"eval_freq": 20000,
"log_freq": 80,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 4000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 0.0001,
"weight_decay": 1e-05,
"grad_clip_norm": 1.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08
},
"scheduler": {
"type": "evo1_exact",
"num_warmup_steps": 1000
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": true
},
"wandb": {
"enable": true,
"disable_artifact": true,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "nmquirjw",
"mode": null,
"add_tags": true
},
"peft": null,
"sample_weighting": null,
"rename_map": {},
"checkpoint_path": null
}