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molmoact2_Ordering_Constrained / train_config.json
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{
"dataset": {
"repo_id": "justintiensmith/Ordering_Constrained_No_Depth",
"root": null,
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"image_transforms": {
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"env": null,
"policy": {
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},
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"repo_id": "justintiensmith/molmoact2_Ordering_Constrained",
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"tags": null,
"license": null,
"pretrained_path": "lerobot/MolmoAct2-SO100_101-LeRobot",
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"norm_tag": "so100_so101_molmoact2",
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"rtc_config": null,
"joint_signs": [
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1.0,
1.0,
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0.0
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"lora_bias": "none",
"enable_lora_action_expert": false,
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"model_dtype": "bfloat16",
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"discrete_loss_token_weighting": "root_subsegments_root_tokens",
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"normalization_mapping": {
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"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"dataset_feature_names": {
"action": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"observation.state": [
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"elbow_flex.pos",
"wrist_flex.pos",
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"gripper.pos"
]
}
},
"reward_model": null,
"output_dir": "/vol/dissolve/justin/outputs/molmoact2_Ordering_Constrained",
"job_name": "molmoact2_Ordering_Constrained",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 4,
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"optimizer": {
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"peak_lr": 1e-05,
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},
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},
"wandb": {
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"disable_artifact": true,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": "of5e07eb",
"mode": null,
"add_tags": true
},
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"job": {
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"image": "huggingface/lerobot-gpu:latest",
"timeout": "2d",
"detach": false,
"tags": []
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"sample_weighting": null,
"rename_map": {
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"observation.images.wrist": "observation.images.cam1"
},
"checkpoint_path": null
}