| { |
| "dataset": { |
| "repo_id": "k1000dai/libero-object-smolvla-add-vlm-context", |
| "root": null, |
| "episodes": null, |
| "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 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec" |
| }, |
| "env": null, |
| "policy": { |
| "type": "residual_transformer", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD", |
| "ENV": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "vlm_hidden": { |
| "type": "CONTEXT", |
| "shape": [ |
| 960 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "rt_libero_object_mlp", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "vision_backbone": "resnet18", |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "freeze_vision_backbone": true, |
| "replace_final_stride_with_dilation": false, |
| "dim_model": 512, |
| "n_heads": 8, |
| "n_encoder_layers": 6, |
| "dim_feedforward": 2048, |
| "dropout": 0.1, |
| "optimizer_lr": 1e-05, |
| "optimizer_weight_decay": 1e-05 |
| }, |
| "output_dir": "output_rt_object_mlp", |
| "job_name": "rt_object_mlp", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 16, |
| "batch_size": 64, |
| "steps": 400000, |
| "eval_freq": 20000, |
| "log_freq": 200, |
| "save_checkpoint": true, |
| "save_freq": 20000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 1e-05, |
| "weight_decay": 1e-05, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": null, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": false |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": "uffxk0j3", |
| "mode": null |
| } |
| } |
