| { |
| "dataset": { |
| "repo_id": "lilkm/stackblocks_recap_all_for_vf_v3", |
| "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 |
| ] |
| } |
| }, |
| "affine": { |
| "weight": 1.0, |
| "type": "RandomAffine", |
| "kwargs": { |
| "degrees": [ |
| -5.0, |
| 5.0 |
| ], |
| "translate": [ |
| 0.05, |
| 0.05 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "return_uint8": false, |
| "depth_output_unit": "mm", |
| "streaming": false, |
| "eval_split": 0.1 |
| }, |
| "env": null, |
| "policy": null, |
| "reward_model": { |
| "type": "temporal_siglip_value_function", |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": {}, |
| "device": "cuda", |
| "pretrained_path": null, |
| "pretrained_revision": null, |
| "push_to_hub": true, |
| "repo_id": "lilkm/vf_stackblocks_temporal_siglip_hl_v1", |
| "license": null, |
| "tags": null, |
| "private": null, |
| "siglip_path": "google/siglip2-so400m-patch14-384", |
| "image_resolution": [ |
| 384, |
| 384 |
| ], |
| "tokenizer_max_length": 64, |
| "history_steps": 6, |
| "frame_gap": 30, |
| "state_key": "observation.state", |
| "state_dim": 32, |
| "hidden_size": 512, |
| "num_layers": 4, |
| "num_heads": 8, |
| "dropout": 0.1, |
| "num_value_bins": 201, |
| "value_support_min": -1.0, |
| "value_support_max": 0.0, |
| "hl_gauss_sigma_ratio": 0.75, |
| "target_method": "hl_gauss", |
| "use_one_hot_terminal": true, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD" |
| } |
| }, |
| "output_dir": "outputs/vf_stackblocks_temporal_siglip_hl_v1", |
| "job_name": "vf_stackblocks_temporal_siglip_hl_v1", |
| "resume": false, |
| "seed": 1000, |
| "cudnn_deterministic": false, |
| "num_workers": 4, |
| "batch_size": 32, |
| "prefetch_factor": 1, |
| "persistent_workers": true, |
| "steps": 10000, |
| "env_eval_freq": -1, |
| "log_freq": 25, |
| "eval_steps": 500, |
| "max_eval_samples": 2000, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 1000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 0.0001, |
| "grad_clip_norm": 1.0, |
| "betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "cosine_decay_with_warmup", |
| "num_warmup_steps": 500, |
| "num_decay_steps": 40000, |
| "peak_lr": 0.0001, |
| "decay_lr": 1e-06 |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": true, |
| "recording": false, |
| "recording_repo_id": null, |
| "recording_private": false |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": true, |
| "project": "recap-vf", |
| "entity": null, |
| "notes": null, |
| "run_id": "f2t6e751", |
| "mode": null, |
| "add_tags": true |
| }, |
| "peft": null, |
| "job": { |
| "target": null, |
| "image": "huggingface/lerobot-gpu:latest", |
| "timeout": "2d", |
| "detach": false, |
| "tags": [] |
| }, |
| "save_checkpoint_to_hub": false, |
| "sample_weighting": null, |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |
