pi05_baseline_robotwin / train_config.json
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{
"dataset": {
"repo_id": "robotwin/multitask_clean_random",
"root": null,
"episodes": null,
"image_transforms": {
"enable": false,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
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"type": "ColorJitter",
"kwargs": {
"brightness": [
0.8,
1.2
]
}
},
"contrast": {
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"kwargs": {
"contrast": [
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1.2
]
}
},
"saturation": {
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"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
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"kwargs": {
"hue": [
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0.05
]
}
},
"sharpness": {
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"kwargs": {
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1.5
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}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
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5.0
],
"translate": [
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}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
},
"env": null,
"policy": {
"type": "pi05",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
14
]
},
"observation.images.cam_high": {
"type": "VISUAL",
"shape": [
240,
320,
3
]
},
"observation.images.cam_left_wrist": {
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"shape": [
240,
320,
3
]
},
"observation.images.cam_right_wrist": {
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240,
320,
3
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
14
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}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/runs/flashvla_robotwin/pi05_baseline_full_100k/output/checkpoints/last/pretrained_model",
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
"max_action_dim": 32,
"state_cond": false,
"num_inference_steps": 10,
"time_sampling_beta_alpha": 1.5,
"time_sampling_beta_beta": 1.0,
"time_sampling_scale": 0.999,
"time_sampling_offset": 0.001,
"min_period": 0.004,
"max_period": 4.0,
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"num_frames_per_view": 1,
"tokenizer_max_length": 200,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"attention_backend": "sdpa",
"gradient_checkpointing": true,
"freeze_vision_encoder": false,
"compile_model": false,
"compile_mode": "max-autotune",
"fuse_qkv": false,
"fuse_gate_up": false,
"optimizer_lr": 2.5e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1000,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 2.5e-06,
"vlm_config": {},
"action_expert_config": {}
},
"output_dir": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/runs/flashvla_robotwin/pi05_baseline_full_100k/output",
"job_name": "pi05_baseline_robotwin_full_fsdp2",
"resume": true,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 8,
"batch_size": 16,
"steps": 100000,
"eval_freq": 20000,
"log_freq": 50,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 500,
"use_policy_training_preset": false,
"optimizer": {
"type": "adamw",
"lr": 5e-05,
"weight_decay": 0.01,
"grad_clip_norm": 1.0,
"betas": [
0.9,
0.95
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 5000,
"num_decay_steps": 100000,
"peak_lr": 5e-05,
"decay_lr": 2.5e-06
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": true,
"project": "flashvla-robotwin-clean-random",
"entity": null,
"notes": null,
"run_id": "pi05-baseline-robotwin-full-fsdp2-100k-b16-ga2-wu5k-s500",
"mode": null,
"add_tags": true
},
"peft": null,
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/runs/flashvla_robotwin/pi05_baseline_full_100k/output/checkpoints/last",
"grad_accum_steps": 2,
"fsdp": {
"enable": true,
"mixed_precision": "bf16",
"reduce_dtype": "float32",
"reshard_after_forward": true,
"cpu_offload": false,
"state_dict_type": "SHARDED_STATE_DICT",
"save_pretrained_max_shard_size": "50GB"
},
"robotwin_multitask": {
"enable": true,
"roots": [],
"root": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/data/RoboTwin2.0-lerobotv3.0",
"config_subdir": "aloha-agilex_randomized_500",
"config_subdirs": [
"aloha-agilex_clean_50",
"aloha-agilex_randomized_500"
],
"tasks": [],
"stats_path": ""
},
"checkpoint_keep_last": 1,
"checkpoint_keep_every_n_steps": 0
}