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folding_lingbot / train_config.json
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{
"dataset": {
"repo_id": "lerobot-data-collection/level2_final_quality3_t_0_hil_data_c",
"root": "/fsx/maxime_ellerbach/datasets/level2_final_quality3_t_0_hil_data_c_rel",
"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": {
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"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": {
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"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
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": "pyav",
"return_uint8": false,
"depth_output_unit": "mm",
"streaming": false,
"eval_split": 0.0
},
"env": null,
"policy": {
"type": "lingbot_va",
"n_obs_steps": 1,
"input_features": {
"observation.images.cam_high": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.cam_left_wrist": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.cam_right_wrist": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
16
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "maximellerbach/folding_lingbot",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/fsx/maxime_ellerbach/robots/runs/folding-tshirt/outputs/train/lingbot_absolute_22372322/checkpoints/last/pretrained_model",
"pretrained_revision": null,
"patch_size": [
1,
2,
2
],
"num_attention_heads": 24,
"attention_head_dim": 128,
"in_channels": 48,
"out_channels": 48,
"action_dim": 30,
"text_dim": 4096,
"freq_dim": 256,
"ffn_dim": 14336,
"num_layers": 30,
"cross_attn_norm": true,
"eps": 1e-06,
"rope_max_seq_len": 1024,
"attn_mode": "flex",
"wan_pretrained_path": "robbyant/lingbot-va-base",
"dtype": "bfloat16",
"text_encoder_device": "cuda",
"obs_cam_keys": [
"observation.images.cam_high",
"observation.images.cam_left_wrist",
"observation.images.cam_right_wrist"
],
"image_hflip": false,
"camera_layout": "width_concat",
"height": 224,
"width": 224,
"action_per_frame": 16,
"frame_chunk_size": 2,
"attn_window": 72,
"num_inference_steps": 25,
"video_exec_step": -1,
"action_num_inference_steps": 50,
"guidance_scale": 5.0,
"action_guidance_scale": 1.0,
"snr_shift": 5.0,
"action_snr_shift": 1.0,
"max_sequence_length": 512,
"used_action_channel_ids": [
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26,
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29,
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15,
16,
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],
"use_relative_actions": true,
"relative_exclude_joints": [
"gripper"
],
"action_feature_names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos",
"right_gripper.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_joint_7.pos",
"left_gripper.pos"
],
"save_predicted_video": false,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "IDENTITY",
"ACTION": "QUANTILES"
},
"optimizer_lr": 2e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.0001,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1000,
"scheduler_type": "constant_with_warmup",
"action_noisy_cond_prob": 0.2
},
"reward_model": null,
"output_dir": "outputs/train/folding_lingbot_multinode_3706",
"job_name": "folding_lingbot_multinode",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 4,
"batch_size": 16,
"prefetch_factor": 4,
"persistent_workers": true,
"steps": 26674,
"env_eval_freq": 20000,
"log_freq": 50,
"eval_steps": 0,
"max_eval_samples": 0,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 10000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 2e-05,
"weight_decay": 0.0001,
"grad_clip_norm": 1.0,
"betas": [
0.9,
0.95
],
"eps": 1e-08
},
"scheduler": {
"type": "constant_with_warmup",
"num_warmup_steps": 1000
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": true,
"recording": false,
"recording_repo_id": null,
"recording_private": false,
"save_predicted_video": false
},
"wandb": {
"enable": true,
"disable_artifact": true,
"project": "folding-tshirt",
"entity": null,
"notes": null,
"run_id": "s7n6kfhx",
"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": {
"type": "rabc",
"progress_path": "hf://datasets/lerobot-data-collection/level2_final_quality3_t_0_hil_data_c/sarm_progress.parquet",
"head_mode": "sparse",
"kappa": 0.05,
"epsilon": 1e-06,
"extra_params": {}
},
"rename_map": {
"observation.images.base": "observation.images.cam_high",
"observation.images.left_wrist": "observation.images.cam_left_wrist",
"observation.images.right_wrist": "observation.images.cam_right_wrist"
},
"checkpoint_path": null
}