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folding_vla_jepa / 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": {
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"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": {
"weight": 1.0,
"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
"degrees": [
-5.0,
5.0
],
"translate": [
0.05,
0.05
]
}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "pyav",
"return_uint8": false,
"depth_output_unit": "mm",
"streaming": false,
"eval_split": 0.0
},
"env": null,
"policy": {
"type": "vla_jepa",
"n_obs_steps": 1,
"input_features": {
"observation.images.base": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.images.right_wrist": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.images.left_wrist": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.state": {
"type": "STATE",
"shape": [
16
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
16
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "maximellerbach/folding_vla_jepa",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/fsx/maxime_ellerbach/robots/outputs/train/folding_vla_jepa_multinode_3711/checkpoints/last/pretrained_model",
"pretrained_revision": null,
"chunk_size": 30,
"n_action_steps": 30,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"qwen_model_name": "Qwen/Qwen3-VL-2B-Instruct",
"jepa_encoder_name": "facebook/vjepa2-vitl-fpc64-256",
"freeze_qwen": false,
"enable_world_model": true,
"reinit_modules": [
"model.action_model.action_encoder",
"model.action_model.action_decoder",
"model.action_model.state_encoder"
],
"tokenizer_padding_side": "left",
"prompt_template": "Your task is {instruction}. Infer the temporal dynamics from frames {actions} and produce the corresponding policy actions {e_actions}.",
"special_action_token": "<|action_{}|>",
"embodied_action_token": "<|embodied_action|>",
"action_dim": 16,
"state_dim": 16,
"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"
],
"num_action_tokens_per_timestep": 8,
"num_embodied_action_tokens_per_instruction": 32,
"num_inference_timesteps": 4,
"action_hidden_size": 1024,
"action_model_type": "DiT-B",
"action_num_layers": 16,
"action_num_heads": 12,
"action_attention_head_dim": 64,
"action_dropout": 0.2,
"action_num_timestep_buckets": 1000,
"action_noise_beta_alpha": 1.5,
"action_noise_beta_beta": 1.0,
"action_noise_s": 0.999,
"num_target_vision_tokens": 32,
"action_max_seq_len": 1024,
"num_video_frames": 8,
"predictor_depth": 12,
"predictor_num_heads": 8,
"predictor_mlp_ratio": 4.0,
"predictor_dropout": 0.0,
"world_model_loss_weight": 0.1,
"jepa_tubelet_size": 2,
"repeated_diffusion_steps": 8,
"resize_images_to": [
224,
224
],
"binarize_gripper_action": false,
"pre_snap_gripper_action": false,
"clip_normalized_actions": false,
"gripper_dim": 6,
"gripper_threshold": 0.5,
"torch_dtype": "bfloat16",
"optimizer_lr": 2e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-08,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 500,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 2e-05
},
"reward_model": null,
"output_dir": "outputs/train/folding_vla_jepa_statefix_6400",
"job_name": "folding_vla_jepa_statefix",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 4,
"batch_size": 16,
"prefetch_factor": 4,
"persistent_workers": true,
"steps": 5000,
"env_eval_freq": 20000,
"log_freq": 50,
"eval_steps": 0,
"max_eval_samples": 0,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 1000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 2e-05,
"weight_decay": 1e-08,
"grad_clip_norm": 1.0,
"betas": [
0.9,
0.95
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 500,
"num_decay_steps": 30000,
"peak_lr": 2e-05,
"decay_lr": 2e-05
},
"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": "i7jnld97",
"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": {},
"checkpoint_path": null
}