Instructions to use maximellerbach/omx_multicubes_lawam with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use maximellerbach/omx_multicubes_lawam with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "maximellerbach/omx_multicubes", | |
| "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 | |
| ] | |
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| }, | |
| "contrast": { | |
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| "type": "ColorJitter", | |
| "kwargs": { | |
| "contrast": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "saturation": { | |
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| "type": "ColorJitter", | |
| "kwargs": { | |
| "saturation": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
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| }, | |
| "hue": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "hue": [ | |
| -0.05, | |
| 0.05 | |
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| "sharpness": { | |
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| "kwargs": { | |
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| 0.5, | |
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| ] | |
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| }, | |
| "affine": { | |
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| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
| } | |
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| } | |
| }, | |
| "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": "lawam", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "maximellerbach/omx_multicubes_lawam", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "pretrained_revision": null, | |
| "chunk_size": 30, | |
| "n_action_steps": 30, | |
| "num_video_frames": 2, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "base_vlm": "Qwen/Qwen3-VL-2B-Instruct", | |
| "lam_ckpt_path": "/fsx/maxime_ellerbach/ckpts/lawam_lam/checkpoints/pytorch_model.pt", | |
| "lam_yaml_path": "/fsx/maxime_ellerbach/robots/runs/lawam/review_pr3999/dino_large_vae_localdinov3.yaml", | |
| "hf_cache_dir": null, | |
| "lawam_checkpoint_path": null, | |
| "lawam_dataset_stats_path": null, | |
| "lawam_unnorm_key": null, | |
| "primary_image_features": [ | |
| "observation.images.top" | |
| ], | |
| "wrist_image_features": [ | |
| "observation.images.wrist" | |
| ], | |
| "default_task": "Execute the robot action.", | |
| "action_hz": 30.0, | |
| "embodiment_id": 25, | |
| "enable_primary_video_aug": false, | |
| "enable_primary_random_resized_crop": false, | |
| "guidance_scale": null, | |
| "num_inference_steps": null, | |
| "latent_action_placeholder_token": "<ACT_PH>", | |
| "num_action_queries": 8, | |
| "flow_action_num_queries": 8, | |
| "perceptual_weight": 0.1, | |
| "lam_encoder_distill_weight": 0.1, | |
| "enable_loss_distill": true, | |
| "future_prediction": true, | |
| "detach_future_feature": true, | |
| "repeated_diffusion_steps": 2, | |
| "flow_action_dim": 32, | |
| "flow_state_dim": 32, | |
| "flow_hidden_dim": 1024, | |
| "flow_num_layers": 16, | |
| "flow_attention_heads": 16, | |
| "flow_vlm_dim": 2048, | |
| "flow_vision_dim": 768, | |
| "flow_num_vision_tokens": 256, | |
| "flow_num_target_vision_tokens": -1, | |
| "flow_use_state": false, | |
| "flow_num_embodiments": 32, | |
| "flow_horizon_sec": 1.0, | |
| "flow_cfg_drop_prob": 0.0, | |
| "flow_cfg_guidance_scale": 1.0, | |
| "flow_num_inference_steps": 10, | |
| "flow_num_timestep_buckets": 1000, | |
| "flow_interleave_self_attention": true, | |
| "flow_use_alternate_vldit": true, | |
| "flow_attend_text_every_n_blocks": 2, | |
| "flow_noise_beta_alpha": 1.5, | |
| "flow_noise_beta_beta": 1.0, | |
| "flow_noise_s": 0.999, | |
| "flow_token_independent_noise": false, | |
| "flow_use_action_positional_embeddings": true, | |
| "clip_normalized_actions": true, | |
| "pre_snap_gripper_action": true, | |
| "binarize_gripper_action": true, | |
| "gripper_dim": 6, | |
| "gripper_threshold": 0.5, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-08, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1500, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 5e-07 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "outputs/train/omx_multicubes_lawam_pr3999_roundtrip", | |
| "job_name": "lawam-pr3999-roundtrip", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 4, | |
| "batch_size": 2, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "dataloader_multiprocessing_context": "spawn", | |
| "steps": 20, | |
| "env_eval_freq": 20000, | |
| "log_freq": 10, | |
| "eval_steps": 0, | |
| "max_eval_samples": 0, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 20, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 0.0001, | |
| "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": 1500, | |
| "num_decay_steps": 30000, | |
| "peak_lr": 0.0001, | |
| "decay_lr": 5e-07 | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": true, | |
| "recording": false, | |
| "recording_repo_id": null, | |
| "recording_private": false | |
| }, | |
| "wandb": { | |
| "enable": false, | |
| "disable_artifact": true, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": null, | |
| "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 | |
| } |