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omx_multicubes_lawam / train_config.json
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{
"dataset": {
"repo_id": "maximellerbach/omx_multicubes",
"root": null,
"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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"kwargs": {
"contrast": [
0.8,
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
]
}
},
"affine": {
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"type": "RandomAffine",
"kwargs": {
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5.0
],
"translate": [
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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": "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": [
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],
"wrist_image_features": [
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],
"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,
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"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": [
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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": {
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"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
}