| { |
| "dataset": { |
| "repo_id": "IPEC-COMMUNITY/libero_goal_no_noops_1.0.0_lerobot", |
| "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 |
| ] |
| } |
| }, |
| "contrast": { |
| "weight": 1.0, |
| "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": { |
| "weight": 1.0, |
| "type": "RandomAffine", |
| "kwargs": { |
| "degrees": [ |
| -5.0, |
| 5.0 |
| ], |
| "translate": [ |
| 0.05, |
| 0.05 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "streaming": false |
| }, |
| "env": { |
| "type": "libero", |
| "task": "libero_goal", |
| "fps": 30, |
| "features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "pixels/agentview_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 360, |
| 360, |
| 3 |
| ] |
| }, |
| "pixels/robot0_eye_in_hand_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 360, |
| 360, |
| 3 |
| ] |
| }, |
| "robot_state/eef/pos": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "robot_state/eef/quat": { |
| "type": "STATE", |
| "shape": [ |
| 4 |
| ] |
| }, |
| "robot_state/eef/mat": { |
| "type": "STATE", |
| "shape": [ |
| 3, |
| 3 |
| ] |
| }, |
| "robot_state/gripper/qpos": { |
| "type": "STATE", |
| "shape": [ |
| 2 |
| ] |
| }, |
| "robot_state/gripper/qvel": { |
| "type": "STATE", |
| "shape": [ |
| 2 |
| ] |
| }, |
| "robot_state/joints/pos": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "robot_state/joints/vel": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "features_map": { |
| "action": "action", |
| "robot_state/eef/pos": "observation.state.eef_pos", |
| "robot_state/eef/quat": "observation.state.eef_quat", |
| "robot_state/eef/mat": "observation.state.eef_mat", |
| "robot_state/gripper/qpos": "observation.state.gripper_qpos", |
| "robot_state/gripper/qvel": "observation.state.gripper_qvel", |
| "robot_state/joints/pos": "observation.state.joint_pos", |
| "robot_state/joints/vel": "observation.state.joint_vel", |
| "pixels/agentview_image": "observation.images.image", |
| "pixels/robot0_eye_in_hand_image": "observation.images.image2" |
| }, |
| "max_parallel_tasks": 1, |
| "disable_env_checker": true, |
| "episode_length": null, |
| "obs_type": "pixels_agent_pos", |
| "render_mode": "rgb_array", |
| "camera_name": "agentview_image,robot0_eye_in_hand_image", |
| "init_states": true, |
| "camera_name_mapping": null, |
| "observation_height": 360, |
| "observation_width": 360, |
| "control_mode": "relative" |
| }, |
| "policy": { |
| "type": "lite", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ] |
| }, |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "peeeeeter/libero_test", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "chunk_size": 100, |
| "n_action_steps": 100, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "vision_backbone": "resnet18", |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "replace_final_stride_with_dilation": false, |
| "pre_norm": false, |
| "dim_model": 512, |
| "n_heads": 8, |
| "dim_feedforward": 3200, |
| "feedforward_activation": "relu", |
| "n_encoder_layers": 4, |
| "decoder_type": "mlp", |
| "diffusion_steps": 10, |
| "n_decoder_layers": 1, |
| "use_vae": true, |
| "latent_dim": 32, |
| "n_vae_encoder_layers": 4, |
| "temporal_ensemble_coeff": null, |
| "dropout": 0.1, |
| "kl_weight": 10.0, |
| "diffusion_loss_weight": 1.0, |
| "diff_hidden_dim": 128, |
| "use_language": true, |
| "language_fusion": "late", |
| "language_model_type": "qwen", |
| "freeze_language_model": true, |
| "freeze_image_model": false, |
| "optimizer_lr": 1e-05, |
| "optimizer_weight_decay": 0.0001, |
| "optimizer_lr_backbone": 1e-05 |
| }, |
| "output_dir": "outputs/lite_libero_goal", |
| "job_name": "libero_lite", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 4, |
| "batch_size": 4, |
| "steps": 300000, |
| "eval_freq": 100000, |
| "log_freq": 200, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 20000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 1e-05, |
| "weight_decay": 0.0001, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": null, |
| "eval": { |
| "n_episodes": 1, |
| "batch_size": 1, |
| "use_async_envs": false |
| }, |
| "wandb": { |
| "enable": false, |
| "disable_artifact": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": null, |
| "mode": null |
| }, |
| "use_rabc": false, |
| "rabc_progress_path": null, |
| "rabc_kappa": 0.01, |
| "rabc_epsilon": 1e-06, |
| "rabc_head_mode": "sparse", |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |