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LeRobot
Safetensors
sarm
sarm_single / train_config.json
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{
"dataset": {
"repo_id": "lerobot-data-collection/folding_248-2025-12-04-12-28",
"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": null,
"policy": {
"type": "sarm",
"n_obs_steps": 1,
"input_features": {
"observation.images.base": {
"type": "VISUAL",
"shape": [
480,
640,
3
]
},
"observation.state": {
"type": "STATE",
"shape": [
32
]
}
},
"output_features": {
"stage": {
"type": "REWARD",
"shape": [
9,
5
]
},
"progress": {
"type": "REWARD",
"shape": [
9,
1
]
},
"sparse_stage": {
"type": "REWARD",
"shape": [
9,
1
]
},
"sparse_progress": {
"type": "REWARD",
"shape": [
9,
1
]
}
},
"device": "mps",
"use_amp": false,
"push_to_hub": true,
"repo_id": "pepijn223/sarm_single",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"annotation_mode": "single_stage",
"image_dim": 512,
"text_dim": 512,
"num_frames": 9,
"frame_gap": 30,
"hidden_dim": 768,
"num_heads": 12,
"num_layers": 8,
"max_state_dim": 32,
"max_length": 9,
"use_temporal_sampler": true,
"num_sparse_stages": 1,
"sparse_subtask_names": [
"task"
],
"sparse_temporal_proportions": [
1.0
],
"num_dense_stages": null,
"dense_subtask_names": null,
"dense_temporal_proportions": null,
"batch_size": 64,
"clip_batch_size": 64,
"dropout": 0.1,
"stage_loss_weight": 1.0,
"use_torch_compile": true,
"pretrained_model_path": null,
"image_key": "observation.images.base",
"state_key": "observation.state",
"dual_inference_mode": "sparse",
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"LANGUAGE": "IDENTITY",
"REWARD": "IDENTITY"
}
},
"output_dir": "outputs/train/sarm_single0",
"job_name": "sarm",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 4,
"steps": 50,
"eval_freq": 20000,
"log_freq": 200,
"save_checkpoint": true,
"save_freq": 20000,
"use_policy_training_preset": true,
"optimizer": {
"type": "adamw",
"lr": 5e-05,
"weight_decay": 0.001,
"grad_clip_norm": 10.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08
},
"scheduler": {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 500,
"num_decay_steps": 50000,
"peak_lr": 5e-05,
"decay_lr": 5e-06
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "sarm",
"entity": null,
"notes": null,
"run_id": "rg5bh9bw",
"mode": null
},
"use_rabc": false,
"reward_model_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_update_freq": 1,
"rename_map": {},
"checkpoint_path": null
}