| { |
| "dataset": { |
| "repo_id": "shubham4413/so101_wm", |
| "root": "/hpcwork/dl125352/hf/hub/datasets--shubham4413--so101_wm/snapshots/96e2ecc061a02d2952083128350f6815de30cb9f/", |
| "episodes": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 6, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 50, |
| 51, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 75, |
| 76, |
| 78, |
| 79, |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88, |
| 89, |
| 90, |
| 91, |
| 93, |
| 94, |
| 95, |
| 96, |
| 97, |
| 98, |
| 100, |
| 101, |
| 103, |
| 104, |
| 105, |
| 106, |
| 107, |
| 108, |
| 109, |
| 111, |
| 112, |
| 113, |
| 114, |
| 116, |
| 117, |
| 118, |
| 119, |
| 120, |
| 124, |
| 125, |
| 126, |
| 127, |
| 128, |
| 129, |
| 130, |
| 131, |
| 132, |
| 133, |
| 134, |
| 135, |
| 136, |
| 137, |
| 139, |
| 142, |
| 143, |
| 144, |
| 145, |
| 146, |
| 147, |
| 148, |
| 149, |
| 150, |
| 152, |
| 153, |
| 154, |
| 155, |
| 156, |
| 157, |
| 158, |
| 160, |
| 161, |
| 164, |
| 165, |
| 166, |
| 167, |
| 168, |
| 169, |
| 170, |
| 171, |
| 172, |
| 173, |
| 174, |
| 175, |
| 176 |
| ], |
| "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": "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.exterior_1_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.exterior_2_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": true, |
| "push_to_hub": false, |
| "repo_id": "shubham4413/so101_wm_vlajepa", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "lerobot/VLA-JEPA-Pretrain", |
| "pretrained_revision": null, |
| "chunk_size": 7, |
| "n_action_steps": 7, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MIN_MAX" |
| }, |
| "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": 6, |
| "state_dim": 6, |
| "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": true, |
| "pre_snap_gripper_action": true, |
| "clip_normalized_actions": true, |
| "gripper_dim": 5, |
| "gripper_threshold": 0.5, |
| "torch_dtype": "bfloat16", |
| "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": 5000, |
| "scheduler_decay_steps": 30000, |
| "scheduler_decay_lr": 1e-06 |
| }, |
| "reward_model": null, |
| "output_dir": "/hpcwork/dl125352/train/so101_wm_vlajepa", |
| "job_name": "vla_jepa", |
| "resume": false, |
| "seed": 1000, |
| "cudnn_deterministic": false, |
| "num_workers": 8, |
| "batch_size": 8, |
| "prefetch_factor": 4, |
| "persistent_workers": true, |
| "steps": 30000, |
| "env_eval_freq": 20000, |
| "log_freq": 100, |
| "eval_steps": 0, |
| "max_eval_samples": 0, |
| "tolerance_s": 0.001, |
| "save_checkpoint": true, |
| "save_freq": 10000, |
| "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": 5000, |
| "num_decay_steps": 30000, |
| "peak_lr": 0.0001, |
| "decay_lr": 1e-06 |
| }, |
| "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": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": null, |
| "mode": null, |
| "add_tags": true |
| }, |
| "peft": { |
| "target_modules": ".*model\\.qwen\\..*\\.(q_proj|k_proj|v_proj|o_proj|gate_proj|up_proj|down_proj)", |
| "full_training_modules": [ |
| "model.action_model", |
| "model.video_predictor" |
| ], |
| "method_type": "LORA", |
| "init_type": null, |
| "r": 16, |
| "lora_alpha": 32 |
| }, |
| "sample_weighting": null, |
| "rename_map": { |
| "observation.images.left": "observation.images.exterior_1_left", |
| "observation.images.fpv": "observation.images.exterior_2_left" |
| }, |
| "checkpoint_path": null |
| } |
