Instructions to use zaleni/WSA-Base-LIBERO with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use zaleni/WSA-Base-LIBERO with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "type": "TBot_SA1", | |
| "repo_id": "multidata_from_file", | |
| "repo_id_file": "outputs/TBot_SA1/_repo_id_files/TBot_SA1-libero4-abs-chunk10-finetune-2026_05_24_11_47_11.txt", | |
| "root": null, | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "preset": null, | |
| "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, | |
| "use_external_stats": true, | |
| "external_stats_path": "norm_stats/libero_all_chunk10/franka/abs/stats.json", | |
| "external_stats_root": null, | |
| "weight_rules_path": null, | |
| "video_backend": "torchcodec", | |
| "streaming": false, | |
| "dist_loading": false, | |
| "buffer_size": 1024, | |
| "action_mode": "abs", | |
| "repack_transforms": { | |
| "inputs": [], | |
| "outputs": [] | |
| }, | |
| "data_transforms": { | |
| "inputs": [ | |
| { | |
| "type": "resize_with_pad", | |
| "height": 224, | |
| "width": 224, | |
| "mode": "bilinear" | |
| }, | |
| { | |
| "type": "remap_image_key", | |
| "mapping": {} | |
| }, | |
| { | |
| "type": "normalize", | |
| "selected_keys": null, | |
| "mode": "mean_std", | |
| "norm_stats": {} | |
| }, | |
| { | |
| "type": "compose_fields", | |
| "mapping": {} | |
| }, | |
| { | |
| "type": "pad_state_and_action", | |
| "max_state_dim": 32, | |
| "max_action_dim": 32 | |
| }, | |
| { | |
| "type": "tbot_sa1_processor", | |
| "pretrained_model_name_or_path": "Qwen/Qwen3-VL-2B-Instruct", | |
| "max_length": 48, | |
| "task_key": "task", | |
| "padding_side": "right", | |
| "padding": "max_length", | |
| "truncation": true, | |
| "spatial_merge_size": 2, | |
| "vision_start_token_id": 151652, | |
| "vision_end_token_id": 151653, | |
| "image_token_id": 151655, | |
| "processor": null, | |
| "_processor_source": null | |
| }, | |
| { | |
| "type": "unify_tbot_sa1_inputs" | |
| } | |
| ], | |
| "outputs": [] | |
| }, | |
| "model_transforms": { | |
| "inputs": [], | |
| "outputs": [] | |
| }, | |
| "height": 224, | |
| "width": 224, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "qwen3_vl_processor_path": "Qwen/Qwen3-VL-2B-Instruct" | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "TBot_SA1", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 32 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 32 | |
| ] | |
| } | |
| }, | |
| "device": "cuda:0", | |
| "use_amp": false, | |
| "push_to_hub": false, | |
| "repo_id": "zaleni/TBot-SA1-LIBERO", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "zaleni/TBot-SA1-Base", | |
| "qwen3_vl_variant": "qwen3_vl_28l", | |
| "action_expert_variant": "qwen3_28l", | |
| "qwen3_vl_pretrained_path": "Qwen/Qwen3-VL-2B-Instruct", | |
| "dtype": "bfloat16", | |
| "chunk_size": 10, | |
| "n_action_steps": 10, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "mask_action_dim_padding_loss": true, | |
| "action_loss_valid_dim": 7, | |
| "num_inference_steps": 10, | |
| "time_sampling_beta_alpha": 1.5, | |
| "time_sampling_beta_beta": 1.0, | |
| "time_sampling_scale": 0.999, | |
| "time_sampling_offset": 0.001, | |
| "min_period": 0.004, | |
| "max_period": 4.0, | |
| "attention_mask_mode": "causal", | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "image_delta_indices": [ | |
| -15, | |
| 0, | |
| 15 | |
| ], | |
| "empty_cameras": 0, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "IDENTITY", | |
| "ACTION": "IDENTITY" | |
| }, | |
| "gradient_checkpointing": false, | |
| "compile_model": false, | |
| "compile_mode": "max-autotune", | |
| "optimizer_lr": 7.5e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.01, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 2000, | |
| "scheduler_decay_steps": 128000, | |
| "scheduler_decay_lr": 5e-06, | |
| "tokenizer_max_length": 48, | |
| "freeze_vision_encoder": false, | |
| "train_expert_only": false, | |
| "train_vlm_only": false, | |
| "lora_modules": [], | |
| "lora_unselected_mode": "full", | |
| "lora_targets": [ | |
| "attn", | |
| "ffn" | |
| ], | |
| "lora_rank": 16, | |
| "lora_alpha": 32.0, | |
| "lora_rank_und": null, | |
| "lora_alpha_und": null, | |
| "lora_rank_gen": null, | |
| "lora_alpha_gen": null, | |
| "lora_rank_act": null, | |
| "lora_alpha_act": null, | |
| "lora_dropout": 0.0, | |
| "scale_factor": 8, | |
| "lambda_gen": 0.005, | |
| "cosmos_tokenizer_path_or_name": "nvidia/Cosmos-Tokenizer-CI8x8", | |
| "enable_3d_queries": true, | |
| "num_3d_query_tokens": 432, | |
| "da3_alignment_mode": "query_decoder", | |
| "da3_query_resampler_layers": 1, | |
| "da3_query_resampler_ff_mult": 1, | |
| "query_layer_indices": [ | |
| 13, | |
| 19, | |
| 23, | |
| 27 | |
| ], | |
| "da3_variant": "auto", | |
| "da3_teacher_layers": [ | |
| 11, | |
| 15, | |
| 19, | |
| 23 | |
| ], | |
| "da3_query_dim": 2048, | |
| "da3_tokens_per_view": 1296, | |
| "da3_num_views": 3, | |
| "lambda_3d": 0.01, | |
| "da3_model_path_or_name": "depth-anything/DA3-LARGE-1.1", | |
| "da3_model_name": null, | |
| "da3_code_root": null, | |
| "da3_teacher_process_res": 504, | |
| "da3_layer_weights": [ | |
| 1.0, | |
| 1.2, | |
| 1.4, | |
| 1.6 | |
| ], | |
| "future_query_init_std": 0.02, | |
| "log_da3_teacher_timing": true | |
| }, | |
| "output_dir": "outputs/TBot_SA1/TBot_SA1-libero4-abs-chunk10-finetune-2026_05_24_11_47_11", | |
| "job_name": "TBot_SA1-libero4-abs-chunk10-finetune-2026_05_24_11_47_11", | |
| "resume": false, | |
| "seed": 42, | |
| "num_workers": 12, | |
| "batch_size": 16, | |
| "gradient_accumulation_steps": 1, | |
| "steps": 128000, | |
| "eval_freq": 20000, | |
| "eval_max_batches": 2, | |
| "log_freq": 100, | |
| "save_checkpoint": true, | |
| "save_freq": 20000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 7.5e-05, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 2000, | |
| "num_decay_steps": 128000, | |
| "peak_lr": 7.5e-05, | |
| "decay_lr": 5e-06 | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "TBot_SA1", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "t6vqahnt", | |
| "mode": "offline" | |
| }, | |
| "checkpoint_path": null, | |
| "rename_map": {} | |
| } |