| { |
| "dataset": { |
| "repo_id": "cetiennec/yellow_on_purple_super", |
| "repo_type": "dataset", |
| "root": null, |
| "episodes": null, |
| "exclude_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", |
| "return_uint8": false, |
| "depth_output_unit": "mm", |
| "streaming": false, |
| "eval_split": 0.2 |
| }, |
| "env": null, |
| "policy": { |
| "type": "flux3", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.scene": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": true, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "/fsx/caroline_pascal/models/so101", |
| "pretrained_revision": null, |
| "conditioning": "history", |
| "packer": null, |
| "condition_on_past_actions": false, |
| "action_representation": "delta", |
| "delta_absolute_dims": [ |
| -1 |
| ], |
| "text_fixed_length": 320, |
| "video_position_fps": 24.0, |
| "history_snapshots": 1, |
| "normalization_stats": null, |
| "normalization_clip": 6.0, |
| "separate_timesteps": true, |
| "video_logit_mean": 1.08, |
| "video_logit_std": 1.0, |
| "conditioning_noise_max": 0.2, |
| "loss_reduction": "modalities", |
| "action_channel_weights": [ |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 2.0 |
| ], |
| "gradient_checkpointing": true, |
| "chunk_size": 32, |
| "n_action_steps": 30, |
| "fps": 30.0, |
| "camera_layout": "side_by_side", |
| "camera_keys": [ |
| "observation.images.scene", |
| "observation.images.wrist" |
| ], |
| "canvas_hw": [ |
| 256, |
| 512 |
| ], |
| "action_modality": "action", |
| "action_scale": 2.0, |
| "gripper_flip_dims": [], |
| "use_relative_actions": false, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "IDENTITY", |
| "ACTION": "IDENTITY" |
| }, |
| "trunk_weights": null, |
| "video_vae_id": "/fsx/caroline_pascal/models/so101/components/video_vae.safetensors", |
| "text_encoder_id": "/fsx/caroline_pascal/models/so101/components/text_encoder", |
| "dit_config": null, |
| "content_streams": [ |
| "video", |
| "video_cond" |
| ], |
| "attn_mode": "torch", |
| "dtype": "bfloat16", |
| "compile_model": false, |
| "sampler": "cosmos_unipc", |
| "num_inference_steps": 4, |
| "guidance_scale": 3.0, |
| "guidance_scale_action": null, |
| "sampler_shift": 5.0, |
| "inference_seed": 0, |
| "head_init_seed": 0, |
| "train_timestep_width": 0.75, |
| "train_timestep_shift": 42.0, |
| "action_loss_weight": 0.5, |
| "video_loss_weight": 1.0, |
| "caption_dropout": 0.1, |
| "augment": false, |
| "optimizer_lr": 0.0001, |
| "optimizer_lr_heads_multiplier": 5.0, |
| "optimizer_betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.0, |
| "optimizer_grad_clip_norm": 1.0, |
| "scheduler_freeze_backbone_steps": 0, |
| "scheduler_warmup_steps": 0, |
| "scheduler_warmup_steps_heads": 0, |
| "scheduler_decay_steps": 0, |
| "scheduler_cooldown_steps": 0 |
| }, |
| "reward_model": null, |
| "output_dir": "/fsx/caroline_pascal/outputs/yellow_on_purple_lora_4gpu", |
| "job_name": "flux3", |
| "resume": false, |
| "seed": 42, |
| "cudnn_deterministic": false, |
| "num_workers": 8, |
| "batch_size": 2, |
| "prefetch_factor": 4, |
| "persistent_workers": true, |
| "dataloader_multiprocessing_context": "spawn", |
| "steps": 10000, |
| "env_eval_freq": 0, |
| "log_freq": 20, |
| "eval_steps": 500, |
| "max_eval_samples": 0, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 500, |
| "checkpoint_format": "safetensors", |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 0.0, |
| "grad_clip_norm": 1.0, |
| "betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "frozen_warmup_constant", |
| "num_warmup_steps": 0, |
| "freeze_steps": 0, |
| "warmup_steps_heads": 0, |
| "decay_steps": 0, |
| "cooldown_steps": 0 |
| }, |
| "parallelism": { |
| "dp_replicate": 4, |
| "dp_shard": 1, |
| "context_parallel": { |
| "ring_degree": 1, |
| "ulysses_degree": 1 |
| }, |
| "cfg_parallel": 1 |
| }, |
| "accelerator": { |
| "mixed_precision": "bf16", |
| "gradient_accumulation": { |
| "steps": 1 |
| }, |
| "fsdp": { |
| "reshard_after_forward": true, |
| "wrap_modules": null, |
| "min_num_params": null, |
| "cpu_offload": false, |
| "ignored_modules": null |
| }, |
| "ddp": { |
| "find_unused_parameters": true, |
| "gradient_as_bucket_view": false, |
| "static_graph": false |
| }, |
| "compile": { |
| "enabled": false, |
| "backend": "inductor", |
| "mode": null, |
| "regional": true |
| }, |
| "activation_checkpointing": { |
| "mode": "none" |
| } |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": true, |
| "recording": false, |
| "recording_repo_id": null, |
| "recording_private": false |
| }, |
| "ema": { |
| "enable": true, |
| "decay": 0.999, |
| "update_after_step": 0, |
| "inv_gamma": 1.0, |
| "power": 0.75, |
| "min_decay": 0.0, |
| "max_decay": 0.9999, |
| "use_for_eval": true |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": false, |
| "project": "flux3-so101", |
| "entity": null, |
| "notes": null, |
| "run_id": "yrahmxpq", |
| "mode": null, |
| "add_tags": true |
| }, |
| "peft": { |
| "target_modules": null, |
| "full_training_modules": null, |
| "method_type": "LORA", |
| "init_type": null, |
| "r": 32, |
| "lora_alpha": 32 |
| }, |
| "job": { |
| "target": null, |
| "image": "huggingface/lerobot-gpu:latest", |
| "timeout": "2d", |
| "detach": false, |
| "tags": [] |
| }, |
| "save_checkpoint_to_hub": false, |
| "sample_weighting": null, |
| "rename_map": { |
| "observation.images.on_top": "observation.images.scene", |
| "observation.images.camera_on_follower": "observation.images.wrist" |
| }, |
| "checkpoint_path": null |
| } |
