Robotics
LeRobot
Safetensors
pi0
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{
    "dataset": {
        "repo_id": "does_not_exist",
        "dataset_maker": "robosuite_ds_v1_maker",
        "root": "/storage_nvme_1/robotgeneralist/pzal/datasets/rs-nut-assembly-round-deterministic",
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                            1.2
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                    }
                },
                "contrast": {
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                    "type": "ColorJitter",
                    "kwargs": {
                        "contrast": [
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                            1.2
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                "saturation": {
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                },
                "sharpness": {
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                },
                "affine": {
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                            5.0
                        ],
                        "translate": [
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                            0.05
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                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "return_uint8": false,
        "streaming": false,
        "stats_episode_stride": 100
    },
    "env": null,
    "policy": {
        "type": "pi0",
        "input_features": {
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                "type": "VISUAL",
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                    224
                ],
                "names": [
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            "observation.images.wrist": {
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                "names": [
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                    "qy",
                    "qz",
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        },
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                    "z",
                    "rx",
                    "ry",
                    "rz",
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        "device": "cuda",
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        "repo_id": "pzal/assembly_500_only_expert_deterministic",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": "lerobot/pi0_base",
        "paligemma_variant": "gemma_2b",
        "action_expert_variant": "gemma_300m",
        "dtype": "bfloat16",
        "chunk_size": 50,
        "n_action_steps": 50,
        "max_state_dim": 32,
        "max_action_dim": 32,
        "num_inference_steps": 10,
        "time_sampling_beta_alpha": 1.5,
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        "time_sampling_scale": 0.999,
        "time_sampling_offset": 0.001,
        "min_period": 0.004,
        "max_period": 4.0,
        "use_relative_actions": false,
        "relative_exclude_joints": [
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        ],
        "action_feature_names": [
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            "rx",
            "ry",
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        ],
        "rtc_config": null,
        "image_resolution": [
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        ],
        "empty_cameras": 1,
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "gradient_checkpointing": true,
        "compile_model": true,
        "compile_mode": "max-autotune",
        "freeze_vision_encoder": true,
        "train_expert_only": true,
        "optimizer_lr": 2.5e-05,
        "optimizer_betas": [
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            0.95
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 0.01,
        "optimizer_grad_clip_norm": 1.0,
        "scheduler_warmup_steps": 1000,
        "scheduler_decay_steps": 30000,
        "scheduler_decay_lr": 2.5e-06,
        "tokenizer_max_length": 48
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    "output_dir": "/storage_nvme_1/robotgeneralist/pzal/lerobot/outputs/train/2026-05-15/09-59-50_assembly_500_only_expert_deterministic",
    "job_name": "assembly_500_only_expert_deterministic",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 32,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "steps": 500,
    "eval_freq": 20000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 20000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 2.5e-05,
        "weight_decay": 0.01,
        "grad_clip_norm": 1.0,
        "betas": [
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            0.95
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 1000,
        "num_decay_steps": 30000,
        "peak_lr": 2.5e-05,
        "decay_lr": 2.5e-06
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": true
    },
    "wandb": {
        "enable": true,
        "disable_artifact": true,
        "project": "lerobot",
        "entity": "generalists",
        "notes": null,
        "run_id": "bfqla3px",
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "sample_weighting": null,
    "rename_map": {},
    "checkpoint_path": null
}