| { |
| "dataset": { |
| "repo_id": "does_not_exist", |
| "dataset_maker": "robosuite_ds_v1_maker", |
| "root": "/storage_nvme_1/robotgeneralist/pzal/datasets/rs-nut-assembly-round-deterministic", |
| "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, |
| "streaming": false, |
| "stats_episode_stride": 100 |
| }, |
| "env": null, |
| "policy": { |
| "type": "pi0", |
| "input_features": { |
| "observation.images.side": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "dtype": "torch.float32" |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "dtype": "torch.float32" |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qx", |
| "qy", |
| "qz", |
| "qw", |
| "gripper_q1", |
| "gripper_q2" |
| ], |
| "dtype": "torch.float32" |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "rx", |
| "ry", |
| "rz", |
| "tool" |
| ], |
| "dtype": "torch.float32" |
| } |
| }, |
| "data_transforms": [ |
| "robosuite_manipulator_absolute_to_delta_actions" |
| ], |
| "n_obs_steps": 1, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "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, |
| "time_sampling_beta_beta": 1.0, |
| "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": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "x", |
| "y", |
| "z", |
| "rx", |
| "ry", |
| "rz", |
| "gripper" |
| ], |
| "rtc_config": null, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "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": [ |
| 0.9, |
| 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 |
| }, |
| "reward_model": null, |
| "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": [ |
| 0.9, |
| 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 |
| } |
