| dataloader: |
| batch_size: 32 |
| implementation: robosuite_v1 |
| num_workers: 4 |
| pin_memory: true |
| shuffle: true |
| stats_calculation_samples: 50000 |
| task_override: Place the round nut on the round peg. |
| dataset: |
| repo_id: robotgeneralist/rs-demos-assembly |
| root: null |
| eval: |
| actions_per_chunk: 10 |
| base_seed: 0 |
| env_name: NutAssemblyRound |
| eval_every: 500 |
| fps: 20 |
| max_steps: 400 |
| num_rollouts: 8 |
| task: Place the round nut on the round peg. |
| policy: |
| action_derivation_implementation: ext__delta__osc__rotvec |
| action_dim: 7 |
| action_expert_variant: gemma_300m |
| chunk_size: 50 |
| compile_mode: max-autotune |
| compile_model: true |
| device: cuda |
| dtype: bfloat16 |
| freeze_vision_encoder: false |
| gradient_checkpointing: true |
| image_keys: |
| - robot0_robotview_image |
| - robot0_eye_in_hand_image |
| image_resolution: |
| - 224 |
| - 224 |
| input_features: {} |
| license: null |
| max_action_dim: 32 |
| max_period: 4.0 |
| max_state_dim: 32 |
| min_period: 0.004 |
| n_obs_steps: 1 |
| normalization_stats: |
| action: |
| mean: |
| - 0.0014429540247476425 |
| - 5.855477872899049e-05 |
| - 0.00010094234202338543 |
| - -5.514898634610806e-05 |
| - -1.1709633593695834e-05 |
| - 0.0023358867284308323 |
| - 0.08610835467349552 |
| std: |
| - 0.0033159534044946504 |
| - 0.0020661345832887618 |
| - 0.003004563348536115 |
| - 0.012571091883774563 |
| - 0.012866583562733206 |
| - 0.026665803880115392 |
| - 0.9962859772258239 |
| observation.state: |
| mean: |
| - 0.011385115435902654 |
| - -0.11066487852350426 |
| - 0.9275649457826504 |
| - 0.7494435731164166 |
| - 1.069831168567631 |
| - 0.06506713687963374 |
| - 0.025805657331220012 |
| - -0.02590401388618914 |
| - 0.01803541620692451 |
| - -0.11212986440453838 |
| - 0.9280827677356757 |
| - 0.6500980088799709 |
| - 0.8341998775202242 |
| - 0.05805249210678411 |
| - 0.08762804097311136 |
| std: |
| - 0.1364878357112203 |
| - 0.06521976306006763 |
| - 0.05895699006536035 |
| - 1.6648833415711914 |
| - 2.2236785714685396 |
| - 0.13710193958271333 |
| - 0.011328591949326798 |
| - 0.011394605880609308 |
| - 0.13924010834100095 |
| - 0.06349817660760358 |
| - 0.06014770884144378 |
| - 1.694195263111645 |
| - 2.3261636263757737 |
| - 0.14145846058575146 |
| - 0.9961632294015995 |
| num_inference_steps: 10 |
| optimizer_betas: |
| - 0.9 |
| - 0.95 |
| optimizer_eps: 1.0e-08 |
| optimizer_grad_clip_norm: 1.0 |
| optimizer_lr: 2.5e-05 |
| optimizer_weight_decay: 0.01 |
| output_features: {} |
| paligemma_variant: gemma_2b |
| pretrained_path: lerobot/pi0_base |
| private: null |
| push_to_hub: true |
| repo_id: null |
| rtc_config: null |
| scheduler_decay_lr: 2.5e-06 |
| scheduler_decay_steps: 30000 |
| scheduler_warmup_steps: 1000 |
| state_derivation_implementation: rs_default |
| tags: null |
| time_sampling_beta_alpha: 1.5 |
| time_sampling_beta_beta: 1.0 |
| time_sampling_offset: 0.001 |
| time_sampling_scale: 0.999 |
| tokenizer_max_length: 48 |
| train_expert_only: false |
| type: custom_pi0 |
| use_amp: false |
| use_peft: false |
| push_to_hub: true |
| run_group: null |
| run_name: entropy_186321 |
| seed: 1000 |
| steps: 10000 |
|
|
