| { |
| "dataset": { |
| "repo_id": "TrossenRoboticsCommunity/aloha_fold_tshirt", |
| "episodes": null, |
| "image_transforms": { |
| "enable": false, |
| "max_num_transforms": 3, |
| "random_order": false, |
| "tfs": { |
| "brightness": { |
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| 0.8, |
| 1.2 |
| ] |
| } |
| }, |
| "contrast": { |
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| 1.2 |
| ] |
| } |
| }, |
| "saturation": { |
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| 1.5 |
| ] |
| } |
| }, |
| "hue": { |
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| 0.05 |
| ] |
| } |
| }, |
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| 1.5 |
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| } |
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| } |
| }, |
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| "video_backend": "pyav" |
| }, |
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| "policy": { |
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| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "input_features": { |
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| ] |
| }, |
| "observation.images.cam_low": { |
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| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.cam_left_wrist": { |
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| 480, |
| 640 |
| ] |
| }, |
| "observation.images.cam_right_wrist": { |
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| 640 |
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| 224 |
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| "train_state_proj": true, |
| "optimizer_lr": 2.5e-05, |
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| 0.95 |
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| "scheduler_decay_steps": 30000, |
| "scheduler_decay_lr": 2.5e-06 |
| }, |
| "output_dir": "outputs/train/2025-02-05/00-16-57_pi0", |
| "job_name": "pi0", |
| "resume": false, |
| "device": "cuda", |
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| "seed": 1000, |
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| "eval_freq": 20000, |
| "log_freq": 200, |
| "save_checkpoint": true, |
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| "offline": { |
| "steps": 100000 |
| }, |
| "online": { |
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| "sampling_ratio": 0.5, |
| "env_seed": null, |
| "buffer_capacity": null, |
| "buffer_seed_size": 0, |
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| }, |
| "use_policy_training_preset": true, |
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| "weight_decay": 1e-10, |
| "grad_clip_norm": 10.0, |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "cosine_decay_with_warmup", |
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| "num_decay_steps": 30000, |
| "peak_lr": 2.5e-05, |
| "decay_lr": 2.5e-06 |
| }, |
| "eval": { |
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| "batch_size": 50, |
| "use_async_envs": false |
| }, |
| "wandb": { |
| "enable": false, |
| "disable_artifact": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null |
| } |
| } |
