| { |
| "dataset": { |
| "repo_id": "aopolin-lv/libero_spatial_no_noops_lerobot_v21", |
| "use_all_local_repos": false, |
| "root": null, |
| "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": { |
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| "type": "SharpnessJitter", |
| "kwargs": { |
| "sharpness": [ |
| 0.5, |
| 1.5 |
| ] |
| } |
| } |
| } |
| }, |
| "revision": null, |
| "use_imagenet_stats": true, |
| "video_backend": "torchcodec", |
| "only_robot_type": "so100" |
| }, |
| "env": null, |
| "policy": { |
| "type": "smolvla", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.images.wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ] |
| }, |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "lerobot_dy_imagepaddingfix", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "normalize_visual": "identity", |
| "normalize_state": "mean_std", |
| "normalize_action": "mean_std", |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "resize_imgs_with_padding": [ |
| 512, |
| 512 |
| ], |
| "empty_cameras": 0, |
| "adapt_to_pi_aloha": false, |
| "use_delta_joint_actions_aloha": false, |
| "tokenizer_max_length": 48, |
| "num_steps": 10, |
| "use_cache": true, |
| "freeze_vision_encoder": true, |
| "train_expert_only": true, |
| "train_state_proj": true, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-10, |
| "optimizer_grad_clip_norm": 10, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 30000, |
| "scheduler_decay_lr": 2.5e-06, |
| "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", |
| "load_vlm_weights": true, |
| "add_image_special_tokens": false, |
| "attention_mode": "cross_attn", |
| "prefix_length": -1, |
| "pad_language_to": "longest", |
| "num_expert_layers": -1, |
| "num_vlm_layers": 16, |
| "self_attn_every_n_layers": 2, |
| "expert_width_multiplier": 0.75, |
| "min_period": 0.004, |
| "max_period": 4.0 |
| }, |
| "output_dir": "outputs/lerobot_dy_reinstall/2025-09-18/16-35-38", |
| "exp_name": "lerobot_dy_reinstall/2025-09-18/16-35-38", |
| "resume": false, |
| "seed": 1000, |
| "num_workers": 4, |
| "batch_size": 32, |
| "update_steps": 5000, |
| "eval_freq": 20000, |
| "log_freq": 200, |
| "save_checkpoint": true, |
| "save_freq": 5000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 1e-10, |
| "grad_clip_norm": 10, |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "cosine_decay_with_warmup", |
| "num_warmup_steps": 1000, |
| "num_decay_steps": 30000, |
| "peak_lr": 0.0001, |
| "decay_lr": 2.5e-06 |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": false |
| }, |
| "log_with": "tensorboard", |
| "wandb": { |
| "enable": false, |
| "disable_artifact": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": null, |
| "mode": null |
| }, |
| "gradient_accumulation_steps": 1 |
| } |
