Download pretrained_model/train_config.json from HHS2000/testpi0: direct link, hf CLI and curl.
- Browser
- Download file 13 kB
-
https://huggingface.co/HHS2000/testpi0/resolve/main/pretrained_model/train_config.json
- Command line
-
hf download hf://HHS2000/testpi0/pretrained_model/train_config.json
-
curl -L -o train_config.json https://huggingface.co/HHS2000/testpi0/resolve/main/pretrained_model/train_config.json
13 kB
| { | |
| "dataset": { | |
| "repo_id": "lerobot/libero", | |
| "root": "/home/hhs/datasets/libero", | |
| "episodes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35, | |
| 36, | |
| 37, | |
| 38, | |
| 39, | |
| 40, | |
| 41, | |
| 42, | |
| 43, | |
| 44, | |
| 45, | |
| 46, | |
| 47, | |
| 48, | |
| 49, | |
| 50, | |
| 51, | |
| 52, | |
| 53, | |
| 54, | |
| 55, | |
| 56, | |
| 57, | |
| 58, | |
| 59, | |
| 60, | |
| 61, | |
| 62, | |
| 63, | |
| 64, | |
| 65, | |
| 66, | |
| 67, | |
| 68, | |
| 69, | |
| 70, | |
| 71, | |
| 72, | |
| 73, | |
| 74, | |
| 75, | |
| 76, | |
| 77, | |
| 78, | |
| 79, | |
| 80, | |
| 81, | |
| 82, | |
| 83, | |
| 84, | |
| 85, | |
| 86, | |
| 87, | |
| 88, | |
| 89, | |
| 90, | |
| 91, | |
| 92, | |
| 93, | |
| 94, | |
| 95, | |
| 96, | |
| 97, | |
| 98, | |
| 99, | |
| 100, | |
| 101, | |
| 102, | |
| 103, | |
| 104, | |
| 105, | |
| 106, | |
| 107, | |
| 108, | |
| 109, | |
| 110, | |
| 111, | |
| 112, | |
| 113, | |
| 114, | |
| 115, | |
| 116, | |
| 117, | |
| 118, | |
| 119, | |
| 120, | |
| 121, | |
| 122, | |
| 123, | |
| 124, | |
| 125, | |
| 126, | |
| 127, | |
| 128, | |
| 129, | |
| 130, | |
| 131, | |
| 132, | |
| 133, | |
| 134, | |
| 135, | |
| 136, | |
| 137, | |
| 138, | |
| 139, | |
| 140, | |
| 141, | |
| 142, | |
| 143, | |
| 144, | |
| 145, | |
| 146, | |
| 147, | |
| 148, | |
| 149, | |
| 150, | |
| 151, | |
| 152, | |
| 153, | |
| 154, | |
| 155, | |
| 156, | |
| 157, | |
| 158, | |
| 159, | |
| 160, | |
| 161, | |
| 162, | |
| 163, | |
| 164, | |
| 165, | |
| 166, | |
| 167, | |
| 168, | |
| 169, | |
| 170, | |
| 171, | |
| 172, | |
| 173, | |
| 174, | |
| 175, | |
| 176, | |
| 177, | |
| 178, | |
| 179, | |
| 180, | |
| 181, | |
| 182, | |
| 183, | |
| 184, | |
| 185, | |
| 186, | |
| 187, | |
| 188, | |
| 189, | |
| 190, | |
| 191, | |
| 192, | |
| 193, | |
| 194, | |
| 195, | |
| 196, | |
| 197, | |
| 198, | |
| 199, | |
| 200, | |
| 201, | |
| 202, | |
| 203, | |
| 204, | |
| 205, | |
| 206, | |
| 207, | |
| 208, | |
| 209, | |
| 210, | |
| 211, | |
| 212, | |
| 213, | |
| 214, | |
| 215, | |
| 216, | |
| 217, | |
| 218, | |
| 219, | |
| 220, | |
| 221, | |
| 222, | |
| 223, | |
| 224, | |
| 225, | |
| 226, | |
| 227, | |
| 228, | |
| 229, | |
| 230, | |
| 231, | |
| 232, | |
| 233, | |
| 234, | |
| 235, | |
| 236, | |
| 237, | |
| 238, | |
| 239, | |
| 240, | |
| 241, | |
| 242, | |
| 243, | |
| 244, | |
| 245, | |
| 246, | |
| 247, | |
| 248, | |
| 249, | |
| 250, | |
| 251, | |
| 252, | |
| 253, | |
| 254, | |
| 255, | |
| 256, | |
| 257, | |
| 258, | |
| 259, | |
| 260, | |
| 261, | |
| 262, | |
| 263, | |
| 264, | |
| 265, | |
| 266, | |
| 267, | |
| 268, | |
| 269, | |
| 270, | |
| 271, | |
| 272, | |
| 273, | |
| 274, | |
| 275, | |
| 276, | |
| 277, | |
| 278, | |
| 279, | |
| 280, | |
| 281, | |
| 282, | |
| 283, | |
| 284, | |
| 285, | |
| 286, | |
| 287, | |
| 288, | |
| 289, | |
| 290, | |
| 291, | |
| 292, | |
| 293, | |
| 294, | |
| 295, | |
| 296, | |
| 297, | |
| 298, | |
| 299, | |
| 300, | |
| 301, | |
| 302, | |
| 303, | |
| 304, | |
| 305, | |
| 306, | |
| 307, | |
| 308, | |
| 309, | |
| 310, | |
| 311, | |
| 312, | |
| 313, | |
| 314, | |
| 315, | |
| 316, | |
| 317, | |
| 318, | |
| 319, | |
| 320, | |
| 321, | |
| 322, | |
| 323, | |
| 324, | |
| 325, | |
| 326, | |
| 327, | |
| 328, | |
| 329, | |
| 330, | |
| 331, | |
| 332, | |
| 333, | |
| 334, | |
| 335, | |
| 336, | |
| 337, | |
| 338, | |
| 339, | |
| 340, | |
| 341, | |
| 342, | |
| 343, | |
| 344, | |
| 345, | |
| 346, | |
| 347, | |
| 348, | |
| 349, | |
| 350, | |
| 351, | |
| 352, | |
| 353, | |
| 354, | |
| 355, | |
| 356, | |
| 357, | |
| 358, | |
| 359, | |
| 360, | |
| 361, | |
| 362, | |
| 363, | |
| 364, | |
| 365, | |
| 366, | |
| 367, | |
| 368, | |
| 369, | |
| 370, | |
| 371, | |
| 372, | |
| 373, | |
| 374, | |
| 375, | |
| 376, | |
| 377, | |
| 378 | |
| ], | |
| "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": "pyav", | |
| "return_uint8": true, | |
| "streaming": false | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "pi0", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.image2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": true, | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "/home/hhs/models/pi0_base", | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "dtype": "bfloat16", | |
| "chunk_size": 50, | |
| "n_action_steps": 10, | |
| "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": [ | |
| "actions" | |
| ], | |
| "rtc_config": null, | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "gradient_checkpointing": true, | |
| "compile_model": false, | |
| "compile_mode": "max-autotune", | |
| "freeze_vision_encoder": false, | |
| "train_expert_only": false, | |
| "optimizer_lr": 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": 5e-06, | |
| "tokenizer_name_or_path": "/home/hhs/models/paligemma-3b-pt-224", | |
| "tokenizer_max_length": 48 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "outputs/train/pi0_libero_10_lora_vlm", | |
| "job_name": "pi0_libero_10_lora_vlm", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 8, | |
| "batch_size": 16, | |
| "prefetch_factor": 2, | |
| "persistent_workers": true, | |
| "steps": 30000, | |
| "eval_freq": 0, | |
| "log_freq": 20, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 5000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 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": 5e-05, | |
| "decay_lr": 5e-06 | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 33, | |
| "use_async_envs": true | |
| }, | |
| "wandb": { | |
| "enable": false, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": null, | |
| "mode": null, | |
| "add_tags": true | |
| }, | |
| "peft": { | |
| "target_modules": null, | |
| "full_training_modules": null, | |
| "method_type": "LORA", | |
| "init_type": null, | |
| "r": 16, | |
| "lora_alpha": 32 | |
| }, | |
| "sample_weighting": null, | |
| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |