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| "gripper_target": "+-1 (raw > 0.5 -> +1 close, else -1 open)", |
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| "version": "reswam-libero-delta-eef-zscore6-binary-gripper-pm1-v1" |
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| "sampling": "uniform_every_frame_windows_end_padded_then_distributed_shuffle", |
| "source_repo": "physical-intelligence/libero", |
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| "libero_10" |
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| "benchmark_variant": "libero_plus", |
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| "seed": 0, |
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| "action_noise": "independent_gaussian", |
| "action_tau": "independent_uniform", |
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| "rounds": 10, |
| "solver": "synchronous_jacobi_euler", |
| "synchronous_commit": true |
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| "primary_noise": "independent_gaussian", |
| "world_tau": "independent_uniform" |
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| "loss": { |
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| "model": { |
| "architecture": "Qwen3_5ForConditionalGeneration", |
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| "dino": { |
| "architecture": "DINOv3-B/16", |
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| "combine": "arithmetic_mean", |
| "frozen": true, |
| "image_size": 256, |
| "model_id": "facebook/dinov3-vitb16-pretrain-lvd1689m", |
| "output_grid": [ |
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| 8 |
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| "remove_cls_and_register": true, |
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| "spatial_pool": "2x2", |
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| "heads": 16, |
| "hidden_dim": 1024, |
| "joint_depth": 12, |
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| "action", |
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| "use_state_null_tokens": true |
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| "repo": "Alibaba-DAMO-Academy/RynnBrain1.1-2B", |
| "system_parameter_count": 2334726279, |
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| "vision_hidden_size": 1024, |
| "vision_layers": 24, |
| "vision_output_size": 2048 |
| }, |
| "optimizer": { |
| "betas": [ |
| 0.9, |
| 0.95 |
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| "expert_min_lr": 1e-05, |
| "expert_peak_lr": 0.0001, |
| "vlm_min_lr": 1e-06, |
| "vlm_peak_lr": 1e-05, |
| "weight_decay": 1e-08 |
| }, |
| "schema_version": "reswam-libero-config-v1", |
| "state": { |
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| "replacement": "learned null tokens state_null [1,11,dim]", |
| "unit": "per sample (all 11 tokens)" |
| }, |
| "features": [ |
| "eef_x", |
| "eef_y", |
| "eef_z", |
| "rot_c0_x", |
| "rot_c0_y", |
| "rot_c0_z", |
| "rot_c1_x", |
| "rot_c1_y", |
| "rot_c1_z", |
| "finger_left", |
| "finger_right" |
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| "featurization": "reswam-libero-state11-xyz-rot6d-fingers2-v1", |
| "normalization": "z-score over all 273,465 real frames (float64, ddof 0); clamp +-10 sigma", |
| "raw_layout": "eef xyz, axis-angle(robot0_eef_quat), robot0_gripper_qpos x2", |
| "statistics": "codec_statistics.json" |
| }, |
| "training": { |
| "fsdp": "FULL_SHARD", |
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| "precision": "bfloat16", |
| "seed": 20260830, |
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| "wrist" |
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| "primary" |
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| "target": "LN(DINO_blocks8_10_mean_pool2x2(o_t+8))-LN(DINO_blocks8_10_mean_pool2x2(o_t))", |
| "target_offset": 8 |
| } |
| } |
|
|
