Robotics
LeRobot
Safetensors
multi_task_dit
dit_ee_cubes / train_config.json
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{
"dataset": {
"repo_id": "SieloRobotics/rebot_pick_place_ee",
"repo_type": "dataset",
"root": null,
"episodes": null,
"exclude_episodes": null,
"image_transforms": {
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"backend": "dataloader",
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"random_order": false,
"tfs": {
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"type": "ColorJitter",
"kwargs": {
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1.2
]
}
},
"contrast": {
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"kwargs": {
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1.2
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}
},
"saturation": {
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"kwargs": {
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},
"hue": {
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},
"affine": {
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5.0
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}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"return_uint8": true,
"depth_output_unit": "mm",
"streaming": false,
"streaming_episode_pool_size": null,
"streaming_sampling_strategy": "remaining",
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"streaming_native_http_connections": null,
"streaming_native_http_subranges": 1,
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"eval_split": 0.02
},
"env": null,
"policy": {
"type": "multi_task_dit",
"n_obs_steps": 2,
"input_features": {
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"shape": [
3,
480,
640
]
},
"observation.images.top": {
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3,
480,
640
]
},
"observation.state": {
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]
}
},
"output_features": {
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10
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}
},
"device": "cuda",
"dtype": null,
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "SieloRobotics/dit_ee_cubes",
"private": false,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_revision": null,
"horizon": 32,
"n_action_steps": 8,
"objective": "flow_matching",
"noise_scheduler_type": "DDPM",
"num_train_timesteps": 100,
"beta_schedule": "squaredcos_cap_v2",
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"prediction_type": "epsilon",
"clip_sample": true,
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"num_inference_steps": null,
"sigma_min": 0.0,
"num_integration_steps": 10,
"integration_method": "euler",
"timestep_sampling_strategy": "beta",
"timestep_sampling_s": 0.999,
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"timestep_sampling_beta": 1.0,
"hidden_dim": 512,
"num_layers": 6,
"num_heads": 8,
"dropout": 0.1,
"use_positional_encoding": false,
"timestep_embed_dim": 256,
"use_rope": true,
"rope_base": 10000.0,
"vision_encoder_name": "openai/clip-vit-base-patch16",
"use_separate_rgb_encoder_per_camera": true,
"vision_encoder_lr_multiplier": 0.1,
"image_resize_shape": [
240,
240
],
"image_crop_shape": [
224,
224
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"compile_model": true,
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"use_text_conditioning": false,
"text_encoder_name": "openai/clip-vit-base-patch16",
"tokenizer_max_length": 77,
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"tokenizer_padding_side": "right",
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"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"use_relative_ee_actions": true,
"action_feature_names": [
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"ee.y",
"ee.z",
"ee.r6d_0",
"ee.r6d_1",
"ee.r6d_2",
"ee.r6d_3",
"ee.r6d_4",
"ee.r6d_5",
"gripper.pos"
],
"optimizer_lr": 0.0001,
"optimizer_betas": [
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"optimizer_eps": 1e-08,
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"scheduler_name": "cosine",
"scheduler_warmup_steps": 800,
"do_mask_loss_for_padding": false,
"drop_n_last_frames": 23
},
"reward_model": null,
"output_dir": "/content/outputs/dit_ee_cubes_run_20261020_202835",
"job_name": "dit_ee_cubes",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 12,
"batch_size": 256,
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"dataloader_multiprocessing_context": "spawn",
"steps": 40000,
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"log_freq": 100,
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"max_eval_samples": 0,
"tolerance_s": 0.0001,
"save_checkpoint": true,
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"checkpoint_format": "safetensors",
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"optimizer": {
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"betas": [
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0.999
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"eps": 1e-08
},
"scheduler": {
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"name": "cosine"
},
"parallelism": {
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"context_parallel": {
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"accelerator": {
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"fsdp": {
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"wrap_modules": null,
"min_num_params": null,
"cpu_offload": false,
"ignored_modules": null
},
"ddp": {
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"gradient_as_bucket_view": false,
"static_graph": false
},
"compile": {
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"backend": "inductor",
"mode": null,
"regional": true
},
"activation_checkpointing": {
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}
},
"eval": {
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"batch_size": 33,
"use_async_envs": true,
"recording": false,
"recording_repo_id": null,
"recording_private": false
},
"ema": {
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"use_for_eval": true
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"wandb": {
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"disable_artifact": true,
"project": "dit_ee_cubes",
"entity": null,
"notes": null,
"run_id": "igo5cik4",
"resume": null,
"mode": null,
"console": "wrap",
"console_multipart": false,
"console_chunk_max_seconds": 0,
"add_tags": true
},
"peft": null,
"job": {
"target": null,
"image": "huggingface/lerobot-gpu:latest",
"timeout": "2d",
"detach": false,
"tags": []
},
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"sample_weighting": null,
"rename_map": {},
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}