| { |
| "dataset": { |
| "repo_id": "vikrantsp/pickPlace_and_cubeStack", |
| "repo_type": "dataset", |
| "root": null, |
| "episodes": null, |
| "exclude_episodes": null, |
| "image_transforms": { |
| "enable": true, |
| "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": false, |
| "depth_output_unit": "mm", |
| "streaming": false, |
| "eval_split": 0.0 |
| }, |
| "env": null, |
| "policy": { |
| "type": "molmoact2", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ] |
| }, |
| "observation.images.right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "pretrained_revision": null, |
| "checkpoint_path": "allenai/MolmoAct2-SO100_101", |
| "checkpoint_revision": null, |
| "checkpoint_force_download": false, |
| "chunk_size": 10, |
| "n_action_steps": 10, |
| "action_mode": "continuous", |
| "inference_action_mode": "continuous", |
| "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer", |
| "discrete_generation_max_steps": null, |
| "norm_tag": null, |
| "norm_stats_path": null, |
| "setup_type": "single so101 robotic arm", |
| "control_mode": "absolute joint pose", |
| "image_keys": [ |
| "observation.images.front", |
| "observation.images.right" |
| ], |
| "normalize_language": true, |
| "add_setup_tokens": true, |
| "add_control_tokens": true, |
| "normalize_gripper": true, |
| "num_state_tokens": 256, |
| "max_sequence_length": null, |
| "expected_max_action_dim": 32, |
| "num_flow_timesteps": 8, |
| "flow_matching_cutoff": 1.0, |
| "flow_matching_time_offset": 0.001, |
| "flow_matching_time_scale": 0.999, |
| "flow_matching_beta_alpha": 1.0, |
| "flow_matching_beta_beta": 1.5, |
| "num_inference_steps": null, |
| "mask_action_dim_padding": true, |
| "enable_inference_cuda_graph": true, |
| "per_episode_seed": false, |
| "eval_seed": null, |
| "rtc_config": null, |
| "joint_signs": null, |
| "joint_offsets": null, |
| "train_mode_vlm": "lora", |
| "lora_rank": 64, |
| "lora_alpha": 16, |
| "lora_dropout": 0.05, |
| "lora_bias": "none", |
| "enable_knowledge_insulation": false, |
| "freeze_embedding": true, |
| "gradient_checkpointing": true, |
| "compile_model": false, |
| "dtype": "bfloat16", |
| "llm_residual_dropout": 0.1, |
| "softmax_auxiliary_loss": true, |
| "softmax_auxiliary_loss_scale": 0.0001, |
| "discrete_loss_token_weighting": "root_subsegments_root_tokens", |
| "optimizer_lr": 1e-05, |
| "optimizer_vit_lr": 5e-06, |
| "optimizer_connector_lr": 5e-06, |
| "optimizer_action_expert_lr": 5e-05, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-06, |
| "optimizer_weight_decay": 0.0, |
| "optimizer_grad_clip_norm": 1.0, |
| "scheduler_warmup_steps": 200, |
| "scheduler_decay_steps": 24000, |
| "scheduler_decay_lr": 1e-06, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "dataset_feature_names": { |
| "action": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "observation.state": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ] |
| } |
| }, |
| "reward_model": null, |
| "output_dir": "outputs/so101_stack_lora", |
| "job_name": "so101_cube_lora", |
| "resume": false, |
| "seed": 1000, |
| "cudnn_deterministic": false, |
| "num_workers": 4, |
| "batch_size": 4, |
| "prefetch_factor": 4, |
| "persistent_workers": true, |
| "dataloader_multiprocessing_context": "spawn", |
| "steps": 25000, |
| "env_eval_freq": -1, |
| "log_freq": 20, |
| "eval_steps": 0, |
| "max_eval_samples": 0, |
| "tolerance_s": 0.0001, |
| "save_checkpoint": true, |
| "save_freq": 2000, |
| "checkpoint_format": "safetensors", |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "molmoact2_adamw", |
| "lr": 1e-05, |
| "weight_decay": 0.0, |
| "grad_clip_norm": 0.0, |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-06, |
| "group_grad_clip_norm": 1.0 |
| }, |
| "scheduler": { |
| "type": "molmoact2_cosine_with_warmup", |
| "num_warmup_steps": 200, |
| "num_decay_steps": 24000, |
| "peak_lr": 1e-05, |
| "decay_lr": 1e-06 |
| }, |
| "parallelism": { |
| "dp_replicate": 1, |
| "dp_shard": 1, |
| "context_parallel": { |
| "ring_degree": 1, |
| "ulysses_degree": 1 |
| }, |
| "cfg_parallel": 1 |
| }, |
| "accelerator": { |
| "mixed_precision": "no", |
| "gradient_accumulation": { |
| "steps": 1 |
| }, |
| "fsdp": { |
| "reshard_after_forward": true, |
| "wrap_modules": null, |
| "min_num_params": null, |
| "cpu_offload": false, |
| "ignored_modules": null |
| }, |
| "ddp": { |
| "find_unused_parameters": true, |
| "gradient_as_bucket_view": false, |
| "static_graph": false |
| }, |
| "compile": { |
| "enabled": false, |
| "backend": "inductor", |
| "mode": null, |
| "regional": true |
| }, |
| "activation_checkpointing": { |
| "mode": "none" |
| } |
| }, |
| "eval": { |
| "n_episodes": 50, |
| "batch_size": 19, |
| "use_async_envs": true, |
| "recording": false, |
| "recording_repo_id": null, |
| "recording_private": false |
| }, |
| "ema": { |
| "enable": false, |
| "decay": null, |
| "update_after_step": 0, |
| "inv_gamma": 1.0, |
| "power": 0.75, |
| "min_decay": 0.0, |
| "max_decay": 0.9999, |
| "use_for_eval": true |
| }, |
| "wandb": { |
| "enable": false, |
| "disable_artifact": false, |
| "project": "lerobot", |
| "entity": null, |
| "notes": null, |
| "run_id": null, |
| "mode": null, |
| "add_tags": true |
| }, |
| "peft": null, |
| "job": { |
| "target": null, |
| "image": "huggingface/lerobot-gpu:latest", |
| "timeout": "2d", |
| "detach": false, |
| "tags": [] |
| }, |
| "save_checkpoint_to_hub": false, |
| "sample_weighting": null, |
| "rename_map": {}, |
| "checkpoint_path": null |
| } |
