| run_id: pi05-stack-cube-20260921T125641Z | |
| run_root_dir: ./results/Checkpoints/vla | |
| seed: 42 | |
| trackers: | |
| - jsonl | |
| is_debug: false | |
| framework: | |
| name: Pi05 | |
| model: | |
| model_path: playground/Pretrained_models/pi05_base_pytorch | |
| tokenizer_path: /inspire/ssd/project/robot3d/mazipei-253107140027/.cache/openpi/big_vision/paligemma_tokenizer.model | |
| dtype: bfloat16 | |
| paligemma_variant: gemma_2b | |
| action_expert_variant: gemma_300m | |
| vision_variant: So400m/14 | |
| max_token_len: 200 | |
| num_images: 3 | |
| action_model: | |
| action_dim: 14 | |
| state_dim: 14 | |
| model_action_dim: 32 | |
| action_horizon: 50 | |
| num_inference_steps: 10 | |
| datasets: | |
| vla_data: | |
| normalization_mode: min_max | |
| dataset_py: vla_datasets | |
| disable_state: false | |
| data_root_dir: playground/Datasets/LEROBOT_LIBERO_DATA | |
| data_mix: stack_cube | |
| per_device_batch_size: 8 | |
| split_strategy: episode_ratio | |
| eval_ratio: 0.02 | |
| split_seed: 42 | |
| eval_per_device_batch_size: 4 | |
| num_workers: 8 | |
| prefetch_factor: 4 | |
| load_all_data_for_training: true | |
| action_horizon: 50 | |
| image_size: | |
| - 224 | |
| - 224 | |
| state_pad_size: ${framework.action_model.state_dim} | |
| action_pad_size: ${framework.action_model.action_dim} | |
| use_future_frames: false | |
| future_frame_stride: 1 | |
| trainer: | |
| max_train_steps: 30000 | |
| num_warmup_steps: 1000 | |
| save_interval: 2000 | |
| eval_interval: 2000 | |
| learning_rate: | |
| base: 2.5e-05 | |
| lr_scheduler_type: cosine_with_min_lr | |
| scheduler_specific_kwargs: | |
| min_lr: 0.0 | |
| freeze_modules: null | |
| loss_scale: | |
| vla: 1.0 | |
| max_grad_norm: 1.0 | |
| weight_decay: 0.0 | |
| logging_frequency: 10 | |
| gradient_clipping: 1.0 | |
| gradient_accumulation_steps: 1 | |
| optimizer: | |
| name: AdamW | |
| betas: | |
| - 0.9 | |
| - 0.95 | |
| eps: 1.0e-08 | |
| weight_decay: 1.0e-10 | |
| save_format: pt | |
| enable_gradient_checkpointing: false | |
| global_batch_size: 64 | |
| resume_from_checkpoint: latest | |
| enable_compile: true | |
| output_dir: ./results/Checkpoints/vla/pi05-stack-cube-20260921T125641Z | |