awrenn53's picture
Add files using upload-large-folder tool
124a8d8 verified
Raw
History Blame Contribute Delete
6.2 kB
{
"dataset": {
"repo_id": "IPEC-COMMUNITY/libero_spatial_no_noops_1.0.0_lerobot",
"root": "/datasets/libero_spatial",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 1,
"random_order": false,
"tfs": {
"color_jitter": {
"weight": 1.0,
"type": "ColorJitter",
"kwargs": {
"brightness": [
0.7,
1.3
],
"contrast": [
0.6,
1.4
],
"saturation": [
0.5,
1.5
],
"hue": [
-0.08,
0.08
]
}
}
}
},
"revision": "main",
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"return_uint8": true,
"depth_output_unit": "mm",
"streaming": false,
"eval_split": 0.0
},
"env": null,
"policy": {
"type": "groot",
"n_obs_steps": 1,
"input_features": {
"observation.images.wrist_image": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.images.image": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"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,
"chunk_size": 16,
"n_action_steps": 16,
"max_state_dim": 132,
"max_action_dim": 132,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "IDENTITY",
"ACTION": "IDENTITY"
},
"base_model_path": "/cache/huggingface/models--nvidia--GR00T-N1.7-3B/snapshots/2fc962b973bccdd5d8ce4f67cc63b264d6886495",
"action_decode_transform": "libero",
"embodiment_tag": "libero_sim",
"tune_llm": false,
"tune_visual": false,
"tune_projector": true,
"tune_diffusion_model": true,
"tune_vlln": true,
"tune_top_llm_layers": 0,
"num_inference_timesteps": 4,
"rtc_ramp_rate": 6.0,
"use_flash_attention": false,
"use_relative_actions": false,
"relative_exclude_joints": [],
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-05,
"warmup_ratio": 0.05,
"use_bf16": true,
"model_params_fp32": true,
"image_size": [
256,
256
],
"tokenizer_assets_repo": null,
"lora_rank": 0,
"lora_alpha": 16,
"lora_dropout": 0.1,
"lora_full_model": false,
"video_backend": "decord",
"balance_dataset_weights": true,
"balance_trajectory_weights": true,
"dataset_paths": null,
"output_dir": "./tmp/gr00t",
"save_steps": 1000,
"max_steps": 20000,
"batch_size": 32,
"dataloader_num_workers": 8,
"report_to": "wandb",
"resume": false
},
"reward_model": null,
"output_dir": "/checkpoints/gr00t-n17-libero-oss-h16-adamw-gbs640-20k-head9adea3f9/20260705-214215/libero_spatial",
"job_name": "libero-spatial-n17-oss-h16-adamw-gbs640-s42-head9adea3f9-20260705-214215",
"resume": false,
"seed": 42,
"cudnn_deterministic": false,
"num_workers": 4,
"batch_size": 320,
"prefetch_factor": 2,
"persistent_workers": true,
"steps": 20000,
"env_eval_freq": 0,
"log_freq": 10,
"eval_steps": 0,
"max_eval_samples": 0,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 1000,
"use_policy_training_preset": false,
"optimizer": {
"type": "adamw",
"lr": 0.0001,
"weight_decay": 1e-05,
"grad_clip_norm": 1.0,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"fused": false
},
"scheduler": {
"type": "diffuser",
"num_warmup_steps": 1000,
"name": "cosine"
},
"eval": {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": true,
"recording": false,
"recording_repo_id": null,
"recording_private": false
},
"wandb": {
"enable": true,
"disable_artifact": true,
"project": "lerobot-gr00t-17n-train",
"entity": "nvidia",
"notes": "source_commit=9adea3f9638551112a370bdc7b3538b2a6055adf;oss_source_commit=ab88b50c718f6528e1df9dcbaf75865d1b604760;recipe=published-oss-libero-h16-adamw-20k-gbs640;layout=2x320;actions=absolute-libero-no-relative-groups;accepted_jitter=torchvision",
"run_id": "libero-spatial-n17-oss-h16-adamw-gbs640-s42-head9adea3f9-20260705-214215",
"mode": "online",
"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
}