Instructions to use olegbalakhnov/libero_vla0_long_maksing with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use olegbalakhnov/libero_vla0_long_maksing with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "HuggingFaceVLA/libero", | |
| "root": null, | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "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": "torchcodec", | |
| "streaming": false | |
| }, | |
| "env": { | |
| "type": "libero", | |
| "task": "libero_10", | |
| "fps": 30, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "pixels/agentview_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 360, | |
| 360, | |
| 3 | |
| ] | |
| }, | |
| "pixels/robot0_eye_in_hand_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 360, | |
| 360, | |
| 3 | |
| ] | |
| }, | |
| "robot_state/eef/pos": { | |
| "type": "STATE", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "robot_state/eef/quat": { | |
| "type": "STATE", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "robot_state/eef/mat": { | |
| "type": "STATE", | |
| "shape": [ | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "robot_state/gripper/qpos": { | |
| "type": "STATE", | |
| "shape": [ | |
| 2 | |
| ] | |
| }, | |
| "robot_state/gripper/qvel": { | |
| "type": "STATE", | |
| "shape": [ | |
| 2 | |
| ] | |
| }, | |
| "robot_state/joints/pos": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "robot_state/joints/vel": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "features_map": { | |
| "action": "action", | |
| "robot_state/eef/pos": "observation.state.eef_pos", | |
| "robot_state/eef/quat": "observation.state.eef_quat", | |
| "robot_state/eef/mat": "observation.state.eef_mat", | |
| "robot_state/gripper/qpos": "observation.state.gripper_qpos", | |
| "robot_state/gripper/qvel": "observation.state.gripper_qvel", | |
| "robot_state/joints/pos": "observation.state.joint_pos", | |
| "robot_state/joints/vel": "observation.state.joint_vel", | |
| "pixels/agentview_image": "observation.images.image", | |
| "pixels/robot0_eye_in_hand_image": "observation.images.image2" | |
| }, | |
| "max_parallel_tasks": 1, | |
| "disable_env_checker": true, | |
| "episode_length": null, | |
| "obs_type": "pixels_agent_pos", | |
| "render_mode": "rgb_array", | |
| "camera_name": "agentview_image,robot0_eye_in_hand_image", | |
| "task_ids": null, | |
| "init_states": true, | |
| "camera_name_mapping": null, | |
| "observation_height": 360, | |
| "observation_width": 360, | |
| "control_mode": "relative" | |
| }, | |
| "policy": { | |
| "type": "vla0", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.image2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": true, | |
| "amp_dtype": "bf16", | |
| "push_to_hub": true, | |
| "repo_id": "olegbalakhnov/libero_vla0_long_maksing", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "chunk_size": 8, | |
| "n_action_steps": 8, | |
| "ensemble_size": 0, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "n_action_bins": 512, | |
| "n_state_bins": 512, | |
| "max_decoding_steps": 512, | |
| "use_cache": true, | |
| "optimizer_lr": 5e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.01, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 100000, | |
| "scheduler_decay_lr": 5e-06, | |
| "checkpoint_path": null, | |
| "vlm_checkpoint": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", | |
| "precision": "float32", | |
| "freeze_vision_encoder": false, | |
| "do_image_splitting": false, | |
| "drop_n_last_frames": 1, | |
| "relative_actions": false, | |
| "use_state": true, | |
| "start_actions_token": 49279, | |
| "grad_clip_norm": 1.0, | |
| "action_mask_aug_per": 0.15, | |
| "action_mask_skip_per": 0.1, | |
| "crop_shape": [ | |
| 230, | |
| 230 | |
| ] | |
| }, | |
| "output_dir": "outputs/train/2025-12-09/09-29-30_libero_vla0", | |
| "job_name": "libero_vla0", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 8, | |
| "batch_size": 16, | |
| "steps": 100000, | |
| "eval_freq": 20000, | |
| "log_freq": 200, | |
| "save_checkpoint": true, | |
| "save_freq": 10000, | |
| "profile_step_num": -1, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 5e-05, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 1000, | |
| "num_decay_steps": 100000, | |
| "peak_lr": 5e-05, | |
| "decay_lr": 5e-06 | |
| }, | |
| "eval": { | |
| "n_episodes": 16, | |
| "batch_size": 16, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "7sllqsip", | |
| "mode": null | |
| }, | |
| "checkpoint_path": null, | |
| "rename_map": {} | |
| } |