{ "dataset": { "repo_id": "pepijn223/bimanual-so100-handover-cube", "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": null, "policy": { "type": "groot", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 12 ] }, "observation.images.left": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.top": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.right": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 12 ] } }, "device": "cuda", "use_amp": false, "push_to_hub": true, "repo_id": "aractingi/gtest1", "private": null, "tags": null, "license": null, "pretrained_path": "/fsx/michel_aractingi/outputs/tmp/checkpoints/000010/pretrained_model", "chunk_size": 50, "n_action_steps": 50, "max_state_dim": 64, "max_action_dim": 32, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "image_size": [ 224, 224 ], "base_model_path": "nvidia/GR00T-N1.5-3B", "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5", "embodiment_tag": "new_embodiment", "tune_llm": false, "tune_visual": false, "tune_projector": true, "tune_diffusion_model": false, "lora_rank": 0, "lora_alpha": 16, "lora_dropout": 0.1, "lora_full_model": false, "optimizer_lr": 0.0001, "optimizer_betas": [ 0.95, 0.999 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 1e-05, "warmup_ratio": 0.05, "use_bf16": true, "video_backend": "decord", "balance_dataset_weights": true, "balance_trajectory_weights": true, "dataset_paths": null, "output_dir": "./tmp/gr00t", "save_steps": 1000, "max_steps": 10000, "batch_size": 32, "dataloader_num_workers": 8, "report_to": "wandb", "resume": false }, "output_dir": "/fsx/michel_aractingi/outputs/tmp", "job_name": "groot", "resume": true, "seed": 1000, "num_workers": 4, "batch_size": 32, "steps": 20, "eval_freq": 20000, "log_freq": 2, "save_checkpoint": true, "save_freq": 10, "use_policy_training_preset": true, "optimizer": { "type": "adamw", "lr": 0.0001, "weight_decay": 1e-05, "grad_clip_norm": 10.0, "betas": [ 0.95, 0.999 ], "eps": 1e-08 }, "scheduler": { "type": "cosine_decay_with_warmup", "num_warmup_steps": 500, "num_decay_steps": 10000, "peak_lr": 0.0001, "decay_lr": 1e-05 }, "eval": { "n_episodes": 50, "batch_size": 50, "use_async_envs": false }, "wandb": { "enable": false, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null, "run_id": null, "mode": null }, "checkpoint_path": "/fsx/michel_aractingi/outputs/tmp/checkpoints/000010", "rename_map": {} }