dataset dict | env null | policy dict | output_dir string | job_name string | resume bool | seed int64 | num_workers int64 | batch_size int64 | steps int64 | eval_freq int64 | log_freq int64 | save_checkpoint bool | save_freq int64 | use_policy_training_preset bool | optimizer dict | scheduler dict | eval dict | wandb dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
"repo_id": ".",
"root": "/mnt/lustre-grete/usr/u12045/vla/hf_cache/lerobot/binhng/merged_libero_mask_noops_lerobot_10_v4",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": false,
"image_tfs": {
"hue": {
"weight": 1,
"type": ... | null | {
"type": "pi0",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
256,
256,
3
]
},
"observation.images... | outputs/train/2025-07-18/09-08-46_libero_merged_10%_defaultconfig_newcp | libero_merged_10%_defaultconfig_newcp | false | 42 | 8 | 16 | 100,000 | 20,000 | 200 | true | 20,000 | true | {
"type": "adamw",
"lr": 0.0001,
"weight_decay": 1e-10,
"grad_clip_norm": 10,
"betas": [
0.9,
0.95
],
"eps": 1e-8
} | {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 1000,
"num_decay_steps": 240000,
"peak_lr": 0.0001,
"decay_lr": 0.0000025
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "pi0_lerobot",
"entity": "Robotics_VLA",
"notes": null,
"run_id": null,
"mode": "online"
} |
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