{ "dataset": { "repo_id": "gribok201/500episodes", "root": null, "episodes": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450 ], "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 ] } } } }, "revision": null, "use_imagenet_stats": true, "video_backend": "pyav" }, "env": null, "policy": { "type": "pi0", "n_obs_steps": 1, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "input_features": { "observation.state": { "type": "STATE", "shape": [ 6 ] }, "observation.images.front": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.wrist": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "device": "cuda", "use_amp": false, "push_to_hub": true, "repo_id": "lerobot/pi0", "private": null, "tags": null, "license": null, "chunk_size": 50, "n_action_steps": 50, "max_state_dim": 32, "max_action_dim": 32, "resize_imgs_with_padding": [ 224, 224 ], "empty_cameras": 0, "adapt_to_pi_aloha": false, "use_delta_joint_actions_aloha": false, "tokenizer_max_length": 48, "proj_width": 1024, "num_steps": 10, "use_cache": true, "attention_implementation": "eager", "freeze_vision_encoder": true, "train_expert_only": false, "train_state_proj": true, "optimizer_lr": 2.5e-05, "optimizer_betas": [ 0.9, 0.95 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 1e-10, "scheduler_warmup_steps": 1000, "scheduler_decay_steps": 30000, "scheduler_decay_lr": 2.5e-06 }, "output_dir": "outputs/train/pi0_so101_test", "job_name": "pi0_test", "resume": false, "seed": 1000, "num_workers": 1, "batch_size": 16, "steps": 90000, "eval_freq": 20000, "log_freq": 200, "save_checkpoint": true, "save_freq": 20000, "use_policy_training_preset": true, "optimizer": { "type": "adamw", "lr": 2.5e-05, "weight_decay": 1e-10, "grad_clip_norm": 10.0, "betas": [ 0.9, 0.95 ], "eps": 1e-08 }, "scheduler": { "type": "cosine_decay_with_warmup", "num_warmup_steps": 1000, "num_decay_steps": 30000, "peak_lr": 2.5e-05, "decay_lr": 2.5e-06 }, "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 } }