dit-libero-spatial / train_config.json
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{
"dataset": {
"repo_id": "HuggingFaceVLA/libero",
"root": null,
"episodes": null,
"image_transforms": {
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},
"affine": {
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5.0
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}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
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},
"env": {
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"task": "libero_spatial",
"fps": 30,
"features": {
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},
"pixels/agentview_image": {
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3
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},
"pixels/robot0_eye_in_hand_image": {
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3
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},
"robot_state/eef/pos": {
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},
"robot_state/eef/quat": {
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},
"robot_state/eef/mat": {
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},
"robot_state/gripper/qpos": {
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},
"robot_state/gripper/qvel": {
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2
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},
"robot_state/joints/pos": {
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7
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},
"robot_state/joints/vel": {
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7
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}
},
"features_map": {
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"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,
"task_ids": null,
"episode_length": null,
"obs_type": "pixels_agent_pos",
"render_mode": "rgb_array",
"camera_name": "agentview_image,robot0_eye_in_hand_image",
"init_states": true,
"camera_name_mapping": null,
"observation_height": 360,
"observation_width": 360,
"control_mode": "relative"
},
"policy": {
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"input_features": {
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"shape": [
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256
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},
"observation.images.image2": {
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3,
256,
256
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},
"observation.state": {
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8
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}
},
"output_features": {
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},
"device": "cuda",
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"use_peft": false,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"horizon": 32,
"n_action_steps": 10,
"objective": "diffusion",
"noise_scheduler_type": "DDPM",
"num_train_timesteps": 100,
"beta_schedule": "squaredcos_cap_v2",
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"beta_end": 0.02,
"prediction_type": "epsilon",
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"num_inference_steps": null,
"sigma_min": 0.0,
"num_integration_steps": 100,
"integration_method": "euler",
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"dropout": 0.1,
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"use_positional_encoding": false,
"timestep_embed_dim": 128,
"use_rope": true,
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"qformer_num_queries": 8,
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"vision_encoder_name": "openai/clip-vit-base-patch16",
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"image_resize_shape": [
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"image_crop_shape": [
224,
224
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"robot_state_embed_dim": 128,
"text_embed_dim": 128,
"text_encoder_name": "openai/clip-vit-base-patch16",
"tokenizer_max_length": 77,
"tokenizer_padding": "max_length",
"tokenizer_padding_side": "right",
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"normalization_mapping": {
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"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
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"robust_adapter_training": false,
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"robust_adapter_num_queries": 4,
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"robust_feature_loss_weight": 1.0,
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"robust_noise_std": 0.08,
"robust_patch_noise_prob": 0.5,
"robust_patch_noise_ratio": [
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"robust_high_freq_prob": 0.5,
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"robust_brightness": 0.4,
"robust_contrast": 0.5,
"robust_saturation": 0.6,
"robust_hue": 0.15,
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"robust_affine_max_translate": 0.1,
"robust_affine_scale": [
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1.1
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"robust_vertical_flip_prob": 0.25,
"drop_n_last_frames": 21
},
"output_dir": "outputs/multi_task_dit/libero-spatial/multi_task_dit-bs64-asteps10-50k",
"job_name": "multi_task_dit-bs64-asteps10-50k",
"resume": false,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 12,
"batch_size": 64,
"steps": 50000,
"eval_freq": 50001,
"log_freq": 100,
"tolerance_s": 0.0001,
"save_checkpoint": true,
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"use_policy_training_preset": true,
"optimizer": {
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"grad_clip_norm": 10.0,
"betas": [
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0.999
],
"eps": 1e-08
},
"scheduler": {
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"name": "cosine"
},
"eval": {
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"batch_size": 1,
"use_async_envs": false
},
"wandb": {
"enable": true,
"disable_artifact": false,
"project": "libero-spatial",
"entity": "li-gen",
"notes": null,
"run_id": "multi_task_dit-bs64-asteps10-50k",
"mode": "offline",
"add_tags": true
},
"peft": null,
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": null
}