| { |
| "dataset": { |
| "type": "lerobot", |
| "repo_id": "lerobot_dataset", |
| "root": "/scratch/shared/dataset_astra_lbm_20251121175545/astrabot/dataset_2025-11-04_11-14-49/", |
| "episodes": null, |
| "quality_filter": [ |
| "smooth", |
| "corrected" |
| ], |
| "quality_sample_ratio": null, |
| "skill_id_filter": null, |
| "image_transforms": { |
| "enable": true, |
| "image_shape": [ |
| 480, |
| 640 |
| ], |
| "max_num_transforms": 3, |
| "random_order": false, |
| "tfs": { |
| "brightness": { |
| "weight": 1.0, |
| "always_apply": false, |
| "type": "ColorJitter", |
| "kwargs": { |
| "brightness": [ |
| 0.7, |
| 1.3 |
| ] |
| } |
| }, |
| "contrast": { |
| "weight": 1.0, |
| "always_apply": false, |
| "type": "ColorJitter", |
| "kwargs": { |
| "contrast": [ |
| 0.6, |
| 1.4 |
| ] |
| } |
| }, |
| "saturation": { |
| "weight": 1.0, |
| "always_apply": false, |
| "type": "ColorJitter", |
| "kwargs": { |
| "saturation": [ |
| 0.5, |
| 1.5 |
| ] |
| } |
| } |
| } |
| }, |
| "video_backend": "decord", |
| "cache_frame_size": null, |
| "cache_video_workers": 16, |
| "normalize_images": true, |
| "load_additional_info": false, |
| "load_prompt": true, |
| "use_prompt_augmentation": null, |
| "task_skill_prompt_ratio": null, |
| "feature_key_remapping": null, |
| "image_stats_preset": null, |
| "local_files_only": true, |
| "download_videos": false, |
| "use_imagenet_stats": false |
| }, |
| "robot_setup": { |
| "type": "astrabot", |
| "task_id": "", |
| "robot": { |
| "type": "astrabot", |
| "_obs_features": { |
| "observation_images_left_wrist": { |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "dtype": "visual", |
| "fps": 30, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_images_right_wrist": { |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "dtype": "visual", |
| "fps": 30, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_images_head": { |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "dtype": "visual", |
| "fps": 30, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_images_chest": { |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "dtype": "visual", |
| "fps": 30, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_joint_angle_left": { |
| "shape": [ |
| 7 |
| ], |
| "dtype": "state", |
| "fps": 50, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_joint_angle_right": { |
| "shape": [ |
| 7 |
| ], |
| "dtype": "state", |
| "fps": 50, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_ee_pose_left": { |
| "shape": [ |
| 6 |
| ], |
| "dtype": "state", |
| "fps": 50, |
| "rep": "euler", |
| "rep_kwargs": { |
| "seq": "ZYX", |
| "degrees": false, |
| "euler_in_rpy": true |
| }, |
| "compose": null |
| }, |
| "observation_states_ee_pose_right": { |
| "shape": [ |
| 6 |
| ], |
| "dtype": "state", |
| "fps": 50, |
| "rep": "euler", |
| "rep_kwargs": { |
| "seq": "ZYX", |
| "degrees": false, |
| "euler_in_rpy": true |
| }, |
| "compose": null |
| }, |
| "observation_states_gripper_left": { |
| "shape": [ |
| 1 |
| ], |
| "dtype": "state", |
| "fps": 50, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_gripper_right": { |
| "shape": [ |
| 1 |
| ], |
| "dtype": "state", |
| "fps": 50, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| } |
| }, |
| "name": "astrabot", |
| "control_class": null, |
| "_actions": { |
| "action_left": { |
| "shape": [ |
| 7 |
| ], |
| "dtype": "action_pose_gripper", |
| "fps": 200, |
| "rep": "euler", |
| "rep_kwargs": { |
| "seq": "ZYX", |
| "degrees": false, |
| "euler_in_rpy": true |
| }, |
| "compose": null |
| }, |
| "action_right": { |
| "shape": [ |
| 7 |
| ], |
| "dtype": "action_pose_gripper", |
| "fps": 200, |
| "rep": "euler", |
| "rep_kwargs": { |
| "seq": "ZYX", |
| "degrees": false, |
| "euler_in_rpy": true |
| }, |
| "compose": null |
| } |
| }, |
| "action_relative_to_pose": { |
| "action_left": "observation_states_ee_pose_left", |
| "action_right": "observation_states_ee_pose_right" |
| } |
| }, |
| "data_transform": { |
| "type": "astrabot", |
| "sensor_preprocessor": { |
| "type": "dict_shared", |
| "transform_fn": [ |
| [ |
| [ |
| "observation_states_ee_pose_left", |
| "observation_states_ee_pose_right" |
| ], |
| [ |
| { |
| "type": "pose_conversion", |
| "from_repr": "euler", |
| "to_repr": "rotation_6d", |
| "from_kwargs": { |
| "seq": "ZYX", |
| "degrees": false, |
| "euler_in_rpy": true |
| }, |
| "to_kwargs": {}, |
| "kwargs": {} |
| } |
| ] |
| ], |
| [ |
| [ |
| "action_left", |
| "action_right" |
| ], |
| [ |
| { |
| "type": "action_conversion", |
| "from_repr": "euler", |
| "to_repr": "rotation_6d", |
| "from_kwargs": { |
| "seq": "ZYX", |
| "degrees": false, |
| "euler_in_rpy": true |
| }, |
| "to_kwargs": {}, |
| "kwargs": {} |
| } |
| ] |
| ] |
| ], |
| "tolerant_missing_keys": true |
| }, |
| "dataset_postprocessor": { |
| "type": "dict_shared", |
| "transform_fn": [ |
| [ |
| [ |
| "observation_images_left_wrist", |
| "observation_images_right_wrist", |
| "observation_images_head", |
| "observation_images_chest" |
| ], |
| [ |
| { |
| "type": "image_random_crop", |
| "crop_ratio": 0.9, |
| "output_shape": [ |
| 224, |
| 224 |
| ], |
| "crop_square": true, |
| "random_crop": true |
| } |
| ] |
| ] |
| ], |
| "tolerant_missing_keys": true |
| }, |
| "model_preprocessor": { |
| "type": "repack_dict", |
| "pattern": { |
| "observation_states": [ |
| "observation_states_ee_pose_left", |
| "observation_states_joint_angle_left", |
| "observation_states_gripper_left", |
| "observation_states_ee_pose_right", |
| "observation_states_joint_angle_right", |
| "observation_states_gripper_right", |
| -1 |
| ], |
| "action": [ |
| "action_left", |
| "action_right", |
| -1 |
| ] |
| }, |
| "exclude": [], |
| "transform_fn": {}, |
| "tolerant_missing_keys": true |
| }, |
| "output_processor": { |
| "type": "eef_action_output", |
| "from_repr": "rotation_6d", |
| "from_kwargs": {}, |
| "to_repr": "euler", |
| "to_kwargs": { |
| "seq": "ZYX", |
| "degrees": false, |
| "euler_in_rpy": true |
| }, |
| "split_pattern": { |
| "action": { |
| "action_left": [ |
| 0, |
| 10 |
| ], |
| "action_right": [ |
| 10, |
| 20 |
| ] |
| } |
| } |
| } |
| }, |
| "ignore_feature_keys": null, |
| "name": "", |
| "description": "", |
| "ext_sensor": null |
| }, |
| "env": null, |
| "policy": { |
| "type": "lbm_policy", |
| "chunk_size": 16, |
| "n_action_steps": 8, |
| "n_obs_steps": 2, |
| "freq": 10.0, |
| "use_relative_action": true, |
| "use_relative_pose": false, |
| "normalization_mapping": { |
| "visual": "min_max", |
| "state": "min_max", |
| "action_pose_gripper": "min_max" |
| }, |
| "input_features": { |
| "observation_images_left_wrist": { |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "dtype": "visual", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_images_right_wrist": { |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "dtype": "visual", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_images_head": { |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "dtype": "visual", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_images_chest": { |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "dtype": "visual", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states": { |
| "shape": [ |
| 34 |
| ], |
| "dtype": "state", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": { |
| "observation_states_ee_pose_left": { |
| "shape": [ |
| 9 |
| ], |
| "dtype": "state", |
| "fps": null, |
| "rep": "rotation_6d", |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_joint_angle_left": { |
| "shape": [ |
| 7 |
| ], |
| "dtype": "state", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_gripper_left": { |
| "shape": [ |
| 1 |
| ], |
| "dtype": "state", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_ee_pose_right": { |
| "shape": [ |
| 9 |
| ], |
| "dtype": "state", |
| "fps": null, |
| "rep": "rotation_6d", |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_joint_angle_right": { |
| "shape": [ |
| 7 |
| ], |
| "dtype": "state", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "observation_states_gripper_right": { |
| "shape": [ |
| 1 |
| ], |
| "dtype": "state", |
| "fps": null, |
| "rep": null, |
| "rep_kwargs": null, |
| "compose": null |
| } |
| } |
| } |
| }, |
| "output_features": { |
| "action": { |
| "shape": [ |
| 20 |
| ], |
| "dtype": "action_pose_gripper", |
| "fps": null, |
| "rep": "rotation_6d", |
| "rep_kwargs": null, |
| "compose": { |
| "action_left": { |
| "shape": [ |
| 10 |
| ], |
| "dtype": "action_pose_gripper", |
| "fps": null, |
| "rep": "rotation_6d", |
| "rep_kwargs": null, |
| "compose": null |
| }, |
| "action_right": { |
| "shape": [ |
| 10 |
| ], |
| "dtype": "action_pose_gripper", |
| "fps": null, |
| "rep": "rotation_6d", |
| "rep_kwargs": null, |
| "compose": null |
| } |
| } |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "mixed_precision": null, |
| "data_transform_override": null, |
| "max_action_dim": 20, |
| "share_obs_encoder": true, |
| "obs_encoder_group": null, |
| "noise_scheduler": { |
| "type": "fm_beta", |
| "num_train_timesteps": 10, |
| "alpha": 1.5, |
| "beta": 1.0, |
| "s": 0.999, |
| "clip_sample": false, |
| "clip_sample_range": 1.0, |
| "flow_sig_min": 0.0, |
| "num_inference_steps": 10, |
| "prediction_type": "velocity", |
| "path_reversed": false |
| }, |
| "vision_encoder": { |
| "type": "clip_hf_vision_encoder", |
| "model_name": "openai/clip-vit-base-patch16", |
| "tune_vision_encoder": true, |
| "extract_cls_token": true, |
| "output_projection_dim": null |
| }, |
| "text_encoder": { |
| "type": "clip_hf_text_encoder", |
| "model_name": "openai/clip-vit-base-patch32", |
| "tune_text_encoder": false, |
| "tune_projection_layer": true, |
| "output_projection_dim": 768, |
| "extract_eos_token": true |
| }, |
| "action_head": { |
| "type": "lbm_action_head", |
| "noise_scheduler": { |
| "type": "flow_matching_beta", |
| "num_inference_steps": 10, |
| "alpha": 1.5, |
| "beta": 1.0, |
| "s": 0.999, |
| "input_perturb": 0.0, |
| "sampling_path": "euler", |
| "clip_sample": false, |
| "clip_sample_range": null, |
| "path_reversed": false |
| }, |
| "num_layers": 16, |
| "hidden_size": 768, |
| "num_attention_heads": 16, |
| "dropout": 0.1, |
| "final_dropout": true, |
| "max_timestep_buckets": 1000, |
| "conditioning_dim": 6980, |
| "max_state_dim": 34, |
| "max_action_dim": 20, |
| "max_chunk_size": 16 |
| }, |
| "proprioception_dim": 34, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-06, |
| "optimizer_vision_lr": 0.0001, |
| "optimizer_vision_weight_decay": 1e-06, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 500 |
| }, |
| "torch_compile": false, |
| "output_dir": "outputs/train/2025-11-21/22-57-55_astra_lbm", |
| "job_name": "astra_lbm", |
| "resume": false, |
| "reset_normalizer": false, |
| "seed": 42, |
| "dataloader": { |
| "batch_size": 50, |
| "global_batch_size": null, |
| "num_workers": 60, |
| "shuffle": true, |
| "pin_memory": true, |
| "persistent_workers": true, |
| "collate_fn": "prompts_as_list" |
| }, |
| "long_horizon_training": false, |
| "fsdp": { |
| "enable": false, |
| "fsdp_version": 1, |
| "sharding_strategy": "FULL_SHARD", |
| "backward_prefetch": "BACKWARD_POST", |
| "cpu_offload": false, |
| "use_orig_params": true, |
| "sync_module_states": true, |
| "limit_all_gathers": true, |
| "auto_wrap_policy": "size_based_wrap", |
| "min_params": null, |
| "activation_checkpointing": false, |
| "mixed_precision_policy": "fp32" |
| }, |
| "ema": { |
| "use_ema": true, |
| "decay": 0.99, |
| "device": null, |
| "update_every": 1, |
| "start_after": 0, |
| "dtype": null |
| }, |
| "gradient_accumulate_every": 1, |
| "debug": false, |
| "steps": 100000, |
| "log_freq": 20, |
| "eval_freq": 2000, |
| "resample_freq": 10000, |
| "save_checkpoint": true, |
| "max_saved_checkpoints": 3, |
| "save_freq": 10000, |
| "use_policy_training_preset": true, |
| "optimizer": { |
| "type": "adamw", |
| "lr": 0.0001, |
| "weight_decay": 1e-06, |
| "grad_clip_norm": 1.0, |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08 |
| }, |
| "scheduler": { |
| "type": "diffuser", |
| "num_warmup_steps": 500, |
| "name": "cosine" |
| }, |
| "evaluation": { |
| "n_episodes": 50, |
| "batch_size": 50, |
| "use_async_envs": false |
| }, |
| "wandb": { |
| "enable": true, |
| "disable_artifact": true, |
| "project": "astra_lbm", |
| "entity": null, |
| "notes": null, |
| "run_id": "ufqsise8" |
| }, |
| "mlflow": { |
| "enable": true, |
| "tracking_uri": "http://mlflow.tail44e147.ts.net", |
| "experiment_name": "astra_lbm", |
| "model_name": "lbm_policy", |
| "pretrained_path": null, |
| "background_logging": true, |
| "upload_training_state": false |
| } |
| } |