pi05_quant_1000 / train_config.json
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{
"dataset": {
"repo_id": "usr256864/lr_ds",
"root": "/netscratch/mboukheddimi/RH5_dataset_threads/",
"episodes": null,
"image_transforms": {
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"tfs": {
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1.2
]
}
},
"contrast": {
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}
},
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},
"hue": {
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0.05
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},
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1.5
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},
"affine": {
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5.0
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"translate": [
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}
}
}
},
"revision": null,
"use_imagenet_stats": true,
"video_backend": "torchcodec",
"streaming": false
},
"env": {
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"task": "walk",
"fps": 30,
"features": {
"action": {
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"shape": [
32
]
},
"agent_pos": {
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32
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},
"pixels/top": {
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"shape": [
480,
640,
3
]
}
},
"features_map": {
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"agent_pos": "observation.state",
"top": "observation.image",
"pixels/top": "observation.image"
},
"max_parallel_tasks": 1,
"disable_env_checker": true,
"config": {
"eval_ds": "/netscratch/mboukheddimi/RH5_dataset_threads/",
"episode_idx": 806,
"absolute": false
},
"episode_length": 800,
"obs_type": "pixels_agent_pos",
"render_mode": "rgb_array"
},
"policy": {
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"n_obs_steps": 1,
"input_features": {
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"shape": [
3,
256,
256
]
},
"observation.state": {
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"shape": [
32
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}
},
"output_features": {
"action": {
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"shape": [
32
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}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": false,
"repo_id": "usr256864/pi0",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
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"num_inference_steps": 10,
"time_sampling_beta_alpha": 1.5,
"time_sampling_beta_beta": 1.0,
"time_sampling_scale": 0.999,
"time_sampling_offset": 0.001,
"min_period": 0.004,
"max_period": 4.0,
"rtc_config": null,
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"tokenizer_max_length": 200,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"gradient_checkpointing": true,
"compile_model": false,
"compile_mode": "max-autotune",
"freeze_vision_encoder": false,
"train_expert_only": false,
"optimizer_lr": 2.5e-05,
"optimizer_betas": [
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0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1000,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 2.5e-06
},
"output_dir": "outputs/train/2026-01-28/17-05-05_pi05_training_delta_quantille",
"job_name": "pi05_training_delta_quantille",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 32,
"steps": 100000,
"eval_freq": 5000,
"log_freq": 400,
"tolerance_s": 0.0001,
"save_checkpoint": true,
"save_freq": 10000,
"use_policy_training_preset": true,
"optimizer": {
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"lr": 2.5e-05,
"weight_decay": 0.01,
"grad_clip_norm": 1.0,
"betas": [
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0.95
],
"eps": 1e-08
},
"scheduler": {
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"num_decay_steps": 30000,
"peak_lr": 2.5e-05,
"decay_lr": 2.5e-06
},
"eval": {
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"batch_size": 1,
"use_async_envs": false
},
"wandb": {
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"disable_artifact": true,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
},
"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,
"eval_ds": "/netscratch/mboukheddimi/RH5_dataset_threads/",
"episode_idx": 806,
"absolute": false
}