| { | |
| "type": "groot", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
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| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.image2": { | |
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| 256, | |
| 256 | |
| ] | |
| }, | |
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| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "aractingi/libero-groot-1", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "max_state_dim": 64, | |
| "max_action_dim": 32, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "image_size": [ | |
| 224, | |
| 224 | |
| ], | |
| "base_model_path": "nvidia/GR00T-N1.5-3B", | |
| "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5", | |
| "embodiment_tag": "new_embodiment", | |
| "tune_llm": false, | |
| "tune_visual": false, | |
| "tune_projector": true, | |
| "tune_diffusion_model": false, | |
| "lora_rank": 0, | |
| "lora_alpha": 16, | |
| "lora_dropout": 0.1, | |
| "lora_full_model": false, | |
| "optimizer_lr": 0.0001, | |
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| 0.95, | |
| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-05, | |
| "warmup_ratio": 0.05, | |
| "use_bf16": true, | |
| "video_backend": "decord", | |
| "balance_dataset_weights": true, | |
| "balance_trajectory_weights": true, | |
| "dataset_paths": null, | |
| "output_dir": "./tmp/gr00t", | |
| "save_steps": 1000, | |
| "max_steps": 10000, | |
| "batch_size": 32, | |
| "dataloader_num_workers": 8, | |
| "report_to": "wandb", | |
| "resume": false | |
| } |