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Cache-SCA/Gr00t_CaP_Real_OpenTopDrawer_200ep_visual_ia

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face
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train_config.json229 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "CoRL2026-CSI/SO101-cap_open_topdrawer_10fps",4        "root": null,5        "episodes": null,6        "image_transforms": {7            "enable": true,8            "max_num_transforms": 3,9            "random_order": true,10            "tfs": {11                "brightness": {12                    "weight": 1.0,13                    "type": "ColorJitter",14                    "kwargs": {15                        "brightness": [16                            0.8,17                            1.218                        ]19                    }20                },21                "contrast": {22                    "weight": 1.0,23                    "type": "ColorJitter",24                    "kwargs": {25                        "contrast": [26                            0.8,27                            1.228                        ]29                    }30                },31                "saturation": {32                    "weight": 1.0,33                    "type": "ColorJitter",34                    "kwargs": {35                        "saturation": [36                            0.5,37                            1.538                        ]39                    }40                },41                "hue": {42                    "weight": 1.0,43                    "type": "ColorJitter",44                    "kwargs": {45                        "hue": [46                            -0.05,47                            0.0548                        ]49                    }50                },51                "sharpness": {52                    "weight": 1.0,53                    "type": "SharpnessJitter",54                    "kwargs": {55                        "sharpness": [56                            0.5,57                            1.558                        ]59                    }60                },61                "affine": {62                    "weight": 1.0,63                    "type": "RandomAffine",64                    "kwargs": {65                        "degrees": [66                            -5.0,67                            5.068                        ],69                        "translate": [70                            0.05,71                            0.0572                        ]73                    }74                }75            }76        },77        "revision": null,78        "use_imagenet_stats": true,79        "video_backend": "pyav",80        "streaming": false81    },82    "env": null,83    "policy": {84        "type": "groot",85        "n_obs_steps": 1,86        "input_features": {87            "observation.state": {88                "type": "STATE",89                "shape": [90                    691                ]92            },93            "observation.images.top": {94                "type": "VISUAL",95                "shape": [96                    3,97                    480,98                    64099                ]100            },101            "observation.images.left_wrist": {102                "type": "VISUAL",103                "shape": [104                    3,105                    480,106                    640107                ]108            }109        },110        "output_features": {111            "action": {112                "type": "ACTION",113                "shape": [114                    6115                ]116            }117        },118        "device": "cuda",119        "use_amp": false,120        "use_peft": false,121        "push_to_hub": true,122        "repo_id": "CoRL2026-CSI/Gr00t_CaP_Real_OpenTopDrawer_200ep_visual",123        "private": true,124        "tags": null,125        "license": null,126        "pretrained_path": "CoRL2026-CSI/Gr00t_CaP_Real_OpenTopDrawer_100ep_visual",127        "chunk_size": 16,128        "n_action_steps": 16,129        "max_state_dim": 64,130        "max_action_dim": 32,131        "normalization_mapping": {132            "ACTION": "MEAN_STD",133            "STATE": "MEAN_STD",134            "VISUAL": "IDENTITY"135        },136        "image_size": [137            224,138            224139        ],140        "base_model_path": "nvidia/GR00T-N1.5-3B",141        "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",142        "embodiment_tag": "new_embodiment",143        "tune_llm": false,144        "tune_visual": true,145        "tune_projector": true,146        "tune_diffusion_model": true,147        "lora_rank": 0,148        "lora_alpha": 16,149        "lora_dropout": 0.1,150        "lora_full_model": false,151        "optimizer_lr": 0.0001,152        "optimizer_betas": [153            0.95,154            0.999155        ],156        "optimizer_eps": 1e-08,157        "optimizer_weight_decay": 1e-05,158        "warmup_ratio": 0.05,159        "use_bf16": true,160        "video_backend": "pyav",161        "balance_dataset_weights": true,162        "balance_trajectory_weights": true,163        "dataset_paths": null,164        "output_dir": "./tmp/gr00t",165        "save_steps": 1000,166        "max_steps": 10000,167        "batch_size": 32,168        "dataloader_num_workers": 8,169        "report_to": "wandb",170        "resume": false171    },172    "output_dir": "/workspace/train_with_lerobot/outputs/train/Gr00t_CaP_Real_OpenTopDrawer_200ep_visual_20260521_134941",173    "job_name": "Gr00t_CaP_Real_OpenTopDrawer_200ep_visual_20260521_134941",174    "resume": false,175    "seed": 1000,176    "cudnn_deterministic": false,177    "num_workers": 16,178    "persistent_workers": false,179    "batch_size": 32,180    "gradient_accumulation_steps": 4,181    "steps": 11353,182    "eval_freq": 0,183    "log_freq": 10,184    "tolerance_s": 0.0001,185    "save_checkpoint": true,186    "save_freq": 11353,187    "use_policy_training_preset": true,188    "optimizer": {189        "type": "adamw",190        "lr": 0.0001,191        "weight_decay": 1e-05,192        "grad_clip_norm": 10.0,193        "betas": [194            0.95,195            0.999196        ],197        "eps": 1e-08198    },199    "scheduler": {200        "type": "cosine_decay_with_warmup",201        "num_warmup_steps": 500,202        "num_decay_steps": 10000,203        "peak_lr": 0.0001,204        "decay_lr": 1e-05205    },206    "eval": {207        "n_episodes": 50,208        "batch_size": 44,209        "use_async_envs": true210    },211    "wandb": {212        "enable": true,213        "disable_artifact": false,214        "project": "lerobot-groot-200ep-visual",215        "entity": null,216        "notes": null,217        "run_id": "x9yolar9",218        "mode": "online",219        "add_tags": true220    },221    "peft": null,222    "use_rabc": false,223    "rabc_progress_path": null,224    "rabc_kappa": 0.01,225    "rabc_epsilon": 1e-06,226    "rabc_head_mode": "sparse",227    "rename_map": {},228    "checkpoint_path": null229}