{ "dataset": { "repo_id": "HuggingFaceVLA/libero", "use_all_local_repos": false, "root": null, "episodes": null, "image_transforms": { "enable": false, "max_num_transforms": 3, "random_order": false, "tfs": { "brightness": { "weight": 1.0, "type": "ColorJitter", "kwargs": { "brightness": [ 0.8, 1.2 ] } }, "contrast": { "weight": 1.0, "type": "ColorJitter", "kwargs": { "contrast": [ 0.8, 1.2 ] } }, "saturation": { "weight": 1.0, "type": "ColorJitter", "kwargs": { "saturation": [ 0.5, 1.5 ] } }, "hue": { "weight": 1.0, "type": "ColorJitter", "kwargs": { "hue": [ -0.05, 0.05 ] } }, "sharpness": { "weight": 1.0, "type": "SharpnessJitter", "kwargs": { "sharpness": [ 0.5, 1.5 ] } }, "shift": { "weight": 0.0, "type": "RandomShift", "kwargs": { "max_shift": 8, "padding_mode": "edge" } } } }, "text_transform": { "enable": false, "rewrite_map_path": null, "case_insensitive": true, "random_choice": true, "rewrite_map": null }, "revision": null, "use_imagenet_stats": true, "video_backend": "torchcodec", "only_robot_type": "so100", "exclude_tasks": null, "report_task_stats": true, "streaming": false }, "env": null, "policy": { "type": "smolvlafast", "n_obs_steps": 1, "input_features": { "observation.images.image": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.images.image2": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.state": { "type": "STATE", "shape": [ 8 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 7 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": true, "repo_id": "smolvla_fast_lr_1e-3", "private": null, "tags": null, "license": null, "pretrained_path": null, "use_proprio": true, "chunk_size": 50, "n_action_steps": 50, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "max_state_dim": 32, "max_action_dim": 32, "resize_imgs_with_padding": [ 512, 512 ], "empty_cameras": 0, "adapt_to_pi_aloha": false, "use_delta_joint_actions_aloha": false, "tokenizer_max_length": 48, "num_steps": 10, "use_cache": true, "freeze_vision_encoder": true, "train_expert_only": true, "train_state_proj": true, "optimizer_lr": 0.001, "optimizer_betas": [ 0.9, 0.95 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 1e-10, "optimizer_grad_clip_norm": 10, "scheduler_warmup_steps": 1000, "scheduler_decay_steps": 100000, "scheduler_decay_lr": 2.5e-06, "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", "load_vlm_weights": true, "vlm_model_dtype": "bfloat16", "add_image_special_tokens": false, "attention_mode": "cross_attn", "prefix_length": -1, "pad_language_to": "longest", "num_vlm_layers": -1, "min_period": 0.004, "max_period": 4.0, "fast_skip_tokens": 128, "padding_side": "right", "max_input_seq_len": 180, "max_decoding_steps": 64, "relaxed_action_decoding": true }, "output_dir": "outputs/smolvla_fast/lr_1e-3/2025-10-20/11-26-55", "exp_name": "lr_1e-3/2025-10-20/11-26-55", "group_name": "smolvla_fast", "resume": false, "seed": 1000, "num_workers": 16, "batch_size": 32, "update_steps": 100000, "eval_freq": 20000, "log_freq": 100, "save_checkpoint": true, "save_freq": 10000, "use_policy_training_preset": true, "optimizer": { "type": "adamw", "lr": 0.001, "weight_decay": 1e-10, "grad_clip_norm": 10, "betas": [ 0.9, 0.95 ], "eps": 1e-08 }, "scheduler": { "type": "cosine_decay_with_warmup", "num_warmup_steps": 1000, "num_decay_steps": 100000, "peak_lr": 0.001, "decay_lr": 2.5e-06 }, "eval": { "n_episodes": 50, "batch_size": 50, "use_async_envs": false }, "log_with": "wandb", "wandb": { "enable": false, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null, "run_id": "koq7etyv", "mode": null }, "gradient_accumulation_steps": 1, "use_peft": false, "autocast_adapter_dtype": true, "peft": { "target_modules": null, "modules_to_save": null, "method_type": "LORA", "init_type": null, "r": 64, "lora_alpha": 128, "fullfinetune_vlm_patch_embeddings": false, "fullfinetune_vlm_vision_model": false } }