dataset dict | env null | policy dict | output_dir string | job_name string | resume bool | overwrite bool | device string | use_amp bool | seed int64 | num_workers int64 | batch_size int64 | eval_freq int64 | log_freq int64 | save_checkpoint bool | save_freq int64 | offline dict | online dict | use_policy_training_preset bool | optimizer dict | scheduler dict | eval dict | wandb dict | nccl_timeout int64 | gradient_accumulation_steps int64 | torch_compile bool | save_on_eval bool | dataloader_drop_last bool | eval_mse bool | eval_mse_steps int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
"repo_id": "satvikahuja/mixer_on_off_new_1,aergogo/so100_pick_place,andy309/so100_0314_fold_cloths,jchun/so100_pickplace_small_20250323_120056,astroyat/cube,Ofiroz91/so_100_cube2bowl,HappyPablo/dec3_data2,ZCM5115/so100_1210,francescocrivelli/orange_feeding,francescocrivelli/carrot_eating,0x00raghu/toffee_red,0x00ra... | null | {
"type": "smolvla",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.image2": {
"type": "VISUAL",
... | /lustre/fswork/projects/rech/dyf/ugz83ue/logs/lerobot/lerobot_so100_community_v1_v2_v3clean2_smolpi0_lr1e-4bs64steps400000gpus4freeze32_imgtoktrue_cross_attn_gap1_vlml16_causalacttrue_sa2_smolvlm2500_nobs1_expw0.75_feat2_lrvlm1e-4_trans0true_decaylr2.5e-630000_camfalse_fps3030_idlefalse | smolvla | false | false | cuda | true | 1,000 | 4 | 64 | 5,000 | 200 | true | 20,000 | {
"steps": 400000
} | {
"steps": 0,
"rollout_n_episodes": 1,
"rollout_batch_size": 1,
"steps_between_rollouts": null,
"sampling_ratio": 0.5,
"env_seed": null,
"buffer_capacity": null,
"buffer_seed_size": 0,
"do_rollout_async": false
} | true | {
"type": "adamw",
"lr": 0.0001,
"weight_decay": 1e-10,
"grad_clip_norm": 10,
"betas": [
0.9,
0.95
],
"eps": 1e-8
} | {
"type": "cosine_decay_with_warmup",
"num_warmup_steps": 1000,
"num_decay_steps": 30000,
"peak_lr": 0.0001,
"decay_lr": 0.0000025
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null
} | 9,000 | 1 | true | false | true | true | 1,000 |
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