{ "dataset": { "repo_id": "lerobot/robotwin_unified", "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 ] } }, "affine": { "weight": 1.0, "type": "RandomAffine", "kwargs": { "degrees": [ -5.0, 5.0 ], "translate": [ 0.05, 0.05 ] } } } }, "revision": null, "use_imagenet_stats": true, "video_backend": "pyav", "streaming": false }, "env": null, "policy": { "type": "pi05-action-streaming", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 14 ] }, "observation.images.cam_high": { "type": "VISUAL", "shape": [ 480, 640, 3 ] }, "observation.images.cam_left_wrist": { "type": "VISUAL", "shape": [ 480, 640, 3 ] }, "observation.images.cam_right_wrist": { "type": "VISUAL", "shape": [ 480, 640, 3 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 14 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": false, "repo_id": null, "private": null, "tags": null, "license": null, "pretrained_path": null, "attention_backend": "sdpa", "paligemma_variant": "gemma_2b", "action_expert_variant": "gemma_300m", "dtype": "bfloat16", "chunk_size": 20, "n_action_steps": 10, "max_state_dim": 32, "max_action_dim": 32, "state_cond": false, "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, "image_resolution": [ 224, 224 ], "empty_cameras": 0, "num_frames_per_view": 1, "tokenizer_name": "google/paligemma-3b-pt-224", "tokenizer_max_length": 200, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "QUANTILES", "ACTION": "QUANTILES" }, "gradient_checkpointing": true, "freeze_vision_encoder": false, "compile_model": false, "compile_mode": "max-autotune", "fuse_qkv": false, "fuse_gate_up": false, "optimizer_lr": 2.5e-05, "optimizer_betas": [ 0.9, 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, "vlm_config": {}, "action_expert_config": {}, "num_buffer_slots": 4, "shared_obs": true, "timestep_sample_mode": "per-chunk", "time_mlp_weight_decay": 0.0, "cold_start_mode": "current_state" }, "output_dir": null, "job_name": "flashvla-fsdp-bf16-bs32-clean-random-100k-20260628-134055", "resume": true, "seed": 1000, "cudnn_deterministic": false, "num_workers": 2, "batch_size": 32, "steps": 100000, "eval_freq": 20000, "log_freq": 50, "tolerance_s": 0.0001, "save_checkpoint": true, "save_freq": 1000, "use_policy_training_preset": false, "optimizer": { "type": "adamw", "lr": 5e-05, "weight_decay": 1e-10, "grad_clip_norm": 1.0, "betas": [ 0.9, 0.95 ], "eps": 1e-08 }, "scheduler": { "type": "cosine_decay_with_warmup", "num_warmup_steps": 5000, "num_decay_steps": 100000, "peak_lr": 5e-05, "decay_lr": 2.5e-07 }, "eval": { "n_episodes": 50, "batch_size": 50, "use_async_envs": false }, "wandb": { "enable": true, "disable_artifact": true, "project": "flashvla-robotwin-clean-random", "entity": null, "notes": null, "run_id": "flashvla-fsdp-bf16-bs32-clean-random-100k-20260628-134055", "mode": "online", "add_tags": true }, "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, "grad_accum_steps": 1, "max_saved_checkpoints": 5, "fsdp": { "enable": true, "mixed_precision": "bf16", "reduce_dtype": "float32", "reshard_after_forward": false, "cpu_offload": false, "wrap_layers": [ "PI05ModelLayer", "SiglipEncoderLayer", "PaliGemmaMultiModalProjector", "Embedding" ], "ignored_module_classes": [ "SiglipVisionEmbeddings" ], "fp32_module_classes": [ "GemmaRMSNorm", "PI05SuffixEmbedder" ], "ignored_module_name_suffixes": [ "vision_model.post_layernorm", "model.language_model.norm", "action_expert.model.norm", "action_out_proj" ], "state_dict_type": "SHARDED_STATE_DICT", "save_pretrained_max_shard_size": "50GB" }, "blank_history_frames": false, "train_suite": null, "robotwin_multitask": { "enable": false, "roots": [], "root": "", "config_subdir": "aloha-agilex_randomized_500", "config_subdirs": [], "tasks": [], "stats_path": "" }, "stats_path": "", "episode_indices_path": "", "flashvla_init": { "mode": "ae-norm-zero", "include_final_norm": true, "time_mlp_init": "random", "action_expert_norm_init": "zero", "scratch_action_out_proj": true }, "action_expert_ablation": { "enable": false, "mode": "dampen", "rows": "all", "scale": 1.0, "include_final_norm": true, "reset_time_mlp": false, "time_mlp_init": "random", "reset_action_expert_norms": false, "action_expert_norm_init": "zero", "scratch_action_expert": false, "scratch_action_out_proj": false } }