{ "dataset": { "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,0x00raghu/toffee_red_2,0x00raghu/toffee_red_3__,0x00raghu/toffee_blue,0x00raghu/toffee_blue_2,0x00raghu/toffee_to_hand_1,0x00raghu/toffee_to_hand_2,liyitenga/so100_bi_hello,liyitenga/so100_bi_giveme5,ZCM5115/so100_2Arm3cameras_movebox,pranavsaroha/so100_carrot_1,pranavsaroha/so100_carrot_3,pranavsaroha/so100_carrot_4,maximilienroberti/so100_lego_red_box,pranavsaroha/so100_squishy,rabhishek100/so100_train_dataset,pranavsaroha/so100_squishy100,swarajgosavi/kikobot_pusht_real_v2,pandaRQ/pickmed,swarajgosavi/act_kikobot_pusht_real,pranavsaroha/so100_squishy2colors,pranavsaroha/so100_squishy2colors_1,Chojins/chess_game_001_white,jmrog/so100_sweet_pick,Chojins/chess_game_002_white,pranavsaroha/so100_squishy2colors_2_new,Chojins/chess_game_003_white,aractingi/pick_place_lego_cube,Chojins/chess_game_004_white,Chojins/chess_game_005_white,Chojins/chess_game_006_white,Chojins/chess_game_007_white,koenvanwijk/blue2,jlitch/so100multicam3,koenvanwijk/blue52,jlitch/so100multicam6,aractingi/pick_place_lego_cube_1,jlitch/so100multicam7,vladfatu/so100_ds,Chojins/chess_game_000_white,HITHY/so100-kiwi,HITHY/so100_peach1,HITHY/so100_redstrawberry,satvikahuja/orange_mixer_1,satvikahuja/mixer_on_off,satvikahuja/orange_pick_place_new1,satvikahuja/mixer_on_off_new,danmac1/real_real332,FeiYjf/Makalu_push,liyitenga/so100_pick_taffy1,chmadran/so100_dataset04,FeiYjf/Maklu_dataset,FeiYjf/new_Dataset,liyitenga/so100_pick_taffy2,satvikahuja/mixer_on_off_new_4,CSCSXX/pick_place_cube_1.17,liyitenga/so100_pick_taffy3,liyitenga/so100_pick_taffy4,yuz1wan/so100_pick_pink,yuz1wan/so100_pick_wahaha,yuz1wan/so100_pp_pink,yuz1wan/so100_pour_cup,liyitenga/so100_pick_taffy5,liyitenga/so100_pick_taffy6,yuz1wan/so100_button,yuz1wan/so100_pickplace,liyitenga/so100_pick_taffy7,FeiYjf/push_gg,FeiYjf/push_0094,swarajgosavi/act_kikobot_block_real,liyitenga/so100_pick_taffy8,phospho-ai/OrangeBrick3Cameras,vaishanthr/toy_pick_place,SeanLMH/so100_picknplace_v2,pepijn223/yellow_lego_in_box1,DimiSch/so100_50ep_2,DimiSch/so100_50ep_3,SeanLMH/so100_picknplace,nbaron99/so100_pick_and_place2,chmadran/so100_dataset08,vaishanthr/toy_pickplace_50ep,Beegbrain/pick_place_green_block_lr,Ityl/so100_recording1,vaishanthr/toy_pickplace,ad330/so100_box_pickPlace,Beegbrain/so100_put_cube_cup,aractingi/push_green_cube_hf,aractingi/push_green_cube_hf_cropped_resized,carpit680/giraffe_task,carpit680/giraffe_sock_demo_1,DimiSch/so100_terra_50_2,carpit680/giraffe_sock_demo_2,aractingi/push_cube_to_face_reward,aractingi/push_cube_to_face_reward_cropped_resized,aractingi/push_cube_reward_data,aractingi/push_cube_reward_data_cropped_resized,aractingi/push_cube_offline_data_cropped_resized,aractingi/push_cube_front_side_reward,aractingi/push_cube_front_side_reward_cropped_resized,aractingi/push_cube_front_side_reward_long,aractingi/push_cube_front_side_reward_long_cropped_resized,aractingi/push_cube_reward,aractingi/push_cube_reward_cropped_resized,aractingi/push_cube_square_reward_cropped_resized,aractingi/push_cube_square_reward_1,aractingi/push_cube_square_reward_1_cropped_resized,aractingi/push_cube_square_light_reward,aractingi/push_cube_square_light_offline_demo,aractingi/push_cube_square_light_offline_demo_cropped_resized,denghj/dataset_red_tape01,aractingi/push_cube_square_offline_demo,aractingi/push_cube_square_offline_demo_cropped_resized,Beegbrain/stack_two_cubes,FeiYjf/Test_NNNN,LegrandFrederic/Orange-brick-lower-resolution,aractingi/pick_place_lego_cube_cropped_resized,aractingi/push_cube_overfit,aractingi/push_cube_overfit_cropped_resized,HITHY/so100_peach,zaringleb/so100_cube_2,andreasBihlmaier/dual_arm_transfer_2025_02_16,zaringleb/so100_cube_4_binary,1g0rrr/reward_pickplace1,1g0rrr/reward_pickplace1_cropped_resized,FeiYjf/Hold_Pieces,FeiYjf/Grab_Pieces,hegdearyandev/so100_eraser_cup_v1,jbraumann/so100_1902,liyitenga/so100_pick_taffy10,mikechambers/block_cup_5,zaringleb/so100_cube_5_linear,yuz1wan/so100_pickplace_0223_2,yuz1wan/so100_pickplace_0223_3,samsam0510/mj_data_temp,samsam0510/tape_insert_1,samsam0510/tape_insert_2,pengjunkun/so100_push_to_hole,Deason11/Random_Kitchen,1g0rrr/reward_dataset_name2,1g0rrr/reward_dataset_name2_cropped_resized,1g0rrr/offline_dataset_name2,1g0rrr/offline_dataset_name2_cropped_resized,aractingi/push_cube_simp_cropped_resized,danielkr452/so100_work6,Loki0929/so100_100,yuz1wan/so100_fold_0227_1,yuz1wan/so100_fold_0227_2,speedyyoshi/so100_grasp_pink_block,lirislab/stack_two_red_cubes,lirislab/red_cube_into_mug,lirislab/green_lego_block_into_mug,lirislab/green_lego_block_into_mug_easy,kevin510/lerobot-cat-toy-placement,NONHUMAN-RESEARCH/SOARM100_TASK_VENDA_BOX,wangjl1512/pour_water,airthebear/so100_GL,zijian2022/noticehuman1,zijian2022/noticehuman2,kantine/so100_kapla_tower6,zijian2022/noticehuman5,zijian2022/llm40,Ashton3/lerobot-aloha,zijian2022/noticehuman50,AaronNewman/screwdriver_task_batch1,AaronNewman/screwdriver_task_batch2,AaronNewman/screwdriver_task_batch3,zijian2022/noticehuman60,zijian2022/noticehuman70,Bartm3/tape_to_bin,liuhuanjim013/so100_th_1,Pi-robot/barbecue_flip,Pi-robot/barbecue_put,wangjl1512/doll,sshh11/so100_orange_50ep_1,sshh11/so100_orange_50ep_2,DorayakiLin/so100_pick_cube_in_box,Bartm3/tape_to_bin2,luke250305/play_dice_250311.1,andy309/so100_0311_1152,sihyun77/suho_so100,sihyun77/si_so100,shreyasgite/so100_base_left,sihyun77/suho_red,liuhuanjim013/so100_block,andy309/so100_0313_no_wrist_camera,zijian2022/l9,zijian2022/n1_2,DorayakiLin/so100_stack_cube,andy309/so100_0313_no_wrist_camera_with_two_arms_cloths,joaoocruz00/so100_makeitD1,zijian2022/l10_1,zijian2022/l10_5,sihyun77/suho_red2,sihyun77/suho_angel,sihyun77/sihyun_king,acrampette/third_arm_01,Winster/so100_cube,1g0rrr/sam_openpi03,thedevansh/mar16_1336,hkphoooey/throw_stuffie,doujiangwang/task1_10epi_100000step,sihyun77/sihyun_3_17_1,acrampette/third_arm_02,imsyed00/so100_yellowbowl_pickplace_1,kumarhans/so100_tape_task,sihyun77/sihyun_main,doujiangwang/task2_10epi_100000step,kantine/industrial_robothon_buttons_expert,kantine/industrial_robothon_buttons_anomaly,kantine/industrial_robothon_hatchAndProbe_expert,kantine/industrial_robothon_hatchAndProbe_anomaly,Odog16/so100_tea_towel_folding_v1,zijian2022/so100_318,zijian2022/so100_318_1,Congying1112/so100_place_blue_bottle_with_two_cameras,Congying1112/so100_place_blue_bottle_with_two_cameras2,Congying1112/so100_place_blue_bottle_with_single_camera,pietroom/first_task_short,kantine/industrial_screws_sorting_expert,kantine/industrial_screws_sorting_anomaly,pietroom/second_task,zijian2022/c0,doujiangwang/task4_10epi_100000step,Congying1112/so100_switch_with_onhand_camera,HYAIYN/so100_get_orange_10epi,doujiangwang/task5_10epi_100000step,1g0rrr/sam_openpi_cube_low10,1g0rrr/sam_openpi_cube_top10,1g0rrr/sam_openpi_wire10,1g0rrr/sam_openpi_solder1,1g0rrr/sam_openpi_solder2,wcode/so100_put_pen_50,jchun/so100_pickplace_small_20250322_193929,bnarin/so100_tic_tac_toe_we_do_it_live,dc2ac/so100-t5,chmadran/so100_home_dataset,baladhurgesh97/so100_final_picking_3,bnarin/so100_tic_tac_toe_move_0_0,bnarin/so100_tic_tac_toe_move_1_0,bnarin/so100_tic_tac_toe_move_2_1,bnarin/so100_tic_tac_toe_move_4_0,zaringleb/so100_cube_6_2d,andlyu/so100_indoor_0,andlyu/so100_indoor_2,Winster/so100_sim,badwolf256/so100_twin_cam_duck,Congying1112/so100_simplepick_with_2_cameras_from_top,andlyu/so100_indoor_4,Zak-Y/so100_grap_dataset,kantine/domotic_pouringCoffee_expert,kantine/domotic_pouringCoffee_anomaly,lucasngoo/so100_strawberry_grape,kantine/domotic_makingCoffee_expert,kantine/domotic_makingCoffee_anomaly,ZGGZZG/so100_drop1,kantine/industrial_soldering_expert,kantine/industrial_soldering_anomaly,Yotofu/so100_sweeper_shoes,kantine/domotic_dishTidyUp_expert,kantine/domotic_dishTidyUp_anomaly,kantine/domotic_groceriesSorting_expert,kantine/domotic_groceriesSorting_anomaly,badwolf256/so100_twin_cam_duck_v2,kantine/domotic_vegetagblesAndFruitsSorting_expert,kantine/domotic_vegetagblesAndFruitsSorting_anomaly,kantine/domotic_setTheTable_expert,kantine/domotic_setTheTable_anomaly,therarelab/so100_pick_place,abhisb/so100_51_ep,andlyu/so100_indoor_val_0,allenchienxxx/so100Test,lizi178119985/so100_jia,badwolf256/so100_twin_cam_duck_v3,andrewcole712/so100_tape_bin_place,Gano007/so100_lolo,Zak-Y/so100_three_cameras_dataset,Gano007/so100_doliprane,XXRRSSRR/so100_v3_num_episodes_50,zijian2022/assemblyarm2,ganker5/so100_action_20250403,andlyu/so100_indoor_val2,Gano007/so100_gano,paszea/so100_whale_grab,paszea/so100_whale,Clementppr/lerobot_pick_and_place_dataset_world_model,andlyu/so100_indoor_10,RasmusP/so100_dataset50ep_a,RasmusP/so100_dataset50ep,Gano007/so100_second,zaringleb/so100_cude_linear_and_2d_comb,dsfsg/grasp_pens,zijian2022/digitalfix,zijian2022/digitalfix2,zijian2022/digitalfix3,T1g3rGE/so100_pickplace_small_20250407_171912,sihyun77/mond_13,abokinala/sputnik_100_11_pick_place_container,dsfsg/bring_bottle,abokinala/sputnik_100_12_pick_place_container,Mwuqiu/so100_0408,AK51/4090_01,356c/so100_rope_reposition_1,paszea/so100_lego_mix,abokinala/sputnik_100_14_pick_place_container,abokinala/sputnik_100_23_pick_place_surface,jiajun001/eraser00_2,jlesein/TestBoulon2,duthvik/sputnik_100_31_pour_liquid,duthvik/sputnik_100_24_pick_place_surface,duthvik/sputnik_100_25_pick_place_surface,duthvik/sputnik_100_17_pick_place_container,duthvik/sputnik_100_26_pick_place_surface,VoicAndrei/so100_banana_to_plate_rebel_full,isadev/bougies1,danaaubakirova/so100_task_1,danaaubakirova/so100_task_2,danaaubakirova/so100_task_3,danaaubakirova/so100_task_4,sixpigs1/so100_pick_cube_in_box_error,sixpigs1/so100_push_cube_error,sixpigs1/so100_pull_cube_error,isadev/bougies2,therarelab/med_dis_rare_6,duthvik/sputnik_100_27_pick_place_surface,zijian2022/closer3,duthvik/sputnik_100_41_custom_tasks,duthvik/sputnik_100_42_custom_tasks,duthvik/sputnik_100_43_custom_tasks,duthvik/sputnik_100_44_custom_tasks,duthvik/sputnik_100_51_kitchen_tasks,duthvik/sputnik_100_52_kitchen_tasks,duthvik/sputnik_100_53_kitchen_tasks,duthvik/sputnik_100_45_custom_tasks,duthvik/sputnik_100_32_pour_liquid,duthvik/sputnik_100_29_pick_place_surface,duthvik/sputnik_100_18_pick_place_container,sixpigs1/so100_pull_cube_by_tool_error,sixpigs1/so100_insert_cylinder_error,abokinala/sputnik_100_54_kitchen_tasks,abokinala/sputnik_100_55_kitchen_tasks,m1b/so100_bluelego,abokinala/sputnik_100_46_custom_tasks,m1b/so100_bluelego_updt,kantine/flip_A0,kantine/flip_A1,kantine/flip_A2,kantine/flip_A3,lirislab/guess_who_no_cond,kantine/flip_A4,kantine/flip_A5,lirislab/guess_who_lighting,nguyen-v/so100_press_red_button,nguyen-v/so100_bimanual_grab_lemon_put_in_box2,pierfabre/cow,nguyen-v/press_red_button_new,nguyen-v/so100_rotate_red_button,Cidoyi/so100_all_notes,roboticshack/team10-red-block,Cidoyi/so100_all_notes_1,roboticshack/team_5-QuiEstCe_everyBox,roboticshack/team11_pianobot,roboticshack/team2-guess_who_so100,roboticshack/team2-guess_who_so100_light,roboticshack/team2-guess_who_so100_edge_case,roboticshack/team2-guess_who_less_ligth,Cidoyi/so100_all_notes_3,dsfsg/grasp_pen_and_bottle,abokinala/sputnik_100_60_kitchen_tasks,abokinala/sputnik_100_58_kitchen_tasks,danaaubakirova/so100_v2_task_1,danaaubakirova/so100_v2_task_2,danaaubakirova/so100_v2_task_3,danaaubakirova/so100_v2_task_4,zijian2022/force1,zijian2022/force2,zijian2022/force3,jiajun001/eraser00_3,zijian2022/bi2,zijian2022/bi1,zijian2022/hand1,Setchii/so100_grab_ball,MossProphet/so100_square-1-2-3.2,pierfabre/rabbit,bensprenger/right_arm_p_brick_in_box_with_y_noise_v0,pierfabre/horse,pierfabre/pig2,pierfabre/pig3,pierfabre/cow2,pierfabre/sheep,Chojins/chess_game_009_white,sihyun77/suho_3_17_1,sihyun77/sihyun_3_17_2,sihyun77/suho_3_17_3,sihyun77/sihyun_3_17_5,Odog16/so100_cube_drop_pick_v1,sihyun77/sihyun_main_2,sihyun77/suho_main_2,Bartm3/dice2,sihyun77/sihyun_main_3,Loki0929/so100_duck,pietroom/holdthis,pietroom/actualeasytask,Beegbrain/pick_lemon_and_drop_in_bowl,Beegbrain/sweep_tissue_cube,zijian2022/321,gxy1111/so100_pick_place,Odog16/so100_cube_stacking_v1,sihyun77/mond_1,andlyu/so100_indoor_1,andlyu/so100_indoor_3,frk2/so100large,lirislab/sweep_tissue_cube,lirislab/lemon_into_bowl,lirislab/red_cube_into_green_lego_block,lirislab/red_cube_into_blue_cube,00ri/so100_battery,frk2/so100largediffcam,FsqZ/so100_1,ZGGZZG/so100_drop0,Chojins/chess_game_000_white_red,smanni/train_so100_fluffy_box,ganker5/so100_push_20250328,ganker5/so100_dataline_0328,ganker5/so100_color_0328,CrazyYhang/A1234-B-C_mvA2B,RasmusP/so100_Orange2Green,sixpigs1/so100_pick_cube_in_box,ganker5/so100_push_20250331,ganker5/so100_dataline_20250331,lirislab/put_caps_into_teabox,lirislab/close_top_drawer_teabox,lirislab/open_top_drawer_teabox,lirislab/unfold_bottom_right,lirislab/push_cup_target,lirislab/put_banana_bowl,Chojins/chess_game_001_blue_stereo,Chojins/chess_game_001_red_stereo,ganker5/so100_toy_20250402,Gano007/so100_medic,00ri/so100_battery_bin_center,paszea/so100_whale_2,lirislab/fold_bottom_right,lirislab/put_coffee_cap_teabox,therarelab/so100_pick_place_2,paszea/so100_whale_3,paszea/so100_whale_4,paszea/so100_lego,LemonadeDai/so100_coca,zijian2022/backgrounda,zijian2022/backgroundb,356c/so100_nut_sort_1,Mwuqiu/so100_0408_muti,aimihat/so100_tape,lirislab/so100_demo,356c/so100_duck_reposition_1,zijian2022/sort1,weiye11/so100_410_zwy,VoicAndrei/so100_banana_to_plate_only,sixpigs1/so100_stack_cube_error,isadev/bougies3,zijian2022/close3,bensprenger/left_arm_yellow_brick_in_box_v0,lirislab/guess_who_so100,bensprenger/left_arm_yellow_brick_in_box_with_purple_noise_v0,roboticshack/team16-can-stacking,zijian2022/insert2,roboticshack/team-7-right-arm-grasp-tape,Jiangeng/so100_413,roboticshack/team9-pick_cube_place_static_plate,AndrejOrsula/lerobot_double_ball_stacking_random,roboticshack/left-arm-grasp-lego-brick,roboticshack/team-7-left-arm-grasp-motor,roboticshack/team9-pick_chicken_place_plate,roboticshack/team13-two-balls-stacking,tkc79/so100_lego_box_1,roboticshack/team13-three-balls-stacking,pierfabre/chicken,roboticshack/team16-water-pouring,ad330/cubePlace,Jiafei1224/so100_pa222per,paszea/so100_lego_2cam,bensprenger/chess_game_001_blue_stereo,Mohamedal/put_banana,tkc79/so100_lego_box_2,samanthalhy/so100_herding_1,jlesein/TestBoulon7,pranavsaroha/so100_onelego2,pranavsaroha/so100_onelego3,pranavsaroha/so100_carrot_2,vladfatu/so100_above,koenvanwijk/orange50-1,CSCSXX/pick_place_cube_1.18,dragon-95/so100_sorting,dragon-95/so100_sorting_1,nbaron99/so100_pick_and_place4,Beegbrain/pick_place_green_block,dragon-95/so100_sorting_3,HITHY/so100_peach3,shreyasgite/so100_legocube_50,triton7777/so100_dataset_mix,NONHUMAN-RESEARCH/SOARM100_TASK_VENDA,mikechambers/block_cup_14,samsam0510/tooth_extraction_3,samsam0510/tooth_extraction_4,samsam0510/cube_reorientation_2,samsam0510/cube_reorientation_4,samsam0510/glove_reorientation_1,vladfatu/so100_office,pranavsaroha/so100_legos4,Ityl/so100_recording2,FeiYjf/new_GtoR,dragon-95/so100_sorting_2,HITHY/so100_peach4,jpata/so100_pick_place_tangerine,HITHY/so100_strawberry,shreyasgite/so100_base_env,koenvanwijk/orange50-variation-2,pranavsaroha/so100_carrot_5,pandaRQ/pick_med_1,aractingi/push_cube_offline_data,DorayakiLin/so100_pick_charger_on_tissue,zijian2022/noticehuman3,liuhuanjim013/so100_th", "episodes": null, "image_transforms": { "enable": true, "max_num_transforms": 10, "random_order": false, "transform_version": 0, "image_size": 256, "tfs": { "resize_with_pad": { "weight": 1.0, "type": "ResizeWithPad", "kwargs": { "size": [ 256, 256 ] } } } }, "local_files_only": true, "use_imagenet_stats": false, "video_backend": "pyav", "sampling_weights": "", "max_action_dim": 6, "max_state_dim": 6, "max_num_images": 3, "max_image_dim": 256, "train_on_all_features": true, "features_version": 2, "discard_first_n_frames": 0, "min_fps": 30, "max_fps": 30, "discard_first_idle_frames": false, "motion_threshold": 0.05, "motion_window_size": 10, "motion_buffer": 3 }, "env": null, "policy": { "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", "shape": [ 3, 256, 256 ] }, "observation.image": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.image3": { "type": "VISUAL", "shape": [ 3, 256, 256 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "chunk_size": 50, "n_action_steps": 1, "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": 0.0001, "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": 30000, "scheduler_decay_lr": 2.5e-06, "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", "load_vlm_weights": true, "attention_mode": "cross_attn", "prefix_length": 0, "past_obs_keys": "image", "pad_language_to": "max_length", "num_expert_layers": 0, "num_vlm_layers": 16, "causal_action_attention_mask": true, "self_attn_every_n_layers": 2, "expert_width_multiplier": 0.75 }, "output_dir": "/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", "job_name": "smolvla", "resume": false, "overwrite": false, "device": "cuda", "use_amp": true, "seed": 1000, "num_workers": 4, "batch_size": 64, "eval_freq": 5000, "log_freq": 200, "save_checkpoint": true, "save_freq": 20000, "offline": { "steps": 400000 }, "online": { "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 }, "use_policy_training_preset": true, "optimizer": { "type": "adamw", "lr": 0.0001, "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": 30000, "peak_lr": 0.0001, "decay_lr": 2.5e-06 }, "eval": { "n_episodes": 50, "batch_size": 50, "use_async_envs": false }, "wandb": { "enable": false, "disable_artifact": false, "project": "lerobot", "entity": null, "notes": null }, "nccl_timeout": 9000, "gradient_accumulation_steps": 1, "torch_compile": true, "save_on_eval": false, "dataloader_drop_last": true, "eval_mse": true, "eval_mse_steps": 1000 }