Upload policy
Browse files- config.json +162 -0
- model.safetensors +3 -0
config.json
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{
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"type": "smolvla",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state.gripper_position": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.state.cartesian_position": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state.joint_position": {
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"type": "STATE",
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"shape": [
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7
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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8
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]
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},
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"observation.images.wrist_left": {
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"type": "VISUAL",
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"shape": [
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3,
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180,
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320
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]
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},
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"observation.images.exterior_1_left": {
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"type": "VISUAL",
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"shape": [
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3,
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180,
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320
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]
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},
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"observation.images.exterior_2_left": {
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"type": "VISUAL",
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"shape": [
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3,
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180,
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320
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]
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}
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},
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"output_features": {
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"action.gripper_position": {
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"type": "ACTION",
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"shape": [
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1
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]
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},
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"action.gripper_velocity": {
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"type": "ACTION",
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"shape": [
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1
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]
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},
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"action.cartesian_position": {
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"type": "ACTION",
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"shape": [
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6
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]
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},
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"action.cartesian_velocity": {
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"type": "ACTION",
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"shape": [
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6
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]
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},
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"action.joint_position": {
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"type": "ACTION",
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"shape": [
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7
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]
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},
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"action.joint_velocity": {
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"type": "ACTION",
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"shape": [
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7
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]
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},
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"action.original": {
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"type": "ACTION",
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"shape": [
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7
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]
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},
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"action": {
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"type": "ACTION",
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"shape": [
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8
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"use_peft": false,
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"push_to_hub": true,
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"repo_id": "CarolinePascal/gpu-streaming-w8",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"pretrained_revision": null,
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"chunk_size": 50,
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"n_action_steps": 50,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"max_state_dim": 32,
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"max_action_dim": 32,
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"resize_imgs_with_padding": [
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512,
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512
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],
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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"tokenizer_max_length": 48,
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"num_steps": 10,
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"use_cache": true,
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"freeze_vision_encoder": true,
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"train_expert_only": true,
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"train_state_proj": true,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-10,
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"optimizer_grad_clip_norm": 10,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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"load_vlm_weights": false,
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"add_image_special_tokens": false,
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"attention_mode": "cross_attn",
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"prefix_length": -1,
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"pad_language_to": "longest",
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"num_expert_layers": -1,
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"num_vlm_layers": 16,
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"self_attn_every_n_layers": 2,
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"expert_width_multiplier": 0.75,
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"min_period": 0.004,
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"max_period": 4.0,
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"rtc_config": null,
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"compile_model": false,
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"compile_mode": "max-autotune"
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}
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model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:a00057a1aa51e74ce96e2145c1631a7ee136cf3ee924805eb881ce3dd51ece18
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size 1197789256
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