ChillyMango commited on
Commit
17a96e4
·
verified ·
1 Parent(s): b4c9094

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +70 -0
  2. model.safetensors +3 -0
  3. train_config.json +181 -0
config.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi0",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "IDENTITY",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 6
14
+ ]
15
+ },
16
+ "observation.images.laptop": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 480,
21
+ 640
22
+ ]
23
+ },
24
+ "observation.images.phone": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 480,
29
+ 640
30
+ ]
31
+ }
32
+ },
33
+ "output_features": {
34
+ "action": {
35
+ "type": "ACTION",
36
+ "shape": [
37
+ 6
38
+ ]
39
+ }
40
+ },
41
+ "chunk_size": 50,
42
+ "n_action_steps": 50,
43
+ "max_state_dim": 32,
44
+ "max_action_dim": 32,
45
+ "resize_imgs_with_padding": [
46
+ 224,
47
+ 224
48
+ ],
49
+ "empty_cameras": 0,
50
+ "adapt_to_pi_aloha": false,
51
+ "use_delta_joint_actions_aloha": false,
52
+ "tokenizer_max_length": 48,
53
+ "proj_width": 1024,
54
+ "num_steps": 10,
55
+ "use_cache": true,
56
+ "attention_implementation": "eager",
57
+ "freeze_vision_encoder": true,
58
+ "train_expert_only": false,
59
+ "train_state_proj": true,
60
+ "optimizer_lr": 2.5e-05,
61
+ "optimizer_betas": [
62
+ 0.9,
63
+ 0.95
64
+ ],
65
+ "optimizer_eps": 1e-08,
66
+ "optimizer_weight_decay": 1e-10,
67
+ "scheduler_warmup_steps": 1000,
68
+ "scheduler_decay_steps": 30000,
69
+ "scheduler_decay_lr": 2.5e-06
70
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84726cfa1beb3e80a0c048271e72d3665993b8b06164ff5013390327dbc91315
3
+ size 7536022544
train_config.json ADDED
@@ -0,0 +1,181 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "chillymango/sort-lego-blocks-red-test",
4
+ "episodes": null,
5
+ "image_transforms": {
6
+ "enable": false,
7
+ "max_num_transforms": 3,
8
+ "random_order": false,
9
+ "tfs": {
10
+ "brightness": {
11
+ "weight": 1.0,
12
+ "type": "ColorJitter",
13
+ "kwargs": {
14
+ "brightness": [
15
+ 0.8,
16
+ 1.2
17
+ ]
18
+ }
19
+ },
20
+ "contrast": {
21
+ "weight": 1.0,
22
+ "type": "ColorJitter",
23
+ "kwargs": {
24
+ "contrast": [
25
+ 0.8,
26
+ 1.2
27
+ ]
28
+ }
29
+ },
30
+ "saturation": {
31
+ "weight": 1.0,
32
+ "type": "ColorJitter",
33
+ "kwargs": {
34
+ "saturation": [
35
+ 0.5,
36
+ 1.5
37
+ ]
38
+ }
39
+ },
40
+ "hue": {
41
+ "weight": 1.0,
42
+ "type": "ColorJitter",
43
+ "kwargs": {
44
+ "hue": [
45
+ -0.05,
46
+ 0.05
47
+ ]
48
+ }
49
+ },
50
+ "sharpness": {
51
+ "weight": 1.0,
52
+ "type": "SharpnessJitter",
53
+ "kwargs": {
54
+ "sharpness": [
55
+ 0.5,
56
+ 1.5
57
+ ]
58
+ }
59
+ }
60
+ }
61
+ },
62
+ "local_files_only": true,
63
+ "use_imagenet_stats": true,
64
+ "video_backend": "pyav"
65
+ },
66
+ "env": null,
67
+ "policy": {
68
+ "type": "pi0",
69
+ "n_obs_steps": 1,
70
+ "normalization_mapping": {
71
+ "VISUAL": "IDENTITY",
72
+ "STATE": "MEAN_STD",
73
+ "ACTION": "MEAN_STD"
74
+ },
75
+ "input_features": {
76
+ "observation.state": {
77
+ "type": "STATE",
78
+ "shape": [
79
+ 6
80
+ ]
81
+ },
82
+ "observation.images.laptop": {
83
+ "type": "VISUAL",
84
+ "shape": [
85
+ 3,
86
+ 480,
87
+ 640
88
+ ]
89
+ },
90
+ "observation.images.phone": {
91
+ "type": "VISUAL",
92
+ "shape": [
93
+ 3,
94
+ 480,
95
+ 640
96
+ ]
97
+ }
98
+ },
99
+ "output_features": {
100
+ "action": {
101
+ "type": "ACTION",
102
+ "shape": [
103
+ 6
104
+ ]
105
+ }
106
+ },
107
+ "chunk_size": 50,
108
+ "n_action_steps": 50,
109
+ "max_state_dim": 32,
110
+ "max_action_dim": 32,
111
+ "resize_imgs_with_padding": [
112
+ 224,
113
+ 224
114
+ ],
115
+ "empty_cameras": 0,
116
+ "adapt_to_pi_aloha": false,
117
+ "use_delta_joint_actions_aloha": false,
118
+ "tokenizer_max_length": 48,
119
+ "proj_width": 1024,
120
+ "num_steps": 10,
121
+ "use_cache": true,
122
+ "attention_implementation": "eager",
123
+ "freeze_vision_encoder": true,
124
+ "train_expert_only": false,
125
+ "train_state_proj": true,
126
+ "optimizer_lr": 2.5e-05,
127
+ "optimizer_betas": [
128
+ 0.9,
129
+ 0.95
130
+ ],
131
+ "optimizer_eps": 1e-08,
132
+ "optimizer_weight_decay": 1e-10,
133
+ "scheduler_warmup_steps": 1000,
134
+ "scheduler_decay_steps": 30000,
135
+ "scheduler_decay_lr": 2.5e-06
136
+ },
137
+ "output_dir": "outputs/train/pi0-red",
138
+ "job_name": "pi0-small",
139
+ "resume": false,
140
+ "device": "cuda",
141
+ "use_amp": false,
142
+ "seed": 1000,
143
+ "num_workers": 4,
144
+ "batch_size": 8,
145
+ "steps": 5000,
146
+ "eval_freq": 1000,
147
+ "log_freq": 200,
148
+ "save_checkpoint": true,
149
+ "save_freq": 1000,
150
+ "use_policy_training_preset": true,
151
+ "optimizer": {
152
+ "type": "adamw",
153
+ "lr": 2.5e-05,
154
+ "weight_decay": 1e-10,
155
+ "grad_clip_norm": 10.0,
156
+ "betas": [
157
+ 0.9,
158
+ 0.95
159
+ ],
160
+ "eps": 1e-08
161
+ },
162
+ "scheduler": {
163
+ "type": "cosine_decay_with_warmup",
164
+ "num_warmup_steps": 1000,
165
+ "num_decay_steps": 30000,
166
+ "peak_lr": 2.5e-05,
167
+ "decay_lr": 2.5e-06
168
+ },
169
+ "eval": {
170
+ "n_episodes": 50,
171
+ "batch_size": 50,
172
+ "use_async_envs": false
173
+ },
174
+ "wandb": {
175
+ "enable": false,
176
+ "disable_artifact": false,
177
+ "project": "lerobot",
178
+ "entity": null,
179
+ "notes": null
180
+ }
181
+ }