diff --git a/checkpoints/020000/pretrained_model/config.json b/checkpoints/020000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..4461410fa9547ebeffc4149d2aa1a51b295ed4a1 --- /dev/null +++ b/checkpoints/020000/pretrained_model/config.json @@ -0,0 +1,81 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 +} \ No newline at end of file diff --git a/checkpoints/020000/pretrained_model/model.safetensors b/checkpoints/020000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..c7381c42c0e682d0267f592f79944f2a9fa1831b --- /dev/null +++ b/checkpoints/020000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee92ea7c584703562569df5e01300d8e518067f639a040ac1b837292a3684cad +size 1197789224 diff --git a/checkpoints/020000/pretrained_model/policy_postprocessor.json b/checkpoints/020000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/checkpoints/020000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/020000/pretrained_model/policy_preprocessor.json b/checkpoints/020000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..94e3482ddeb8ab2ad1a475a11a24cbf3431304b6 --- /dev/null +++ b/checkpoints/020000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,71 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "smolvla_new_line_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 48, + "task_key": "task", + "padding_side": "right", + "padding": "longest", + "truncation": true, + "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoints/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/checkpoints/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/020000/pretrained_model/train_config.json b/checkpoints/020000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f656ac35e966c019fddc901c9ee23cd8014933ec --- /dev/null +++ b/checkpoints/020000/pretrained_model/train_config.json @@ -0,0 +1,210 @@ +{ + "dataset": { + "repo_id": "Dimios45/santra", + "root": "data/santra/santra_demo_20251108_102726", + "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": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 + }, + "output_dir": "outputs/train/smolvla1", + "job_name": "smolvla_santra", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 20000, + "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": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "ba762whj", + "mode": null + }, + "checkpoint_path": null, + "rename_map": {} +} \ No newline at end of file diff --git a/checkpoints/020000/training_state/optimizer_param_groups.json b/checkpoints/020000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..fd995dd00b618398663d24c98ad932310a8be4b7 --- /dev/null +++ b/checkpoints/020000/training_state/optimizer_param_groups.json @@ -0,0 +1,521 @@ +[ + { + "lr": 2.6875000000000013e-05, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-10, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499 + ] + } +] \ No newline at end of file diff --git a/checkpoints/020000/training_state/optimizer_state.safetensors b/checkpoints/020000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..5dd2a14e508ae85755c96c2ce19d99fb1ebf8de6 --- /dev/null +++ b/checkpoints/020000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad8fe07375f919e9869ee2fcb88123a5b33137b8097957f99c8be8dac25da99a +size 412659164 diff --git a/checkpoints/020000/training_state/rng_state.safetensors b/checkpoints/020000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..f1709c9dd69c979e4dcac83d39ca542b8843299c --- /dev/null +++ b/checkpoints/020000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0d21412f96be6221d1bf9960933852424aa861c5d536b6aad596173cfe94fde +size 15708 diff --git a/checkpoints/020000/training_state/scheduler_state.json b/checkpoints/020000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..6964c63a943fd950d79c8f104be9e01d8fba78bb --- /dev/null +++ b/checkpoints/020000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 20000, + "_step_count": 20001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 2.6875000000000013e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/checkpoints/020000/training_state/training_step.json b/checkpoints/020000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9bb47026c5d5237ca6fc5dbff6020dd122ea05 --- /dev/null +++ b/checkpoints/020000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 20000 +} \ No newline at end of file diff --git a/checkpoints/040000/pretrained_model/config.json b/checkpoints/040000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..a2bd60d968ccd94e45e0d224a59d2680a20b07ea --- /dev/null +++ b/checkpoints/040000/pretrained_model/config.json @@ -0,0 +1,81 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 +} \ No newline at end of file diff --git a/checkpoints/040000/pretrained_model/model.safetensors b/checkpoints/040000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..9f0ae5f5bd4796684d5e55cc7ef4b0e17c99fe5f --- /dev/null +++ b/checkpoints/040000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef2b03f84fc8269ee2dacbab7c24099076984b6280d02b426670f96e80bb80d4 +size 1197789224 diff --git a/checkpoints/040000/pretrained_model/policy_postprocessor.json b/checkpoints/040000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/checkpoints/040000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/040000/pretrained_model/policy_preprocessor.json b/checkpoints/040000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..94e3482ddeb8ab2ad1a475a11a24cbf3431304b6 --- /dev/null +++ b/checkpoints/040000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,71 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "smolvla_new_line_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 48, + "task_key": "task", + "padding_side": "right", + "padding": "longest", + "truncation": true, + "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoints/040000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/checkpoints/040000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/040000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/040000/pretrained_model/train_config.json b/checkpoints/040000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..305ac238c586f71f4f51cd028a68d84b768ef3b6 --- /dev/null +++ b/checkpoints/040000/pretrained_model/train_config.json @@ -0,0 +1,210 @@ +{ + "dataset": { + "repo_id": "Dimios45/santra", + "root": "data/santra/santra_demo_20251108_102726", + "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": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 + }, + "output_dir": "outputs/train/smolvla1", + "job_name": "smolvla_santra", + "resume": true, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 0.0001, + "weight_decay": 1e-10, + "grad_clip_norm": 10.0, + "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": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "ba762whj", + "mode": null + }, + "checkpoint_path": "outputs/train/smolvla1/checkpoints/last", + "rename_map": {} +} \ No newline at end of file diff --git a/checkpoints/040000/training_state/optimizer_param_groups.json b/checkpoints/040000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..432e25d9d9051a91f53e76a5753722c07eba5dab --- /dev/null +++ b/checkpoints/040000/training_state/optimizer_param_groups.json @@ -0,0 +1,521 @@ +[ + { + "lr": 2.5e-06, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-10, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499 + ] + } +] \ No newline at end of file diff --git a/checkpoints/040000/training_state/optimizer_state.safetensors b/checkpoints/040000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..73cb5522398168b1879781ad6da50bab353f252a --- /dev/null +++ b/checkpoints/040000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb279e3757486d196d1b5e5df6f36a42b66ebd4061b8eff50aa6cf7b0eec8a46 +size 412659164 diff --git a/checkpoints/040000/training_state/rng_state.safetensors b/checkpoints/040000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..028521be57fbbcf0790bbe8aa5305a5bb072d236 --- /dev/null +++ b/checkpoints/040000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f6c1f756d08f6cae5cf4a603904e857dd980c3eca85366071dcbdd83dc5b14d +size 15708 diff --git a/checkpoints/040000/training_state/scheduler_state.json b/checkpoints/040000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..3a6b7f21fd600ffa145ae41cca0ae2bffc3d24f5 --- /dev/null +++ b/checkpoints/040000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 40000, + "_step_count": 40001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 2.5e-06 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/checkpoints/040000/training_state/training_step.json b/checkpoints/040000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..fe40d8ff4312c7e5a8fba9bcc932a43a1384ba77 --- /dev/null +++ b/checkpoints/040000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 40000 +} \ No newline at end of file diff --git a/checkpoints/060000/pretrained_model/config.json b/checkpoints/060000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..a2bd60d968ccd94e45e0d224a59d2680a20b07ea --- /dev/null +++ b/checkpoints/060000/pretrained_model/config.json @@ -0,0 +1,81 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 +} \ No newline at end of file diff --git a/checkpoints/060000/pretrained_model/model.safetensors b/checkpoints/060000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..c5165f741725bbf98ac72ba32793516b6ec8c33f --- /dev/null +++ b/checkpoints/060000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:291ad583d809c43f60344d57d09c9cc1ca28298ad4fa259f5590863f2aa78cbb +size 1197789224 diff --git a/checkpoints/060000/pretrained_model/policy_postprocessor.json b/checkpoints/060000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/checkpoints/060000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/060000/pretrained_model/policy_preprocessor.json b/checkpoints/060000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..94e3482ddeb8ab2ad1a475a11a24cbf3431304b6 --- /dev/null +++ b/checkpoints/060000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,71 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "smolvla_new_line_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 48, + "task_key": "task", + "padding_side": "right", + "padding": "longest", + "truncation": true, + "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoints/060000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/checkpoints/060000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/060000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/060000/pretrained_model/train_config.json b/checkpoints/060000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..305ac238c586f71f4f51cd028a68d84b768ef3b6 --- /dev/null +++ b/checkpoints/060000/pretrained_model/train_config.json @@ -0,0 +1,210 @@ +{ + "dataset": { + "repo_id": "Dimios45/santra", + "root": "data/santra/santra_demo_20251108_102726", + "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": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 + }, + "output_dir": "outputs/train/smolvla1", + "job_name": "smolvla_santra", + "resume": true, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 0.0001, + "weight_decay": 1e-10, + "grad_clip_norm": 10.0, + "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": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "ba762whj", + "mode": null + }, + "checkpoint_path": "outputs/train/smolvla1/checkpoints/last", + "rename_map": {} +} \ No newline at end of file diff --git a/checkpoints/060000/training_state/optimizer_param_groups.json b/checkpoints/060000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..432e25d9d9051a91f53e76a5753722c07eba5dab --- /dev/null +++ b/checkpoints/060000/training_state/optimizer_param_groups.json @@ -0,0 +1,521 @@ +[ + { + "lr": 2.5e-06, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-10, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499 + ] + } +] \ No newline at end of file diff --git a/checkpoints/060000/training_state/optimizer_state.safetensors b/checkpoints/060000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..d2796c2e0763594ab88c9c7292afe141c62251d4 --- /dev/null +++ b/checkpoints/060000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cbda48d71dde2c9dde603310ee109f02fec46cd9152ff7471501bb84b1f62a2 +size 412659164 diff --git a/checkpoints/060000/training_state/rng_state.safetensors b/checkpoints/060000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..5c09752032911cbe3e55b6d68f68d85abcbd5e22 --- /dev/null +++ b/checkpoints/060000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55f7202f8a82b08c9113c0ec6db0c3d93db7aac2777ba072142de9e45df6fbb2 +size 15708 diff --git a/checkpoints/060000/training_state/scheduler_state.json b/checkpoints/060000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..cfcbafe5c8ea475603400ba84a6b5b9b3084812f --- /dev/null +++ b/checkpoints/060000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 60000, + "_step_count": 60001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 2.5e-06 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/checkpoints/060000/training_state/training_step.json b/checkpoints/060000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..d360b6037f1c8c2c85d38e951160eb02ace507dd --- /dev/null +++ b/checkpoints/060000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 60000 +} \ No newline at end of file diff --git a/checkpoints/080000/pretrained_model/config.json b/checkpoints/080000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..a2bd60d968ccd94e45e0d224a59d2680a20b07ea --- /dev/null +++ b/checkpoints/080000/pretrained_model/config.json @@ -0,0 +1,81 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 +} \ No newline at end of file diff --git a/checkpoints/080000/pretrained_model/model.safetensors b/checkpoints/080000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..1c57940c09301c0104b30d57890fe2a970b004d2 --- /dev/null +++ b/checkpoints/080000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9182bcf46c5d9ab25c65b350b1f4acc8f2e27f8c709647dc2db63ad6983a9523 +size 1197789224 diff --git a/checkpoints/080000/pretrained_model/policy_postprocessor.json b/checkpoints/080000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/checkpoints/080000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/080000/pretrained_model/policy_preprocessor.json b/checkpoints/080000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..94e3482ddeb8ab2ad1a475a11a24cbf3431304b6 --- /dev/null +++ b/checkpoints/080000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,71 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "smolvla_new_line_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 48, + "task_key": "task", + "padding_side": "right", + "padding": "longest", + "truncation": true, + "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoints/080000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/checkpoints/080000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/080000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/080000/pretrained_model/train_config.json b/checkpoints/080000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..305ac238c586f71f4f51cd028a68d84b768ef3b6 --- /dev/null +++ b/checkpoints/080000/pretrained_model/train_config.json @@ -0,0 +1,210 @@ +{ + "dataset": { + "repo_id": "Dimios45/santra", + "root": "data/santra/santra_demo_20251108_102726", + "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": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 + }, + "output_dir": "outputs/train/smolvla1", + "job_name": "smolvla_santra", + "resume": true, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 0.0001, + "weight_decay": 1e-10, + "grad_clip_norm": 10.0, + "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": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "ba762whj", + "mode": null + }, + "checkpoint_path": "outputs/train/smolvla1/checkpoints/last", + "rename_map": {} +} \ No newline at end of file diff --git a/checkpoints/080000/training_state/optimizer_param_groups.json b/checkpoints/080000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..432e25d9d9051a91f53e76a5753722c07eba5dab --- /dev/null +++ b/checkpoints/080000/training_state/optimizer_param_groups.json @@ -0,0 +1,521 @@ +[ + { + "lr": 2.5e-06, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-10, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499 + ] + } +] \ No newline at end of file diff --git a/checkpoints/080000/training_state/optimizer_state.safetensors b/checkpoints/080000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..66dc59bdc2055c525999b386d8bd32262ab6fd08 --- /dev/null +++ b/checkpoints/080000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:423c1c02ccd7753f3232685c6daf8acf606a67cece3ce330573968aa5f5b4b41 +size 412659164 diff --git a/checkpoints/080000/training_state/rng_state.safetensors b/checkpoints/080000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..48064008c5ed375ae78e7f66f8685b65976026d9 --- /dev/null +++ b/checkpoints/080000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba5f2a94aaf02f3cc692290e428bc96b87921107c1520ae18f6ce1e42b5d399e +size 15708 diff --git a/checkpoints/080000/training_state/scheduler_state.json b/checkpoints/080000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..b00550ae667593f16b0ade8f781f4ce71a001549 --- /dev/null +++ b/checkpoints/080000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 80000, + "_step_count": 80001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 2.5e-06 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/checkpoints/080000/training_state/training_step.json b/checkpoints/080000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..384eace4ecc2a6cba352aa7cf27f04405b7319c3 --- /dev/null +++ b/checkpoints/080000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 80000 +} \ No newline at end of file diff --git a/checkpoints/100000/pretrained_model/config.json b/checkpoints/100000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..a2bd60d968ccd94e45e0d224a59d2680a20b07ea --- /dev/null +++ b/checkpoints/100000/pretrained_model/config.json @@ -0,0 +1,81 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 +} \ No newline at end of file diff --git a/checkpoints/100000/pretrained_model/model.safetensors b/checkpoints/100000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..9379869e63242d1e6e9efbea6c45975d8d83d23c --- /dev/null +++ b/checkpoints/100000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32579685d79e6272fb6e65e4a5f28a70cc4a74fd215448b9972d8d19c7d9373e +size 1197789224 diff --git a/checkpoints/100000/pretrained_model/policy_postprocessor.json b/checkpoints/100000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/checkpoints/100000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/100000/pretrained_model/policy_preprocessor.json b/checkpoints/100000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..94e3482ddeb8ab2ad1a475a11a24cbf3431304b6 --- /dev/null +++ b/checkpoints/100000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,71 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "smolvla_new_line_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 48, + "task_key": "task", + "padding_side": "right", + "padding": "longest", + "truncation": true, + "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoints/100000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/checkpoints/100000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b2655cdb26678137a3eb503a84c2f2113a13753f --- /dev/null +++ b/checkpoints/100000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e38dbbaf8f561886dfc5aa9497d5cd263387d20cab724c84b5be152b85dea2 +size 6560 diff --git a/checkpoints/100000/pretrained_model/train_config.json b/checkpoints/100000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..305ac238c586f71f4f51cd028a68d84b768ef3b6 --- /dev/null +++ b/checkpoints/100000/pretrained_model/train_config.json @@ -0,0 +1,210 @@ +{ + "dataset": { + "repo_id": "Dimios45/santra", + "root": "data/santra/santra_demo_20251108_102726", + "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": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "Dimios45/smolvla1", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "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": 10.0, + "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": false, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": -1, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0 + }, + "output_dir": "outputs/train/smolvla1", + "job_name": "smolvla_santra", + "resume": true, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 0.0001, + "weight_decay": 1e-10, + "grad_clip_norm": 10.0, + "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": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "ba762whj", + "mode": null + }, + "checkpoint_path": "outputs/train/smolvla1/checkpoints/last", + "rename_map": {} +} \ No newline at end of file diff --git a/checkpoints/100000/training_state/optimizer_param_groups.json b/checkpoints/100000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..432e25d9d9051a91f53e76a5753722c07eba5dab --- /dev/null +++ b/checkpoints/100000/training_state/optimizer_param_groups.json @@ -0,0 +1,521 @@ +[ + { + "lr": 2.5e-06, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-10, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499 + ] + } +] \ No newline at end of file diff --git a/checkpoints/100000/training_state/optimizer_state.safetensors b/checkpoints/100000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..0a3debda303cde81f70fbfafa07cf55483f35a7b --- /dev/null +++ b/checkpoints/100000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0631a5bd20080f2e8d30693973bf2ec427ed67724a6705f1a8c2a08c160ee30 +size 412659164 diff --git a/checkpoints/100000/training_state/rng_state.safetensors b/checkpoints/100000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..d01b0a4d8c3389c15fdb78f9a578df7c31224522 --- /dev/null +++ b/checkpoints/100000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ead45ceb9df6be9001cdbfd3be05ba400289dca8bcdd6e29e4091cf0fefb559 +size 15708 diff --git a/checkpoints/100000/training_state/scheduler_state.json b/checkpoints/100000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a7bf657c009ed1ce4059112e9efb09c7370fdf --- /dev/null +++ b/checkpoints/100000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 2.5e-06 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/checkpoints/100000/training_state/training_step.json b/checkpoints/100000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/checkpoints/100000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/checkpoints/last b/checkpoints/last new file mode 120000 index 0000000000000000000000000000000000000000..483fb82b6dd2b54cb7a79ce4ccaa0cd082e1058d --- /dev/null +++ b/checkpoints/last @@ -0,0 +1 @@ +100000 \ No newline at end of file