add eo1phys_none_img6default_b8_s46600/checkpoints/023300/pretrained_model/train_config.json
Browse files
eo1phys_none_img6default_b8_s46600/checkpoints/023300/pretrained_model/train_config.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "physvla/data",
|
| 4 |
+
"repo_type": "dataset",
|
| 5 |
+
"root": "/home/irteam/ws/physics_vla_data/v1/dataset",
|
| 6 |
+
"episodes": null,
|
| 7 |
+
"exclude_episodes": null,
|
| 8 |
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"image_transforms": {
|
| 9 |
+
"enable": false,
|
| 10 |
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"max_num_transforms": 3,
|
| 11 |
+
"random_order": false,
|
| 12 |
+
"tfs": {
|
| 13 |
+
"brightness": {
|
| 14 |
+
"weight": 1.0,
|
| 15 |
+
"type": "ColorJitter",
|
| 16 |
+
"kwargs": {
|
| 17 |
+
"brightness": [
|
| 18 |
+
0.8,
|
| 19 |
+
1.2
|
| 20 |
+
]
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"contrast": {
|
| 24 |
+
"weight": 1.0,
|
| 25 |
+
"type": "ColorJitter",
|
| 26 |
+
"kwargs": {
|
| 27 |
+
"contrast": [
|
| 28 |
+
0.8,
|
| 29 |
+
1.2
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"saturation": {
|
| 34 |
+
"weight": 1.0,
|
| 35 |
+
"type": "ColorJitter",
|
| 36 |
+
"kwargs": {
|
| 37 |
+
"saturation": [
|
| 38 |
+
0.5,
|
| 39 |
+
1.5
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
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"hue": {
|
| 44 |
+
"weight": 1.0,
|
| 45 |
+
"type": "ColorJitter",
|
| 46 |
+
"kwargs": {
|
| 47 |
+
"hue": [
|
| 48 |
+
-0.05,
|
| 49 |
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0.05
|
| 50 |
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]
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"sharpness": {
|
| 54 |
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"weight": 1.0,
|
| 55 |
+
"type": "SharpnessJitter",
|
| 56 |
+
"kwargs": {
|
| 57 |
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"sharpness": [
|
| 58 |
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0.5,
|
| 59 |
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1.5
|
| 60 |
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]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"affine": {
|
| 64 |
+
"weight": 1.0,
|
| 65 |
+
"type": "RandomAffine",
|
| 66 |
+
"kwargs": {
|
| 67 |
+
"degrees": [
|
| 68 |
+
-5.0,
|
| 69 |
+
5.0
|
| 70 |
+
],
|
| 71 |
+
"translate": [
|
| 72 |
+
0.05,
|
| 73 |
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0.05
|
| 74 |
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]
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"revision": null,
|
| 80 |
+
"use_imagenet_stats": true,
|
| 81 |
+
"video_backend": "pyav",
|
| 82 |
+
"return_uint8": false,
|
| 83 |
+
"depth_output_unit": "mm",
|
| 84 |
+
"streaming": false,
|
| 85 |
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"eval_split": 0.0
|
| 86 |
+
},
|
| 87 |
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"env": null,
|
| 88 |
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"policy": {
|
| 89 |
+
"type": "eo1_phys",
|
| 90 |
+
"n_obs_steps": 1,
|
| 91 |
+
"input_features": {
|
| 92 |
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"observation.images.third": {
|
| 93 |
+
"type": "VISUAL",
|
| 94 |
+
"shape": [
|
| 95 |
+
3,
|
| 96 |
+
360,
|
| 97 |
+
480
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"observation.images.wrist": {
|
| 101 |
+
"type": "VISUAL",
|
| 102 |
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"shape": [
|
| 103 |
+
3,
|
| 104 |
+
360,
|
| 105 |
+
480
|
| 106 |
+
]
|
| 107 |
+
},
|
| 108 |
+
"observation.state": {
|
| 109 |
+
"type": "STATE",
|
| 110 |
+
"shape": [
|
| 111 |
+
8
|
| 112 |
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]
|
| 113 |
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}
|
| 114 |
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},
|
| 115 |
+
"output_features": {
|
| 116 |
+
"action": {
|
| 117 |
+
"type": "ACTION",
|
| 118 |
+
"shape": [
|
| 119 |
+
80
|
| 120 |
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]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"device": "cuda",
|
| 124 |
+
"dtype": "bfloat16",
|
| 125 |
+
"use_amp": false,
|
| 126 |
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"use_peft": false,
|
| 127 |
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"push_to_hub": false,
|
| 128 |
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"repo_id": null,
|
| 129 |
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"private": null,
|
| 130 |
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"tags": null,
|
| 131 |
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"license": null,
|
| 132 |
+
"pretrained_path": "lerobot/eo1-base",
|
| 133 |
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"pretrained_revision": null,
|
| 134 |
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"vlm_base": "lerobot/eo1-base",
|
| 135 |
+
"vlm_config": {
|
| 136 |
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"_name_or_path": "",
|
| 137 |
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"action_pass_id": 151672,
|
| 138 |
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"action_token_id": 151666,
|
| 139 |
+
"architectures": [
|
| 140 |
+
"Qwen2_5_VLForConditionalGeneration"
|
| 141 |
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],
|
| 142 |
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"chunk_size_feed_forward": 0,
|
| 143 |
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"dtype": "bfloat16",
|
| 144 |
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"eos_token_id": 151645,
|
| 145 |
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"id2label": {
|
| 146 |
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"0": "LABEL_0",
|
| 147 |
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"1": "LABEL_1"
|
| 148 |
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},
|
| 149 |
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"image_token_id": 151655,
|
| 150 |
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"is_encoder_decoder": false,
|
| 151 |
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"label2id": {
|
| 152 |
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"LABEL_0": 0,
|
| 153 |
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"LABEL_1": 1
|
| 154 |
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},
|
| 155 |
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"model_type": "qwen2_5_vl",
|
| 156 |
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"output_attentions": false,
|
| 157 |
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"output_hidden_states": false,
|
| 158 |
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"pad_token_id": 151643,
|
| 159 |
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"problem_type": null,
|
| 160 |
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"return_dict": true,
|
| 161 |
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"state_token_id": 151669,
|
| 162 |
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"text_config": {
|
| 163 |
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"_name_or_path": "",
|
| 164 |
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"architectures": null,
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| 165 |
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"attention_dropout": 0.0,
|
| 166 |
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"bos_token_id": 151643,
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| 167 |
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"chunk_size_feed_forward": 0,
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| 168 |
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"dtype": "bfloat16",
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| 169 |
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"eos_token_id": 151645,
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| 170 |
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"hidden_act": "silu",
|
| 171 |
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"hidden_size": 2048,
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| 172 |
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"id2label": {
|
| 173 |
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"0": "LABEL_0",
|
| 174 |
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"1": "LABEL_1"
|
| 175 |
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},
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| 176 |
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"initializer_range": 0.02,
|
| 177 |
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"intermediate_size": 11008,
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| 178 |
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"is_encoder_decoder": false,
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| 179 |
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"label2id": {
|
| 180 |
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"LABEL_0": 0,
|
| 181 |
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"LABEL_1": 1
|
| 182 |
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},
|
| 183 |
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"layer_types": [
|
| 184 |
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"full_attention",
|
| 185 |
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"full_attention",
|
| 186 |
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"full_attention",
|
| 187 |
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"full_attention",
|
| 188 |
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"full_attention",
|
| 189 |
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"full_attention",
|
| 190 |
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"full_attention",
|
| 191 |
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"full_attention",
|
| 192 |
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"full_attention",
|
| 193 |
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"full_attention",
|
| 194 |
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"full_attention",
|
| 195 |
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"full_attention",
|
| 196 |
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"full_attention",
|
| 197 |
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"full_attention",
|
| 198 |
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"full_attention",
|
| 199 |
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