Robotics
LeRobot
Safetensors
diffusion
File size: 5,977 Bytes
7847400
 
e7eb325
7847400
 
 
76d53f6
7847400
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
7983539
7847400
 
 
 
 
 
 
7983539
7847400
 
 
 
 
 
 
e7eb325
7847400
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
02a8d38
7847400
 
 
6a6ce6e
a7012b7
7847400
 
 
 
 
 
 
 
 
0267848
 
7847400
85fe78a
0267848
 
7847400
85fe78a
7847400
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
b556bcf
7847400
 
 
b556bcf
 
6a6ce6e
7847400
 
 
a7012b7
7847400
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
{
    "dataset": {
        "repo_id": "ISdept/piper-pick-place-depth",
        "root": null,
        "episodes": null,
        "image_transforms": {
            "enable": true,
            "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": "main",
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "streaming": false
    },
    "env": null,
    "policy": {
        "type": "diffusion",
        "n_obs_steps": 2,
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    7
                ]
            },
            "observation.images.gripper": {
                "type": "VISUAL",
                "shape": [
                    3,
                    400,
                    640
                ]
            },
            "observation.images.depth": {
                "type": "VISUAL",
                "shape": [
                    3,
                    400,
                    640
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    7
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "push_to_hub": true,
        "repo_id": "ISdept/piper_arm",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": "ISdept/piper_arm",
        "horizon": 16,
        "n_action_steps": 8,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "drop_n_last_frames": 7,
        "vision_backbone": "resnet18",
        "crop_shape": [
            224,
            224
        ],
        "crop_is_random": true,
        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
        "use_group_norm": false,
        "spatial_softmax_num_keypoints": 32,
        "use_separate_rgb_encoder_per_camera": false,
        "down_dims": [
            512,
            1024,
            2048
        ],
        "kernel_size": 5,
        "n_groups": 8,
        "diffusion_step_embed_dim": 128,
        "use_film_scale_modulation": true,
        "noise_scheduler_type": "DDPM",
        "num_train_timesteps": 100,
        "beta_schedule": "squaredcos_cap_v2",
        "beta_start": 0.0001,
        "beta_end": 0.02,
        "prediction_type": "epsilon",
        "clip_sample": true,
        "clip_sample_range": 1.0,
        "num_inference_steps": null,
        "do_mask_loss_for_padding": false,
        "optimizer_lr": 0.0001,
        "optimizer_betas": [
            0.95,
            0.999
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 1e-06,
        "scheduler_name": "cosine",
        "scheduler_warmup_steps": 500
    },
    "output_dir": "outputs/train/output_diffusion_3",
    "job_name": "pick_and_place",
    "resume": false,
    "seed": 1000,
    "num_workers": 8,
    "batch_size": 96,
    "steps": 30000,
    "eval_freq": 20000,
    "log_freq": 200,
    "save_checkpoint": true,
    "save_freq": 1000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adam",
        "lr": 0.0001,
        "weight_decay": 1e-06,
        "grad_clip_norm": 10.0,
        "betas": [
            0.95,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "diffuser",
        "num_warmup_steps": 500,
        "name": "cosine"
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": null,
        "mode": null
    },
    "checkpoint_path": null,
    "rename_map": {}
}