JarneVdHDM commited on
Commit
fb98e57
·
verified ·
1 Parent(s): 8c74313

Upload folder using huggingface_hub

Browse files
pretrained_model/config.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "diffusion",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.gripper": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.top": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.images.front": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 480,
32
+ 640
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 6
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "push_to_hub": true,
48
+ "repo_id": "JarneVdHDM/diffusion_grab_mentos_3cam",
49
+ "private": null,
50
+ "tags": null,
51
+ "license": null,
52
+ "pretrained_path": null,
53
+ "horizon": 16,
54
+ "n_action_steps": 8,
55
+ "normalization_mapping": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MIN_MAX",
58
+ "ACTION": "MIN_MAX"
59
+ },
60
+ "drop_n_last_frames": 7,
61
+ "vision_backbone": "resnet18",
62
+ "crop_shape": [
63
+ 440,
64
+ 600
65
+ ],
66
+ "crop_is_random": true,
67
+ "pretrained_backbone_weights": null,
68
+ "use_group_norm": true,
69
+ "spatial_softmax_num_keypoints": 32,
70
+ "use_separate_rgb_encoder_per_camera": false,
71
+ "down_dims": [
72
+ 256,
73
+ 512,
74
+ 1024
75
+ ],
76
+ "kernel_size": 5,
77
+ "n_groups": 8,
78
+ "diffusion_step_embed_dim": 128,
79
+ "use_film_scale_modulation": true,
80
+ "noise_scheduler_type": "DDPM",
81
+ "num_train_timesteps": 100,
82
+ "beta_schedule": "squaredcos_cap_v2",
83
+ "beta_start": 0.0001,
84
+ "beta_end": 0.02,
85
+ "prediction_type": "epsilon",
86
+ "clip_sample": true,
87
+ "clip_sample_range": 1.0,
88
+ "num_inference_steps": null,
89
+ "do_mask_loss_for_padding": false,
90
+ "optimizer_lr": 0.0001,
91
+ "optimizer_betas": [
92
+ 0.95,
93
+ 0.999
94
+ ],
95
+ "optimizer_eps": 1e-08,
96
+ "optimizer_weight_decay": 1e-06,
97
+ "scheduler_name": "cosine",
98
+ "scheduler_warmup_steps": 500
99
+ }
pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:28999950b50e7ada7c3d7c0c47c078854093f403afe53a5937c6f8702391a19f
3
+ size 319476488
pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0617824bb4053cdc67fe82634051169a2ccfc7c2b9b09c913ef49dd61546cc09
3
+ size 8544
pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.gripper": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.top": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "observation.images.front": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 480,
53
+ 640
54
+ ]
55
+ },
56
+ "action": {
57
+ "type": "ACTION",
58
+ "shape": [
59
+ 6
60
+ ]
61
+ }
62
+ },
63
+ "norm_map": {
64
+ "VISUAL": "MEAN_STD",
65
+ "STATE": "MIN_MAX",
66
+ "ACTION": "MIN_MAX"
67
+ }
68
+ },
69
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
70
+ }
71
+ ]
72
+ }
pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0617824bb4053cdc67fe82634051169a2ccfc7c2b9b09c913ef49dd61546cc09
3
+ size 8544
pretrained_model/train_config.json ADDED
@@ -0,0 +1,233 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "JarneVdHDM/grab-mentos-3cam",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "diffusion",
85
+ "n_obs_steps": 2,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 6
91
+ ]
92
+ },
93
+ "observation.images.gripper": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ },
101
+ "observation.images.top": {
102
+ "type": "VISUAL",
103
+ "shape": [
104
+ 3,
105
+ 480,
106
+ 640
107
+ ]
108
+ },
109
+ "observation.images.front": {
110
+ "type": "VISUAL",
111
+ "shape": [
112
+ 3,
113
+ 480,
114
+ 640
115
+ ]
116
+ }
117
+ },
118
+ "output_features": {
119
+ "action": {
120
+ "type": "ACTION",
121
+ "shape": [
122
+ 6
123
+ ]
124
+ }
125
+ },
126
+ "device": "cuda",
127
+ "use_amp": false,
128
+ "use_peft": false,
129
+ "push_to_hub": true,
130
+ "repo_id": "JarneVdHDM/diffusion_grab_mentos_3cam",
131
+ "private": null,
132
+ "tags": null,
133
+ "license": null,
134
+ "pretrained_path": null,
135
+ "horizon": 16,
136
+ "n_action_steps": 8,
137
+ "normalization_mapping": {
138
+ "VISUAL": "MEAN_STD",
139
+ "STATE": "MIN_MAX",
140
+ "ACTION": "MIN_MAX"
141
+ },
142
+ "drop_n_last_frames": 7,
143
+ "vision_backbone": "resnet18",
144
+ "crop_shape": [
145
+ 440,
146
+ 600
147
+ ],
148
+ "crop_is_random": true,
149
+ "pretrained_backbone_weights": null,
150
+ "use_group_norm": true,
151
+ "spatial_softmax_num_keypoints": 32,
152
+ "use_separate_rgb_encoder_per_camera": false,
153
+ "down_dims": [
154
+ 256,
155
+ 512,
156
+ 1024
157
+ ],
158
+ "kernel_size": 5,
159
+ "n_groups": 8,
160
+ "diffusion_step_embed_dim": 128,
161
+ "use_film_scale_modulation": true,
162
+ "noise_scheduler_type": "DDPM",
163
+ "num_train_timesteps": 100,
164
+ "beta_schedule": "squaredcos_cap_v2",
165
+ "beta_start": 0.0001,
166
+ "beta_end": 0.02,
167
+ "prediction_type": "epsilon",
168
+ "clip_sample": true,
169
+ "clip_sample_range": 1.0,
170
+ "num_inference_steps": null,
171
+ "do_mask_loss_for_padding": false,
172
+ "optimizer_lr": 0.0001,
173
+ "optimizer_betas": [
174
+ 0.95,
175
+ 0.999
176
+ ],
177
+ "optimizer_eps": 1e-08,
178
+ "optimizer_weight_decay": 1e-06,
179
+ "scheduler_name": "cosine",
180
+ "scheduler_warmup_steps": 500
181
+ },
182
+ "output_dir": "outputs/train/diffusion_so101_mentos_3cam",
183
+ "job_name": "diffusion_so101_mentos_3cam",
184
+ "resume": false,
185
+ "seed": 1000,
186
+ "num_workers": 4,
187
+ "batch_size": 16,
188
+ "steps": 400000,
189
+ "eval_freq": 20000,
190
+ "log_freq": 100,
191
+ "tolerance_s": 0.0001,
192
+ "save_checkpoint": true,
193
+ "save_freq": 4000,
194
+ "use_policy_training_preset": true,
195
+ "optimizer": {
196
+ "type": "adam",
197
+ "lr": 0.0001,
198
+ "weight_decay": 1e-06,
199
+ "grad_clip_norm": 10.0,
200
+ "betas": [
201
+ 0.95,
202
+ 0.999
203
+ ],
204
+ "eps": 1e-08
205
+ },
206
+ "scheduler": {
207
+ "type": "diffuser",
208
+ "num_warmup_steps": 500,
209
+ "name": "cosine"
210
+ },
211
+ "eval": {
212
+ "n_episodes": 50,
213
+ "batch_size": 50,
214
+ "use_async_envs": false
215
+ },
216
+ "wandb": {
217
+ "enable": false,
218
+ "disable_artifact": false,
219
+ "project": "lerobot",
220
+ "entity": null,
221
+ "notes": null,
222
+ "run_id": null,
223
+ "mode": null
224
+ },
225
+ "peft": null,
226
+ "use_rabc": false,
227
+ "rabc_progress_path": null,
228
+ "rabc_kappa": 0.01,
229
+ "rabc_epsilon": 1e-06,
230
+ "rabc_head_mode": "sparse",
231
+ "rename_map": {},
232
+ "checkpoint_path": null
233
+ }
training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,233 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 9.462594179299406e-05,
4
+ "betas": [
5
+ 0.95,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 1e-06,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": false,
17
+ "initial_lr": 0.0001,
18
+ "params": [
19
+ 0,
20
+ 1,
21
+ 2,
22
+ 3,
23
+ 4,
24
+ 5,
25
+ 6,
26
+ 7,
27
+ 8,
28
+ 9,
29
+ 10,
30
+ 11,
31
+ 12,
32
+ 13,
33
+ 14,
34
+ 15,
35
+ 16,
36
+ 17,
37
+ 18,
38
+ 19,
39
+ 20,
40
+ 21,
41
+ 22,
42
+ 23,
43
+ 24,
44
+ 25,
45
+ 26,
46
+ 27,
47
+ 28,
48
+ 29,
49
+ 30,
50
+ 31,
51
+ 32,
52
+ 33,
53
+ 34,
54
+ 35,
55
+ 36,
56
+ 37,
57
+ 38,
58
+ 39,
59
+ 40,
60
+ 41,
61
+ 42,
62
+ 43,
63
+ 44,
64
+ 45,
65
+ 46,
66
+ 47,
67
+ 48,
68
+ 49,
69
+ 50,
70
+ 51,
71
+ 52,
72
+ 53,
73
+ 54,
74
+ 55,
75
+ 56,
76
+ 57,
77
+ 58,
78
+ 59,
79
+ 60,
80
+ 61,
81
+ 62,
82
+ 63,
83
+ 64,
84
+ 65,
85
+ 66,
86
+ 67,
87
+ 68,
88
+ 69,
89
+ 70,
90
+ 71,
91
+ 72,
92
+ 73,
93
+ 74,
94
+ 75,
95
+ 76,
96
+ 77,
97
+ 78,
98
+ 79,
99
+ 80,
100
+ 81,
101
+ 82,
102
+ 83,
103
+ 84,
104
+ 85,
105
+ 86,
106
+ 87,
107
+ 88,
108
+ 89,
109
+ 90,
110
+ 91,
111
+ 92,
112
+ 93,
113
+ 94,
114
+ 95,
115
+ 96,
116
+ 97,
117
+ 98,
118
+ 99,
119
+ 100,
120
+ 101,
121
+ 102,
122
+ 103,
123
+ 104,
124
+ 105,
125
+ 106,
126
+ 107,
127
+ 108,
128
+ 109,
129
+ 110,
130
+ 111,
131
+ 112,
132
+ 113,
133
+ 114,
134
+ 115,
135
+ 116,
136
+ 117,
137
+ 118,
138
+ 119,
139
+ 120,
140
+ 121,
141
+ 122,
142
+ 123,
143
+ 124,
144
+ 125,
145
+ 126,
146
+ 127,
147
+ 128,
148
+ 129,
149
+ 130,
150
+ 131,
151
+ 132,
152
+ 133,
153
+ 134,
154
+ 135,
155
+ 136,
156
+ 137,
157
+ 138,
158
+ 139,
159
+ 140,
160
+ 141,
161
+ 142,
162
+ 143,
163
+ 144,
164
+ 145,
165
+ 146,
166
+ 147,
167
+ 148,
168
+ 149,
169
+ 150,
170
+ 151,
171
+ 152,
172
+ 153,
173
+ 154,
174
+ 155,
175
+ 156,
176
+ 157,
177
+ 158,
178
+ 159,
179
+ 160,
180
+ 161,
181
+ 162,
182
+ 163,
183
+ 164,
184
+ 165,
185
+ 166,
186
+ 167,
187
+ 168,
188
+ 169,
189
+ 170,
190
+ 171,
191
+ 172,
192
+ 173,
193
+ 174,
194
+ 175,
195
+ 176,
196
+ 177,
197
+ 178,
198
+ 179,
199
+ 180,
200
+ 181,
201
+ 182,
202
+ 183,
203
+ 184,
204
+ 185,
205
+ 186,
206
+ 187,
207
+ 188,
208
+ 189,
209
+ 190,
210
+ 191,
211
+ 192,
212
+ 193,
213
+ 194,
214
+ 195,
215
+ 196,
216
+ 197,
217
+ 198,
218
+ 199,
219
+ 200,
220
+ 201,
221
+ 202,
222
+ 203,
223
+ 204,
224
+ 205,
225
+ 206,
226
+ 207,
227
+ 208,
228
+ 209,
229
+ 210,
230
+ 211
231
+ ]
232
+ }
233
+ ]
training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae679d5c3e9cd872d1b17aafacf019034f059279eeb0921a9d523ed4a374fe9a
3
+ size 638954352
training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c20e66703f3e019d380b9611c93acc95092d0388070689073bea2b0a787c556
3
+ size 15708
training_state/scheduler_state.json ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_lrs": [
3
+ 0.0001
4
+ ],
5
+ "last_epoch": 60000,
6
+ "_step_count": 60001,
7
+ "_get_lr_called_within_step": false,
8
+ "_last_lr": [
9
+ 9.462594179299406e-05
10
+ ],
11
+ "lr_lambdas": [
12
+ null
13
+ ]
14
+ }
training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 60000
3
+ }