Jbutch commited on
Commit
ab7c325
·
verified ·
1 Parent(s): 91019a3

Upload folder using huggingface_hub

Browse files
config.json ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ }
19
+ },
20
+ "output_features": {
21
+ "action": {
22
+ "type": "ACTION",
23
+ "shape": [
24
+ 6
25
+ ]
26
+ }
27
+ },
28
+ "device": "cuda",
29
+ "use_amp": false,
30
+ "use_peft": false,
31
+ "push_to_hub": true,
32
+ "repo_id": "Jbutch/policy_ep10",
33
+ "private": null,
34
+ "tags": null,
35
+ "license": null,
36
+ "pretrained_path": null,
37
+ "chunk_size": 100,
38
+ "n_action_steps": 100,
39
+ "normalization_mapping": {
40
+ "VISUAL": "MEAN_STD",
41
+ "STATE": "MEAN_STD",
42
+ "ACTION": "MEAN_STD"
43
+ },
44
+ "vision_backbone": "resnet18",
45
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
46
+ "replace_final_stride_with_dilation": false,
47
+ "pre_norm": false,
48
+ "dim_model": 512,
49
+ "n_heads": 8,
50
+ "dim_feedforward": 3200,
51
+ "feedforward_activation": "relu",
52
+ "n_encoder_layers": 4,
53
+ "n_decoder_layers": 1,
54
+ "use_vae": true,
55
+ "latent_dim": 32,
56
+ "n_vae_encoder_layers": 4,
57
+ "temporal_ensemble_coeff": null,
58
+ "dropout": 0.1,
59
+ "kl_weight": 10.0,
60
+ "optimizer_lr": 1e-05,
61
+ "optimizer_weight_decay": 0.0001,
62
+ "optimizer_lr_backbone": 1e-05
63
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:374ce2026eea8cb5bac606f9746549567775e46e7ce71918efc8d361b3189c93
3
+ size 206699736
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": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
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
+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1504e4bc4290a410ef00f0ed404bc2e0af6336fadf9578459f7e5691ca43f88b
3
+ size 6560
policy_preprocessor.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.front": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "action": {
41
+ "type": "ACTION",
42
+ "shape": [
43
+ 6
44
+ ]
45
+ }
46
+ },
47
+ "norm_map": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ }
52
+ },
53
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
54
+ }
55
+ ]
56
+ }
policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1504e4bc4290a410ef00f0ed404bc2e0af6336fadf9578459f7e5691ca43f88b
3
+ size 6560
train_config.json ADDED
@@ -0,0 +1,204 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "Jbutch/record-prod",
4
+ "root": null,
5
+ "episodes": [
6
+ 0,
7
+ 1,
8
+ 2,
9
+ 3,
10
+ 4,
11
+ 5,
12
+ 6,
13
+ 7,
14
+ 8,
15
+ 9
16
+ ],
17
+ "image_transforms": {
18
+ "enable": false,
19
+ "max_num_transforms": 3,
20
+ "random_order": false,
21
+ "tfs": {
22
+ "brightness": {
23
+ "weight": 1.0,
24
+ "type": "ColorJitter",
25
+ "kwargs": {
26
+ "brightness": [
27
+ 0.8,
28
+ 1.2
29
+ ]
30
+ }
31
+ },
32
+ "contrast": {
33
+ "weight": 1.0,
34
+ "type": "ColorJitter",
35
+ "kwargs": {
36
+ "contrast": [
37
+ 0.8,
38
+ 1.2
39
+ ]
40
+ }
41
+ },
42
+ "saturation": {
43
+ "weight": 1.0,
44
+ "type": "ColorJitter",
45
+ "kwargs": {
46
+ "saturation": [
47
+ 0.5,
48
+ 1.5
49
+ ]
50
+ }
51
+ },
52
+ "hue": {
53
+ "weight": 1.0,
54
+ "type": "ColorJitter",
55
+ "kwargs": {
56
+ "hue": [
57
+ -0.05,
58
+ 0.05
59
+ ]
60
+ }
61
+ },
62
+ "sharpness": {
63
+ "weight": 1.0,
64
+ "type": "SharpnessJitter",
65
+ "kwargs": {
66
+ "sharpness": [
67
+ 0.5,
68
+ 1.5
69
+ ]
70
+ }
71
+ },
72
+ "affine": {
73
+ "weight": 1.0,
74
+ "type": "RandomAffine",
75
+ "kwargs": {
76
+ "degrees": [
77
+ -5.0,
78
+ 5.0
79
+ ],
80
+ "translate": [
81
+ 0.05,
82
+ 0.05
83
+ ]
84
+ }
85
+ }
86
+ }
87
+ },
88
+ "revision": null,
89
+ "use_imagenet_stats": true,
90
+ "video_backend": "torchcodec",
91
+ "streaming": false
92
+ },
93
+ "env": null,
94
+ "policy": {
95
+ "type": "act",
96
+ "n_obs_steps": 1,
97
+ "input_features": {
98
+ "observation.state": {
99
+ "type": "STATE",
100
+ "shape": [
101
+ 6
102
+ ]
103
+ },
104
+ "observation.images.front": {
105
+ "type": "VISUAL",
106
+ "shape": [
107
+ 3,
108
+ 480,
109
+ 640
110
+ ]
111
+ }
112
+ },
113
+ "output_features": {
114
+ "action": {
115
+ "type": "ACTION",
116
+ "shape": [
117
+ 6
118
+ ]
119
+ }
120
+ },
121
+ "device": "cuda",
122
+ "use_amp": false,
123
+ "use_peft": false,
124
+ "push_to_hub": true,
125
+ "repo_id": "Jbutch/policy_ep10",
126
+ "private": null,
127
+ "tags": null,
128
+ "license": null,
129
+ "pretrained_path": null,
130
+ "chunk_size": 100,
131
+ "n_action_steps": 100,
132
+ "normalization_mapping": {
133
+ "VISUAL": "MEAN_STD",
134
+ "STATE": "MEAN_STD",
135
+ "ACTION": "MEAN_STD"
136
+ },
137
+ "vision_backbone": "resnet18",
138
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
139
+ "replace_final_stride_with_dilation": false,
140
+ "pre_norm": false,
141
+ "dim_model": 512,
142
+ "n_heads": 8,
143
+ "dim_feedforward": 3200,
144
+ "feedforward_activation": "relu",
145
+ "n_encoder_layers": 4,
146
+ "n_decoder_layers": 1,
147
+ "use_vae": true,
148
+ "latent_dim": 32,
149
+ "n_vae_encoder_layers": 4,
150
+ "temporal_ensemble_coeff": null,
151
+ "dropout": 0.1,
152
+ "kl_weight": 10.0,
153
+ "optimizer_lr": 1e-05,
154
+ "optimizer_weight_decay": 0.0001,
155
+ "optimizer_lr_backbone": 1e-05
156
+ },
157
+ "output_dir": "/net/scratch/jbutch/lerobot/multi/episodes_10",
158
+ "job_name": "act_so101_ep10",
159
+ "resume": false,
160
+ "seed": 1000,
161
+ "num_workers": 4,
162
+ "batch_size": 8,
163
+ "steps": 100000,
164
+ "eval_freq": 20000,
165
+ "log_freq": 200,
166
+ "tolerance_s": 0.0001,
167
+ "save_checkpoint": true,
168
+ "save_freq": 20000,
169
+ "use_policy_training_preset": true,
170
+ "optimizer": {
171
+ "type": "adamw",
172
+ "lr": 1e-05,
173
+ "weight_decay": 0.0001,
174
+ "grad_clip_norm": 10.0,
175
+ "betas": [
176
+ 0.9,
177
+ 0.999
178
+ ],
179
+ "eps": 1e-08
180
+ },
181
+ "scheduler": null,
182
+ "eval": {
183
+ "n_episodes": 50,
184
+ "batch_size": 50,
185
+ "use_async_envs": false
186
+ },
187
+ "wandb": {
188
+ "enable": true,
189
+ "disable_artifact": false,
190
+ "project": "lerobot",
191
+ "entity": null,
192
+ "notes": null,
193
+ "run_id": "omhbxscq",
194
+ "mode": null
195
+ },
196
+ "peft": null,
197
+ "use_rabc": false,
198
+ "rabc_progress_path": null,
199
+ "rabc_kappa": 0.01,
200
+ "rabc_epsilon": 1e-06,
201
+ "rabc_head_mode": "sparse",
202
+ "rename_map": {},
203
+ "checkpoint_path": null
204
+ }