ACT grab_block model: 30k steps, loss 0.15, trained on RTX 5090
Browse files- ckpt_10000/config.json +63 -0
- ckpt_10000/model.safetensors +3 -0
- ckpt_20000/config.json +63 -0
- ckpt_20000/model.safetensors +3 -0
- config.json +63 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +56 -0
- policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- training_log.json +302 -0
ckpt_10000/config.json
ADDED
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{
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"type": "act",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"use_peft": false,
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"push_to_hub": true,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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| 36 |
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"pretrained_path": null,
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| 37 |
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"chunk_size": 100,
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| 38 |
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"n_action_steps": 100,
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| 39 |
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": false,
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"pre_norm": false,
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| 48 |
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"dim_model": 512,
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| 49 |
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"n_heads": 8,
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| 50 |
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"dim_feedforward": 3200,
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"feedforward_activation": "relu",
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"n_encoder_layers": 4,
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"n_decoder_layers": 1,
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"use_vae": true,
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"latent_dim": 32,
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"n_vae_encoder_layers": 4,
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| 57 |
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"temporal_ensemble_coeff": null,
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| 58 |
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"dropout": 0.1,
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| 59 |
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"kl_weight": 10.0,
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| 60 |
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"optimizer_lr": 1e-05,
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"optimizer_weight_decay": 0.0001,
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"optimizer_lr_backbone": 1e-05
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}
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ckpt_10000/model.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:4b54971333625f1b96f70506d157116f2531fa9dd8322d95eb8eaa9d38c2cd77
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size 206699736
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ckpt_20000/config.json
ADDED
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{
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"type": "act",
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"n_obs_steps": 1,
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"input_features": {
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| 5 |
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"observation.state": {
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| 6 |
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"type": "STATE",
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| 7 |
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"shape": [
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6
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]
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},
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| 11 |
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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| 30 |
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"use_peft": false,
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| 31 |
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"push_to_hub": true,
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| 32 |
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"repo_id": null,
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| 33 |
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"private": null,
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| 34 |
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"tags": null,
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| 35 |
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"license": null,
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| 36 |
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"pretrained_path": null,
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| 37 |
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"chunk_size": 100,
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| 38 |
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"n_action_steps": 100,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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| 46 |
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"replace_final_stride_with_dilation": false,
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| 47 |
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"pre_norm": false,
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| 48 |
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"dim_model": 512,
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| 49 |
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"n_heads": 8,
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| 50 |
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"dim_feedforward": 3200,
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| 51 |
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"feedforward_activation": "relu",
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| 52 |
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"n_encoder_layers": 4,
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| 53 |
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"n_decoder_layers": 1,
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| 54 |
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"use_vae": true,
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| 55 |
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"latent_dim": 32,
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| 56 |
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"n_vae_encoder_layers": 4,
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| 57 |
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"temporal_ensemble_coeff": null,
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| 58 |
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"dropout": 0.1,
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| 59 |
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"kl_weight": 10.0,
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| 60 |
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"optimizer_lr": 1e-05,
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| 61 |
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"optimizer_weight_decay": 0.0001,
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| 62 |
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"optimizer_lr_backbone": 1e-05
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}
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ckpt_20000/model.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:41b0699e6634b51d47c60c640ae1c03b2407bd1aed9679421e083fe555572a8d
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| 3 |
+
size 206699736
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config.json
ADDED
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@@ -0,0 +1,63 @@
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{
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| 2 |
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"type": "act",
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| 3 |
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"n_obs_steps": 1,
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| 4 |
+
"input_features": {
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| 5 |
+
"observation.state": {
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| 6 |
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"type": "STATE",
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| 7 |
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"shape": [
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| 8 |
+
6
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| 9 |
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]
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| 10 |
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},
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| 11 |
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"observation.images.wrist": {
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| 12 |
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"type": "VISUAL",
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| 13 |
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"shape": [
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| 14 |
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3,
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| 15 |
+
480,
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| 16 |
+
640
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| 17 |
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]
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| 18 |
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}
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| 19 |
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},
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| 20 |
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"output_features": {
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| 21 |
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"action": {
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| 22 |
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"type": "ACTION",
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| 23 |
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"shape": [
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| 24 |
+
6
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]
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| 26 |
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}
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| 27 |
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},
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| 28 |
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"device": "cuda",
|
| 29 |
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"use_amp": false,
|
| 30 |
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"use_peft": false,
|
| 31 |
+
"push_to_hub": true,
|
| 32 |
+
"repo_id": null,
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| 33 |
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"private": null,
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| 34 |
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"tags": null,
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| 35 |
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"license": null,
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| 36 |
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"pretrained_path": null,
|
| 37 |
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"chunk_size": 100,
|
| 38 |
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"n_action_steps": 100,
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| 39 |
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"normalization_mapping": {
|
| 40 |
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"VISUAL": "MEAN_STD",
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| 41 |
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"STATE": "MEAN_STD",
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| 42 |
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"ACTION": "MEAN_STD"
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| 43 |
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},
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| 44 |
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"vision_backbone": "resnet18",
|
| 45 |
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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| 46 |
+
"replace_final_stride_with_dilation": false,
|
| 47 |
+
"pre_norm": false,
|
| 48 |
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"dim_model": 512,
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| 49 |
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"n_heads": 8,
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| 50 |
+
"dim_feedforward": 3200,
|
| 51 |
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"feedforward_activation": "relu",
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| 52 |
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"n_encoder_layers": 4,
|
| 53 |
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"n_decoder_layers": 1,
|
| 54 |
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"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 |
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"optimizer_lr_backbone": 1e-05
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| 63 |
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}
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model.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:4ed48d7b8e7885e09eaef4622fadf0197dc12391b0e42b04302df667850f004f
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| 3 |
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size 206699736
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policy_postprocessor.json
ADDED
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{
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| 2 |
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"name": "policy_postprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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| 6 |
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"config": {
|
| 7 |
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"eps": 1e-08,
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| 8 |
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"features": {
|
| 9 |
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"action": {
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| 10 |
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"type": "ACTION",
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| 11 |
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"shape": [
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6
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]
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| 14 |
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}
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| 15 |
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},
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| 16 |
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"norm_map": {
|
| 17 |
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"VISUAL": "MEAN_STD",
|
| 18 |
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"STATE": "MEAN_STD",
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| 19 |
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"ACTION": "MEAN_STD"
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| 20 |
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}
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| 21 |
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},
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| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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| 23 |
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},
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| 24 |
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{
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| 25 |
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"registry_name": "device_processor",
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| 26 |
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"config": {
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| 27 |
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"device": "cpu",
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| 28 |
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"float_dtype": null
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| 29 |
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}
|
| 30 |
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}
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| 31 |
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]
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| 32 |
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:1bbdcc06422b4628f823172bd128458150a4d47a332f59ff28e9d89e7281ccdc
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size 6560
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policy_preprocessor.json
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{
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| 2 |
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"name": "policy_preprocessor",
|
| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
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"registry_name": "rename_observations_processor",
|
| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
|
| 8 |
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}
|
| 9 |
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},
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| 10 |
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{
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| 11 |
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"registry_name": "to_batch_processor",
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| 12 |
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"config": {}
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| 13 |
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},
|
| 14 |
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{
|
| 15 |
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"registry_name": "device_processor",
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| 16 |
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"config": {
|
| 17 |
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"device": "cuda",
|
| 18 |
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"float_dtype": null
|
| 19 |
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}
|
| 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 |
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|
| 31 |
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|
| 32 |
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"observation.images.wrist": {
|
| 33 |
+
"type": "VISUAL",
|
| 34 |
+
"shape": [
|
| 35 |
+
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|
| 36 |
+
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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"action": {
|
| 41 |
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"type": "ACTION",
|
| 42 |
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"shape": [
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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"norm_map": {
|
| 48 |
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"VISUAL": "MEAN_STD",
|
| 49 |
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"STATE": "MEAN_STD",
|
| 50 |
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"ACTION": "MEAN_STD"
|
| 51 |
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}
|
| 52 |
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},
|
| 53 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 54 |
+
}
|
| 55 |
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]
|
| 56 |
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}
|
policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:1bbdcc06422b4628f823172bd128458150a4d47a332f59ff28e9d89e7281ccdc
|
| 3 |
+
size 6560
|
training_log.json
ADDED
|
@@ -0,0 +1,302 @@
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