Instructions to use MadmanMischief/act_so101_candy_sort_half with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use MadmanMischief/act_so101_candy_sort_half with LeRobot:
# No code snippets available yet for this library. # To use this model, check the repository files and the library's documentation. # Want to help? PRs adding snippets are welcome at: # https://github.com/huggingface/huggingface.js
- Notebooks
- Google Colab
- Kaggle
Upload folder using huggingface_hub
Browse files- checkpoints/015000/pretrained_model/config.json +73 -0
- checkpoints/015000/pretrained_model/model.safetensors +3 -0
- checkpoints/015000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/015000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/015000/pretrained_model/policy_preprocessor.json +64 -0
- checkpoints/015000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- checkpoints/015000/pretrained_model/train_config.json +292 -0
checkpoints/015000/pretrained_model/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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| 4 |
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"input_features": {
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| 5 |
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"observation.state": {
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"type": "STATE",
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"shape": [
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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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240,
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320
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},
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"observation.images.phone": {
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"type": "VISUAL",
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"shape": [
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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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| 37 |
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"dtype": null,
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| 38 |
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"use_amp": true,
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| 39 |
+
"use_peft": false,
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| 40 |
+
"push_to_hub": true,
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| 41 |
+
"repo_id": "MadmanMischief/act_so101_candy_sort_half",
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| 42 |
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"private": null,
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| 43 |
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"tags": null,
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| 44 |
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"license": null,
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| 45 |
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"pretrained_path": null,
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| 46 |
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"pretrained_revision": null,
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| 47 |
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"chunk_size": 100,
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| 48 |
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"n_action_steps": 100,
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| 49 |
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"normalization_mapping": {
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| 50 |
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"VISUAL": "MEAN_STD",
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| 51 |
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"STATE": "MEAN_STD",
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| 52 |
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"ACTION": "MEAN_STD"
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| 53 |
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},
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| 54 |
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"vision_backbone": "resnet18",
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| 55 |
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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| 56 |
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"replace_final_stride_with_dilation": false,
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| 57 |
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"pre_norm": false,
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| 58 |
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"dim_model": 512,
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| 59 |
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"n_heads": 8,
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"dim_feedforward": 3200,
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| 61 |
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"feedforward_activation": "relu",
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| 62 |
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"n_encoder_layers": 4,
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| 63 |
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"n_decoder_layers": 1,
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| 64 |
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"use_vae": true,
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| 65 |
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"latent_dim": 32,
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| 66 |
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"n_vae_encoder_layers": 4,
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| 67 |
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"temporal_ensemble_coeff": null,
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| 68 |
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"dropout": 0.1,
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| 69 |
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"kl_weight": 10.0,
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| 70 |
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"optimizer_lr": 1e-05,
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| 71 |
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"optimizer_weight_decay": 0.0001,
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| 72 |
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"optimizer_lr_backbone": 1e-05
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| 73 |
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}
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checkpoints/015000/pretrained_model/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:d1bd20af687ad7931f3fa863f719ddd9fcb98680d9b8055f302ae17126a66021
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size 206699768
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checkpoints/015000/pretrained_model/policy_postprocessor.json
ADDED
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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"registry_name": "unnormalizer_processor",
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"config": {
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| 7 |
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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]
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}
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},
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| 16 |
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"norm_map": {
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| 17 |
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"VISUAL": "MEAN_STD",
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| 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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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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{
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"registry_name": "device_processor",
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"config": {
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"device": "cpu",
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"float_dtype": null
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}
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}
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]
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| 32 |
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}
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checkpoints/015000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:f5a2f1b328eff0089ff751977176e29dc1688a3fdd40fc8c8244caec7b18b4e6
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size 7552
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checkpoints/015000/pretrained_model/policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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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": "rename_observations_processor",
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| 6 |
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"config": {
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| 7 |
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"rename_map": {}
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| 8 |
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| 9 |
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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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"config": {}
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{
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"registry_name": "device_processor",
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| 19 |
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| 20 |
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| 21 |
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{
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"registry_name": "normalizer_processor",
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"config": {
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| 24 |
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"eps": 1e-08,
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| 25 |
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"features": {
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| 26 |
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"observation.state": {
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| 27 |
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"type": "STATE",
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| 28 |
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"shape": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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"observation.images.wrist": {
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| 33 |
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"type": "VISUAL",
|
| 34 |
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"shape": [
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| 35 |
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240,
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| 37 |
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| 40 |
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"observation.images.phone": {
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| 41 |
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"type": "VISUAL",
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| 42 |
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"shape": [
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| 43 |
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| 44 |
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| 45 |
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640
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| 46 |
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},
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| 48 |
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"action": {
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| 49 |
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"type": "ACTION",
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| 50 |
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"shape": [
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| 51 |
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6
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| 52 |
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| 53 |
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| 54 |
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},
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| 55 |
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"norm_map": {
|
| 56 |
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"VISUAL": "MEAN_STD",
|
| 57 |
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"STATE": "MEAN_STD",
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| 58 |
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"ACTION": "MEAN_STD"
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| 59 |
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| 60 |
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},
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| 61 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 62 |
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}
|
| 63 |
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]
|
| 64 |
+
}
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checkpoints/015000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
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size 7560
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checkpoints/015000/pretrained_model/train_config.json
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@@ -0,0 +1,292 @@
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