Upload policy
Browse files- config.json +152 -0
- model.safetensors +3 -0
config.json
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{
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"type": "act_romoya",
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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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8
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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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360,
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640
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]
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},
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"observation.images.top": {
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"type": "VISUAL",
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"shape": [
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3,
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360,
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640
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]
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},
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"observation.images.side": {
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"type": "VISUAL",
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"shape": [
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3,
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360,
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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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8
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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": "PL2011/act_sjadj_lebai-suction-plate",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"chunk_size": 60,
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"n_action_steps": 60,
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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": 0,
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"pre_norm": false,
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"dim_model": 512,
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"n_heads": 8,
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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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"temporal_ensemble_coeff": null,
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"dropout": 0.1,
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"kl_weight": 10.0,
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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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"state_feature_names_to_keep": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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"gripper.pos",
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"DO_1"
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],
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"action_mode": "delta_joint_gripper_do1",
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"joint_action_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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"joint5.pos",
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"joint6.pos"
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],
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"gripper_action_name": "gripper.pos",
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"do_action_names": [
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"DO_1"
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],
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"raw_observation_state_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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"gripper.pos",
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"gripper.force",
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"DO_0",
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"DO_1",
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"joint1.effort",
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"joint2.effort",
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"joint3.effort",
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"joint4.effort",
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"joint5.effort",
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"joint6.effort",
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"joint1.vel",
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"joint2.vel",
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"joint3.vel",
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"joint4.vel",
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"joint5.vel",
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"joint6.vel",
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"joint1.acc",
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"joint2.acc",
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"joint3.acc",
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"joint4.acc",
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"joint5.acc",
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"joint6.acc",
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"tcp.x",
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"tcp.y",
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"tcp.z",
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"tcp.rx",
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"tcp.ry",
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"tcp.rz"
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],
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"raw_action_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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| 142 |
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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| 145 |
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"gripper.pos",
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| 146 |
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"gripper.force",
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"DO_0",
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"DO_1"
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],
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"do_threshold": 0.5,
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"sigmoid_do_outputs": true
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}
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model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:a443d335c24a402a8e5e3243d7407de36b5bdb7980541955af8b5529169398e0
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size 206552280
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