Upload folder using huggingface_hub
Browse files- .DS_Store +0 -0
- config.json +240 -0
- model.pt +3 -0
- train_config.json +683 -0
.DS_Store
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config.json
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{
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"type": "lbm_policy",
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"chunk_size": 16,
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"freq": 10.0,
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"use_relative_pose": false,
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"visual": "mean_std",
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"state": "min_max",
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"action_pose_gripper": "min_max"
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},
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"input_features": {
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"dtype": "visual",
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}
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| 133 |
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}
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| 134 |
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},
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| 135 |
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| 137 |
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| 139 |
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}
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}
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| 166 |
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}
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| 167 |
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},
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| 168 |
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"device": "cuda",
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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"noise_scheduler": {
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| 176 |
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"type": "fm_beta",
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| 177 |
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"num_train_timesteps": 10,
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| 178 |
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"alpha": 1.5,
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| 179 |
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"beta": 1.0,
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| 180 |
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"s": 0.999,
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| 181 |
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"clip_sample": false,
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| 182 |
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"clip_sample_range": 1.0,
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| 183 |
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"flow_sig_min": 0.0,
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| 184 |
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"num_inference_steps": 10,
|
| 185 |
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"prediction_type": "velocity",
|
| 186 |
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"path_reversed": false
|
| 187 |
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},
|
| 188 |
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"vision_encoder": {
|
| 189 |
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"type": "clip_hf_vision_encoder",
|
| 190 |
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"model_name": "openai/clip-vit-base-patch16",
|
| 191 |
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"tune_vision_encoder": true,
|
| 192 |
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"extract_cls_token": true,
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| 193 |
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"output_projection_dim": null
|
| 194 |
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},
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| 195 |
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"text_encoder": {
|
| 196 |
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"type": "clip_hf_text_encoder",
|
| 197 |
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"model_name": "openai/clip-vit-base-patch32",
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| 198 |
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"tune_text_encoder": false,
|
| 199 |
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"tune_projection_layer": true,
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| 200 |
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"output_projection_dim": 768,
|
| 201 |
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"extract_eos_token": true
|
| 202 |
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},
|
| 203 |
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"action_head": {
|
| 204 |
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"type": "lbm_action_head",
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| 205 |
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"noise_scheduler": {
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| 206 |
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"type": "flow_matching_beta",
|
| 207 |
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"num_inference_steps": 10,
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| 208 |
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"alpha": 1.5,
|
| 209 |
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"beta": 1.0,
|
| 210 |
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"s": 0.999,
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| 211 |
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"input_perturb": 0.0,
|
| 212 |
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"sampling_path": "euler",
|
| 213 |
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"clip_sample": false,
|
| 214 |
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"clip_sample_range": null,
|
| 215 |
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"path_reversed": false
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| 216 |
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},
|
| 217 |
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"num_layers": 16,
|
| 218 |
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"hidden_size": 768,
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| 219 |
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"num_attention_heads": 16,
|
| 220 |
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"dropout": 0.1,
|
| 221 |
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"final_dropout": true,
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| 222 |
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"max_timestep_buckets": 1000,
|
| 223 |
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"conditioning_dim": 6980,
|
| 224 |
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"max_state_dim": 34,
|
| 225 |
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"max_action_dim": 20,
|
| 226 |
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"max_chunk_size": 16
|
| 227 |
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},
|
| 228 |
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"proprioception_dim": 34,
|
| 229 |
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"optimizer_lr": 0.0001,
|
| 230 |
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"optimizer_betas": [
|
| 231 |
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0.9,
|
| 232 |
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0.95
|
| 233 |
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],
|
| 234 |
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"optimizer_eps": 1e-08,
|
| 235 |
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"optimizer_weight_decay": 1e-06,
|
| 236 |
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"optimizer_vision_lr": 0.0001,
|
| 237 |
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"optimizer_vision_weight_decay": 1e-06,
|
| 238 |
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"scheduler_name": "cosine",
|
| 239 |
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"scheduler_warmup_steps": 500
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| 240 |
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}
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model.pt
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d7c5053db697a968846179ce5da22108e2e25fdb0dfa16431233c1b95e547a6f
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| 3 |
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size 3399392491
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train_config.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"type": "lerobot",
|
| 4 |
+
"repo_id": "lerobot_dataset",
|
| 5 |
+
"root": "/scratch/shared/dataset_astra_lbm_20251119163923/astrabot/dataset_2025-11-04_11-14-49/",
|
| 6 |
+
"episodes": null,
|
| 7 |
+
"quality_filter": [
|
| 8 |
+
"smooth",
|
| 9 |
+
"corrected"
|
| 10 |
+
],
|
| 11 |
+
"quality_sample_ratio": null,
|
| 12 |
+
"skill_id_filter": null,
|
| 13 |
+
"image_transforms": {
|
| 14 |
+
"enable": true,
|
| 15 |
+
"image_shape": [
|
| 16 |
+
480,
|
| 17 |
+
640
|
| 18 |
+
],
|
| 19 |
+
"max_num_transforms": 3,
|
| 20 |
+
"random_order": false,
|
| 21 |
+
"tfs": {
|
| 22 |
+
"brightness": {
|
| 23 |
+
"weight": 1.0,
|
| 24 |
+
"always_apply": false,
|
| 25 |
+
"type": "ColorJitter",
|
| 26 |
+
"kwargs": {
|
| 27 |
+
"brightness": [
|
| 28 |
+
0.7,
|
| 29 |
+
1.3
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"contrast": {
|
| 34 |
+
"weight": 1.0,
|
| 35 |
+
"always_apply": false,
|
| 36 |
+
"type": "ColorJitter",
|
| 37 |
+
"kwargs": {
|
| 38 |
+
"contrast": [
|
| 39 |
+
0.6,
|
| 40 |
+
1.4
|
| 41 |
+
]
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"saturation": {
|
| 45 |
+
"weight": 1.0,
|
| 46 |
+
"always_apply": false,
|
| 47 |
+
"type": "ColorJitter",
|
| 48 |
+
"kwargs": {
|
| 49 |
+
"saturation": [
|
| 50 |
+
0.5,
|
| 51 |
+
1.5
|
| 52 |
+
]
|
| 53 |
+
}
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"video_backend": "decord",
|
| 58 |
+
"cache_frame_size": null,
|
| 59 |
+
"cache_video_workers": 16,
|
| 60 |
+
"normalize_images": true,
|
| 61 |
+
"load_additional_info": false,
|
| 62 |
+
"load_prompt": true,
|
| 63 |
+
"use_prompt_augmentation": null,
|
| 64 |
+
"task_skill_prompt_ratio": null,
|
| 65 |
+
"feature_key_remapping": null,
|
| 66 |
+
"image_stats_preset": null,
|
| 67 |
+
"local_files_only": true,
|
| 68 |
+
"download_videos": false,
|
| 69 |
+
"use_imagenet_stats": false
|
| 70 |
+
},
|
| 71 |
+
"robot_setup": {
|
| 72 |
+
"type": "astrabot",
|
| 73 |
+
"task_id": "",
|
| 74 |
+
"robot": {
|
| 75 |
+
"type": "astrabot",
|
| 76 |
+
"_obs_features": {
|
| 77 |
+
"observation_images_left_wrist": {
|
| 78 |
+
"shape": [
|
| 79 |
+
480,
|
| 80 |
+
640,
|
| 81 |
+
3
|
| 82 |
+
],
|
| 83 |
+
"dtype": "visual",
|
| 84 |
+
"fps": 30,
|
| 85 |
+
"rep": null,
|
| 86 |
+
"rep_kwargs": null,
|
| 87 |
+
"compose": null
|
| 88 |
+
},
|
| 89 |
+
"observation_images_right_wrist": {
|
| 90 |
+
"shape": [
|
| 91 |
+
480,
|
| 92 |
+
640,
|
| 93 |
+
3
|
| 94 |
+
],
|
| 95 |
+
"dtype": "visual",
|
| 96 |
+
"fps": 30,
|
| 97 |
+
"rep": null,
|
| 98 |
+
"rep_kwargs": null,
|
| 99 |
+
"compose": null
|
| 100 |
+
},
|
| 101 |
+
"observation_images_head": {
|
| 102 |
+
"shape": [
|
| 103 |
+
480,
|
| 104 |
+
640,
|
| 105 |
+
3
|
| 106 |
+
],
|
| 107 |
+
"dtype": "visual",
|
| 108 |
+
"fps": 30,
|
| 109 |
+
"rep": null,
|
| 110 |
+
"rep_kwargs": null,
|
| 111 |
+
"compose": null
|
| 112 |
+
},
|
| 113 |
+
"observation_images_chest": {
|
| 114 |
+
"shape": [
|
| 115 |
+
480,
|
| 116 |
+
640,
|
| 117 |
+
3
|
| 118 |
+
],
|
| 119 |
+
"dtype": "visual",
|
| 120 |
+
"fps": 30,
|
| 121 |
+
"rep": null,
|
| 122 |
+
"rep_kwargs": null,
|
| 123 |
+
"compose": null
|
| 124 |
+
},
|
| 125 |
+
"observation_states_joint_angle_left": {
|
| 126 |
+
"shape": [
|
| 127 |
+
7
|
| 128 |
+
],
|
| 129 |
+
"dtype": "state",
|
| 130 |
+
"fps": 50,
|
| 131 |
+
"rep": null,
|
| 132 |
+
"rep_kwargs": null,
|
| 133 |
+
"compose": null
|
| 134 |
+
},
|
| 135 |
+
"observation_states_joint_angle_right": {
|
| 136 |
+
"shape": [
|
| 137 |
+
7
|
| 138 |
+
],
|
| 139 |
+
"dtype": "state",
|
| 140 |
+
"fps": 50,
|
| 141 |
+
"rep": null,
|
| 142 |
+
"rep_kwargs": null,
|
| 143 |
+
"compose": null
|
| 144 |
+
},
|
| 145 |
+
"observation_states_ee_pose_left": {
|
| 146 |
+
"shape": [
|
| 147 |
+
6
|
| 148 |
+
],
|
| 149 |
+
"dtype": "state",
|
| 150 |
+
"fps": 50,
|
| 151 |
+
"rep": "euler",
|
| 152 |
+
"rep_kwargs": {
|
| 153 |
+
"seq": "ZYX",
|
| 154 |
+
"degrees": false,
|
| 155 |
+
"euler_in_rpy": true
|
| 156 |
+
},
|
| 157 |
+
"compose": null
|
| 158 |
+
},
|
| 159 |
+
"observation_states_ee_pose_right": {
|
| 160 |
+
"shape": [
|
| 161 |
+
6
|
| 162 |
+
],
|
| 163 |
+
"dtype": "state",
|
| 164 |
+
"fps": 50,
|
| 165 |
+
"rep": "euler",
|
| 166 |
+
"rep_kwargs": {
|
| 167 |
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"seq": "ZYX",
|
| 168 |
+
"degrees": false,
|
| 169 |
+
"euler_in_rpy": true
|
| 170 |
+
},
|
| 171 |
+
"compose": null
|
| 172 |
+
},
|
| 173 |
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