Sri-Ram-A commited on
Commit
239dc14
·
verified ·
1 Parent(s): 6d182af

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +71 -0
  2. model.safetensors +3 -0
  3. train_config.json +189 -0
config.json ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "n_obs_steps": 1,
3
+ "normalization_mapping": {
4
+ "VISUAL": "MEAN_STD",
5
+ "STATE": "MEAN_STD",
6
+ "ACTION": "MEAN_STD"
7
+ },
8
+ "input_features": {
9
+ "observation.state": {
10
+ "type": "STATE",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ },
15
+ "observation.images.main.left": {
16
+ "type": "VISUAL",
17
+ "shape": [
18
+ 3,
19
+ 240,
20
+ 320
21
+ ]
22
+ },
23
+ "observation.images.main.right": {
24
+ "type": "VISUAL",
25
+ "shape": [
26
+ 3,
27
+ 240,
28
+ 320
29
+ ]
30
+ },
31
+ "observation.images.secondary_0": {
32
+ "type": "VISUAL",
33
+ "shape": [
34
+ 3,
35
+ 240,
36
+ 320
37
+ ]
38
+ }
39
+ },
40
+ "output_features": {
41
+ "action": {
42
+ "type": "ACTION",
43
+ "shape": [
44
+ 6
45
+ ]
46
+ }
47
+ },
48
+ "device": "cuda",
49
+ "use_amp": false,
50
+ "chunk_size": 100,
51
+ "n_action_steps": 100,
52
+ "vision_backbone": "resnet18",
53
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
54
+ "replace_final_stride_with_dilation": false,
55
+ "pre_norm": false,
56
+ "dim_model": 512,
57
+ "n_heads": 8,
58
+ "dim_feedforward": 3200,
59
+ "feedforward_activation": "relu",
60
+ "n_encoder_layers": 4,
61
+ "n_decoder_layers": 1,
62
+ "use_vae": true,
63
+ "latent_dim": 32,
64
+ "n_vae_encoder_layers": 4,
65
+ "temporal_ensemble_coeff": null,
66
+ "dropout": 0.1,
67
+ "kl_weight": 10.0,
68
+ "optimizer_lr": 1e-05,
69
+ "optimizer_weight_decay": 0.0001,
70
+ "optimizer_lr_backbone": 1e-05
71
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:584b9384d7c4bbd5d0fdab1d6a9a4c20928d4e5cf66d2c7280a062fe520e8b58
3
+ size 206701368
train_config.json ADDED
@@ -0,0 +1,189 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "LegrandFrederic/Orange-brick-in-black-box",
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
+ }
73
+ },
74
+ "revision": null,
75
+ "use_imagenet_stats": true,
76
+ "video_backend": "pyav"
77
+ },
78
+ "env": null,
79
+ "policy": {
80
+ "type": "act",
81
+ "n_obs_steps": 1,
82
+ "normalization_mapping": {
83
+ "VISUAL": "MEAN_STD",
84
+ "STATE": "MEAN_STD",
85
+ "ACTION": "MEAN_STD"
86
+ },
87
+ "input_features": {
88
+ "observation.state": {
89
+ "type": "STATE",
90
+ "shape": [
91
+ 6
92
+ ]
93
+ },
94
+ "observation.images.main.left": {
95
+ "type": "VISUAL",
96
+ "shape": [
97
+ 3,
98
+ 240,
99
+ 320
100
+ ]
101
+ },
102
+ "observation.images.main.right": {
103
+ "type": "VISUAL",
104
+ "shape": [
105
+ 3,
106
+ 240,
107
+ 320
108
+ ]
109
+ },
110
+ "observation.images.secondary_0": {
111
+ "type": "VISUAL",
112
+ "shape": [
113
+ 3,
114
+ 240,
115
+ 320
116
+ ]
117
+ }
118
+ },
119
+ "output_features": {
120
+ "action": {
121
+ "type": "ACTION",
122
+ "shape": [
123
+ 6
124
+ ]
125
+ }
126
+ },
127
+ "device": "cuda",
128
+ "use_amp": false,
129
+ "chunk_size": 100,
130
+ "n_action_steps": 100,
131
+ "vision_backbone": "resnet18",
132
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
133
+ "replace_final_stride_with_dilation": false,
134
+ "pre_norm": false,
135
+ "dim_model": 512,
136
+ "n_heads": 8,
137
+ "dim_feedforward": 3200,
138
+ "feedforward_activation": "relu",
139
+ "n_encoder_layers": 4,
140
+ "n_decoder_layers": 1,
141
+ "use_vae": true,
142
+ "latent_dim": 32,
143
+ "n_vae_encoder_layers": 4,
144
+ "temporal_ensemble_coeff": null,
145
+ "dropout": 0.1,
146
+ "kl_weight": 10.0,
147
+ "optimizer_lr": 1e-05,
148
+ "optimizer_weight_decay": 0.0001,
149
+ "optimizer_lr_backbone": 1e-05
150
+ },
151
+ "output_dir": "outputs\\train\\phoshobot_test",
152
+ "job_name": "phosphobot_test",
153
+ "resume": false,
154
+ "seed": 1000,
155
+ "num_workers": 4,
156
+ "batch_size": 8,
157
+ "steps": 100,
158
+ "eval_freq": 20000,
159
+ "log_freq": 1,
160
+ "save_checkpoint": true,
161
+ "save_freq": 20000,
162
+ "use_policy_training_preset": true,
163
+ "optimizer": {
164
+ "type": "adamw",
165
+ "lr": 1e-05,
166
+ "weight_decay": 0.0001,
167
+ "grad_clip_norm": 10.0,
168
+ "betas": [
169
+ 0.9,
170
+ 0.999
171
+ ],
172
+ "eps": 1e-08
173
+ },
174
+ "scheduler": null,
175
+ "eval": {
176
+ "n_episodes": 50,
177
+ "batch_size": 50,
178
+ "use_async_envs": false
179
+ },
180
+ "wandb": {
181
+ "enable": false,
182
+ "disable_artifact": false,
183
+ "project": "lerobot",
184
+ "entity": null,
185
+ "notes": null,
186
+ "run_id": null,
187
+ "mode": null
188
+ }
189
+ }