diff --git a/001000/pretrained_model/model.safetensors b/001000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..5dfe6d0bd0fbc50f6e64ceaa611804b19d32438f --- /dev/null +++ b/001000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10033065f981687326d41a4a1adbfc4b5d224b53f8268213ba722a6d1acb8311 +size 906712520 diff --git a/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/001000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/001000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/001000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/001000/training_state/optimizer_state.safetensors b/001000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e9ff0a5152c1fba22fcfd4930b3e259310a98fe0 --- /dev/null +++ b/001000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb754b8d139236788db90bcde2ed5464c894b826753967378662b5e3dcda6d31 +size 412659164 diff --git a/001000/training_state/rng_state.safetensors b/001000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..4b5bea29a763bd82becc2ddc33c8738d2fd411bf --- /dev/null +++ b/001000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a40e5ff8db7153af7524badeab4244fdb0a78b72362fae6cfdbd567e12d055c4 +size 15708 diff --git a/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/002000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/002000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/002000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/002000/training_state/optimizer_state.safetensors b/002000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2c8a42f51ac6c2d886e7f13a7237ae4408f706b8 --- /dev/null +++ b/002000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75951ef39d14ac396e0e868e26926e495aca260b5af606e08695a32bfcdcfe52 +size 412659164 diff --git a/002000/training_state/rng_state.safetensors b/002000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..603d2efe68c1c95c76e9736d3fe4d100972baeb7 --- /dev/null +++ b/002000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:561b0cd59bbb803836f9ad68192e9ac47b4c22fefc019f4108365ea86e7f0d72 +size 15708 diff --git a/003000/pretrained_model/model.safetensors b/003000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..f5fad33d5cc8e369f1ecaf8fc43ec9c508b44d29 --- /dev/null +++ b/003000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4f0cb81484be2ddd02bd657d1721241fc56076ad3a6a2316a59ee6e2973bba9 +size 906712520 diff --git a/003000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/003000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/003000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/003000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/003000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/003000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/003000/training_state/optimizer_state.safetensors b/003000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..07e47a586292901995e27ae31fb421ccc2e4a6ec --- /dev/null +++ b/003000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebc01268a6d783ab6bfaf34f55f3b6fb73cea7746fdb8b6de210436b332209c4 +size 412659164 diff --git a/003000/training_state/rng_state.safetensors b/003000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..39352c798c64e07b7cdfcdc7ff1d813b2f84a6fc --- /dev/null +++ b/003000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f476dfb9519f4b8d28dd705fd4bdddc4db1d33aa7168620294c2de7cf94cadbd +size 15708 diff --git a/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/004000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/004000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/004000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/004000/training_state/optimizer_state.safetensors b/004000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..fd1786292ecd0fe452f6170398cd79f7f5ce9152 --- /dev/null +++ b/004000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af6bb3068b48f85db787168f2d56e2c172bbff29a064b4958f9b8effb43bc2f9 +size 412659164 diff --git a/004000/training_state/rng_state.safetensors b/004000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d8613785844ba3865431454759131ddfcb3a78f --- /dev/null +++ b/004000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d67d4704a63f62e706905a80c1f90088059d9079f7926ff2c9f87e4567717fd9 +size 15708 diff --git a/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/005000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/005000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/005000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/005000/training_state/optimizer_state.safetensors b/005000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..caeadae5b95585ed93884704184f51c320f3c8b6 --- /dev/null +++ b/005000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d9e01783009e9906e728779d9126621520d0a47486eb0905333166478d85663 +size 412659164 diff --git a/005000/training_state/rng_state.safetensors b/005000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..9a3beb8d6302933ef92b74148fb64ab1a7f0e43f --- /dev/null +++ b/005000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23f49f4a294bbb670f961803c44819b5f110dc2f506fa2bcb28f5f036858b9f8 +size 15708 diff --git a/006000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/006000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/006000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/006000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/006000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/006000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/006000/training_state/optimizer_state.safetensors b/006000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..91ba03680a6cfce5603848c45134f7e09fabd598 --- /dev/null +++ b/006000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68e4b736c860ea734fcb0f8428ce7dfca1a31904bc9936ce2fe911504ab127c7 +size 412659164 diff --git a/006000/training_state/rng_state.safetensors b/006000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..49bf1bb6f47c76a7a92986a716397ede59888daf --- /dev/null +++ b/006000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f9dcfe274392e1a561c6ec8114aa4ee3d43c4255a6c58cb5f4f520e92745e8c +size 15708 diff --git a/007000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/007000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/007000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/007000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/007000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/007000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/007000/training_state/optimizer_state.safetensors b/007000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..dbd81c5674564f396da2484fe3a62b8a47d08349 --- /dev/null +++ b/007000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faa803186469e2f0097ebe8adf103a97c32e0a3872e47d07886b59044f232adb +size 412659164 diff --git a/007000/training_state/rng_state.safetensors b/007000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..4b02c763418f6280b607eae7c8a94f61b1c93f25 --- /dev/null +++ b/007000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:809bdae300bb7374b7ee87d456dd501fe91ff4f2177321a8cb693a78790ff5bf +size 15708 diff --git a/008000/pretrained_model/config.json b/008000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..b098bce04545b5c787e0af6ad3f345556d53a71f --- /dev/null +++ b/008000/pretrained_model/config.json @@ -0,0 +1,109 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.camera1": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera2": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera3": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.empty_camera_0": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": "TANAY779/SmolVLA_Stacking_2_Cubes", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "lerobot/smolvla_base", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 1, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + "scheduler_decay_lr": 2.5e-06, + "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", + "load_vlm_weights": true, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": 0, + "pad_language_to": "max_length", + "num_expert_layers": 0, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0, + "rtc_config": null, + "compile_model": false, + "compile_mode": "max-autotune" +} \ No newline at end of file diff --git a/008000/pretrained_model/policy_postprocessor.json b/008000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/008000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/008000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/008000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/008000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/008000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/008000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/008000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/008000/training_state/optimizer_state.safetensors b/008000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e396cce85fab7c983faba1e862a495cf79e2c68e --- /dev/null +++ b/008000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79cb86b6f02902663316e80835ce1acda1bb287ccc9155a2ac98585edab8ab64 +size 412659164 diff --git a/008000/training_state/rng_state.safetensors b/008000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..ef2d6b2dfe7f6046cc705c5ac6b566efc27a42d2 --- /dev/null +++ b/008000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42f5adaa293fe1d89b10757aa17ebe170bc26c0139bb6b2de2285ea3c8244fe5 +size 15708 diff --git a/008000/training_state/scheduler_state.json b/008000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..16fd324975bb8a32bacfbeab377c92fc0d37cf08 --- /dev/null +++ b/008000/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 8000, + "_step_count": 8001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 6.631457847577869e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/008000/training_state/training_step.json b/008000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..74d8cba01cab8506617b2cbae6f268fe80fbfa79 --- /dev/null +++ b/008000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 8000 +} \ No newline at end of file diff --git a/009000/pretrained_model/model.safetensors b/009000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e70225fbf4e20eebcfd966d16690cf7ac4de5b45 --- /dev/null +++ b/009000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95cf4b64143b5447a9076a809246edff452d9102ed9cefb475c2c1cf27225248 +size 906712520 diff --git a/009000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/009000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/009000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/009000/pretrained_model/policy_preprocessor.json b/009000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..7adad394863df5bc19281c2b8887968575c510e2 --- /dev/null +++ b/009000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,98 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": { + "observation.images.overhead": "observation.images.camera1", + "observation.images.wrist": "observation.images.camera2" + } + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "smolvla_new_line_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 48, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.camera1": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera2": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera3": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.empty_camera_0": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/009000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/009000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/009000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/009000/training_state/optimizer_param_groups.json b/009000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..3f34e7c2ec3364e7c87fcd3a0e8dc07841f6e1c8 --- /dev/null +++ b/009000/training_state/optimizer_param_groups.json @@ -0,0 +1,521 @@ +[ + { + "lr": 5.887618017071126e-05, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-10, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499 + ] + } +] \ No newline at end of file diff --git a/009000/training_state/optimizer_state.safetensors b/009000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..f7b45511f6a538277558bc3db26ca26a44fcc9d1 --- /dev/null +++ b/009000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:278228e7f190668ed92946e9ae21ec76a0d0312022c41f6ce1efac9b8fb0e49e +size 412659164 diff --git a/009000/training_state/rng_state.safetensors b/009000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7372be561697eead23b6dfba6cc4467af574164f --- /dev/null +++ b/009000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db6c9ef9fbea30e1e35836577bcad40564cb9ce067d482a3a73cfc3fe82c938a +size 15708 diff --git a/009000/training_state/scheduler_state.json b/009000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..16fe92aff107216362bcbda708112a133269384a --- /dev/null +++ b/009000/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 9000, + "_step_count": 9001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 5.887618017071126e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/010000/pretrained_model/config.json b/010000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..b098bce04545b5c787e0af6ad3f345556d53a71f --- /dev/null +++ b/010000/pretrained_model/config.json @@ -0,0 +1,109 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.camera1": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera2": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera3": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.empty_camera_0": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": "TANAY779/SmolVLA_Stacking_2_Cubes", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "lerobot/smolvla_base", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 1, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + "scheduler_decay_lr": 2.5e-06, + "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", + "load_vlm_weights": true, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": 0, + "pad_language_to": "max_length", + "num_expert_layers": 0, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0, + "rtc_config": null, + "compile_model": false, + "compile_mode": "max-autotune" +} \ No newline at end of file diff --git a/010000/pretrained_model/model.safetensors b/010000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..13f100fd896aae50e4acf77e59b0fb844cbe285d --- /dev/null +++ b/010000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cdbb0f288734462b6a2748ffd8fd1b2e5f6debddce3dcb88f95d8893fd9e08c +size 906712520 diff --git a/010000/pretrained_model/policy_postprocessor.json b/010000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/010000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/010000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/010000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/010000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/010000/pretrained_model/train_config.json b/010000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8952d21d7c8bb5902c30c59a0cd697f9c3e5191c --- /dev/null +++ b/010000/pretrained_model/train_config.json @@ -0,0 +1,253 @@ +{ + "dataset": { + "repo_id": "TANAY779/SmolVLA_Stacking_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + }, + "affine": { + "weight": 1.0, + "type": "RandomAffine", + "kwargs": { + "degrees": [ + -5.0, + 5.0 + ], + "translate": [ + 0.05, + 0.05 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "return_uint8": false, + "streaming": false + }, + "env": null, + "policy": { + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.camera1": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera2": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera3": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.empty_camera_0": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": "TANAY779/SmolVLA_Stacking_2_Cubes", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "lerobot/smolvla_base", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 1, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + "scheduler_decay_lr": 2.5e-06, + "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", + "load_vlm_weights": true, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": 0, + "pad_language_to": "max_length", + "num_expert_layers": 0, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0, + "rtc_config": null, + "compile_model": false, + "compile_mode": "max-autotune" + }, + "output_dir": "outputs/train/SmolVLA_Stacking_2_Cubes", + "job_name": "SmolVLA_Stacking_2_Cubes", + "resume": false, + "seed": 1000, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 48, + "prefetch_factor": 4, + "persistent_workers": true, + "steps": 20000, + "eval_freq": 2000, + "log_freq": 100, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 1000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 0.0001, + "weight_decay": 1e-10, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "cosine_decay_with_warmup", + "num_warmup_steps": 1000, + "num_decay_steps": 30000, + "peak_lr": 0.0001, + "decay_lr": 2.5e-06 + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": true + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "hfb3ftb5", + "mode": null, + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.overhead": "observation.images.camera1", + "observation.images.wrist": "observation.images.camera2" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/010000/training_state/optimizer_param_groups.json b/010000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..9277f6533d9b54979939a62759a6fbdec0e5ac6c --- /dev/null +++ b/010000/training_state/optimizer_param_groups.json @@ -0,0 +1,521 @@ +[ + { + "lr": 5.125e-05, + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-10, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499 + ] + } +] \ No newline at end of file diff --git a/010000/training_state/optimizer_state.safetensors b/010000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..829f5cda9c7993abebcc39270c1e84cd0d1e48e8 --- /dev/null +++ b/010000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de7235074ea2f203681d6a68977828232e2d9dbe9157cbe2a0c461cb50978784 +size 412659164 diff --git a/010000/training_state/rng_state.safetensors b/010000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e2e378b4611b0e77f6f32c478834c8fc9e08c087 --- /dev/null +++ b/010000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69930b3e7c03822eee5ed250e84b3c9d3833a2ad3cce797b7f63c13d2f476b34 +size 15708 diff --git a/010000/training_state/scheduler_state.json b/010000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..4fe84c064b140c67191db3e9efe9702cd6737e18 --- /dev/null +++ b/010000/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 10000, + "_step_count": 10001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 5.125e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/011000/pretrained_model/config.json b/011000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..b098bce04545b5c787e0af6ad3f345556d53a71f --- /dev/null +++ b/011000/pretrained_model/config.json @@ -0,0 +1,109 @@ +{ + "type": "smolvla", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.camera1": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera2": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.camera3": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.empty_camera_0": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": "TANAY779/SmolVLA_Stacking_2_Cubes", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "lerobot/smolvla_base", + "chunk_size": 50, + "n_action_steps": 50, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 1, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + "scheduler_decay_lr": 2.5e-06, + "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", + "load_vlm_weights": true, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": 0, + "pad_language_to": "max_length", + "num_expert_layers": 0, + "num_vlm_layers": 16, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.75, + "min_period": 0.004, + "max_period": 4.0, + "rtc_config": null, + "compile_model": false, + "compile_mode": "max-autotune" +} \ No newline at end of file diff --git a/011000/pretrained_model/model.safetensors b/011000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..43655f0f42e8e61383ee9457dc45a8b266f689cd --- /dev/null +++ b/011000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46be58c012c5d6b60673f0945ae6d3eb7131978987abeece496b3d941f4bd648 +size 906712520 diff --git a/011000/pretrained_model/policy_postprocessor.json b/011000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8997e5be18c67bad9377dd2cd9622ba38b5ae3 --- /dev/null +++ b/011000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/011000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/011000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/011000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/011000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/011000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/011000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/011000/training_state/optimizer_state.safetensors b/011000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..aa7b786c9b23f6d5111e70cd4676b95df2897205 --- /dev/null +++ b/011000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:408afbca8d4ab658f0e9212d67b2f7465d03e22636a4eadb28433b76cb048c16 +size 412659164 diff --git a/011000/training_state/rng_state.safetensors b/011000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..038f43d8ed0dce35532237104329786333f41150 --- /dev/null +++ b/011000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30dd4dba367ac9abc9611f460aa1b3425b4e549d7b69dfb801e939d0b2843168 +size 15708 diff --git a/012000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/012000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/012000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/012000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/012000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/012000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/012000/training_state/optimizer_state.safetensors b/012000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e50a87aa778f29d7191b298f85b39f908802d940 --- /dev/null +++ b/012000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a57abe5cac04bc74cf4e68d6b3f289c7c131569ead41525c6311a026cdb208eb +size 412659164 diff --git a/012000/training_state/rng_state.safetensors b/012000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..8d2f0aa225a670e02ce4471f7c5ae5410f7479b5 --- /dev/null +++ b/012000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f99aa023ed941a8e1978c0ad61ad929cab4a292e8cb3a55e4600fba902b918c7 +size 15708 diff --git a/012000/training_state/scheduler_state.json b/012000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..7d3883496189babd8640c70727a00dcacc210477 --- /dev/null +++ b/012000/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 12000, + "_step_count": 12001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 3.618542152422132e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/013000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/013000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/013000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/013000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/013000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/013000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/013000/training_state/optimizer_state.safetensors b/013000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..9635f71a48bf6e302faea1a385f2d155fcfa7a15 --- /dev/null +++ b/013000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:387d063b566d22c23ebd34a0beb451ceaa25097d9b9137c6efa146a183918122 +size 412659164 diff --git a/013000/training_state/rng_state.safetensors b/013000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..0b09ec693ad7e7d84adf9220d8d11cdead596eb4 --- /dev/null +++ b/013000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76de5140aa75e929196b2c0601700c0991dcbfaf32c6656bba563a1cbaef26ea +size 15708 diff --git a/014000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/014000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/014000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/014000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/014000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/014000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/014000/training_state/optimizer_state.safetensors b/014000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..aeb76554bee2eed1ff0be39fda6ab0ae0d311fa7 --- /dev/null +++ b/014000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e32c5823d4f1209bbfa6e0d3829bd4fc3358d740c33b08b8e794a542de2c0a6 +size 412659164 diff --git a/014000/training_state/rng_state.safetensors b/014000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7ed0c247977cfad27a5aa05476c5a1003714df63 --- /dev/null +++ b/014000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9139a7789893433fb1e8695f93a4d992b61deb8749a4b03b066797c00b62b3a +size 15708 diff --git a/015000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/015000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/015000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/015000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/015000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/015000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/015000/training_state/optimizer_state.safetensors b/015000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..0ca86cd6562dc9fed5acba78d8d4f6b70ed01772 --- /dev/null +++ b/015000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a869bd25fbc54e468e0087463f88fa49e33931d2e2a4ba320bb8a7509f19410c +size 412659164 diff --git a/015000/training_state/rng_state.safetensors b/015000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..ecb1e704bd6a12fae6525a0737390c45dc6c4bcb --- /dev/null +++ b/015000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c247c5a6c774bd7c0ecddb80b8fb619a361d828c52912382b8c3775093d1904f +size 15708 diff --git a/016000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/016000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/016000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/016000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/016000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/016000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/016000/training_state/rng_state.safetensors b/016000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..80e56104bf8594a579bdd4d36fddc5f7c9b65930 --- /dev/null +++ b/016000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2ff051890e64732b299824847f616b7aeb963e183129e25fd0337f9597c3b6a +size 15708 diff --git a/017000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/017000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/017000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/017000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/017000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/017000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/017000/training_state/optimizer_state.safetensors b/017000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..a0663437b84581209f612208ff7abc3f3587d6c0 --- /dev/null +++ b/017000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:386d53a4904cd7680326a3147094e9b0bd314f993a88b2a0eecb14272d5e45f5 +size 412659164 diff --git a/017000/training_state/rng_state.safetensors b/017000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..384d6a307a26a1e1bef29b12ff8981ad314e639f --- /dev/null +++ b/017000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dacca63d5d0a4330e1c97e07551f99d0dbfddb3b0fbd4305d5c355751b1541b +size 15708 diff --git a/018000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/018000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/018000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/018000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/018000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/018000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/018000/training_state/optimizer_state.safetensors b/018000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..5e411b861492dc9f3c691f95dc412f5ad611cc74 --- /dev/null +++ b/018000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f128c2eb0a6b539a72bb25939907fab42d7de6f7547602bc5a3a4a051c10eef +size 412659164 diff --git a/018000/training_state/rng_state.safetensors b/018000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..fd42f5762b86fed21b287ce74e4c24ca08f58206 --- /dev/null +++ b/018000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:615794b84e2d5fce9d961fe35649d2f315855366eaecb3f5745a13129d8f61aa +size 15708 diff --git a/019000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/019000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/019000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/019000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/019000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/019000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/019000/training_state/optimizer_state.safetensors b/019000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..3848c8cc29ba92347e626e4e57de7f17e0ef0faf --- /dev/null +++ b/019000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:030d7734ecdb7b96e84a76065de8ed9a346740c16a90ca71b50262f87089c692 +size 412659164 diff --git a/019000/training_state/rng_state.safetensors b/019000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..64d19ffc83381b18a81a0da7d3107ee80865a6d1 --- /dev/null +++ b/019000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:289abdcbfa24ffd7b0c9bebad5ff90c58a49fd2c11b1c906331b36088e8b913b +size 15708 diff --git a/020000/pretrained_model/model.safetensors b/020000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..682a506c96d7871e6032526eea32e42fae9fcecc --- /dev/null +++ b/020000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11292d43d242d3da154f2f7311a58eab151eda2e68962d556354f07218a4f274 +size 906712520 diff --git a/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors b/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7cb52bcaf1f44d3537f1d88fe0f917116fe442fa --- /dev/null +++ b/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ff981b70febae4bade3d0895548cbc04fc5e18bc040e4786b5b4799337a37 +size 7584 diff --git a/020000/training_state/optimizer_state.safetensors b/020000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..480ffa06362879d9201a68594aae7b109610bb0c --- /dev/null +++ b/020000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baac559fdb0af8764b30b3b24191c0ac9ece98a656eeb7a33a1a473d9a20094d +size 412659164 diff --git a/020000/training_state/rng_state.safetensors b/020000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..0bf70ec90f744ef0ea3a9dc1c9e7aaf2e3313ef0 --- /dev/null +++ b/020000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42d583ed519bed7e9e78b3074827fefdfa2607ba292ec25bdf40f61a11e94f2b +size 15708