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README.md +62 -0
config.json +103 -0
model.safetensors +3 -0
train_config.json +237 -0

README.md ADDED Viewed

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+---
+datasets: Tna001/tactile2
+library_name: lerobot
+license: apache-2.0
+model_name: diffusion
+pipeline_tag: robotics
+tags:
+- robotics
+- lerobot
+- diffusion
+---
+# Model Card for diffusion
+<!-- Provide a quick summary of what the model is/does. -->
+[Diffusion Policy](https://huggingface.co/papers/2303.04137) treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation.
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+---
+## How to Get Started with the Model
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+### Train from scratch
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+### Evaluate the policy/run inference
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+---
+## Model Details
+- **License:** apache-2.0

config.json ADDED Viewed

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+{
+    "type": "diffusion",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.tactile.primary": {
+            "type": "TACTILE",
+            "shape": [
+                16,
+                32
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda:0",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "Tna001/dp_without_tactile_small",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "horizon": 16,
+    "n_action_steps": 8,
+    "frame_stride": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX",
+        "TACTILE": "MEAN_STD"
+    },
+    "drop_n_last_frames": 7,
+    "vision_backbone": "resnet18",
+    "resize_shape": null,
+    "crop_ratio": 1.0,
+    "crop_shape": null,
+    "crop_is_random": true,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": false,
+    "down_dims": [
+        256,
+        512,
+        1024
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "noise_scheduler_type": "DDPM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.0,
+    "num_inference_steps": null,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "use_tactile": false,
+    "tactile_encoder_type": "cnn",
+    "tactile_input_shape": [
+        16,
+        32
+    ],
+    "tactile_dropout": 0.3,
+    "tactile_feature_dim": 64,
+    "tactile_features": null,
+    "n_tactile_chunks": 1,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500
+}

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train_config.json ADDED Viewed

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+{
+    "dataset": {
+        "repo_id": "Tna001/tactile2",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
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+                            1.2
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+                    }
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+        "use_imagenet_stats": true,
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+        "streaming": false
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+    "env": null,
+    "policy": {
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+        "n_obs_steps": 2,
+        "input_features": {
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+                "type": "STATE",
+                "shape": [
+                    6
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+            "observation.tactile.primary": {
+                "type": "TACTILE",
+                "shape": [
+                    16,
+                    32
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
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+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
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+        },
+        "device": "cuda:0",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "Tna001/dp_without_tactile_small",
+        "private": null,
+        "tags": null,
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+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX",
+            "TACTILE": "MEAN_STD"
+        },
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+        "vision_backbone": "resnet18",
+        "resize_shape": null,
+        "crop_ratio": 1.0,
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+        "crop_is_random": true,
+        "pretrained_backbone_weights": null,
+        "use_group_norm": true,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": false,
+        "down_dims": [
+            256,
+            512,
+            1024
+        ],
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+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "noise_scheduler_type": "DDPM",
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+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
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+        "num_inference_steps": null,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "use_tactile": false,
+        "tactile_encoder_type": "cnn",
+        "tactile_input_shape": [
+            16,
+            32
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+        "tactile_features": null,
+        "n_tactile_chunks": 1,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
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+            0.999
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+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500
+    },
+    "output_dir": "outputs/train/dp_without_tactile_small",
+    "job_name": "dp_without_tactile_small",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 8,
+    "batch_size": 64,
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+    "tolerance_s": 0.0001,
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+        "name": "cosine"
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+}