TreeePlanter commited on
Commit
5052f4a
·
verified ·
1 Parent(s): 590c9c3

Upload policy weights and config

Browse files
config.json ADDED
@@ -0,0 +1,90 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "diffusion",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 8
9
+ ]
10
+ },
11
+ "observation.images.external": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 376,
16
+ 672
17
+ ]
18
+ },
19
+ "observation.images.wrist": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 376,
24
+ 672
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "push_to_hub": true,
39
+ "repo_id": "lerobot/vls_real_dp_v3",
40
+ "private": null,
41
+ "tags": null,
42
+ "license": null,
43
+ "pretrained_path": null,
44
+ "horizon": 16,
45
+ "n_action_steps": 8,
46
+ "normalization_mapping": {
47
+ "VISUAL": "MEAN_STD",
48
+ "STATE": "MIN_MAX",
49
+ "ACTION": "MIN_MAX"
50
+ },
51
+ "drop_n_last_frames": 7,
52
+ "vision_backbone": "resnet18",
53
+ "crop_shape": [
54
+ 350,
55
+ 640
56
+ ],
57
+ "crop_is_random": true,
58
+ "pretrained_backbone_weights": null,
59
+ "use_group_norm": true,
60
+ "spatial_softmax_num_keypoints": 32,
61
+ "use_separate_rgb_encoder_per_camera": false,
62
+ "down_dims": [
63
+ 256,
64
+ 512,
65
+ 1024
66
+ ],
67
+ "kernel_size": 5,
68
+ "n_groups": 8,
69
+ "diffusion_step_embed_dim": 256,
70
+ "use_film_scale_modulation": true,
71
+ "noise_scheduler_type": "DDPM",
72
+ "num_train_timesteps": 100,
73
+ "beta_schedule": "squaredcos_cap_v2",
74
+ "beta_start": 0.0001,
75
+ "beta_end": 0.02,
76
+ "prediction_type": "epsilon",
77
+ "clip_sample": true,
78
+ "clip_sample_range": 1.0,
79
+ "num_inference_steps": null,
80
+ "do_mask_loss_for_padding": false,
81
+ "optimizer_lr": 0.0001,
82
+ "optimizer_betas": [
83
+ 0.95,
84
+ 0.999
85
+ ],
86
+ "optimizer_eps": 1e-08,
87
+ "optimizer_weight_decay": 1e-06,
88
+ "scheduler_name": "cosine",
89
+ "scheduler_warmup_steps": 500
90
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b82001e426eae6e921cf57346eb85a045306882ee853a53cbc990674470d6f8
3
+ size 321288092
policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 7
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fb02fd3366d1b86d8f3ea269321957a0dc5d4783b006257b07c8999647ca5f2
3
+ size 7692
policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 8
30
+ ]
31
+ },
32
+ "observation.images.external": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 376,
37
+ 672
38
+ ]
39
+ },
40
+ "observation.images.wrist": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 376,
45
+ 672
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MIN_MAX",
58
+ "ACTION": "MIN_MAX"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fb02fd3366d1b86d8f3ea269321957a0dc5d4783b006257b07c8999647ca5f2
3
+ size 7692
train_config.json ADDED
@@ -0,0 +1,227 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "TreeePlanter/vls_real_l1_mug_handle",
4
+ "repo_ids": [
5
+ "TreeePlanter/vls_real_l1_mug_handle",
6
+ "TreeePlanter/vls_real_l1_mug_rim",
7
+ "TreeePlanter/vls_real_l2_orange_red",
8
+ "TreeePlanter/vls_real_l2_banana_red",
9
+ "TreeePlanter/vls_real_l1_orange_red",
10
+ "TreeePlanter/vls_real_l2_orange_green",
11
+ "TreeePlanter/vls_real_l1_orange_green",
12
+ "TreeePlanter/vls_real_l2_banana_green"
13
+ ],
14
+ "root": null,
15
+ "episodes": null,
16
+ "image_transforms": {
17
+ "enable": false,
18
+ "max_num_transforms": 3,
19
+ "random_order": false,
20
+ "tfs": {
21
+ "brightness": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "brightness": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "contrast": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "contrast": [
36
+ 0.8,
37
+ 1.2
38
+ ]
39
+ }
40
+ },
41
+ "saturation": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "saturation": [
46
+ 0.5,
47
+ 1.5
48
+ ]
49
+ }
50
+ },
51
+ "hue": {
52
+ "weight": 1.0,
53
+ "type": "ColorJitter",
54
+ "kwargs": {
55
+ "hue": [
56
+ -0.05,
57
+ 0.05
58
+ ]
59
+ }
60
+ },
61
+ "sharpness": {
62
+ "weight": 1.0,
63
+ "type": "SharpnessJitter",
64
+ "kwargs": {
65
+ "sharpness": [
66
+ 0.5,
67
+ 1.5
68
+ ]
69
+ }
70
+ },
71
+ "affine": {
72
+ "weight": 1.0,
73
+ "type": "RandomAffine",
74
+ "kwargs": {
75
+ "degrees": [
76
+ -5.0,
77
+ 5.0
78
+ ],
79
+ "translate": [
80
+ 0.05,
81
+ 0.05
82
+ ]
83
+ }
84
+ }
85
+ }
86
+ },
87
+ "revision": null,
88
+ "use_imagenet_stats": true,
89
+ "video_backend": "pyav",
90
+ "streaming": false
91
+ },
92
+ "env": null,
93
+ "policy": {
94
+ "type": "diffusion",
95
+ "n_obs_steps": 2,
96
+ "input_features": {
97
+ "observation.state": {
98
+ "type": "STATE",
99
+ "shape": [
100
+ 8
101
+ ]
102
+ },
103
+ "observation.images.external": {
104
+ "type": "VISUAL",
105
+ "shape": [
106
+ 3,
107
+ 376,
108
+ 672
109
+ ]
110
+ },
111
+ "observation.images.wrist": {
112
+ "type": "VISUAL",
113
+ "shape": [
114
+ 3,
115
+ 376,
116
+ 672
117
+ ]
118
+ }
119
+ },
120
+ "output_features": {
121
+ "action": {
122
+ "type": "ACTION",
123
+ "shape": [
124
+ 7
125
+ ]
126
+ }
127
+ },
128
+ "device": "cuda",
129
+ "use_amp": false,
130
+ "push_to_hub": true,
131
+ "repo_id": "lerobot/vls_real_dp_v3",
132
+ "private": null,
133
+ "tags": null,
134
+ "license": null,
135
+ "pretrained_path": null,
136
+ "horizon": 16,
137
+ "n_action_steps": 8,
138
+ "normalization_mapping": {
139
+ "VISUAL": "MEAN_STD",
140
+ "STATE": "MIN_MAX",
141
+ "ACTION": "MIN_MAX"
142
+ },
143
+ "drop_n_last_frames": 7,
144
+ "vision_backbone": "resnet18",
145
+ "crop_shape": [
146
+ 350,
147
+ 640
148
+ ],
149
+ "crop_is_random": true,
150
+ "pretrained_backbone_weights": null,
151
+ "use_group_norm": true,
152
+ "spatial_softmax_num_keypoints": 32,
153
+ "use_separate_rgb_encoder_per_camera": false,
154
+ "down_dims": [
155
+ 256,
156
+ 512,
157
+ 1024
158
+ ],
159
+ "kernel_size": 5,
160
+ "n_groups": 8,
161
+ "diffusion_step_embed_dim": 256,
162
+ "use_film_scale_modulation": true,
163
+ "noise_scheduler_type": "DDPM",
164
+ "num_train_timesteps": 100,
165
+ "beta_schedule": "squaredcos_cap_v2",
166
+ "beta_start": 0.0001,
167
+ "beta_end": 0.02,
168
+ "prediction_type": "epsilon",
169
+ "clip_sample": true,
170
+ "clip_sample_range": 1.0,
171
+ "num_inference_steps": null,
172
+ "do_mask_loss_for_padding": false,
173
+ "optimizer_lr": 0.0001,
174
+ "optimizer_betas": [
175
+ 0.95,
176
+ 0.999
177
+ ],
178
+ "optimizer_eps": 1e-08,
179
+ "optimizer_weight_decay": 1e-06,
180
+ "scheduler_name": "cosine",
181
+ "scheduler_warmup_steps": 500
182
+ },
183
+ "output_dir": "outputs/train/2026-01-22/01-45-36_vls_real_dp_v3",
184
+ "job_name": "vls_real_dp_v3",
185
+ "resume": false,
186
+ "seed": 1000,
187
+ "num_workers": 4,
188
+ "batch_size": 16,
189
+ "steps": 200000,
190
+ "eval_freq": 20000,
191
+ "log_freq": 200,
192
+ "save_checkpoint": true,
193
+ "save_freq": 20000,
194
+ "use_policy_training_preset": true,
195
+ "optimizer": {
196
+ "type": "adam",
197
+ "lr": 0.0001,
198
+ "weight_decay": 1e-06,
199
+ "grad_clip_norm": 10.0,
200
+ "betas": [
201
+ 0.95,
202
+ 0.999
203
+ ],
204
+ "eps": 1e-08
205
+ },
206
+ "scheduler": {
207
+ "type": "diffuser",
208
+ "num_warmup_steps": 500,
209
+ "name": "cosine"
210
+ },
211
+ "eval": {
212
+ "n_episodes": 50,
213
+ "batch_size": 50,
214
+ "use_async_envs": false
215
+ },
216
+ "wandb": {
217
+ "enable": true,
218
+ "disable_artifact": false,
219
+ "project": "lerobot",
220
+ "entity": null,
221
+ "notes": null,
222
+ "run_id": "ao92zxsc",
223
+ "mode": null
224
+ },
225
+ "checkpoint_path": null,
226
+ "rename_map": {}
227
+ }