Hugging Face's logo

TreeePlanter
/
vls_real_l2

Safetensors
Model card Files
xet
Community
TreeePlanter commited on
Commit
0971337
·
verified ·
1 Parent(s): 6efb234

Upload policy weights and config

Browse files
Files changed (7) hide show
  1. config.json +90 -0
  2. model.safetensors +3 -0
  3. policy_postprocessor.json +32 -0
  4. policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. policy_preprocessor.json +64 -0
  6. policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. train_config.json +223 -0
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_l2",
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:f510be1f0a892e1dc815f799440f79b3b0a03212e1a1a935f54826d23a4823d9
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:e28300697be728808537764665974b6620314e0974477fc387dde497a85a219c
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:e28300697be728808537764665974b6620314e0974477fc387dde497a85a219c
3
+ size 7692
train_config.json ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "TreeePlanter/vls_real_l2_orange_red",
4
+ "repo_ids": [
5
+ "TreeePlanter/vls_real_l2_orange_red",
6
+ "TreeePlanter/vls_real_l2_orange_green",
7
+ "TreeePlanter/vls_real_l2_banana_red",
8
+ "TreeePlanter/vls_real_l2_banana_green"
9
+ ],
10
+ "root": null,
11
+ "episodes": null,
12
+ "image_transforms": {
13
+ "enable": false,
14
+ "max_num_transforms": 3,
15
+ "random_order": false,
16
+ "tfs": {
17
+ "brightness": {
18
+ "weight": 1.0,
19
+ "type": "ColorJitter",
20
+ "kwargs": {
21
+ "brightness": [
22
+ 0.8,
23
+ 1.2
24
+ ]
25
+ }
26
+ },
27
+ "contrast": {
28
+ "weight": 1.0,
29
+ "type": "ColorJitter",
30
+ "kwargs": {
31
+ "contrast": [
32
+ 0.8,
33
+ 1.2
34
+ ]
35
+ }
36
+ },
37
+ "saturation": {
38
+ "weight": 1.0,
39
+ "type": "ColorJitter",
40
+ "kwargs": {
41
+ "saturation": [
42
+ 0.5,
43
+ 1.5
44
+ ]
45
+ }
46
+ },
47
+ "hue": {
48
+ "weight": 1.0,
49
+ "type": "ColorJitter",
50
+ "kwargs": {
51
+ "hue": [
52
+ -0.05,
53
+ 0.05
54
+ ]
55
+ }
56
+ },
57
+ "sharpness": {
58
+ "weight": 1.0,
59
+ "type": "SharpnessJitter",
60
+ "kwargs": {
61
+ "sharpness": [
62
+ 0.5,
63
+ 1.5
64
+ ]
65
+ }
66
+ },
67
+ "affine": {
68
+ "weight": 1.0,
69
+ "type": "RandomAffine",
70
+ "kwargs": {
71
+ "degrees": [
72
+ -5.0,
73
+ 5.0
74
+ ],
75
+ "translate": [
76
+ 0.05,
77
+ 0.05
78
+ ]
79
+ }
80
+ }
81
+ }
82
+ },
83
+ "revision": null,
84
+ "use_imagenet_stats": true,
85
+ "video_backend": "pyav",
86
+ "streaming": false
87
+ },
88
+ "env": null,
89
+ "policy": {
90
+ "type": "diffusion",
91
+ "n_obs_steps": 2,
92
+ "input_features": {
93
+ "observation.state": {
94
+ "type": "STATE",
95
+ "shape": [
96
+ 8
97
+ ]
98
+ },
99
+ "observation.images.external": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 3,
103
+ 376,
104
+ 672
105
+ ]
106
+ },
107
+ "observation.images.wrist": {
108
+ "type": "VISUAL",
109
+ "shape": [
110
+ 3,
111
+ 376,
112
+ 672
113
+ ]
114
+ }
115
+ },
116
+ "output_features": {
117
+ "action": {
118
+ "type": "ACTION",
119
+ "shape": [
120
+ 7
121
+ ]
122
+ }
123
+ },
124
+ "device": "cuda",
125
+ "use_amp": false,
126
+ "push_to_hub": true,
127
+ "repo_id": "lerobot/vls_real_dp_l2",
128
+ "private": null,
129
+ "tags": null,
130
+ "license": null,
131
+ "pretrained_path": null,
132
+ "horizon": 16,
133
+ "n_action_steps": 8,
134
+ "normalization_mapping": {
135
+ "VISUAL": "MEAN_STD",
136
+ "STATE": "MIN_MAX",
137
+ "ACTION": "MIN_MAX"
138
+ },
139
+ "drop_n_last_frames": 7,
140
+ "vision_backbone": "resnet18",
141
+ "crop_shape": [
142
+ 350,
143
+ 640
144
+ ],
145
+ "crop_is_random": true,
146
+ "pretrained_backbone_weights": null,
147
+ "use_group_norm": true,
148
+ "spatial_softmax_num_keypoints": 32,
149
+ "use_separate_rgb_encoder_per_camera": false,
150
+ "down_dims": [
151
+ 256,
152
+ 512,
153
+ 1024
154
+ ],
155
+ "kernel_size": 5,
156
+ "n_groups": 8,
157
+ "diffusion_step_embed_dim": 256,
158
+ "use_film_scale_modulation": true,
159
+ "noise_scheduler_type": "DDPM",
160
+ "num_train_timesteps": 100,
161
+ "beta_schedule": "squaredcos_cap_v2",
162
+ "beta_start": 0.0001,
163
+ "beta_end": 0.02,
164
+ "prediction_type": "epsilon",
165
+ "clip_sample": true,
166
+ "clip_sample_range": 1.0,
167
+ "num_inference_steps": null,
168
+ "do_mask_loss_for_padding": false,
169
+ "optimizer_lr": 0.0001,
170
+ "optimizer_betas": [
171
+ 0.95,
172
+ 0.999
173
+ ],
174
+ "optimizer_eps": 1e-08,
175
+ "optimizer_weight_decay": 1e-06,
176
+ "scheduler_name": "cosine",
177
+ "scheduler_warmup_steps": 500
178
+ },
179
+ "output_dir": "outputs/train/2026-01-22/18-12-45_vls_real_dp_l2",
180
+ "job_name": "vls_real_dp_l2",
181
+ "resume": false,
182
+ "seed": 1000,
183
+ "num_workers": 4,
184
+ "batch_size": 16,
185
+ "steps": 100000,
186
+ "eval_freq": 20000,
187
+ "log_freq": 200,
188
+ "save_checkpoint": true,
189
+ "save_freq": 20000,
190
+ "use_policy_training_preset": true,
191
+ "optimizer": {
192
+ "type": "adam",
193
+ "lr": 0.0001,
194
+ "weight_decay": 1e-06,
195
+ "grad_clip_norm": 10.0,
196
+ "betas": [
197
+ 0.95,
198
+ 0.999
199
+ ],
200
+ "eps": 1e-08
201
+ },
202
+ "scheduler": {
203
+ "type": "diffuser",
204
+ "num_warmup_steps": 500,
205
+ "name": "cosine"
206
+ },
207
+ "eval": {
208
+ "n_episodes": 50,
209
+ "batch_size": 50,
210
+ "use_async_envs": false
211
+ },
212
+ "wandb": {
213
+ "enable": true,
214
+ "disable_artifact": false,
215
+ "project": "lerobot",
216
+ "entity": null,
217
+ "notes": null,
218
+ "run_id": "8s31k002",
219
+ "mode": null
220
+ },
221
+ "checkpoint_path": null,
222
+ "rename_map": {}
223
+ }