adityaGautham commited on
Commit
a0ded47
·
verified ·
1 Parent(s): 499c279

final model: 60k-step checkpoint (run stopped at 60k by design)

Browse files
config.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.top_view": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 600,
16
+ 960
17
+ ]
18
+ }
19
+ },
20
+ "output_features": {
21
+ "action": {
22
+ "type": "ACTION",
23
+ "shape": [
24
+ 6
25
+ ]
26
+ }
27
+ },
28
+ "device": "cuda",
29
+ "use_amp": false,
30
+ "use_peft": false,
31
+ "push_to_hub": true,
32
+ "repo_id": "VEXAutoSort/gear_sortV3",
33
+ "private": null,
34
+ "tags": null,
35
+ "license": null,
36
+ "pretrained_path": null,
37
+ "pretrained_revision": null,
38
+ "chunk_size": 400,
39
+ "n_action_steps": 400,
40
+ "normalization_mapping": {
41
+ "VISUAL": "MEAN_STD",
42
+ "STATE": "MEAN_STD",
43
+ "ACTION": "MEAN_STD"
44
+ },
45
+ "vision_backbone": "resnet18",
46
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
47
+ "replace_final_stride_with_dilation": false,
48
+ "pre_norm": false,
49
+ "dim_model": 512,
50
+ "n_heads": 8,
51
+ "dim_feedforward": 3200,
52
+ "feedforward_activation": "relu",
53
+ "n_encoder_layers": 4,
54
+ "n_decoder_layers": 1,
55
+ "use_vae": true,
56
+ "latent_dim": 32,
57
+ "n_vae_encoder_layers": 4,
58
+ "temporal_ensemble_coeff": null,
59
+ "dropout": 0.1,
60
+ "kl_weight": 10.0,
61
+ "optimizer_lr": 1e-05,
62
+ "optimizer_weight_decay": 0.0001,
63
+ "optimizer_lr_backbone": 1e-05
64
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:709ba9e5d421e1ff2f631bb457005bd1608887cd424e9997ecf4361acbc1a582
3
+ size 207928536
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
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
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:c75eb4a7491a3740a61bab065d9527d4787a9d684a91a9cf480b47746e7bf939
3
+ size 6592
policy_preprocessor.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 6
30
+ ]
31
+ },
32
+ "observation.images.top_view": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 600,
37
+ 960
38
+ ]
39
+ },
40
+ "action": {
41
+ "type": "ACTION",
42
+ "shape": [
43
+ 6
44
+ ]
45
+ }
46
+ },
47
+ "norm_map": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ }
52
+ },
53
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
54
+ }
55
+ ]
56
+ }
policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb73092c18dd0242efce166b21775d62f024c72af7153228c02c5732b7e7aeff
3
+ size 6600
train_config.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "VEXAutoSort/gear_v3",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "pyav",
80
+ "return_uint8": false,
81
+ "depth_output_unit": "mm",
82
+ "streaming": false,
83
+ "eval_split": 0.0
84
+ },
85
+ "env": null,
86
+ "policy": {
87
+ "type": "act",
88
+ "n_obs_steps": 1,
89
+ "input_features": {
90
+ "observation.state": {
91
+ "type": "STATE",
92
+ "shape": [
93
+ 6
94
+ ]
95
+ },
96
+ "observation.images.top_view": {
97
+ "type": "VISUAL",
98
+ "shape": [
99
+ 3,
100
+ 600,
101
+ 960
102
+ ]
103
+ }
104
+ },
105
+ "output_features": {
106
+ "action": {
107
+ "type": "ACTION",
108
+ "shape": [
109
+ 6
110
+ ]
111
+ }
112
+ },
113
+ "device": "cuda",
114
+ "use_amp": false,
115
+ "use_peft": false,
116
+ "push_to_hub": true,
117
+ "repo_id": "VEXAutoSort/gear_sortV3",
118
+ "private": null,
119
+ "tags": null,
120
+ "license": null,
121
+ "pretrained_path": null,
122
+ "pretrained_revision": null,
123
+ "chunk_size": 400,
124
+ "n_action_steps": 400,
125
+ "normalization_mapping": {
126
+ "VISUAL": "MEAN_STD",
127
+ "STATE": "MEAN_STD",
128
+ "ACTION": "MEAN_STD"
129
+ },
130
+ "vision_backbone": "resnet18",
131
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
132
+ "replace_final_stride_with_dilation": false,
133
+ "pre_norm": false,
134
+ "dim_model": 512,
135
+ "n_heads": 8,
136
+ "dim_feedforward": 3200,
137
+ "feedforward_activation": "relu",
138
+ "n_encoder_layers": 4,
139
+ "n_decoder_layers": 1,
140
+ "use_vae": true,
141
+ "latent_dim": 32,
142
+ "n_vae_encoder_layers": 4,
143
+ "temporal_ensemble_coeff": null,
144
+ "dropout": 0.1,
145
+ "kl_weight": 10.0,
146
+ "optimizer_lr": 1e-05,
147
+ "optimizer_weight_decay": 0.0001,
148
+ "optimizer_lr_backbone": 1e-05
149
+ },
150
+ "reward_model": null,
151
+ "output_dir": "/workspace/vexsort/gear_v3_act",
152
+ "job_name": "gear_v3_act",
153
+ "resume": false,
154
+ "seed": 1000,
155
+ "cudnn_deterministic": false,
156
+ "num_workers": 2,
157
+ "batch_size": 8,
158
+ "prefetch_factor": 4,
159
+ "persistent_workers": true,
160
+ "steps": 80000,
161
+ "env_eval_freq": 20000,
162
+ "log_freq": 200,
163
+ "eval_steps": 0,
164
+ "max_eval_samples": 0,
165
+ "tolerance_s": 0.0001,
166
+ "save_checkpoint": true,
167
+ "save_freq": 20000,
168
+ "use_policy_training_preset": true,
169
+ "optimizer": {
170
+ "type": "adamw",
171
+ "lr": 1e-05,
172
+ "weight_decay": 0.0001,
173
+ "grad_clip_norm": 10.0,
174
+ "betas": [
175
+ 0.9,
176
+ 0.999
177
+ ],
178
+ "eps": 1e-08
179
+ },
180
+ "scheduler": null,
181
+ "eval": {
182
+ "n_episodes": 50,
183
+ "batch_size": 8,
184
+ "use_async_envs": true,
185
+ "recording": false,
186
+ "recording_repo_id": null,
187
+ "recording_private": false
188
+ },
189
+ "wandb": {
190
+ "enable": false,
191
+ "disable_artifact": false,
192
+ "project": "lerobot",
193
+ "entity": null,
194
+ "notes": null,
195
+ "run_id": null,
196
+ "mode": null,
197
+ "add_tags": true
198
+ },
199
+ "peft": null,
200
+ "job": {
201
+ "target": null,
202
+ "image": "huggingface/lerobot-gpu:latest",
203
+ "timeout": "2d",
204
+ "detach": false,
205
+ "tags": []
206
+ },
207
+ "save_checkpoint_to_hub": true,
208
+ "sample_weighting": null,
209
+ "rename_map": {},
210
+ "checkpoint_path": null
211
+ }