Ziang-Li commited on
Commit
db3e2bb
·
verified ·
1 Parent(s): bef0f91

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +72 -0
  2. model.safetensors +3 -0
  3. train_config.json +190 -0
config.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi0",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "IDENTITY",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 6
14
+ ]
15
+ },
16
+ "observation.images.so100": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 480,
21
+ 640
22
+ ]
23
+ },
24
+ "observation.images.iphone": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 480,
29
+ 640
30
+ ]
31
+ }
32
+ },
33
+ "output_features": {
34
+ "action": {
35
+ "type": "ACTION",
36
+ "shape": [
37
+ 6
38
+ ]
39
+ }
40
+ },
41
+ "device": "cuda",
42
+ "use_amp": false,
43
+ "chunk_size": 50,
44
+ "n_action_steps": 50,
45
+ "max_state_dim": 32,
46
+ "max_action_dim": 32,
47
+ "resize_imgs_with_padding": [
48
+ 224,
49
+ 224
50
+ ],
51
+ "empty_cameras": 0,
52
+ "adapt_to_pi_aloha": false,
53
+ "use_delta_joint_actions_aloha": false,
54
+ "tokenizer_max_length": 48,
55
+ "proj_width": 1024,
56
+ "num_steps": 10,
57
+ "use_cache": true,
58
+ "attention_implementation": "eager",
59
+ "freeze_vision_encoder": true,
60
+ "train_expert_only": false,
61
+ "train_state_proj": true,
62
+ "optimizer_lr": 2.5e-05,
63
+ "optimizer_betas": [
64
+ 0.9,
65
+ 0.95
66
+ ],
67
+ "optimizer_eps": 1e-08,
68
+ "optimizer_weight_decay": 1e-10,
69
+ "scheduler_warmup_steps": 1000,
70
+ "scheduler_decay_steps": 30000,
71
+ "scheduler_decay_lr": 2.5e-06
72
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a939aaa60d95d53c2238a0d58ce3f1e096bfc0f2c8f8bc49dead06e51b92980
3
+ size 7536022544
train_config.json ADDED
@@ -0,0 +1,190 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "jiuyal2/so100_marker",
4
+ "repo_ids": null,
5
+ "root": null,
6
+ "episodes": null,
7
+ "image_transforms": {
8
+ "enable": false,
9
+ "max_num_transforms": 3,
10
+ "random_order": false,
11
+ "tfs": {
12
+ "brightness": {
13
+ "weight": 1.0,
14
+ "type": "ColorJitter",
15
+ "kwargs": {
16
+ "brightness": [
17
+ 0.8,
18
+ 1.2
19
+ ]
20
+ }
21
+ },
22
+ "contrast": {
23
+ "weight": 1.0,
24
+ "type": "ColorJitter",
25
+ "kwargs": {
26
+ "contrast": [
27
+ 0.8,
28
+ 1.2
29
+ ]
30
+ }
31
+ },
32
+ "saturation": {
33
+ "weight": 1.0,
34
+ "type": "ColorJitter",
35
+ "kwargs": {
36
+ "saturation": [
37
+ 0.5,
38
+ 1.5
39
+ ]
40
+ }
41
+ },
42
+ "hue": {
43
+ "weight": 1.0,
44
+ "type": "ColorJitter",
45
+ "kwargs": {
46
+ "hue": [
47
+ -0.05,
48
+ 0.05
49
+ ]
50
+ }
51
+ },
52
+ "sharpness": {
53
+ "weight": 1.0,
54
+ "type": "SharpnessJitter",
55
+ "kwargs": {
56
+ "sharpness": [
57
+ 0.5,
58
+ 1.5
59
+ ]
60
+ }
61
+ }
62
+ }
63
+ },
64
+ "revision": null,
65
+ "use_imagenet_stats": true,
66
+ "video_backend": "torchcodec"
67
+ },
68
+ "num_datasets": 100,
69
+ "env": null,
70
+ "policy": {
71
+ "type": "pi0",
72
+ "n_obs_steps": 1,
73
+ "normalization_mapping": {
74
+ "VISUAL": "IDENTITY",
75
+ "STATE": "MEAN_STD",
76
+ "ACTION": "MEAN_STD"
77
+ },
78
+ "input_features": {
79
+ "observation.state": {
80
+ "type": "STATE",
81
+ "shape": [
82
+ 6
83
+ ]
84
+ },
85
+ "observation.images.so100": {
86
+ "type": "VISUAL",
87
+ "shape": [
88
+ 3,
89
+ 480,
90
+ 640
91
+ ]
92
+ },
93
+ "observation.images.iphone": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ }
101
+ },
102
+ "output_features": {
103
+ "action": {
104
+ "type": "ACTION",
105
+ "shape": [
106
+ 6
107
+ ]
108
+ }
109
+ },
110
+ "device": "cuda",
111
+ "use_amp": false,
112
+ "chunk_size": 50,
113
+ "n_action_steps": 50,
114
+ "max_state_dim": 32,
115
+ "max_action_dim": 32,
116
+ "resize_imgs_with_padding": [
117
+ 224,
118
+ 224
119
+ ],
120
+ "empty_cameras": 0,
121
+ "adapt_to_pi_aloha": false,
122
+ "use_delta_joint_actions_aloha": false,
123
+ "tokenizer_max_length": 48,
124
+ "proj_width": 1024,
125
+ "num_steps": 10,
126
+ "use_cache": true,
127
+ "attention_implementation": "eager",
128
+ "freeze_vision_encoder": true,
129
+ "train_expert_only": false,
130
+ "train_state_proj": true,
131
+ "optimizer_lr": 2.5e-05,
132
+ "optimizer_betas": [
133
+ 0.9,
134
+ 0.95
135
+ ],
136
+ "optimizer_eps": 1e-08,
137
+ "optimizer_weight_decay": 1e-10,
138
+ "scheduler_warmup_steps": 1000,
139
+ "scheduler_decay_steps": 30000,
140
+ "scheduler_decay_lr": 2.5e-06
141
+ },
142
+ "compile": false,
143
+ "loss_threshold": 0.1,
144
+ "output_dir": "/gscratch/cse/ziangl4/lerobot/outputs/train/pi0_marker_finetune_200",
145
+ "job_name": "marker_finetune_200",
146
+ "resume": false,
147
+ "resume_scheduler": true,
148
+ "seed": 1000,
149
+ "num_workers": 4,
150
+ "batch_size": 20,
151
+ "gradient_accumulation_steps": 6,
152
+ "steps": 60000,
153
+ "eval_freq": 20000,
154
+ "log_freq": 200,
155
+ "save_checkpoint": true,
156
+ "save_freq": 5000,
157
+ "use_policy_training_preset": true,
158
+ "optimizer": {
159
+ "type": "adamw",
160
+ "lr": 2.5e-05,
161
+ "weight_decay": 1e-10,
162
+ "grad_clip_norm": 10.0,
163
+ "betas": [
164
+ 0.9,
165
+ 0.95
166
+ ],
167
+ "eps": 1e-08
168
+ },
169
+ "scheduler": {
170
+ "type": "cosine_decay_with_warmup",
171
+ "num_warmup_steps": 1000,
172
+ "num_decay_steps": 30000,
173
+ "peak_lr": 2.5e-05,
174
+ "decay_lr": 2.5e-06
175
+ },
176
+ "eval": {
177
+ "n_episodes": 50,
178
+ "batch_size": 50,
179
+ "use_async_envs": false
180
+ },
181
+ "wandb": {
182
+ "enable": true,
183
+ "disable_artifact": true,
184
+ "project": "lerobot",
185
+ "entity": null,
186
+ "notes": null,
187
+ "run_id": null,
188
+ "mode": null
189
+ }
190
+ }