Upload folder using huggingface_hub
Browse files- README.md +7 -0
- config.json +41 -0
- config.yaml +126 -0
- eval_info.json +3523 -0
- model.safetensors +3 -0
- replay.mp4 +0 -0
README.md
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---
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tags:
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- model_hub_mixin
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- pytorch_model_hub_mixin
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---
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ACT trained with [pusht_keypoints](https://huggingface.co/datasets/lerobot/pusht_keypoints). Achieves 45% success rate for 500 evals. See [eval_info.json](./eval_info.json) for more evaluation data.
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config.json
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{
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"chunk_size": 16,
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"dim_feedforward": 3200,
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"dim_model": 512,
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"dropout": 0.1,
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"feedforward_activation": "relu",
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"input_normalization_modes": {
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"observation.environment_state": "min_max",
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"observation.state": "min_max"
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},
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"input_shapes": {
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"observation.environment_state": [
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16
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],
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"observation.state": [
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2
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]
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},
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"kl_weight": 10.0,
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"latent_dim": 32,
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"n_action_steps": 16,
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"n_decoder_layers": 1,
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"n_encoder_layers": 4,
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"n_heads": 8,
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"n_obs_steps": 1,
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"n_vae_encoder_layers": 4,
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"output_normalization_modes": {
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"action": "min_max"
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},
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"output_shapes": {
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"action": [
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2
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]
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},
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"pre_norm": false,
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": false,
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"temporal_ensemble_momentum": null,
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"use_vae": true,
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"vision_backbone": "resnet18"
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}
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config.yaml
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resume: false
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device: cuda
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use_amp: true
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seed: 100000
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dataset_repo_id: lerobot/pusht_keypoints
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video_backend: pyav
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training:
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offline_steps: 100000
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online_steps: 0
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online_steps_between_rollouts: ???
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online_sampling_ratio: 0.5
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online_env_seed: ???
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eval_freq: 10000
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log_freq: 250
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save_checkpoint: true
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save_freq: 10000
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num_workers: 8
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batch_size: 64
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image_transforms:
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enable: false
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max_num_transforms: 3
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random_order: false
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brightness:
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weight: 1
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min_max:
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- 0.8
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- 1.2
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contrast:
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weight: 1
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min_max:
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- 0.8
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- 1.2
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saturation:
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weight: 1
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min_max:
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- 0.5
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- 1.5
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hue:
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weight: 1
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min_max:
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- -0.05
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- 0.05
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sharpness:
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weight: 1
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min_max:
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- 0.8
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- 1.2
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lr: 3.0e-05
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lr_backbone: 1.0e-05
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weight_decay: 0.0001
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grad_clip_norm: 10
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delta_timestamps:
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action:
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- 0.0
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- 0.1
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- 0.2
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- 0.3
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- 0.4
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- 0.5
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- 0.6
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- 0.7
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- 0.8
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- 0.9
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- 1.0
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- 1.1
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- 1.2
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- 1.3
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- 1.4
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- 1.5
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eval:
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n_episodes: 50
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batch_size: 50
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use_async_envs: false
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wandb:
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enable: true
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disable_artifact: true
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project: lerobot
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notes: ''
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fps: 10
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env:
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name: pusht
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task: PushT-v0
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image_size: 96
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state_dim: 2
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action_dim: 2
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fps: ${fps}
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episode_length: 300
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gym:
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obs_type: environment_state_agent_pos
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render_mode: rgb_array
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visualization_width: 384
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visualization_height: 384
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policy:
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name: act
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n_obs_steps: 1
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chunk_size: 16
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n_action_steps: 16
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input_shapes:
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observation.environment_state:
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- 16
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observation.state:
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- ${env.state_dim}
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| 103 |
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output_shapes:
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action:
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| 105 |
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- ${env.action_dim}
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| 106 |
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input_normalization_modes:
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| 107 |
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observation.environment_state: min_max
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| 108 |
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observation.state: min_max
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| 109 |
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output_normalization_modes:
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| 110 |
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action: min_max
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| 111 |
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vision_backbone: resnet18
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| 112 |
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pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
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| 113 |
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replace_final_stride_with_dilation: false
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| 114 |
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pre_norm: false
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| 115 |
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dim_model: 512
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| 116 |
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n_heads: 8
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| 117 |
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dim_feedforward: 3200
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| 118 |
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feedforward_activation: relu
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| 119 |
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n_encoder_layers: 4
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| 120 |
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n_decoder_layers: 1
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| 121 |
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use_vae: true
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| 122 |
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latent_dim: 32
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| 123 |
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n_vae_encoder_layers: 4
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| 124 |
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temporal_ensemble_momentum: null
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| 125 |
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dropout: 0.1
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kl_weight: 10.0
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eval_info.json
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