ACT 50K fine-tune on so101-simstudio-lab01-pnp (MI300X)
Browse files
config.json
ADDED
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{
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"type": "act",
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| 3 |
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"n_obs_steps": 1,
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| 4 |
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"input_features": {
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| 5 |
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"observation.state": {
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| 6 |
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"type": "STATE",
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| 7 |
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"shape": [
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| 8 |
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15
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| 9 |
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]
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| 10 |
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},
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| 11 |
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"observation.images.camera_front": {
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| 12 |
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"type": "VISUAL",
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| 13 |
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"shape": [
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| 14 |
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| 15 |
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480,
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| 16 |
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640
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| 17 |
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| 18 |
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| 19 |
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"observation.images.camera_top": {
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| 20 |
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"type": "VISUAL",
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| 21 |
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"shape": [
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| 22 |
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| 23 |
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480,
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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"observation.images.camera_wrist": {
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| 28 |
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"type": "VISUAL",
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| 29 |
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"shape": [
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| 30 |
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3,
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| 31 |
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480,
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| 32 |
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640
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| 33 |
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| 34 |
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}
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| 35 |
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},
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| 36 |
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"output_features": {
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| 37 |
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"action": {
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| 38 |
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"type": "ACTION",
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| 39 |
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"shape": [
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| 40 |
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6
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| 41 |
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]
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| 42 |
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}
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| 43 |
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},
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| 44 |
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"device": "cuda",
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| 45 |
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"use_amp": false,
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| 46 |
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"use_peft": false,
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| 47 |
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"push_to_hub": false,
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| 48 |
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"repo_id": null,
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| 49 |
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"private": null,
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| 50 |
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"tags": null,
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| 51 |
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"license": null,
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| 52 |
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"pretrained_path": null,
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| 53 |
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"pretrained_revision": null,
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| 54 |
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"chunk_size": 100,
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| 55 |
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"n_action_steps": 100,
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| 56 |
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"normalization_mapping": {
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| 57 |
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"VISUAL": "MEAN_STD",
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| 58 |
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"STATE": "MEAN_STD",
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| 59 |
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"ACTION": "MEAN_STD"
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| 60 |
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},
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| 61 |
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"vision_backbone": "resnet18",
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| 62 |
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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| 63 |
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"replace_final_stride_with_dilation": false,
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| 64 |
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"pre_norm": false,
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| 65 |
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"dim_model": 512,
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| 66 |
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"n_heads": 8,
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| 67 |
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"dim_feedforward": 3200,
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| 68 |
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"feedforward_activation": "relu",
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| 69 |
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"n_encoder_layers": 4,
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| 70 |
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"n_decoder_layers": 1,
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| 71 |
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"use_vae": true,
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| 72 |
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"latent_dim": 32,
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| 73 |
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"n_vae_encoder_layers": 4,
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| 74 |
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"temporal_ensemble_coeff": null,
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| 75 |
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"dropout": 0.1,
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| 76 |
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"kl_weight": 10.0,
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| 77 |
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"optimizer_lr": 1e-05,
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| 78 |
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"optimizer_weight_decay": 0.0001,
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| 79 |
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"optimizer_lr_backbone": 1e-05
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| 80 |
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}
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model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:af5ef212f0875e273b16762dd75052679caf4b8bac9c2d0dda381855b590f594
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| 3 |
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size 206736600
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policy_postprocessor.json
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{
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| 2 |
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"name": "policy_postprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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| 6 |
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"config": {
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| 7 |
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"eps": 1e-08,
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| 8 |
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"features": {
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| 9 |
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"action": {
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| 10 |
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"type": "ACTION",
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| 11 |
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"shape": [
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| 12 |
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6
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| 13 |
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]
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| 14 |
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}
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| 15 |
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},
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| 16 |
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"norm_map": {
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| 17 |
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"VISUAL": "MEAN_STD",
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| 18 |
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"STATE": "MEAN_STD",
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| 19 |
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"ACTION": "MEAN_STD"
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| 20 |
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}
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| 21 |
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},
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| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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| 23 |
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},
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| 24 |
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{
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| 25 |
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"registry_name": "device_processor",
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| 26 |
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"config": {
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| 27 |
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"device": "cpu",
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| 28 |
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"float_dtype": null
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| 29 |
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}
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| 30 |
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}
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| 31 |
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]
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| 32 |
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:1c6b31aebcca42af91d8b5de053b47ac49c8bb83ab40033055fc6b395da0de8b
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| 3 |
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size 9116
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policy_preprocessor.json
ADDED
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@@ -0,0 +1,72 @@
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| 1 |
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{
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| 2 |
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"name": "policy_preprocessor",
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| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
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"registry_name": "rename_observations_processor",
|
| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
|
| 8 |
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}
|
| 9 |
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},
|
| 10 |
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{
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| 11 |
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"registry_name": "to_batch_processor",
|
| 12 |
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"config": {}
|
| 13 |
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},
|
| 14 |
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{
|
| 15 |
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"registry_name": "device_processor",
|
| 16 |
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"config": {
|
| 17 |
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"device": "cuda",
|
| 18 |
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"float_dtype": null
|
| 19 |
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}
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| 20 |
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},
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| 21 |
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{
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| 22 |
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"registry_name": "normalizer_processor",
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| 23 |
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"config": {
|
| 24 |
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"eps": 1e-08,
|
| 25 |
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"features": {
|
| 26 |
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"observation.state": {
|
| 27 |
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"type": "STATE",
|
| 28 |
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"shape": [
|
| 29 |
+
15
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| 30 |
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]
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| 31 |
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},
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| 32 |
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"observation.images.camera_front": {
|
| 33 |
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"type": "VISUAL",
|
| 34 |
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"shape": [
|
| 35 |
+
3,
|
| 36 |
+
480,
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| 37 |
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640
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| 38 |
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|
| 39 |
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},
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| 40 |
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"observation.images.camera_top": {
|
| 41 |
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"type": "VISUAL",
|
| 42 |
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"shape": [
|
| 43 |
+
3,
|
| 44 |
+
480,
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| 45 |
+
640
|
| 46 |
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]
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| 47 |
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},
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| 48 |
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"observation.images.camera_wrist": {
|
| 49 |
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"type": "VISUAL",
|
| 50 |
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"shape": [
|
| 51 |
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3,
|
| 52 |
+
480,
|
| 53 |
+
640
|
| 54 |
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]
|
| 55 |
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},
|
| 56 |
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"action": {
|
| 57 |
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"type": "ACTION",
|
| 58 |
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"shape": [
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| 59 |
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6
|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"norm_map": {
|
| 64 |
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"VISUAL": "MEAN_STD",
|
| 65 |
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"STATE": "MEAN_STD",
|
| 66 |
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"ACTION": "MEAN_STD"
|
| 67 |
+
}
|
| 68 |
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},
|
| 69 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 70 |
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}
|
| 71 |
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]
|
| 72 |
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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:e64de46a1e52c9a378ef7c2102c0e84a5922211036d500e601b116d893b1eeb7
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| 3 |
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size 9124
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train_config.json
ADDED
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@@ -0,0 +1,227 @@
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|
| 1 |
+
{
|
| 2 |
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"dataset": {
|
| 3 |
+
"repo_id": "alexhegit/so101-simstudio-lab01-pnp",
|
| 4 |
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"root": "./datasets/so101-simstudio-lab01-pnp",
|
| 5 |
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"episodes": null,
|
| 6 |
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"image_transforms": {
|
| 7 |
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"enable": false,
|
| 8 |
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"max_num_transforms": 3,
|
| 9 |
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"random_order": false,
|
| 10 |
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"tfs": {
|
| 11 |
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"brightness": {
|
| 12 |
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"weight": 1.0,
|
| 13 |
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"type": "ColorJitter",
|
| 14 |
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"kwargs": {
|
| 15 |
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"brightness": [
|
| 16 |
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0.8,
|
| 17 |
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1.2
|
| 18 |
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]
|
| 19 |
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}
|
| 20 |
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},
|
| 21 |
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"contrast": {
|
| 22 |
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"weight": 1.0,
|
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