diff --git a/needle_pickup_static/checkpoints/020000/pretrained_model/config.json b/needle_pickup_static/checkpoints/020000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef23bd506ea909d2aa4520c91afd7e16c22fc92 --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/pretrained_model/config.json @@ -0,0 +1,88 @@ +{ + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/020000/pretrained_model/model.safetensors b/needle_pickup_static/checkpoints/020000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..bb5671c6eacdc3a525ef97150e3902683fbd0f8f --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:285675d2603cbb1ebc26e62430218bea83809bad73e3d3ab527fb2d9506a96e8 +size 304471948 diff --git a/needle_pickup_static/checkpoints/020000/pretrained_model/policy_postprocessor.json b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12d83c27cc55450aee5e2e9bd0d3b21fc09125 --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/020000/pretrained_model/policy_preprocessor.json b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..7030e8a36591a574ff8c23879923575197de1d6b --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/020000/pretrained_model/train_config.json b/needle_pickup_static/checkpoints/020000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8b265534dedd884815bf8465c99f018632d252e5 --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/pretrained_model/train_config.json @@ -0,0 +1,223 @@ +{ + "dataset": { + "repo_id": "static/needle_pickup_static", + "root": null, + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + }, + "affine": { + "weight": 1.0, + "type": "RandomAffine", + "kwargs": { + "degrees": [ + -5.0, + 5.0 + ], + "translate": [ + 0.05, + 0.05 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "outputs/debug_train/needle_pickup_static", + "job_name": "diffusion", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": false, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": null, + "mode": null + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "use_umi_relative_actions": false, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/020000/training_state/optimizer_param_groups.json b/needle_pickup_static/checkpoints/020000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..bf39c5c897a050ff8265bb1308f13cf05d6399da --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 9.081878607071996e-05, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/020000/training_state/optimizer_state.safetensors b/needle_pickup_static/checkpoints/020000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..840c803cd2a83fae8ba14553b41b32e0b2a70cc8 --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9886956781ea21f076e5817e7bd7e23db83fb8d72b6bd00043e5214a70842b58 +size 608949112 diff --git a/needle_pickup_static/checkpoints/020000/training_state/rng_state.safetensors b/needle_pickup_static/checkpoints/020000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..c6f75af1fd06571784d5875bc0bc55e367cbe415 --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca11a6be523236a770232f967843964608707dd9378675adec5dbf0e27b849de +size 15708 diff --git a/needle_pickup_static/checkpoints/020000/training_state/scheduler_state.json b/needle_pickup_static/checkpoints/020000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..7079c5eb5d1f64d9d6c22b336677c1354414261d --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 20000, + "_step_count": 20001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 9.081878607071996e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/020000/training_state/training_step.json b/needle_pickup_static/checkpoints/020000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9bb47026c5d5237ca6fc5dbff6020dd122ea05 --- /dev/null +++ b/needle_pickup_static/checkpoints/020000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 20000 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/040000/pretrained_model/config.json b/needle_pickup_static/checkpoints/040000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef23bd506ea909d2aa4520c91afd7e16c22fc92 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/pretrained_model/config.json @@ -0,0 +1,88 @@ +{ + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/040000/pretrained_model/model.safetensors b/needle_pickup_static/checkpoints/040000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..333620a6c881afc8cd56fa11605c2208f5ab47b9 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a435772ee446343f4495aefd1d5d0cf4cb7f7ded9bb392a853c2c71f3a03f9f +size 304471948 diff --git a/needle_pickup_static/checkpoints/040000/pretrained_model/policy_postprocessor.json b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12d83c27cc55450aee5e2e9bd0d3b21fc09125 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/040000/pretrained_model/policy_preprocessor.json b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..7030e8a36591a574ff8c23879923575197de1d6b --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/040000/pretrained_model/train_config.json b/needle_pickup_static/checkpoints/040000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8b265534dedd884815bf8465c99f018632d252e5 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/pretrained_model/train_config.json @@ -0,0 +1,223 @@ +{ + "dataset": { + "repo_id": "static/needle_pickup_static", + "root": null, + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + }, + "affine": { + "weight": 1.0, + "type": "RandomAffine", + "kwargs": { + "degrees": [ + -5.0, + 5.0 + ], + "translate": [ + 0.05, + 0.05 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "outputs/debug_train/needle_pickup_static", + "job_name": "diffusion", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": false, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": null, + "mode": null + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "use_umi_relative_actions": false, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/040000/training_state/optimizer_param_groups.json b/needle_pickup_static/checkpoints/040000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..da769670afd79c7409bd31e4f84f2a93bad74c99 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 6.590057681196191e-05, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/040000/training_state/optimizer_state.safetensors b/needle_pickup_static/checkpoints/040000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..60281d81a6e1ce63851b70b81bd9a75115fa2e36 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddf180831ced906a9d5b6e323bcd4f45782730f209ecc4f89f231fd4aadc9bd5 +size 608949112 diff --git a/needle_pickup_static/checkpoints/040000/training_state/rng_state.safetensors b/needle_pickup_static/checkpoints/040000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..fd7a40f75933c5712a2cfe457881bde0386fd47a --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a57487122df9323c43e294d08412688373fab3556992383faad3be0629523c7d +size 15708 diff --git a/needle_pickup_static/checkpoints/040000/training_state/scheduler_state.json b/needle_pickup_static/checkpoints/040000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..3d5ef807651649e49fd130ba01189f1e3e79f035 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 40000, + "_step_count": 40001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 6.590057681196191e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/040000/training_state/training_step.json b/needle_pickup_static/checkpoints/040000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..fe40d8ff4312c7e5a8fba9bcc932a43a1384ba77 --- /dev/null +++ b/needle_pickup_static/checkpoints/040000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 40000 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/060000/pretrained_model/config.json b/needle_pickup_static/checkpoints/060000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef23bd506ea909d2aa4520c91afd7e16c22fc92 --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/pretrained_model/config.json @@ -0,0 +1,88 @@ +{ + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/060000/pretrained_model/model.safetensors b/needle_pickup_static/checkpoints/060000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..17c5021657d26e7dd8270326ad1f1d8003e08c14 --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d18e74e5c004dfcd60b01eba055ea92e761c7527a6e77a6d76469c3f106f1bd4 +size 304471948 diff --git a/needle_pickup_static/checkpoints/060000/pretrained_model/policy_postprocessor.json b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12d83c27cc55450aee5e2e9bd0d3b21fc09125 --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/060000/pretrained_model/policy_preprocessor.json b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..7030e8a36591a574ff8c23879923575197de1d6b --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/060000/pretrained_model/train_config.json b/needle_pickup_static/checkpoints/060000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8b265534dedd884815bf8465c99f018632d252e5 --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/pretrained_model/train_config.json @@ -0,0 +1,223 @@ +{ + "dataset": { + "repo_id": "static/needle_pickup_static", + "root": null, + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + }, + "affine": { + "weight": 1.0, + "type": "RandomAffine", + "kwargs": { + "degrees": [ + -5.0, + 5.0 + ], + "translate": [ + 0.05, + 0.05 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "outputs/debug_train/needle_pickup_static", + "job_name": "diffusion", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": false, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": null, + "mode": null + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "use_umi_relative_actions": false, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/060000/training_state/optimizer_param_groups.json b/needle_pickup_static/checkpoints/060000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..044c2e63a486a01bdda61b8fdf8b369988a133ac --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 3.484974098465636e-05, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/060000/training_state/optimizer_state.safetensors b/needle_pickup_static/checkpoints/060000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..291840a6fd5abc7814a7f113a496ad214b0777a2 --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42879209cab247ce7a09118f9542e2bbe540160a80bfaaa76e8ff3a192d1c1b8 +size 608949112 diff --git a/needle_pickup_static/checkpoints/060000/training_state/rng_state.safetensors b/needle_pickup_static/checkpoints/060000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..ed4c8e173a16fa79559355abf258425e5e6fb4cc --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b3dfec485f5ddceeecf67f6ebe3ccb2ff7753f807565fbd7f54fc543492be96 +size 15708 diff --git a/needle_pickup_static/checkpoints/060000/training_state/scheduler_state.json b/needle_pickup_static/checkpoints/060000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..668b51a9f5d74f350a4aa0a1b35f5d4f4498a280 --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 60000, + "_step_count": 60001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 3.484974098465636e-05 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/060000/training_state/training_step.json b/needle_pickup_static/checkpoints/060000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..d360b6037f1c8c2c85d38e951160eb02ace507dd --- /dev/null +++ b/needle_pickup_static/checkpoints/060000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 60000 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/080000/pretrained_model/config.json b/needle_pickup_static/checkpoints/080000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef23bd506ea909d2aa4520c91afd7e16c22fc92 --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/pretrained_model/config.json @@ -0,0 +1,88 @@ +{ + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/080000/pretrained_model/model.safetensors b/needle_pickup_static/checkpoints/080000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..9f174dce681e037f27ec1f11b5cb343e595debf7 --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30d9944c497b6d32a540c750ea70a07aa316c4a53252b13780f39ac3a0acade5 +size 304471948 diff --git a/needle_pickup_static/checkpoints/080000/pretrained_model/policy_postprocessor.json b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12d83c27cc55450aee5e2e9bd0d3b21fc09125 --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/080000/pretrained_model/policy_preprocessor.json b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..7030e8a36591a574ff8c23879923575197de1d6b --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/080000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/080000/pretrained_model/train_config.json b/needle_pickup_static/checkpoints/080000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8b265534dedd884815bf8465c99f018632d252e5 --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/pretrained_model/train_config.json @@ -0,0 +1,223 @@ +{ + "dataset": { + "repo_id": "static/needle_pickup_static", + "root": null, + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + }, + "affine": { + "weight": 1.0, + "type": "RandomAffine", + "kwargs": { + "degrees": [ + -5.0, + 5.0 + ], + "translate": [ + 0.05, + 0.05 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "outputs/debug_train/needle_pickup_static", + "job_name": "diffusion", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": false, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": null, + "mode": null + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "use_umi_relative_actions": false, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/080000/training_state/optimizer_param_groups.json b/needle_pickup_static/checkpoints/080000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e37a0becbe350cfc73f7ac1886b0322872e19b --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 9.642144811900739e-06, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/080000/training_state/optimizer_state.safetensors b/needle_pickup_static/checkpoints/080000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..122e5cacde0ff2b407f3faf71bd74e3c827fc9b4 --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ad7515dfaf17a7d074ea272351ca8c35aed8963303444d5185d9fda3319f8b1 +size 608949112 diff --git a/needle_pickup_static/checkpoints/080000/training_state/rng_state.safetensors b/needle_pickup_static/checkpoints/080000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..37b2be215aadf156f5e2b58296ec04132dc1043b --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c048ff5df0171abf876a1e441faee3066e82a11f73cccc46739788068ca930b +size 15708 diff --git a/needle_pickup_static/checkpoints/080000/training_state/scheduler_state.json b/needle_pickup_static/checkpoints/080000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..0d7972eada3dacc85eaf6bf64c05d9e14b9cb216 --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 80000, + "_step_count": 80001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 9.642144811900739e-06 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/080000/training_state/training_step.json b/needle_pickup_static/checkpoints/080000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..384eace4ecc2a6cba352aa7cf27f04405b7319c3 --- /dev/null +++ b/needle_pickup_static/checkpoints/080000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 80000 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/100000/pretrained_model/config.json b/needle_pickup_static/checkpoints/100000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef23bd506ea909d2aa4520c91afd7e16c22fc92 --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/pretrained_model/config.json @@ -0,0 +1,88 @@ +{ + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/100000/pretrained_model/model.safetensors b/needle_pickup_static/checkpoints/100000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2a3a36d3940fbaa4f1f813cb173ff35a99f7d413 --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ce168cea58edae39c3cee6a53c9020ab1f360dd80f1b70f4654c8a7c8ec2ad0 +size 304471948 diff --git a/needle_pickup_static/checkpoints/100000/pretrained_model/policy_postprocessor.json b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12d83c27cc55450aee5e2e9bd0d3b21fc09125 --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/100000/pretrained_model/policy_preprocessor.json b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..7030e8a36591a574ff8c23879923575197de1d6b --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2d121f99e449b75d10651c3e2da516919feba79a --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5891587df295077f0ac4766dd72165cd7c0fcebac50aef2b7af095513522ca12 +size 6544 diff --git a/needle_pickup_static/checkpoints/100000/pretrained_model/train_config.json b/needle_pickup_static/checkpoints/100000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8b265534dedd884815bf8465c99f018632d252e5 --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/pretrained_model/train_config.json @@ -0,0 +1,223 @@ +{ + "dataset": { + "repo_id": "static/needle_pickup_static", + "root": null, + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + }, + "affine": { + "weight": 1.0, + "type": "RandomAffine", + "kwargs": { + "degrees": [ + -5.0, + 5.0 + ], + "translate": [ + 0.05, + 0.05 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 2, + "input_features": { + "observation.image.cam0": { + "type": "VISUAL", + "shape": [ + 3, + 240, + 320 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 3 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 9 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 16, + "n_action_steps": 8, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "crop_shape": [ + 84, + 84 + ], + "crop_is_random": true, + "pretrained_backbone_weights": null, + "use_group_norm": true, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": true, + "use_vit_encoder": false, + "vit_embed_dim": 512, + "vit_depth": 6, + "vit_num_heads": 8, + "vit_dropout": 0.1, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "noise_scheduler_type": "DDPM", + "num_train_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "beta_end": 0.02, + "prediction_type": "epsilon", + "clip_sample": true, + "clip_sample_range": 1.0, + "num_inference_steps": 10, + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "outputs/debug_train/needle_pickup_static", + "job_name": "diffusion", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": false, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": null, + "mode": null + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "use_umi_relative_actions": false, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/100000/training_state/optimizer_param_groups.json b/needle_pickup_static/checkpoints/100000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/100000/training_state/optimizer_state.safetensors b/needle_pickup_static/checkpoints/100000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..f1a612b08426ad401b03ef8b828026e3e2d7c2de --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c630e3820abb98f98619bae0dfa42969900eb9353606f75845c108d94c2eb28 +size 608949112 diff --git a/needle_pickup_static/checkpoints/100000/training_state/rng_state.safetensors b/needle_pickup_static/checkpoints/100000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..bd9204e4258f1f98c6103244a9174ffdf81985a4 --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e5279ae9beb686036dac1b11c0559f367fa29b5149b20a0726c2b0ec69fc213 +size 15708 diff --git a/needle_pickup_static/checkpoints/100000/training_state/scheduler_state.json b/needle_pickup_static/checkpoints/100000/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..17e61252d488b35f8d1370b0c55198508910e68c --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/training_state/scheduler_state.json @@ -0,0 +1,14 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/needle_pickup_static/checkpoints/100000/training_state/training_step.json b/needle_pickup_static/checkpoints/100000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/needle_pickup_static/checkpoints/100000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file