bearlover365 commited on
Commit
4cd99e0
·
verified ·
1 Parent(s): 86fb97e

Upload full checkpoint 150000

Browse files
pretrained_model/config.json ADDED
@@ -0,0 +1,61 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 6
14
+ ]
15
+ },
16
+ "observation.images.wrist": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 480,
21
+ 640
22
+ ]
23
+ }
24
+ },
25
+ "output_features": {
26
+ "action": {
27
+ "type": "ACTION",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ }
32
+ },
33
+ "device": "cuda",
34
+ "use_amp": false,
35
+ "push_to_hub": true,
36
+ "repo_id": "bearlover365/d1_d2_merged_normal_resolution",
37
+ "private": null,
38
+ "tags": null,
39
+ "license": null,
40
+ "chunk_size": 100,
41
+ "n_action_steps": 100,
42
+ "vision_backbone": "resnet18",
43
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
44
+ "replace_final_stride_with_dilation": false,
45
+ "pre_norm": false,
46
+ "dim_model": 512,
47
+ "n_heads": 8,
48
+ "dim_feedforward": 3200,
49
+ "feedforward_activation": "relu",
50
+ "n_encoder_layers": 4,
51
+ "n_decoder_layers": 1,
52
+ "use_vae": true,
53
+ "latent_dim": 32,
54
+ "n_vae_encoder_layers": 4,
55
+ "temporal_ensemble_coeff": null,
56
+ "dropout": 0.1,
57
+ "kl_weight": 10.0,
58
+ "optimizer_lr": 1e-05,
59
+ "optimizer_weight_decay": 0.0001,
60
+ "optimizer_lr_backbone": 1e-05
61
+ }
pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5843d4845fe4695e3ea409bb78d5384282f010fbc5ed339853753b11e04ba3b7
3
+ size 206700792
pretrained_model/train_config.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "bearlover365/pick_place_white_socks_merged_100_episodes",
4
+ "root": null,
5
+ "episodes": null,
6
+ "val_episodes": null,
7
+ "val_repo_id": "bearlover365/pick_place_one_white_sock_black_out_blinds_validation_episode0",
8
+ "image_transforms": {
9
+ "enable": false,
10
+ "max_num_transforms": 3,
11
+ "random_order": false,
12
+ "tfs": {
13
+ "brightness": {
14
+ "weight": 1.0,
15
+ "type": "ColorJitter",
16
+ "kwargs": {
17
+ "brightness": [
18
+ 0.8,
19
+ 1.2
20
+ ]
21
+ }
22
+ },
23
+ "contrast": {
24
+ "weight": 1.0,
25
+ "type": "ColorJitter",
26
+ "kwargs": {
27
+ "contrast": [
28
+ 0.8,
29
+ 1.2
30
+ ]
31
+ }
32
+ },
33
+ "saturation": {
34
+ "weight": 1.0,
35
+ "type": "ColorJitter",
36
+ "kwargs": {
37
+ "saturation": [
38
+ 0.5,
39
+ 1.5
40
+ ]
41
+ }
42
+ },
43
+ "hue": {
44
+ "weight": 1.0,
45
+ "type": "ColorJitter",
46
+ "kwargs": {
47
+ "hue": [
48
+ -0.05,
49
+ 0.05
50
+ ]
51
+ }
52
+ },
53
+ "sharpness": {
54
+ "weight": 1.0,
55
+ "type": "SharpnessJitter",
56
+ "kwargs": {
57
+ "sharpness": [
58
+ 0.5,
59
+ 1.5
60
+ ]
61
+ }
62
+ }
63
+ }
64
+ },
65
+ "revision": null,
66
+ "use_imagenet_stats": true,
67
+ "video_backend": "pyav"
68
+ },
69
+ "env": null,
70
+ "policy": {
71
+ "type": "act",
72
+ "n_obs_steps": 1,
73
+ "normalization_mapping": {
74
+ "VISUAL": "MEAN_STD",
75
+ "STATE": "MEAN_STD",
76
+ "ACTION": "MEAN_STD"
77
+ },
78
+ "input_features": {
79
+ "observation.state": {
80
+ "type": "STATE",
81
+ "shape": [
82
+ 6
83
+ ]
84
+ },
85
+ "observation.images.wrist": {
86
+ "type": "VISUAL",
87
+ "shape": [
88
+ 3,
89
+ 480,
90
+ 640
91
+ ]
92
+ }
93
+ },
94
+ "output_features": {
95
+ "action": {
96
+ "type": "ACTION",
97
+ "shape": [
98
+ 6
99
+ ]
100
+ }
101
+ },
102
+ "device": "cuda",
103
+ "use_amp": false,
104
+ "push_to_hub": true,
105
+ "repo_id": "bearlover365/d1_d2_merged_normal_resolution",
106
+ "private": null,
107
+ "tags": null,
108
+ "license": null,
109
+ "chunk_size": 100,
110
+ "n_action_steps": 100,
111
+ "vision_backbone": "resnet18",
112
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
113
+ "replace_final_stride_with_dilation": false,
114
+ "pre_norm": false,
115
+ "dim_model": 512,
116
+ "n_heads": 8,
117
+ "dim_feedforward": 3200,
118
+ "feedforward_activation": "relu",
119
+ "n_encoder_layers": 4,
120
+ "n_decoder_layers": 1,
121
+ "use_vae": true,
122
+ "latent_dim": 32,
123
+ "n_vae_encoder_layers": 4,
124
+ "temporal_ensemble_coeff": null,
125
+ "dropout": 0.1,
126
+ "kl_weight": 10.0,
127
+ "optimizer_lr": 1e-05,
128
+ "optimizer_weight_decay": 0.0001,
129
+ "optimizer_lr_backbone": 1e-05
130
+ },
131
+ "output_dir": "/teamspace/studios/this_studio/lerobot/outputs/train/d1_and_d2_datasets_act_224x224_checkpoint_25k_300k_steps_20250822_221104",
132
+ "job_name": "d1_and_d2_datasets_act_224x224_checkpoint_25k_300k_steps_20250822_221104_bs8_lr1.0e-05_bblr1.0e-05_smp4000000",
133
+ "resume": false,
134
+ "seed": 1000,
135
+ "num_workers": 8,
136
+ "batch_size": 8,
137
+ "steps": 500000,
138
+ "target_samples": null,
139
+ "eval_freq": 5000,
140
+ "log_freq": 200,
141
+ "save_checkpoint": true,
142
+ "save_freq": 50000,
143
+ "use_policy_training_preset": true,
144
+ "optimizer": {
145
+ "type": "adamw",
146
+ "lr": 1e-05,
147
+ "weight_decay": 0.0001,
148
+ "grad_clip_norm": 10.0,
149
+ "betas": [
150
+ 0.9,
151
+ 0.999
152
+ ],
153
+ "eps": 1e-08
154
+ },
155
+ "scheduler": null,
156
+ "eval": {
157
+ "n_episodes": 50,
158
+ "batch_size": 50,
159
+ "use_async_envs": false
160
+ },
161
+ "initial_step": 0,
162
+ "wandb": {
163
+ "enable": true,
164
+ "disable_artifact": false,
165
+ "project": "lerobot",
166
+ "entity": "benfduffy-bearcover-gmbh",
167
+ "notes": null,
168
+ "run_id": "270nfa0s",
169
+ "mode": null
170
+ }
171
+ }
training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5eaebcdbbc5308d09087dd7c0c421b7f2f098069b9c7893b42674c076de962ab
3
+ size 412817652
training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:32a3af3632be57d7ed8dd4867c7b532b4fe71207248043513cdff15f7bf4deed
3
+ size 15708
training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 150000
3
+ }