Upload full checkpoint 200000
Browse files- pretrained_model/config.json +81 -0
- pretrained_model/model.safetensors +3 -0
- pretrained_model/train_config.json +198 -0
- training_state/optimizer_param_groups.json +233 -0
- training_state/optimizer_state.safetensors +3 -0
- training_state/rng_state.safetensors +3 -0
- training_state/scheduler_state.json +14 -0
- training_state/training_step.json +3 -0
pretrained_model/config.json
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{
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"type": "diffusion",
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"n_obs_steps": 2,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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"output_features": {
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"device": "cuda",
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"use_amp": true,
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"push_to_hub": true,
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"repo_id": "bearlover365/d4_dataset_only_2_validation_episodes_diffusion",
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"tags": null,
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"vision_backbone": "resnet18",
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"crop_shape": [
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],
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"crop_is_random": true,
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"pretrained_backbone_weights": null,
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"kernel_size": 5,
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"n_groups": 8,
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"diffusion_step_embed_dim": 128,
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"use_film_scale_modulation": true,
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"noise_scheduler_type": "DDPM",
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"num_train_timesteps": 100,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500
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}
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pretrained_model/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:cc15dcbd33ef3540f377cb18b9be6131d817d63b41ced9220cad231324c1cf35
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size 1051837384
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pretrained_model/train_config.json
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{
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|
| 189 |
+
"wandb": {
|
| 190 |
+
"enable": true,
|
| 191 |
+
"disable_artifact": false,
|
| 192 |
+
"project": "lerobot",
|
| 193 |
+
"entity": "benfduffy-bearcover-gmbh",
|
| 194 |
+
"notes": null,
|
| 195 |
+
"run_id": "diff_full_1756656493",
|
| 196 |
+
"mode": null
|
| 197 |
+
}
|
| 198 |
+
}
|
training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,233 @@
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|
| 1 |
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[
|
| 2 |
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{
|
| 3 |
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"lr": 2.5075739307928014e-05,
|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
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| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
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|
| 41 |
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|
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| 46 |
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|
| 48 |
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| 49 |
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|
| 50 |
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| 54 |
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| 57 |
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| 59 |
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|
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|
| 62 |
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|
| 63 |
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| 64 |
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|
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|
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|
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|
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|
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|
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|
| 211 |
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|
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| 214 |
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| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
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|
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|
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|
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|
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|
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:5ccd8e71dc2f0e6fd2f89d05fd454513f73949dd9aabd2f5461ee58018c72689
|
| 3 |
+
size 2103678952
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training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:30a1af23306c79b815588f6cc5340f23c273d9175dbdc4a113fb0899c9922a67
|
| 3 |
+
size 15708
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training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,14 @@
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"base_lrs": [
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| 3 |
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0.0001
|
| 4 |
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],
|
| 5 |
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"last_epoch": 200000,
|
| 6 |
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"_step_count": 200001,
|
| 7 |
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"_get_lr_called_within_step": false,
|
| 8 |
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"_last_lr": [
|
| 9 |
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2.5075739307928014e-05
|
| 10 |
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],
|
| 11 |
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"lr_lambdas": [
|
| 12 |
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null
|
| 13 |
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]
|
| 14 |
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}
|
training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 200000
|
| 3 |
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}
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