bryce301best commited on
Commit
0cb6f66
·
verified ·
1 Parent(s): 7abfb8e

Upload folder using huggingface_hub

Browse files
checkpoints/007000/pretrained_model/config.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi05",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 16
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 800,
16
+ 1280
17
+ ]
18
+ },
19
+ "observation.images.left_wrist": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.images.right_wrist": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 480,
32
+ 640
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 16
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "push_to_hub": false,
48
+ "repo_id": null,
49
+ "private": null,
50
+ "tags": null,
51
+ "license": null,
52
+ "pretrained_path": "/public/home/chenglongyan/workspace/lerobot/outputs/train/pi05_place_two_cubes_box_bus_table_01_rel_from_bus_ckpt_2gpu/checkpoints/001000/pretrained_model",
53
+ "paligemma_variant": "gemma_2b",
54
+ "action_expert_variant": "gemma_300m",
55
+ "dtype": "bfloat16",
56
+ "chunk_size": 50,
57
+ "n_action_steps": 50,
58
+ "max_state_dim": 32,
59
+ "max_action_dim": 32,
60
+ "num_inference_steps": 10,
61
+ "time_sampling_beta_alpha": 1.5,
62
+ "time_sampling_beta_beta": 1.0,
63
+ "time_sampling_scale": 0.999,
64
+ "time_sampling_offset": 0.001,
65
+ "min_period": 0.004,
66
+ "max_period": 4.0,
67
+ "use_relative_actions": true,
68
+ "relative_exclude_joints": [
69
+ "gripper"
70
+ ],
71
+ "action_feature_names": [
72
+ "right_nero_joint_1",
73
+ "right_nero_joint_2",
74
+ "right_nero_joint_3",
75
+ "right_nero_joint_4",
76
+ "right_nero_joint_5",
77
+ "right_nero_joint_6",
78
+ "right_nero_joint_7",
79
+ "left_nero_joint_1",
80
+ "left_nero_joint_2",
81
+ "left_nero_joint_3",
82
+ "left_nero_joint_4",
83
+ "left_nero_joint_5",
84
+ "left_nero_joint_6",
85
+ "left_nero_joint_7",
86
+ "right_gripper_width",
87
+ "left_gripper_width"
88
+ ],
89
+ "rtc_config": null,
90
+ "image_resolution": [
91
+ 224,
92
+ 224
93
+ ],
94
+ "empty_cameras": 0,
95
+ "tokenizer_max_length": 200,
96
+ "normalization_mapping": {
97
+ "VISUAL": "IDENTITY",
98
+ "STATE": "QUANTILES",
99
+ "ACTION": "QUANTILES"
100
+ },
101
+ "gradient_checkpointing": true,
102
+ "compile_model": false,
103
+ "compile_mode": "max-autotune",
104
+ "freeze_vision_encoder": false,
105
+ "train_expert_only": false,
106
+ "optimizer_lr": 2.5e-05,
107
+ "optimizer_betas": [
108
+ 0.9,
109
+ 0.95
110
+ ],
111
+ "optimizer_eps": 1e-08,
112
+ "optimizer_weight_decay": 0.01,
113
+ "optimizer_grad_clip_norm": 1.0,
114
+ "scheduler_warmup_steps": 1000,
115
+ "scheduler_decay_steps": 30000,
116
+ "scheduler_decay_lr": 2.5e-06
117
+ }
checkpoints/007000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d93498c25249af4536d730a7e0d53dd89e2653e963c39682a9bc223a407dfffe
3
+ size 9354050752
checkpoints/007000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 16
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "IDENTITY",
18
+ "STATE": "QUANTILES",
19
+ "ACTION": "QUANTILES"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "absolute_actions_processor",
26
+ "config": {
27
+ "enabled": true
28
+ }
29
+ },
30
+ {
31
+ "registry_name": "device_processor",
32
+ "config": {
33
+ "device": "cpu",
34
+ "float_dtype": null
35
+ }
36
+ }
37
+ ]
38
+ }
checkpoints/007000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:583d4a1d8123c810c76534f1ccb27031538bd5598a7e0b84bccc5c0c95f77387
3
+ size 9464
checkpoints/007000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "delta_actions_processor",
16
+ "config": {
17
+ "enabled": true,
18
+ "exclude_joints": [
19
+ "gripper"
20
+ ],
21
+ "action_names": [
22
+ "right_nero_joint_1",
23
+ "right_nero_joint_2",
24
+ "right_nero_joint_3",
25
+ "right_nero_joint_4",
26
+ "right_nero_joint_5",
27
+ "right_nero_joint_6",
28
+ "right_nero_joint_7",
29
+ "left_nero_joint_1",
30
+ "left_nero_joint_2",
31
+ "left_nero_joint_3",
32
+ "left_nero_joint_4",
33
+ "left_nero_joint_5",
34
+ "left_nero_joint_6",
35
+ "left_nero_joint_7",
36
+ "right_gripper_width",
37
+ "left_gripper_width"
38
+ ]
39
+ }
40
+ },
41
+ {
42
+ "registry_name": "normalizer_processor",
43
+ "config": {
44
+ "eps": 1e-08,
45
+ "features": {
46
+ "observation.state": {
47
+ "type": "STATE",
48
+ "shape": [
49
+ 16
50
+ ]
51
+ },
52
+ "observation.images.front": {
53
+ "type": "VISUAL",
54
+ "shape": [
55
+ 3,
56
+ 800,
57
+ 1280
58
+ ]
59
+ },
60
+ "observation.images.left_wrist": {
61
+ "type": "VISUAL",
62
+ "shape": [
63
+ 3,
64
+ 480,
65
+ 640
66
+ ]
67
+ },
68
+ "observation.images.right_wrist": {
69
+ "type": "VISUAL",
70
+ "shape": [
71
+ 3,
72
+ 480,
73
+ 640
74
+ ]
75
+ },
76
+ "action": {
77
+ "type": "ACTION",
78
+ "shape": [
79
+ 16
80
+ ]
81
+ }
82
+ },
83
+ "norm_map": {
84
+ "VISUAL": "IDENTITY",
85
+ "STATE": "QUANTILES",
86
+ "ACTION": "QUANTILES"
87
+ }
88
+ },
89
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
90
+ },
91
+ {
92
+ "registry_name": "pi05_prepare_state_tokenizer_processor_step",
93
+ "config": {}
94
+ },
95
+ {
96
+ "registry_name": "tokenizer_processor",
97
+ "config": {
98
+ "max_length": 200,
99
+ "task_key": "task",
100
+ "padding_side": "right",
101
+ "padding": "max_length",
102
+ "truncation": true,
103
+ "tokenizer_name": "google/paligemma-3b-pt-224"
104
+ }
105
+ },
106
+ {
107
+ "registry_name": "device_processor",
108
+ "config": {
109
+ "device": "cuda",
110
+ "float_dtype": null
111
+ }
112
+ }
113
+ ]
114
+ }
checkpoints/007000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:67e35238fce2a101f000708489109d2be7c06641d1927a15a471dc4f199f1846
3
+ size 9472
checkpoints/007000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "local/place_two_cubes_box_bus_table_01_rel",
4
+ "root": "/public/home/chenglongyan/workspace/lerobot/hf_downloads/datasets/place_two_cubes_box_bus_table_01_rel",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "return_uint8": false,
81
+ "streaming": false
82
+ },
83
+ "env": null,
84
+ "policy": {
85
+ "type": "pi05",
86
+ "n_obs_steps": 1,
87
+ "input_features": {
88
+ "observation.state": {
89
+ "type": "STATE",
90
+ "shape": [
91
+ 16
92
+ ]
93
+ },
94
+ "observation.images.front": {
95
+ "type": "VISUAL",
96
+ "shape": [
97
+ 3,
98
+ 800,
99
+ 1280
100
+ ]
101
+ },
102
+ "observation.images.left_wrist": {
103
+ "type": "VISUAL",
104
+ "shape": [
105
+ 3,
106
+ 480,
107
+ 640
108
+ ]
109
+ },
110
+ "observation.images.right_wrist": {
111
+ "type": "VISUAL",
112
+ "shape": [
113
+ 3,
114
+ 480,
115
+ 640
116
+ ]
117
+ }
118
+ },
119
+ "output_features": {
120
+ "action": {
121
+ "type": "ACTION",
122
+ "shape": [
123
+ 16
124
+ ]
125
+ }
126
+ },
127
+ "device": "cuda",
128
+ "use_amp": false,
129
+ "use_peft": false,
130
+ "push_to_hub": false,
131
+ "repo_id": null,
132
+ "private": null,
133
+ "tags": null,
134
+ "license": null,
135
+ "pretrained_path": "/public/home/chenglongyan/workspace/lerobot/outputs/train/pi05_place_two_cubes_box_bus_table_01_rel_from_bus_ckpt_2gpu/checkpoints/001000/pretrained_model",
136
+ "paligemma_variant": "gemma_2b",
137
+ "action_expert_variant": "gemma_300m",
138
+ "dtype": "bfloat16",
139
+ "chunk_size": 50,
140
+ "n_action_steps": 50,
141
+ "max_state_dim": 32,
142
+ "max_action_dim": 32,
143
+ "num_inference_steps": 10,
144
+ "time_sampling_beta_alpha": 1.5,
145
+ "time_sampling_beta_beta": 1.0,
146
+ "time_sampling_scale": 0.999,
147
+ "time_sampling_offset": 0.001,
148
+ "min_period": 0.004,
149
+ "max_period": 4.0,
150
+ "use_relative_actions": true,
151
+ "relative_exclude_joints": [
152
+ "gripper"
153
+ ],
154
+ "action_feature_names": [
155
+ "right_nero_joint_1",
156
+ "right_nero_joint_2",
157
+ "right_nero_joint_3",
158
+ "right_nero_joint_4",
159
+ "right_nero_joint_5",
160
+ "right_nero_joint_6",
161
+ "right_nero_joint_7",
162
+ "left_nero_joint_1",
163
+ "left_nero_joint_2",
164
+ "left_nero_joint_3",
165
+ "left_nero_joint_4",
166
+ "left_nero_joint_5",
167
+ "left_nero_joint_6",
168
+ "left_nero_joint_7",
169
+ "right_gripper_width",
170
+ "left_gripper_width"
171
+ ],
172
+ "rtc_config": null,
173
+ "image_resolution": [
174
+ 224,
175
+ 224
176
+ ],
177
+ "empty_cameras": 0,
178
+ "tokenizer_max_length": 200,
179
+ "normalization_mapping": {
180
+ "VISUAL": "IDENTITY",
181
+ "STATE": "QUANTILES",
182
+ "ACTION": "QUANTILES"
183
+ },
184
+ "gradient_checkpointing": true,
185
+ "compile_model": false,
186
+ "compile_mode": "max-autotune",
187
+ "freeze_vision_encoder": false,
188
+ "train_expert_only": false,
189
+ "optimizer_lr": 2.5e-05,
190
+ "optimizer_betas": [
191
+ 0.9,
192
+ 0.95
193
+ ],
194
+ "optimizer_eps": 1e-08,
195
+ "optimizer_weight_decay": 0.01,
196
+ "optimizer_grad_clip_norm": 1.0,
197
+ "scheduler_warmup_steps": 1000,
198
+ "scheduler_decay_steps": 30000,
199
+ "scheduler_decay_lr": 2.5e-06
200
+ },
201
+ "reward_model": null,
202
+ "output_dir": "/public/home/chenglongyan/workspace/lerobot/outputs/train/pi05_place_two_cubes_box_bus_table_01_rel_from_bus_ckpt_2gpu",
203
+ "job_name": "pi05_place_two_cubes_box_bus_table_01_rel_from_bus_ckpt_2gpu",
204
+ "resume": true,
205
+ "seed": 1000,
206
+ "cudnn_deterministic": false,
207
+ "num_workers": 8,
208
+ "batch_size": 32,
209
+ "prefetch_factor": 4,
210
+ "persistent_workers": true,
211
+ "steps": 8000,
212
+ "eval_freq": 20000,
213
+ "log_freq": 1,
214
+ "tolerance_s": 0.0001,
215
+ "save_checkpoint": true,
216
+ "save_freq": 1000,
217
+ "use_policy_training_preset": true,
218
+ "optimizer": {
219
+ "type": "adamw",
220
+ "lr": 2.5e-05,
221
+ "weight_decay": 0.01,
222
+ "grad_clip_norm": 1.0,
223
+ "betas": [
224
+ 0.9,
225
+ 0.95
226
+ ],
227
+ "eps": 1e-08
228
+ },
229
+ "scheduler": {
230
+ "type": "cosine_decay_with_warmup",
231
+ "num_warmup_steps": 1000,
232
+ "num_decay_steps": 30000,
233
+ "peak_lr": 2.5e-05,
234
+ "decay_lr": 2.5e-06
235
+ },
236
+ "eval": {
237
+ "n_episodes": 50,
238
+ "batch_size": 50,
239
+ "use_async_envs": true
240
+ },
241
+ "wandb": {
242
+ "enable": false,
243
+ "disable_artifact": false,
244
+ "project": "lerobot",
245
+ "entity": null,
246
+ "notes": null,
247
+ "run_id": null,
248
+ "mode": null,
249
+ "add_tags": true
250
+ },
251
+ "peft": null,
252
+ "sample_weighting": null,
253
+ "rename_map": {},
254
+ "checkpoint_path": "/public/home/chenglongyan/workspace/lerobot/outputs/train/pi05_place_two_cubes_box_bus_table_01_rel_from_bus_ckpt_2gpu/checkpoints/001000"
255
+ }