Upload policy weights, train config and readme
Browse files- README.md +5 -5
- config.json +167 -42
- model.safetensors +2 -2
- train_config.json +183 -54
README.md
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datasets: cfu/record_test_ball
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library_name: lerobot
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license: apache-2.0
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model_name:
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pipeline_tag: robotics
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tags:
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- lerobot
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- diffusion
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- robotics
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---
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# Model Card for
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<!-- Provide a quick summary of what the model is/does. -->
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-
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This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
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datasets: cfu/record_test_ball
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library_name: lerobot
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license: apache-2.0
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model_name: xvla
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pipeline_tag: robotics
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tags:
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- robotics
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- lerobot
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- xvla
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---
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# Model Card for xvla
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<!-- Provide a quick summary of what the model is/does. -->
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_Model type not recognized — please update this template._
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This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
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config.json
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{
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"type": "
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"n_obs_steps":
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path":
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"
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"n_action_steps":
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"normalization_mapping": {
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"VISUAL": "
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"STATE": "
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"ACTION": "
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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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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"beta_end": 0.02,
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"prediction_type": "epsilon",
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"num_inference_steps": null,
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"do_mask_loss_for_padding": false,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.
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0.
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay":
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"
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}
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{
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"type": "xvla",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": "lerobot/xvla-base",
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"chunk_size": 32,
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"n_action_steps": 32,
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"dtype": "float32",
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "IDENTITY",
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"ACTION": "IDENTITY"
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},
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"florence_config": {
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"model_type": "florence2",
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"bos_token_id": 0,
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"eos_token_id": 2,
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"ignore_index": -100,
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"pad_token_id": 1,
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"projection_dim": 1024,
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"text_config": {
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"vocab_size": 51289,
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"activation_dropout": 0.1,
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"activation_function": "gelu",
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"add_bias_logits": false,
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"add_final_layer_norm": false,
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"attention_dropout": 0.1,
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"bos_token_id": 0,
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"classif_dropout": 0.1,
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"classifier_dropout": 0.0,
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"d_model": 1024,
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"decoder_attention_heads": 16,
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"decoder_ffn_dim": 4096,
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"decoder_layerdrop": 0.0,
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"decoder_layers": 12,
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"decoder_start_token_id": 2,
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"dropout": 0.1,
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"early_stopping": true,
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"encoder_attention_heads": 16,
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"encoder_ffn_dim": 4096,
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"encoder_layerdrop": 0.0,
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"encoder_layers": 12,
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"eos_token_id": 2,
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"forced_eos_token_id": 2,
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"forced_bos_token_id": 0,
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"gradient_checkpointing": false,
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"init_std": 0.02,
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"is_encoder_decoder": true,
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"label2id": {
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"LABEL_0": 0,
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"LABEL_1": 1,
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"LABEL_2": 2
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},
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"max_position_embeddings": 4096,
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"no_repeat_ngram_size": 3,
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"normalize_before": false,
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"num_hidden_layers": 12,
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"pad_token_id": 1,
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"scale_embedding": false,
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"num_beams": 3
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},
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"vision_config": {
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"model_type": "davit",
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"drop_path_rate": 0.1,
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"patch_size": [
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7,
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3,
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3,
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3
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],
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"patch_stride": [
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4,
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2,
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2
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],
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"patch_padding": [
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"patch_prenorm": [
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false,
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true,
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true
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],
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"enable_checkpoint": false,
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"dim_embed": [
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256,
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],
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"num_heads": [
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"num_groups": [
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"depths": [
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"window_size": 12,
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"projection_dim": 1024,
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"visual_temporal_embedding": {
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"type": "COSINE",
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"max_temporal_embeddings": 100
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},
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"image_pos_embed": {
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"type": "learned_abs_2d",
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"max_pos_embeddings": 50
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},
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"image_feature_source": [
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"spatial_avg_pool",
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"temporal_avg_pool"
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]
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},
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"vocab_size": 51289,
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"torch_dtype": "float32",
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"is_encoder_decoder": true
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},
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"vision_config": null,
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"text_config": null,
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"tokenizer_name": "facebook/bart-large",
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"tokenizer_max_length": 64,
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"tokenizer_padding_side": "right",
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"pad_language_to": "max_length",
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"hidden_size": 1024,
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"depth": 24,
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"num_heads": 16,
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"mlp_ratio": 4.0,
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"num_domains": 30,
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"len_soft_prompts": 32,
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"dim_time": 32,
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"max_len_seq": 512,
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"use_hetero_proj": false,
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"action_mode": "ee6d",
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"num_denoising_steps": 10,
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"use_proprio": true,
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"max_state_dim": 20,
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"max_action_dim": 20,
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"domain_feature_key": null,
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"resize_imgs_with_padding": [
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384,
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384
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],
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"num_image_views": 2,
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"empty_cameras": 0,
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"freeze_vision_encoder": false,
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"freeze_language_encoder": false,
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"train_policy_transformer": true,
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"train_soft_prompts": true,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.9,
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0.99
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.0,
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"optimizer_grad_clip_norm": 10.0,
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"optimizer_soft_prompt_lr_scale": 1.0,
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"optimizer_soft_prompt_warmup_lr_scale": null,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:2ae464c1ac224e3a72e26a58e74d624b5223745eb9ffa2ef838fd4439a6715e5
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size 3519073692
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train_config.json
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},
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"env": null,
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"policy": {
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"type": "
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"n_obs_steps":
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"input_features": {
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"type": "STATE",
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"normalization_mapping": {
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@@ -183,20 +308,24 @@
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@@ -209,7 +338,7 @@
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