Instructions to use chomeed/rewind_state_dexmg_two_arm_threading with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use chomeed/rewind_state_dexmg_two_arm_threading with LeRobot:
# No code snippets available yet for this library. # To use this model, check the repository files and the library's documentation. # Want to help? PRs adding snippets are welcome at: # https://github.com/huggingface/huggingface.js
- Notebooks
- Google Colab
- Kaggle
Download train_config.json from chomeed/rewind_state_dexmg_two_arm_threading: direct link, hf CLI and curl.
- Browser
- Download file 11.3 kB
-
https://huggingface.co/chomeed/rewind_state_dexmg_two_arm_threading/resolve/main/train_config.json
- Command line
-
hf download hf://chomeed/rewind_state_dexmg_two_arm_threading/train_config.json
-
curl -L -o train_config.json https://huggingface.co/chomeed/rewind_state_dexmg_two_arm_threading/resolve/main/train_config.json
11.3 kB
| { | |
| "dataset": { | |
| "repo_id": "chomeed/dexmg_two_arm_threading", | |
| "root": "/home/chomeed/workspace/proj-rl-finetuning/lerobot_dataset/chomeed/dexmg_two_arm_threading", | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "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, | |
| "cf_aug": false | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "rewind_state", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.agentview": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 84, | |
| 84 | |
| ] | |
| }, | |
| "observation.images.robot0_eye_in_hand": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 84, | |
| 84 | |
| ] | |
| }, | |
| "observation.images.robot1_eye_in_hand": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 84, | |
| 84 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 18 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": false, | |
| "repo_id": "chomeed/rewind_state_dexmg_threading_v1", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "d_model": 512, | |
| "vis_emb_dim": 768, | |
| "text_emb_dim": 384, | |
| "state_dim": 18, | |
| "n_layers": 4, | |
| "n_heads": 8, | |
| "dropout": 0.1, | |
| "num_cameras": 3, | |
| "finetune_encoder": true, | |
| "finetune_encoder_blocks": 2, | |
| "encoder_ckpt": "facebook/dinov2-base", | |
| "encoder_lr": 1e-05, | |
| "encoder_camera_keys": [ | |
| "observation.images.agentview", | |
| "observation.images.robot0_eye_in_hand", | |
| "observation.images.robot1_eye_in_hand" | |
| ], | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-10, | |
| "optimizer_grad_clip_norm": 10.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 50000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "scheduler_peak_lr": 5e-05, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "LANGUAGE": "IDENTITY", | |
| "REWARD": "IDENTITY" | |
| } | |
| }, | |
| "output_dir": "/scratch2/chomeed/outputs/rewind/rewind_state_dexmg_threading_v1", | |
| "job_name": "rewind_state_dexmg_threading_v1", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 8, | |
| "batch_size": 16, | |
| "steps": 50000, | |
| "eval_freq": 1000, | |
| "log_freq": 100, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 1000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 0.0001, | |
| "weight_decay": 1e-10, | |
| "grad_clip_norm": 10.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 1000, | |
| "num_decay_steps": 50000, | |
| "peak_lr": 5e-05, | |
| "decay_lr": 2.5e-06 | |
| }, | |
| "val": { | |
| "repo_id": "chomeed/dexmg_two_arm_threading", | |
| "root": "/home/chomeed/workspace/proj-rl-finetuning/lerobot_dataset/chomeed/dexmg_two_arm_threading", | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "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 | |
| ] | |
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| }, | |
| "hue": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
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| -0.05, | |
| 0.05 | |
| ] | |
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| }, | |
| "sharpness": { | |
| "weight": 1.0, | |
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| "kwargs": { | |
| "sharpness": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "affine": { | |
| "weight": 1.0, | |
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| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "streaming": false | |
| }, | |
| "test": { | |
| "repo_id": [ | |
| "chomeed/aloha_static_coffee_single", | |
| "jellyho/aloha_handover_box_single" | |
| ], | |
| "root": null, | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
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| 1.2 | |
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| 0.8, | |
| 1.2 | |
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| }, | |
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| 0.5, | |
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| -0.05, | |
| 0.05 | |
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| 0.5, | |
| 1.5 | |
| ] | |
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| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "streaming": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "long_horizon_reward_modeling", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "jkk0epde", | |
| "mode": null | |
| }, | |
| "peft": null, | |
| "use_rabc": false, | |
| "rabc_progress_path": null, | |
| "rabc_kappa": 0.01, | |
| "rabc_epsilon": 1e-06, | |
| "rabc_head_mode": "sparse", | |
| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |