diff --git a/checkpoint_010000/config.json b/checkpoint_010000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_010000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_010000/model.safetensors b/checkpoint_010000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b44232826d27fec72792a6636bb614124311dd6d --- /dev/null +++ b/checkpoint_010000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72c054ef278ae06b42d11dbfb7f8ef00f4415dd3fe88ca3dfc81ceeb0ae89ddc +size 206699736 diff --git a/checkpoint_010000/policy_postprocessor.json b/checkpoint_010000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_010000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_010000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_010000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_010000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_010000/policy_preprocessor.json b/checkpoint_010000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_010000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_010000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_010000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_010000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_010000/training_metadata.json b/checkpoint_010000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_010000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_010000/training_state.pt b/checkpoint_010000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..690b96db535fb5a4b8b904714a4d5dc872740d79 --- /dev/null +++ b/checkpoint_010000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d671be69221f0a70253675b3dff03311d9b81fcc9d8a079670548be910798d9 +size 412908960 diff --git a/checkpoint_020000/config.json b/checkpoint_020000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_020000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_020000/model.safetensors b/checkpoint_020000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..3063d026db20e69e9b45c1735f981234650b04fa --- /dev/null +++ b/checkpoint_020000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:956f14eeeda4b7d92dab38650d37a77b47b4b521577bd4997e4cc07d185827ca +size 206699736 diff --git a/checkpoint_020000/policy_postprocessor.json b/checkpoint_020000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_020000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_020000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_020000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_020000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_020000/policy_preprocessor.json b/checkpoint_020000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_020000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_020000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_020000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_020000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_020000/training_metadata.json b/checkpoint_020000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_020000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_020000/training_state.pt b/checkpoint_020000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..41499180283af1081d48de3d4df79d432ba50054 --- /dev/null +++ b/checkpoint_020000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e9c1330c16f8dcb6c23cbea374299b847d94577754089ee8724625035545595 +size 412908960 diff --git a/checkpoint_030000/config.json b/checkpoint_030000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_030000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_030000/model.safetensors b/checkpoint_030000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..8cb17380597f91a5468fc5f1a5b197c0ff697836 --- /dev/null +++ b/checkpoint_030000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3881ed4dff150f8a053b99fbb9af5647c2c444d2463cbe705c3e688f7635d314 +size 206699736 diff --git a/checkpoint_030000/policy_postprocessor.json b/checkpoint_030000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_030000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_030000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_030000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_030000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_030000/policy_preprocessor.json b/checkpoint_030000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_030000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_030000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_030000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_030000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_030000/training_metadata.json b/checkpoint_030000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_030000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_030000/training_state.pt b/checkpoint_030000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..2f05711591d884caa5726e60fb7aa992361f37af --- /dev/null +++ b/checkpoint_030000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4912fb49afa69af9310c7417a447a19dc71d16514622be7fa6c5f8e694c07e22 +size 412908960 diff --git a/checkpoint_040000/config.json b/checkpoint_040000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_040000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_040000/model.safetensors b/checkpoint_040000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..3e70fea6df6c6ca982b56750d086e0c5c33c4e57 --- /dev/null +++ b/checkpoint_040000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c928ac1c9d92e3617c907cf5e6f1a745fe7c903ab0df316e5236a4c41b427b17 +size 206699736 diff --git a/checkpoint_040000/policy_postprocessor.json b/checkpoint_040000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_040000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_040000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_040000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_040000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_040000/policy_preprocessor.json b/checkpoint_040000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_040000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_040000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_040000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_040000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_040000/training_metadata.json b/checkpoint_040000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_040000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_040000/training_state.pt b/checkpoint_040000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..d51514980fba903c3a393c27a392593a59242c88 --- /dev/null +++ b/checkpoint_040000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cade3e845a52b26916cbae40f5bb47ac0083bee44038ff40401e1c6e853d708c +size 412908960 diff --git a/checkpoint_050000/config.json b/checkpoint_050000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_050000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_050000/model.safetensors b/checkpoint_050000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b5ead7970ab1d85674f28841f8f790d94fe00a5e --- /dev/null +++ b/checkpoint_050000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:264a67b6b8b3ccdb19c8662169c628308dd8891f866437964eba500dd53fc998 +size 206699736 diff --git a/checkpoint_050000/policy_postprocessor.json b/checkpoint_050000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_050000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_050000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_050000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_050000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_050000/policy_preprocessor.json b/checkpoint_050000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_050000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_050000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_050000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_050000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_050000/training_metadata.json b/checkpoint_050000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_050000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_050000/training_state.pt b/checkpoint_050000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..12f80fd5e3f9dee24b0d1cc3a2a92e3c44c66b86 --- /dev/null +++ b/checkpoint_050000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39b06f79de0c3d445bd25d465b79ad42a62c49d637d8994738d4c1a173469239 +size 412908960 diff --git a/checkpoint_060000/config.json b/checkpoint_060000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_060000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_060000/model.safetensors b/checkpoint_060000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..a02a57fb7a63559a9c33d22094d0fabf048c9534 --- /dev/null +++ b/checkpoint_060000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19a4f62b65dd838689507ef8664f1d84e39fef9913671cff74b6b918b9f9ccef +size 206699736 diff --git a/checkpoint_060000/policy_postprocessor.json b/checkpoint_060000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_060000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_060000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_060000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_060000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_060000/policy_preprocessor.json b/checkpoint_060000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_060000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_060000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_060000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_060000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_060000/training_metadata.json b/checkpoint_060000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_060000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_060000/training_state.pt b/checkpoint_060000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..36ff1b4715fdd54728396270240ce1ab85d6b147 --- /dev/null +++ b/checkpoint_060000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58a93edca3fdb85c6f3b2df0539a977e4d0fbe9e4e76d840cfffcccd1d23ce86 +size 412908960 diff --git a/checkpoint_070000/config.json b/checkpoint_070000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_070000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_070000/model.safetensors b/checkpoint_070000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..90ac5a0f636e897aca61e35a7dc9c420067d7c92 --- /dev/null +++ b/checkpoint_070000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:148bdcace573a9976481c5e8b8a1451a74a3479a2ea0235216ac1cdfb4bdf30d +size 206699736 diff --git a/checkpoint_070000/policy_postprocessor.json b/checkpoint_070000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_070000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_070000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_070000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_070000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_070000/policy_preprocessor.json b/checkpoint_070000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_070000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_070000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_070000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_070000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_070000/training_metadata.json b/checkpoint_070000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_070000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_070000/training_state.pt b/checkpoint_070000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..eb5d54248e8ecdc6a902438664b02801310cc4c3 --- /dev/null +++ b/checkpoint_070000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:975bd4f4f4c8b5d2adad8a5eadbe23ec5c11ed38228407644cc8e237cde00c10 +size 412908960 diff --git a/checkpoint_080000/config.json b/checkpoint_080000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_080000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_080000/model.safetensors b/checkpoint_080000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..fdd20a9d79ce9b7c416cd4577b7dafb11edb7ec5 --- /dev/null +++ b/checkpoint_080000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2660d2d355f432395468e96920dc5ed257650b68bb2ad380de7391a699678a2c +size 206699736 diff --git a/checkpoint_080000/policy_postprocessor.json b/checkpoint_080000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_080000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_080000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_080000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_080000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_080000/policy_preprocessor.json b/checkpoint_080000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_080000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_080000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_080000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_080000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_080000/training_metadata.json b/checkpoint_080000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_080000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_080000/training_state.pt b/checkpoint_080000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..5c215439f07a9da066da0d27ced36fa569b39193 --- /dev/null +++ b/checkpoint_080000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91207c334bcee0e81cef822c8480eb4ef407242d27cbcb1ca08404c40b30b99a +size 412908960 diff --git a/checkpoint_090000/config.json b/checkpoint_090000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_090000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_090000/model.safetensors b/checkpoint_090000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..8e4a4eaa3b75ac9ef87fc813cb3c8a0a962dbeba --- /dev/null +++ b/checkpoint_090000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb0368087ed16a697a696549cdc32c0cc08476da8525230a5788892b7f7c8444 +size 206699736 diff --git a/checkpoint_090000/policy_postprocessor.json b/checkpoint_090000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_090000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_090000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_090000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_090000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_090000/policy_preprocessor.json b/checkpoint_090000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_090000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_090000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_090000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_090000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_090000/training_metadata.json b/checkpoint_090000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_090000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_090000/training_state.pt b/checkpoint_090000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..80b6c9ae062960af54a5948745b2f88149eb9439 --- /dev/null +++ b/checkpoint_090000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65ee9b39ac38c4408182f2e1b6209d05c36d14edfe07d555db73c68cb94d9548 +size 412908960 diff --git a/checkpoint_100000/config.json b/checkpoint_100000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/checkpoint_100000/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/checkpoint_100000/model.safetensors b/checkpoint_100000/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..0f6c8249bd313e12327133d5b74e85a56dcd1b0e --- /dev/null +++ b/checkpoint_100000/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9baae89aff8e11dee816e49c834f8d589695626f5fabc182072d81e3b312badf +size 206699736 diff --git a/checkpoint_100000/policy_postprocessor.json b/checkpoint_100000/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/checkpoint_100000/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/checkpoint_100000/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoint_100000/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_100000/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_100000/policy_preprocessor.json b/checkpoint_100000/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/checkpoint_100000/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/checkpoint_100000/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoint_100000/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/checkpoint_100000/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/checkpoint_100000/training_metadata.json b/checkpoint_100000/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/checkpoint_100000/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/checkpoint_100000/training_state.pt b/checkpoint_100000/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..c0ed23043520d9733780ed014f2a81776ff6406d --- /dev/null +++ b/checkpoint_100000/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3fb76c57c1efbf02bcaa7a619447571a05a0e292902fdb07295f941fddcb820 +size 412908960 diff --git a/final/config.json b/final/config.json new file mode 100644 index 0000000000000000000000000000000000000000..540963b320c8e6b3c1153f716adef31743f0082f --- /dev/null +++ b/final/config.json @@ -0,0 +1,71 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": true, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 100, + "n_action_steps": 100, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/final/model.safetensors b/final/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..0f6c8249bd313e12327133d5b74e85a56dcd1b0e --- /dev/null +++ b/final/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9baae89aff8e11dee816e49c834f8d589695626f5fabc182072d81e3b312badf +size 206699736 diff --git a/final/policy_postprocessor.json b/final/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba4ac02de62bbf10dd3ff95f2bac8c697e95340 --- /dev/null +++ b/final/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/final/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/final/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/final/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/final/policy_preprocessor.json b/final/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7167e7fef59f8e032de6b34a11e200451c8a0d --- /dev/null +++ b/final/policy_preprocessor.json @@ -0,0 +1,64 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.wrist_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead_cam": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/final/policy_preprocessor_step_3_normalizer_processor.safetensors b/final/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..daffc771d746416e3ca37c32433c4a93917b1b9a --- /dev/null +++ b/final/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9593ae863082c2b287acab9467aaf2a6d09fc472789b763c605a6c481e9d44 +size 768 diff --git a/final/training_metadata.json b/final/training_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9402b9432fde52cf1b4271425d7174865cf491c --- /dev/null +++ b/final/training_metadata.json @@ -0,0 +1,35 @@ +{ + "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2", + "scene": "so101_with_wrist_cam.xml", + "scene_cameras": { + "overhead_cam": { + "fovy": 52.0, + "pos": [ + 0.3, + -0.09, + 0.6 + ] + }, + "wrist_cam": { + "fovy": 71.0, + "pos": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + "cameras": [ + "wrist_cam", + "overhead_cam" + ], + "camera_resolutions": { + "wrist_cam": "640x480", + "overhead_cam": "640x480" + }, + "action_space": "joint (6-dim: normalized joints)", + "action_dim": 6, + "chunk_size": 100, + "fps": 30, + "total_frames": 31210 +} \ No newline at end of file diff --git a/final/training_state.pt b/final/training_state.pt new file mode 100644 index 0000000000000000000000000000000000000000..c0ed23043520d9733780ed014f2a81776ff6406d --- /dev/null +++ b/final/training_state.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3fb76c57c1efbf02bcaa7a619447571a05a0e292902fdb07295f941fddcb820 +size 412908960