Hugging Face's logo

danbhf
/
act_vit_pickup_coords_confuser_mixed

Safetensors
Model card Files
xet
 Community
danbhf commited on
Commit
f68d0e3
·
verified ·
1 Parent(s): f3fc545

Upload folder using huggingface_hub

Browse files
Files changed (48) hide show
  1. checkpoint_010000/config.json +76 -0
  2. checkpoint_010000/model.safetensors +3 -0
  3. checkpoint_010000/policy_postprocessor.json +32 -0
  4. checkpoint_010000/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. checkpoint_010000/policy_preprocessor.json +70 -0
  6. checkpoint_010000/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. checkpoint_010000/training_metadata.json +16 -0
  8. checkpoint_010000/training_state.pt +3 -0
  9. checkpoint_020000/config.json +76 -0
  10. checkpoint_020000/model.safetensors +3 -0
  11. checkpoint_020000/policy_postprocessor.json +32 -0
  12. checkpoint_020000/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  13. checkpoint_020000/policy_preprocessor.json +70 -0
  14. checkpoint_020000/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  15. checkpoint_020000/training_metadata.json +16 -0
  16. checkpoint_020000/training_state.pt +3 -0
  17. checkpoint_030000/config.json +76 -0
  18. checkpoint_030000/model.safetensors +3 -0
  19. checkpoint_030000/policy_postprocessor.json +32 -0
  20. checkpoint_030000/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  21. checkpoint_030000/policy_preprocessor.json +70 -0
  22. checkpoint_030000/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  23. checkpoint_030000/training_metadata.json +16 -0
  24. checkpoint_030000/training_state.pt +3 -0
  25. checkpoint_040000/config.json +76 -0
  26. checkpoint_040000/model.safetensors +3 -0
  27. checkpoint_040000/policy_postprocessor.json +32 -0
  28. checkpoint_040000/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  29. checkpoint_040000/policy_preprocessor.json +70 -0
  30. checkpoint_040000/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  31. checkpoint_040000/training_metadata.json +16 -0
  32. checkpoint_040000/training_state.pt +3 -0
  33. checkpoint_050000/config.json +76 -0
  34. checkpoint_050000/model.safetensors +3 -0
  35. checkpoint_050000/policy_postprocessor.json +32 -0
  36. checkpoint_050000/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  37. checkpoint_050000/policy_preprocessor.json +70 -0
  38. checkpoint_050000/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  39. checkpoint_050000/training_metadata.json +16 -0
  40. checkpoint_050000/training_state.pt +3 -0
  41. final/config.json +76 -0
  42. final/model.safetensors +3 -0
  43. final/policy_postprocessor.json +32 -0
  44. final/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  45. final/policy_preprocessor.json +70 -0
  46. final/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  47. final/training_metadata.json +16 -0
  48. final/training_state.pt +3 -0
checkpoint_010000/config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.wrist_cam": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.overhead_cam": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.environment_state": {
28
+ "type": "STATE",
29
+ "shape": [
30
+ 2
31
+ ]
32
+ }
33
+ },
34
+ "output_features": {
35
+ "action": {
36
+ "type": "ACTION",
37
+ "shape": [
38
+ 6
39
+ ]
40
+ }
41
+ },
42
+ "device": "cuda",
43
+ "use_amp": false,
44
+ "push_to_hub": true,
45
+ "repo_id": null,
46
+ "private": null,
47
+ "tags": null,
48
+ "license": null,
49
+ "pretrained_path": null,
50
+ "chunk_size": 100,
51
+ "n_action_steps": 100,
52
+ "normalization_mapping": {
53
+ "VISUAL": "MEAN_STD",
54
+ "STATE": "MEAN_STD",
55
+ "ACTION": "MEAN_STD"
56
+ },
57
+ "vision_backbone": "resnet18",
58
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
59
+ "replace_final_stride_with_dilation": false,
60
+ "pre_norm": false,
61
+ "dim_model": 512,
62
+ "n_heads": 8,
63
+ "dim_feedforward": 3200,
64
+ "feedforward_activation": "relu",
65
+ "n_encoder_layers": 4,
66
+ "n_decoder_layers": 1,
67
+ "use_vae": true,
68
+ "latent_dim": 32,
69
+ "n_vae_encoder_layers": 4,
70
+ "temporal_ensemble_coeff": null,
71
+ "dropout": 0.1,
72
+ "kl_weight": 10.0,
73
+ "optimizer_lr": 1e-05,
74
+ "optimizer_weight_decay": 0.0001,
75
+ "optimizer_lr_backbone": 1e-05
76
+ }
checkpoint_010000/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c724b1fc108cf59ab9342e36fda4abd6aac0d295878fcb573a145b75064db799
3
+ size 506085864
checkpoint_010000/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoint_010000/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_010000/policy_preprocessor.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.wrist_cam": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.overhead_cam": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "observation.environment_state": {
49
+ "type": "STATE",
50
+ "shape": [
51
+ 2
52
+ ]
53
+ },
54
+ "action": {
55
+ "type": "ACTION",
56
+ "shape": [
57
+ 6
58
+ ]
59
+ }
60
+ },
61
+ "norm_map": {
62
+ "VISUAL": "MEAN_STD",
63
+ "STATE": "MEAN_STD",
64
+ "ACTION": "MEAN_STD"
65
+ }
66
+ },
67
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
68
+ }
69
+ ]
70
+ }
checkpoint_010000/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_010000/training_metadata.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_repo_id": "danbhf/sim_pick_place_220ep_confuser_mixed_5x",
3
+ "model_type": "act_vit",
4
+ "vision_backbone": "vit_b_16",
5
+ "cameras": [
6
+ "wrist_cam",
7
+ "overhead_cam"
8
+ ],
9
+ "action_space": "joint (6-dim)",
10
+ "action_dim": 6,
11
+ "chunk_size": 100,
12
+ "fps": 30,
13
+ "total_frames": 156050,
14
+ "pickup_coords": true,
15
+ "pos1_only": false
16
+ }
checkpoint_010000/training_state.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d272e51ada5a6d7e2a4eb65901cff0dc193e574107e0ac99136778e0d796b602
3
+ size 1011925005
checkpoint_020000/config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.wrist_cam": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.overhead_cam": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.environment_state": {
28
+ "type": "STATE",
29
+ "shape": [
30
+ 2
31
+ ]
32
+ }
33
+ },
34
+ "output_features": {
35
+ "action": {
36
+ "type": "ACTION",
37
+ "shape": [
38
+ 6
39
+ ]
40
+ }
41
+ },
42
+ "device": "cuda",
43
+ "use_amp": false,
44
+ "push_to_hub": true,
45
+ "repo_id": null,
46
+ "private": null,
47
+ "tags": null,
48
+ "license": null,
49
+ "pretrained_path": null,
50
+ "chunk_size": 100,
51
+ "n_action_steps": 100,
52
+ "normalization_mapping": {
53
+ "VISUAL": "MEAN_STD",
54
+ "STATE": "MEAN_STD",
55
+ "ACTION": "MEAN_STD"
56
+ },
57
+ "vision_backbone": "resnet18",
58
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
59
+ "replace_final_stride_with_dilation": false,
60
+ "pre_norm": false,
61
+ "dim_model": 512,
62
+ "n_heads": 8,
63
+ "dim_feedforward": 3200,
64
+ "feedforward_activation": "relu",
65
+ "n_encoder_layers": 4,
66
+ "n_decoder_layers": 1,
67
+ "use_vae": true,
68
+ "latent_dim": 32,
69
+ "n_vae_encoder_layers": 4,
70
+ "temporal_ensemble_coeff": null,
71
+ "dropout": 0.1,
72
+ "kl_weight": 10.0,
73
+ "optimizer_lr": 1e-05,
74
+ "optimizer_weight_decay": 0.0001,
75
+ "optimizer_lr_backbone": 1e-05
76
+ }
checkpoint_020000/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:06c4e6f77792cddbeee8740fbfe2e27e59a03b73f96011bde6efe6d69d6bd8d5
3
+ size 506085864
checkpoint_020000/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoint_020000/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_020000/policy_preprocessor.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.wrist_cam": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.overhead_cam": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "observation.environment_state": {
49
+ "type": "STATE",
50
+ "shape": [
51
+ 2
52
+ ]
53
+ },
54
+ "action": {
55
+ "type": "ACTION",
56
+ "shape": [
57
+ 6
58
+ ]
59
+ }
60
+ },
61
+ "norm_map": {
62
+ "VISUAL": "MEAN_STD",
63
+ "STATE": "MEAN_STD",
64
+ "ACTION": "MEAN_STD"
65
+ }
66
+ },
67
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
68
+ }
69
+ ]
70
+ }
checkpoint_020000/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_020000/training_metadata.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_repo_id": "danbhf/sim_pick_place_220ep_confuser_mixed_5x",
3
+ "model_type": "act_vit",
4
+ "vision_backbone": "vit_b_16",
5
+ "cameras": [
6
+ "wrist_cam",
7
+ "overhead_cam"
8
+ ],
9
+ "action_space": "joint (6-dim)",
10
+ "action_dim": 6,
11
+ "chunk_size": 100,
12
+ "fps": 30,
13
+ "total_frames": 156050,
14
+ "pickup_coords": true,
15
+ "pos1_only": false
16
+ }
checkpoint_020000/training_state.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1184aab8099ed932a642b3b52e4288a529969519c7462a38b1d54c1b94a1c0fd
3
+ size 1011925005
checkpoint_030000/config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.wrist_cam": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.overhead_cam": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.environment_state": {
28
+ "type": "STATE",
29
+ "shape": [
30
+ 2
31
+ ]
32
+ }
33
+ },
34
+ "output_features": {
35
+ "action": {
36
+ "type": "ACTION",
37
+ "shape": [
38
+ 6
39
+ ]
40
+ }
41
+ },
42
+ "device": "cuda",
43
+ "use_amp": false,
44
+ "push_to_hub": true,
45
+ "repo_id": null,
46
+ "private": null,
47
+ "tags": null,
48
+ "license": null,
49
+ "pretrained_path": null,
50
+ "chunk_size": 100,
51
+ "n_action_steps": 100,
52
+ "normalization_mapping": {
53
+ "VISUAL": "MEAN_STD",
54
+ "STATE": "MEAN_STD",
55
+ "ACTION": "MEAN_STD"
56
+ },
57
+ "vision_backbone": "resnet18",
58
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
59
+ "replace_final_stride_with_dilation": false,
60
+ "pre_norm": false,
61
+ "dim_model": 512,
62
+ "n_heads": 8,
63
+ "dim_feedforward": 3200,
64
+ "feedforward_activation": "relu",
65
+ "n_encoder_layers": 4,
66
+ "n_decoder_layers": 1,
67
+ "use_vae": true,
68
+ "latent_dim": 32,
69
+ "n_vae_encoder_layers": 4,
70
+ "temporal_ensemble_coeff": null,
71
+ "dropout": 0.1,
72
+ "kl_weight": 10.0,
73
+ "optimizer_lr": 1e-05,
74
+ "optimizer_weight_decay": 0.0001,
75
+ "optimizer_lr_backbone": 1e-05
76
+ }
checkpoint_030000/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f36b5ffb39febdf8dea085ce75427ba2e46367d26f6ca68a36f35f5395d8dcb8
3
+ size 506085864
checkpoint_030000/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoint_030000/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_030000/policy_preprocessor.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.wrist_cam": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.overhead_cam": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "observation.environment_state": {
49
+ "type": "STATE",
50
+ "shape": [
51
+ 2
52
+ ]
53
+ },
54
+ "action": {
55
+ "type": "ACTION",
56
+ "shape": [
57
+ 6
58
+ ]
59
+ }
60
+ },
61
+ "norm_map": {
62
+ "VISUAL": "MEAN_STD",
63
+ "STATE": "MEAN_STD",
64
+ "ACTION": "MEAN_STD"
65
+ }
66
+ },
67
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
68
+ }
69
+ ]
70
+ }
checkpoint_030000/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_030000/training_metadata.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_repo_id": "danbhf/sim_pick_place_220ep_confuser_mixed_5x",
3
+ "model_type": "act_vit",
4
+ "vision_backbone": "vit_b_16",
5
+ "cameras": [
6
+ "wrist_cam",
7
+ "overhead_cam"
8
+ ],
9
+ "action_space": "joint (6-dim)",
10
+ "action_dim": 6,
11
+ "chunk_size": 100,
12
+ "fps": 30,
13
+ "total_frames": 156050,
14
+ "pickup_coords": true,
15
+ "pos1_only": false
16
+ }
checkpoint_030000/training_state.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfa4c0e3a377bf1591599e811791414b499744c424b6b0027369f8382e5804fe
3
+ size 1011925005
checkpoint_040000/config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.wrist_cam": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.overhead_cam": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.environment_state": {
28
+ "type": "STATE",
29
+ "shape": [
30
+ 2
31
+ ]
32
+ }
33
+ },
34
+ "output_features": {
35
+ "action": {
36
+ "type": "ACTION",
37
+ "shape": [
38
+ 6
39
+ ]
40
+ }
41
+ },
42
+ "device": "cuda",
43
+ "use_amp": false,
44
+ "push_to_hub": true,
45
+ "repo_id": null,
46
+ "private": null,
47
+ "tags": null,
48
+ "license": null,
49
+ "pretrained_path": null,
50
+ "chunk_size": 100,
51
+ "n_action_steps": 100,
52
+ "normalization_mapping": {
53
+ "VISUAL": "MEAN_STD",
54
+ "STATE": "MEAN_STD",
55
+ "ACTION": "MEAN_STD"
56
+ },
57
+ "vision_backbone": "resnet18",
58
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
59
+ "replace_final_stride_with_dilation": false,
60
+ "pre_norm": false,
61
+ "dim_model": 512,
62
+ "n_heads": 8,
63
+ "dim_feedforward": 3200,
64
+ "feedforward_activation": "relu",
65
+ "n_encoder_layers": 4,
66
+ "n_decoder_layers": 1,
67
+ "use_vae": true,
68
+ "latent_dim": 32,
69
+ "n_vae_encoder_layers": 4,
70
+ "temporal_ensemble_coeff": null,
71
+ "dropout": 0.1,
72
+ "kl_weight": 10.0,
73
+ "optimizer_lr": 1e-05,
74
+ "optimizer_weight_decay": 0.0001,
75
+ "optimizer_lr_backbone": 1e-05
76
+ }
checkpoint_040000/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48a8d58fb548a8d843c00369fbe9bf03e554e7d98ad1111102de933ad46a245d
3
+ size 506085864
checkpoint_040000/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoint_040000/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_040000/policy_preprocessor.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.wrist_cam": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.overhead_cam": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "observation.environment_state": {
49
+ "type": "STATE",
50
+ "shape": [
51
+ 2
52
+ ]
53
+ },
54
+ "action": {
55
+ "type": "ACTION",
56
+ "shape": [
57
+ 6
58
+ ]
59
+ }
60
+ },
61
+ "norm_map": {
62
+ "VISUAL": "MEAN_STD",
63
+ "STATE": "MEAN_STD",
64
+ "ACTION": "MEAN_STD"
65
+ }
66
+ },
67
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
68
+ }
69
+ ]
70
+ }
checkpoint_040000/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_040000/training_metadata.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_repo_id": "danbhf/sim_pick_place_220ep_confuser_mixed_5x",
3
+ "model_type": "act_vit",
4
+ "vision_backbone": "vit_b_16",
5
+ "cameras": [
6
+ "wrist_cam",
7
+ "overhead_cam"
8
+ ],
9
+ "action_space": "joint (6-dim)",
10
+ "action_dim": 6,
11
+ "chunk_size": 100,
12
+ "fps": 30,
13
+ "total_frames": 156050,
14
+ "pickup_coords": true,
15
+ "pos1_only": false
16
+ }
checkpoint_040000/training_state.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26843f63ed46b8b5d622ca7a25a4145fc7cdd37baace4f5d777d9856b4350b34
3
+ size 1011925005
checkpoint_050000/config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.wrist_cam": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.overhead_cam": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.environment_state": {
28
+ "type": "STATE",
29
+ "shape": [
30
+ 2
31
+ ]
32
+ }
33
+ },
34
+ "output_features": {
35
+ "action": {
36
+ "type": "ACTION",
37
+ "shape": [
38
+ 6
39
+ ]
40
+ }
41
+ },
42
+ "device": "cuda",
43
+ "use_amp": false,
44
+ "push_to_hub": true,
45
+ "repo_id": null,
46
+ "private": null,
47
+ "tags": null,
48
+ "license": null,
49
+ "pretrained_path": null,
50
+ "chunk_size": 100,
51
+ "n_action_steps": 100,
52
+ "normalization_mapping": {
53
+ "VISUAL": "MEAN_STD",
54
+ "STATE": "MEAN_STD",
55
+ "ACTION": "MEAN_STD"
56
+ },
57
+ "vision_backbone": "resnet18",
58
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
59
+ "replace_final_stride_with_dilation": false,
60
+ "pre_norm": false,
61
+ "dim_model": 512,
62
+ "n_heads": 8,
63
+ "dim_feedforward": 3200,
64
+ "feedforward_activation": "relu",
65
+ "n_encoder_layers": 4,
66
+ "n_decoder_layers": 1,
67
+ "use_vae": true,
68
+ "latent_dim": 32,
69
+ "n_vae_encoder_layers": 4,
70
+ "temporal_ensemble_coeff": null,
71
+ "dropout": 0.1,
72
+ "kl_weight": 10.0,
73
+ "optimizer_lr": 1e-05,
74
+ "optimizer_weight_decay": 0.0001,
75
+ "optimizer_lr_backbone": 1e-05
76
+ }
checkpoint_050000/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8bca3cf3b85b0bd016a8cf574d93ceab66a9587de3a007f00e4f0b2c320161f0
3
+ size 506085864
checkpoint_050000/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoint_050000/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_050000/policy_preprocessor.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.wrist_cam": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.overhead_cam": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "observation.environment_state": {
49
+ "type": "STATE",
50
+ "shape": [
51
+ 2
52
+ ]
53
+ },
54
+ "action": {
55
+ "type": "ACTION",
56
+ "shape": [
57
+ 6
58
+ ]
59
+ }
60
+ },
61
+ "norm_map": {
62
+ "VISUAL": "MEAN_STD",
63
+ "STATE": "MEAN_STD",
64
+ "ACTION": "MEAN_STD"
65
+ }
66
+ },
67
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
68
+ }
69
+ ]
70
+ }
checkpoint_050000/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
checkpoint_050000/training_metadata.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_repo_id": "danbhf/sim_pick_place_220ep_confuser_mixed_5x",
3
+ "model_type": "act_vit",
4
+ "vision_backbone": "vit_b_16",
5
+ "cameras": [
6
+ "wrist_cam",
7
+ "overhead_cam"
8
+ ],
9
+ "action_space": "joint (6-dim)",
10
+ "action_dim": 6,
11
+ "chunk_size": 100,
12
+ "fps": 30,
13
+ "total_frames": 156050,
14
+ "pickup_coords": true,
15
+ "pos1_only": false
16
+ }
checkpoint_050000/training_state.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f69f39c74f0ae8ee53c547a5c17563a4f31d61db92a131c8a82b7c2bcafadf0
3
+ size 1011925005
final/config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.wrist_cam": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.overhead_cam": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.environment_state": {
28
+ "type": "STATE",
29
+ "shape": [
30
+ 2
31
+ ]
32
+ }
33
+ },
34
+ "output_features": {
35
+ "action": {
36
+ "type": "ACTION",
37
+ "shape": [
38
+ 6
39
+ ]
40
+ }
41
+ },
42
+ "device": "cuda",
43
+ "use_amp": false,
44
+ "push_to_hub": true,
45
+ "repo_id": null,
46
+ "private": null,
47
+ "tags": null,
48
+ "license": null,
49
+ "pretrained_path": null,
50
+ "chunk_size": 100,
51
+ "n_action_steps": 100,
52
+ "normalization_mapping": {
53
+ "VISUAL": "MEAN_STD",
54
+ "STATE": "MEAN_STD",
55
+ "ACTION": "MEAN_STD"
56
+ },
57
+ "vision_backbone": "resnet18",
58
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
59
+ "replace_final_stride_with_dilation": false,
60
+ "pre_norm": false,
61
+ "dim_model": 512,
62
+ "n_heads": 8,
63
+ "dim_feedforward": 3200,
64
+ "feedforward_activation": "relu",
65
+ "n_encoder_layers": 4,
66
+ "n_decoder_layers": 1,
67
+ "use_vae": true,
68
+ "latent_dim": 32,
69
+ "n_vae_encoder_layers": 4,
70
+ "temporal_ensemble_coeff": null,
71
+ "dropout": 0.1,
72
+ "kl_weight": 10.0,
73
+ "optimizer_lr": 1e-05,
74
+ "optimizer_weight_decay": 0.0001,
75
+ "optimizer_lr_backbone": 1e-05
76
+ }
final/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8bca3cf3b85b0bd016a8cf574d93ceab66a9587de3a007f00e4f0b2c320161f0
3
+ size 506085864
final/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
final/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
final/policy_preprocessor.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.wrist_cam": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.overhead_cam": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "observation.environment_state": {
49
+ "type": "STATE",
50
+ "shape": [
51
+ 2
52
+ ]
53
+ },
54
+ "action": {
55
+ "type": "ACTION",
56
+ "shape": [
57
+ 6
58
+ ]
59
+ }
60
+ },
61
+ "norm_map": {
62
+ "VISUAL": "MEAN_STD",
63
+ "STATE": "MEAN_STD",
64
+ "ACTION": "MEAN_STD"
65
+ }
66
+ },
67
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
68
+ }
69
+ ]
70
+ }
final/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093ba7ded022004ae0677f281769ac9b3d2ebf5d656016400e4f7b66ec77f18a
3
+ size 7856
final/training_metadata.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset_repo_id": "danbhf/sim_pick_place_220ep_confuser_mixed_5x",
3
+ "model_type": "act_vit",
4
+ "vision_backbone": "vit_b_16",
5
+ "cameras": [
6
+ "wrist_cam",
7
+ "overhead_cam"
8
+ ],
9
+ "action_space": "joint (6-dim)",
10
+ "action_dim": 6,
11
+ "chunk_size": 100,
12
+ "fps": 30,
13
+ "total_frames": 156050,
14
+ "pickup_coords": true,
15
+ "pos1_only": false
16
+ }
final/training_state.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f69f39c74f0ae8ee53c547a5c17563a4f31d61db92a131c8a82b7c2bcafadf0
3
+ size 1011925005