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Browse files- 090000/pretrained_model/config.json +93 -0
- 090000/pretrained_model/dataset_info.json +246 -0
- 090000/pretrained_model/model.safetensors +3 -0
- 090000/pretrained_model/train_config.json +242 -0
- 090000/training_state/optimizer_param_groups.json +191 -0
- 090000/training_state/optimizer_state.safetensors +3 -0
- 090000/training_state/rng_state.safetensors +3 -0
- 090000/training_state/training_step.json +3 -0
- 095000/pretrained_model/config.json +93 -0
- 095000/pretrained_model/dataset_info.json +246 -0
- 095000/pretrained_model/model.safetensors +3 -0
- 095000/pretrained_model/train_config.json +242 -0
- 095000/training_state/optimizer_param_groups.json +191 -0
- 095000/training_state/optimizer_state.safetensors +3 -0
- 095000/training_state/rng_state.safetensors +3 -0
- 095000/training_state/training_step.json +3 -0
- 100000/pretrained_model/config.json +93 -0
- 100000/pretrained_model/dataset_info.json +246 -0
- 100000/pretrained_model/model.safetensors +3 -0
- 100000/pretrained_model/train_config.json +242 -0
- 100000/training_state/optimizer_param_groups.json +191 -0
- 100000/training_state/optimizer_state.safetensors +3 -0
- 100000/training_state/rng_state.safetensors +3 -0
- 100000/training_state/training_step.json +3 -0
- 105000/pretrained_model/config.json +93 -0
- 105000/pretrained_model/dataset_info.json +246 -0
- 105000/pretrained_model/model.safetensors +3 -0
- 105000/pretrained_model/train_config.json +242 -0
- 105000/training_state/optimizer_param_groups.json +191 -0
- 105000/training_state/optimizer_state.safetensors +3 -0
- 105000/training_state/rng_state.safetensors +3 -0
- 105000/training_state/training_step.json +3 -0
- 110000/pretrained_model/config.json +93 -0
- 110000/pretrained_model/dataset_info.json +246 -0
- 110000/pretrained_model/model.safetensors +3 -0
- 110000/pretrained_model/train_config.json +242 -0
- 110000/training_state/optimizer_param_groups.json +191 -0
- 110000/training_state/optimizer_state.safetensors +3 -0
- 110000/training_state/rng_state.safetensors +3 -0
- 110000/training_state/training_step.json +3 -0
- 115000/pretrained_model/config.json +93 -0
- 115000/pretrained_model/dataset_info.json +246 -0
- 115000/pretrained_model/model.safetensors +3 -0
- 115000/pretrained_model/train_config.json +242 -0
- 115000/training_state/optimizer_param_groups.json +191 -0
- 115000/training_state/optimizer_state.safetensors +3 -0
- 115000/training_state/rng_state.safetensors +3 -0
- 115000/training_state/training_step.json +3 -0
090000/pretrained_model/config.json
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{
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"type": "act",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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"observation.images.rgb_static": {
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"type": "VISUAL",
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"shape": [
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512,
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512
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"observation.images.rgb_left": {
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"type": "VISUAL",
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"shape": [
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3,
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512,
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512
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},
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"observation.images.rgb_right": {
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"type": "VISUAL",
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"shape": [
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3,
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512,
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},
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"observation.images.depth_left": {
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"type": "VISUAL",
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"shape": [
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3,
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512,
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]
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},
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"observation.images.depth_right": {
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"type": "VISUAL",
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"shape": [
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3,
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"push_to_hub": false,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"chunk_size": 50,
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"n_action_steps": 10,
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": false,
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"pre_norm": false,
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"dim_model": 512,
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"n_heads": 8,
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"dim_feedforward": 3200,
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"feedforward_activation": "relu",
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"n_encoder_layers": 4,
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"n_decoder_layers": 1,
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"use_vae": true,
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"latent_dim": 32,
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"n_vae_encoder_layers": 4,
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"temporal_ensemble_coeff": null,
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"dropout": 0.1,
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"kl_weight": 10.0,
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"optimizer_lr": 2e-05,
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"optimizer_weight_decay": 0.0001,
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"optimizer_lr_backbone": 2e-05
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}
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090000/pretrained_model/dataset_info.json
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| 1 |
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{
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| 2 |
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"codebase_version": "v2.1",
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| 3 |
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"robot_type": null,
|
| 4 |
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"total_episodes": 42,
|
| 5 |
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"total_frames": 10932,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"total_videos": 210,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 10,
|
| 11 |
+
"splits": {
|
| 12 |
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"train": "0:42"
|
| 13 |
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},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
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46
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"joint_pos_left_0",
|
| 24 |
+
"joint_pos_left_1",
|
| 25 |
+
"joint_pos_left_2",
|
| 26 |
+
"joint_pos_left_3",
|
| 27 |
+
"joint_pos_left_4",
|
| 28 |
+
"joint_pos_left_5",
|
| 29 |
+
"joint_pos_left_6",
|
| 30 |
+
"joint_pos_right_0",
|
| 31 |
+
"joint_pos_right_1",
|
| 32 |
+
"joint_pos_right_2",
|
| 33 |
+
"joint_pos_right_3",
|
| 34 |
+
"joint_pos_right_4",
|
| 35 |
+
"joint_pos_right_5",
|
| 36 |
+
"joint_pos_right_6",
|
| 37 |
+
"tcp_left_pos_x",
|
| 38 |
+
"tcp_left_pos_y",
|
| 39 |
+
"tcp_left_pos_z",
|
| 40 |
+
"tcp_left_quat_x",
|
| 41 |
+
"tcp_left_quat_y",
|
| 42 |
+
"tcp_left_quat_z",
|
| 43 |
+
"tcp_left_quat_w",
|
| 44 |
+
"tcp_right_pos_x",
|
| 45 |
+
"tcp_right_pos_y",
|
| 46 |
+
"tcp_right_pos_z",
|
| 47 |
+
"tcp_right_quat_x",
|
| 48 |
+
"tcp_right_quat_y",
|
| 49 |
+
"tcp_right_quat_z",
|
| 50 |
+
"tcp_right_quat_w",
|
| 51 |
+
"gripper_left_0",
|
| 52 |
+
"gripper_left_1",
|
| 53 |
+
"gripper_right_0",
|
| 54 |
+
"gripper_right_1",
|
| 55 |
+
"last_command_left_0",
|
| 56 |
+
"last_command_left_1",
|
| 57 |
+
"last_command_left_2",
|
| 58 |
+
"last_command_left_3",
|
| 59 |
+
"last_command_left_4",
|
| 60 |
+
"last_command_left_5",
|
| 61 |
+
"last_command_left_6",
|
| 62 |
+
"last_command_right_0",
|
| 63 |
+
"last_command_right_1",
|
| 64 |
+
"last_command_right_2",
|
| 65 |
+
"last_command_right_3",
|
| 66 |
+
"last_command_right_4",
|
| 67 |
+
"last_command_right_5",
|
| 68 |
+
"last_command_right_6"
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"action": {
|
| 72 |
+
"dtype": "float32",
|
| 73 |
+
"shape": [
|
| 74 |
+
16
|
| 75 |
+
],
|
| 76 |
+
"names": [
|
| 77 |
+
"tcp_left_x",
|
| 78 |
+
"tcp_left_y",
|
| 79 |
+
"tcp_left_z",
|
| 80 |
+
"tcp_left_quat_x",
|
| 81 |
+
"tcp_left_quat_y",
|
| 82 |
+
"tcp_left_quat_z",
|
| 83 |
+
"tcp_left_quat_w",
|
| 84 |
+
"tcp_right_x",
|
| 85 |
+
"tcp_right_y",
|
| 86 |
+
"tcp_right_z",
|
| 87 |
+
"tcp_right_quat_x",
|
| 88 |
+
"tcp_right_quat_y",
|
| 89 |
+
"tcp_right_quat_z",
|
| 90 |
+
"tcp_right_quat_w",
|
| 91 |
+
"gripper_left",
|
| 92 |
+
"gripper_right"
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"observation.images.rgb_static": {
|
| 96 |
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"dtype": "video",
|
| 97 |
+
"shape": [
|
| 98 |
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512,
|
| 99 |
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512,
|
| 100 |
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3
|
| 101 |
+
],
|
| 102 |
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"names": [
|
| 103 |
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"height",
|
| 104 |
+
"width",
|
| 105 |
+
"channel"
|
| 106 |
+
],
|
| 107 |
+
"info": {
|
| 108 |
+
"video.height": 512,
|
| 109 |
+
"video.width": 512,
|
| 110 |
+
"video.codec": "av1",
|
| 111 |
+
"video.pix_fmt": "yuv420p",
|
| 112 |
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|
| 245 |
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|
| 246 |
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|
090000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 206702464
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090000/pretrained_model/train_config.json
ADDED
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@@ -0,0 +1,242 @@
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| 1 |
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{
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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},
|
| 204 |
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"output_dir": "outputs/train/2025-09-20/09-30-16_act",
|
| 205 |
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"job_name": "act",
|
| 206 |
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|
| 207 |
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"seed": 1000,
|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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"type": "adamw",
|
| 218 |
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"lr": 2e-05,
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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},
|
| 233 |
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"wandb": {
|
| 234 |
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"enable": true,
|
| 235 |
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"disable_artifact": false,
|
| 236 |
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"project": "lerobot",
|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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"mode": null
|
| 241 |
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}
|
| 242 |
+
}
|
090000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
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|
090000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 413022540
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090000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 3 |
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090000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
{
|
| 2 |
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"step": 90000
|
| 3 |
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}
|
095000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,93 @@
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| 4 |
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| 70 |
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"tags": null,
|
| 71 |
+
"license": null,
|
| 72 |
+
"chunk_size": 50,
|
| 73 |
+
"n_action_steps": 10,
|
| 74 |
+
"vision_backbone": "resnet18",
|
| 75 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 76 |
+
"replace_final_stride_with_dilation": false,
|
| 77 |
+
"pre_norm": false,
|
| 78 |
+
"dim_model": 512,
|
| 79 |
+
"n_heads": 8,
|
| 80 |
+
"dim_feedforward": 3200,
|
| 81 |
+
"feedforward_activation": "relu",
|
| 82 |
+
"n_encoder_layers": 4,
|
| 83 |
+
"n_decoder_layers": 1,
|
| 84 |
+
"use_vae": true,
|
| 85 |
+
"latent_dim": 32,
|
| 86 |
+
"n_vae_encoder_layers": 4,
|
| 87 |
+
"temporal_ensemble_coeff": null,
|
| 88 |
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"dropout": 0.1,
|
| 89 |
+
"kl_weight": 10.0,
|
| 90 |
+
"optimizer_lr": 2e-05,
|
| 91 |
+
"optimizer_weight_decay": 0.0001,
|
| 92 |
+
"optimizer_lr_backbone": 2e-05
|
| 93 |
+
}
|
095000/pretrained_model/dataset_info.json
ADDED
|
@@ -0,0 +1,246 @@
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|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
|
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|
| 1 |
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{
|
| 2 |
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"codebase_version": "v2.1",
|
| 3 |
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"robot_type": null,
|
| 4 |
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"total_episodes": 42,
|
| 5 |
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"total_frames": 10932,
|
| 6 |
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|
| 7 |
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"total_videos": 210,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 10,
|
| 11 |
+
"splits": {
|
| 12 |
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"train": "0:42"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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46
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"joint_pos_left_0",
|
| 24 |
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"joint_pos_left_1",
|
| 25 |
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"joint_pos_left_2",
|
| 26 |
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"joint_pos_left_3",
|
| 27 |
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"joint_pos_left_4",
|
| 28 |
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"joint_pos_left_5",
|
| 29 |
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"joint_pos_left_6",
|
| 30 |
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"joint_pos_right_0",
|
| 31 |
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"joint_pos_right_1",
|
| 32 |
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"joint_pos_right_2",
|
| 33 |
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"joint_pos_right_3",
|
| 34 |
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"joint_pos_right_4",
|
| 35 |
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"joint_pos_right_5",
|
| 36 |
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"joint_pos_right_6",
|
| 37 |
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"tcp_left_pos_x",
|
| 38 |
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"tcp_left_pos_y",
|
| 39 |
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"tcp_left_pos_z",
|
| 40 |
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"tcp_left_quat_x",
|
| 41 |
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"tcp_left_quat_y",
|
| 42 |
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"tcp_left_quat_z",
|
| 43 |
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"tcp_left_quat_w",
|
| 44 |
+
"tcp_right_pos_x",
|
| 45 |
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"tcp_right_pos_y",
|
| 46 |
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"tcp_right_pos_z",
|
| 47 |
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"tcp_right_quat_x",
|
| 48 |
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"tcp_right_quat_y",
|
| 49 |
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"tcp_right_quat_z",
|
| 50 |
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"tcp_right_quat_w",
|
| 51 |
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"gripper_left_0",
|
| 52 |
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"gripper_left_1",
|
| 53 |
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"gripper_right_0",
|
| 54 |
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"gripper_right_1",
|
| 55 |
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"last_command_left_0",
|
| 56 |
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"last_command_left_1",
|
| 57 |
+
"last_command_left_2",
|
| 58 |
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"last_command_left_3",
|
| 59 |
+
"last_command_left_4",
|
| 60 |
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"last_command_left_5",
|
| 61 |
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"last_command_left_6",
|
| 62 |
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"last_command_right_0",
|
| 63 |
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"last_command_right_1",
|
| 64 |
+
"last_command_right_2",
|
| 65 |
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"last_command_right_3",
|
| 66 |
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"last_command_right_4",
|
| 67 |
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"last_command_right_5",
|
| 68 |
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"last_command_right_6"
|
| 69 |
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]
|
| 70 |
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},
|
| 71 |
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"action": {
|
| 72 |
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"dtype": "float32",
|
| 73 |
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"shape": [
|
| 74 |
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16
|
| 75 |
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],
|
| 76 |
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"names": [
|
| 77 |
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"tcp_left_x",
|
| 78 |
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"tcp_left_y",
|
| 79 |
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"tcp_left_z",
|
| 80 |
+
"tcp_left_quat_x",
|
| 81 |
+
"tcp_left_quat_y",
|
| 82 |
+
"tcp_left_quat_z",
|
| 83 |
+
"tcp_left_quat_w",
|
| 84 |
+
"tcp_right_x",
|
| 85 |
+
"tcp_right_y",
|
| 86 |
+
"tcp_right_z",
|
| 87 |
+
"tcp_right_quat_x",
|
| 88 |
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"tcp_right_quat_y",
|
| 89 |
+
"tcp_right_quat_z",
|
| 90 |
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"tcp_right_quat_w",
|
| 91 |
+
"gripper_left",
|
| 92 |
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"gripper_right"
|
| 93 |
+
]
|
| 94 |
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},
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
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|
| 111 |
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|
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
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},
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 126 |
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|
| 127 |
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|
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|
| 129 |
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| 130 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
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|
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|
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|
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|
| 140 |
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|
| 141 |
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|
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|
| 143 |
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|
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|
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|
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| 164 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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|
| 196 |
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| 197 |
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|
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| 199 |
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| 200 |
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|
| 201 |
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|
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|
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|
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|
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|
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| 211 |
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|
| 212 |
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|
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|
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|
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|
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|
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|
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|
| 245 |
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|
| 246 |
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}
|
095000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:42bda9b0b6c208f9c5efc8ed602eec6eb01d9e89ccf5749de0ab00feaa6f1af1
|
| 3 |
+
size 206702464
|
095000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,242 @@
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"dataset": {
|
| 3 |
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"repo_id": "step_3_tcp",
|
| 4 |
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"root": "data/lerobot/step_3_tcp",
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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32,
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
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|
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|
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
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|
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|
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|
| 93 |
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
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|
| 101 |
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|
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|
| 103 |
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| 104 |
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|
| 105 |
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|
| 106 |
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|
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|
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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| 126 |
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|
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| 128 |
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|
| 129 |
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|
| 132 |
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| 133 |
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| 134 |
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|
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|
| 136 |
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|
| 137 |
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|
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|
| 140 |
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| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
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|
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|
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| 158 |
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|
| 159 |
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| 160 |
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|
| 164 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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|
| 185 |
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| 186 |
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| 187 |
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|
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
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|
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
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|
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
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|
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|
| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
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|
| 240 |
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|
| 241 |
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}
|
| 242 |
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}
|
095000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
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{
|
| 3 |
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"lr": 2e-05,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
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|
| 14 |
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|
| 15 |
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|
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|
| 17 |
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|
| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
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|
| 93 |
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100000/pretrained_model/dataset_info.json
ADDED
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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| 55 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 84 |
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| 86 |
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| 87 |
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| 89 |
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|
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|
| 91 |
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|
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|
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|
| 245 |
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|
| 246 |
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|
100000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
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size 206702464
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100000/pretrained_model/train_config.json
ADDED
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@@ -0,0 +1,242 @@
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"dataset": {
|
| 3 |
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"repo_id": "step_3_tcp",
|
| 4 |
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"root": "data/lerobot/step_3_tcp",
|
| 5 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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| 240 |
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|
| 241 |
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|
| 242 |
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}
|
100000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
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100000/training_state/optimizer_state.safetensors
ADDED
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@@ -0,0 +1,3 @@
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size 413022540
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100000/training_state/rng_state.safetensors
ADDED
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@@ -0,0 +1,3 @@
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100000/training_state/training_step.json
ADDED
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@@ -0,0 +1,3 @@
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|
| 1 |
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{
|
| 2 |
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"step": 100000
|
| 3 |
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|
105000/pretrained_model/config.json
ADDED
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@@ -0,0 +1,93 @@
|
|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "act",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"normalization_mapping": {
|
| 5 |
+
"VISUAL": "MEAN_STD",
|
| 6 |
+
"STATE": "MEAN_STD",
|
| 7 |
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"ACTION": "MEAN_STD"
|
| 8 |
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},
|
| 9 |
+
"input_features": {
|
| 10 |
+
"observation.state": {
|
| 11 |
+
"type": "STATE",
|
| 12 |
+
"shape": [
|
| 13 |
+
46
|
| 14 |
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]
|
| 15 |
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},
|
| 16 |
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"observation.images.rgb_static": {
|
| 17 |
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"type": "VISUAL",
|
| 18 |
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"shape": [
|
| 19 |
+
3,
|
| 20 |
+
512,
|
| 21 |
+
512
|
| 22 |
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]
|
| 23 |
+
},
|
| 24 |
+
"observation.images.rgb_left": {
|
| 25 |
+
"type": "VISUAL",
|
| 26 |
+
"shape": [
|
| 27 |
+
3,
|
| 28 |
+
512,
|
| 29 |
+
512
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"observation.images.rgb_right": {
|
| 33 |
+
"type": "VISUAL",
|
| 34 |
+
"shape": [
|
| 35 |
+
3,
|
| 36 |
+
512,
|
| 37 |
+
512
|
| 38 |
+
]
|
| 39 |
+
},
|
| 40 |
+
"observation.images.depth_left": {
|
| 41 |
+
"type": "VISUAL",
|
| 42 |
+
"shape": [
|
| 43 |
+
3,
|
| 44 |
+
512,
|
| 45 |
+
512
|
| 46 |
+
]
|
| 47 |
+
},
|
| 48 |
+
"observation.images.depth_right": {
|
| 49 |
+
"type": "VISUAL",
|
| 50 |
+
"shape": [
|
| 51 |
+
3,
|
| 52 |
+
512,
|
| 53 |
+
512
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"output_features": {
|
| 58 |
+
"action": {
|
| 59 |
+
"type": "ACTION",
|
| 60 |
+
"shape": [
|
| 61 |
+
16
|
| 62 |
+
]
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
"device": "cuda",
|
| 66 |
+
"use_amp": false,
|
| 67 |
+
"push_to_hub": false,
|
| 68 |
+
"repo_id": null,
|
| 69 |
+
"private": null,
|
| 70 |
+
"tags": null,
|
| 71 |
+
"license": null,
|
| 72 |
+
"chunk_size": 50,
|
| 73 |
+
"n_action_steps": 10,
|
| 74 |
+
"vision_backbone": "resnet18",
|
| 75 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 76 |
+
"replace_final_stride_with_dilation": false,
|
| 77 |
+
"pre_norm": false,
|
| 78 |
+
"dim_model": 512,
|
| 79 |
+
"n_heads": 8,
|
| 80 |
+
"dim_feedforward": 3200,
|
| 81 |
+
"feedforward_activation": "relu",
|
| 82 |
+
"n_encoder_layers": 4,
|
| 83 |
+
"n_decoder_layers": 1,
|
| 84 |
+
"use_vae": true,
|
| 85 |
+
"latent_dim": 32,
|
| 86 |
+
"n_vae_encoder_layers": 4,
|
| 87 |
+
"temporal_ensemble_coeff": null,
|
| 88 |
+
"dropout": 0.1,
|
| 89 |
+
"kl_weight": 10.0,
|
| 90 |
+
"optimizer_lr": 2e-05,
|
| 91 |
+
"optimizer_weight_decay": 0.0001,
|
| 92 |
+
"optimizer_lr_backbone": 2e-05
|
| 93 |
+
}
|
105000/pretrained_model/dataset_info.json
ADDED
|
@@ -0,0 +1,246 @@
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": null,
|
| 4 |
+
"total_episodes": 42,
|
| 5 |
+
"total_frames": 10932,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
+
"total_videos": 210,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
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"fps": 10,
|
| 11 |
+
"splits": {
|
| 12 |
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"train": "0:42"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
46
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"joint_pos_left_0",
|
| 24 |
+
"joint_pos_left_1",
|
| 25 |
+
"joint_pos_left_2",
|
| 26 |
+
"joint_pos_left_3",
|
| 27 |
+
"joint_pos_left_4",
|
| 28 |
+
"joint_pos_left_5",
|
| 29 |
+
"joint_pos_left_6",
|
| 30 |
+
"joint_pos_right_0",
|
| 31 |
+
"joint_pos_right_1",
|
| 32 |
+
"joint_pos_right_2",
|
| 33 |
+
"joint_pos_right_3",
|
| 34 |
+
"joint_pos_right_4",
|
| 35 |
+
"joint_pos_right_5",
|
| 36 |
+
"joint_pos_right_6",
|
| 37 |
+
"tcp_left_pos_x",
|
| 38 |
+
"tcp_left_pos_y",
|
| 39 |
+
"tcp_left_pos_z",
|
| 40 |
+
"tcp_left_quat_x",
|
| 41 |
+
"tcp_left_quat_y",
|
| 42 |
+
"tcp_left_quat_z",
|
| 43 |
+
"tcp_left_quat_w",
|
| 44 |
+
"tcp_right_pos_x",
|
| 45 |
+
"tcp_right_pos_y",
|
| 46 |
+
"tcp_right_pos_z",
|
| 47 |
+
"tcp_right_quat_x",
|
| 48 |
+
"tcp_right_quat_y",
|
| 49 |
+
"tcp_right_quat_z",
|
| 50 |
+
"tcp_right_quat_w",
|
| 51 |
+
"gripper_left_0",
|
| 52 |
+
"gripper_left_1",
|
| 53 |
+
"gripper_right_0",
|
| 54 |
+
"gripper_right_1",
|
| 55 |
+
"last_command_left_0",
|
| 56 |
+
"last_command_left_1",
|
| 57 |
+
"last_command_left_2",
|
| 58 |
+
"last_command_left_3",
|
| 59 |
+
"last_command_left_4",
|
| 60 |
+
"last_command_left_5",
|
| 61 |
+
"last_command_left_6",
|
| 62 |
+
"last_command_right_0",
|
| 63 |
+
"last_command_right_1",
|
| 64 |
+
"last_command_right_2",
|
| 65 |
+
"last_command_right_3",
|
| 66 |
+
"last_command_right_4",
|
| 67 |
+
"last_command_right_5",
|
| 68 |
+
"last_command_right_6"
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"action": {
|
| 72 |
+
"dtype": "float32",
|
| 73 |
+
"shape": [
|
| 74 |
+
16
|
| 75 |
+
],
|
| 76 |
+
"names": [
|
| 77 |
+
"tcp_left_x",
|
| 78 |
+
"tcp_left_y",
|
| 79 |
+
"tcp_left_z",
|
| 80 |
+
"tcp_left_quat_x",
|
| 81 |
+
"tcp_left_quat_y",
|
| 82 |
+
"tcp_left_quat_z",
|
| 83 |
+
"tcp_left_quat_w",
|
| 84 |
+
"tcp_right_x",
|
| 85 |
+
"tcp_right_y",
|
| 86 |
+
"tcp_right_z",
|
| 87 |
+
"tcp_right_quat_x",
|
| 88 |
+
"tcp_right_quat_y",
|
| 89 |
+
"tcp_right_quat_z",
|
| 90 |
+
"tcp_right_quat_w",
|
| 91 |
+
"gripper_left",
|
| 92 |
+
"gripper_right"
|
| 93 |
+
]
|
| 94 |
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},
|
| 95 |
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"observation.images.rgb_static": {
|
| 96 |
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"dtype": "video",
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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"video.channels": 3,
|
| 115 |
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"has_audio": false
|
| 116 |
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}
|
| 117 |
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},
|
| 118 |
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"observation.images.rgb_left": {
|
| 119 |
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"dtype": "video",
|
| 120 |
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"shape": [
|
| 121 |
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512,
|
| 122 |
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|
| 123 |
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|
| 124 |
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],
|
| 125 |
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"names": [
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"video.channels": 3,
|
| 138 |
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"has_audio": false
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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],
|
| 148 |
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"names": [
|
| 149 |
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|
| 150 |
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"width",
|
| 151 |
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"channel"
|
| 152 |
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],
|
| 153 |
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|
| 154 |
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"video.height": 512,
|
| 155 |
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"video.width": 512,
|
| 156 |
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"video.codec": "av1",
|
| 157 |
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"video.pix_fmt": "yuv420p",
|
| 158 |
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"video.is_depth_map": false,
|
| 159 |
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|
| 160 |
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"video.channels": 3,
|
| 161 |
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"has_audio": false
|
| 162 |
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}
|
| 163 |
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},
|
| 164 |
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"observation.images.depth_left": {
|
| 165 |
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"dtype": "video",
|
| 166 |
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"shape": [
|
| 167 |
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512,
|
| 168 |
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512,
|
| 169 |
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|
| 170 |
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105000/training_state/optimizer_param_groups.json
ADDED
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110000/pretrained_model/config.json
ADDED
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|
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|
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|
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110000/pretrained_model/dataset_info.json
ADDED
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@@ -0,0 +1,246 @@
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 10,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:42"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
46
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"joint_pos_left_0",
|
| 24 |
+
"joint_pos_left_1",
|
| 25 |
+
"joint_pos_left_2",
|
| 26 |
+
"joint_pos_left_3",
|
| 27 |
+
"joint_pos_left_4",
|
| 28 |
+
"joint_pos_left_5",
|
| 29 |
+
"joint_pos_left_6",
|
| 30 |
+
"joint_pos_right_0",
|
| 31 |
+
"joint_pos_right_1",
|
| 32 |
+
"joint_pos_right_2",
|
| 33 |
+
"joint_pos_right_3",
|
| 34 |
+
"joint_pos_right_4",
|
| 35 |
+
"joint_pos_right_5",
|
| 36 |
+
"joint_pos_right_6",
|
| 37 |
+
"tcp_left_pos_x",
|
| 38 |
+
"tcp_left_pos_y",
|
| 39 |
+
"tcp_left_pos_z",
|
| 40 |
+
"tcp_left_quat_x",
|
| 41 |
+
"tcp_left_quat_y",
|
| 42 |
+
"tcp_left_quat_z",
|
| 43 |
+
"tcp_left_quat_w",
|
| 44 |
+
"tcp_right_pos_x",
|
| 45 |
+
"tcp_right_pos_y",
|
| 46 |
+
"tcp_right_pos_z",
|
| 47 |
+
"tcp_right_quat_x",
|
| 48 |
+
"tcp_right_quat_y",
|
| 49 |
+
"tcp_right_quat_z",
|
| 50 |
+
"tcp_right_quat_w",
|
| 51 |
+
"gripper_left_0",
|
| 52 |
+
"gripper_left_1",
|
| 53 |
+
"gripper_right_0",
|
| 54 |
+
"gripper_right_1",
|
| 55 |
+
"last_command_left_0",
|
| 56 |
+
"last_command_left_1",
|
| 57 |
+
"last_command_left_2",
|
| 58 |
+
"last_command_left_3",
|
| 59 |
+
"last_command_left_4",
|
| 60 |
+
"last_command_left_5",
|
| 61 |
+
"last_command_left_6",
|
| 62 |
+
"last_command_right_0",
|
| 63 |
+
"last_command_right_1",
|
| 64 |
+
"last_command_right_2",
|
| 65 |
+
"last_command_right_3",
|
| 66 |
+
"last_command_right_4",
|
| 67 |
+
"last_command_right_5",
|
| 68 |
+
"last_command_right_6"
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"action": {
|
| 72 |
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"dtype": "float32",
|
| 73 |
+
"shape": [
|
| 74 |
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16
|
| 75 |
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],
|
| 76 |
+
"names": [
|
| 77 |
+
"tcp_left_x",
|
| 78 |
+
"tcp_left_y",
|
| 79 |
+
"tcp_left_z",
|
| 80 |
+
"tcp_left_quat_x",
|
| 81 |
+
"tcp_left_quat_y",
|
| 82 |
+
"tcp_left_quat_z",
|
| 83 |
+
"tcp_left_quat_w",
|
| 84 |
+
"tcp_right_x",
|
| 85 |
+
"tcp_right_y",
|
| 86 |
+
"tcp_right_z",
|
| 87 |
+
"tcp_right_quat_x",
|
| 88 |
+
"tcp_right_quat_y",
|
| 89 |
+
"tcp_right_quat_z",
|
| 90 |
+
"tcp_right_quat_w",
|
| 91 |
+
"gripper_left",
|
| 92 |
+
"gripper_right"
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"observation.images.rgb_static": {
|
| 96 |
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"dtype": "video",
|
| 97 |
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"shape": [
|
| 98 |
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512,
|
| 99 |
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|
| 100 |
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3
|
| 101 |
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],
|
| 102 |
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"names": [
|
| 103 |
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"height",
|
| 104 |
+
"width",
|
| 105 |
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"channel"
|
| 106 |
+
],
|
| 107 |
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"info": {
|
| 108 |
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"video.height": 512,
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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"video.is_depth_map": false,
|
| 113 |
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|
| 114 |
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"video.channels": 3,
|
| 115 |
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"has_audio": false
|
| 116 |
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}
|
| 117 |
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},
|
| 118 |
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"observation.images.rgb_left": {
|
| 119 |
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"dtype": "video",
|
| 120 |
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"shape": [
|
| 121 |
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512,
|
| 122 |
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|
| 123 |
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3
|
| 124 |
+
],
|
| 125 |
+
"names": [
|
| 126 |
+
"height",
|
| 127 |
+
"width",
|
| 128 |
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"channel"
|
| 129 |
+
],
|
| 130 |
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"info": {
|
| 131 |
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"video.height": 512,
|
| 132 |
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"video.width": 512,
|
| 133 |
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"video.codec": "av1",
|
| 134 |
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"video.pix_fmt": "yuv420p",
|
| 135 |
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"video.is_depth_map": false,
|
| 136 |
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"video.fps": 10,
|
| 137 |
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"video.channels": 3,
|
| 138 |
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"has_audio": false
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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"observation.images.rgb_right": {
|
| 142 |
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"dtype": "video",
|
| 143 |
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"shape": [
|
| 144 |
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512,
|
| 145 |
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512,
|
| 146 |
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|
| 147 |
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],
|
| 148 |
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"names": [
|
| 149 |
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"height",
|
| 150 |
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"width",
|
| 151 |
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"channel"
|
| 152 |
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],
|
| 153 |
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"info": {
|
| 154 |
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"video.height": 512,
|
| 155 |
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"video.width": 512,
|
| 156 |
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|
| 157 |
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"video.pix_fmt": "yuv420p",
|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"has_audio": false
|
| 162 |
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}
|
| 163 |
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},
|
| 164 |
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"observation.images.depth_left": {
|
| 165 |
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"dtype": "video",
|
| 166 |
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"shape": [
|
| 167 |
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512,
|
| 168 |
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|
| 169 |
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|
| 170 |
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],
|
| 171 |
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"names": [
|
| 172 |
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"height",
|
| 173 |
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"width",
|
| 174 |
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"channel"
|
| 175 |
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],
|
| 176 |
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"info": {
|
| 177 |
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"video.height": 512,
|
| 178 |
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"video.width": 512,
|
| 179 |
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"video.codec": "av1",
|
| 180 |
+
"video.pix_fmt": "yuv420p",
|
| 181 |
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"video.is_depth_map": false,
|
| 182 |
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"video.fps": 10,
|
| 183 |
+
"video.channels": 3,
|
| 184 |
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"has_audio": false
|
| 185 |
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}
|
| 186 |
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},
|
| 187 |
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"observation.images.depth_right": {
|
| 188 |
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"dtype": "video",
|
| 189 |
+
"shape": [
|
| 190 |
+
512,
|
| 191 |
+
512,
|
| 192 |
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3
|
| 193 |
+
],
|
| 194 |
+
"names": [
|
| 195 |
+
"height",
|
| 196 |
+
"width",
|
| 197 |
+
"channel"
|
| 198 |
+
],
|
| 199 |
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"info": {
|
| 200 |
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"video.height": 512,
|
| 201 |
+
"video.width": 512,
|
| 202 |
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"video.codec": "av1",
|
| 203 |
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"video.pix_fmt": "yuv420p",
|
| 204 |
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"video.is_depth_map": false,
|
| 205 |
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"video.fps": 10,
|
| 206 |
+
"video.channels": 3,
|
| 207 |
+
"has_audio": false
|
| 208 |
+
}
|
| 209 |
+
},
|
| 210 |
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"timestamp": {
|
| 211 |
+
"dtype": "float32",
|
| 212 |
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"shape": [
|
| 213 |
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1
|
| 214 |
+
],
|
| 215 |
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"names": null
|
| 216 |
+
},
|
| 217 |
+
"frame_index": {
|
| 218 |
+
"dtype": "int64",
|
| 219 |
+
"shape": [
|
| 220 |
+
1
|
| 221 |
+
],
|
| 222 |
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|
| 223 |
+
},
|
| 224 |
+
"episode_index": {
|
| 225 |
+
"dtype": "int64",
|
| 226 |
+
"shape": [
|
| 227 |
+
1
|
| 228 |
+
],
|
| 229 |
+
"names": null
|
| 230 |
+
},
|
| 231 |
+
"index": {
|
| 232 |
+
"dtype": "int64",
|
| 233 |
+
"shape": [
|
| 234 |
+
1
|
| 235 |
+
],
|
| 236 |
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"names": null
|
| 237 |
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},
|
| 238 |
+
"task_index": {
|
| 239 |
+
"dtype": "int64",
|
| 240 |
+
"shape": [
|
| 241 |
+
1
|
| 242 |
+
],
|
| 243 |
+
"names": null
|
| 244 |
+
}
|
| 245 |
+
}
|
| 246 |
+
}
|
110000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8a33884dc85052b127054a66008d60c1b18aa9e60a42fa8f20610dc92f5f91b5
|
| 3 |
+
size 206702464
|
110000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,242 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 242 |
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}
|
110000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
| 1 |
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[
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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| 84 |
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|
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|
| 93 |
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115000/pretrained_model/dataset_info.json
ADDED
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|
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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|
| 245 |
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|
| 246 |
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|
115000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
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size 206702464
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115000/pretrained_model/train_config.json
ADDED
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@@ -0,0 +1,242 @@
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|
| 1 |
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{
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| 2 |
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|
| 3 |
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"repo_id": "step_3_tcp",
|
| 4 |
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"root": "data/lerobot/step_3_tcp",
|
| 5 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 214 |
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|
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
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|
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|
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|
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|
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|
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|
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|
| 228 |
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|
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|
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|
| 231 |
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|
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|
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| 240 |
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|
| 241 |
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|
| 242 |
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}
|
115000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
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115000/training_state/optimizer_state.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 413022540
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115000/training_state/rng_state.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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115000/training_state/training_step.json
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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{
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