Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
- experiment_config.yaml +36 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-001.parquet +3 -0
- meta/episodes/chunk-000/file-002.parquet +3 -0
- meta/info.json +166 -0
- meta/stats.json +934 -0
- meta/tasks.parquet +3 -0
- recording_config.yaml +34 -0
- train_config.json +229 -0
- videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.left_wrist_top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left_wrist_top/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.left_wrist_top/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.right_wrist_top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.right_wrist_top/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.right_wrist_top/chunk-000/file-002.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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size 1153662
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data/chunk-000/file-001.parquet
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version https://git-lfs.github.com/spec/v1
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size 44149
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data/chunk-000/file-002.parquet
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version https://git-lfs.github.com/spec/v1
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size 1180509
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experiment_config.yaml
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@@ -0,0 +1,36 @@
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left_arm:
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ros__parameters:
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robot_joint_names:
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- left_shoulder_pan_joint
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+
- left_shoulder_lift_joint
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+
- left_elbow_joint
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| 7 |
+
- left_wrist_1_joint
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| 8 |
+
- left_wrist_2_joint
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| 9 |
+
- left_wrist_3_joint
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| 10 |
+
- left_robotiq_85_left_knuckle_joint
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| 11 |
+
home_positions:
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| 12 |
+
- 2.047396421432495
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| 13 |
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- -1.3269423246383667
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| 14 |
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- 1.7201794385910034
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- -1.5183733701705933
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- -1.0472019910812378
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| 18 |
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- 0.09753303974866867
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| 19 |
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right_arm:
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| 20 |
+
ros__parameters:
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| 21 |
+
robot_joint_names:
|
| 22 |
+
- right_shoulder_pan_joint
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| 23 |
+
- right_shoulder_lift_joint
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| 24 |
+
- right_elbow_joint
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| 25 |
+
- right_wrist_1_joint
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| 26 |
+
- right_wrist_2_joint
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| 27 |
+
- right_wrist_3_joint
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| 28 |
+
- right_robotiq_85_left_knuckle_joint
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| 29 |
+
home_positions:
|
| 30 |
+
- 0.011700630187988281
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| 31 |
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- -2.0620882511138916
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| 32 |
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- -1.3161780834197998
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- -1.3685461282730103
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- 1.5812623500823975
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- 3.1415910720825195
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- 0.09753303974866867
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:7572574ce6f6847003d36d143bb2764f57f5272b264a5f8f541f2ba70dd464ba
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size 182114
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meta/episodes/chunk-000/file-001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:f07681adedf7671e0c2daec6249450773aea74adfe4964da2d6d7048048d2b70
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size 109741
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meta/episodes/chunk-000/file-002.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:f4233717308842f156f1c849bdf2e37f311d2a8134d6905bb8f04a770343737f
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size 140772
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meta/info.json
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@@ -0,0 +1,166 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
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"robot_type": "ur3e_bimanual",
|
| 4 |
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"total_episodes": 29,
|
| 5 |
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"total_frames": 9495,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 200,
|
| 10 |
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"fps": 10,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:29"
|
| 13 |
+
},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.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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14
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"left_shoulder_pan_joint",
|
| 24 |
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"left_shoulder_lift_joint",
|
| 25 |
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"left_elbow_joint",
|
| 26 |
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"left_wrist_1_joint",
|
| 27 |
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"left_wrist_2_joint",
|
| 28 |
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"left_wrist_3_joint",
|
| 29 |
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"left_robotiq_85_left_knuckle_joint",
|
| 30 |
+
"right_shoulder_pan_joint",
|
| 31 |
+
"right_shoulder_lift_joint",
|
| 32 |
+
"right_elbow_joint",
|
| 33 |
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"right_wrist_1_joint",
|
| 34 |
+
"right_wrist_2_joint",
|
| 35 |
+
"right_wrist_3_joint",
|
| 36 |
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"right_robotiq_85_left_knuckle_joint"
|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
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"action": {
|
| 40 |
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"dtype": "float32",
|
| 41 |
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"shape": [
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| 42 |
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14
|
| 43 |
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],
|
| 44 |
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"names": [
|
| 45 |
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"left_shoulder_pan_joint",
|
| 46 |
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"left_shoulder_lift_joint",
|
| 47 |
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"left_elbow_joint",
|
| 48 |
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"left_wrist_1_joint",
|
| 49 |
+
"left_wrist_2_joint",
|
| 50 |
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"left_wrist_3_joint",
|
| 51 |
+
"left_robotiq_85_left_knuckle_joint",
|
| 52 |
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"right_shoulder_pan_joint",
|
| 53 |
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"right_shoulder_lift_joint",
|
| 54 |
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"right_elbow_joint",
|
| 55 |
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"right_wrist_1_joint",
|
| 56 |
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"right_wrist_2_joint",
|
| 57 |
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"right_wrist_3_joint",
|
| 58 |
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"right_robotiq_85_left_knuckle_joint"
|
| 59 |
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]
|
| 60 |
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},
|
| 61 |
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"observation.images.left_wrist_top": {
|
| 62 |
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"dtype": "video",
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| 63 |
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"shape": [
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| 64 |
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144,
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256,
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3
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],
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"names": [
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"height",
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"width",
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| 71 |
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"channels"
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],
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"info": {
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"video.fps": 10,
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"has_audio": false
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}
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},
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"observation.images.front": {
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"dtype": "video",
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"shape": [
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144,
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256,
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.fps": 10,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.images.right_wrist_top": {
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| 108 |
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"dtype": "video",
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| 109 |
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"shape": [
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144,
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256,
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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|
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}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,934 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
0
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
0.0
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
9540
|
| 17 |
+
],
|
| 18 |
+
"q01": [
|
| 19 |
+
3.999999999999417e-16
|
| 20 |
+
],
|
| 21 |
+
"q10": [
|
| 22 |
+
3.999999999999417e-15
|
| 23 |
+
],
|
| 24 |
+
"q50": [
|
| 25 |
+
1.999999999999709e-14
|
| 26 |
+
],
|
| 27 |
+
"q90": [
|
| 28 |
+
3.599999999999476e-14
|
| 29 |
+
],
|
| 30 |
+
"q99": [
|
| 31 |
+
3.959999999999425e-14
|
| 32 |
+
]
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+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:da839d16d17a13896cf546396f47b208afd84da4f2695ee28c688fddcf253a7c
|
| 3 |
+
size 2028
|
recording_config.yaml
ADDED
|
@@ -0,0 +1,34 @@
|
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|
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|
| 1 |
+
arms:
|
| 2 |
+
left:
|
| 3 |
+
action_topic: /left_arm_controller/commands
|
| 4 |
+
state_topic: /left_state_broadcaster/joint_states
|
| 5 |
+
right:
|
| 6 |
+
action_topic: /right_arm_controller/commands
|
| 7 |
+
state_topic: /right_state_broadcaster/joint_states
|
| 8 |
+
services:
|
| 9 |
+
control_mode:
|
| 10 |
+
- /left_gello_offset_node/set_parameters
|
| 11 |
+
- /right_gello_offset_node/set_parameters
|
| 12 |
+
transition_ready:
|
| 13 |
+
- /left_gello_offset_node/wait_for_mode_transition
|
| 14 |
+
- /right_gello_offset_node/wait_for_mode_transition
|
| 15 |
+
use_reset_client: false
|
| 16 |
+
recording:
|
| 17 |
+
hz: 10
|
| 18 |
+
stabilize_orientation_180: true
|
| 19 |
+
orientation_mae_delta_threshold: 20.0
|
| 20 |
+
visualization:
|
| 21 |
+
camera_grid_columns: 2
|
| 22 |
+
cameras:
|
| 23 |
+
left_wrist_top:
|
| 24 |
+
port: /dev/video8
|
| 25 |
+
stabilize_orientation_180: true
|
| 26 |
+
orientation_mae_delta_threshold: 20.0
|
| 27 |
+
perspective:
|
| 28 |
+
port: /dev/video0
|
| 29 |
+
stabilize_orientation_180: true
|
| 30 |
+
orientation_mae_delta_threshold: 20.0
|
| 31 |
+
right_wrist_top:
|
| 32 |
+
port: /dev/video10
|
| 33 |
+
stabilize_orientation_180: true
|
| 34 |
+
orientation_mae_delta_threshold: 20.0
|
train_config.json
ADDED
|
@@ -0,0 +1,229 @@
|
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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 |
+
"dataset": {
|
| 3 |
+
"repo_id": null,
|
| 4 |
+
"root": "/lerobot/data/mattia/train/impedance/cap",
|
| 5 |
+
"episodes": null,
|
| 6 |
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"image_transforms": {
|
| 7 |
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"enable": false,
|
| 8 |
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"max_num_transforms": 3,
|
| 9 |
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"random_order": true,
|
| 10 |
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"tfs": {
|
| 11 |
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"brightness": {
|
| 12 |
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"weight": 1.0,
|
| 13 |
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"type": "ColorJitter",
|
| 14 |
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"kwargs": {
|
| 15 |
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"brightness": [
|
| 16 |
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0.8,
|
| 17 |
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1.2
|
| 18 |
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]
|
| 19 |
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}
|
| 20 |
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},
|
| 21 |
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"contrast": {
|
| 22 |
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"weight": 1.0,
|
| 23 |
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"type": "ColorJitter",
|
| 24 |
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"kwargs": {
|
| 25 |
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"contrast": [
|
| 26 |
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0.8,
|
| 27 |
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1.2
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
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},
|
| 31 |
+
"saturation": {
|
| 32 |
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"weight": 1.0,
|
| 33 |
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"type": "ColorJitter",
|
| 34 |
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"kwargs": {
|
| 35 |
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"saturation": [
|
| 36 |
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0.5,
|
| 37 |
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1.5
|
| 38 |
+
]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"hue": {
|
| 42 |
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"weight": 1.0,
|
| 43 |
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"type": "ColorJitter",
|
| 44 |
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"kwargs": {
|
| 45 |
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"hue": [
|
| 46 |
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-0.05,
|
| 47 |
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0.05
|
| 48 |
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]
|
| 49 |
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}
|
| 50 |
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},
|
| 51 |
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"sharpness": {
|
| 52 |
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"weight": 1.0,
|
| 53 |
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"type": "SharpnessJitter",
|
| 54 |
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"kwargs": {
|
| 55 |
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"sharpness": [
|
| 56 |
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0.5,
|
| 57 |
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1.5
|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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"affine": {
|
| 62 |
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"weight": 1.0,
|
| 63 |
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"type": "RandomAffine",
|
| 64 |
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"kwargs": {
|
| 65 |
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"degrees": [
|
| 66 |
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-5.0,
|
| 67 |
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5.0
|
| 68 |
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],
|
| 69 |
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"translate": [
|
| 70 |
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0.05,
|
| 71 |
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0.05
|
| 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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"revision": null,
|
| 78 |
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"use_imagenet_stats": true,
|
| 79 |
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"video_backend": "torchcodec",
|
| 80 |
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"streaming": false
|
| 81 |
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},
|
| 82 |
+
"env": null,
|
| 83 |
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"policy": {
|
| 84 |
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"type": "diffusion",
|
| 85 |
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"n_obs_steps": 1,
|
| 86 |
+
"input_features": {
|
| 87 |
+
"observation.images.front": {
|
| 88 |
+
"type": "VISUAL",
|
| 89 |
+
"shape": [
|
| 90 |
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3,
|
| 91 |
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144,
|
| 92 |
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256
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"observation.images.right_wrist_top": {
|
| 96 |
+
"type": "VISUAL",
|
| 97 |
+
"shape": [
|
| 98 |
+
3,
|
| 99 |
+
144,
|
| 100 |
+
256
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"observation.images.left_wrist_top": {
|
| 104 |
+
"type": "VISUAL",
|
| 105 |
+
"shape": [
|
| 106 |
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3,
|
| 107 |
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144,
|
| 108 |
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256
|
| 109 |
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]
|
| 110 |
+
},
|
| 111 |
+
"observation.state": {
|
| 112 |
+
"type": "STATE",
|
| 113 |
+
"shape": [
|
| 114 |
+
14
|
| 115 |
+
]
|
| 116 |
+
}
|
| 117 |
+
},
|
| 118 |
+
"output_features": {
|
| 119 |
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"action": {
|
| 120 |
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"type": "ACTION",
|
| 121 |
+
"shape": [
|
| 122 |
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14
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"device": "cuda",
|
| 127 |
+
"use_amp": false,
|
| 128 |
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"use_peft": false,
|
| 129 |
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"push_to_hub": false,
|
| 130 |
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"repo_id": null,
|
| 131 |
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"private": null,
|
| 132 |
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"tags": null,
|
| 133 |
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"license": null,
|
| 134 |
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"pretrained_path": null,
|
| 135 |
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"horizon": 16,
|
| 136 |
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"n_action_steps": 8,
|
| 137 |
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"normalization_mapping": {
|
| 138 |
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"VISUAL": "MEAN_STD",
|
| 139 |
+
"STATE": "MIN_MAX",
|
| 140 |
+
"ACTION": "MIN_MAX"
|
| 141 |
+
},
|
| 142 |
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"drop_n_last_frames": 7,
|
| 143 |
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"vision_backbone": "resnet18",
|
| 144 |
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"resize_shape": null,
|
| 145 |
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"crop_ratio": 1.0,
|
| 146 |
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"crop_shape": [
|
| 147 |
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134,
|
| 148 |
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246
|
| 149 |
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],
|
| 150 |
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"crop_is_random": true,
|
| 151 |
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"pretrained_backbone_weights": null,
|
| 152 |
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"use_group_norm": true,
|
| 153 |
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"spatial_softmax_num_keypoints": 32,
|
| 154 |
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"use_separate_rgb_encoder_per_camera": false,
|
| 155 |
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"down_dims": [
|
| 156 |
+
512,
|
| 157 |
+
1024,
|
| 158 |
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2048
|
| 159 |
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],
|
| 160 |
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"kernel_size": 5,
|
| 161 |
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"n_groups": 8,
|
| 162 |
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"diffusion_step_embed_dim": 128,
|
| 163 |
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"use_film_scale_modulation": true,
|
| 164 |
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"noise_scheduler_type": "DDPM",
|
| 165 |
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"num_train_timesteps": 100,
|
| 166 |
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"beta_schedule": "squaredcos_cap_v2",
|
| 167 |
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"beta_start": 0.0001,
|
| 168 |
+
"beta_end": 0.02,
|
| 169 |
+
"prediction_type": "epsilon",
|
| 170 |
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"clip_sample": true,
|
| 171 |
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"clip_sample_range": 1.0,
|
| 172 |
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"num_inference_steps": 10,
|
| 173 |
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"compile_model": false,
|
| 174 |
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"compile_mode": "reduce-overhead",
|
| 175 |
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"do_mask_loss_for_padding": false,
|
| 176 |
+
"optimizer_lr": 0.0001,
|
| 177 |
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"optimizer_betas": [
|
| 178 |
+
0.95,
|
| 179 |
+
0.999
|
| 180 |
+
],
|
| 181 |
+
"optimizer_eps": 1e-08,
|
| 182 |
+
"optimizer_weight_decay": 1e-06,
|
| 183 |
+
"scheduler_name": "cosine",
|
| 184 |
+
"scheduler_warmup_steps": 500
|
| 185 |
+
},
|
| 186 |
+
"output_dir": "/lerobot/data/mattia/train/impedance/cap/output",
|
| 187 |
+
"job_name": "cap_impedance_dp",
|
| 188 |
+
"resume": false,
|
| 189 |
+
"seed": 42,
|
| 190 |
+
"cudnn_deterministic": false,
|
| 191 |
+
"num_workers": 4,
|
| 192 |
+
"batch_size": 128,
|
| 193 |
+
"steps": 40000,
|
| 194 |
+
"eval_freq": 2000,
|
| 195 |
+
"log_freq": 200,
|
| 196 |
+
"tolerance_s": 0.0001,
|
| 197 |
+
"save_checkpoint": true,
|
| 198 |
+
"save_freq": 5000,
|
| 199 |
+
"use_policy_training_preset": true,
|
| 200 |
+
"optimizer": {
|
| 201 |
+
"type": "adam",
|
| 202 |
+
"lr": 0.0001,
|
| 203 |
+
"weight_decay": 1e-06,
|
| 204 |
+
"grad_clip_norm": 10.0,
|
| 205 |
+
"betas": [
|
| 206 |
+
0.95,
|
| 207 |
+
0.999
|
| 208 |
+
],
|
| 209 |
+
"eps": 1e-08
|
| 210 |
+
},
|
| 211 |
+
"scheduler": {
|
| 212 |
+
"type": "diffuser",
|
| 213 |
+
"num_warmup_steps": 500,
|
| 214 |
+
"name": "cosine"
|
| 215 |
+
},
|
| 216 |
+
"eval": {
|
| 217 |
+
"n_episodes": 50,
|
| 218 |
+
"batch_size": 50,
|
| 219 |
+
"use_async_envs": false
|
| 220 |
+
},
|
| 221 |
+
"peft": null,
|
| 222 |
+
"use_rabc": false,
|
| 223 |
+
"rabc_progress_path": null,
|
| 224 |
+
"rabc_kappa": 0.01,
|
| 225 |
+
"rabc_epsilon": 1e-06,
|
| 226 |
+
"rabc_head_mode": "sparse",
|
| 227 |
+
"rename_map": {},
|
| 228 |
+
"checkpoint_path": null
|
| 229 |
+
}
|
videos/observation.images.front/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4bfb89860d2be156b1de950950217650ebba1d310a3808833fef19e568dec95e
|
| 3 |
+
size 4330314
|
videos/observation.images.front/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b80d178bd2372bf8358540df51c0314788eae4760985a26c8803c92ec039715e
|
| 3 |
+
size 2154023
|
videos/observation.images.front/chunk-000/file-002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:102a362a01d12a5a8757b10d094f006c2ee63fb7fcd2b3846e508ad0aa11e68a
|
| 3 |
+
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