diff --git a/010000/pretrained_model/config.json b/010000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/010000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/010000/pretrained_model/model.safetensors b/010000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..3ba5b407690fcfe79e9086dde41d6469858df82a --- /dev/null +++ b/010000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46afed9d7fe03c2bbeaa683ae00d15f4e55569fec3ddf4069744facd6d4db3ff +size 206701072 diff --git a/010000/pretrained_model/train_config.json b/010000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/010000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/010000/training_state/optimizer_param_groups.json b/010000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/010000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/010000/training_state/optimizer_state.safetensors b/010000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..a59313bd71a1fed55b0e0f581948b1a69277106e --- /dev/null +++ b/010000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf99006bb78a2530b7f4ee2a58b43627ce046e01d1313871c9e6f7a5ff256374 +size 412817652 diff --git a/010000/training_state/rng_state.safetensors b/010000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..ceb52ada4fd4010a10dc5be8d3c23f48cd70a73f --- /dev/null +++ b/010000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3d0691d6427a3f97159169401844e4cec54a3eb17c77335b1e11da17cf167c4 +size 15708 diff --git a/010000/training_state/training_step.json b/010000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb7c0986e9e7461ca851ce71e95d235ae3d2732 --- /dev/null +++ b/010000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 10000 +} \ No newline at end of file diff --git a/020000/pretrained_model/config.json b/020000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/020000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/020000/pretrained_model/model.safetensors b/020000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..d55464634033a8b5580a6e2bbe02c46885349881 --- /dev/null +++ b/020000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bac6eafcf463aa9eb6511e1a82ac88bdf5c5a5f8e666110dba06c63eee602f48 +size 206701072 diff --git a/020000/pretrained_model/train_config.json b/020000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/020000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/020000/training_state/optimizer_param_groups.json b/020000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/020000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/020000/training_state/optimizer_state.safetensors b/020000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..85bd1d3b9bfb4f09522b0a4092b071b55d7148f1 --- /dev/null +++ b/020000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a12fae4863b2ad38aa9e5b25eed7ce5a99681a6d83a8d88d909d5759115b87af +size 412817652 diff --git a/020000/training_state/rng_state.safetensors b/020000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..8a021ea1d5db7ffbe53f30c1dbe30022f36fa10e --- /dev/null +++ b/020000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:768ecdb672822a1d80cd449a6288c56ec9d65ce66601b5d78ebe742403a59a19 +size 15708 diff --git a/020000/training_state/training_step.json b/020000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9bb47026c5d5237ca6fc5dbff6020dd122ea05 --- /dev/null +++ b/020000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 20000 +} \ No newline at end of file diff --git a/030000/pretrained_model/config.json b/030000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/030000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/030000/pretrained_model/model.safetensors b/030000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..f185f0df7abcca9145b4d39040d9a98a14580b8c --- /dev/null +++ b/030000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9af9b437303fe171ee51b60c8f3f29a8598705dd7e1498d2f93611e0be65dbe1 +size 206701072 diff --git a/030000/pretrained_model/train_config.json b/030000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/030000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/030000/training_state/optimizer_param_groups.json b/030000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/030000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/030000/training_state/optimizer_state.safetensors b/030000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..023d612104b13a78b7610cee5f8ee759a82adf4e --- /dev/null +++ b/030000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fec93322503a4429614093e75e97d6c426c6c1654e64532af8c0ec9b57be988c +size 412817652 diff --git a/030000/training_state/rng_state.safetensors b/030000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..bb54a6447a60a194ee134161dccb6b29965aa91f --- /dev/null +++ b/030000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98fbcc832a7f24eabdeabbf4411a9e3213621e86c39967d0e3bbc9c0f110aa38 +size 15708 diff --git a/030000/training_state/training_step.json b/030000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..f4945f660f45b332883dccfccf18d8b8815d916a --- /dev/null +++ b/030000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 30000 +} \ No newline at end of file diff --git a/040000/pretrained_model/config.json b/040000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/040000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/040000/pretrained_model/model.safetensors b/040000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..79012e0c6318782208636aff48b27265f8169724 --- /dev/null +++ b/040000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bed5083a191f335159e438ef18723f4591350f196fe9425b7e142d1b62d1bde8 +size 206701072 diff --git a/040000/pretrained_model/train_config.json b/040000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/040000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/040000/training_state/optimizer_param_groups.json b/040000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/040000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/040000/training_state/optimizer_state.safetensors b/040000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..17d68ff1f2b02216fc1854654a340fd7b748a35f --- /dev/null +++ b/040000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:255e3a5fb191d92fcfb2986d3712b37a948a6955f7b64b820601b508b1c4aec7 +size 412817652 diff --git a/040000/training_state/rng_state.safetensors b/040000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b4a62da12361d52d1a710830fa690472bbabec91 --- /dev/null +++ b/040000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ceb57137f62f31f898e6d7cc6b9d4305b7d51e93eb506e3d708ad8497f00fd6 +size 15708 diff --git a/040000/training_state/training_step.json b/040000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..fe40d8ff4312c7e5a8fba9bcc932a43a1384ba77 --- /dev/null +++ b/040000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 40000 +} \ No newline at end of file diff --git a/050000/pretrained_model/config.json b/050000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/050000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/050000/pretrained_model/model.safetensors b/050000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..db2bc5bef967b89af5d786b683c6c4d27f3428be --- /dev/null +++ b/050000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9afbc709a84dc2038bb7b38425ec63a91a6240102b696aec5393b94ce62620a7 +size 206701072 diff --git a/050000/pretrained_model/train_config.json b/050000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/050000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/050000/training_state/optimizer_param_groups.json b/050000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/050000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/050000/training_state/optimizer_state.safetensors b/050000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..4a65eae13e7b6d3e755e5b0faa1c85d8fce97148 --- /dev/null +++ b/050000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bbbcee40ae5119a6528717489637257ba6b20bb3cb1dd40b71ab42dfd0134f6 +size 412817652 diff --git a/050000/training_state/rng_state.safetensors b/050000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..a049ada942d642fdc1d1d5c8553bef852b4e9af8 --- /dev/null +++ b/050000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21ccf7cdabf2451ac71f2950e7af632a111d678baf76c36d2313e977d947d85d +size 15708 diff --git a/050000/training_state/training_step.json b/050000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c03563f17d6d98552117ccf00705b693aa3fbd --- /dev/null +++ b/050000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 50000 +} \ No newline at end of file diff --git a/060000/pretrained_model/config.json b/060000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/060000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/060000/pretrained_model/model.safetensors b/060000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2efdc061e4343e1e58e88d61f4a9e9418a7237ae --- /dev/null +++ b/060000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74de157dd3a29ef0c7ef3f5ae8413e0394d1a550238bcb8bb0e97b9c850344e6 +size 206701072 diff --git a/060000/pretrained_model/train_config.json b/060000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/060000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/060000/training_state/optimizer_param_groups.json b/060000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/060000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/060000/training_state/optimizer_state.safetensors b/060000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7b20d0953fa47a1c4ab366e25fc7f5b686482ecf --- /dev/null +++ b/060000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:695be2f930aa81f2c1a4c731b2772dda7847f54b2985d0d2da92ad7446dc4033 +size 412817652 diff --git a/060000/training_state/rng_state.safetensors b/060000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..02d81dbe5ceed975e74778aa07b73dccb3f69f23 --- /dev/null +++ b/060000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:059e1d97e8ee218ef08f9695c23b4282aee134090d7946c91d71fa6619aa13ec +size 15708 diff --git a/060000/training_state/training_step.json b/060000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..d360b6037f1c8c2c85d38e951160eb02ace507dd --- /dev/null +++ b/060000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 60000 +} \ No newline at end of file diff --git a/070000/pretrained_model/config.json b/070000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/070000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/070000/pretrained_model/model.safetensors b/070000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..6bda87d17f1644a0592cfdaaf4d2c8e8c1b9503c --- /dev/null +++ b/070000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5beb56f3f5e51ca2032677bff40f8a4879fa567ff89ed74f569e5bbc0a90fa35 +size 206701072 diff --git a/070000/pretrained_model/train_config.json b/070000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/070000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/070000/training_state/optimizer_param_groups.json b/070000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/070000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/070000/training_state/optimizer_state.safetensors b/070000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..31cf7e7f538dffbf6617ee79f0429aa9468a5713 --- /dev/null +++ b/070000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:609ecdc4042b2c477328a74342c70e33197480f291010ae48b61c2924e3b45e7 +size 412817652 diff --git a/070000/training_state/rng_state.safetensors b/070000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..3f89a1bec062ec4595a4fe314b20aeea07c86146 --- /dev/null +++ b/070000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db31228beba2beb06a502fcc4a331f6338eaa8b11d5023fd48fbfbf8bdd7fbfe +size 15708 diff --git a/070000/training_state/training_step.json b/070000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..1ec0c1eb0f525e34fa3a57743f750b2b34b5b77b --- /dev/null +++ b/070000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 70000 +} \ No newline at end of file diff --git a/080000/pretrained_model/config.json b/080000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/080000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/080000/pretrained_model/model.safetensors b/080000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..c32c05f4b22b837ca67ff1da7e64b7db17aa853e --- /dev/null +++ b/080000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7acba7241798f068bd6bd922995b514bc73dc8d96953d6bd86e763896241506 +size 206701072 diff --git a/080000/pretrained_model/train_config.json b/080000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/080000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/080000/training_state/optimizer_param_groups.json b/080000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/080000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/080000/training_state/optimizer_state.safetensors b/080000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..a295537abd8295b819fe08bba9965391ff64ac05 --- /dev/null +++ b/080000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:287c42f182f9dc7d5e24f70dc9a14763bffc98f157f8d9c0b7a610ff16b20711 +size 412817652 diff --git a/080000/training_state/rng_state.safetensors b/080000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..911637a0e64efeae6a70ac3c34750e2d86a9b471 --- /dev/null +++ b/080000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec172169e502b2462f1be0a25ac65185f925e5182f1ca0402d3727608504a2fb +size 15708 diff --git a/080000/training_state/training_step.json b/080000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..384eace4ecc2a6cba352aa7cf27f04405b7319c3 --- /dev/null +++ b/080000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 80000 +} \ No newline at end of file diff --git a/090000/pretrained_model/config.json b/090000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/090000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/090000/pretrained_model/model.safetensors b/090000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..44ecf8888b367167b03cbdb035f75857414df5dc --- /dev/null +++ b/090000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ce2a23df231b87a084e17203a2fcd0d6c6d630a1ecfdd00e73bd7af37977a25 +size 206701072 diff --git a/090000/pretrained_model/train_config.json b/090000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/090000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/090000/training_state/optimizer_param_groups.json b/090000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/090000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/090000/training_state/optimizer_state.safetensors b/090000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7c4ceddfd2737183f0ca3db1dc81e833469fade3 --- /dev/null +++ b/090000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e9f946daeaa87ab384c4398444249af954a6ebca510d29cac2411437f01fb2f +size 412817652 diff --git a/090000/training_state/rng_state.safetensors b/090000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..3dcc1c5fb15fc580cfafddbc408489db606e25f7 --- /dev/null +++ b/090000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ae1125aeec7ca2e60e5d376feee422b258fca85d055eb6c65ee453f9860d647 +size 15708 diff --git a/090000/training_state/training_step.json b/090000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..cec965b83b7f817ac99559792f84cbb69a721bfd --- /dev/null +++ b/090000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 90000 +} \ No newline at end of file diff --git a/100000/pretrained_model/config.json b/100000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2e52d70291792741fef1c96a47c0a10a1d51cfc9 --- /dev/null +++ b/100000/pretrained_model/config.json @@ -0,0 +1,69 @@ +{ + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/100000/pretrained_model/model.safetensors b/100000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..309054e45323f728c71ac97b14672fc259873b36 --- /dev/null +++ b/100000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:922b36d5f4f4abf905a702ba6a22adbe05ae0075e364a2ac43cc8d2d5ad8faa3 +size 206701072 diff --git a/100000/pretrained_model/train_config.json b/100000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee093ff96856401d0663ed051bfbde0d869dccc --- /dev/null +++ b/100000/pretrained_model/train_config.json @@ -0,0 +1,175 @@ +{ + "dataset": { + "repo_id": "dleon23/record-so101_2", + "root": null, + "episodes": null, + "image_transforms": { + "enable": false, + "max_num_transforms": 3, + "random_order": false, + "tfs": { + "brightness": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "brightness": [ + 0.8, + 1.2 + ] + } + }, + "contrast": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "contrast": [ + 0.8, + 1.2 + ] + } + }, + "saturation": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "saturation": [ + 0.5, + 1.5 + ] + } + }, + "hue": { + "weight": 1.0, + "type": "ColorJitter", + "kwargs": { + "hue": [ + -0.05, + 0.05 + ] + } + }, + "sharpness": { + "weight": 1.0, + "type": "SharpnessJitter", + "kwargs": { + "sharpness": [ + 0.5, + 1.5 + ] + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec" + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.overhead": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "dleon23/so101_pick_box", + "private": null, + "tags": null, + "license": null, + "chunk_size": 100, + "n_action_steps": 100, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "outputs/train/pick_box_so101", + "job_name": "so101_act_training", + "resume": false, + "seed": 1000, + "num_workers": 4, + "batch_size": 8, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "save_checkpoint": true, + "save_freq": 10000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "9kt9ehbs", + "mode": null + } +} \ No newline at end of file diff --git a/100000/training_state/optimizer_param_groups.json b/100000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/100000/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/100000/training_state/optimizer_state.safetensors b/100000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e368e29c866899452da60151602b337e37698a84 --- /dev/null +++ b/100000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59c1079e5c79558631dc2edf2c06ed65d5685c14069e336e0542f119ded59fee +size 412817652 diff --git a/100000/training_state/rng_state.safetensors b/100000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..a67adf2d920a15fccc446d594f1c770b1a4a1076 --- /dev/null +++ b/100000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a8124e7daa5c781d0ef3a15db5ff9118fa97c31a6f02861b97a4d1402b0dcb0 +size 15708 diff --git a/100000/training_state/training_step.json b/100000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/100000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file