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so101_smolvla_ft

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Files changed (5) hide show
  1. config.json +26 -10
  2. policy_postprocessor.json +32 -0
  3. policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  4. policy_preprocessor.json +87 -0
  5. policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
config.json CHANGED
@@ -1,11 +1,6 @@
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  {
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  "type": "smolvla",
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  "n_obs_steps": 1,
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- "normalization_mapping": {
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- "VISUAL": "IDENTITY",
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- "STATE": "MEAN_STD",
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- "ACTION": "MEAN_STD"
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- },
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  "input_features": {
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  "observation.state": {
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  "type": "STATE",
@@ -13,12 +8,28 @@
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  6
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  ]
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  },
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- "observation.images.wrist": {
 
 
 
 
 
 
 
 
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  "type": "VISUAL",
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  "shape": [
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  3,
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- 720,
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- 1280
 
 
 
 
 
 
 
 
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  ]
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  }
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  },
@@ -33,12 +44,17 @@
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  "device": "cuda",
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  "use_amp": false,
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  "push_to_hub": true,
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- "repo_id": "yutaro-kimura-acs/so101_pp_blue_box_policy_01",
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  "private": null,
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  "tags": null,
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  "license": null,
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  "chunk_size": 50,
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  "n_action_steps": 50,
 
 
 
 
 
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  "max_state_dim": 32,
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  "max_action_dim": 32,
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  "resize_imgs_with_padding": [
@@ -61,7 +77,7 @@
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  ],
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  "optimizer_eps": 1e-08,
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  "optimizer_weight_decay": 1e-10,
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- "optimizer_grad_clip_norm": 10.0,
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  "scheduler_warmup_steps": 1000,
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  "scheduler_decay_steps": 30000,
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  "scheduler_decay_lr": 2.5e-06,
 
1
  {
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  "type": "smolvla",
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  "n_obs_steps": 1,
 
 
 
 
 
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  "input_features": {
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  "observation.state": {
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  "type": "STATE",
 
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  6
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  ]
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  },
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+ "observation.images.camera1": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 256,
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+ 256
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+ ]
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+ },
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+ "observation.images.camera2": {
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  "type": "VISUAL",
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  "shape": [
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  3,
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+ 256,
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+ 256
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+ ]
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+ },
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+ "observation.images.camera3": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 256,
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+ 256
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  ]
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  }
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  },
 
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  "device": "cuda",
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  "use_amp": false,
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  "push_to_hub": true,
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+ "repo_id": null,
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  "private": null,
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  "tags": null,
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  "license": null,
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  "chunk_size": 50,
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  "n_action_steps": 50,
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+ "normalization_mapping": {
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+ "VISUAL": "IDENTITY",
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ },
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  "max_state_dim": 32,
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  "max_action_dim": 32,
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  "resize_imgs_with_padding": [
 
77
  ],
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  "optimizer_eps": 1e-08,
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  "optimizer_weight_decay": 1e-10,
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+ "optimizer_grad_clip_norm": 10,
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  "scheduler_warmup_steps": 1000,
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  "scheduler_decay_steps": 30000,
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  "scheduler_decay_lr": 2.5e-06,
policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "name": "policy_postprocessor",
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+ "steps": [
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+ "registry_name": "unnormalizer_processor",
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+ "config": {
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+ "eps": 1e-08,
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+ "norm_map": {
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+ "VISUAL": "IDENTITY",
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ }
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+ },
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+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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+ },
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+ {
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+ "registry_name": "device_processor",
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+ "config": {
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+ "device": "cpu",
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+ ]
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+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
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policy_preprocessor.json ADDED
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+ {
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+ "name": "policy_preprocessor",
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+ "steps": [
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+ "registry_name": "rename_observations_processor",
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+ "config": {
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+ },
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+ {
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+ "registry_name": "to_batch_processor",
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+ "config": {}
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+ },
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+ {
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+ "registry_name": "smolvla_new_line_processor",
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+ "config": {}
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+ },
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+ {
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+ "registry_name": "tokenizer_processor",
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+ "config": {
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+ "max_length": 48,
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+ "task_key": "task",
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+ "padding_side": "right",
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+ "padding": "max_length",
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+ "truncation": true,
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+ "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
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+ }
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+ {
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+ "registry_name": "device_processor",
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+ "config": {
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+ "device": "cuda",
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+ "float_dtype": null
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+ {
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+ "registry_name": "normalizer_processor",
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+ "config": {
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+ "eps": 1e-08,
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+ "features": {
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ "observation.image2": {
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+ "type": "VISUAL",
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+ "shape": [
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+ "observation.image": {
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+ "type": "VISUAL",
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+ "observation.image3": {
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+ "type": "VISUAL",
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+ "action": {
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+ "norm_map": {
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ }
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+ },
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+ "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
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+ }
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+ ]
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+ }
policy_preprocessor_step_5_normalizer_processor.safetensors ADDED
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