Upload policy weights, train config and readme
Browse files- README.md +62 -0
- config.json +116 -0
- model.safetensors +3 -0
- train_config.json +233 -0
README.md
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---
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datasets: gaspardthrl/walleed_hg_double_fold_clean
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library_name: lerobot
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license: apache-2.0
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model_name: diffusion
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pipeline_tag: robotics
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tags:
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- diffusion
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- lerobot
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- robotics
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---
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# Model Card for diffusion
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<!-- Provide a quick summary of what the model is/does. -->
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[Diffusion Policy](https://huggingface.co/papers/2303.04137) treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation.
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This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
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See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
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---
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## How to Get Started with the Model
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For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
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Below is the short version on how to train and run inference/eval:
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### Train from scratch
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```bash
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lerobot-train \
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--dataset.repo_id=${HF_USER}/<dataset> \
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--policy.type=act \
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--output_dir=outputs/train/<desired_policy_repo_id> \
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--job_name=lerobot_training \
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--policy.device=cuda \
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--policy.repo_id=${HF_USER}/<desired_policy_repo_id>
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--wandb.enable=true
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```
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_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
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### Evaluate the policy/run inference
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```bash
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lerobot-record \
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--robot.type=so100_follower \
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--dataset.repo_id=<hf_user>/eval_<dataset> \
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--policy.path=<hf_user>/<desired_policy_repo_id> \
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--episodes=10
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```
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Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
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---
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## Model Details
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- **License:** apache-2.0
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config.json
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{
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"type": "diffusion",
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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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"shape": [
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6
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]
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},
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"observation.images.front": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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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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"use_peft": false,
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"push_to_hub": true,
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"repo_id": "gaspardthrl/diffusion-A3-cls",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"horizon": 32,
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"n_action_steps": 16,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MEAN_STD"
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},
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"drop_n_last_frames": 16,
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"use_relative_actions": true,
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"relative_exclude_joints": [
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"gripper"
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],
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"action_feature_names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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],
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| 57 |
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"proprio_dropout": 0.3,
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"state_indices": null,
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"action_normalization_mode": "MEAN_STD",
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| 60 |
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"use_subtask_classifier": true,
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"subtask_classifier_repo": "gaspardthrl/walleed-subtask-cls",
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| 62 |
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"subtask_classifier_filename": "dinov2_s/best.pt",
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| 63 |
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"subtask_classifier_path": null,
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| 64 |
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"subtask_classifier_n_classes": 8,
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| 65 |
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"subtask_classifier_image_key": null,
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| 66 |
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"subtask_prev_array_path": "./data/meta/prev_subtask.npy",
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| 67 |
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"subtask_dataset_state_stats_path": "./data/meta/subtask_state_stats.json",
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| 68 |
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"use_eef_actions": false,
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| 69 |
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"eef_poses_path": null,
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| 70 |
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"eef_stats_path": null,
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| 71 |
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"eef_action_dim": 10,
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| 72 |
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"vision_backbone": "resnet18",
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| 73 |
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"resize_shape": [
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96,
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| 75 |
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96
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],
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| 77 |
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"crop_ratio": 1.0,
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| 78 |
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"crop_shape": null,
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| 79 |
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"crop_is_random": true,
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| 80 |
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"pretrained_backbone_weights": null,
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| 81 |
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"use_group_norm": true,
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| 82 |
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"spatial_softmax_num_keypoints": 32,
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| 83 |
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"use_separate_rgb_encoder_per_camera": false,
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| 84 |
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"image_grayworld": true,
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| 85 |
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"image_grayscale": true,
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| 86 |
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"down_dims": [
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512,
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1024,
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2048
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],
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| 91 |
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"kernel_size": 5,
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| 92 |
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"n_groups": 8,
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| 93 |
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"diffusion_step_embed_dim": 128,
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| 94 |
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"use_film_scale_modulation": true,
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| 95 |
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"noise_scheduler_type": "DDPM",
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| 96 |
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"num_train_timesteps": 100,
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| 97 |
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"beta_schedule": "squaredcos_cap_v2",
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| 98 |
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"beta_start": 0.0001,
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| 99 |
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"beta_end": 0.02,
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| 100 |
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"prediction_type": "epsilon",
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| 101 |
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"clip_sample": true,
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| 102 |
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"clip_sample_range": 3.0,
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| 103 |
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"num_inference_steps": null,
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| 104 |
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"compile_model": false,
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| 105 |
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"compile_mode": "reduce-overhead",
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| 106 |
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"do_mask_loss_for_padding": false,
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| 107 |
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"optimizer_lr": 0.0001,
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| 108 |
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"optimizer_betas": [
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0.95,
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| 110 |
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0.999
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| 111 |
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],
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| 112 |
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"optimizer_eps": 1e-08,
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| 113 |
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"optimizer_weight_decay": 1e-06,
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| 114 |
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"scheduler_name": "cosine",
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| 115 |
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"scheduler_warmup_steps": 500
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:1e5c2f4d4ec97a22229a90f49bfdfa21bd26d13afd7beb12d60b617ee1ab8118
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size 1133478552
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train_config.json
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|
| 1 |
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "gaspardthrl/walleed_hg_double_fold_clean",
|
| 4 |
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"root": null,
|
| 5 |
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"episodes": null,
|
| 6 |
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"image_transforms": {
|
| 7 |
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"enable": true,
|
| 8 |
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"max_num_transforms": 4,
|
| 9 |
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"random_order": true,
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| 10 |
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"tfs": {
|
| 11 |
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"brightness": {
|
| 12 |
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"weight": 1.0,
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| 13 |
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"type": "ColorJitter",
|
| 14 |
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"kwargs": {
|
| 15 |
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"brightness": [
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| 16 |
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0.7,
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| 17 |
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1.3
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| 18 |
+
]
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| 19 |
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}
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| 20 |
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},
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| 21 |
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"contrast": {
|
| 22 |
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"weight": 1.0,
|
| 23 |
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"type": "ColorJitter",
|
| 24 |
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"kwargs": {
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| 25 |
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"contrast": [
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| 26 |
+
0.7,
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