Upload folder using huggingface_hub
Browse files- config.json +69 -0
- model.safetensors +3 -0
- train_config.json +175 -0
- train_resume_config.json +146 -0
config.json
ADDED
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{
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"type": "act",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.claw": {
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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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"observation.images.top": {
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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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"push_to_hub": true,
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"repo_id": "hasnineiftekar9/SO101_test107",
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"private": null,
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"tags": null,
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"license": null,
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"chunk_size": 100,
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"n_action_steps": 100,
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": false,
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"pre_norm": false,
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"dim_model": 512,
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"n_heads": 8,
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"dim_feedforward": 3200,
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"feedforward_activation": "relu",
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"n_encoder_layers": 4,
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"n_decoder_layers": 1,
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"use_vae": true,
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"latent_dim": 32,
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"n_vae_encoder_layers": 4,
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"temporal_ensemble_coeff": null,
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"dropout": 0.1,
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| 65 |
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"kl_weight": 10.0,
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| 66 |
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"optimizer_lr": 1e-05,
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| 67 |
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"optimizer_weight_decay": 0.0001,
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"optimizer_lr_backbone": 1e-05
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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 sha256:03d6861518604e9a03dfe687f24823a502bfa2379386363d26a425f3e499f7a6
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size 206701064
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train_config.json
ADDED
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{
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"dataset": {
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| 3 |
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"repo_id": "mahmud8248/record-Robot422-v3",
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| 4 |
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"root": null,
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| 5 |
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"episodes": null,
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| 6 |
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"image_transforms": {
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| 7 |
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"enable": false,
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| 8 |
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"max_num_transforms": 3,
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| 9 |
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"random_order": false,
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| 10 |
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"tfs": {
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| 11 |
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"brightness": {
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| 12 |
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"weight": 1.0,
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| 13 |
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"type": "ColorJitter",
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| 14 |
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"kwargs": {
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| 15 |
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"brightness": [
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| 16 |
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0.8,
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1.2
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]
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}
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},
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| 21 |
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"contrast": {
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| 22 |
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"weight": 1.0,
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| 23 |
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"type": "ColorJitter",
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| 24 |
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"kwargs": {
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| 25 |
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"contrast": [
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0.8,
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1.2
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]
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| 29 |
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}
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| 30 |
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},
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| 31 |
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"saturation": {
|
| 32 |
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"weight": 1.0,
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| 33 |
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"type": "ColorJitter",
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| 34 |
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"kwargs": {
|
| 35 |
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"saturation": [
|
| 36 |
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0.5,
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| 37 |
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1.5
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| 38 |
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]
|
| 39 |
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}
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| 40 |
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},
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| 41 |
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"hue": {
|
| 42 |
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"weight": 1.0,
|
| 43 |
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"type": "ColorJitter",
|
| 44 |
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"kwargs": {
|
| 45 |
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"hue": [
|
| 46 |
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-0.05,
|
| 47 |
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0.05
|
| 48 |
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]
|
| 49 |
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}
|
| 50 |
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},
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| 51 |
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"sharpness": {
|
| 52 |
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"weight": 1.0,
|
| 53 |
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"type": "SharpnessJitter",
|
| 54 |
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"kwargs": {
|
| 55 |
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"sharpness": [
|
| 56 |
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0.5,
|
| 57 |
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1.5
|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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}
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"revision": null,
|
| 64 |
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"use_imagenet_stats": true,
|
| 65 |
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"video_backend": "torchcodec"
|
| 66 |
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},
|
| 67 |
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"env": null,
|
| 68 |
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"policy": {
|
| 69 |
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"type": "act",
|
| 70 |
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"n_obs_steps": 1,
|
| 71 |
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"normalization_mapping": {
|
| 72 |
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"VISUAL": "MEAN_STD",
|
| 73 |
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"STATE": "MEAN_STD",
|
| 74 |
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"ACTION": "MEAN_STD"
|
| 75 |
+
},
|
| 76 |
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"input_features": {
|
| 77 |
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"observation.state": {
|
| 78 |
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"type": "STATE",
|
| 79 |
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"shape": [
|
| 80 |
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6
|
| 81 |
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]
|
| 82 |
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},
|
| 83 |
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"observation.images.claw": {
|
| 84 |
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"type": "VISUAL",
|
| 85 |
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"shape": [
|
| 86 |
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3,
|
| 87 |
+
480,
|
| 88 |
+
640
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| 89 |
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]
|
| 90 |
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},
|
| 91 |
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"observation.images.top": {
|
| 92 |
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"type": "VISUAL",
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| 93 |
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"shape": [
|
| 94 |
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3,
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| 95 |
+
480,
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| 96 |
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640
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| 97 |
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]
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| 98 |
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}
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| 99 |
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},
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| 100 |
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"output_features": {
|
| 101 |
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"action": {
|
| 102 |
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"type": "ACTION",
|
| 103 |
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"shape": [
|
| 104 |
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6
|
| 105 |
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]
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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"device": "cuda",
|
| 109 |
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"use_amp": false,
|
| 110 |
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"push_to_hub": true,
|
| 111 |
+
"repo_id": "hasnineiftekar9/SO101_test107",
|
| 112 |
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"private": null,
|
| 113 |
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"tags": null,
|
| 114 |
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"license": null,
|
| 115 |
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"chunk_size": 100,
|
| 116 |
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"n_action_steps": 100,
|
| 117 |
+
"vision_backbone": "resnet18",
|
| 118 |
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 119 |
+
"replace_final_stride_with_dilation": false,
|
| 120 |
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"pre_norm": false,
|
| 121 |
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"dim_model": 512,
|
| 122 |
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"n_heads": 8,
|
| 123 |
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"dim_feedforward": 3200,
|
| 124 |
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"feedforward_activation": "relu",
|
| 125 |
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"n_encoder_layers": 4,
|
| 126 |
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"n_decoder_layers": 1,
|
| 127 |
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"use_vae": true,
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| 128 |
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"latent_dim": 32,
|
| 129 |
+
"n_vae_encoder_layers": 4,
|
| 130 |
+
"temporal_ensemble_coeff": null,
|
| 131 |
+
"dropout": 0.1,
|
| 132 |
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"kl_weight": 10.0,
|
| 133 |
+
"optimizer_lr": 1e-05,
|
| 134 |
+
"optimizer_weight_decay": 0.0001,
|
| 135 |
+
"optimizer_lr_backbone": 1e-05
|
| 136 |
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},
|
| 137 |
+
"output_dir": "/content/drive/MyDrive/Lerobot_Training_Aug9/outputs/train/SO101_test107",
|
| 138 |
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"job_name": "SO101_test",
|
| 139 |
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"resume": false,
|
| 140 |
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"seed": 1000,
|
| 141 |
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"num_workers": 2,
|
| 142 |
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"batch_size": 8,
|
| 143 |
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"steps": 50000,
|
| 144 |
+
"eval_freq": 20000,
|
| 145 |
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"log_freq": 200,
|
| 146 |
+
"save_checkpoint": true,
|
| 147 |
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"save_freq": 500,
|
| 148 |
+
"use_policy_training_preset": true,
|
| 149 |
+
"optimizer": {
|
| 150 |
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"type": "adamw",
|
| 151 |
+
"lr": 1e-05,
|
| 152 |
+
"weight_decay": 0.0001,
|
| 153 |
+
"grad_clip_norm": 10.0,
|
| 154 |
+
"betas": [
|
| 155 |
+
0.9,
|
| 156 |
+
0.999
|
| 157 |
+
],
|
| 158 |
+
"eps": 1e-08
|
| 159 |
+
},
|
| 160 |
+
"scheduler": null,
|
| 161 |
+
"eval": {
|
| 162 |
+
"n_episodes": 50,
|
| 163 |
+
"batch_size": 50,
|
| 164 |
+
"use_async_envs": false
|
| 165 |
+
},
|
| 166 |
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"wandb": {
|
| 167 |
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"enable": true,
|
| 168 |
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"disable_artifact": false,
|
| 169 |
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"project": "lerobot",
|
| 170 |
+
"entity": null,
|
| 171 |
+
"notes": null,
|
| 172 |
+
"run_id": "xmjrqbcw",
|
| 173 |
+
"mode": null
|
| 174 |
+
}
|
| 175 |
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}
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train_resume_config.json
ADDED
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