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c01

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jasminen commited on
Commit
03a7ec2
·
verified ·
1 Parent(s): db4b893

Fix config: remove use_peft field

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Files changed (1) hide show
  1. config.json +73 -74
config.json CHANGED
@@ -1,79 +1,78 @@
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  {
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- "type": "act",
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- "n_obs_steps": 1,
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- "input_features": {
5
- "observation.state": {
6
- "type": "STATE",
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- "shape": [
8
- 6
9
- ]
10
- },
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- "observation.images.top": {
12
- "type": "VISUAL",
13
- "shape": [
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- 3,
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- 480,
16
- 640
17
- ]
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- },
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- "observation.images.head": {
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- "type": "VISUAL",
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- "shape": [
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- 3,
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- 480,
24
- 640
25
- ]
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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,
31
- 480,
32
- 640
33
- ]
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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": true,
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- "use_peft": false,
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- "push_to_hub": true,
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- "repo_id": "jasminen/c01",
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- "private": null,
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- "tags": null,
51
- "license": null,
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- "pretrained_path": "outputs/train/act_so101_c01/checkpoints/050000/pretrained_model",
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- "chunk_size": 100,
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- "n_action_steps": 100,
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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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- "vision_backbone": "resnet18",
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- "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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- "replace_final_stride_with_dilation": 0,
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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,
70
- "use_vae": true,
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- "latent_dim": 32,
72
- "n_vae_encoder_layers": 4,
73
- "temporal_ensemble_coeff": null,
74
- "dropout": 0.1,
75
- "kl_weight": 10.0,
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- "optimizer_lr": 1e-05,
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- "optimizer_weight_decay": 0.0001,
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- "optimizer_lr_backbone": 1e-05
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  }
 
1
  {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
10
  },
11
+ "observation.images.top": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
  },
19
+ "observation.images.head": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
 
 
 
 
 
 
 
 
26
  },
27
+ "observation.images.front": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 480,
32
+ 640
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 6
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": true,
46
+ "push_to_hub": true,
47
+ "repo_id": "jasminen/c01",
48
+ "private": null,
49
+ "tags": null,
50
+ "license": null,
51
+ "pretrained_path": "outputs/train/act_so101_c01/checkpoints/050000/pretrained_model",
52
+ "chunk_size": 100,
53
+ "n_action_steps": 100,
54
+ "normalization_mapping": {
55
+ "VISUAL": "MEAN_STD",
56
+ "STATE": "MEAN_STD",
57
+ "ACTION": "MEAN_STD"
58
+ },
59
+ "vision_backbone": "resnet18",
60
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
61
+ "replace_final_stride_with_dilation": 0,
62
+ "pre_norm": false,
63
+ "dim_model": 512,
64
+ "n_heads": 8,
65
+ "dim_feedforward": 3200,
66
+ "feedforward_activation": "relu",
67
+ "n_encoder_layers": 4,
68
+ "n_decoder_layers": 1,
69
+ "use_vae": true,
70
+ "latent_dim": 32,
71
+ "n_vae_encoder_layers": 4,
72
+ "temporal_ensemble_coeff": null,
73
+ "dropout": 0.1,
74
+ "kl_weight": 10.0,
75
+ "optimizer_lr": 1e-05,
76
+ "optimizer_weight_decay": 0.0001,
77
+ "optimizer_lr_backbone": 1e-05
78
  }