jolch commited on
Commit
f458e4a
·
verified ·
1 Parent(s): 143e06a

Add files using upload-large-folder tool

Browse files
config.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "wall_x",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.top_cam": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 480,
10
+ 640
11
+ ]
12
+ },
13
+ "observation.images.gripper_cam": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 480,
18
+ 640
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 7
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "use_peft": false,
39
+ "push_to_hub": false,
40
+ "repo_id": "jolch/piper_wall_x_20260303",
41
+ "private": null,
42
+ "tags": null,
43
+ "license": null,
44
+ "pretrained_path": null,
45
+ "dtype": "bfloat16",
46
+ "chunk_size": 32,
47
+ "n_action_steps": 32,
48
+ "max_action_dim": 20,
49
+ "max_state_dim": 20,
50
+ "normalization_mapping": {
51
+ "VISUAL": "IDENTITY",
52
+ "STATE": "MEAN_STD",
53
+ "ACTION": "MEAN_STD"
54
+ },
55
+ "pretrained_name_or_path": "x-square-robot/wall-oss-flow",
56
+ "action_tokenizer_path": null,
57
+ "prediction_mode": "diffusion",
58
+ "attn_implementation": "flash_attention_2",
59
+ "optimizer_lr": 2e-05,
60
+ "optimizer_betas": [
61
+ 0.9,
62
+ 0.95
63
+ ],
64
+ "optimizer_eps": 1e-08,
65
+ "optimizer_weight_decay": 0.01,
66
+ "optimizer_grad_clip_norm": 1.0,
67
+ "scheduler_warmup_steps": 1000,
68
+ "scheduler_decay_steps": 100000,
69
+ "scheduler_decay_lr": 1e-06
70
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c9f8b3ff1c954eed61f6a78a671defc231f13cbb8c8707865cc82af06ab21b3
3
+ size 8474064688
policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 7
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "IDENTITY",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47d4da69442b2dfc02d1ab4b088191eca8a168a045638b7bdf6ec631037851a2
3
+ size 7704
policy_preprocessor.json ADDED
@@ -0,0 +1,68 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "wall_x_task_processor",
16
+ "config": {}
17
+ },
18
+ {
19
+ "registry_name": "normalizer_processor",
20
+ "config": {
21
+ "eps": 1e-08,
22
+ "features": {
23
+ "observation.images.top_cam": {
24
+ "type": "VISUAL",
25
+ "shape": [
26
+ 3,
27
+ 480,
28
+ 640
29
+ ]
30
+ },
31
+ "observation.images.gripper_cam": {
32
+ "type": "VISUAL",
33
+ "shape": [
34
+ 3,
35
+ 480,
36
+ 640
37
+ ]
38
+ },
39
+ "observation.state": {
40
+ "type": "STATE",
41
+ "shape": [
42
+ 7
43
+ ]
44
+ },
45
+ "action": {
46
+ "type": "ACTION",
47
+ "shape": [
48
+ 7
49
+ ]
50
+ }
51
+ },
52
+ "norm_map": {
53
+ "VISUAL": "IDENTITY",
54
+ "STATE": "MEAN_STD",
55
+ "ACTION": "MEAN_STD"
56
+ }
57
+ },
58
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
59
+ },
60
+ {
61
+ "registry_name": "device_processor",
62
+ "config": {
63
+ "device": "cuda",
64
+ "float_dtype": null
65
+ }
66
+ }
67
+ ]
68
+ }
policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47d4da69442b2dfc02d1ab4b088191eca8a168a045638b7bdf6ec631037851a2
3
+ size 7704
train_config.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "jolch/jolch/pig_rgy",
4
+ "root": "/DATA/disk0/junxi/datasets/place_to_red",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "pyav",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "wall_x",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.images.top_cam": {
88
+ "type": "VISUAL",
89
+ "shape": [
90
+ 3,
91
+ 480,
92
+ 640
93
+ ]
94
+ },
95
+ "observation.images.gripper_cam": {
96
+ "type": "VISUAL",
97
+ "shape": [
98
+ 3,
99
+ 480,
100
+ 640
101
+ ]
102
+ },
103
+ "observation.state": {
104
+ "type": "STATE",
105
+ "shape": [
106
+ 7
107
+ ]
108
+ }
109
+ },
110
+ "output_features": {
111
+ "action": {
112
+ "type": "ACTION",
113
+ "shape": [
114
+ 7
115
+ ]
116
+ }
117
+ },
118
+ "device": "cuda",
119
+ "use_amp": false,
120
+ "use_peft": false,
121
+ "push_to_hub": false,
122
+ "repo_id": "jolch/piper_wall_x_20260303",
123
+ "private": null,
124
+ "tags": null,
125
+ "license": null,
126
+ "pretrained_path": null,
127
+ "dtype": "bfloat16",
128
+ "chunk_size": 32,
129
+ "n_action_steps": 32,
130
+ "max_action_dim": 20,
131
+ "max_state_dim": 20,
132
+ "normalization_mapping": {
133
+ "VISUAL": "IDENTITY",
134
+ "STATE": "MEAN_STD",
135
+ "ACTION": "MEAN_STD"
136
+ },
137
+ "pretrained_name_or_path": "x-square-robot/wall-oss-flow",
138
+ "action_tokenizer_path": null,
139
+ "prediction_mode": "diffusion",
140
+ "attn_implementation": "flash_attention_2",
141
+ "optimizer_lr": 2e-05,
142
+ "optimizer_betas": [
143
+ 0.9,
144
+ 0.95
145
+ ],
146
+ "optimizer_eps": 1e-08,
147
+ "optimizer_weight_decay": 0.01,
148
+ "optimizer_grad_clip_norm": 1.0,
149
+ "scheduler_warmup_steps": 1000,
150
+ "scheduler_decay_steps": 100000,
151
+ "scheduler_decay_lr": 1e-06
152
+ },
153
+ "output_dir": "/DATA/disk0/junxi/model/piper_wall_x_20260303",
154
+ "job_name": "wall_x",
155
+ "resume": false,
156
+ "seed": 1000,
157
+ "num_workers": 16,
158
+ "batch_size": 16,
159
+ "steps": 10000,
160
+ "eval_freq": -1,
161
+ "log_freq": 100,
162
+ "tolerance_s": 0.0001,
163
+ "save_checkpoint": true,
164
+ "save_freq": 2000,
165
+ "use_policy_training_preset": true,
166
+ "optimizer": {
167
+ "type": "adamw",
168
+ "lr": 2e-05,
169
+ "weight_decay": 0.01,
170
+ "grad_clip_norm": 1.0,
171
+ "betas": [
172
+ 0.9,
173
+ 0.95
174
+ ],
175
+ "eps": 1e-08
176
+ },
177
+ "scheduler": {
178
+ "type": "cosine_decay_with_warmup",
179
+ "num_warmup_steps": 1000,
180
+ "num_decay_steps": 100000,
181
+ "peak_lr": 2e-05,
182
+ "decay_lr": 1e-06
183
+ },
184
+ "eval": {
185
+ "n_episodes": 50,
186
+ "batch_size": 50,
187
+ "use_async_envs": false
188
+ },
189
+ "wandb": {
190
+ "enable": true,
191
+ "disable_artifact": false,
192
+ "project": "piper_training",
193
+ "entity": null,
194
+ "notes": null,
195
+ "run_id": "wallx_pig",
196
+ "mode": null
197
+ },
198
+ "peft": null,
199
+ "use_rabc": false,
200
+ "rabc_progress_path": null,
201
+ "rabc_kappa": 0.01,
202
+ "rabc_epsilon": 1e-06,
203
+ "rabc_head_mode": "sparse",
204
+ "rename_map": {},
205
+ "checkpoint_path": null
206
+ }