kabilanKB commited on
Commit
8f07ea8
·
verified ·
1 Parent(s): ec29250

Upload folder using huggingface_hub

Browse files
act_so101_test/checkpoints/010000/pretrained_model/config.json ADDED
@@ -0,0 +1,62 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.side": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ }
19
+ },
20
+ "output_features": {
21
+ "action": {
22
+ "type": "ACTION",
23
+ "shape": [
24
+ 6
25
+ ]
26
+ }
27
+ },
28
+ "device": "cuda",
29
+ "use_amp": true,
30
+ "push_to_hub": true,
31
+ "repo_id": "local/act-so101-model",
32
+ "private": null,
33
+ "tags": null,
34
+ "license": null,
35
+ "pretrained_path": null,
36
+ "chunk_size": 100,
37
+ "n_action_steps": 100,
38
+ "normalization_mapping": {
39
+ "VISUAL": "MEAN_STD",
40
+ "STATE": "MEAN_STD",
41
+ "ACTION": "MEAN_STD"
42
+ },
43
+ "vision_backbone": "resnet18",
44
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
45
+ "replace_final_stride_with_dilation": false,
46
+ "pre_norm": false,
47
+ "dim_model": 512,
48
+ "n_heads": 8,
49
+ "dim_feedforward": 3200,
50
+ "feedforward_activation": "relu",
51
+ "n_encoder_layers": 4,
52
+ "n_decoder_layers": 1,
53
+ "use_vae": true,
54
+ "latent_dim": 32,
55
+ "n_vae_encoder_layers": 4,
56
+ "temporal_ensemble_coeff": null,
57
+ "dropout": 0.1,
58
+ "kl_weight": 10.0,
59
+ "optimizer_lr": 1e-05,
60
+ "optimizer_weight_decay": 0.0001,
61
+ "optimizer_lr_backbone": 1e-05
62
+ }
act_so101_test/checkpoints/010000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e638460b13cacf2dc14f2e7276077dda382a96d5129adb8789de22dbb8365563
3
+ size 206699736
act_so101_test/checkpoints/010000/pretrained_model/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
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
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
+ }
act_so101_test/checkpoints/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dafe8011760bd81559ed4ea4df04417d5068b2ae42d89c7d78d86dc5d98fd080
3
+ size 6552
act_so101_test/checkpoints/010000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.side": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "action": {
41
+ "type": "ACTION",
42
+ "shape": [
43
+ 6
44
+ ]
45
+ }
46
+ },
47
+ "norm_map": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ }
52
+ },
53
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
54
+ }
55
+ ]
56
+ }
act_so101_test/checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dafe8011760bd81559ed4ea4df04417d5068b2ae42d89c7d78d86dc5d98fd080
3
+ size 6552
act_so101_test/checkpoints/010000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,185 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot-act",
4
+ "root": "/home/zeux/lerobotact-dataset/lerobot-act",
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": "act",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 6
91
+ ]
92
+ },
93
+ "observation.images.side": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ }
101
+ },
102
+ "output_features": {
103
+ "action": {
104
+ "type": "ACTION",
105
+ "shape": [
106
+ 6
107
+ ]
108
+ }
109
+ },
110
+ "device": "cuda",
111
+ "use_amp": true,
112
+ "push_to_hub": true,
113
+ "repo_id": "local/act-so101-model",
114
+ "private": null,
115
+ "tags": null,
116
+ "license": null,
117
+ "pretrained_path": null,
118
+ "chunk_size": 100,
119
+ "n_action_steps": 100,
120
+ "normalization_mapping": {
121
+ "VISUAL": "MEAN_STD",
122
+ "STATE": "MEAN_STD",
123
+ "ACTION": "MEAN_STD"
124
+ },
125
+ "vision_backbone": "resnet18",
126
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
127
+ "replace_final_stride_with_dilation": false,
128
+ "pre_norm": false,
129
+ "dim_model": 512,
130
+ "n_heads": 8,
131
+ "dim_feedforward": 3200,
132
+ "feedforward_activation": "relu",
133
+ "n_encoder_layers": 4,
134
+ "n_decoder_layers": 1,
135
+ "use_vae": true,
136
+ "latent_dim": 32,
137
+ "n_vae_encoder_layers": 4,
138
+ "temporal_ensemble_coeff": null,
139
+ "dropout": 0.1,
140
+ "kl_weight": 10.0,
141
+ "optimizer_lr": 1e-05,
142
+ "optimizer_weight_decay": 0.0001,
143
+ "optimizer_lr_backbone": 1e-05
144
+ },
145
+ "output_dir": "outputs/train/act_so101_test",
146
+ "job_name": "act",
147
+ "resume": false,
148
+ "seed": 1000,
149
+ "num_workers": 8,
150
+ "batch_size": 64,
151
+ "steps": 10000,
152
+ "eval_freq": 20000,
153
+ "log_freq": 200,
154
+ "save_checkpoint": true,
155
+ "save_freq": 20000,
156
+ "use_policy_training_preset": true,
157
+ "optimizer": {
158
+ "type": "adamw",
159
+ "lr": 1e-05,
160
+ "weight_decay": 0.0001,
161
+ "grad_clip_norm": 10.0,
162
+ "betas": [
163
+ 0.9,
164
+ 0.999
165
+ ],
166
+ "eps": 1e-08
167
+ },
168
+ "scheduler": null,
169
+ "eval": {
170
+ "n_episodes": 50,
171
+ "batch_size": 50,
172
+ "use_async_envs": false
173
+ },
174
+ "wandb": {
175
+ "enable": false,
176
+ "disable_artifact": false,
177
+ "project": "lerobot",
178
+ "entity": null,
179
+ "notes": null,
180
+ "run_id": null,
181
+ "mode": null
182
+ },
183
+ "checkpoint_path": null,
184
+ "rename_map": {}
185
+ }
act_so101_test/checkpoints/010000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
act_so101_test/checkpoints/010000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b0a91501062038a29c1049bf469691b054f097b20a22fe0294b299db851388c
3
+ size 412817652
act_so101_test/checkpoints/010000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2f6bfb0bb649404d7f7dd5dd70d024c60257ab709831825ffc7255429220b51
3
+ size 15708
act_so101_test/checkpoints/010000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 10000
3
+ }