lcwoo commited on
Commit
f005185
·
verified ·
1 Parent(s): b49c09b

Upload folder using huggingface_hub

Browse files
pretrained_model/config.json ADDED
@@ -0,0 +1,77 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.images.cam_head": {
11
+ "type": "VISUAL",
12
+ "shape": [
13
+ 3,
14
+ 376,
15
+ 672
16
+ ]
17
+ },
18
+ "observation.images.cam_wrist_left": {
19
+ "type": "VISUAL",
20
+ "shape": [
21
+ 3,
22
+ 240,
23
+ 424
24
+ ]
25
+ },
26
+ "observation.images.cam_wrist_right": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 240,
31
+ 424
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "type": "STATE",
36
+ "shape": [
37
+ 19
38
+ ]
39
+ }
40
+ },
41
+ "output_features": {
42
+ "action": {
43
+ "type": "ACTION",
44
+ "shape": [
45
+ 19
46
+ ]
47
+ }
48
+ },
49
+ "device": "cuda",
50
+ "use_amp": false,
51
+ "push_to_hub": true,
52
+ "repo_id": "noisyduck/act_sort_dsu_downsampled_251104_dsu_2_4",
53
+ "private": null,
54
+ "tags": null,
55
+ "license": null,
56
+ "chunk_size": 30,
57
+ "n_action_steps": 30,
58
+ "vision_backbone": "resnet18",
59
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
60
+ "replace_final_stride_with_dilation": false,
61
+ "pre_norm": false,
62
+ "dim_model": 512,
63
+ "n_heads": 8,
64
+ "dim_feedforward": 3200,
65
+ "feedforward_activation": "relu",
66
+ "n_encoder_layers": 4,
67
+ "n_decoder_layers": 7,
68
+ "use_vae": true,
69
+ "latent_dim": 32,
70
+ "n_vae_encoder_layers": 4,
71
+ "temporal_ensemble_coeff": null,
72
+ "dropout": 0.1,
73
+ "kl_weight": 10.0,
74
+ "optimizer_lr": 1e-05,
75
+ "optimizer_weight_decay": 0.0001,
76
+ "optimizer_lr_backbone": 1e-05
77
+ }
pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ac1dc34e906cf95b3f46e79b213a541a84002bce41ba23b510379ddc31c56e08
3
+ size 335769692
pretrained_model/train_config.json ADDED
@@ -0,0 +1,183 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "noisyduck/act_sort_dsu_downsampled_251104_dsu_2_4",
4
+ "root": null,
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
+ }
62
+ },
63
+ "revision": null,
64
+ "use_imagenet_stats": true,
65
+ "video_backend": "torchcodec"
66
+ },
67
+ "env": null,
68
+ "policy": {
69
+ "type": "act",
70
+ "n_obs_steps": 1,
71
+ "normalization_mapping": {
72
+ "VISUAL": "MEAN_STD",
73
+ "STATE": "MEAN_STD",
74
+ "ACTION": "MEAN_STD"
75
+ },
76
+ "input_features": {
77
+ "observation.images.cam_head": {
78
+ "type": "VISUAL",
79
+ "shape": [
80
+ 3,
81
+ 376,
82
+ 672
83
+ ]
84
+ },
85
+ "observation.images.cam_wrist_left": {
86
+ "type": "VISUAL",
87
+ "shape": [
88
+ 3,
89
+ 240,
90
+ 424
91
+ ]
92
+ },
93
+ "observation.images.cam_wrist_right": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 240,
98
+ 424
99
+ ]
100
+ },
101
+ "observation.state": {
102
+ "type": "STATE",
103
+ "shape": [
104
+ 19
105
+ ]
106
+ }
107
+ },
108
+ "output_features": {
109
+ "action": {
110
+ "type": "ACTION",
111
+ "shape": [
112
+ 19
113
+ ]
114
+ }
115
+ },
116
+ "device": "cuda",
117
+ "use_amp": false,
118
+ "push_to_hub": true,
119
+ "repo_id": "noisyduck/act_sort_dsu_downsampled_251104_dsu_2_4",
120
+ "private": null,
121
+ "tags": null,
122
+ "license": null,
123
+ "chunk_size": 30,
124
+ "n_action_steps": 30,
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": 7,
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_sort_dsu_2_4",
146
+ "job_name": "act_sort_dsu_2_4",
147
+ "resume": false,
148
+ "seed": 1000,
149
+ "num_workers": 32,
150
+ "batch_size": 32,
151
+ "steps": 300000,
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
+ }
training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,297 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "foreach": null,
12
+ "maximize": false,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "params": [
17
+ 0,
18
+ 1,
19
+ 2,
20
+ 3,
21
+ 4,
22
+ 5,
23
+ 6,
24
+ 7,
25
+ 8,
26
+ 9,
27
+ 10,
28
+ 11,
29
+ 12,
30
+ 13,
31
+ 14,
32
+ 15,
33
+ 16,
34
+ 17,
35
+ 18,
36
+ 19,
37
+ 20,
38
+ 21,
39
+ 22,
40
+ 23,
41
+ 24,
42
+ 25,
43
+ 26,
44
+ 27,
45
+ 28,
46
+ 29,
47
+ 30,
48
+ 31,
49
+ 32,
50
+ 33,
51
+ 34,
52
+ 35,
53
+ 36,
54
+ 37,
55
+ 38,
56
+ 39,
57
+ 40,
58
+ 41,
59
+ 42,
60
+ 43,
61
+ 44,
62
+ 45,
63
+ 46,
64
+ 47,
65
+ 48,
66
+ 49,
67
+ 50,
68
+ 51,
69
+ 52,
70
+ 53,
71
+ 54,
72
+ 55,
73
+ 56,
74
+ 57,
75
+ 58,
76
+ 59,
77
+ 60,
78
+ 61,
79
+ 62,
80
+ 63,
81
+ 64,
82
+ 65,
83
+ 66,
84
+ 67,
85
+ 68,
86
+ 69,
87
+ 70,
88
+ 71,
89
+ 72,
90
+ 73,
91
+ 74,
92
+ 75,
93
+ 76,
94
+ 77,
95
+ 78,
96
+ 79,
97
+ 80,
98
+ 81,
99
+ 82,
100
+ 83,
101
+ 84,
102
+ 85,
103
+ 86,
104
+ 87,
105
+ 88,
106
+ 89,
107
+ 90,
108
+ 91,
109
+ 92,
110
+ 93,
111
+ 94,
112
+ 95,
113
+ 96,
114
+ 97,
115
+ 98,
116
+ 99,
117
+ 100,
118
+ 101,
119
+ 102,
120
+ 103,
121
+ 104,
122
+ 105,
123
+ 106,
124
+ 107,
125
+ 108,
126
+ 109,
127
+ 110,
128
+ 111,
129
+ 112,
130
+ 113,
131
+ 114,
132
+ 115,
133
+ 116,
134
+ 117,
135
+ 118,
136
+ 119,
137
+ 120,
138
+ 121,
139
+ 122,
140
+ 123,
141
+ 124,
142
+ 125,
143
+ 126,
144
+ 127,
145
+ 128,
146
+ 129,
147
+ 130,
148
+ 131,
149
+ 132,
150
+ 133,
151
+ 134,
152
+ 135,
153
+ 136,
154
+ 137,
155
+ 138,
156
+ 139,
157
+ 140,
158
+ 141,
159
+ 142,
160
+ 143,
161
+ 144,
162
+ 145,
163
+ 146,
164
+ 147,
165
+ 148,
166
+ 149,
167
+ 150,
168
+ 151,
169
+ 152,
170
+ 153,
171
+ 154,
172
+ 155,
173
+ 156,
174
+ 157,
175
+ 158,
176
+ 159,
177
+ 160,
178
+ 161,
179
+ 162,
180
+ 163,
181
+ 164,
182
+ 165,
183
+ 166,
184
+ 167,
185
+ 168,
186
+ 169,
187
+ 170,
188
+ 171,
189
+ 172,
190
+ 173,
191
+ 174,
192
+ 175,
193
+ 176,
194
+ 177,
195
+ 178,
196
+ 179,
197
+ 180,
198
+ 181,
199
+ 182,
200
+ 183,
201
+ 184,
202
+ 185,
203
+ 186,
204
+ 187,
205
+ 188,
206
+ 189,
207
+ 190,
208
+ 191,
209
+ 192,
210
+ 193,
211
+ 194,
212
+ 195,
213
+ 196,
214
+ 197,
215
+ 198,
216
+ 199,
217
+ 200,
218
+ 201,
219
+ 202,
220
+ 203,
221
+ 204,
222
+ 205,
223
+ 206,
224
+ 207,
225
+ 208,
226
+ 209,
227
+ 210,
228
+ 211,
229
+ 212,
230
+ 213,
231
+ 214,
232
+ 215,
233
+ 216,
234
+ 217,
235
+ 218,
236
+ 219,
237
+ 220,
238
+ 221,
239
+ 222,
240
+ 223,
241
+ 224,
242
+ 225,
243
+ 226,
244
+ 227,
245
+ 228,
246
+ 229,
247
+ 230,
248
+ 231,
249
+ 232,
250
+ 233,
251
+ 234,
252
+ 235,
253
+ 236,
254
+ 237,
255
+ 238,
256
+ 239,
257
+ 240
258
+ ]
259
+ },
260
+ {
261
+ "lr": 1e-05,
262
+ "betas": [
263
+ 0.9,
264
+ 0.999
265
+ ],
266
+ "eps": 1e-08,
267
+ "weight_decay": 0.0001,
268
+ "amsgrad": false,
269
+ "foreach": null,
270
+ "maximize": false,
271
+ "capturable": false,
272
+ "differentiable": false,
273
+ "fused": null,
274
+ "params": [
275
+ 241,
276
+ 242,
277
+ 243,
278
+ 244,
279
+ 245,
280
+ 246,
281
+ 247,
282
+ 248,
283
+ 249,
284
+ 250,
285
+ 251,
286
+ 252,
287
+ 253,
288
+ 254,
289
+ 255,
290
+ 256,
291
+ 257,
292
+ 258,
293
+ 259,
294
+ 260
295
+ ]
296
+ }
297
+ ]
training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:162eb8969f8c098585c9863282d0d3d6090308b0e1c693168717fb2360c0516e
3
+ size 671244708
training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fa727058763f3c456041d78bb679e976e72f4cf1d705b2204a0ced977ebcbd86
3
+ size 15708
training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 100000
3
+ }