Hugging Face's logo

lerobot
/
lingbot_va_libero_long

Robotics
LeRobot
Safetensors
lingbot_va
Model card Files
xet
 Community
1
pepijn223 HF Staff commited on
Commit
dd82296
·
verified ·
1 Parent(s): f9c4227

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. config.json +102 -0
  2. model.safetensors +3 -0
  3. policy_postprocessor.json +35 -0
  4. policy_preprocessor.json +57 -0
config.json ADDED
@@ -0,0 +1,102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "lingbot_va",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ }
21
+ },
22
+ "output_features": {
23
+ "action": {
24
+ "type": "ACTION",
25
+ "shape": [
26
+ 7
27
+ ]
28
+ }
29
+ },
30
+ "device": "cpu",
31
+ "use_amp": false,
32
+ "use_peft": false,
33
+ "push_to_hub": true,
34
+ "repo_id": null,
35
+ "private": null,
36
+ "tags": null,
37
+ "license": null,
38
+ "pretrained_path": null,
39
+ "patch_size": [
40
+ 1,
41
+ 2,
42
+ 2
43
+ ],
44
+ "num_attention_heads": 24,
45
+ "attention_head_dim": 128,
46
+ "in_channels": 48,
47
+ "out_channels": 48,
48
+ "action_dim": 30,
49
+ "text_dim": 4096,
50
+ "freq_dim": 256,
51
+ "ffn_dim": 14336,
52
+ "num_layers": 30,
53
+ "cross_attn_norm": true,
54
+ "eps": 1e-06,
55
+ "rope_max_seq_len": 1024,
56
+ "attn_mode": "torch",
57
+ "wan_pretrained_path": "robbyant/lingbot-va-posttrain-libero-long",
58
+ "dtype": "bfloat16",
59
+ "text_encoder_device": "cpu",
60
+ "obs_cam_keys": [
61
+ "observation.images.image",
62
+ "observation.images.image2"
63
+ ],
64
+ "image_hflip": true,
65
+ "height": 128,
66
+ "width": 128,
67
+ "action_per_frame": 4,
68
+ "frame_chunk_size": 4,
69
+ "attn_window": 30,
70
+ "num_inference_steps": 20,
71
+ "video_exec_step": -1,
72
+ "action_num_inference_steps": 50,
73
+ "guidance_scale": 5.0,
74
+ "action_guidance_scale": 1.0,
75
+ "snr_shift": 5.0,
76
+ "action_snr_shift": 0.05,
77
+ "max_sequence_length": 512,
78
+ "used_action_channel_ids": [
79
+ 0,
80
+ 1,
81
+ 2,
82
+ 3,
83
+ 4,
84
+ 5,
85
+ 6
86
+ ],
87
+ "save_predicted_video": false,
88
+ "normalization_mapping": {
89
+ "VISUAL": "IDENTITY",
90
+ "STATE": "IDENTITY",
91
+ "ACTION": "IDENTITY"
92
+ },
93
+ "optimizer_lr": 1e-05,
94
+ "optimizer_betas": [
95
+ 0.9,
96
+ 0.95
97
+ ],
98
+ "optimizer_eps": 1e-08,
99
+ "optimizer_weight_decay": 0.0001,
100
+ "optimizer_grad_clip_norm": 1.0,
101
+ "scheduler_warmup_steps": 1000
102
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dab54f38cb66ae1f49d0357e08ea74327ed39d081bc97f8abf2a1f5c5639d19a
3
+ size 10177841732
policy_postprocessor.json ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "lingbot_va_action_unnormalize",
6
+ "config": {
7
+ "action_q01": [
8
+ -0.6589285731315613,
9
+ -0.84375,
10
+ -0.9375,
11
+ -0.12107142806053162,
12
+ -0.15964286029338837,
13
+ -0.26571428775787354,
14
+ -1.0
15
+ ],
16
+ "action_q99": [
17
+ 0.8999999761581421,
18
+ 0.8544642925262451,
19
+ 0.9375,
20
+ 0.17142857611179352,
21
+ 0.1842857152223587,
22
+ 0.34392857551574707,
23
+ 1.0
24
+ ]
25
+ }
26
+ },
27
+ {
28
+ "registry_name": "device_processor",
29
+ "config": {
30
+ "device": "cpu",
31
+ "float_dtype": null
32
+ }
33
+ }
34
+ ]
35
+ }
policy_preprocessor.json ADDED
@@ -0,0 +1,57 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "normalizer_processor",
16
+ "config": {
17
+ "eps": 1e-08,
18
+ "features": {
19
+ "observation.images.image": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 256,
24
+ 256
25
+ ]
26
+ },
27
+ "observation.images.image2": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 256,
32
+ 256
33
+ ]
34
+ },
35
+ "action": {
36
+ "type": "ACTION",
37
+ "shape": [
38
+ 7
39
+ ]
40
+ }
41
+ },
42
+ "norm_map": {
43
+ "VISUAL": "IDENTITY",
44
+ "STATE": "IDENTITY",
45
+ "ACTION": "IDENTITY"
46
+ }
47
+ }
48
+ },
49
+ {
50
+ "registry_name": "device_processor",
51
+ "config": {
52
+ "device": "cpu",
53
+ "float_dtype": null
54
+ }
55
+ }
56
+ ]
57
+ }