Instructions to use maximellerbach/folding_lingbot with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use maximellerbach/folding_lingbot with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "lerobot-data-collection/level2_final_quality3_t_0_hil_data_c", | |
| "root": "/fsx/maxime_ellerbach/datasets/level2_final_quality3_t_0_hil_data_c_rel", | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
| "brightness": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "brightness": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "contrast": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "contrast": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "saturation": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "saturation": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "hue": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "hue": [ | |
| -0.05, | |
| 0.05 | |
| ] | |
| } | |
| }, | |
| "sharpness": { | |
| "weight": 1.0, | |
| "type": "SharpnessJitter", | |
| "kwargs": { | |
| "sharpness": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "affine": { | |
| "weight": 1.0, | |
| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": false, | |
| "video_backend": "pyav", | |
| "return_uint8": false, | |
| "depth_output_unit": "mm", | |
| "streaming": false, | |
| "eval_split": 0.0 | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "lingbot_va", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.cam_high": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.cam_left_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.cam_right_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 16 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "maximellerbach/folding_lingbot", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "/fsx/maxime_ellerbach/robots/runs/folding-tshirt/outputs/train/lingbot_absolute_22372322/checkpoints/last/pretrained_model", | |
| "pretrained_revision": null, | |
| "patch_size": [ | |
| 1, | |
| 2, | |
| 2 | |
| ], | |
| "num_attention_heads": 24, | |
| "attention_head_dim": 128, | |
| "in_channels": 48, | |
| "out_channels": 48, | |
| "action_dim": 30, | |
| "text_dim": 4096, | |
| "freq_dim": 256, | |
| "ffn_dim": 14336, | |
| "num_layers": 30, | |
| "cross_attn_norm": true, | |
| "eps": 1e-06, | |
| "rope_max_seq_len": 1024, | |
| "attn_mode": "flex", | |
| "wan_pretrained_path": "robbyant/lingbot-va-base", | |
| "dtype": "bfloat16", | |
| "text_encoder_device": "cuda", | |
| "obs_cam_keys": [ | |
| "observation.images.cam_high", | |
| "observation.images.cam_left_wrist", | |
| "observation.images.cam_right_wrist" | |
| ], | |
| "image_hflip": false, | |
| "camera_layout": "width_concat", | |
| "height": 224, | |
| "width": 224, | |
| "action_per_frame": 16, | |
| "frame_chunk_size": 2, | |
| "attn_window": 72, | |
| "num_inference_steps": 25, | |
| "video_exec_step": -1, | |
| "action_num_inference_steps": 50, | |
| "guidance_scale": 5.0, | |
| "action_guidance_scale": 1.0, | |
| "snr_shift": 5.0, | |
| "action_snr_shift": 1.0, | |
| "max_sequence_length": 512, | |
| "used_action_channel_ids": [ | |
| 21, | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 29, | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 28 | |
| ], | |
| "use_relative_actions": true, | |
| "relative_exclude_joints": [ | |
| "gripper" | |
| ], | |
| "action_feature_names": [ | |
| "right_joint_1.pos", | |
| "right_joint_2.pos", | |
| "right_joint_3.pos", | |
| "right_joint_4.pos", | |
| "right_joint_5.pos", | |
| "right_joint_6.pos", | |
| "right_joint_7.pos", | |
| "right_gripper.pos", | |
| "left_joint_1.pos", | |
| "left_joint_2.pos", | |
| "left_joint_3.pos", | |
| "left_joint_4.pos", | |
| "left_joint_5.pos", | |
| "left_joint_6.pos", | |
| "left_joint_7.pos", | |
| "left_gripper.pos" | |
| ], | |
| "save_predicted_video": false, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "IDENTITY", | |
| "ACTION": "QUANTILES" | |
| }, | |
| "optimizer_lr": 2e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.0001, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_type": "constant_with_warmup", | |
| "action_noisy_cond_prob": 0.2 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "outputs/train/folding_lingbot_multinode_3706", | |
| "job_name": "folding_lingbot_multinode", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 4, | |
| "batch_size": 16, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "steps": 26674, | |
| "env_eval_freq": 20000, | |
| "log_freq": 50, | |
| "eval_steps": 0, | |
| "max_eval_samples": 0, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 10000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 2e-05, | |
| "weight_decay": 0.0001, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "constant_with_warmup", | |
| "num_warmup_steps": 1000 | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": true, | |
| "recording": false, | |
| "recording_repo_id": null, | |
| "recording_private": false, | |
| "save_predicted_video": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "folding-tshirt", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "s7n6kfhx", | |
| "mode": null, | |
| "add_tags": true | |
| }, | |
| "peft": null, | |
| "job": { | |
| "target": null, | |
| "image": "huggingface/lerobot-gpu:latest", | |
| "timeout": "2d", | |
| "detach": false, | |
| "tags": [] | |
| }, | |
| "save_checkpoint_to_hub": false, | |
| "sample_weighting": { | |
| "type": "rabc", | |
| "progress_path": "hf://datasets/lerobot-data-collection/level2_final_quality3_t_0_hil_data_c/sarm_progress.parquet", | |
| "head_mode": "sparse", | |
| "kappa": 0.05, | |
| "epsilon": 1e-06, | |
| "extra_params": {} | |
| }, | |
| "rename_map": { | |
| "observation.images.base": "observation.images.cam_high", | |
| "observation.images.left_wrist": "observation.images.cam_left_wrist", | |
| "observation.images.right_wrist": "observation.images.cam_right_wrist" | |
| }, | |
| "checkpoint_path": null | |
| } |