Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: lingbot_va
 pipeline_tag: robotics
 tags:
 - lingbot_va
-- lerobot
 - robotics
+- lerobot
 ---
 
 # Model Card for lingbot_va
@@ -78,10 +78,10 @@ The policy consumes these observation features and produces these action feature
 
 | Setting | Value |
 | --- | --- |
-| Training steps | 66686 |
+| Training steps | 26674 |
 | Batch size | 16 |
 | Optimizer | adamw |
-| Learning rate | 1e-05 |
+| Learning rate | 2e-05 |
 | Seed | 1000 |
 | LeRobot version | 0.6.1 |
 

config.json

@@ -43,7 +43,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "lerobot/lingbot_va_base",
+    "pretrained_path": "/fsx/maxime_ellerbach/robots/runs/folding-tshirt/outputs/train/lingbot_absolute_22372322/checkpoints/last/pretrained_model",
     "pretrained_revision": null,
     "patch_size": [
         1,
@@ -87,22 +87,22 @@
     "action_snr_shift": 1.0,
     "max_sequence_length": 512,
     "used_action_channel_ids": [
-        0,
-        1,
-        2,
-        3,
-        4,
-        5,
-        6,
-        7,
-        8,
-        9,
-        10,
-        11,
-        12,
-        13,
+        21,
+        22,
+        23,
+        24,
+        25,
+        26,
+        27,
+        29,
         14,
-        15
+        15,
+        16,
+        17,
+        18,
+        19,
+        20,
+        28
     ],
     "use_relative_actions": true,
     "relative_exclude_joints": [
@@ -132,14 +132,15 @@
         "STATE": "IDENTITY",
         "ACTION": "QUANTILES"
     },
-    "optimizer_lr": 1e-05,
+    "optimizer_lr": 2e-05,
     "optimizer_betas": [
         0.9,
-        0.999
+        0.95
     ],
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 0.0001,
     "optimizer_grad_clip_norm": 1.0,
-    "scheduler_warmup_steps": 3000,
-    "scheduler_type": "cosine_annealing_with_warmup"
+    "scheduler_warmup_steps": 1000,
+    "scheduler_type": "constant_with_warmup",
+    "action_noisy_cond_prob": 0.2
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:24fd2d1d1b44ae6446c93706e691c8c85999ed769613cc339d2ee886b20d1112
-size 10177841764
+oid sha256:4bf50786ac1c88783dd22d44c187f79e70eff53ac47ba0e3182a923a21ffe000
+size 20355587160

train_config.json

@@ -128,7 +128,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "lerobot/lingbot_va_base",
+        "pretrained_path": "/fsx/maxime_ellerbach/robots/runs/folding-tshirt/outputs/train/lingbot_absolute_22372322/checkpoints/last/pretrained_model",
         "pretrained_revision": null,
         "patch_size": [
             1,
@@ -172,22 +172,22 @@
         "action_snr_shift": 1.0,
         "max_sequence_length": 512,
         "used_action_channel_ids": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            29,
             14,
-            15
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            28
         ],
         "use_relative_actions": true,
         "relative_exclude_joints": [
@@ -217,20 +217,21 @@
             "STATE": "IDENTITY",
             "ACTION": "QUANTILES"
         },
-        "optimizer_lr": 1e-05,
+        "optimizer_lr": 2e-05,
         "optimizer_betas": [
             0.9,
-            0.999
+            0.95
         ],
         "optimizer_eps": 1e-08,
         "optimizer_weight_decay": 0.0001,
         "optimizer_grad_clip_norm": 1.0,
-        "scheduler_warmup_steps": 3000,
-        "scheduler_type": "cosine_annealing_with_warmup"
+        "scheduler_warmup_steps": 1000,
+        "scheduler_type": "constant_with_warmup",
+        "action_noisy_cond_prob": 0.2
     },
     "reward_model": null,
-    "output_dir": "outputs/train/lingbot_wu3k_b999_22363492",
-    "job_name": "lingbot_wu3k_b999",
+    "output_dir": "outputs/train/folding_lingbot_multinode_3706",
+    "job_name": "folding_lingbot_multinode",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
@@ -238,7 +239,7 @@
     "batch_size": 16,
     "prefetch_factor": 4,
     "persistent_workers": true,
-    "steps": 66686,
+    "steps": 26674,
     "env_eval_freq": 20000,
     "log_freq": 50,
     "eval_steps": 0,
@@ -249,18 +250,18 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 1e-05,
+        "lr": 2e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 1.0,
         "betas": [
             0.9,
-            0.999
+            0.95
         ],
         "eps": 1e-08
     },
     "scheduler": {
-        "type": "cosine_annealing_with_warmup",
-        "num_warmup_steps": 3000
+        "type": "constant_with_warmup",
+        "num_warmup_steps": 1000
     },
     "eval": {
         "n_episodes": 50,
@@ -268,7 +269,8 @@
         "use_async_envs": true,
         "recording": false,
         "recording_repo_id": null,
-        "recording_private": false
+        "recording_private": false,
+        "save_predicted_video": false
     },
     "wandb": {
         "enable": true,
@@ -276,7 +278,7 @@
         "project": "folding-tshirt",
         "entity": null,
         "notes": null,
-        "run_id": "zh1364z2",
+        "run_id": "s7n6kfhx",
         "mode": null,
         "add_tags": true
     },