Add checkpoint 102000

checkpoints/102000/pretrained_model/config.json

@@ -0,0 +1,83 @@
+{
+    "type": "diffusion",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.images.base_camera": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                9
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "mimirmimir/k_dp_stackcube_last",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "horizon": 16,
+    "n_action_steps": 8,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 7,
+    "vision_backbone": "resnet18",
+    "crop_shape": [
+        200,
+        200
+    ],
+    "crop_is_random": true,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": false,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "noise_scheduler_type": "DDPM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.0,
+    "num_inference_steps": null,
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500
+}

checkpoints/102000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b55576143e3ec8d3be134210b3a742ac0acac97d154aa6dbed76cb1f0a491e33
+size 1052553440

checkpoints/102000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              8
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/102000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3007c0b788c63299564b0ee8ef3863b206e9578c020895d0fe4e341f114d830b
+size 6804

checkpoints/102000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,56 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.base_camera": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              9
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              8
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}

checkpoints/102000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3007c0b788c63299564b0ee8ef3863b206e9578c020895d0fe4e341f114d830b
+size 6804

checkpoints/102000/pretrained_model/train_config.json

@@ -0,0 +1,217 @@
+{
+    "dataset": {
+        "repo_id": "mimirmimir/StackCube-v1-LeRobot",
+        "root": null,
+        "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": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "diffusion",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.images.base_camera": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    9
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    8
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "mimirmimir/k_dp_stackcube_last",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "horizon": 16,
+        "n_action_steps": 8,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 7,
+        "vision_backbone": "resnet18",
+        "crop_shape": [
+            200,
+            200
+        ],
+        "crop_is_random": true,
+        "pretrained_backbone_weights": null,
+        "use_group_norm": true,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": false,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "noise_scheduler_type": "DDPM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.0,
+        "num_inference_steps": null,
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500
+    },
+    "output_dir": "/outputs/train/k_dp",
+    "job_name": "k_dp_stackcube_training",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 64,
+    "steps": 170000,
+    "eval_freq": 20000,
+    "log_freq": 10,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 34000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": true,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "4frnewrm",
+        "mode": null
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}

checkpoints/102000/training_state/optimizer_param_groups.json

@@ -0,0 +1,233 @@
+[
+    {
+        "lr": 3.4725529317039754e-05,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": false,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211
+        ]
+    }
+]

checkpoints/102000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54c388d1b25e41fc12c7e7b7b7d06db9943af158b44dbccc525ba3c63efaf80
+size 2105112568

checkpoints/102000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0088c880acce3713ccd40ac9b96b92060fcf73ec018565cb269a6dd5c5e88567
+size 15708

checkpoints/102000/training_state/scheduler_state.json

@@ -0,0 +1,14 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 102000,
+    "_step_count": 102001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        3.4725529317039754e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

checkpoints/102000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 102000
+}