Hugging Face's logo

mkkimuser
/
0402end

Safetensors
Model card Files
xet
 Community
mkkimuser commited on
Commit
53c012c
·
verified ·
1 Parent(s): 7c3ea05

Add files using upload-large-folder tool

Browse files
Files changed (35) hide show
  1. checkpoints/020000/pretrained_model/config.json +77 -0
  2. checkpoints/020000/pretrained_model/model.safetensors +3 -0
  3. checkpoints/020000/pretrained_model/train_config.json +183 -0
  4. checkpoints/020000/training_state/optimizer_param_groups.json +191 -0
  5. checkpoints/020000/training_state/optimizer_state.safetensors +3 -0
  6. checkpoints/020000/training_state/rng_state.safetensors +3 -0
  7. checkpoints/020000/training_state/training_step.json +3 -0
  8. checkpoints/040000/pretrained_model/config.json +77 -0
  9. checkpoints/040000/pretrained_model/model.safetensors +3 -0
  10. checkpoints/040000/pretrained_model/train_config.json +183 -0
  11. checkpoints/040000/training_state/optimizer_param_groups.json +191 -0
  12. checkpoints/040000/training_state/optimizer_state.safetensors +3 -0
  13. checkpoints/040000/training_state/rng_state.safetensors +3 -0
  14. checkpoints/040000/training_state/training_step.json +3 -0
  15. checkpoints/060000/pretrained_model/config.json +77 -0
  16. checkpoints/060000/pretrained_model/model.safetensors +3 -0
  17. checkpoints/060000/pretrained_model/train_config.json +183 -0
  18. checkpoints/060000/training_state/optimizer_param_groups.json +191 -0
  19. checkpoints/060000/training_state/optimizer_state.safetensors +3 -0
  20. checkpoints/060000/training_state/rng_state.safetensors +3 -0
  21. checkpoints/060000/training_state/training_step.json +3 -0
  22. checkpoints/080000/pretrained_model/config.json +77 -0
  23. checkpoints/080000/pretrained_model/model.safetensors +3 -0
  24. checkpoints/080000/pretrained_model/train_config.json +183 -0
  25. checkpoints/080000/training_state/optimizer_param_groups.json +191 -0
  26. checkpoints/080000/training_state/optimizer_state.safetensors +3 -0
  27. checkpoints/080000/training_state/rng_state.safetensors +3 -0
  28. checkpoints/080000/training_state/training_step.json +3 -0
  29. checkpoints/100000/pretrained_model/config.json +77 -0
  30. checkpoints/100000/pretrained_model/model.safetensors +3 -0
  31. checkpoints/100000/pretrained_model/train_config.json +183 -0
  32. checkpoints/100000/training_state/optimizer_param_groups.json +191 -0
  33. checkpoints/100000/training_state/optimizer_state.safetensors +3 -0
  34. checkpoints/100000/training_state/rng_state.safetensors +3 -0
  35. checkpoints/100000/training_state/training_step.json +3 -0
checkpoints/020000/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.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 19
14
+ ]
15
+ },
16
+ "observation.images.cam_head": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 376,
21
+ 672
22
+ ]
23
+ },
24
+ "observation.images.cam_wrist_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 240,
29
+ 424
30
+ ]
31
+ },
32
+ "observation.images.cam_wrist_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 240,
37
+ 424
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": false,
52
+ "repo_id": null,
53
+ "private": null,
54
+ "tags": null,
55
+ "license": null,
56
+ "chunk_size": 100,
57
+ "n_action_steps": 100,
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": 1,
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
+ }
checkpoints/020000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:92d5870d7a2d1225c5a3eaea61f73b13e22773715ed54eff703297a4144f1036
3
+ size 206808260
checkpoints/020000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,183 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "mkkimuser/20260402_1845",
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": "pyav"
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.state": {
78
+ "type": "STATE",
79
+ "shape": [
80
+ 19
81
+ ]
82
+ },
83
+ "observation.images.cam_head": {
84
+ "type": "VISUAL",
85
+ "shape": [
86
+ 3,
87
+ 376,
88
+ 672
89
+ ]
90
+ },
91
+ "observation.images.cam_wrist_left": {
92
+ "type": "VISUAL",
93
+ "shape": [
94
+ 3,
95
+ 240,
96
+ 424
97
+ ]
98
+ },
99
+ "observation.images.cam_wrist_right": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 3,
103
+ 240,
104
+ 424
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": false,
119
+ "repo_id": null,
120
+ "private": null,
121
+ "tags": null,
122
+ "license": null,
123
+ "chunk_size": 100,
124
+ "n_action_steps": 100,
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": 1,
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": "/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/0402",
146
+ "job_name": "act",
147
+ "resume": false,
148
+ "seed": 1000,
149
+ "num_workers": 4,
150
+ "batch_size": 8,
151
+ "steps": 100000,
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
+ }
checkpoints/020000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/020000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a05c9bf24125e8fc1b36e289371f2aa405e2a1a05d60e16118eac54d6c63dc98
3
+ size 413030756
checkpoints/020000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a29246be5b02320bfa8218a246cac4bcbe8f6d29006655e4a91094a7b7f28f76
3
+ size 15708
checkpoints/020000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 20000
3
+ }
checkpoints/040000/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.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 19
14
+ ]
15
+ },
16
+ "observation.images.cam_head": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 376,
21
+ 672
22
+ ]
23
+ },
24
+ "observation.images.cam_wrist_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 240,
29
+ 424
30
+ ]
31
+ },
32
+ "observation.images.cam_wrist_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 240,
37
+ 424
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": false,
52
+ "repo_id": null,
53
+ "private": null,
54
+ "tags": null,
55
+ "license": null,
56
+ "chunk_size": 100,
57
+ "n_action_steps": 100,
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": 1,
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
+ }
checkpoints/040000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7dfca1b13ec08fd158c400668c1b4ec51bc1a224867d9f53e58d4ce89502f051
3
+ size 206808260
checkpoints/040000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,183 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "mkkimuser/20260402_1845",
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": "pyav"
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.state": {
78
+ "type": "STATE",
79
+ "shape": [
80
+ 19
81
+ ]
82
+ },
83
+ "observation.images.cam_head": {
84
+ "type": "VISUAL",
85
+ "shape": [
86
+ 3,
87
+ 376,
88
+ 672
89
+ ]
90
+ },
91
+ "observation.images.cam_wrist_left": {
92
+ "type": "VISUAL",
93
+ "shape": [
94
+ 3,
95
+ 240,
96
+ 424
97
+ ]
98
+ },
99
+ "observation.images.cam_wrist_right": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 3,
103
+ 240,
104
+ 424
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": false,
119
+ "repo_id": null,
120
+ "private": null,
121
+ "tags": null,
122
+ "license": null,
123
+ "chunk_size": 100,
124
+ "n_action_steps": 100,
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": 1,
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": "/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/0402",
146
+ "job_name": "act",
147
+ "resume": false,
148
+ "seed": 1000,
149
+ "num_workers": 4,
150
+ "batch_size": 8,
151
+ "steps": 100000,
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
+ }
checkpoints/040000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/040000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8536fd4097f46deb8bc55d3a59b0134b61bc9f9d2c203cd05f9caa7a08ee60fc
3
+ size 413030756
checkpoints/040000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43945bca03bda7cdd93d3c2b43b9065ce0e1275c5989bc0123e6fa7cbcbb5a5f
3
+ size 15708
checkpoints/040000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 40000
3
+ }
checkpoints/060000/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.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 19
14
+ ]
15
+ },
16
+ "observation.images.cam_head": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 376,
21
+ 672
22
+ ]
23
+ },
24
+ "observation.images.cam_wrist_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 240,
29
+ 424
30
+ ]
31
+ },
32
+ "observation.images.cam_wrist_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 240,
37
+ 424
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": false,
52
+ "repo_id": null,
53
+ "private": null,
54
+ "tags": null,
55
+ "license": null,
56
+ "chunk_size": 100,
57
+ "n_action_steps": 100,
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": 1,
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
+ }
checkpoints/060000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2591bea2385448f5827c2682cb84381680364c16d36b6dbae8ed74e79c1872c0
3
+ size 206808260
checkpoints/060000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,183 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "mkkimuser/20260402_1845",
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": "pyav"
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.state": {
78
+ "type": "STATE",
79
+ "shape": [
80
+ 19
81
+ ]
82
+ },
83
+ "observation.images.cam_head": {
84
+ "type": "VISUAL",
85
+ "shape": [
86
+ 3,
87
+ 376,
88
+ 672
89
+ ]
90
+ },
91
+ "observation.images.cam_wrist_left": {
92
+ "type": "VISUAL",
93
+ "shape": [
94
+ 3,
95
+ 240,
96
+ 424
97
+ ]
98
+ },
99
+ "observation.images.cam_wrist_right": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 3,
103
+ 240,
104
+ 424
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": false,
119
+ "repo_id": null,
120
+ "private": null,
121
+ "tags": null,
122
+ "license": null,
123
+ "chunk_size": 100,
124
+ "n_action_steps": 100,
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": 1,
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": "/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/0402",
146
+ "job_name": "act",
147
+ "resume": false,
148
+ "seed": 1000,
149
+ "num_workers": 4,
150
+ "batch_size": 8,
151
+ "steps": 100000,
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
+ }
checkpoints/060000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/060000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b95822e6b74b2ed8b44a277f7a4f437aa831d5fc93d909c566b66d390e6e94cb
3
+ size 413030756
checkpoints/060000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:01074d32bf7887c1f2d631709e58faa171e188bff825d287b79d21e1d8fc23c8
3
+ size 15708
checkpoints/060000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 60000
3
+ }
checkpoints/080000/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.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 19
14
+ ]
15
+ },
16
+ "observation.images.cam_head": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 376,
21
+ 672
22
+ ]
23
+ },
24
+ "observation.images.cam_wrist_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 240,
29
+ 424
30
+ ]
31
+ },
32
+ "observation.images.cam_wrist_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 240,
37
+ 424
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": false,
52
+ "repo_id": null,
53
+ "private": null,
54
+ "tags": null,
55
+ "license": null,
56
+ "chunk_size": 100,
57
+ "n_action_steps": 100,
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": 1,
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
+ }
checkpoints/080000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1442ad86727466d74b0fac0c9f14bd1abcce72d237d81e199737538fc5820c96
3
+ size 206808260
checkpoints/080000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,183 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "mkkimuser/20260402_1845",
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": "pyav"
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.state": {
78
+ "type": "STATE",
79
+ "shape": [
80
+ 19
81
+ ]
82
+ },
83
+ "observation.images.cam_head": {
84
+ "type": "VISUAL",
85
+ "shape": [
86
+ 3,
87
+ 376,
88
+ 672
89
+ ]
90
+ },
91
+ "observation.images.cam_wrist_left": {
92
+ "type": "VISUAL",
93
+ "shape": [
94
+ 3,
95
+ 240,
96
+ 424
97
+ ]
98
+ },
99
+ "observation.images.cam_wrist_right": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 3,
103
+ 240,
104
+ 424
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": false,
119
+ "repo_id": null,
120
+ "private": null,
121
+ "tags": null,
122
+ "license": null,
123
+ "chunk_size": 100,
124
+ "n_action_steps": 100,
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": 1,
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": "/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/0402",
146
+ "job_name": "act",
147
+ "resume": false,
148
+ "seed": 1000,
149
+ "num_workers": 4,
150
+ "batch_size": 8,
151
+ "steps": 100000,
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
+ }
checkpoints/080000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/080000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d813cb940885950ac79b6ac86c5fbc48526e165fa6564fe4fcc63a9f18a9fec
3
+ size 413030756
checkpoints/080000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eddb1545e4cf987cecbadbb816c2437f8096369d68ef452fd0d6b409ce369318
3
+ size 15708
checkpoints/080000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 80000
3
+ }
checkpoints/100000/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.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 19
14
+ ]
15
+ },
16
+ "observation.images.cam_head": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 376,
21
+ 672
22
+ ]
23
+ },
24
+ "observation.images.cam_wrist_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 240,
29
+ 424
30
+ ]
31
+ },
32
+ "observation.images.cam_wrist_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 240,
37
+ 424
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": false,
52
+ "repo_id": null,
53
+ "private": null,
54
+ "tags": null,
55
+ "license": null,
56
+ "chunk_size": 100,
57
+ "n_action_steps": 100,
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": 1,
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
+ }
checkpoints/100000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81b802f84b2578bccbe8e1b791213997d57d28427dfa63f41a2baa6c3aeb3309
3
+ size 206808260
checkpoints/100000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,183 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "mkkimuser/20260402_1845",
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": "pyav"
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.state": {
78
+ "type": "STATE",
79
+ "shape": [
80
+ 19
81
+ ]
82
+ },
83
+ "observation.images.cam_head": {
84
+ "type": "VISUAL",
85
+ "shape": [
86
+ 3,
87
+ 376,
88
+ 672
89
+ ]
90
+ },
91
+ "observation.images.cam_wrist_left": {
92
+ "type": "VISUAL",
93
+ "shape": [
94
+ 3,
95
+ 240,
96
+ 424
97
+ ]
98
+ },
99
+ "observation.images.cam_wrist_right": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 3,
103
+ 240,
104
+ 424
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": false,
119
+ "repo_id": null,
120
+ "private": null,
121
+ "tags": null,
122
+ "license": null,
123
+ "chunk_size": 100,
124
+ "n_action_steps": 100,
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": 1,
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": "/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/0402",
146
+ "job_name": "act",
147
+ "resume": false,
148
+ "seed": 1000,
149
+ "num_workers": 4,
150
+ "batch_size": 8,
151
+ "steps": 100000,
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
+ }
checkpoints/100000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/100000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75dbd9e88cde1ff6ba33cf9de7be8f1198e827cb7beec8e6be5d84692d123966
3
+ size 413030756
checkpoints/100000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47ab59b0b0e1622d70ef9d5cf86ab885f8f967cf39f5892b613d4ce947cac9f9
3
+ size 15708
checkpoints/100000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 100000
3
+ }