Robotics
LeRobot
Safetensors
act
nikodembartnik HF Staff commited on
Commit
ed8bbef
·
verified ·
1 Parent(s): 8a69237

checkpoint 060000

Browse files
checkpoints/060000/pretrained_model/config.json ADDED
@@ -0,0 +1,74 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 7
9
+ ]
10
+ },
11
+ "observation.images.wrist": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.top": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "use_peft": false,
39
+ "push_to_hub": true,
40
+ "repo_id": "nikodembartnik/act_rebot_mini_towel_folding",
41
+ "private": null,
42
+ "tags": [
43
+ "lerobot"
44
+ ],
45
+ "license": null,
46
+ "pretrained_path": null,
47
+ "pretrained_revision": null,
48
+ "chunk_size": 100,
49
+ "n_action_steps": 100,
50
+ "normalization_mapping": {
51
+ "VISUAL": "MEAN_STD",
52
+ "STATE": "MEAN_STD",
53
+ "ACTION": "MEAN_STD"
54
+ },
55
+ "vision_backbone": "resnet18",
56
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
57
+ "replace_final_stride_with_dilation": 0,
58
+ "pre_norm": false,
59
+ "dim_model": 512,
60
+ "n_heads": 8,
61
+ "dim_feedforward": 3200,
62
+ "feedforward_activation": "relu",
63
+ "n_encoder_layers": 4,
64
+ "n_decoder_layers": 1,
65
+ "use_vae": true,
66
+ "latent_dim": 32,
67
+ "n_vae_encoder_layers": 4,
68
+ "temporal_ensemble_coeff": null,
69
+ "dropout": 0.1,
70
+ "kl_weight": 10.0,
71
+ "optimizer_lr": 1e-05,
72
+ "optimizer_weight_decay": 0.0001,
73
+ "optimizer_lr_backbone": 1e-05
74
+ }
checkpoints/060000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ffdf211e6985d10d8d4de738bb5d87f28df621919e302574f59d5ad86ede61c3
3
+ size 206707964
checkpoints/060000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 7
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9857457b3f054b65724088604b54d6ff26a6cdd2a88120d1ebf30f0e647d703a
3
+ size 7608
checkpoints/060000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 7
30
+ ]
31
+ },
32
+ "observation.images.wrist": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.top": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1d9fc97e2fdf8eb8cc67f7b268422dda139d5d9f7c39d038c5572c04bc04f5a3
3
+ size 7616
checkpoints/060000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,271 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "nikodembartnik/rebot_mini_towel_folding",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": null,
7
+ "exclude_episodes": null,
8
+ "image_transforms": {
9
+ "enable": false,
10
+ "max_num_transforms": 3,
11
+ "random_order": false,
12
+ "tfs": {
13
+ "brightness": {
14
+ "weight": 1.0,
15
+ "type": "ColorJitter",
16
+ "kwargs": {
17
+ "brightness": [
18
+ 0.8,
19
+ 1.2
20
+ ]
21
+ }
22
+ },
23
+ "contrast": {
24
+ "weight": 1.0,
25
+ "type": "ColorJitter",
26
+ "kwargs": {
27
+ "contrast": [
28
+ 0.8,
29
+ 1.2
30
+ ]
31
+ }
32
+ },
33
+ "saturation": {
34
+ "weight": 1.0,
35
+ "type": "ColorJitter",
36
+ "kwargs": {
37
+ "saturation": [
38
+ 0.5,
39
+ 1.5
40
+ ]
41
+ }
42
+ },
43
+ "hue": {
44
+ "weight": 1.0,
45
+ "type": "ColorJitter",
46
+ "kwargs": {
47
+ "hue": [
48
+ -0.05,
49
+ 0.05
50
+ ]
51
+ }
52
+ },
53
+ "sharpness": {
54
+ "weight": 1.0,
55
+ "type": "SharpnessJitter",
56
+ "kwargs": {
57
+ "sharpness": [
58
+ 0.5,
59
+ 1.5
60
+ ]
61
+ }
62
+ },
63
+ "affine": {
64
+ "weight": 1.0,
65
+ "type": "RandomAffine",
66
+ "kwargs": {
67
+ "degrees": [
68
+ -5.0,
69
+ 5.0
70
+ ],
71
+ "translate": [
72
+ 0.05,
73
+ 0.05
74
+ ]
75
+ }
76
+ }
77
+ }
78
+ },
79
+ "revision": null,
80
+ "use_imagenet_stats": true,
81
+ "video_backend": "torchcodec",
82
+ "return_uint8": false,
83
+ "depth_output_unit": "mm",
84
+ "streaming": false,
85
+ "eval_split": 0.0
86
+ },
87
+ "env": null,
88
+ "policy": {
89
+ "type": "act",
90
+ "n_obs_steps": 1,
91
+ "input_features": {
92
+ "observation.state": {
93
+ "type": "STATE",
94
+ "shape": [
95
+ 7
96
+ ]
97
+ },
98
+ "observation.images.wrist": {
99
+ "type": "VISUAL",
100
+ "shape": [
101
+ 3,
102
+ 480,
103
+ 640
104
+ ]
105
+ },
106
+ "observation.images.top": {
107
+ "type": "VISUAL",
108
+ "shape": [
109
+ 3,
110
+ 480,
111
+ 640
112
+ ]
113
+ }
114
+ },
115
+ "output_features": {
116
+ "action": {
117
+ "type": "ACTION",
118
+ "shape": [
119
+ 7
120
+ ]
121
+ }
122
+ },
123
+ "device": "cuda",
124
+ "use_amp": false,
125
+ "use_peft": false,
126
+ "push_to_hub": true,
127
+ "repo_id": "nikodembartnik/act_rebot_mini_towel_folding",
128
+ "private": null,
129
+ "tags": [
130
+ "lerobot"
131
+ ],
132
+ "license": null,
133
+ "pretrained_path": null,
134
+ "pretrained_revision": null,
135
+ "chunk_size": 100,
136
+ "n_action_steps": 100,
137
+ "normalization_mapping": {
138
+ "VISUAL": "MEAN_STD",
139
+ "STATE": "MEAN_STD",
140
+ "ACTION": "MEAN_STD"
141
+ },
142
+ "vision_backbone": "resnet18",
143
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
144
+ "replace_final_stride_with_dilation": 0,
145
+ "pre_norm": false,
146
+ "dim_model": 512,
147
+ "n_heads": 8,
148
+ "dim_feedforward": 3200,
149
+ "feedforward_activation": "relu",
150
+ "n_encoder_layers": 4,
151
+ "n_decoder_layers": 1,
152
+ "use_vae": true,
153
+ "latent_dim": 32,
154
+ "n_vae_encoder_layers": 4,
155
+ "temporal_ensemble_coeff": null,
156
+ "dropout": 0.1,
157
+ "kl_weight": 10.0,
158
+ "optimizer_lr": 1e-05,
159
+ "optimizer_weight_decay": 0.0001,
160
+ "optimizer_lr_backbone": 1e-05
161
+ },
162
+ "reward_model": null,
163
+ "output_dir": "outputs/train/2026-08-25/08-13-03_act",
164
+ "job_name": "act",
165
+ "resume": false,
166
+ "seed": 1000,
167
+ "cudnn_deterministic": false,
168
+ "num_workers": 8,
169
+ "batch_size": 16,
170
+ "prefetch_factor": 4,
171
+ "persistent_workers": true,
172
+ "dataloader_multiprocessing_context": "spawn",
173
+ "steps": 100000,
174
+ "env_eval_freq": 20000,
175
+ "log_freq": 200,
176
+ "eval_steps": 0,
177
+ "max_eval_samples": 0,
178
+ "tolerance_s": 0.0001,
179
+ "save_checkpoint": true,
180
+ "save_freq": 10000,
181
+ "checkpoint_format": "safetensors",
182
+ "use_policy_training_preset": true,
183
+ "optimizer": {
184
+ "type": "adamw",
185
+ "lr": 1e-05,
186
+ "weight_decay": 0.0001,
187
+ "grad_clip_norm": 10.0,
188
+ "betas": [
189
+ 0.9,
190
+ 0.999
191
+ ],
192
+ "eps": 1e-08
193
+ },
194
+ "scheduler": null,
195
+ "parallelism": {
196
+ "dp_replicate": 1,
197
+ "dp_shard": 1,
198
+ "context_parallel": {
199
+ "ring_degree": 1,
200
+ "ulysses_degree": 1
201
+ },
202
+ "cfg_parallel": 1
203
+ },
204
+ "accelerator": {
205
+ "mixed_precision": "no",
206
+ "gradient_accumulation": {
207
+ "steps": 1
208
+ },
209
+ "fsdp": {
210
+ "reshard_after_forward": true,
211
+ "wrap_modules": null,
212
+ "min_num_params": null,
213
+ "cpu_offload": false,
214
+ "ignored_modules": null
215
+ },
216
+ "ddp": {
217
+ "find_unused_parameters": true,
218
+ "gradient_as_bucket_view": false,
219
+ "static_graph": false
220
+ },
221
+ "compile": {
222
+ "enabled": false,
223
+ "backend": "inductor",
224
+ "mode": null,
225
+ "regional": true
226
+ },
227
+ "activation_checkpointing": {
228
+ "mode": "none"
229
+ }
230
+ },
231
+ "eval": {
232
+ "n_episodes": 50,
233
+ "batch_size": 7,
234
+ "use_async_envs": true,
235
+ "recording": false,
236
+ "recording_repo_id": null,
237
+ "recording_private": false
238
+ },
239
+ "ema": {
240
+ "enable": false,
241
+ "decay": null,
242
+ "update_after_step": 0,
243
+ "inv_gamma": 1.0,
244
+ "power": 0.75,
245
+ "min_decay": 0.0,
246
+ "max_decay": 0.9999,
247
+ "use_for_eval": true
248
+ },
249
+ "wandb": {
250
+ "enable": false,
251
+ "disable_artifact": false,
252
+ "project": "lerobot",
253
+ "entity": null,
254
+ "notes": null,
255
+ "run_id": null,
256
+ "mode": null,
257
+ "add_tags": true
258
+ },
259
+ "peft": null,
260
+ "job": {
261
+ "target": null,
262
+ "image": "huggingface/lerobot-gpu:latest",
263
+ "timeout": "2d",
264
+ "detach": false,
265
+ "tags": []
266
+ },
267
+ "save_checkpoint_to_hub": true,
268
+ "sample_weighting": null,
269
+ "rename_map": {},
270
+ "checkpoint_path": null
271
+ }
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:a3454c6b37a4ab2946b030dd811b58826547534d4d1124ce69680bf6e067090f
3
+ size 412834044
checkpoints/060000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42525977f43e3e2a47ac0850f97ff59ae4a8101a89be8750d4f88cb89808f663
3
+ size 15708
checkpoints/060000/training_state/training_step.json ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "step": 60000,
3
+ "dp_world_size": 1,
4
+ "batch_size": 16,
5
+ "grad_accum_steps": 1,
6
+ "parallelism": {
7
+ "dp_replicate": 1,
8
+ "dp_shard": 1,
9
+ "ring_degree": 1,
10
+ "ulysses_degree": 1
11
+ }
12
+ }