Upload folder using huggingface_hub

CAN_GRAB/checkpoints/002000/pretrained_model/config.json

@@ -0,0 +1,83 @@
+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

CAN_GRAB/checkpoints/002000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ffdbe2e3a7f78f4410cc748a997cdedcc231f9955d12578530e72a41d19224
+size 906713296

CAN_GRAB/checkpoints/002000/pretrained_model/train_config.json

@@ -0,0 +1,195 @@
+{
+    "dataset": {
+        "repo_id": "ps5387/Grab_Can3",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
+            512,
+            512
+        ],
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
+        "use_delta_joint_actions_aloha": false,
+        "tokenizer_max_length": 48,
+        "num_steps": 10,
+        "use_cache": true,
+        "freeze_vision_encoder": true,
+        "train_expert_only": true,
+        "train_state_proj": true,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-10,
+        "optimizer_grad_clip_norm": 10.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+        "load_vlm_weights": true,
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": 0,
+        "pad_language_to": "max_length",
+        "num_expert_layers": 0,
+        "num_vlm_layers": 16,
+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
+    },
+    "output_dir": "/scratch/ps5387/GLOBALHACK_OUT/train/CAN_GRAB",
+    "job_name": "smolVLA_Forknife",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 320,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 2000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

CAN_GRAB/checkpoints/002000/training_state/optimizer_param_groups.json

@@ -0,0 +1,526 @@
+[
+    {
+        "lr": 9.893469553577303e-05,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-10,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "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,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339,
+            340,
+            341,
+            342,
+            343,
+            344,
+            345,
+            346,
+            347,
+            348,
+            349,
+            350,
+            351,
+            352,
+            353,
+            354,
+            355,
+            356,
+            357,
+            358,
+            359,
+            360,
+            361,
+            362,
+            363,
+            364,
+            365,
+            366,
+            367,
+            368,
+            369,
+            370,
+            371,
+            372,
+            373,
+            374,
+            375,
+            376,
+            377,
+            378,
+            379,
+            380,
+            381,
+            382,
+            383,
+            384,
+            385,
+            386,
+            387,
+            388,
+            389,
+            390,
+            391,
+            392,
+            393,
+            394,
+            395,
+            396,
+            397,
+            398,
+            399,
+            400,
+            401,
+            402,
+            403,
+            404,
+            405,
+            406,
+            407,
+            408,
+            409,
+            410,
+            411,
+            412,
+            413,
+            414,
+            415,
+            416,
+            417,
+            418,
+            419,
+            420,
+            421,
+            422,
+            423,
+            424,
+            425,
+            426,
+            427,
+            428,
+            429,
+            430,
+            431,
+            432,
+            433,
+            434,
+            435,
+            436,
+            437,
+            438,
+            439,
+            440,
+            441,
+            442,
+            443,
+            444,
+            445,
+            446,
+            447,
+            448,
+            449,
+            450,
+            451,
+            452,
+            453,
+            454,
+            455,
+            456,
+            457,
+            458,
+            459,
+            460,
+            461,
+            462,
+            463,
+            464,
+            465,
+            466,
+            467,
+            468,
+            469,
+            470,
+            471,
+            472,
+            473,
+            474,
+            475,
+            476,
+            477,
+            478,
+            479,
+            480,
+            481,
+            482,
+            483,
+            484,
+            485,
+            486,
+            487,
+            488,
+            489,
+            490,
+            491,
+            492,
+            493,
+            494,
+            495,
+            496,
+            497,
+            498,
+            499,
+            500,
+            501,
+            502,
+            503,
+            504,
+            505
+        ]
+    }
+]

CAN_GRAB/checkpoints/002000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac74304222ce0ac947ee3bc4a97a43c9408ff83fd0b1ab4d6a981e6ebe95f63
+size 412659164

CAN_GRAB/checkpoints/002000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b8845ce5327a03e7c66e303cfa1f43c74428df34e31e5ce9f953ecf72bb4a2
+size 15708

CAN_GRAB/checkpoints/002000/training_state/scheduler_state.json

@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 2000,
+    "verbose": false,
+    "_step_count": 2001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.893469553577303e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

CAN_GRAB/checkpoints/002000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 2000
+}

CAN_GRAB/checkpoints/004000/pretrained_model/config.json

@@ -0,0 +1,83 @@
+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

CAN_GRAB/checkpoints/004000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:787403e067c82bc7af92753ee6ee13420ffc81d974f8e8d8415829f7971b8124
+size 906713296

CAN_GRAB/checkpoints/004000/pretrained_model/train_config.json

@@ -0,0 +1,195 @@
+{
+    "dataset": {
+        "repo_id": "ps5387/Grab_Can3",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
+            512,
+            512
+        ],
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
+        "use_delta_joint_actions_aloha": false,
+        "tokenizer_max_length": 48,
+        "num_steps": 10,
+        "use_cache": true,
+        "freeze_vision_encoder": true,
+        "train_expert_only": true,
+        "train_state_proj": true,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-10,
+        "optimizer_grad_clip_norm": 10.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+        "load_vlm_weights": true,
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": 0,
+        "pad_language_to": "max_length",
+        "num_expert_layers": 0,
+        "num_vlm_layers": 16,
+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
+    },
+    "output_dir": "/scratch/ps5387/GLOBALHACK_OUT/train/CAN_GRAB",
+    "job_name": "smolVLA_Forknife",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 320,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 2000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

CAN_GRAB/checkpoints/004000/training_state/optimizer_param_groups.json

@@ -0,0 +1,526 @@
+[
+    {
+        "lr": 9.578534106007679e-05,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-10,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "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,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339,
+            340,
+            341,
+            342,
+            343,
+            344,
+            345,
+            346,
+            347,
+            348,
+            349,
+            350,
+            351,
+            352,
+            353,
+            354,
+            355,
+            356,
+            357,
+            358,
+            359,
+            360,
+            361,
+            362,
+            363,
+            364,
+            365,
+            366,
+            367,
+            368,
+            369,
+            370,
+            371,
+            372,
+            373,
+            374,
+            375,
+            376,
+            377,
+            378,
+            379,
+            380,
+            381,
+            382,
+            383,
+            384,
+            385,
+            386,
+            387,
+            388,
+            389,
+            390,
+            391,
+            392,
+            393,
+            394,
+            395,
+            396,
+            397,
+            398,
+            399,
+            400,
+            401,
+            402,
+            403,
+            404,
+            405,
+            406,
+            407,
+            408,
+            409,
+            410,
+            411,
+            412,
+            413,
+            414,
+            415,
+            416,
+            417,
+            418,
+            419,
+            420,
+            421,
+            422,
+            423,
+            424,
+            425,
+            426,
+            427,
+            428,
+            429,
+            430,
+            431,
+            432,
+            433,
+            434,
+            435,
+            436,
+            437,
+            438,
+            439,
+            440,
+            441,
+            442,
+            443,
+            444,
+            445,
+            446,
+            447,
+            448,
+            449,
+            450,
+            451,
+            452,
+            453,
+            454,
+            455,
+            456,
+            457,
+            458,
+            459,
+            460,
+            461,
+            462,
+            463,
+            464,
+            465,
+            466,
+            467,
+            468,
+            469,
+            470,
+            471,
+            472,
+            473,
+            474,
+            475,
+            476,
+            477,
+            478,
+            479,
+            480,
+            481,
+            482,
+            483,
+            484,
+            485,
+            486,
+            487,
+            488,
+            489,
+            490,
+            491,
+            492,
+            493,
+            494,
+            495,
+            496,
+            497,
+            498,
+            499,
+            500,
+            501,
+            502,
+            503,
+            504,
+            505
+        ]
+    }
+]

CAN_GRAB/checkpoints/004000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1e8cb0e634ed7e71e71902361bdf5bbf0a8735644fdb1a941a161592880892f
+size 412659164

CAN_GRAB/checkpoints/004000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:007113d5bb46e307bc404ee26a8687808a31128d615058bd123a46ebe6a319fc
+size 15708

CAN_GRAB/checkpoints/004000/training_state/scheduler_state.json

@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 4000,
+    "verbose": false,
+    "_step_count": 4001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.578534106007679e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

CAN_GRAB/checkpoints/004000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 4000
+}

FORKNiFe/checkpoints/002000/pretrained_model/config.json

@@ -0,0 +1,83 @@
+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

FORKNiFe/checkpoints/002000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ee3ba71072a3c90ea2d05c22c0afef9a00f1bc30d87c7686bee5701695631f
+size 906713296

FORKNiFe/checkpoints/002000/pretrained_model/train_config.json

@@ -0,0 +1,195 @@
+{
+    "dataset": {
+        "repo_id": "ps5387/mobile_kitchen_t1",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
+            512,
+            512
+        ],
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
+        "use_delta_joint_actions_aloha": false,
+        "tokenizer_max_length": 48,
+        "num_steps": 10,
+        "use_cache": true,
+        "freeze_vision_encoder": true,
+        "train_expert_only": true,
+        "train_state_proj": true,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-10,
+        "optimizer_grad_clip_norm": 10.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+        "load_vlm_weights": true,
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": 0,
+        "pad_language_to": "max_length",
+        "num_expert_layers": 0,
+        "num_vlm_layers": 16,
+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
+    },
+    "output_dir": "/scratch/ps5387/GLOBALHACK_OUT/train/FORKNiFe",
+    "job_name": "smolVLA_Forknife",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 256,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 2000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

FORKNiFe/checkpoints/002000/training_state/optimizer_param_groups.json

@@ -0,0 +1,526 @@
+[
+    {
+        "lr": 9.893469553577303e-05,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-10,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "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,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339,
+            340,
+            341,
+            342,
+            343,
+            344,
+            345,
+            346,
+            347,
+            348,
+            349,
+            350,
+            351,
+            352,
+            353,
+            354,
+            355,
+            356,
+            357,
+            358,
+            359,
+            360,
+            361,
+            362,
+            363,
+            364,
+            365,
+            366,
+            367,
+            368,
+            369,
+            370,
+            371,
+            372,
+            373,
+            374,
+            375,
+            376,
+            377,
+            378,
+            379,
+            380,
+            381,
+            382,
+            383,
+            384,
+            385,
+            386,
+            387,
+            388,
+            389,
+            390,
+            391,
+            392,
+            393,
+            394,
+            395,
+            396,
+            397,
+            398,
+            399,
+            400,
+            401,
+            402,
+            403,
+            404,
+            405,
+            406,
+            407,
+            408,
+            409,
+            410,
+            411,
+            412,
+            413,
+            414,
+            415,
+            416,
+            417,
+            418,
+            419,
+            420,
+            421,
+            422,
+            423,
+            424,
+            425,
+            426,
+            427,
+            428,
+            429,
+            430,
+            431,
+            432,
+            433,
+            434,
+            435,
+            436,
+            437,
+            438,
+            439,
+            440,
+            441,
+            442,
+            443,
+            444,
+            445,
+            446,
+            447,
+            448,
+            449,
+            450,
+            451,
+            452,
+            453,
+            454,
+            455,
+            456,
+            457,
+            458,
+            459,
+            460,
+            461,
+            462,
+            463,
+            464,
+            465,
+            466,
+            467,
+            468,
+            469,
+            470,
+            471,
+            472,
+            473,
+            474,
+            475,
+            476,
+            477,
+            478,
+            479,
+            480,
+            481,
+            482,
+            483,
+            484,
+            485,
+            486,
+            487,
+            488,
+            489,
+            490,
+            491,
+            492,
+            493,
+            494,
+            495,
+            496,
+            497,
+            498,
+            499,
+            500,
+            501,
+            502,
+            503,
+            504,
+            505
+        ]
+    }
+]

FORKNiFe/checkpoints/002000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ce9fd52302e1b0e8c9d96be9513ccd8f4727e5cfb8bd571ebf0d3f99d37148
+size 412659164

FORKNiFe/checkpoints/002000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecf388cb9cf8c798945448969b72dfc7da8e7401cbeff0ff65761edf573b6226
+size 15708

FORKNiFe/checkpoints/002000/training_state/scheduler_state.json

@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 2000,
+    "verbose": false,
+    "_step_count": 2001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.893469553577303e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

FORKNiFe/checkpoints/002000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 2000
+}

FORKNiFe/checkpoints/004000/pretrained_model/config.json

@@ -0,0 +1,83 @@
+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

FORKNiFe/checkpoints/004000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa253bd74dc5781d7236acd55d3de0db1337b1daf2319f30df608ddf0bb04870
+size 906713296

FORKNiFe/checkpoints/004000/pretrained_model/train_config.json

@@ -0,0 +1,195 @@
+{
+    "dataset": {
+        "repo_id": "ps5387/mobile_kitchen_t1",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
+            512,
+            512
+        ],
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
+        "use_delta_joint_actions_aloha": false,
+        "tokenizer_max_length": 48,
+        "num_steps": 10,
+        "use_cache": true,
+        "freeze_vision_encoder": true,
+        "train_expert_only": true,
+        "train_state_proj": true,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-10,
+        "optimizer_grad_clip_norm": 10.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+        "load_vlm_weights": true,
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": 0,
+        "pad_language_to": "max_length",
+        "num_expert_layers": 0,
+        "num_vlm_layers": 16,
+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
+    },
+    "output_dir": "/scratch/ps5387/GLOBALHACK_OUT/train/FORKNiFe",
+    "job_name": "smolVLA_Forknife",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 256,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 2000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

FORKNiFe/checkpoints/004000/training_state/optimizer_param_groups.json

@@ -0,0 +1,526 @@
+[
+    {
+        "lr": 9.578534106007679e-05,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-10,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "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,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339,
+            340,
+            341,
+            342,
+            343,
+            344,
+            345,
+            346,
+            347,
+            348,
+            349,
+            350,
+            351,
+            352,
+            353,
+            354,
+            355,
+            356,
+            357,
+            358,
+            359,
+            360,
+            361,
+            362,
+            363,
+            364,
+            365,
+            366,
+            367,
+            368,
+            369,
+            370,
+            371,
+            372,
+            373,
+            374,
+            375,
+            376,
+            377,
+            378,
+            379,
+            380,
+            381,
+            382,
+            383,
+            384,
+            385,
+            386,
+            387,
+            388,
+            389,
+            390,
+            391,
+            392,
+            393,
+            394,
+            395,
+            396,
+            397,
+            398,
+            399,
+            400,
+            401,
+            402,
+            403,
+            404,
+            405,
+            406,
+            407,
+            408,
+            409,
+            410,
+            411,
+            412,
+            413,
+            414,
+            415,
+            416,
+            417,
+            418,
+            419,
+            420,
+            421,
+            422,
+            423,
+            424,
+            425,
+            426,
+            427,
+            428,
+            429,
+            430,
+            431,
+            432,
+            433,
+            434,
+            435,
+            436,
+            437,
+            438,
+            439,
+            440,
+            441,
+            442,
+            443,
+            444,
+            445,
+            446,
+            447,
+            448,
+            449,
+            450,
+            451,
+            452,
+            453,
+            454,
+            455,
+            456,
+            457,
+            458,
+            459,
+            460,
+            461,
+            462,
+            463,
+            464,
+            465,
+            466,
+            467,
+            468,
+            469,
+            470,
+            471,
+            472,
+            473,
+            474,
+            475,
+            476,
+            477,
+            478,
+            479,
+            480,
+            481,
+            482,
+            483,
+            484,
+            485,
+            486,
+            487,
+            488,
+            489,
+            490,
+            491,
+            492,
+            493,
+            494,
+            495,
+            496,
+            497,
+            498,
+            499,
+            500,
+            501,
+            502,
+            503,
+            504,
+            505
+        ]
+    }
+]

FORKNiFe/checkpoints/004000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4c95d7b01c3f3ef8ac81e1b1e825bfd1390f92909c1ba367f88c2e010c19d2
+size 412659164

FORKNiFe/checkpoints/004000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8047111117e985fda378ee716f3bfa8561e846f4feff07c61978a8f274a9733
+size 15708

FORKNiFe/checkpoints/004000/training_state/scheduler_state.json

@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 4000,
+    "verbose": false,
+    "_step_count": 4001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.578534106007679e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

FORKNiFe/checkpoints/004000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 4000
+}

FORKNiFe/checkpoints/006000/pretrained_model/config.json

@@ -0,0 +1,83 @@
+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

FORKNiFe/checkpoints/006000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c8ddd8386254663419b35aaa3f92f02148e03fe8760dd01318967bed82b5487
+size 906713296

FORKNiFe/checkpoints/006000/pretrained_model/train_config.json

@@ -0,0 +1,195 @@
+{
+    "dataset": {
+        "repo_id": "ps5387/mobile_kitchen_t1",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
+            512,
+            512
+        ],
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
+        "use_delta_joint_actions_aloha": false,
+        "tokenizer_max_length": 48,
+        "num_steps": 10,
+        "use_cache": true,
+        "freeze_vision_encoder": true,
+        "train_expert_only": true,
+        "train_state_proj": true,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-10,
+        "optimizer_grad_clip_norm": 10.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+        "load_vlm_weights": true,
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": 0,
+        "pad_language_to": "max_length",
+        "num_expert_layers": 0,
+        "num_vlm_layers": 16,
+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
+    },
+    "output_dir": "/scratch/ps5387/GLOBALHACK_OUT/train/FORKNiFe",
+    "job_name": "smolVLA_Forknife",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 256,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 2000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

FORKNiFe/checkpoints/006000/training_state/optimizer_param_groups.json

@@ -0,0 +1,526 @@
+[
+    {
+        "lr": 9.06895784757787e-05,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-10,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "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,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339,
+            340,
+            341,
+            342,
+            343,
+            344,
+            345,
+            346,
+            347,
+            348,
+            349,
+            350,
+            351,
+            352,
+            353,
+            354,
+            355,
+            356,
+            357,
+            358,
+            359,
+            360,
+            361,
+            362,
+            363,
+            364,
+            365,
+            366,
+            367,
+            368,
+            369,
+            370,
+            371,
+            372,
+            373,
+            374,
+            375,
+            376,
+            377,
+            378,
+            379,
+            380,
+            381,
+            382,
+            383,
+            384,
+            385,
+            386,
+            387,
+            388,
+            389,
+            390,
+            391,
+            392,
+            393,
+            394,
+            395,
+            396,
+            397,
+            398,
+            399,
+            400,
+            401,
+            402,
+            403,
+            404,
+            405,
+            406,
+            407,
+            408,
+            409,
+            410,
+            411,
+            412,
+            413,
+            414,
+            415,
+            416,
+            417,
+            418,
+            419,
+            420,
+            421,
+            422,
+            423,
+            424,
+            425,
+            426,
+            427,
+            428,
+            429,
+            430,
+            431,
+            432,
+            433,
+            434,
+            435,
+            436,
+            437,
+            438,
+            439,
+            440,
+            441,
+            442,
+            443,
+            444,
+            445,
+            446,
+            447,
+            448,
+            449,
+            450,
+            451,
+            452,
+            453,
+            454,
+            455,
+            456,
+            457,
+            458,
+            459,
+            460,
+            461,
+            462,
+            463,
+            464,
+            465,
+            466,
+            467,
+            468,
+            469,
+            470,
+            471,
+            472,
+            473,
+            474,
+            475,
+            476,
+            477,
+            478,
+            479,
+            480,
+            481,
+            482,
+            483,
+            484,
+            485,
+            486,
+            487,
+            488,
+            489,
+            490,
+            491,
+            492,
+            493,
+            494,
+            495,
+            496,
+            497,
+            498,
+            499,
+            500,
+            501,
+            502,
+            503,
+            504,
+            505
+        ]
+    }
+]

FORKNiFe/checkpoints/006000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fd8cc31ee13ad5b1c7c81418a2b85404535beda70a859d7f26476bc0d5f7a0
+size 412659164

FORKNiFe/checkpoints/006000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842a27dc17ed379a37dfa43d067cc4b98ee5272557123a3d2320fe71a395d416
+size 15708

FORKNiFe/checkpoints/006000/training_state/scheduler_state.json

@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 6000,
+    "verbose": false,
+    "_step_count": 6001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.06895784757787e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

FORKNiFe/checkpoints/006000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 6000
+}

FORK_act/checkpoints/002000/pretrained_model/config.json

@@ -0,0 +1,64 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
+    "use_vae": true,
+    "latent_dim": 32,
+    "n_vae_encoder_layers": 4,
+    "temporal_ensemble_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

FORK_act/checkpoints/002000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6bb3ee05c77ef310835d874c985935354626405e7464e08618311be898359b
+size 206701064

FORK_act/checkpoints/002000/pretrained_model/train_config.json

@@ -0,0 +1,170 @@
+{
+    "dataset": {
+        "repo_id": "ps5387/mobile_kitchen_t1",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "vision_backbone": "resnet18",
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "replace_final_stride_with_dilation": false,
+        "pre_norm": false,
+        "dim_model": 512,
+        "n_heads": 8,
+        "dim_feedforward": 3200,
+        "feedforward_activation": "relu",
+        "n_encoder_layers": 4,
+        "n_decoder_layers": 1,
+        "use_vae": true,
+        "latent_dim": 32,
+        "n_vae_encoder_layers": 4,
+        "temporal_ensemble_coeff": null,
+        "dropout": 0.1,
+        "kl_weight": 10.0,
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05
+    },
+    "output_dir": "/scratch/ps5387/GLOBALHACK_OUT/train/FORK_act",
+    "job_name": "smolVLA_Forknife",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 160,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 2000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 1e-05,
+        "weight_decay": 0.0001,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

FORK_act/checkpoints/002000/training_state/optimizer_param_groups.json

@@ -0,0 +1,189 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "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
+        ]
+    },
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152
+        ]
+    }
+]

FORK_act/checkpoints/002000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e275f857d719082a7847596e819d384066bc83cc1a61c64328373f354bcc6242
+size 412817652

FORK_act/checkpoints/002000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7faa54126bbd5cc046ab24500d1bbb256636ede2a24ff878dec91ef7f6ce569c
+size 15708

FORK_act/checkpoints/002000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 2000
+}

FORK_act/checkpoints/004000/pretrained_model/config.json

@@ -0,0 +1,64 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
+    "use_vae": true,
+    "latent_dim": 32,
+    "n_vae_encoder_layers": 4,
+    "temporal_ensemble_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

FORK_act/checkpoints/004000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b1fa1f0aa85cad276003166a4b019d20e0e11019f3a46ef838e3cc2eeae938
+size 206701064

FORK_act/checkpoints/004000/pretrained_model/train_config.json

@@ -0,0 +1,170 @@
+{
+    "dataset": {
+        "repo_id": "ps5387/mobile_kitchen_t1",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "vision_backbone": "resnet18",
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "replace_final_stride_with_dilation": false,
+        "pre_norm": false,
+        "dim_model": 512,
+        "n_heads": 8,
+        "dim_feedforward": 3200,
+        "feedforward_activation": "relu",
+        "n_encoder_layers": 4,
+        "n_decoder_layers": 1,
+        "use_vae": true,
+        "latent_dim": 32,
+        "n_vae_encoder_layers": 4,
+        "temporal_ensemble_coeff": null,
+        "dropout": 0.1,
+        "kl_weight": 10.0,
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05
+    },
+    "output_dir": "/scratch/ps5387/GLOBALHACK_OUT/train/FORK_act",
+    "job_name": "smolVLA_Forknife",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 160,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 2000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 1e-05,
+        "weight_decay": 0.0001,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}