real_random_eps10_step10000 round 0 member 1
Browse files- real_random_eps10_step10000/round_000/member_01/config.json +123 -0
- real_random_eps10_step10000/round_000/member_01/model.safetensors +3 -0
- real_random_eps10_step10000/round_000/member_01/policy_postprocessor.json +32 -0
- real_random_eps10_step10000/round_000/member_01/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- real_random_eps10_step10000/round_000/member_01/policy_preprocessor.json +103 -0
- real_random_eps10_step10000/round_000/member_01/policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
- real_random_eps10_step10000/round_000/member_01/train_config.json +218 -0
real_random_eps10_step10000/round_000/member_01/config.json
ADDED
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{
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"type": "smolvla",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.primary": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.state.cartesian": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state.gripper": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.state.joints": {
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"type": "STATE",
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"shape": [
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7
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]
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},
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"observation.state.target": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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20
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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7
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]
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}
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},
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"device": "cuda:0",
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| 61 |
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"use_amp": false,
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| 62 |
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"push_to_hub": true,
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"repo_id": null,
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| 64 |
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"private": null,
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| 65 |
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"tags": null,
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| 66 |
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"license": null,
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| 67 |
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"pretrained_path": "${STORAGE_ROOT}/outputs/pretrain/hardware_pretrain_v2/seed_0/checkpoints/last/pretrained_model",
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| 68 |
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"chunk_size": 50,
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| 69 |
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"n_action_steps": 50,
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| 70 |
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"normalization_mapping": {
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| 71 |
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"VISUAL": "IDENTITY",
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| 72 |
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"STATE": "MEAN_STD",
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| 73 |
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"ACTION": "MEAN_STD"
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| 74 |
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},
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| 75 |
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"max_state_dim": 32,
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| 76 |
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"max_action_dim": 32,
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"state_feature_indices": [
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0,
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1,
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6
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],
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"resize_imgs_with_padding": [
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512,
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512
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],
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| 90 |
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"empty_cameras": 0,
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| 91 |
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"adapt_to_pi_aloha": false,
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| 92 |
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"use_delta_joint_actions_aloha": false,
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| 93 |
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"tokenizer_max_length": 48,
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| 94 |
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"num_steps": 10,
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| 95 |
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"use_cache": true,
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| 96 |
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"freeze_vision_encoder": false,
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| 97 |
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"freeze_text_model": false,
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| 98 |
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"train_state_proj": true,
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| 99 |
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"optimizer_lr": 5e-05,
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| 100 |
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"optimizer_betas": [
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0.9,
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0.95
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],
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| 104 |
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"optimizer_eps": 1e-08,
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| 105 |
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"optimizer_weight_decay": 1e-10,
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| 106 |
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"optimizer_grad_clip_norm": 10,
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| 107 |
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"scheduler_warmup_steps": 500,
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| 108 |
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"scheduler_decay_steps": 10000,
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| 109 |
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"scheduler_decay_lr": 5e-06,
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| 110 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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| 111 |
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"load_vlm_weights": true,
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| 112 |
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"add_image_special_tokens": false,
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| 113 |
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"attention_mode": "cross_attn",
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| 114 |
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"prefix_length": 0,
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| 115 |
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"pad_language_to": "max_length",
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| 116 |
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"num_expert_layers": 0,
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| 117 |
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"num_vlm_layers": 16,
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| 118 |
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"self_attn_every_n_layers": 2,
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| 119 |
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"expert_width_multiplier": 0.75,
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| 120 |
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"min_period": 0.004,
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| 121 |
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"max_period": 4.0,
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| 122 |
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"rtc_config": null
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| 123 |
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}
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real_random_eps10_step10000/round_000/member_01/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:dea2b59aada9e31bf5037c5e646635de0862013588233bda7489b14e411e0b5c
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size 906712520
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real_random_eps10_step10000/round_000/member_01/policy_postprocessor.json
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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"config": {
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| 7 |
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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7
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]
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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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}
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},
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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| 24 |
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{
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| 25 |
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"registry_name": "device_processor",
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| 26 |
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"config": {
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| 27 |
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"device": "cpu",
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| 28 |
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"float_dtype": null
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}
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| 30 |
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}
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| 31 |
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]
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| 32 |
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}
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real_random_eps10_step10000/round_000/member_01/policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:01b15e422b0661f1cdffeb2214f0dc0110ff63dd7b67b874e787784351ba4387
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size 6060
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real_random_eps10_step10000/round_000/member_01/policy_preprocessor.json
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| 1 |
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{
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| 2 |
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"name": "policy_preprocessor",
|
| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
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"registry_name": "rename_observations_processor",
|
| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
|
| 8 |
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}
|
| 9 |
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},
|
| 10 |
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{
|
| 11 |
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"registry_name": "to_batch_processor",
|
| 12 |
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"config": {}
|
| 13 |
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},
|
| 14 |
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{
|
| 15 |
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"registry_name": "smolvla_new_line_processor",
|
| 16 |
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"config": {}
|
| 17 |
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},
|
| 18 |
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{
|
| 19 |
+
"registry_name": "tokenizer_processor",
|
| 20 |
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"config": {
|
| 21 |
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"max_length": 48,
|
| 22 |
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"task_key": "task",
|
| 23 |
+
"padding_side": "right",
|
| 24 |
+
"padding": "max_length",
|
| 25 |
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"truncation": true,
|
| 26 |
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"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
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{
|
| 30 |
+
"registry_name": "device_processor",
|
| 31 |
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"config": {
|
| 32 |
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"device": "cuda",
|
| 33 |
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"float_dtype": null
|
| 34 |
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}
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
+
"registry_name": "normalizer_processor",
|
| 38 |
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"config": {
|
| 39 |
+
"eps": 1e-08,
|
| 40 |
+
"features": {
|
| 41 |
+
"observation.images.primary": {
|
| 42 |
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"type": "VISUAL",
|
| 43 |
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"shape": [
|
| 44 |
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3,
|
| 45 |
+
256,
|
| 46 |
+
256
|
| 47 |
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]
|
| 48 |
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},
|
| 49 |
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"observation.images.wrist": {
|
| 50 |
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"type": "VISUAL",
|
| 51 |
+
"shape": [
|
| 52 |
+
3,
|
| 53 |
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256,
|
| 54 |
+
256
|
| 55 |
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]
|
| 56 |
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},
|
| 57 |
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"observation.state.cartesian": {
|
| 58 |
+
"type": "STATE",
|
| 59 |
+
"shape": [
|
| 60 |
+
6
|
| 61 |
+
]
|
| 62 |
+
},
|
| 63 |
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"observation.state.gripper": {
|
| 64 |
+
"type": "STATE",
|
| 65 |
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"shape": [
|
| 66 |
+
1
|
| 67 |
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]
|
| 68 |
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},
|
| 69 |
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"observation.state.joints": {
|
| 70 |
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"type": "STATE",
|
| 71 |
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"shape": [
|
| 72 |
+
7
|
| 73 |
+
]
|
| 74 |
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},
|
| 75 |
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"observation.state.target": {
|
| 76 |
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"type": "STATE",
|
| 77 |
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"shape": [
|
| 78 |
+
6
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"observation.state": {
|
| 82 |
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"type": "STATE",
|
| 83 |
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"shape": [
|
| 84 |
+
20
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
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"action": {
|
| 88 |
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"type": "ACTION",
|
| 89 |
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"shape": [
|
| 90 |
+
7
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"norm_map": {
|
| 95 |
+
"VISUAL": "IDENTITY",
|
| 96 |
+
"STATE": "MEAN_STD",
|
| 97 |
+
"ACTION": "MEAN_STD"
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 101 |
+
}
|
| 102 |
+
]
|
| 103 |
+
}
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real_random_eps10_step10000/round_000/member_01/policy_preprocessor_step_5_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:01b15e422b0661f1cdffeb2214f0dc0110ff63dd7b67b874e787784351ba4387
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| 3 |
+
size 6060
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real_random_eps10_step10000/round_000/member_01/train_config.json
ADDED
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@@ -0,0 +1,218 @@
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