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- .gitattributes +1 -0
- checkpoints/001000/pretrained_model/config.json +56 -0
- checkpoints/001000/pretrained_model/model.safetensors +3 -0
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- checkpoints/002000/training_state/optimizer_state.safetensors +3 -0
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- checkpoints/003000/pretrained_model/config.json +56 -0
- checkpoints/003000/pretrained_model/model.safetensors +3 -0
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- checkpoints/004000/pretrained_model/config.json +56 -0
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- checkpoints/005000/pretrained_model/config.json +56 -0
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- checkpoints/005000/training_state/rng_state.safetensors +3 -0
- checkpoints/005000/training_state/training_step.json +3 -0
- checkpoints/006000/pretrained_model/config.json +56 -0
- checkpoints/006000/pretrained_model/model.safetensors +3 -0
- checkpoints/006000/pretrained_model/train_config.json +162 -0
- checkpoints/006000/training_state/optimizer_param_groups.json +191 -0
- checkpoints/006000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/006000/training_state/rng_state.safetensors +3 -0
- checkpoints/006000/training_state/training_step.json +3 -0
- checkpoints/007000/pretrained_model/config.json +56 -0
- checkpoints/007000/pretrained_model/model.safetensors +3 -0
- checkpoints/007000/pretrained_model/train_config.json +162 -0
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- checkpoints/007000/training_state/rng_state.safetensors +3 -0
- checkpoints/007000/training_state/training_step.json +3 -0
.gitattributes
CHANGED
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checkpoints/001000/pretrained_model/config.json
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checkpoints/001000/training_state/optimizer_param_groups.json
ADDED
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@@ -0,0 +1,191 @@
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checkpoints/002000/training_state/optimizer_param_groups.json
ADDED
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@@ -0,0 +1,191 @@
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checkpoints/002000/training_state/optimizer_state.safetensors
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checkpoints/002000/training_state/training_step.json
ADDED
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@@ -0,0 +1,3 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"step": 2000
|
| 3 |
+
}
|
checkpoints/003000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,56 @@
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|
| 1 |
+
{
|
| 2 |
+
"type": "act",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"normalization_mapping": {
|
| 5 |
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"VISUAL": "MEAN_STD",
|
| 6 |
+
"STATE": "MEAN_STD",
|
| 7 |
+
"ACTION": "MEAN_STD"
|
| 8 |
+
},
|
| 9 |
+
"input_features": {
|
| 10 |
+
"observation.state": {
|
| 11 |
+
"type": "STATE",
|
| 12 |
+
"shape": [
|
| 13 |
+
6
|
| 14 |
+
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|
| 15 |
+
},
|
| 16 |
+
"observation.images.front": {
|
| 17 |
+
"type": "VISUAL",
|
| 18 |
+
"shape": [
|
| 19 |
+
3,
|
| 20 |
+
1080,
|
| 21 |
+
1920
|
| 22 |
+
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|
| 23 |
+
}
|
| 24 |
+
},
|
| 25 |
+
"output_features": {
|
| 26 |
+
"action": {
|
| 27 |
+
"type": "ACTION",
|
| 28 |
+
"shape": [
|
| 29 |
+
6
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"device": "cuda",
|
| 34 |
+
"use_amp": true,
|
| 35 |
+
"chunk_size": 100,
|
| 36 |
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"n_action_steps": 100,
|
| 37 |
+
"vision_backbone": "resnet18",
|
| 38 |
+
"pretrained_backbone_weights": "IMAGENET1K_V1",
|
| 39 |
+
"replace_final_stride_with_dilation": false,
|
| 40 |
+
"pre_norm": false,
|
| 41 |
+
"dim_model": 512,
|
| 42 |
+
"n_heads": 8,
|
| 43 |
+
"dim_feedforward": 3200,
|
| 44 |
+
"feedforward_activation": "relu",
|
| 45 |
+
"n_encoder_layers": 4,
|
| 46 |
+
"n_decoder_layers": 1,
|
| 47 |
+
"use_vae": true,
|
| 48 |
+
"latent_dim": 32,
|
| 49 |
+
"n_vae_encoder_layers": 4,
|
| 50 |
+
"temporal_ensemble_coeff": null,
|
| 51 |
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"dropout": 0.1,
|
| 52 |
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"kl_weight": 10.0,
|
| 53 |
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"optimizer_lr": 1e-05,
|
| 54 |
+
"optimizer_weight_decay": 0.0001,
|
| 55 |
+
"optimizer_lr_backbone": 1e-05
|
| 56 |
+
}
|
checkpoints/003000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aad697dcc5aef74a7399512408c6e4aebb7fe01b24128865b4ad11b1d768bdd4
|
| 3 |
+
size 206700792
|
checkpoints/003000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,162 @@
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|
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|
|
|
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|
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|
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|
|
|
| 1 |
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{
|
| 2 |
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"dataset": {
|
| 3 |
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"repo_id": "ranegray/so101-drawing-dataset",
|
| 4 |
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|
| 5 |
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| 6 |
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| 7 |
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| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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"kwargs": {
|
| 15 |
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|
| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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| 25 |
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"contrast": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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|
| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"sharpness": {
|
| 52 |
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"weight": 1.0,
|
| 53 |
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"type": "SharpnessJitter",
|
| 54 |
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"kwargs": {
|
| 55 |
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"sharpness": [
|
| 56 |
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0.5,
|
| 57 |
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1.5
|
| 58 |
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]
|
| 59 |
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|
| 60 |
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}
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"revision": null,
|
| 64 |
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"use_imagenet_stats": true,
|
| 65 |
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"video_backend": "torchcodec"
|
| 66 |
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},
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"VISUAL": "MEAN_STD",
|
| 73 |
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"STATE": "MEAN_STD",
|
| 74 |
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"ACTION": "MEAN_STD"
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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| 80 |
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|
| 82 |
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| 83 |
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| 84 |
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| 86 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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|
| 103 |
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| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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|
| 109 |
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| 110 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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| 118 |
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|
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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"output_dir": "outputs/train/act_drawing_final_safe",
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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"save_freq": 1000,
|
| 135 |
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"use_policy_training_preset": true,
|
| 136 |
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"optimizer": {
|
| 137 |
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"type": "adamw",
|
| 138 |
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"lr": 1e-05,
|
| 139 |
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"weight_decay": 0.0001,
|
| 140 |
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"grad_clip_norm": 10.0,
|
| 141 |
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"betas": [
|
| 142 |
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|
| 143 |
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|
| 144 |
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],
|
| 145 |
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"eps": 1e-08
|
| 146 |
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},
|
| 147 |
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"scheduler": null,
|
| 148 |
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"eval": {
|
| 149 |
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"n_episodes": 50,
|
| 150 |
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"batch_size": 50,
|
| 151 |
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|
| 152 |
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},
|
| 153 |
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"wandb": {
|
| 154 |
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"enable": true,
|
| 155 |
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"disable_artifact": false,
|
| 156 |
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"project": "lerobot",
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| 157 |
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| 158 |
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|
| 159 |
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|
| 160 |
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"mode": null
|
| 161 |
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|
| 162 |
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|
checkpoints/003000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
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|
| 162 |
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|
checkpoints/004000/training_state/optimizer_param_groups.json
ADDED
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@@ -0,0 +1,191 @@
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ADDED
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checkpoints/005000/pretrained_model/config.json
ADDED
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 55 |
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| 56 |
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|
checkpoints/005000/pretrained_model/model.safetensors
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 206700792
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checkpoints/005000/pretrained_model/train_config.json
ADDED
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@@ -0,0 +1,162 @@
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|
checkpoints/005000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
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"n_episodes": 50,
|
| 150 |
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|
| 151 |
+
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
+
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|
| 161 |
+
}
|
| 162 |
+
}
|
checkpoints/006000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
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checkpoints/006000/training_state/optimizer_state.safetensors
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 412817652
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checkpoints/006000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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checkpoints/006000/training_state/training_step.json
ADDED
|
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| 1 |
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{
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|
| 3 |
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checkpoints/007000/pretrained_model/config.json
ADDED
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@@ -0,0 +1,56 @@
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| 27 |
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| 28 |
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| 31 |
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| 32 |
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| 33 |
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|
| 34 |
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|
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|
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|
| 37 |
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|
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| 39 |
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|
| 40 |
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|
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|
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|
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|
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|
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
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|
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| 55 |
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|
| 56 |
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checkpoints/007000/pretrained_model/model.safetensors
ADDED
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size 206700792
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checkpoints/007000/pretrained_model/train_config.json
ADDED
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|
| 1 |
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| 2 |
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|
| 161 |
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|
| 162 |
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}
|
checkpoints/007000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,191 @@
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|
| 178 |
+
142,
|
| 179 |
+
143,
|
| 180 |
+
144,
|
| 181 |
+
145,
|
| 182 |
+
146,
|
| 183 |
+
147,
|
| 184 |
+
148,
|
| 185 |
+
149,
|
| 186 |
+
150,
|
| 187 |
+
151,
|
| 188 |
+
152
|
| 189 |
+
]
|
| 190 |
+
}
|
| 191 |
+
]
|
checkpoints/007000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b0a3375953a8e6d5d3e8d003fb5659929cb5a19f4a16db17141bef7dfbbf3ee7
|
| 3 |
+
size 412817652
|
checkpoints/007000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5097b919aa111ff3c48b46e1258fd23961434d53575bb652d1f696cda8cebd9b
|
| 3 |
+
size 15708
|
checkpoints/007000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 7000
|
| 3 |
+
}
|